CN111633314A - Self-adaptive single-side welding and double-side forming plasma welding system based on laser vision - Google Patents
Self-adaptive single-side welding and double-side forming plasma welding system based on laser vision Download PDFInfo
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- CN111633314A CN111633314A CN202010525240.9A CN202010525240A CN111633314A CN 111633314 A CN111633314 A CN 111633314A CN 202010525240 A CN202010525240 A CN 202010525240A CN 111633314 A CN111633314 A CN 111633314A
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- 238000003466 welding Methods 0.000 title claims abstract description 135
- 230000007246 mechanism Effects 0.000 claims abstract description 106
- 230000001360 synchronised effect Effects 0.000 claims description 16
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- 230000003044 adaptive effect Effects 0.000 claims description 10
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- 238000012545 processing Methods 0.000 claims description 8
- 238000004088 simulation Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 5
- 238000007493 shaping process Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 8
- 239000011324 bead Substances 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 5
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- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 description 2
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- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K10/00—Welding or cutting by means of a plasma
- B23K10/02—Plasma welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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Abstract
The invention relates to a laser vision-based self-adaptive single-side welding double-side forming plasma welding system which comprises a rail, an X-axis travelling mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism and a control system, wherein the X-axis travelling mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism travel along the rail, the control system controls the three mechanisms to act, the Y-axis moving mechanism is installed on the X-axis travelling mechanism, a Y-axis guide rail is arranged on the Y-axis moving mechanism, the Z-axis moving mechanism is provided with a Z-axis guide rail, a welding gun is installed on the Z-axis guide rail, and a height sensor and a laser vision sensor are respectively arranged at positions. In the traveling direction of the trolley, the welding seam is scanned in front in real time through a laser vision sensor to obtain a welding seam track, and the welding seam track is transmitted to a control system; the control system calculates the obtained data, controls the three-axis mechanism to realize compensation in each direction, and automatically aligns the welding gun to the center of the welding bead; the height sensor is added to be matched with the laser vision sensor for use, so that the detection accuracy is ensured, and the welding quality and the primary qualified rate are improved.
Description
Technical Field
The invention relates to the technical field of automatic welding, in particular to a laser vision-based self-adaptive single-side welding double-side forming plasma welding system.
Background
In the current construction of a built-in refueling water tank of a nuclear power station, stainless steel cladding surfaces are required to be installed on the top, the wall and the bottom, and the thicknesses are respectively 3mm, 4mm and 6 mm. Manual electric arc welding or manual argon tungsten-arc welding is adopted in the early stage, the influence of human factors is large, the quality consistency of welding seams cannot be guaranteed, the welding seams are long, workers need to ascend, and potential safety hazards are high; later appeared on automatic Tig welding carriages based on a trencher, which utilized the trencher to identify the weld position, thereby automatically compensating for X, Y, Z direction. The scheme needs to add a lining plate on the back and simultaneously primes the weld joint in advance. The scheme is troublesome to adjust, has high requirements on the quality of the grooves, different compensation values need to be set for different grooves according to different plate thicknesses, and the early-stage process verification time is long. Because the groove is large, the welding gun needs to be clamped on the oscillator, and the surface can be covered at the same time. Because the number of related parts is large, the number of parameters to be adjusted is large, and the large-area popularization is not facilitated.
The two welding construction processes/methods have low working efficiency and poor quality consistency, especially the requirement on welding technicians is higher for manual single-side welding and double-side forming welding, the RT/UT ray detection qualification rate of the manual single-side welding and double-side forming operation is low, and once the welding is unqualified twice or more times at the same position, the component is scrapped and cannot be reworked. The tracking of the welding seam of the automatic Tig welding trolley based on the ditch finder is greatly influenced by external factors and has low precision. Meanwhile, the adjustment is difficult, the operation of workers is complicated, and the requirements on the understanding capability and the field reaction capability of operators are high; and the probe of the ditch finder is always contacted with the weld bead, and the heat generated in the welding process can cause the metal probe of the ditch finder to be heated and expanded, thereby influencing the detection precision. A large amount of heat is transmitted to the body through the probe of the ditch finder, so that electronic components in the ditch finder are influenced, and the precision and the service life are influenced.
Plasma arc welding is a welding method using a plasma arc as a heat source, and a gas is heated by an electric arc to be dissociated and is compressed when passing through a water-cooled nozzle at a high speed, so that energy density and dissociation degree are increased to form a plasma arc. Its stability, heat productivity and temp. are higher than those of general electric arc, and it has higher penetration force and welding speed, so that it is specially applicable to once welding formation of thin plate.
Therefore, plasma arc welding can be considered to realize single-side welding and double-side forming, but the existing technology for identifying welding seams needs to be improved, the welding seams cannot be affected by heat sources, and the optical detection precision is improved.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: overcomes the defects in the prior art and provides a self-adaptive single-side welding and double-side forming plasma welding system based on laser vision.
The technical scheme adopted by the invention for solving the technical problems is as follows: the self-adaptive single-side welding double-side forming plasma welding system comprises a rail, an X-axis travelling mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism and a control system, wherein the X-axis travelling mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism are arranged along the rail, the control system is used for controlling the three mechanisms to act, the Y-axis moving mechanism is arranged on the X-axis travelling mechanism, a Y-axis guide rail is arranged on the Y-axis moving mechanism, the Z-axis moving mechanism is provided with a Z-axis guide rail, a welding gun is arranged on the Z-axis guide rail, and a height sensor and a laser vision sensor are respectively arranged at positions close to the welding gun.
Further limiting, the X-axis travelling mechanism comprises a bottom plate, a servo motor, a speed reducer and a gear transmission mechanism, wherein the servo motor is connected with the speed reducer, the speed reducer is installed on the bottom plate, and the gear transmission mechanism comprises a driving wheel installed on an output shaft of the speed reducer and a driven wheel movably installed on the bottom plate.
Further, an idler wheel is arranged between the driving wheel and the driven wheel.
Further, a manual clutch is arranged between the driving wheel and the driven wheel.
The servo motor is decelerated through the speed reducer, and power is transmitted to the driven wheel through the driving wheel so as to meet the requirement of constant-speed and variable-speed walking of the trolley along the track. A manual clutch is arranged between the driven wheel and the driving wheel, so that power can be cut off when necessary, and operation requirements such as quick movement and the like can be met.
Further inject, Y axle moving mechanism installs on the bottom plate, and it includes first step motor, synchronous belt drive mechanism, ball screw, Y axle guide rail and mounting panel, synchronous belt drive mechanism is including installing the first synchronous pulley on first step motor output shaft and installing the second synchronous pulley in ball screw one end, be connected with the mounting panel along Y axle guide rail round trip movement on the ball screw.
The first stepping motor drives the ball screw to rotate through the synchronous belt transmission mechanism so as to meet the requirement that the mounting plate moves along the Y-axis direction.
Further inject, Z axle moving mechanism installs on the mounting panel, and it includes second step motor, lead screw, Z axle guide rail and welder link, the one end and the second step motor of lead screw are connected, are connected with the welder link along Z axle guide rail round trip movement on the lead screw.
The second stepping motor drives the welding gun connecting frame to move through the driving screw rod so as to meet the requirement that the welding gun moves along the Z-axis direction.
Further inject, welder rotationally connects on the welder link, is connected with laser vision sensor with the consistent border department of welder direction of installation on the welder link.
And arranging a laser vision sensor at a proper position away from the welding gun, monitoring the relative position of the welding gun and the welding bead in real time, and transmitting the relative position to a control system.
Further limiting, the laser vision sensor comprises a linear laser and a simulation camera, wherein the linear laser emits laser beams to irradiate the position of a weld joint on the surface of a welding workpiece to form a linear light spot, the simulation camera images the position of the linear light spot and transmits the imaged image to a computer for processing to obtain data information of the weld joint, the computer feeds the data information of the weld joint back to the control system, and the control system controls the X-axis travelling mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism to act.
Further defined, a height sensor is connected to the lower side end of the welding gun connecting frame.
Because the plasma welding is sensitive to the distance from the welding gun to the workpiece, a height sensor is added in the Z-axis direction, the detection accuracy is ensured, and the welding quality and the first-time qualified rate are improved.
And further limiting, the control system comprises a PLC controller and a wireless remote controller, the PLC controller receives data information transmitted by the height sensor, the wireless remote controller and the height sensor, and sends action instructions to the X-axis travelling mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism after processing, so as to control the actions of the X-axis travelling mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism.
The invention has the beneficial effects that: in the travelling direction of the trolley, the welding seam is scanned in front in real time through the laser vision sensor to obtain the welding seam track, and the welding seam track is transmitted to the control system; the control system calculates the obtained data, controls the X-axis travelling mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism to realize compensation in all directions, automatically aligns a welding gun to the center of a welding bead and ensures the welding quality; the height sensor is added to be matched with the laser vision sensor for use, so that the detection accuracy is ensured, and the welding quality and the first-time qualified rate are improved.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a control block diagram of the present invention.
FIG. 3 is a schematic structural view of an X-axis traveling mechanism according to the present invention.
Fig. 4 is a top view of fig. 3.
Fig. 5 is a left side view of fig. 3.
Fig. 6 is a schematic structural view of the Y-axis moving mechanism in the present invention.
Fig. 7 is a top view of fig. 6.
Fig. 8 is a left side view of fig. 6.
Fig. 9 is a schematic structural view of the Z-axis moving mechanism in the present invention.
Fig. 10 is a schematic diagram of a laser vision sensor in accordance with the present invention.
Fig. 11 is a schematic structural diagram of a wireless remote controller according to the present invention.
In the figure: 1. the welding machine comprises a track, 2, an X-axis travelling mechanism, 3, a Y-axis travelling mechanism, 4, a Z-axis travelling mechanism, 5, a welding gun, 6, a height sensor, 7, a laser vision sensor, 8, a PLC (programmable logic controller), 9, a wireless remote controller, 21, a bottom plate, 22, a servo motor, 23, a speed reducer, 24, a driving wheel, 25, a driven wheel, 26, a manual clutch, 27, an idle wheel, 31, a Y-axis guide rail, 32, a first stepping motor, 33, a ball screw, 34, an installation plate, 35, a first synchronous belt wheel, 36, a second synchronous belt wheel, 41, a Z-axis guide rail, 42, a second stepping motor, 43, a screw rod and 44, and a welding gun connecting frame.
Detailed Description
The invention will now be further described with reference to the accompanying drawings and preferred embodiments. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
As shown in fig. 1, a laser vision based adaptive single-side welding double-side forming plasma welding system comprises a track 1, an X-axis traveling mechanism 2 traveling along the track 1, a Y-axis moving mechanism 3, a Z-axis moving mechanism 4 and a control system for controlling the actions of the three mechanisms, wherein the Y-axis moving mechanism 3 is installed on the X-axis traveling mechanism 2, the Y-axis moving mechanism 3 is provided with a Y-axis guide rail 31, the Y-axis guide rail 31 is provided with the Z-axis moving mechanism 4, the Z-axis moving mechanism 4 is provided with a Z-axis guide rail 41, the Z-axis guide rail 41 is provided with a welding gun 5, and a height sensor 6 and a laser vision sensor 7 are respectively arranged at positions close to the welding gun 5;
the control system comprises a PLC (programmable logic controller) 8 and a wireless remote controller 9, wherein the PLC 8 receives data information transmitted by the height sensor 6, the laser vision sensor 7 and the wireless remote controller 9, and sends action instructions to the X-axis travelling mechanism 2, the Y-axis moving mechanism 3 and the Z-axis moving mechanism 4 after processing the data information so as to control the actions of the X-axis travelling mechanism 2, the Y-axis moving mechanism 3 and the Z-axis moving mechanism 4.
As shown in fig. 2, in the traveling direction of the trolley, the height sensor 6 transmits the height information of the welding gun 5 to the PLC controller 8, meanwhile, the linear laser of the laser vision sensor 7 emits a laser beam to irradiate the position of the weld on the surface of the welding workpiece to form a linear spot, the analog camera images the position of the linear spot, and transmits the imaged image to the computer for processing, so as to obtain data information of the weld, the computer feeds back the data information of the weld and the height information of the welding gun to the PLC controller 8, the PLC controller 8 controls the actions of the X-axis traveling mechanism 2, the Y-axis moving mechanism 3 and the Z-axis moving mechanism 4 to perform compensation in three directions, so as to automatically align the welding gun 5 to the center of the weld bead and ensure the welding quality.
As shown in fig. 3 to 5, the X-axis traveling mechanism 2 includes a bottom plate 21, a servo motor 22, a speed reducer 23 and a gear transmission mechanism, the servo motor 22 is connected with the speed reducer 23, the speed reducer 23 is installed on the bottom plate 21, the gear transmission mechanism includes a driving wheel 24 installed on an output shaft of the speed reducer 23 and a driven wheel 25 movably installed on the bottom plate 21, and a manual clutch 26 is provided between the driving wheel 24 and the driven wheel 25. The servo motor 22 is decelerated through a speed reducer 23, and power is transmitted to a driven wheel 25 through a driving wheel 24, so that the trolley can walk along the track 1 at a constant speed and a variable speed. A manual clutch 26 is arranged between the driven wheel 25 and the driving wheel 24, so that power can be cut off when necessary, and operation needs such as rapid movement can be carried out.
An idler gear 27 may also be provided between the driving gear 24 and the driven gear 25 for changing the rotation direction of the driven gear 25 to be the same as the main gear 25.
As shown in fig. 6 to 8, the Y-axis moving mechanism 3 is mounted on the bottom plate 21, and includes a first stepping motor 32, a synchronous belt transmission mechanism, a ball screw 33, a Y-axis guide rail 31 and a mounting plate 34, the synchronous belt transmission mechanism includes a first synchronous pulley 35 mounted on an output shaft of the first stepping motor 32 and a second synchronous pulley 36 mounted at one end of the ball screw 33, and the ball screw 33 is connected with the mounting plate 34 that moves back and forth along the Y-axis guide rail 31. The first stepping motor 32 drives the ball screw 33 to rotate through a synchronous belt transmission mechanism so as to satisfy the movement of the mounting plate 34 in the Y-axis direction.
As shown in fig. 9, the Z-axis moving mechanism 4 is mounted on the mounting plate 34, and includes a second stepping motor 42, a lead screw 43, a Z-axis guide rail 41, and a welding gun link 44, one end of the lead screw 43 is connected to the second stepping motor 42, and the welding gun link 44 that moves back and forth along the Z-axis guide rail 41 is connected to the lead screw 43. The second stepping motor 43 drives the welding gun connecting frame 44 to move through driving the screw rod 43 so as to satisfy the movement of the welding gun 5 along the Z-axis direction.
The welding gun 5 is rotatably connected to the welding gun connecting frame 44, and the laser vision sensor 7 is connected to the edge of the welding gun connecting frame 44, which is consistent with the installation direction of the welding gun 5. And arranging a laser vision sensor 7 at a proper position away from the welding gun 5, monitoring the relative position of the welding gun 5 and the welding bead in real time, and transmitting the relative position to a control system.
The laser vision sensor 7 comprises a line-structured laser and a simulation camera, wherein the line-structured laser emits laser beams to irradiate the position of a weld joint on the surface of a welding workpiece to form a linear light spot, the simulation camera images the position of the linear light spot and transmits the imaged image to a computer for processing to obtain data information of the weld joint, the computer feeds the data information of the weld joint back to the control system, and the control system controls the actions of the X-axis travelling mechanism 2, the Y-axis moving mechanism 3 and the Z-axis moving mechanism 4. The height sensor 6 is connected to the lower end of the torch connecting frame 44. Because the plasma welding is sensitive to the distance from the welding gun 5 to the workpiece, the height sensor 6 is added in the Z-axis direction, the detection accuracy is ensured, and the welding quality and the first-time qualified rate are improved.
The working principle is that as shown in figure 10, the emergent light sheet of the line laser is OLA center, a certain angle with the surface of the welding workpiece, a single light line formed by the intersection of the light sheet and the groove, and an analog camera O forming an angle with the vertical direction of the surface of the welding workpiece because the depths of all the parts of the groove along the surface of the welding workpiece in the vertical direction are differentCAnd (4) viewing the light, wherein the reflected light forms a broken line, and the broken line reflects the three-dimensional position relation between the center of the light pattern and the center of the weld groove. The unequal lengths of the left and right light veins indicate centering deviation, and the distance from the vertex angle of the V shape to the horizontal light veins reflects the depth information of the weld groove. The simulation camera shoots the fold line light pattern, the fold line light pattern is sent to the computer for processing, the position and size information of the welding seam is obtained, and the welding seam tracking is carried out through the execution mechanism.
As shown in fig. 11, the wireless remote control 9 is a wireless remote control and has a high interference resistance. Supply voltage: AC/DC12-24V, DC5V, frequency: 433MHZ, remote control distance: 250 m; wherein each key function is as follows:
arc starting on/off: controlling the welding gun to strike and stop fire;
manual/automatic functions: manual control and system automatic control;
front/rear of the car: during non-welding, the welding gun 5 is manually controlled to advance and retreat along the X direction;
trolley up/down: when not welding, the welding gun 5Z axis is manually controlled to move upwards and downwards;
left/right of the trolley: during non-welding, the welding gun 5Y axis is manually controlled to move left and right;
traveling speed +/traveling speed-: adjusting the speed of the X-direction movement;
function setting: recording: when the point is marked and covered, entering a welding line recording mode in a point recording mode; and (3) recovering: tracking the state; calibration: entering a calibration state;
and (3) data recording: recording laser calibration detection data;
beginning: executing the currently selected task number for welding;
recording: when the function setting in the point-recording and face-covering mode is recording, the current position can be recorded by pressing a recording button, and a track is automatically generated according to the recording position after a plurality of (3 or more) positions are recorded;
stopping: stopping the current movement of the welding gun 5 (tracking, relative/absolute movement, resetting, welding);
resetting: the Z axis of the welding gun 5 is raised, the X axis is reset to a point 0, and the Y, Z axis is reset to a position when a program is opened;
backup 1, backup 2: and reserving the port.
The above-mentioned embodiments are merely illustrative of the technical idea and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered in the scope of the present invention.
Claims (10)
1. The utility model provides a two-sided shaping plasma welding system of self-adaptation single face welding based on laser vision which characterized in that: the system comprises a track, an X-axis travelling mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism and a control system, wherein the X-axis travelling mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism are arranged along the track, the Y-axis moving mechanism is arranged on the X-axis travelling mechanism, a Y-axis guide rail is arranged on the Y-axis moving mechanism, the Z-axis moving mechanism is arranged on the Y-axis guide rail, a Z-axis guide rail is arranged on the Z-axis moving mechanism, a welding gun is arranged on the Z-axis guide rail, and a height sensor and a laser vision sensor are respectively arranged.
2. The laser vision based adaptive single-side welding double-side forming plasma welding system according to claim 1, characterized in that: the X-axis travelling mechanism comprises a bottom plate, a servo motor, a speed reducer and a gear transmission mechanism, wherein the servo motor is connected with the speed reducer, the speed reducer is installed on the bottom plate, and the gear transmission mechanism comprises a driving wheel installed on an output shaft of the speed reducer and a driven wheel movably installed on the bottom plate.
3. The laser vision based adaptive single-side welding double-side forming plasma welding system according to claim 2, characterized in that: an idler wheel is arranged between the driving wheel and the driven wheel.
4. The laser vision based adaptive single-side welding double-side forming plasma welding system according to claim 2, characterized in that: and a manual clutch is arranged between the driving wheel and the driven wheel.
5. The laser vision based adaptive single-side welding double-side forming plasma welding system according to claim 2, characterized in that: y axle moving mechanism installs on the bottom plate, and it includes first step motor, synchronous belt drive mechanism, ball screw, Y axle guide rail and mounting panel, synchronous belt drive mechanism is including installing the first synchronous pulley on first step motor output shaft and installing the second synchronous pulley in ball screw one end, be connected with the mounting panel along Y axle guide rail round trip movement on the ball screw.
6. The laser vision based adaptive single-side welding double-side forming plasma welding system according to claim 5, characterized in that: the Z-axis moving mechanism is installed on the installation plate and comprises a second stepping motor, a lead screw, a Z-axis guide rail and a welding gun connection frame, one end of the lead screw is connected with the second stepping motor, and the welding gun connection frame which moves back and forth along the Z-axis guide rail is connected onto the lead screw.
7. The laser vision based adaptive single-side welding double-side forming plasma welding system according to claim 6, characterized in that: the welding gun is rotatably connected to the welding gun connecting frame, and the edge of the welding gun connecting frame, which is consistent with the installation direction of the welding gun, is connected with the laser vision sensor.
8. The laser vision based adaptive single-side welding double-side forming plasma welding system according to claim 6, characterized in that: the laser vision sensor comprises a line structure laser and a simulation camera, wherein the line structure laser emits laser beams to irradiate the position of a weld joint on the surface of a welding workpiece to form a linear light spot, the simulation camera images the position of the linear light spot and transmits the imaged image to a computer for processing to obtain data information of the weld joint, the computer feeds the data information of the weld joint back to a control system, and the control system controls the actions of the X-axis travelling mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism.
9. The laser vision based adaptive single-side welding double-side forming plasma welding system according to claim 5, characterized in that: and the lower side end of the welding gun connecting frame is connected with a height sensor.
10. The laser vision based adaptive single-side welding double-side forming plasma welding system according to claim 1, characterized in that: the control system comprises a PLC controller and a wireless remote controller, the PLC controller receives data information transmitted by the height sensor, the wireless remote controller and the height sensor, and sends action instructions to the X-axis travelling mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism after processing the data information so as to control the actions of the X-axis travelling mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112756752A (en) * | 2020-12-25 | 2021-05-07 | 南京理工大学 | Self-adaptive adjustable double-wire consumable electrode arc welding device and method |
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| CN112756752B (en) * | 2020-12-25 | 2022-06-28 | 南京理工大学 | Self-adaptive adjustable double-wire consumable electrode arc welding device and method |
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