CN112975060B - Automatic butt joint system before welding arcing - Google Patents
Automatic butt joint system before welding arcing Download PDFInfo
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- CN112975060B CN112975060B CN202110220899.8A CN202110220899A CN112975060B CN 112975060 B CN112975060 B CN 112975060B CN 202110220899 A CN202110220899 A CN 202110220899A CN 112975060 B CN112975060 B CN 112975060B
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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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
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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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser 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
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/167—Arc welding or cutting making use of shielding gas and of a non-consumable electrode
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Abstract
The utility model provides an automatic butt joint system before welding arcing, including treating the welding workpiece and by the electronic slip table of straight line of motor drive control, install welder on the electronic slip table of straight line, the welding seam of welding workpiece is treated to the welder perpendicular to, welder's the place ahead is provided with the camera, the front end of camera is provided with the camera lens, the camera is connected with image processor, angle and position through the adjustment camera, make the camera gather include welder and treat the image of the welding seam of welding workpiece, motor drive drives welder and removes and look for the welding seam position on treating the welding workpiece according to butt joint strategy control straight line electronic slip table. The butt-joint method of the invention utilizes the image processing technology to automatically detect the deviation of the welding gun and the welding seam, realizes the automatic butt-joint function, reduces the time for searching the welding seam on site, and provides powerful support for the automatic welding production of the welding part, thereby better ensuring the product quality of the welding part, improving the stability and the accuracy of welding, and reducing the working strength and the labor cost of workers.
Description
Technical Field
The invention relates to the technical field of welding, in particular to an automatic butt joint system before welding arc striking.
Background
With the acceleration of industrial modernization pace in China, the welding technology and the welding level are developed rapidly and improved rapidly, the welding technology has been deepened into various industries and links of industrial production, and the welding has an important position and wide application in mechanical design and manufacturing departments such as electric power energy and the like.
However, after the workpiece is fixed by the conventional welding tool, the position of the welding seam is not fixed due to tool errors and workpiece size errors, so that a worker is required to adjust the position of the welding gun according to the position of the welding seam before welding, the labor intensity of the worker is greatly increased, and the welding efficiency and the welding quality of the workpiece are reduced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a welding automatic butt joint system and an automatic butt joint method for automatically detecting the positions of a welding gun and a welding seam by using an image processing technology.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
the utility model provides an automatic butt joint system before welding arc starting, includes treats welding workpiece and the electronic slip table of straight line by motor driver control, install welder on the electronic slip table of straight line, welder perpendicular to treats welding workpiece's welding seam, welder's the place ahead is provided with the camera, the front end of camera is provided with the camera lens, camera lens one side is equipped with the dimmer, the camera is connected with image processor, image processor connects motor driver, through the adjustment the angle and the position of camera make the camera gathers and includes welder with treat the image of welding seam of welding workpiece, motor driver drives welder and removes and look for the welding seam position on treating welding workpiece according to butt joint strategy control electronic slip table of straight line, carries out arc starting welding, the butt joint strategy includes following step:
s1, acquiring images, wherein the motor driver controls the linear electric sliding table to drive the welding gun to move to the position near the welding seam of the workpiece to be welded, so that the camera can acquire a gray image I containing the welding gun and the welding seam1And controlling the linear electric sliding table to drive the welding gun to move rightwards again, and acquiring a gray level image I2Obtaining a gray-scale image I1And I2The method is characterized by comprising a welding seam, a tungsten needle and a background, a rectangular coordinate system is defined on an obtained gray level image, the lower left point of the gray level image is used as the origin of the rectangular coordinate system, and coordinates are substitutedThe number of rows and the number of columns of the pixel in the gray scale image are shown, and the total number of rows and the total number of columns of the gray scale image are assumed to be H and W;
s2, binarization, negation and gray level image I1And I2Performing binarization, obtaining a binarization threshold value by adopting a maximum inter-class variance method to obtain a binarization image, and performing negation on the binarization image to obtain a binarization image BW1And BW2；
S3 finding tungsten needle in binary image BW1Finding out the maximum connected region, and framing out the binary image BW1Wherein the upper rectangle is the maximum connected region to be found, and finding out the horizontal bounding rectangle F of the maximum connected region1In binary image BW2The maximum connected region and the horizontal circumscribed rectangle F thereof are also obtained2Then find out two horizontal external rectangles F1And F2Intersecting rectangle F12Intersecting rectangle F12Obtaining a new rectangular region F through a cutting strategy22And obtaining a binary image BW through a difference algorithm1And BW2The difference map delta BW is in the rectangular area F22The largest communication area in the tungsten needle area is the tungsten needle area, and the ordinate of the lowest point of the tungsten needle area is RminyThe ordinate of the highest point is RmaxyGet ymIs RminyAnd RmaxyIs integer between, and the ordinate taken in the tungsten needle region is less than or equal to ymForming a point set A, judging the bilateral symmetry of the point set A, and recording y if the point set A is bilateral symmetrymGo to set B, go through all ymIs judged as y which is bilaterally symmetricalmRecording the data into a set B to obtain a set B, and taking the maximum value y in the set BmaxAnd its corresponding geometric center (x)c,yc) Position x of the tungsten needleT＝xc；
S4, finding a welding seam, and performing BW (binary image)1Middle finding secondary large connected region R2In a binary image BW1The lower left corner point of (1) is a rotation center, and the binary image BW is taken as1Rotation thetakTo obtain a binary image BWkWherein θk＝k·Δθ，kmin≤k≤kmax，k、kminAnd kmaxIs an integer, Δ θ is a real number, Δ θ, kminAnd kmaxConstant, theta, set manuallyk>0 denotes clockwise rotation, θk<0 denotes counterclockwise rotation, for binary image BWkReducing to obtain a binary image BWk,lThe reduction magnification is 1/l, wherein l is an integer, l is more than or equal to 1 and less than or equal to 100, and the binary image BW is countedk,lIn each row belonging to a second largest connected region RkThe number of the pixel points is recorded as fk,l(i) Wherein i is a non-negative integer, i is not less than 1<W, find fk,l(i) Second derivative of (2)
Maximum value of (2)
And i when the maximum value is reachedk,l,maxRecord of
p(k,l)＝l·ik,l,maxTraversing k and l in all value ranges to obtain all D (k, l) and p (k, l) corresponding to D (k, l) to form a set D, and taking the maximum D in the set Dmax(k, l) and corresponding pmax(k,l)，xW＝pmax(k, l) is the position of the weld;
s5, calculating the welding seam deviation delta x, wherein delta x is xT-xWIf Δ x<Controlling the linear electric sliding table to drive the welding gun to move rightwards for welding if the linear electric sliding table is-TH, and if the linear electric sliding table is delta x, controlling the welding gun to move rightwards for welding>TH, controlling the linear electric sliding table to drive the welding gun to move leftwards for welding, wherein TH is a threshold value and is a constant set manually;
s6, repeating the steps S1-S5 until the absolute value of the welding seam deviation delta x is smaller than TH.
Preferably, the horizontal bounding rectangle F of the maximum connected region in step S3 of the butt-joint strategy1The coordinate formation rule of the upper-left corner coordinate point LU and the lower-right corner coordinate point RD is as follows:
let the coordinate of the leftmost point L of the largest connected region be(xL,yL) The coordinate of the rightmost point R is (x)R,yR) The highest point U has the coordinate of (x)U,yU) The lowest point D has the coordinate of (x)D,yD) The coordinate of the upper left corner coordinate LU is (x)L,yU) The coordinate of the lower right corner coordinate point RD is (x)R,yD)。
Preferably, the step S3 of the butt-joint strategy is composed of intersecting rectangles F12A rectangular area F is obtained22The cutting strategy used was: discarding the intersecting rectangle F12The middle and left 20% of the partial area, and the middle 60% of the partial area.
Preferably, the difference algorithm used for obtaining the difference map Δ BW in step S3 of the butt seam strategy is as follows:
wherein i and j are non-negative integers, i is more than or equal to 1 and less than W, and j is more than or equal to 1 and less than H.
Preferably, the method for determining the bilateral symmetry of the point set a in the step S3 of the butt-seam strategy is as follows:
calculating the geometric center (x) of the set of points Ac,yc) Dividing the point set A into subsets ALAnd ARFor each point in the point set A, if the abscissa is smaller than xcThen fall into subset ALIf its abscissa is greater than xcThen fall into subset ARX is equal to xcAs the symmetry axis, for subset ALThe midpoints are horizontally mirrored to obtain a subset A'RStatistical subset ARAnd subset A'RNumber of points with the same middle coordinate and subset ARAnd calculating the ratio of the former to the latter, and recording the ratio as p, wherein if p is more than 0.9, the point set A is symmetrical, otherwise, the point set A is asymmetrical.
Preferably, Δ θ in step S4 of the butt seam strategy is 0.1 °.
The invention has the advantages and positive effects that:
the butt-welding method disclosed by the invention has the advantages that the positions of the welding gun and the welding seam are automatically detected by utilizing an image processing technology, so that the position of the tungsten needle can be automatically adjusted in the subsequent process, the automatic butt-welding function is realized, the method is simple, convenient and reliable, the time for searching the welding seam on site can be reduced, the practicability is strong, the accuracy is high, and powerful support is provided for the automatic welding production of a welding part, so that the product quality of the welding part is better ensured, the manual intervention is not needed, the stability and the accuracy of the welding of workers are further improved, the working strength and the labor cost of the workers are reduced, and the quality and the efficiency of the welding of workpieces are greatly improved.
Drawings
FIG. 1 is a grayscale image I of the present invention1The gray effect schematic diagram of the welding seam;
FIG. 2 is a grayscale image I of the present invention2The gray effect schematic diagram of the welding seam;
FIG. 3 is a binary image BW of the present invention1The welding line binarization effect schematic diagram is shown;
FIG. 4 is a binary image BW of the present invention2The welding line binarization effect schematic diagram is shown;
FIG. 5 is a horizontally circumscribed rectangle F of the maximum communication area of the present invention1The effect schematic diagram of (1);
FIG. 6 is a horizontally circumscribed rectangle F of the maximum communication area of the present invention2The effect schematic diagram of (1);
FIG. 7 is a rectangular area F of the present invention22The effect schematic diagram of (1);
FIG. 8 is a schematic illustration of a tungsten needle region of the present invention;
FIG. 9 is a schematic view of the symmetric region of the tungsten needle of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The embodiments of the invention will be described in further detail below with reference to the accompanying drawings:
the invention relates to an automatic butt-welding system before welding and arc striking, which comprises a workpiece to be welded and a linear electric sliding table controlled by a motor driver, wherein a welding gun is arranged on the linear electric sliding table, the welding gun is perpendicular to a welding seam of the workpiece to be welded, a camera is arranged in front of the welding gun, a lens is arranged at the front end of the camera, a dimmer is arranged on one side of the lens, the camera is connected with an image processor, the image processor is connected with the motor driver, the camera acquires an image containing the welding seam of the welding gun and the workpiece to be welded by adjusting the angle and the position of the camera, and the motor driver controls the linear electric sliding table to drive the welding gun to move on the workpiece to be welded and butt the position of the welding seam according to a butt-welding strategy to perform arc striking welding. The butt joint strategy comprises the following steps:
s1, image acquisition
The motor driver controls the linear electric sliding table to drive the welding gun to move to the position near the welding seam of the workpiece to be welded, so that the camera can acquire a gray image I containing the welding gun and the welding seam1As shown in FIG. 1, the linear electric slide table is controlled again to drive the weldingThe gun moves rightwards to collect a gray image I2The resulting grayscale image I is shown in FIG. 21And I2The image processing method comprises the following steps of forming a welding line, a tungsten needle and a background, wherein the welding line and the tungsten needle are black, the background is white, noise and interference are doped, a rectangular coordinate system is defined on an obtained gray level image, the lower left point of the gray level image is taken as the origin of the rectangular coordinate system, coordinates represent the number of rows and columns of a pixel in the gray level image, and the total number of rows and columns of the gray level image is assumed to be H and W;
s2, binarization and negation
For gray scale image I1And I2Performing binarization, obtaining a binarization threshold value by adopting a maximum inter-class variance method to obtain a binarization image, and performing negation on the binarization image to obtain a binarization image BW1And BW2Wherein the welding seam and the tungsten needle area are white, and the background is black, as shown in fig. 3 and 4;
s3 tungsten needle
In binary image BW1Finding out the maximum connected area in the image, and framing out the binary image BW1Wherein the upper rectangle is the maximum connected region to be found, and finding out the horizontal bounding rectangle F of the maximum connected region1As shown in FIG. 5, the horizontal bounding rectangle F of the maximum connected region1The coordinate formation rule of the upper-left corner coordinate point LU and the lower-right corner coordinate point RD is as follows:
let the coordinate of the leftmost point L of the maximum connected region be (x)L,yL) The coordinate of the rightmost point R is (x)R,yR) The highest point U has the coordinate of (x)U,yU) The coordinate of the lowest point D is (x)D,yD) The coordinate of the upper left corner coordinate LU is (x)L,yU) The coordinate of the lower right corner coordinate point RD is (x)R,yD)，
In binary image BW2The maximum connected region and the horizontal circumscribed rectangle F thereof are also obtained2Then, as shown in FIG. 6, two horizontal circumscribed rectangles F are obtained1And F2Intersecting rectangle F12Intersecting rectangle F12By discarding intersecting momentsForm F12The middle and left 20% of the partial area are reserved to obtain a new rectangular area F22To find the tungsten needle better, as shown in fig. 7, and obtain the binary image BW by the difference algorithm1And BW2The difference value algorithm is as follows:
wherein i and j are non-negative integers, i is more than or equal to 1<W，1≤j<H, difference diagram delta BW is in rectangular area F22The largest connected region in the inner part is the tungsten needle region, as shown in FIG. 8, the ordinate of the lowest point of the tungsten needle region is RminyThe ordinate of the highest point is RmaxyGet ymIs RminyAnd RmaxyThe vertical coordinate in the tungsten needle area is less than or equal to ymForming a point set A, and judging the bilateral symmetry of the point set A, wherein the judgment method of the bilateral symmetry of the point set A comprises the following steps:
calculating the geometric center (x) of the set of points Ac,yc) Dividing the point set A into subsets ALAnd ARFor each point in the point set A, if the abscissa is smaller than xcThen fall into subset ALIf its abscissa is greater than xcThen fall into subset ARX is equal to xcAs the symmetry axis, for subset ALThe midpoints are horizontally mirrored to obtain a subset A'RStatistical subset ARAnd subset A'RNumber of points with same middle coordinate and subset ARAnd calculating the ratio of the former to the latter, and recording the ratio as p, wherein if p is more than 0.9, the point set A is symmetrical, otherwise, the point set A is asymmetrical. If the point set A is symmetrical left and right, recording ymGo to set B, go through all ymIs judged as y which is bilaterally symmetricalmRecording the data into a set B to obtain a set B, and taking the maximum value y in the set BmaxAnd its corresponding geometric center (x)c,yc) Position x of the tungsten needleT＝xcAs shown in fig. 9;
s4, finding out a welding seam, and obtaining a binary image BW1Middle finding secondary large connected region R2In a binary image BW1The lower left corner point of (1) is a rotation center, and the binary image BW is taken as1Rotation thetakTo obtain a binary image BWkWherein thetak＝k·Δθ，kmin≤k≤kmax，k、kminAnd kmaxIs an integer, Δ θ is a real number, Δ θ, kminAnd kmaxFor the manually set constants, Δ θ is usually taken to be 0.1 °, θk>0 denotes clockwise rotation, θk<0 denotes counterclockwise rotation, for binary image BWkReducing to obtain a binary image BWk,lThe reduction magnification is 1/l, wherein l is an integer, l is more than or equal to 1 and less than or equal to 100, and the binary image BW is countedk,lIn each row belonging to the next largest connected region RkThe number of the pixel points is recorded as fk,l(i) Wherein i is a non-negative integer, i is not less than 1<W, find fk,l(i) Second derivative of (2)
Maximum value of
And i when the maximum value is reachedk,l,maxRecord and take notes
p(k,l)＝lik,l,maxTraversing k and l in all value ranges to obtain all D (k, l) and corresponding p (k, l) thereof to form a set D, and taking the maximum D in the set Dmax(k, l) and corresponding pmax(k,l)，xW＝pmax(k, l) is the position of the weld;
s5, calculating the welding seam deviation delta x, wherein delta x is xT-xWIf Δ x<Controlling the linear electric sliding table to drive the welding gun to move rightwards for welding if the linear electric sliding table is-TH, and if the linear electric sliding table is delta x, controlling the welding gun to move rightwards for welding>TH, controlling the linear electric sliding table to drive the welding gun to move leftwards for welding, wherein TH is a threshold value and is a constant set manually;
s6, repeating the steps S1-S5 until the absolute value of the welding seam deviation delta x is smaller than TH.
When the welding machine is specifically implemented, the angle and the position of the camera are adjusted, so that the camera collects images of a welding seam comprising a welding gun and a workpiece to be welded, the linear electric sliding table is controlled through a butt-welding strategy to drive the welding gun to automatically find the position of the welding seam, and the welding seam is welded.
The butt-welding method disclosed by the invention has the advantages that the positions of the welding gun and the welding seam are automatically detected by utilizing an image processing technology, so that the position of the tungsten needle can be automatically adjusted in the subsequent process, the automatic butt-welding function is realized, the method is simple, convenient and reliable, the time for searching the welding seam on site can be reduced, the practicability is strong, the accuracy is high, and powerful support is provided for the automatic welding production of a welding part, so that the product quality of the welding part is better ensured, the manual intervention is not needed, the stability and the accuracy of the welding of workers are further improved, the working strength and the labor cost of the workers are reduced, and the quality and the efficiency of the welding of workpieces are greatly improved.
It should be emphasized that the embodiments described herein are illustrative rather than restrictive, and thus the present invention is not limited to the embodiments described in the detailed description, but other embodiments derived from the technical solutions of the present invention by those skilled in the art are also within the scope of the present invention.
Claims (6)
1. The utility model provides an automatic butt joint system before welding arcing which characterized in that: the welding gun welding device comprises a workpiece to be welded and a linear electric sliding table controlled by a motor driver, wherein a welding gun is installed on the linear electric sliding table, the welding gun is perpendicular to a welding seam of the workpiece to be welded, a camera is arranged in front of the welding gun, a lens is arranged at the front end of the camera, a dimmer is arranged on one side of the lens, the camera is connected with an image processor, the image processor is connected with the motor driver, images containing the welding gun and the welding seam of the workpiece to be welded are acquired by the camera by adjusting the angle and the position of the camera, and the motor driver controls the linear electric sliding table to drive the welding gun to move on the workpiece to be welded and align to the position of the welding seam according to a seam aligning strategy so as to perform arc welding;
the butt joint strategy comprises the following steps:
s1, image acquisition, the motorThe driver controls the linear electric sliding table to drive the welding gun to move to the position near the welding seam of the workpiece to be welded, so that the camera can acquire a gray image I containing the welding gun and the welding seam1And controlling the linear electric sliding table to drive the welding gun to move rightwards again, and acquiring a gray level image I2Obtaining a gray-scale image I1And I2The method comprises the steps that a rectangular coordinate system is defined on an obtained gray level image and is composed of a welding line, a tungsten needle and a background, the lower left point of the gray level image is taken as the origin of the rectangular coordinate system, coordinates represent the number of rows and columns of pixels of the gray level image in the gray level image, and the total number of rows and columns of the gray level image is assumed to be H and W;
s2, binarization, negation and gray level image I1And I2Performing binarization, obtaining a binarization threshold value by adopting a maximum inter-class variance method to obtain a binarization image, and performing negation on the binarization image to obtain a binarization image BW1And BW2；
S3 finding tungsten needle in binary image BW1Finding out the maximum connected region, and framing out the binary image BW1Wherein the upper rectangle is the maximum connected region to be found, and finding out the horizontal bounding rectangle F of the maximum connected region1In binary image BW2The maximum connected region and the horizontal circumscribed rectangle F thereof are also obtained2Then find out two horizontal external rectangles F1And F2Intersecting rectangle F12Intersecting rectangle F12Obtaining a new rectangular region F through a cutting strategy22And obtaining a binary image BW through a difference algorithm1And BW2The difference map delta BW is in the rectangular area F22The largest communication area in the tungsten needle area is the tungsten needle area, and the ordinate of the lowest point of the tungsten needle area is RminyThe ordinate of the highest point is RmaxyGet ymIs RminyAnd RmaxyThe vertical coordinate in the tungsten needle area is less than or equal to ymForming a point set A, judging the bilateral symmetry of the point set A, and recording y if the point set A is symmetrical left and rightmGo to set B, go through all ymIs judged as y which is bilaterally symmetricalmRecord to collectionIn B, obtaining a set B, and taking the maximum value y in the set BmaxAnd its corresponding geometric center (x)c,yc) Position x of the tungsten needleT＝xc；
S4, finding out a welding seam, and obtaining a binary image BW1Middle finding secondary large connected region R2In a binary image BW1The left lower angular point of (3) is a rotation center, and the binary image BW is1Rotation thetakTo obtain a binary image BWkWherein thetak＝k·Δθ，kmin≤k≤kmax，k、kminAnd kmaxIs an integer, Δ θ is a real number, Δ θ, kminAnd kmaxConstant, theta, set manuallyk>0 denotes clockwise rotation, θk<0 denotes counterclockwise rotation, for binary image BWkReducing to obtain a binary image BWk,lThe reduction magnification is 1/l, wherein l is an integer, l is more than or equal to 1 and less than or equal to 100, and the binary image BW is countedk,lIn each row belonging to the next largest connected region RkThe number of the pixel points is recorded as fk,l(i) Wherein i is a non-negative integer, i is more than or equal to 1 and less than W, and f is calculatedk,l(i) Second derivative of (2)
Maximum value of
And i when the maximum value is reachedk,l,maxRecord of
p(k,l)＝l·ik,l,maxTraversing k and l in all value ranges to obtain all D (k, l) and p (k, l) corresponding to D (k, l) to form a set D, and taking the maximum D in the set Dmax(k, l) and corresponding pmax(k,l)，xW＝pmax(k, l) is the position of the weld;
s5, calculating the welding seam deviation delta x, wherein delta x is xT-xWIf deltax is less than-TH, controlling the linear electric sliding table to drive the welding gun to move rightwards for welding, and if deltax is greater than TH, controlling the linear electric sliding table to drive the welding gun to move rightwards for weldingThe wire electric sliding table drives the welding gun to move leftwards for welding, wherein TH is a threshold value and is a manually set constant;
s6, repeating the steps S1-S5 until the absolute value of the welding seam deviation delta x is smaller than TH.
2. The automatic pre-arc-starting butt-welding system according to claim 1, wherein: the horizontal bounding rectangle F of the maximum connected region in step S3 of the butt-joint strategy1The coordinate formation rule of the upper-left corner coordinate point LU and the lower-right corner coordinate point RD is as follows:
let the coordinate of the leftmost point L of the maximum connected region be (x)L,yL) The coordinate of the rightmost point R is (x)R,yR) The highest point U has the coordinate of (x)U,yU) The lowest point D has the coordinate of (x)D,yD) The coordinate of the upper left corner coordinate LU is (x)L,yU) The coordinate of the lower right corner coordinate point RD is (x)R,yD)。
3. The automatic pre-arc-starting butt-welding system according to claim 1, wherein: the step S3 of the split strategy is composed of intersecting rectangles F12A rectangular area F is obtained22The cutting strategy used was: discarding intersecting rectangles F12The middle 20% part area and the middle 60% part area.
4. The automatic pre-arc-starting butt-welding system according to claim 1, wherein: the difference algorithm used for obtaining the difference map Δ BW in step S3 of the butt seam strategy is as follows:
wherein i and j are non-negative integers, i is more than or equal to 1 and less than W, and j is more than or equal to 1 and less than H.
5. The automatic pre-arc-starting butt-welding system according to claim 1, wherein: the method for judging the bilateral symmetry of the point set a in the step S3 of the butt-joint strategy is as follows:
calculating the geometric center (x) of the set of points Ac,yc) Dividing the point set A into subsets ALAnd ARFor each point in the point set A, if the abscissa is smaller than xcThen fall into subset ALIf its abscissa is greater than xcThen fall into subset ARX is equal to xcAs the symmetry axis, for subset ALThe midpoints are horizontally mirrored to obtain a subset A'RStatistical subset ARAnd subset A'RNumber of points with the same middle coordinate and subset ARAnd calculating the ratio of the former to the latter, and recording the ratio as p, wherein if p is more than 0.9, the point set A is symmetrical, otherwise, the point set A is asymmetrical.
6. The automatic pre-arc-starting butt-welding system according to claim 1, wherein: in step S4 of the split strategy, Δ θ is 0.1 °.
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| CN202110220899.8A CN112975060B (en) | 2021-02-26 | 2021-02-26 | Automatic butt joint system before welding arcing |
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| CN202110220899.8A CN112975060B (en) | 2021-02-26 | 2021-02-26 | Automatic butt joint system before welding arcing |
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| CN112975060B true CN112975060B (en) | 2022-07-01 |
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