CN118060670A - Automatic tracking method for welding seam and welding device - Google Patents
Automatic tracking method for welding seam and welding device Download PDFInfo
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Abstract
The invention relates to the technical field of welding, in particular to an automatic tracking method for welding seams and a welding device. The automatic tracking method of the welding seam firstly acquires a temperature field diagram A of a welding area; determining a first region to be welded according to the temperature field diagram A, wherein the temperature of the first region to be welded is less than a temperature threshold value; changing an air flow field of a first area to be welded; acquiring a temperature field diagram B of a first region to be welded; comparing the temperature field diagram B with the corresponding region in the temperature field diagram A to obtain a temperature change diagram of a first region to be welded; determining a second to-be-welded area according to the temperature change diagram, wherein the temperature difference of the second to-be-welded area is larger than a temperature difference threshold value; and taking the second area to be welded as a gap to be welded to adjust the position of the welding tool. By controlling the air flow field of the first area to be welded, obvious temperature change is actively generated in the gap to be welded, and the accurate position of the gap to be welded can be determined according to the temperature change condition, so that the accuracy of automatic tracking of the weld is improved.
Description
Technical Field
The invention relates to the technical field of welding, in particular to an automatic tracking method for welding seams and a welding device.
Background
Welding is called as an industrial tailor, and plays a very important role in manufacturing, and the welding technology is widely applied to various industries of industrial production; along with the development of science and technology and the improvement of living standard of people, the requirements of people on the quality of products and working environment are also higher and higher, so that the welding technology is required; the traditional manual welding has poor quality, low efficiency and severe working environment of workers, and can not meet the requirements of the current people on the product quality, the working efficiency and the working environment, so that the automation of welding has become the necessary trend of the welding technology development. Arc welding and laser welding are welding technological methods which are more commonly used in the welding industry, and automatic control of welding by taking an electric arc and a laser beam as controlled objects is an important means of welding automation. The accurate automatic tracking of the welding seam is a precondition for ensuring the welding quality, namely, the laser beam or the electric arc must be controlled to be always aligned with the welding seam in the whole welding process, otherwise, waste products are caused. For this reason, it is necessary to accurately and automatically detect the position of the weld and to realize automatic tracking.
Because welding is a complex thermal processing technology, the workpiece needs to generate thermal deformation in the welding process, and strong interference such as radiation, arc light, smoke dust, splashing and the like can occur in the welding process, the accurate detection of the welding seam position in the welding process is quite difficult. Meanwhile, a welding path caused by factors such as mechanism errors of a welding device, assembly errors of a clamp, thermal deformation of a welding piece in a welding process and the like is a three-dimensional curve welding line in fact, and the problem of complex three-dimensional curve tracking is solved. And the weld joint has small gap, no groove and coordinates which are not on the same plane, and the automatic recognition and measurement difficulty is extremely high.
At present, the method for acquiring the weld joint position information at home and abroad mainly comprises a structured light visual sensing method, a direct image sensing method, an eddy current method, an ultrasonic sensing method and the like. The infrared sensing method is mostly used for recognizing welding seams of arc welding or welding piece back surface sensing laser welding, a certain temperature field is formed in and around a welding pool and accompanied with infrared radiation, an infrared camera is used for directly shooting the welding pool to obtain an infrared thermal image, quantitative analysis is carried out on the collected infrared thermal image of an arc welding area, and quantitative information of arc deviation welding seams can be obtained. The method has the problem of low precision because the sharp weld pool and temperature change make it difficult to obtain an infrared image with distinct layers and the infrared sensor is easily interfered by the environment.
Disclosure of Invention
The invention provides an automatic weld joint tracking method and a welding device, which are used for solving the technical problem that the automatic weld joint tracking precision is low because a well-defined infrared image is difficult to obtain in the method for realizing the automatic weld joint tracking based on temperature information in the prior art.
The automatic tracking method for the welding seam provided by the first aspect of the invention comprises the following steps:
Acquiring a temperature field diagram A of a welding zone, wherein the welding zone comprises a welding pool, a heating zone and a gap to be welded corresponding to the heating zone;
determining a first region to be welded according to the temperature field diagram A, wherein the temperature of the first region to be welded is smaller than a temperature threshold value, and the temperature threshold value is larger than the highest temperature of a gap to be welded and smaller than the lowest temperature of a heating zone;
Changing an air flow field of the first area to be welded;
Acquiring a temperature field diagram B of the first region to be welded;
Comparing the temperature field diagram B with the corresponding region in the temperature field diagram A to obtain a temperature change diagram of the first region to be welded, wherein the temperature change diagram reflects the temperature difference between the temperature field diagram B and the temperature field diagram A;
Determining a second to-be-welded area according to the temperature change diagram, wherein the temperature difference of the second to-be-welded area is larger than a temperature difference threshold value;
And taking the second area to be welded as a gap to be welded to adjust the position of the welding tool.
In a first possible automatic seam tracking method according to the first aspect, changing the air flow field of the first area to be welded includes:
and conveying gas to the first area to be welded, wherein the temperature of the gas is less than or equal to the normal temperature, or the temperature of the gas is greater than the highest temperature of the gaps to be welded.
With reference to the first possible automatic seam tracking method of the first aspect, in a second possible automatic seam tracking method of the first aspect, delivering gas to the first area to be welded includes:
And conveying gas to the first region to be welded along the depth direction of the gap to be welded.
In combination with the second possible automatic seam tracking method of the first aspect, in a third possible automatic seam tracking method of the first aspect, the conveying duration of the gas is a preset duration.
In a fourth possible automatic seam tracking method according to the first aspect, changing the air flow field of the first area to be welded includes:
Sucking air in the first area to be welded, wherein the sucking time is preset.
In a fifth possible implementation manner of the first aspect, the acquiring a temperature field map of the welding area includes:
acquiring a three-dimensional temperature field diagram A of a welding area by an infrared thermal imaging method;
the obtaining the temperature field diagram B of the first region to be welded comprises the following steps:
and acquiring a temperature field diagram B of the first region to be welded by an infrared thermal imaging method.
In a sixth possible automatic seam tracking method according to the first aspect, determining the first area to be welded according to the temperature field map a includes:
Determining the highest temperature of the gap to be welded and the lowest temperature of the heating zone by a fixed-point temperature measurement method;
And comparing the temperature in the temperature field diagram with a temperature threshold value, and defining a region corresponding to the temperature smaller than the temperature threshold value as a first region to be welded.
In a seventh possible automatic seam tracking method according to the first aspect, comparing the temperature field map B with a corresponding region in the temperature field map a, and obtaining a temperature change map of the first region to be welded includes:
the temperature of the same position of the temperature field diagram B and the temperature field diagram A is subjected to difference to obtain a temperature difference value;
and replacing the temperature value of the corresponding position in the temperature field diagram B with the temperature difference value to obtain a temperature change diagram of the first region to be welded.
In an eighth possible automatic seam tracking method according to the first aspect, determining the second area to be welded according to the temperature change map includes:
Comparing the temperature difference value in the temperature change diagram with a temperature difference threshold value;
And defining a region with the temperature difference value smaller than the temperature difference threshold value as a second region to be welded.
A second aspect of the present invention provides a welding apparatus, comprising:
The welding is controlled by any one of the possible automatic seam tracking methods provided in the first aspect.
From the above technical scheme, the invention has the following advantages:
The automatic tracking method of the welding seam firstly obtains a temperature field diagram A of a welding zone, wherein the welding zone comprises a welding pool, a heating zone and a gap to be welded corresponding to the heating zone; determining a first region to be welded according to the temperature field diagram A, wherein the temperature of the first region to be welded is smaller than a temperature threshold, and the temperature threshold is larger than the highest temperature of a gap to be welded and smaller than the lowest temperature of a parent body close to the gap to be welded; changing an air flow field of a first area to be welded; acquiring a temperature field diagram B of a first region to be welded; comparing the temperature field diagram B with the corresponding region in the temperature field diagram A to obtain a temperature change diagram of the first region to be welded, wherein the temperature change diagram reflects the temperature difference between the temperature field diagram B and the temperature field diagram A; determining a second to-be-welded area according to the temperature change diagram, wherein the temperature difference of the second to-be-welded area is larger than a temperature difference threshold value; and taking the second area to be welded as a gap to be welded to adjust the position of the welding tool. The method comprises the steps of obtaining a temperature field diagram A of a welding area, roughly determining a first area to be welded which is the general position of a gap to be welded according to the temperature distribution condition, changing an air flow field of the first area to be welded, enabling air in the gap to be welded to obviously flow, and enabling the gap to be welded to generate more obvious temperature drop or temperature rise compared with a heating area under the condition that the air obviously flows, so that a second area to be welded which is the most obvious in temperature change can be determined by correspondingly comparing a temperature field diagram B of the changed air flow field with the temperature field diagram A, and then using the second area to be welded as the gap to be welded to adjust the position of a welding tool. By controlling the air flow field of the first area to be welded, obvious temperature change is actively generated in the gap to be welded, and the accurate position of the gap to be welded can be determined according to the temperature change condition, so that the accuracy of automatic tracking of the weld is improved.
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In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.
Fig. 1 is a schematic flow chart of an automatic weld seam tracking method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions of 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 apparent that the embodiments described below are only some embodiments of the present invention, not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1, an automatic weld seam tracking method provided by an embodiment of the present invention includes:
10. Acquiring a temperature field diagram A of a welding zone, wherein the welding zone comprises a welding pool, a heating zone and a gap to be welded corresponding to the heating zone;
the temperature field diagram A shows the temperature condition of each position of the welding area, or the temperature field diagram A shows the temperature distribution condition of the welding area.
The weld pool (weldpool) is a liquid region of molten metal formed during the welding process. When welding occurs, heat generated by a welding heat source (e.g., arc, laser, electron beam, etc.) causes the welding material and base material to locally melt, forming one or more liquid metal pools. This liquid metal pool is the weld pool.
The heating zone refers to the area of the base material on the front side of the weld pool, which is affected by a certain amount of heat. The temperature in this region increases as the heat source approaches, but the melting point of the material has not yet been reached. This area is located in front of the weld pool, where the welding heat source is about to pass, and when the heat source moves to this area and the temperature reaches a certain level, this portion of the base material enters the Heat Affected Zone (HAZ), and its microstructure and properties may change due to the high temperature. The heating will be divided into two parts by the weld gap to be welded.
The gap to be welded, also referred to as a weld joint (weldjoint), refers to a predetermined interface between two or more workpieces to be welded together. The shape, size and relative position of the workpiece on this interface is designed and prepared prior to the welding operation to ensure that the welding process is performed efficiently. The seam to be welded corresponding to the heating zones is the seam to be welded between the two heating zones.
Specifically, the whole temperature field patterns of the welding area and the area near the welding area are obtained, and the temperature intervals of the welding pool and the heating area are measured through experiments, so that the positions of the welding pool and the heating area can be determined in the whole temperature field patterns by comparing the temperatures of different positions with the measured temperature intervals, the positions of the gaps to be welded corresponding to the heating area are determined through the positions of the heating area, the welding area is formed by the heating area, the welding pool and the gaps to be welded corresponding to the heating area, and the temperature field pattern A of the welding area is extracted from the whole temperature field patterns. It should be noted that, as long as the maximum value of the temperature interval of the heating area is ensured, the heating area and the welding pool can be distinguished, the precision requirement is low, the minimum value of the temperature interval of the heating area determines the size of the area of the selected heating area, and further determines the length of the to-be-welded seam in the temperature field diagram A, the smaller the minimum value is, the larger the area of the selected heating area is, the longer the length of the to-be-welded seam is, the corresponding calculated amount is larger, the precision is higher, the larger the minimum value is, the smaller the area of the selected heating area is, the shorter the length of the to-be-welded seam is, the corresponding calculated amount is smaller, and the precision is lower, so the minimum value can be set according to the actual requirement.
The temperatures measured by the test herein all refer to the temperatures measured at specific locations by performing the welding test while knowing positional information of the weld pool, the heating zone, and the gap to be welded corresponding to the heating zone.
20. Determining a first region to be welded according to the temperature field diagram A, wherein the temperature of the first region to be welded is smaller than a temperature threshold, and the temperature threshold is larger than the highest temperature of a gap to be welded and smaller than the lowest temperature of a heating zone;
The highest temperature X of the weld gap is the temperature of the air closest to the weld pool in the weld gap, and the temperature is determined through a test; the lowest temperature Y of the heating zone is the minimum value of the temperature interval used to determine the area of the heating zone in step 10. That is, the temperature threshold may be any value in the interval [ X, Y ], so that the approximate position of the gap to be welded corresponding to the heating zone can be ensured to be determined through temperature comparison. Of course, the maximum value of the value interval of the temperature threshold is set to be slightly larger than Y, namely, a part of the heating area is included in the first area to be welded, so that the gaps to be welded corresponding to the heating area can be ensured to be included in the first area to be welded.
Specifically, in this step, the temperatures of the respective positions in the temperature field diagram a are compared with the temperature threshold, and then the set of positions corresponding to the temperatures smaller than the temperature threshold is defined as a first region to be welded, that is, the approximate position of the gap to be welded corresponding to the heating region.
30. Changing an air flow field of a first area to be welded;
in this step, the air flow field of the first area to be welded is changed so that the air in the gap to be welded flows obviously. In theory, any method that accelerates the air in the first region to be welded may be used to achieve this step, but it is necessary to ensure that the method does not affect the performance of the weld.
40. Acquiring a temperature field diagram B of a first region to be welded;
Because the air flow field of the first area to be welded is changed in the step 30, the temperature of the gap to be welded is obviously increased or reduced due to the obvious flow of air, so that the temperature field diagram B of the first area to be welded is acquired in the step to obtain the specific temperature condition of the gap to be welded after the temperature of the gap to be welded is obviously changed.
Specifically, the overall temperature field map of the welding area and the area near the welding area may be obtained first, then the temperature field map B may be extracted from the overall temperature field map according to the position information of the first area to be welded obtained in step 20, or localized temperature collection may be performed according to the position information of the first area to be welded obtained in step 20, so as to construct the temperature field map B.
50. Comparing the temperature field diagram B with the corresponding region in the temperature field diagram A to obtain a temperature change diagram of the first region to be welded, wherein the temperature change diagram reflects the temperature difference between the temperature field diagram B and the temperature field diagram A;
Specifically, the temperature values of each position in the temperature field diagram B and the temperature values of the corresponding positions in the temperature field diagram A are subjected to difference to obtain the variation of the temperature of the same position before and after the air flow field is changed, and then the variation is associated and bound with the corresponding position to obtain the temperature variation which can reflect the change condition of the first region to be welded due to the change of the air flow field, namely the temperature difference of the first region to be welded caused by the change of the air flow field.
60. Determining a second to-be-welded area according to the temperature change diagram, wherein the temperature difference of the second to-be-welded area is larger than a temperature difference threshold value;
The temperature difference threshold reflects the influence degree of the change of the flow field on the temperature of the gap to be welded in the first region to be welded, and the temperature change of the gap to be welded is influenced by factors such as an air flow field changing method, the shape and the size of the gap to be welded and the like, for example, the faster the change speed of the air flow field is, the larger the temperature change of the gap to be welded is, the larger the gap of the gap to be welded is, the more air flow is facilitated, and therefore the temperature change of the gap to be welded is larger. The temperature difference threshold is determined by experimentation.
Specifically, after a change method of an air flow field is determined, a welding test is performed, the air flow field at the front side of a welding pool is changed for a plurality of times in the welding process, the temperature of air at different positions in a gap to be welded, which is close to the welding pool before and after each change of the flow field, is measured and recorded (the selection principle of the different positions: the positions are uniformly distributed in the gap to be welded corresponding to a heating zone), so that the change condition of the air in the gap to be welded caused by each change of the flow field is calculated, the center position of the welding pool is taken as a reference, the positions with the same distance as the reference in the plurality of times of measurement are defined as the same positions, then the average value of a plurality of temperature difference values of the plurality of times of flow field changes at the same positions is calculated, a temperature difference value set is formed by the average value of the temperature difference values at the plurality of different positions, a maximum value and the minimum value of the set is taken as a interval boundary to form a temperature difference interval, and the minimum value of the temperature difference interval is taken as a temperature difference threshold. Another method of determining a temperature difference threshold value: since the temperature of the heating zone is less affected by the change of the flow field than the seam of the belt weld, the maximum temperature difference value generated by the change of the flow field of the heating zone can be measured and used as a temperature difference threshold value. And comparing the temperature difference value of each position in the temperature change diagram with a temperature difference threshold value to obtain a position set with the temperature difference value larger than the temperature difference threshold value, namely a second to-be-welded area.
70. And taking the second area to be welded as a gap to be welded to adjust the position of the welding tool.
The first to-be-welded area determined by the steps 10 and 20 may be only the to-be-welded seam, but the combination of the to-be-welded seam and the heating area is possible in a high probability, so that the heating area needs to be removed from the combination, the heating area is solid, the gas filled in the to-be-welded seam changes when the air flow field changes, the influence degree of the change of the temperature of the to-be-welded seam on the flow field is obviously greater than that of the heating area, the temperature change of the to-be-welded seam is obviously greater than that of the heating area, and the second to-be-welded area screened by the step 60 is the to-be-welded seam, so that the position information of the second to-be-welded area adjusts the position of the welding tool, and the centering of the welding tool and the to-be-welded seam can be ensured.
The beneficial effects of this embodiment include:
the method comprises the steps of obtaining a temperature field diagram A of a welding area, roughly determining a first area to be welded which is the general position of a gap to be welded according to the temperature distribution condition, changing an air flow field of the first area to be welded, enabling air in the gap to be welded to obviously flow, and enabling the gap to be welded to generate more obvious temperature drop or temperature rise compared with a parent body nearby the gap to be welded under the condition that the air obviously flows, so that the area with the most obvious temperature change, namely a second area to be welded, can be determined by correspondingly comparing a temperature field diagram B after the air flow field is changed with the temperature field diagram A, and then adjusting the position of a welding tool by taking the second area to be welded as the gap to be welded. By controlling the air flow field of the first area to be welded, obvious temperature change is actively generated in the gap to be welded, and the accurate position of the gap to be welded can be determined according to the temperature change condition, so that the accuracy of automatic tracking of the weld is improved.
Optimization of step 30: and conveying gas to the first area to be welded, wherein the temperature of the gas is less than or equal to the normal temperature, or the temperature of the gas is greater than the highest temperature of the gaps to be welded. The temperature of the air in the gap to be welded corresponding to the heating area is obviously higher than the normal temperature after the air is heated by a heat source for welding, so that the original high-temperature gas in the gap to be welded can be driven away by conveying normal-temperature gas or low-temperature gas to the first region to be welded and stays in the gap to be welded, and the gap to be welded is obviously reduced in temperature; the high-temperature gas with the temperature obviously higher than the highest theoretical temperature (or measured temperature) which can be achieved by the gap to be welded can be delivered to the first region to be welded, so that after the gap to be welded is filled by the newly-input high-temperature gas instead of the original high-temperature gas, obvious temperature rise occurs in the gap to be welded. It should be noted that, without special precautions, the gas to be delivered inevitably flows to the weld pool, so it is necessary to ensure that the gas to be delivered does not affect the performance of the weld. Protective measures may also be provided to define the direction of flow of the gas.
Further optimized: and conveying gas to the first region to be welded along the depth direction of the gap to be welded. In order to enable air in the gap to be welded to quickly respond, directional conveying of the air is carried out, the flowing direction of the air is parallel to the depth direction of the gap to be welded and is aligned with the first region to be welded, so that the air can quickly push out raw air in the gap to be welded from the gap to be welded, and quick change of an air flow field is achieved.
And (3) further optimizing: the gas conveying time is a preset time. The gas conveying amount is controlled by controlling the gas conveying time, and the temperature and the conveying speed of the gas and the preset time are measured through experiments, so that the temperature change of the to-be-welded seam is ensured to be obviously different from that of the heating area.
Another optimization for step 30: sucking air in the first area to be welded, wherein the sucking time is preset. By sucking away the air in the first area to be welded, the original high-temperature air in the gap to be welded can be sucked away, and the nearby higher-temperature air or lower-temperature air can flow into the gap to be welded, so that the gap to be welded has obvious temperature rise or temperature drop.
Optimization of step 10: and acquiring a three-dimensional temperature field diagram A of the welding area by an infrared thermal imaging method. It should be noted that, although the infrared thermal imaging method cannot directly measure the temperature of the air in the weld gap, but measures the air in an indirect manner, there is a large error, so long as the test process also adopts the infrared thermal imaging method to measure the temperature of the welding region, the error is present in both the test and the application, and the influence of the error can be ignored.
Similarly, the optimization of step 40: and acquiring a temperature field diagram B of the first region to be welded by an infrared thermal imaging method.
Optimization of step 20: determining the highest temperature of a weld joint gap and the lowest temperature of a heating zone by a fixed-point temperature measurement method; and comparing the temperature in the temperature field diagram with a temperature threshold value, and defining a region corresponding to the temperature smaller than the temperature threshold value as a first region to be welded.
Optimization of step 50: the temperature of the same position of the temperature field diagram B and the temperature field diagram A is subjected to difference to obtain a temperature difference value; and replacing the temperature value of the corresponding position in the temperature field diagram B with the temperature difference value to obtain a temperature change diagram of the first region to be welded.
The above description is based on the case of welding round pipes.
Example two
The welding device provided by the embodiment of the invention comprises:
the welding is controlled using any of the weld seam automatic tracking methods provided in embodiment one.
It will be clear to those skilled in the art that, for convenience and brevity of description, other working procedures of the above-described method may refer to corresponding procedures in the foregoing embodiments, and are not repeated herein.
In the several embodiments provided in the present application, it should be understood that the disclosed method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-only memory (ROM), a random access memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An automatic weld seam tracking method, comprising:
Acquiring a temperature field diagram A of a welding zone, wherein the welding zone comprises a welding pool, a heating zone and a gap to be welded corresponding to the heating zone;
Determining a first region to be welded according to the temperature field diagram A, wherein the temperature of the first region to be welded is smaller than a temperature threshold value, and the temperature threshold value is larger than the highest temperature of a gap to be welded and smaller than the lowest temperature of a heating zone;
Changing an air flow field of the first region to be welded;
acquiring a temperature field diagram B of the first region to be welded;
Comparing the temperature field diagram B with a corresponding region in the temperature field diagram A to obtain a temperature change diagram of the first region to be welded, wherein the temperature change diagram reflects the temperature difference between the temperature field diagram B and the temperature field diagram A;
Determining a second to-be-welded area according to the temperature change diagram, wherein the temperature difference of the second to-be-welded area is larger than a temperature difference threshold value;
And taking the second area to be welded as a gap to be welded to adjust the position of the welding tool.
2. The method of claim 1, wherein changing the air flow field of the first region to be welded comprises:
And conveying gas to the first area to be welded, wherein the temperature of the gas is less than or equal to the normal temperature, or the temperature of the gas is greater than the highest temperature of a gap to be welded.
3. The method of automatic weld seam tracking according to claim 2, wherein delivering gas to the first region to be welded comprises:
And conveying gas to the first region to be welded along the depth direction of the gap to be welded.
4. A method of automatically tracking welds according to claim 3 wherein:
The conveying time of the gas is a preset time.
5. The method of claim 1, wherein changing the air flow field of the first region to be welded comprises:
Sucking air in the first area to be welded, wherein the sucking time is preset.
6. The method of claim 1, wherein obtaining a temperature field map of the weld zone comprises:
acquiring a three-dimensional temperature field diagram A of a welding area by an infrared thermal imaging method;
the step of obtaining the temperature field diagram B of the first region to be welded comprises the following steps:
and acquiring a temperature field diagram B of the first region to be welded by an infrared thermal imaging method.
7. The automatic weld seam tracking method according to claim 1, wherein determining the first region to be welded according to the temperature field map a comprises:
Determining the highest temperature of the gap to be welded and the lowest temperature of the heating zone by a fixed-point temperature measurement method;
And comparing the temperature in the temperature field diagram with a temperature threshold value, and defining a region corresponding to the temperature smaller than the temperature threshold value as a first region to be welded.
8. The automatic weld seam tracking method according to claim 1, wherein comparing the temperature field map B with the corresponding region in the temperature field map a to obtain a temperature change map of the first region to be welded comprises:
The temperature of the same position of the temperature field diagram B and the temperature field diagram A is subjected to difference to obtain a temperature difference value;
and replacing the temperature value of the corresponding position in the temperature field diagram B with the temperature difference value to obtain a temperature change diagram of the first region to be welded.
9. The method of claim 1, wherein determining a second region to be welded based on the temperature profile comprises:
Comparing the temperature difference value in the temperature change diagram with a temperature difference threshold value;
And defining a region with the temperature difference value smaller than the temperature difference threshold value as a second region to be welded.
10. A welding device, comprising:
welding is controlled using an automatic seam tracking method as claimed in any of claims 1 to 9.
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| CN202410267299.0A CN118060670A (en) | 2024-03-08 | 2024-03-08 | Automatic tracking method for welding seam and welding device |
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