CN117047282A - Laser hybrid welding method, device and equipment for T-shaped parts and storage medium - Google Patents
Laser hybrid welding method, device and equipment for T-shaped parts and storage medium Download PDFInfo
- Publication number
- CN117047282A CN117047282A CN202311099595.6A CN202311099595A CN117047282A CN 117047282 A CN117047282 A CN 117047282A CN 202311099595 A CN202311099595 A CN 202311099595A CN 117047282 A CN117047282 A CN 117047282A
- Authority
- CN
- China
- Prior art keywords
- welding
- shaped part
- laser
- parameters
- assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000003466 welding Methods 0.000 title claims abstract description 595
- 238000000034 method Methods 0.000 title claims abstract description 51
- 238000003860 storage Methods 0.000 title claims abstract description 13
- 239000002131 composite material Substances 0.000 claims abstract description 33
- 238000001514 detection method Methods 0.000 claims description 56
- 238000012549 training Methods 0.000 claims description 18
- 238000012545 processing Methods 0.000 claims description 17
- 238000012795 verification Methods 0.000 claims description 16
- 230000007547 defect Effects 0.000 claims description 8
- 238000001914 filtration Methods 0.000 claims description 6
- 150000001875 compounds Chemical class 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 4
- 238000010606 normalization Methods 0.000 claims description 4
- 238000007781 pre-processing Methods 0.000 claims description 4
- 238000004021 metal welding Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 238000004891 communication Methods 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000010891 electric arc Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 238000003062 neural network model Methods 0.000 description 1
- 210000002569 neuron Anatomy 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
Classifications
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/346—Working by laser beam, e.g. welding, cutting or boring in combination with welding or cutting covered by groups B23K5/00 - B23K25/00, e.g. in combination with resistance welding
- B23K26/348—Working by laser beam, e.g. welding, cutting or boring in combination with welding or cutting covered by groups B23K5/00 - B23K25/00, e.g. in combination with resistance welding in combination with arc heating, e.g. TIG [tungsten inert gas], MIG [metal inert gas] or plasma welding
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
Abstract
The invention belongs to the technical field of metal welding, and discloses a laser composite welding method, device and equipment for T-shaped parts and a storage medium. According to the invention, the T-shaped part is assembled at the preset position of the top plate, the assembly gap between the T-shaped part and the top plate, the assembly natural angle and the groove pattern of the T-shaped part are obtained, the assembly gap and the assembly natural angle are detected, when the assembly gap and the assembly natural angle meet the welding standard, the welding mode of the T-shaped part is determined according to the groove pattern, the welding parameters are obtained according to the welding mode and the specification parameters of the T-shaped part, and the laser-arc composite welding is carried out on the groove of the T-shaped part in the welding area according to the welding parameters, so that the T-shaped part forms a corresponding welding seam. According to the invention, whether the welding requirement is met or not can be identified efficiently by detecting the assembly gap, the assembly natural angle and the like before welding, and when the welding requirement is met, the corresponding welding mode is selected according to the specific groove pattern, so that the welding is completed efficiently and with high quality.
Description
Technical Field
The invention relates to the technical field of metal welding, in particular to a laser composite welding method, device and equipment for T-shaped parts and a storage medium.
Background
The welding of T type part can realize connecting two different parts, increase the stability and the intensity of structure, be widely used in industry fields such as machinery, building, bridge, vehicle, boats and ships, aerospace, at present in the welding process, the common welding mode is single welding mode, single welding mode can produce the welding machine result of different effects because of welding materials are different, in addition, the welding interval and the welding natural angle between the welding parts need artificial control when welding, be difficult to ensure welding interval and welding machine natural angle and be the normative welding condition, consequently, current welding mode can' T satisfy high efficiency, high quality welding demand.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a laser composite welding method, device and equipment for T-shaped parts and a storage medium, and aims to solve the technical problem that the prior art cannot meet the welding requirements of high efficiency and high quality.
In order to achieve the above purpose, the invention provides a laser composite welding method for T-shaped parts, which comprises the following steps:
assembling a T-shaped part at a preset position of a top plate, and obtaining an assembling gap between the T-shaped part and the top plate, an assembling natural angle and a groove pattern of the T-shaped part;
detecting the assembly gap and the assembly natural angle, and determining a welding mode of the T-shaped part according to the groove pattern when the assembly gap and the assembly natural angle meet welding standards;
obtaining welding parameters according to the welding mode and specification parameters of the T-shaped part, wherein the welding parameters at least comprise welding wire diameter, welding wire extending length, wire feeding speed, power density, welding speed, welding wire arc point position and laser spot position;
and positioning a welding area, and carrying out laser-arc composite welding on the groove of the T-shaped part of the welding area according to the welding parameters so as to form a corresponding welding seam on the T-shaped part.
Optionally, the step of obtaining the assembly gap between the T-shaped part and the top plate, the assembly natural angle and the groove pattern of the T-shaped part includes:
acquiring position images of the T-shaped part and the top plate;
Gray processing is carried out on the position image, and a gray image is obtained;
carrying out Gaussian filtering on the gray level image to obtain a denoising image;
calculating Laplacian gradient of the denoising image to obtain a Laplacian image;
performing binarization processing on the Laplacian image, setting an edge pixel as a maximum value, setting other pixels as 0, obtaining a contour line, and determining the contour of the T-shaped part and the contour of the top plate according to the contour line;
obtaining the assembly clearance and the assembly natural angle according to the T-shaped part contour and the top plate contour;
obtaining the groove shape of the T-shaped part according to the profile of the T-shaped part;
and searching the groove shape of the T-shaped part in a groove shape comparison table to obtain the groove pattern of the T-shaped part.
Optionally, when the assembly gap and the assembly natural angle meet the welding standard, determining the welding mode of the T-shaped part according to the groove pattern includes:
analyzing the groove pattern based on a welding strategy model, and determining a welding strategy corresponding to the groove pattern, wherein the welding strategy comprises a welding path;
and obtaining the welding mode of the T-shaped part according to the welding strategy.
Optionally, the obtaining welding parameters according to the welding mode and the specification parameters of the T-shaped part includes:
determining a starting point of a welding line based on the welding strategy model and specification parameter analysis of the welding mode and the T-shaped part;
and obtaining the number of the welding seams and the welding parameters corresponding to the welding seams according to the specification parameters of the T-shaped part and the starting points and the stopping points of the welding seams.
Optionally, the analyzing the bevel pattern based on the welding strategy model determines a welding strategy corresponding to the bevel pattern, where before the welding strategy includes a welding path, the method further includes:
obtaining a welding data set according to historical welding data, wherein the welding data set comprises the groove pattern, specification parameters of the T-shaped part, the welding parameters and a weld flaw detection result;
carrying out normalization processing on the welding data in the welding data set to obtain preprocessing data;
dividing the welding data set into a training set and a verification set;
training the initial welding strategy model based on the training set to obtain an intermediate welding strategy model;
verifying the intermediate welding strategy model based on the verification set, outputting a prediction strategy, and obtaining a corresponding prediction flaw detection result according to the prediction strategy;
And comparing the flaw detection result in the verification set with the predicted flaw detection result, and outputting the intermediate welding strategy model as a welding strategy model when the comparison result is smaller than a preset threshold value.
Optionally, the positioning welding area performs laser-arc hybrid welding on the groove of the T-shaped part of the welding area according to the welding parameter, so that the T-shaped part forms a corresponding weld joint, including:
positioning the welding area according to the welding seam pattern, opening a laser welding device, determining the laser output power of the laser welding device according to the welding parameters, and preheating the welding area by using the laser output power;
and opening an arc welding device after preheating is finished, determining the arc output power of the arc welding device according to the welding parameters, and carrying out compound welding on the welding area according to the arc output power to obtain the T-shaped part to form a corresponding welding seam.
Optionally, the positioning welding area performs laser-arc hybrid welding on the groove of the T-shaped part of the welding area according to the welding parameter, so that the T-shaped part forms a corresponding weld joint, and then the method further includes:
Performing flaw detection on the welding seam according to a preset flaw detection depth, and determining whether the welding seam has a flaw according to a flaw detection result;
when the weld joint has defects, obtaining welding errors according to the flaw detection results;
updating a welding strategy model according to the welding error, and determining a compensation welding parameter according to the welding error pair;
performing compensation welding on the welding seam according to the compensation welding parameters, returning to the step of performing flaw detection on the welding seam according to the preset flaw detection depth, and determining whether the welding seam has a flaw according to a detection result;
and when the welding line has no defect, confirming that the welding of the T-shaped part is finished.
In addition, in order to achieve the above object, the present invention also provides a laser hybrid welding device for a T-shaped part, the laser hybrid welding device for a T-shaped part comprising:
the welding piece identification module is used for assembling the T-shaped part at a preset position of the top plate, and acquiring an assembly gap between the T-shaped part and the top plate, an assembly natural angle and a groove pattern of the T-shaped part;
the welding planning module is used for detecting the assembly gap and the assembly natural angle, and determining the welding mode of the T-shaped part according to the groove pattern when the assembly gap and the assembly natural angle meet the welding standard;
The parameter determining module is used for obtaining welding parameters according to the welding mode and the specification parameters of the T-shaped part, wherein the welding parameters at least comprise a welding wire diameter, a welding wire extending length, a wire feeding speed, a power density, a welding speed, a welding wire arc point position and a laser spot position;
and the welding execution module is used for positioning a welding area, and carrying out laser-arc composite welding on the groove of the T-shaped part in the welding area according to the welding parameters so as to form a corresponding welding seam on the T-shaped part.
In addition, in order to achieve the above object, the present invention also proposes a laser hybrid welding apparatus of a T-shaped part, the laser hybrid welding apparatus of a T-shaped part comprising: the laser hybrid welding device comprises a memory, a processor and a laser hybrid welding program of a T-shaped part stored on the memory and capable of running on the processor, wherein the laser hybrid welding program of the T-shaped part is configured to realize the steps of the laser hybrid welding method of the T-shaped part.
In addition, in order to achieve the above object, the present invention also proposes a storage medium having stored thereon a laser hybrid welding program of a T-shaped part, which when executed by a processor, implements the steps of the laser hybrid welding method of a T-shaped part as described above.
According to the invention, the T-shaped part is assembled at the preset position of the top plate, the assembly gap between the T-shaped part and the top plate, the assembly natural angle and the groove pattern of the T-shaped part are obtained, the assembly gap and the assembly natural angle are detected, when the assembly gap and the assembly natural angle meet the welding standard, the welding mode of the T-shaped part is determined according to the groove pattern, the welding parameters are obtained according to the welding mode and the specification parameters of the T-shaped part, and the laser-arc composite welding is carried out on the groove of the T-shaped part in the welding area according to the welding parameters, so that the T-shaped part forms a corresponding welding seam. According to the invention, whether the welding requirement is met or not can be identified efficiently by detecting the assembly gap, the assembly natural angle and the like before welding, and when the welding requirement is met, the corresponding welding mode is selected according to the specific groove pattern, so that the welding is completed efficiently and with high quality.
Drawings
FIG. 1 is a schematic diagram of a laser hybrid welding apparatus for T-shaped parts of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of a method for laser hybrid welding of T-shaped parts according to the present invention;
FIG. 3 is a diagram showing a welding pattern of T-shaped parts during welding according to an embodiment of the laser hybrid welding method of T-shaped parts of the present invention;
FIG. 4 is a flow chart of a second embodiment of a method for laser hybrid welding of T-shaped parts according to the present invention;
fig. 5 is a block diagram showing the structure of a first embodiment of the laser hybrid welding apparatus for T-shaped parts according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a laser hybrid welding apparatus for T-shaped parts in a hardware operation environment according to an embodiment of the present invention.
As shown in fig. 1, the laser hybrid welding apparatus of a T-shaped part may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) Memory or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of a laser hybrid welding apparatus for T-shaped parts, and may include more or fewer components than shown, or certain components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include an operating system, a network communication module, a user interface module, and a laser hybrid welding program for T-shaped parts.
In the laser hybrid welding apparatus for T-shaped parts shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the laser composite welding apparatus for T-shaped parts of the present invention may be disposed in the laser composite welding apparatus for T-shaped parts, where the laser composite welding apparatus for T-shaped parts invokes the laser composite welding program for T-shaped parts stored in the memory 1005 through the processor 1001, and executes the laser composite welding method for T-shaped parts provided by the embodiment of the present invention.
The embodiment of the invention provides a laser composite welding method for T-shaped parts, and referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the laser composite welding method for T-shaped parts.
In this embodiment, the laser hybrid welding method for the T-shaped part includes the following steps:
step S10: and assembling the T-shaped part at a preset position of a top plate, and obtaining an assembling gap between the T-shaped part and the top plate, an assembling natural angle and a groove pattern of the T-shaped part.
It should be noted that, the execution main body of the embodiment is a laser composite welding device of a T-shaped part, where the laser composite welding device of the T-shaped part has functions of data processing, data communication, program running, etc., and the laser composite welding device of the T-shaped part may be an integrated controller, a control computer, etc., or may be other devices with similar functions, which is not limited in this embodiment.
It should be understood that T-piece welding is the process of welding one piece with another piece as a single unit, after which the angle at which the two pieces join should be at right angles, i.e., the angle at which the two pieces join is 90 °. Referring to fig. 3, fig. 3 is a welding pattern diagram at the time of welding T-shaped parts. In the welding structure, in order to keep the vertical relation of the welding result and adopt different welding modes for coping with different application scenes, grooves with different patterns, such as I type, U type, V type, K type, X type and the like, are cut in advance, and the bearing capacity of T-shaped parts can be differentiated by welding after assembling.
In a specific implementation, after receiving an opening instruction for starting welding, the laser composite welding equipment for the T-shaped part can automatically go to a target welding area or manually pull the laser composite welding equipment for the T-shaped part to the target welding area for welding operation, and when the laser composite welding equipment for the T-shaped part automatically goes to the target welding area, the laser composite welding equipment specifically comprises: generating a space coordinate system according to a scene on site, and determining a space coordinate corresponding to each object in the scene on site; acquiring a target welding position; generating a shortest path according to the current position of the welding device and the target welding position; and reaching the target welding position according to the shortest path. During the movement, an obstacle in the path can be detected, and when the obstacle is detected to exist on the shortest path, the shortest path is regenerated according to the position at the moment and the target position. When reaching the target welding area, the assembly gap, the assembly natural angle and the corresponding groove patterns between the T-shaped part and the top plate can be obtained according to the arrangement condition of the welding parts at the target welding position, when the assembly gap, the assembly natural angle and the corresponding groove patterns between the T-shaped part and the top plate are obtained, the assembly gap, the assembly natural angle and the corresponding groove patterns between the T-shaped part and the top plate can be obtained in an image mode, the assembly gap, the assembly natural angle and the corresponding groove patterns between the T-shaped part and the top plate can be obtained in an ultrasonic mode, and the specific flow when the assembly gap, the assembly natural angle and the corresponding groove patterns between the T-shaped part and the top plate are obtained in an ultrasonic mode can be as follows: transmitting ultrasonic waves to a target welding area, and fitting according to the received returned ultrasonic waves to obtain a position relation diagram of the target welding position; obtaining ultrasonic position images of the T-shaped part and the top plate according to the position relation diagram; and obtaining an assembly gap, an assembly natural angle and a corresponding groove pattern between the T-shaped part and the top plate according to the ultrasonic position image.
Further, the obtaining the assembly gap between the T-shaped part and the top plate, the assembly natural angle and the groove pattern of the T-shaped part includes:
acquiring position images of the T-shaped part and the top plate;
gray processing is carried out on the position image, and a gray image is obtained;
carrying out Gaussian filtering on the gray level image to obtain a denoising image;
calculating Laplacian gradient of the denoising image to obtain a Laplacian image;
performing binarization processing on the Laplacian image, setting an edge pixel as a maximum value, setting other pixels as 0, obtaining a contour line, and determining the contour of the T-shaped part and the contour of the top plate according to the contour line;
obtaining the assembly clearance and the assembly natural angle according to the T-shaped part contour and the top plate contour;
obtaining the groove shape of the T-shaped part according to the profile of the T-shaped part;
and searching the groove shape of the T-shaped part in a groove shape comparison table to obtain the groove pattern of the T-shaped part.
In a specific implementation, a shot image is obtained by shooting a T-shaped part and a top plate, the shot image is obtained by content identification, a position image of the top plate and the T-shaped part is obtained, noise is needed to be removed from the position image, the distance between the welding parts is relatively short, the welding parts are made of metal, the light reflection capability is relatively strong, when light enters a gap between two welding parts, multiple reflection can occur, the light quantity of the light reflected into a camera lens in the gap can be reduced, the area between the two welding parts is relatively black, the same effect is also caused on the reflection of the light at the edge of the welding parts, a maximum value method can be adopted when gray scale processing is carried out, the gray scale image can be obtained, and after the gray scale image is obtained, the noise removal image can be obtained by carrying out image noise removal through a Gaussian filtering method, wherein the Gaussian filtering specific implementation mode is that the conversion of each pixel in a normal distribution calculation image is as follows:
Wherein u and v are coordinate values of pixels in the image, and v is a standard deviation of Gaussian distribution.
The edge detection is carried out on the denoising image, the expansion operation can be carried out after the corrosion operation is carried out on the basis of the denoising image, noise points smaller than structural elements can be removed, meanwhile, the edge definition is ensured, in the concrete implementation, the open operation is preferably adopted, the integrity of the edge is kept, and the corrosion operation formula is as follows:
wherein B is a structural element and a is an image.
The formula for the expansion operation is:
wherein A represents an original image, B represents a convolution kernel, z represents a position of the convolution kernel after the convolution kernel B moves,for the expand operator, Θ represents an empty set.
The expansion treatment can be adopted to fill the broken part of the edge, so that the continuity of the edge is enhanced. After the expansion processing operation, a Laplacian image is obtained, and then the Laplacian image is binarized, the edge pixels are set to be 255 at the maximum value, the other pixel positions are set to be 0, so that the contour lines of the welded parts can be obtained, and the contours of the T-shaped parts and the contours of the top plate can be obtained according to the contour lines. After the profile of the T-shaped part and the profile of the top plate are obtained, the assembly interval and the assembly natural angle can be detected according to the profile, the assembly interval and the assembly natural angle are obtained, and meanwhile, the groove pattern of the T-shaped part is obtained according to the profile line.
Step S20: and detecting the assembly gap and the assembly natural angle, and determining the welding mode of the T-shaped part according to the groove pattern when the assembly gap and the assembly natural angle meet the welding standard.
The welding standard is the minimum allowable standard for welding, and when welding is performed under welding conditions other than the welding standard, conditions such as weak welding, and the like, affect the welding quality, the welding angle of welding mode welding, and the combination modes of laser welding and arc welding, and the like, are required to be formed.
In the specific implementation, when the assembly clearance and the assembly natural angle meet the welding standard, the welding machine mode of the T-shaped part can be determined according to the groove patterns, and as a plurality of groove patterns are provided, the welding strategy of each groove pattern is different, a preset welding mode matching list is inquired according to the groove patterns, and the welding mode corresponding to the current groove pattern is obtained.
Step S30: and obtaining welding parameters according to the welding mode and the specification parameters of the T-shaped part, wherein the welding parameters at least comprise welding wire diameter, welding wire extending length, wire feeding speed, power density, welding speed, welding wire arc point position and laser spot position.
The welding parameters include at least a wire diameter, a wire extension, a wire feed speed, a power density, a welding speed, a wire arc position, and a laser spot position.
In a specific implementation, the diameter of the welding wire, the extending length of the welding wire, the wire feeding speed, the power density, the welding speed, the arc point position of the welding wire and the laser spot position can directly or indirectly influence the size and depth of a melting pit and the mixing degree of slag and metal in the welding process, so that the welding parameters are needed to be obtained according to the welding mode and the specification parameters of the parts, and the welding mode and the number of welding lines needed to be formed in the welding process are determined.
Step S40: and positioning a welding area, and carrying out laser-arc composite welding on the groove of the T-shaped part of the welding area according to the welding parameters so as to form a corresponding welding seam on the T-shaped part.
In the concrete implementation, the positions of the parts to be welded are identified, the parts are positioned to a welding area according to the positioning marks, and laser-electric arc composite welding is carried out on the grooves of the welding area, so that the T-shaped parts form corresponding welding seams.
Further, the positioning welding area performs laser-arc hybrid welding on the groove of the T-shaped part of the welding area according to the welding parameters, so that the T-shaped part forms a corresponding weld joint, and the method includes:
Positioning the welding area according to the welding seam pattern, opening a laser welding device, determining the laser output power of the laser welding device according to the welding parameters, and preheating the welding area by using the laser output power;
and opening an arc welding device after preheating is finished, determining the arc output power of the arc welding device according to the welding parameters, and carrying out compound welding on the welding area according to the arc output power to obtain the T-shaped part to form a corresponding welding seam.
In the specific implementation, the welding area is positioned according to the welding seam style, the output power of the laser welding device can be determined according to the welding parameters to preheat the welding area, and the welding area can be subjected to compound welding by adjusting the output voltage or the output current of an electric arc after the laser welding is performed, and the welding of all welding seams is completed according to the welding strategy.
Further, the positioning welding area performs laser-arc hybrid welding on the groove of the T-shaped part of the welding area according to the welding parameters, so that the T-shaped part forms a corresponding weld joint, and then the method further comprises:
Performing flaw detection on the welding seam according to a preset flaw detection depth, and determining whether the welding seam has a flaw according to a flaw detection result;
when the weld joint has defects, obtaining welding errors according to the flaw detection results;
updating a welding strategy model according to the welding error, and determining a compensation welding parameter according to the welding error pair;
performing compensation welding on the welding seam according to the compensation welding parameters, returning to the step of performing flaw detection on the welding seam according to the preset flaw detection depth, and determining whether the welding seam has a flaw according to a detection result;
and when the welding line has no defect, confirming that the welding of the T-shaped part is finished.
In specific implementation, after the welding of the welding area is finished, flaw detection is further needed to be carried out on the welding area, flaw detection is carried out on the welding seam according to preset flaw detection depth to obtain a detection result, flaw detection is carried out on the welding seam to determine whether the welding seam has a flaw, when the welding seam has the flaw, welding errors are obtained according to the flaw detection result, meanwhile, the welding errors are input into a welding strategy model, compensation welding parameters are determined according to the welding errors, after the compensation welding parameters are obtained, compensation welding is carried out on the welding area according to the compensation welding parameters, and the step of flaw detection on the welding area is repeated until the welding seam has no flaw, and at the moment, the completion of welding is confirmed and corresponding prompt information is output.
According to the embodiment, the T-shaped part is assembled at the preset position of the top plate, the assembly gap between the T-shaped part and the top plate, the assembly natural angle and the groove pattern of the T-shaped part are obtained, the assembly gap and the assembly natural angle are detected, when the assembly gap and the assembly natural angle meet the welding standard, the welding mode of the T-shaped part is determined according to the groove pattern, the welding parameters are obtained according to the welding mode and the specification parameters of the T-shaped part, and the groove of the T-shaped part in the welding area is subjected to laser-arc composite welding according to the welding parameters, so that the T-shaped part forms a corresponding welding seam. According to the invention, whether the welding requirement is met or not can be identified efficiently by detecting the assembly gap, the assembly natural angle and the like before welding, and when the welding requirement is met, the corresponding welding mode is selected according to the specific groove pattern, so that the welding is completed efficiently and with high quality.
Referring to fig. 4, fig. 4 is a schematic flow chart of a second embodiment of a laser hybrid welding method for T-shaped parts according to the present invention.
Based on the above first embodiment, the laser hybrid welding method for a T-shaped part according to the present embodiment further includes, in the step S20:
step S201: and analyzing the groove pattern based on a welding strategy model, and determining a welding strategy corresponding to the groove pattern, wherein the welding strategy comprises a welding path.
Step S202: and obtaining the welding mode of the T-shaped part according to the welding strategy.
The welding strategy model is a neural network model, and can take a groove pattern as input, obtain a welding strategy corresponding to the corresponding groove pattern through calculation of neurons in the welding strategy model, and output the corresponding welding strategy.
In a specific implementation, after the groove pattern is obtained, the groove pattern is input into a welding strategy model, and a corresponding welding strategy is matched according to the groove pattern, for example, if the groove pattern is of an I type, the welding strategy can be output as the I type strategy, and specifically, a path can be welded from the starting point to the end point in a uniform linear mode for determining a welding starting point and a welding end point.
Further, the obtaining welding parameters according to the welding mode and the specification parameters of the T-shaped part includes:
determining a starting point of a welding line based on the welding strategy model and specification parameter analysis of the welding mode and the T-shaped part;
and obtaining the number of the welding seams and the welding parameters corresponding to the welding seams according to the specification parameters of the T-shaped part and the starting points and the stopping points of the welding seams.
In specific implementation, the welding model and specification parameters of the T-shaped part are analyzed according to the welding strategy model, and the starting point and the stopping point of the welding line are determined. When determining the starting point of the welding line, the welding stress corresponding to different groove patterns is required to be predicted, the starting point is positioned at the position with smaller stress change according to the result of stress prediction, and the starting point and the stopping point of the welding line are planned according to the sequence from small to large, so that the quality after welding can be ensured to be reliable.
Further, the analyzing the groove pattern based on the welding strategy model determines a welding strategy corresponding to the groove pattern, and before the welding strategy includes a welding path, the method further includes:
obtaining a welding data set according to historical welding data, wherein the welding data set comprises the groove pattern, specification parameters of the T-shaped part, the welding parameters and a weld flaw detection result;
carrying out normalization processing on the welding data in the welding data set to obtain preprocessing data;
dividing the welding data set into a training set and a verification set;
training the initial welding strategy model based on the training set to obtain an intermediate welding strategy model;
verifying the intermediate welding strategy model based on the verification set, outputting a prediction strategy, and obtaining a corresponding prediction flaw detection result according to the prediction strategy;
And comparing the flaw detection result in the verification set with the predicted flaw detection result, and outputting the intermediate welding strategy model as a welding strategy model when the comparison result is smaller than a preset threshold value.
In specific implementation, the historical welding data is subjected to data cleaning, error data and the like in the historical welding data are deleted, the reserved welding data are divided into a training set and a verification set after being normalized, and the welding data comprise groove patterns, specification parameters of T-shaped parts, welding parameters and weld joint flaw detection results. And training the initial welding strategy model according to the data in the training set, continuously iterating weight parameters in the initial welding strategy model, obtaining an intermediate welding strategy model after training, verifying the intermediate welding strategy model through the welding data in the verification set in order to verify the training result of the model, inputting the welding data in the verification set into the intermediate welding strategy model to obtain a Chinese plug strategy, simulating a welding process according to the prediction strategy, carrying out flaw detection on the welding result after the simulation welding process to obtain a prediction flaw detection result, and comparing the flaw detection result in the verification set with the prediction flaw detection result, and outputting the intermediate welding strategy model as the welding strategy model when the comparison result is smaller than a preset threshold value. And when the comparison result is greater than or equal to a preset threshold value, updating the weight parameter of the intermediate welding strategy model according to the comparison result, and continuously repeating the process until the comparison result is smaller than the preset threshold value.
According to the embodiment, the welding strategy model is obtained through training according to historical welding data, the proper welding strategy can be determined according to the recognized groove style through the trained welding strategy model, the welding efficiency and welding quality can be guaranteed to the greatest extent, the situation that the welding strategy needs to be judged manually under a severe welding environment is avoided, and meanwhile, the welding strategy is obtained through the welding strategy model more rapidly and accurately.
In addition, the embodiment of the invention also provides a storage medium, wherein the storage medium stores a laser composite welding program of the T-shaped part, and the laser composite welding program of the T-shaped part realizes the steps of the laser composite welding method of the T-shaped part when being executed by a processor.
Referring to fig. 5, fig. 5 is a block diagram showing a first embodiment of a laser hybrid welding apparatus for T-shaped parts according to the present invention.
As shown in fig. 5, the laser hybrid welding device for a T-shaped part according to the embodiment of the present invention includes:
the weldment identification module 10 is used for assembling a T-shaped part at a preset position of a top plate and acquiring an assembly gap between the T-shaped part and the top plate, an assembly natural angle and a groove pattern of the T-shaped part;
The welding planning module 20 is configured to detect the assembly gap and the assembly natural angle, and determine a welding mode of the T-shaped part according to the groove pattern when the assembly gap and the assembly natural angle both meet a welding standard;
a parameter determining module 30, configured to obtain welding parameters according to the welding mode and the specification parameters of the T-shaped part, where the welding parameters include at least a welding wire diameter, a welding wire extension length, a wire feeding speed, a power density, a welding speed, a welding wire arc point position, and a laser spot position;
and the welding execution module 40 is used for positioning a welding area, and carrying out laser-arc composite welding on the groove of the T-shaped part of the welding area according to the welding parameters so as to form a corresponding welding line on the T-shaped part.
According to the embodiment, the T-shaped part is assembled at the preset position of the top plate, the assembly gap between the T-shaped part and the top plate, the assembly natural angle and the groove pattern of the T-shaped part are obtained, the assembly gap and the assembly natural angle are detected, when the assembly gap and the assembly natural angle meet the welding standard, the welding mode of the T-shaped part is determined according to the groove pattern, the welding parameters are obtained according to the welding mode and the specification parameters of the T-shaped part, and the groove of the T-shaped part in the welding area is subjected to laser-arc composite welding according to the welding parameters, so that the T-shaped part forms a corresponding welding seam. According to the invention, whether the welding requirement is met or not can be identified efficiently by detecting the assembly gap, the assembly natural angle and the like before welding, and when the welding requirement is met, the corresponding welding mode is selected according to the specific groove pattern, so that the welding is completed efficiently and with high quality.
In one embodiment, the weldment identification module 10 is further configured to obtain a position image of the T-shaped part and the top plate; gray processing is carried out on the position image, and a gray image is obtained; carrying out Gaussian filtering on the gray level image to obtain a denoising image; calculating Laplacian gradient of the denoising image to obtain a Laplacian image; performing binarization processing on the Laplacian image, setting an edge pixel as a maximum value, setting other pixels as 0, obtaining a contour line, and determining the contour of the T-shaped part and the contour of the top plate according to the contour line; obtaining the assembly clearance and the assembly natural angle according to the T-shaped part contour and the top plate contour; obtaining the groove shape of the T-shaped part according to the profile of the T-shaped part; and searching the groove shape of the T-shaped part in a groove shape comparison table to obtain the groove pattern of the T-shaped part.
In an embodiment, the welding planning module 20 is further configured to analyze the groove pattern based on a welding strategy model, and determine a welding strategy corresponding to the groove pattern, where the welding strategy includes a welding path; and obtaining the welding mode of the T-shaped part according to the welding strategy.
In an embodiment, the welding planning module 20 is further configured to determine a starting point of a welding seam based on the welding strategy model and the specification parameter analysis of the T-shaped part; and obtaining the number of the welding seams and the welding parameters corresponding to the welding seams according to the specification parameters of the T-shaped part and the starting points and the stopping points of the welding seams.
In one embodiment, the welding planning module 20 is further configured to obtain a welding dataset according to historical welding data, where the welding dataset includes the groove pattern, the specification parameters of the T-shaped part, the welding parameters and the weld flaw detection result; carrying out normalization processing on the welding data in the welding data set to obtain preprocessing data; dividing the welding data set into a training set and a verification set; training the initial welding strategy model based on the training set to obtain an intermediate welding strategy model; verifying the intermediate welding strategy model based on the verification set, outputting a prediction strategy, and obtaining a corresponding prediction flaw detection result according to the prediction strategy; and comparing the flaw detection result in the verification set with the predicted flaw detection result, and outputting the intermediate welding strategy model as a welding strategy model when the comparison result is smaller than a preset threshold value.
In an embodiment, the welding execution module 40 is further configured to position the welding area according to the weld pattern, turn on a laser welding device, determine a laser output power of the laser welding device according to the welding parameter, and preheat the welding area with the laser output power; and opening an arc welding device after preheating is finished, determining the arc output power of the arc welding device according to the welding parameters, and carrying out compound welding on the welding area according to the arc output power to obtain the T-shaped part to form a corresponding welding seam.
In an embodiment, the welding execution module 40 is further configured to perform flaw detection on the weld according to a preset flaw detection depth, and determine whether the weld has a flaw according to a flaw detection result; when the weld joint has defects, obtaining welding errors according to the flaw detection results; updating a welding strategy model according to the welding error, and determining a compensation welding parameter according to the welding error pair; performing compensation welding on the welding seam according to the compensation welding parameters, returning to the step of performing flaw detection on the welding seam according to the preset flaw detection depth, and determining whether the welding seam has a flaw according to a detection result; and when the welding line has no defect, confirming that the welding of the T-shaped part is finished.
It should be understood that the foregoing is illustrative only and is not limiting, and that in specific applications, those skilled in the art may set the application as desired, and the application is not limited thereto.
It should be understood that, although the steps in the flowcharts in the embodiments of the present application are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily occurring in sequence, but may be performed alternately or alternately with other steps or at least a portion of the other steps or stages.
It should be noted that the above-described working procedure is merely illustrative, and does not limit the scope of the present application, and in practical application, a person skilled in the art may select part or all of them according to actual needs to achieve the purpose of the embodiment, which is not limited herein.
Furthermore, it should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. Read Only Memory)/RAM, magnetic disk, optical disk) and including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. The laser composite welding method for the T-shaped part is characterized by comprising the following steps of:
assembling a T-shaped part at a preset position of a top plate, and obtaining an assembling gap between the T-shaped part and the top plate, an assembling natural angle and a groove pattern of the T-shaped part;
detecting the assembly gap and the assembly natural angle, and determining a welding mode of the T-shaped part according to the groove pattern when the assembly gap and the assembly natural angle meet welding standards;
obtaining welding parameters according to the welding mode and specification parameters of the T-shaped part, wherein the welding parameters at least comprise welding wire diameter, welding wire extending length, wire feeding speed, power density, welding speed, welding wire arc point position and laser spot position;
and positioning a welding area, and carrying out laser-arc composite welding on the groove of the T-shaped part of the welding area according to the welding parameters so as to form a corresponding welding seam on the T-shaped part.
2. The method of claim 1, wherein said obtaining the assembly gap between the tee and the top plate, the assembly natural angle, and the groove pattern of the tee comprises:
acquiring position images of the T-shaped part and the top plate;
gray processing is carried out on the position image, and a gray image is obtained;
carrying out Gaussian filtering on the gray level image to obtain a denoising image;
calculating Laplacian gradient of the denoising image to obtain a Laplacian image;
performing binarization processing on the Laplacian image, setting an edge pixel as a maximum value, setting other pixels as 0, obtaining a contour line, and determining the contour of the T-shaped part and the contour of the top plate according to the contour line;
obtaining the assembly clearance and the assembly natural angle according to the T-shaped part contour and the top plate contour;
obtaining the groove shape of the T-shaped part according to the profile of the T-shaped part;
and searching the groove shape of the T-shaped part in a groove shape comparison table to obtain the groove pattern of the T-shaped part.
3. The method of claim 1, wherein determining the welding pattern of the T-piece from the groove pattern when the assembly gap and the assembly natural angle both meet welding criteria comprises:
Analyzing the groove pattern based on a welding strategy model, and determining a welding strategy corresponding to the groove pattern, wherein the welding strategy comprises a welding path;
and obtaining the welding mode of the T-shaped part according to the welding strategy.
4. The method of claim 3, wherein said deriving welding parameters from said welding pattern and said specification parameters of said tee comprises:
determining a starting point of a welding line based on the welding strategy model and specification parameter analysis of the welding mode and the T-shaped part;
and obtaining the number of the welding seams and the welding parameters corresponding to the welding seams according to the specification parameters of the T-shaped part and the starting points and the stopping points of the welding seams.
5. The method of claim 3, wherein the analyzing the bevel pattern based on the welding strategy model determines a welding strategy corresponding to the bevel pattern, the welding strategy comprising, prior to the welding path, further comprising:
obtaining a welding data set according to historical welding data, wherein the welding data set comprises the groove pattern, specification parameters of the T-shaped part, the welding parameters and a weld flaw detection result;
Carrying out normalization processing on the welding data in the welding data set to obtain preprocessing data;
dividing the welding data set into a training set and a verification set;
training the initial welding strategy model based on the training set to obtain an intermediate welding strategy model;
verifying the intermediate welding strategy model based on the verification set, outputting a prediction strategy, and obtaining a corresponding prediction flaw detection result according to the prediction strategy;
and comparing the flaw detection result in the verification set with the predicted flaw detection result, and outputting the intermediate welding strategy model as a welding strategy model when the comparison result is smaller than a preset threshold value.
6. The method of claim 1, wherein positioning the welding region, performing laser-arc hybrid welding on the groove of the T-shaped part of the welding region according to the welding parameters, forming the T-shaped part into a corresponding weld joint, comprises:
positioning the welding area according to the welding seam pattern, opening a laser welding device, determining the laser output power of the laser welding device according to the welding parameters, and preheating the welding area by using the laser output power;
and opening an arc welding device after preheating is finished, determining the arc output power of the arc welding device according to the welding parameters, and carrying out compound welding on the welding area according to the arc output power to obtain the T-shaped part to form a corresponding welding seam.
7. The method of any one of claims 1 to 6, wherein the locating the welding area, after performing laser-arc hybrid welding on the groove of the T-shaped part of the welding area according to the welding parameters, further comprises:
performing flaw detection on the welding seam according to a preset flaw detection depth, and determining whether the welding seam has a flaw according to a flaw detection result;
when the weld joint has defects, obtaining welding errors according to the flaw detection results;
updating a welding strategy model according to the welding error, and determining a compensation welding parameter according to the welding error pair;
performing compensation welding on the welding seam according to the compensation welding parameters, returning to the step of performing flaw detection on the welding seam according to the preset flaw detection depth, and determining whether the welding seam has a flaw according to a detection result;
and when the welding line has no defect, confirming that the welding of the T-shaped part is finished.
8. The utility model provides a laser hybrid welding device of T type part which characterized in that, laser hybrid welding device of T type part includes:
the welding piece identification module is used for assembling the T-shaped part at a preset position of the top plate, and acquiring an assembly gap between the T-shaped part and the top plate, an assembly natural angle and a groove pattern of the T-shaped part;
The welding planning module is used for detecting the assembly gap and the assembly natural angle, and determining the welding mode of the T-shaped part according to the groove pattern when the assembly gap and the assembly natural angle meet the welding standard;
the parameter determining module is used for obtaining welding parameters according to the welding mode and the specification parameters of the T-shaped part, wherein the welding parameters at least comprise a welding wire diameter, a welding wire extending length, a wire feeding speed, a power density, a welding speed, a welding wire arc point position and a laser spot position;
and the welding execution module is used for positioning a welding area, and carrying out laser-arc composite welding on the groove of the T-shaped part in the welding area according to the welding parameters so as to form a corresponding welding seam on the T-shaped part.
9. A laser hybrid welding apparatus for T-shaped parts, the apparatus comprising: memory, a processor and a laser hybrid welding program of a T-shaped part stored on the memory and executable on the processor, the laser hybrid welding program of a T-shaped part configured to implement the steps of the laser hybrid welding method of a T-shaped part as claimed in any one of claims 1 to 7.
10. A storage medium, wherein a laser hybrid welding program for T-shaped parts is stored on the storage medium, and the laser hybrid welding program for T-shaped parts, when executed by a processor, implements the steps of the laser hybrid welding method for T-shaped parts according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311099595.6A CN117047282A (en) | 2023-08-28 | 2023-08-28 | Laser hybrid welding method, device and equipment for T-shaped parts and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311099595.6A CN117047282A (en) | 2023-08-28 | 2023-08-28 | Laser hybrid welding method, device and equipment for T-shaped parts and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117047282A true CN117047282A (en) | 2023-11-14 |
Family
ID=88655238
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311099595.6A Pending CN117047282A (en) | 2023-08-28 | 2023-08-28 | Laser hybrid welding method, device and equipment for T-shaped parts and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117047282A (en) |
-
2023
- 2023-08-28 CN CN202311099595.6A patent/CN117047282A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Lü et al. | Feature extraction of welding seam image based on laser vision | |
| Yang et al. | Advances techniques of the structured light sensing in intelligent welding robots: a review | |
| He et al. | Autonomous detection of weld seam profiles via a model of saliency-based visual attention for robotic arc welding | |
| CN102441719A (en) | Front laser vision sensing-based seam tracking offline planning method | |
| US20130060369A1 (en) | Method and system for generating instructions for an automated machine | |
| CN110102886A (en) | A kind of Intelligent welding system applied to metal structure | |
| CN109579718B (en) | Method and device for detecting welding seam parameters, computer equipment and storage medium | |
| CN111156923A (en) | Workpiece detection method, workpiece detection device, computer equipment and storage medium | |
| Liu et al. | Precise initial weld position identification of a fillet weld seam using laser vision technology | |
| Wang | Unsupervised recognition and characterization of the reflected laser lines for robotic gas metal arc welding | |
| CN113369761B (en) | Method and system for positioning welding seam based on vision guiding robot | |
| Dong et al. | A weld line detection robot based on structure light for automatic NDT | |
| KR20200136686A (en) | Portable type welding inspection appatatus and inspection method | |
| Banafian et al. | Precise seam tracking in robotic welding by an improved image processing approach | |
| He et al. | Discerning weld seam profiles from strong arc background for the robotic automated welding process via visual attention features | |
| EP4234158A1 (en) | System and method for analyzing weld quality | |
| US11389908B2 (en) | Systems and methods for detecting weld bead conformity | |
| Xiao et al. | An automatic calibration algorithm for laser vision sensor in robotic autonomous welding system | |
| CN112620926B (en) | Welding spot tracking method and device and storage medium | |
| CN113182701A (en) | Laser processing method, apparatus, device and storage medium | |
| CN117047282A (en) | Laser hybrid welding method, device and equipment for T-shaped parts and storage medium | |
| CN107705312B (en) | Method for extracting welded seam edge points based on line scanning data | |
| Mikkelstrup et al. | Development of an automated system for adaptive post-weld treatment and quality inspection of linear welds | |
| CN113751887A (en) | Detection method, device and equipment of laser processing equipment and storage medium | |
| CN116228766A (en) | Intelligent regulation and control method and system for plasma processing equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |