CN115890055A - Welding experimental frame and method for exploring the relationship between molten pool and welding quality - Google Patents
Welding experimental frame and method for exploring the relationship between molten pool and welding quality Download PDFInfo
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Abstract
本发明公开了一种用于探究熔池与焊接质量关联规律的焊接实验架及其方法,涉及焊接质量技术领域。本发明包括固定板,固定板的顶部安装有驱动机构、定位机构和视觉模块,定位机构位于驱动机构的顶端,视觉模块位于驱动机构的一端;驱动机构包括定位架、步进电机和传动丝杠,固定板的顶部固定有定位架,进而能够对驱动机构的位置进行固定,定位架的一端固定有步进电机,步进电机的输出端连接有传动丝杠,从而能够快速带动传动丝杠进行转动。本发明通过驱动机构、定位机构和视觉模块的配合,能够在使用时稳定调节焊枪的焊接位置、焊接角度以及焊接的速度,并通过视觉模块对焊接的质量进行拍摄,从而能够便于对焊接的质量进行评价。
The invention discloses a welding experiment frame and a method for exploring the correlation rule between molten pool and welding quality, and relates to the technical field of welding quality. The invention comprises a fixed plate, a driving mechanism, a positioning mechanism and a visual module are installed on the top of the fixed plate, the positioning mechanism is located at the top of the driving mechanism, and the visual module is located at one end of the driving mechanism; the driving mechanism includes a positioning frame, a stepping motor and a transmission screw , the top of the fixed plate is fixed with a positioning frame, and then the position of the driving mechanism can be fixed, and one end of the positioning frame is fixed with a stepping motor, and the output end of the stepping motor is connected with a transmission screw, so that the transmission screw can be quickly driven turn. The present invention can stably adjust the welding position, welding angle and welding speed of the welding torch through the cooperation of the driving mechanism, the positioning mechanism and the vision module, and the quality of the welding can be photographed by the vision module, so that the quality of the welding can be easily checked Make an evaluation.
Description
技术领域technical field
本发明属于焊接质量技术领域,特别是涉及一种用于探究熔池与焊接质量关联规律的焊接实验架及其方法。The invention belongs to the technical field of welding quality, and in particular relates to a welding experiment frame and a method for exploring the correlation law between molten pool and welding quality.
背景技术Background technique
人工焊接作业时,焊接过程中焊枪工作角度、焊接距离和焊接速度在人为调控时很难把握其精准度和稳定性,从而导致焊接质量的不稳定。并且焊接过程中产生的强弧光、高温、烟尘、飞溅、及有毒气体对焊接工人的身体造成了极大的伤害。因此,拥有高效、可替代性和无疲劳等优点的焊接机器人正在被逐渐开发。目前市面上的智能焊接机器人对焊接质量的调控存在功能单一的问题,仅能对焊接后的焊缝成型质量进行检测,针对焊缝缺陷部分进行补焊。该过程大大降低了焊接施工的效率,焊缝缺陷部分的补焊过程中不仅耗时费力,而且可能会影响补焊接头的强度或因矫正无效而报废。如果能在焊接过程中实时控制焊接质量,将会极大地提高工作效率和减少工人二次返工带来的安全隐患。During manual welding, it is difficult to control the accuracy and stability of the working angle of the welding torch, welding distance and welding speed during the welding process, resulting in unstable welding quality. And the strong arc light, high temperature, smoke, dust, splash, and poisonous gas produced in the welding process have caused great harm to the health of welding workers. Therefore, welding robots with advantages of high efficiency, replaceability and no fatigue are gradually being developed. At present, the intelligent welding robot on the market has the problem of single function in the control of welding quality. It can only detect the quality of weld formation after welding, and repair welding for the defective part of the weld. This process greatly reduces the efficiency of welding construction. The repair welding process of the weld defect is not only time-consuming and laborious, but also may affect the strength of the repaired joint or be scrapped due to invalid correction. If the welding quality can be controlled in real time during the welding process, the work efficiency will be greatly improved and the safety hazards caused by the secondary rework of workers will be reduced.
随着机器视觉技术的发展,焊接机器人开始广泛使用视觉检测技术实现焊接质量判断。其中,熔池的尺寸和温度分布可以判断熔池的质量,熔池的质量掌控将决定焊接质量。焊接过程中熔池尺寸和熔池温度分布是影响焊接质量的关键问题,因此探究熔池与焊接质量的关联规律就显得尤为重要。焊接机器人中设有信息量大、观测直观以及实时性高等特点的焊接视觉模块,可以建立熔池与焊接质量之间的关联平台。焊接过程中,焊枪末端的视觉模块获取正面熔池图像信息,运用图像处理方法即可获知当前熔池尺寸和熔池温度分布。熔池尺寸可以直观判定当前焊接质量,但不能明析熔池内部是否产生气泡和熔渣。熔池温度分布可以探查到熔池内部的关键信息,两者的结合将极大的保证了判别熔池质量的准确性。With the development of machine vision technology, welding robots have begun to widely use visual inspection technology to judge welding quality. Among them, the size and temperature distribution of the molten pool can determine the quality of the molten pool, and the quality control of the molten pool will determine the welding quality. The size of the molten pool and the temperature distribution of the molten pool during the welding process are the key issues affecting the welding quality, so it is particularly important to explore the relationship between the molten pool and the welding quality. The welding robot is equipped with a welding vision module featuring a large amount of information, intuitive observation and high real-time performance, which can establish a correlation platform between the molten pool and the welding quality. During the welding process, the vision module at the end of the welding torch obtains the image information of the front molten pool, and the current molten pool size and temperature distribution of the molten pool can be obtained by using the image processing method. The size of the molten pool can visually determine the current welding quality, but it cannot clearly analyze whether bubbles and slag are generated inside the molten pool. The temperature distribution of the molten pool can detect key information inside the molten pool, and the combination of the two will greatly ensure the accuracy of judging the quality of the molten pool.
因此,亟需设计一种熔池尺寸和熔池温度分布双反馈的监控焊接实验台,从而实时控制焊缝成型的质量。Therefore, it is urgent to design a monitoring welding test bench with double feedback of molten pool size and molten pool temperature distribution, so as to control the quality of weld formation in real time.
发明内容Contents of the invention
本发明的目的在于提供一种用于探究熔池与焊接质量关联规律的焊接实验架及其方法,以解决上述背景技术中提出的问题。The purpose of the present invention is to provide a welding test frame and method for exploring the relationship between molten pool and welding quality, so as to solve the problems raised in the above-mentioned background technology.
为解决上述技术问题,本发明是通过以下技术方案实现的:In order to solve the problems of the technologies described above, the present invention is achieved through the following technical solutions:
本发明为一种用于探究熔池与焊接质量关联规律的焊接实验架,包括固定板,所述固定板的顶部安装有驱动机构和定位机构,所述定位机构位于驱动机构的顶端;The present invention is a welding experiment frame for exploring the correlation law between molten pool and welding quality, which includes a fixed plate, a driving mechanism and a positioning mechanism are installed on the top of the fixed plate, and the positioning mechanism is located at the top of the driving mechanism;
所述驱动机构包括定位架、步进电机和传动丝杠,所述固定板的顶部固定有定位架,所述定位架的一端固定有步进电机,所述步进电机的输出端连接有传动丝杠。The driving mechanism includes a positioning frame, a stepping motor and a transmission lead screw. The top of the fixing plate is fixed with a positioning frame, and one end of the positioning frame is fixed with a stepping motor, and the output end of the stepping motor is connected with a transmission lead screw.
进一步地,所述定位机构包括支撑座、垂向轴、横向轴、垂向夹和横向夹,所述支撑座螺纹连接在传动丝杠的外侧,所述支撑座的顶部固定有垂向轴,所述垂向轴的外侧设置有垂向夹,所述垂向夹的一端固定有横向夹,所述横向夹的内侧设置有横向轴。Further, the positioning mechanism includes a support base, a vertical shaft, a transverse shaft, a vertical clamp and a horizontal clamp, the support base is screwed to the outside of the drive screw, the top of the support base is fixed with a vertical shaft, A vertical clip is arranged outside the vertical shaft, a horizontal clip is fixed at one end of the vertical clip, and a horizontal shaft is arranged inside the horizontal clip.
进一步地,所述横向轴的一侧设置有固定夹,所述固定夹的内侧设置有焊枪,所述焊枪的一端设置有焊接管。Further, a fixing clip is provided on one side of the transverse axis, a welding torch is arranged on the inner side of the fixing clip, and a welding pipe is arranged at one end of the welding torch.
进一步地,所述固定板的顶部还设置有焊接母材。Further, the top of the fixing plate is also provided with a welding base material.
进一步地,所述焊接管的外侧安装有用于检测的视觉模块,所述视觉模块包括双目相机和连接架,所述双目相机的顶部固定有连接架,所述连接架的顶部与焊接管滑动连接,所述连接架的顶部还螺钉连接有卡板。Further, a visual module for detection is installed on the outside of the welded pipe, the visual module includes a binocular camera and a connecting frame, the top of the binocular camera is fixed with a connecting frame, and the top of the connecting frame is connected to the welded pipe Sliding connection, the top of the connecting frame is also screw-connected with a clamping plate.
一种用于探究熔池与焊接质量关联规律的焊接实验架的方法,用于如上任意一项,步骤如下:A method for exploring the welding test frame of the correlation law between molten pool and welding quality, which is used for any of the above items, and the steps are as follows:
S1:启动步进电机3,让支撑座5进行移动;S1: Start the
S2:调节垂向夹12和横向夹13的位置;S2: adjust the positions of the
S3:调节固定夹14的角度;S3: adjusting the angle of the
S4:焊枪6得电对焊接母材8进行焊接;S4: The
S5:视觉模块对第四步中的焊接位置进行检测。S5: The vision module detects the welding position in the fourth step.
进一步地,视觉模块的检测根据以下步骤:Further, the detection of the visual module is based on the following steps:
Ⅰ、通过减光镜和滤光片的作用,熔池的轮廓已经较为清晰,分为焊时熔池和冷却熔池;Ⅰ. Through the function of light reduction mirror and filter, the outline of molten pool is relatively clear, which is divided into molten pool during welding and molten pool during cooling;
Ⅱ、对熔池轮廓边缘进行实时提取;Ⅱ. Real-time extraction of molten pool contour edge;
Ⅳ、将“焊时熔池”部分单独取出与边缘标准进行实时比对,并判定是否需要调整电流和电压或者是调整焊枪角度以及焊接速度。Ⅳ. Take out the "melt pool during welding" part separately and compare it with the edge standard in real time, and judge whether it is necessary to adjust the current and voltage or adjust the welding torch angle and welding speed.
本发明具有以下有益效果:The present invention has the following beneficial effects:
1、本发明通过驱动机构、定位机构和视觉模块的配合,能够在使用时稳定调节焊枪的焊接位置、焊接角度以及焊接的速度,并通过视觉模块对焊接的质量进行拍摄,从而能够便于对焊接的质量进行评价。1. The present invention can stably adjust the welding position, welding angle and welding speed of the welding torch through the cooperation of the driving mechanism, the positioning mechanism and the vision module, and the quality of the welding can be photographed through the vision module, so that it can facilitate the welding quality is evaluated.
2、本发明通过定位架、步进电机、传动丝杠和支撑座的配合,能够通过步进电机带动传动丝杠的转动来控制传动丝杠的转速,并能够通过支撑座控制焊枪的移动,从而实现焊枪的精准匀速移动。2. The present invention can control the rotation speed of the transmission screw by driving the rotation of the transmission screw through the stepping motor through the cooperation of the positioning frame, the stepping motor, the transmission screw and the support seat, and can control the movement of the welding torch through the support seat. So as to realize the precise and uniform movement of the welding torch.
3、本发明通过垂向轴、横向轴、垂向夹、横向夹和固定夹的配合,让横向夹的调节来控制焊枪的角度,并通过横向轴和横向夹的配合调节焊枪的伸出距离,通过垂向轴和垂向夹调整焊枪的上下距离。3. The present invention allows the adjustment of the horizontal clamp to control the angle of the welding torch through the cooperation of the vertical axis, the horizontal axis, the vertical clamp, the horizontal clamp and the fixed clamp, and adjusts the extension distance of the welding torch through the cooperation of the horizontal axis and the horizontal clamp , adjust the up and down distance of the welding torch through the vertical axis and the vertical clamp.
4、本发明通过双目相机检测焊接的质量,并能够监测焊枪在焊接母材上工作后的熔池质量,以反馈给计算机做出调整。4. The present invention detects the quality of welding through a binocular camera, and can monitor the quality of the molten pool after the welding torch works on the welding base material, and feed back to the computer to make adjustments.
附图说明Description of drawings
为了更清楚地说明本发明实施例的技术方案,下面将对实施例描述所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings that are required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. Those of ordinary skill in the art can also obtain other drawings based on these drawings without any creative effort.
图1为本发明整体的结构示意图;Fig. 1 is the overall structural representation of the present invention;
图2为本发明整体的后视图;Fig. 2 is the overall back view of the present invention;
图3为本发明双目相机的结构示意图;Fig. 3 is the structural representation of binocular camera of the present invention;
图4为本发明视觉系统工作原理示意图;4 is a schematic diagram of the working principle of the vision system of the present invention;
图5为本发明经过视觉系统输出到计算机的熔池图像;Fig. 5 is the molten pool image that the present invention outputs to computer through vision system;
图6为本发明图像处理及其反馈过程示意图;Fig. 6 is a schematic diagram of the image processing and its feedback process of the present invention;
图7为本发明边缘标准示意图。Fig. 7 is a schematic diagram of the edge standard of the present invention.
附图中,各标号所代表的部件列表如下:In the accompanying drawings, the list of parts represented by each label is as follows:
1、固定板;2、定位架;3、步进电机;4、传动丝杠;5、支撑座;6、焊枪;7、双目相机;8、焊接母材;9、熔池;10、垂向轴;11、横向轴;12、垂向夹;13、横向夹;14、固定夹;15、连接架。1. Fixed plate; 2. Positioning frame; 3. Stepping motor; 4. Transmission screw; 5. Support seat; 6. Welding torch; 7. Binocular camera; 8. Welding base material; Vertical axis; 11. Transverse axis; 12. Vertical clip; 13. Horizontal clip; 14. Fixing clip; 15. Connecting frame.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其它实施例,都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
实施例一:Embodiment one:
请参阅图1-7所示,本发明为一种用于探究熔池与焊接质量关联规律的焊接实验架,包括固定板1,固定板1的顶部安装有驱动机构、定位机构和视觉模块,定位机构位于驱动机构的顶端,视觉模块位于驱动机构的一端;Please refer to Figs. 1-7, the present invention is a welding experiment frame for exploring the relationship between molten pool and welding quality, including a fixed plate 1, a driving mechanism, a positioning mechanism and a visual module are installed on the top of the fixed plate 1, The positioning mechanism is located at the top of the driving mechanism, and the vision module is located at one end of the driving mechanism;
驱动机构包括定位架2、步进电机3和传动丝杠4,固定板1的顶部固定有定位架2,进而能够对驱动机构的位置进行固定,定位架2的一端固定有步进电机3,步进电机3的输出端连接有传动丝杠4,从而能够快速带动传动丝杠4进行转动;The driving mechanism includes a positioning frame 2, a stepping
优选的,驱动机构还包括一控制面板,从而能够通过控制面板对电器元件进行控制,并能够看到驱动机构的移动速度。Preferably, the driving mechanism further includes a control panel, so that the electrical components can be controlled through the control panel, and the moving speed of the driving mechanism can be seen.
定位机构包括支撑座5、垂向轴10、横向轴11、垂向夹12和横向夹13,支撑座5螺纹连接在传动丝杠4的外侧,且支撑座5与定位架2滑动连接,使得支撑座5的转动能够带动传动丝杠4进行移动,支撑座5的顶部固定有垂向轴10,垂向轴10的外侧设置有垂向夹12,垂向夹12的一端固定有横向夹13,横向夹13的内侧设置有横向轴11;并能够通过传动丝杠4的转动控制支撑座5的轴向移动方向及(4mm-8mm/s)的移动速度;The positioning mechanism includes a
优选的,垂向夹12和横向夹13均通过螺栓压紧。Preferably, both the
优选的,垂向夹12的内侧设置有第一齿轮,且第一齿轮与垂向轴10啮合连接,从而能够通过第一齿轮的转动带动垂向夹12在垂向轴10的外侧进行升降。Preferably, the inside of the
优选的,横向夹13的内侧设置有第二齿轮,且第二齿轮与横向轴11啮合连接,从而能够通过第而齿轮的转动带动横向夹13在横向轴11的外侧进行移动。Preferably, the inner side of the
横向轴11的一侧设置有固定夹14,且固定夹14通过螺栓压紧,使得固定夹14能够与横向轴11进行转动并能够进行转动后的卡接固定,从而能够通过固定夹14的转动进行调节角度,固定夹14的内侧设置有焊枪6,从而能够对焊枪6的位置进行固定,焊枪6的一端设置有焊接管;One side of the
优选的,横向轴11一侧的内部固定有定位柱,固定夹14的内部开设有略小于定位柱直径的定位槽,固定夹14与横向轴11通过定位柱转动连接并在转动连接后进行定位。Preferably, a positioning post is fixed inside one side of the
固定板1的顶部还设置有焊接母材8,焊接母材8的内侧且与焊枪6接触的位置形成熔池9;The top of the fixed plate 1 is also provided with a
本实施例中,焊枪6为现有成熟的结构,不在对其一一赘述。In this embodiment, the
在使用时焊接速度的大小对熔池9的熔化及覆盖有很大关联性,进而影响焊接质量,因此精准控制传动丝杠4以(4mm-8mm/s)均速移动也显得尤为重要。步进电机3控制器可对其速度进行编程。During use, the welding speed has a great correlation with the melting and coverage of the
焊接管的外侧安装有用于检测的视觉模块,视觉模块包括双目相机7和连接架15,双目相机7的顶部固定有连接架15,连接架15的顶部与焊接管滑动连接,使得双目相机7能够在焊接管的外侧进行移动,连接架15的顶部还螺钉连接有卡板,进而能够通过卡板和连接架15的连接将双目相机7固定在焊接管的外侧,从而能够通过视觉模块检测焊接实验过程中熔池9的状态熔池9的形态和熔池9的温度,并拍摄采集图像信息。The outside of the welded pipe is equipped with a vision module for detection, the vision module includes a
本实施例中,双目相机7为现有成熟的结构,不在对其一一赘述。In this embodiment, the
双目相机7由相机和复合滤光系统组成,成功的克服了弧光过强的干扰,采集到了清晰的熔池图像。能够不经过任何处理直接使用摄像机进行信息采集最后得到的图像都会被强烈的弧光所充斥,无法得到我们所需的 熔池的几何信息。因此熔池视觉器的核心问题就是工业相机采用合适的减光、滤光操作,去除过量的弧光对熔池成像区域的干扰,从而获得高质量的图像信息。红外相机则是拍摄得到温度矩阵的文本文件信息传递给计算机,经过程序处理为温度图。形成双反馈的视觉系统。The
焊接实验台主要由带动焊枪移动的驱动机构、调整焊枪方位及角度的定位机构和视觉模块。而视觉模块作为其重要组成部分,传感系统通过工业相机和红外相机分别实时检测焊接过程状态信息为熔池形态和熔池温度分布,并对获取的信息进行实时反馈给计算机,从而实现对熔池质量的控制。驱动机构和定位机构不仅起到了移动焊枪的作用,而且可以用来调整其焊接参数焊接速度,焊接角度和焊接距离,以探究熔池与焊接质量关联规律;The welding test bench is mainly composed of a driving mechanism that drives the welding torch to move, a positioning mechanism that adjusts the position and angle of the welding torch, and a vision module. As an important part of the vision module, the sensor system uses industrial cameras and infrared cameras to detect the status information of the welding process in real time, namely the shape of the molten pool and the temperature distribution of the molten pool, and feeds back the acquired information to the computer in real time, so as to realize the real-time monitoring of the welding process. Pool quality control. The driving mechanism and positioning mechanism not only play the role of moving the welding torch, but also can be used to adjust its welding parameters, welding speed, welding angle and welding distance, so as to explore the relationship between molten pool and welding quality;
焊接过程中熔池的尺寸以及温度是影响焊缝成型质量的关键问题,可以通过焊接试验台的控制模块对焊接过程中焊枪的工作角度、行走角度以及焊接速度等焊接参数进行调控,通过焊枪末端的视觉模块对焊接过程的熔池尺寸和熔池温度的熔池参数进行监测,进而实现监测熔池参数反馈调控焊接参数的智能化焊接技术方案,以提升大跨拱桥主拱焊接极端环境下焊接机器人的焊接效率,确保焊接质量。The size and temperature of the molten pool during the welding process are the key issues affecting the quality of the weld seam. The welding parameters such as the working angle, walking angle and welding speed of the welding torch during the welding process can be adjusted through the control module of the welding test bench. The vision module monitors the molten pool size and molten pool temperature parameters in the welding process, and then realizes the intelligent welding technology solution for monitoring the molten pool parameters and feedback control welding parameters, so as to improve the welding of the main arch of long-span arch bridges in extreme environments. The welding efficiency of the robot ensures the welding quality.
驱动机构和定位机构来调整焊机的焊接速度、焊接距离和焊接角度等焊接参数,探究焊接参数对焊接过程中熔池的影响规律,并对焊接质量进行评价,从而明确焊接过程中熔池与焊接质量的关联规律,以达到控制焊接参数调整熔池特性控制焊接质量的目的。首先,驱动机构中的步进电机带动传动丝杆的转动控制传动丝杆的转速,从而带动支撑座上方的定位机构移动,以此实现定位机构上焊枪的精准移动。然后,通过横向轴与横向夹之间的齿轮齿条来配合调节焊枪的伸出距离,焊枪的上下距离则由垂向轴和垂向夹调整。其次,让横向夹和固定夹来完成焊枪的焊接角度。焊枪移动工作过程中,视觉模块组件对焊接过程中熔池的图像信息进行采集,并实时对熔池图像中熔池外形尺寸和温度分布进行提取。最后,通过焊缝内部缺陷无损检测评价焊缝质量。通过探究焊接参数-焊接熔池-焊接质量间的关联规律,实现焊接质量的过程控制。The driving mechanism and positioning mechanism are used to adjust the welding parameters such as welding speed, welding distance and welding angle of the welding machine, explore the influence of welding parameters on the molten pool during the welding process, and evaluate the welding quality, so as to clarify the relationship between the molten pool and the welding process during the welding process. Welding quality correlation law, in order to achieve the purpose of controlling welding parameters to adjust molten pool characteristics to control welding quality. Firstly, the stepper motor in the driving mechanism drives the rotation of the transmission screw to control the rotation speed of the transmission screw, thereby driving the positioning mechanism above the support seat to move, thereby realizing the precise movement of the welding torch on the positioning mechanism. Then, the extension distance of the welding torch is adjusted through the rack and pinion between the transverse shaft and the transverse clamp, and the up and down distance of the welding torch is adjusted by the vertical axis and the vertical clamp. Second, let the transverse clip and fixed clip complete the welding angle of the welding torch. During the working process of the welding gun moving, the visual module component collects the image information of the molten pool during the welding process, and extracts the shape size and temperature distribution of the molten pool in the molten pool image in real time. Finally, the weld quality was evaluated by non-destructive testing of weld internal defects. The process control of welding quality is realized by exploring the relationship between welding parameters-welding pool-welding quality.
实施例二:Embodiment two:
在上述实施例1的基础上,公开其使用方法On the basis of above-mentioned embodiment 1, disclose its using method
第一步:启动步进电机3,让支撑座5进行移动;The first step: start the
第二步:调节垂向夹12和横向夹13的位置;The second step: adjust the positions of the
第三步:调节固定夹14的角度;The third step: adjust the angle of the fixing
第四步:焊枪6得电对焊接母材8进行焊接;The fourth step: the
第五步:视觉模块对第四步中的焊接位置进行检测;Step 5: The vision module detects the welding position in the fourth step;
优选的,视觉模块的检测根据以下步骤:Preferably, the detection of the vision module is according to the following steps:
Ⅰ、原始图像中:通过减光镜和滤光片的作用,熔池的轮廓已经较为清晰,分为焊时熔池(可参考图6)和冷却熔池(可参考图5);Ⅰ. In the original image: the outline of the molten pool is relatively clear through the action of the light reducing mirror and the filter, which is divided into the molten pool during welding (refer to Figure 6) and the molten pool during cooling (refer to Figure 5);
Ⅱ、边缘检测中:运用程序对熔池轮廓边缘进行实时提取;Ⅱ. During edge detection: use the program to extract the edge of the molten pool contour in real time;
Ⅲ、熔池区分中:因为我们主要关注焊丝熔化时熔池的轮廓边缘,因此需要对“冷却熔池”和“焊时熔池”进行区分;Ⅲ. Distinguishing the molten pool: because we mainly focus on the contour edge of the molten pool when the welding wire melts, it is necessary to distinguish between "cooling molten pool" and "welding molten pool";
Ⅳ、熔池区分中:将“焊时熔池”部分单独取出与边缘标准进行实时比对,反馈给计算机,计算机判定是否需要调整电流和电压,或者是调整焊枪角度以及焊接速度等参数;Ⅳ. In the process of molten pool differentiation: the "weld pool" part is taken out separately and compared with the edge standard in real time, and fed back to the computer, and the computer determines whether it is necessary to adjust the current and voltage, or adjust parameters such as welding torch angle and welding speed;
反馈过程中:计算机对熔池的进行反馈前,计算机需要大量的熔池图像进行机器学习。During the feedback process: Before the computer feedbacks the molten pool, the computer needs a large number of molten pool images for machine learning.
在本说明书的描述中,参考术语“一个实施例”、“示例”、“具体示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中,对上述术语的示意性表述不一定指的是相同的实施例或示例。而且,描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。In the description of this specification, descriptions with reference to the terms "one embodiment", "example", "specific example" and the like mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment of the present invention. In an embodiment or example. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
以上公开的本发明优选实施例只是用于帮助阐述本发明。优选实施例并没有详尽叙述所有的细节,也不限制该本发明仅为所述的具体实施方式。显然,根据本说明书的内容,可作很多的修改和变化。本说明书选取并具体描述这些实施例,是为了更好地解释本发明的原理和实际应用,从而使所属技术领域技术人员能很好地理解和利用本发明。本发明仅受权利要求书及其全部范围和等效物的限制。The preferred embodiments of the invention disclosed above are only to help illustrate the invention. The preferred embodiments are not exhaustive in all detail, nor are the invention limited to specific embodiments described. Obviously, many modifications and variations can be made based on the contents of this specification. This description selects and specifically describes these embodiments in order to better explain the principle and practical application of the present invention, so that those skilled in the art can well understand and utilize the present invention. The invention is to be limited only by the claims, along with their full scope and equivalents.
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