CN203156204U - Supermicro gap butt welding seam magneto-optical imaging automatic detecting and tracking device - Google Patents
Supermicro gap butt welding seam magneto-optical imaging automatic detecting and tracking device Download PDFInfo
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- CN203156204U CN203156204U CN 201320196158 CN201320196158U CN203156204U CN 203156204 U CN203156204 U CN 203156204U CN 201320196158 CN201320196158 CN 201320196158 CN 201320196158 U CN201320196158 U CN 201320196158U CN 203156204 U CN203156204 U CN 203156204U
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Abstract
The utility model discloses a supermicro gap butt welding seam magneto-optical imaging automatic detecting and tracking device which comprises a one-dimensional moving working table and a sensor base plate installed under the working table. The device further comprises a welding seam detecting part and a welding seam tracking moving part. The welding seam detecting part is installed under the sensor base plate, the welding seam tracking moving part is installed in the one-dimensional moving working table, and the sensor base plate is provided with a magnetic field generator, a magneto-optical imaging sensor and a clamp. The device adopts a magneto-optical imaging technology. In a welding process, an alternating magnetic field is generated for a detected welding seam through the magnetic field generator, a welding seam image is generated through the magneto-optical imaging sensor, welding seam image recognition and welding seam position coordinate calculation are achieved through a computer controller, and welding seam track tracking is achieved through a servo motor driving system. The device can achieve non-contact automatic measurement and tracking of the supermicro gap butt welding seam position and is high in measurement and tracking accuracy and reliable in operation.
Description
Technical field
The utility model relates to automatic detection and the tracking means of weld seam in laser weld or the electric arc welding process, is specifically related to the imaging of ultra micro gap butt weld magneto-optic and detects automatically and tracking means.
Background technology
Welding is the important process technology of manufacture field, has that condition of work is abominable, workload reaches many characteristics such as quality requirement height greatly.Arc welding and Laser Welding are welding techniques commonly used in the welding industry, and realizing welding control automatically with electric arc and laser beam as controlled device is an important means of Automation of Welding.Wherein, accurate weld joint tracking is the prerequisite that guarantees welding quality, namely in whole welding process, must control laser beam or electric arc make its all the time with weld seam centering.For this reason, need accurately to detect automatically the position of weld seam.Along with the demand of precision workpiece welding and the consideration of minimizing cost, the Welding Problems of the ultra micro gap weld seam of square groove, closed butt joint becomes increasingly conspicuous.Can fill silk when welding the butt weld of ultra micro gap, can obtain littler welding deformation and uniform more welding line joint, and can reduce the workload of joint postwelding defects detection and reparation, thereby can significantly improve welding efficiency and economic benefit.Therefore the automatic detection and tracking technology of ultra micro gap butt weld is very important.
Because welding is the heat processing technique technology of a complexity, workpiece will produce thermal deformation in welding process, and interference such as strong radiation, arc light, flue dust can occur in welding process, splash makes the suitable difficulty of accurate detection that realizes position while welding in welding process.Particularly for laser weld, its laser beam power density height, spot diameter is little, and the weld seam path deviation that allows is very little, can cause workpiece to be scrapped when the deviation between laser beam and the weld seam surpasses 0.2mm usually.And the butt weld in the laser beam welding often is the ultra micro gap weld seam of square groove, and naked eyes are difficult to differentiate, and adopt general method for sensing to be difficult to realize the identification of such weld seam.
All be to be confined to than broad gap or to have the visible weld seam of groove basically for the detection of weld seam at present both at home and abroad.Obtain welding seam position information and mainly concentrate on following several method: (1) structured light visual sensing method.The laser beam of one visible spectrum is converted to strip structure light across on the front end weld seam of molten bath, and when weld seam has certain interval or deformation, strip light will be out of shape thereupon.Utilize the video camera that is complementary with the structured light wavelength to obtain the strip light of distortion, obtain welding seam position information by principle of triangulation and image processing techniques.Because the structured light irradiation position is mainly gathered the structured light of specific wavelength section at the place ahead, weld zone and video camera, thereby has higher signal to noise ratio.The operation principle great majority of the weld joint tracking device of present industrial application are the structured light visual sensing methods.But this method has its defective that is difficult to overcome: for the uniform thickness butt plates welding, generally effectively detector gap greater than the weld seam of 0.15mm.For the weld seam of gap less than 0.15mm, little groove need be opened usually in the butt weld surface before the welding, so that structured light is out of shape herein.But this has increased processing cost undoubtedly, has reduced welding production efficiency.And for the ultra micro gap weld seam of closed butt joint, square groove, structured light produces distortion hardly, so can't identify.(2) infrared sensing method.This method is used for the weld seam recognition of arc welding or weldment back side sensing Laser Welding more, welding pool forms certain temperature field and follows infra-red radiation around reaching, use thermal camera directly to take the molten bath and obtain infrared thermal imagery, the arc-welding district infrared thermal imagery that collects is carried out quantitative analysis, can obtain the quantitative information that electric arc departs from weld seam.Be difficult to obtain well-bedded infrared image because violent molten bath and variations in temperature make, add infrared sensor and be subject to environmental disturbances and have problems such as precision is not high, so this method also can't realize the detection of ultra micro gap butt weld.(3) through image method for sensing.This method utilizes video camera directly to take the molten bath, by the image processing and analyzing intensity profile, infers weld seam centre deviation information.Because this method is directly obtained crater image, has eliminated the leading error to a great extent.But melt because the molten bath changes the weld seam violent and place, molten bath, weld seam information falls into oblivion substantially, therefore is difficult to fundamentally obtain feature and the rule of weld seam deviation.Only limit to the wideer weld seam of detector gap at present.(4) other method.As utilize differential transformer as the sensor of detection of vertical and horizontal direction deviation; According to weld gap acoustic emission wave is propagated influential phenomenon, utilize the weld inspection system of acoustic emission-microprocessor control; The using electric arc sensor realizes that the V-shaped weld that has groove detects; Utilize the current vortex method to detect weld seam, but can not accurately judge weld seam left-right deviation position; The ultrasonic wave method for sensing needs ultrasound transducer and is contacted by weldering the tight of sheet material, has greatly limited the application of ultrasonic sensor aspect the detection weld seam.Above method all can not accurately detect the position of ultra micro gap butt weld.
To sum up analyze as can be known, for the ultra micro gap weld seam of uniform thickness butt joint, still do not have effective detection method at present.In fact, current both at home and abroad in welding ultra micro gap (＜0.1mm) also do not possess reliable weld seam detection and tracking aspect the butt weld, before welding, need the little groove of butt welded seam Surface Machining (when adopting structured light to follow the tracks of weld seam), or spend the considerable time for the assembling of workpiece, clamping and accurately adjustment, laser beam or electric arc are mostly by the motion of predefined path, and because in process, the thermal deformation of workpiece, rigging errors etc. often make the predefined path of welding seam bias, this method that preestablishes welding track can't avoid weld seam bigger deviation to occur often, is difficult to satisfy real industrial welding requirement.
Summary of the invention
Main purpose of the present utility model is to overcome above-mentioned the deficiencies in the prior art, provides a kind of detection and tracking precision height, reliable ultra micro gap butt weld magneto-optic imaging to detect automatically and tracking means.
For reaching above-mentioned purpose, the utility model adopts following technical scheme: the imaging of a kind of ultra micro gap butt weld magneto-optic detects and tracking means automatically, comprises motion in one dimension workbench and the sensor base plate that is installed under it.It is characterized in that device also comprises weld seam detection parts and weld joint tracking moving component, the weld seam detection parts are installed under the sensor base plate, and the weld joint tracking moving component is installed in the motion in one dimension workbench.
Above-mentioned motion in one dimension workbench is provided with upper plate and guide rail, and the motion slide block is installed on the slideway of guide rail, and servomotor is installed under the upper plate by the servomotor fixed head.
Above-mentioned motion in one dimension workbench is equiped with bearing block, ball-screw and shaft coupling by bearing fixing in bearing block.
Above-mentioned weld seam detection parts comprise magnetic field generator and magneto-optic imaging sensor.
Above-mentioned weld joint tracking moving component comprises guide rail, slide block, servomotor, servomotor fixed head, bearing block, ball-screw, shaft coupling and bearing.
Be equiped with the sensor base plate for fixed magnetic field generator, magneto-optic imaging sensor, anchor clamps under the above-mentioned slide block, sensor base plate is installed under the slide block by hexagon socket head cap screw.
The sensor base plate is equiped with magnetic field generator, magneto-optic imaging sensor and anchor clamps, and magnetic field generator, magneto-optic imaging sensor and anchor clamps are installed under the sensor base plate by hexagon socket head cap screw.
Compared with prior art, the beneficial effect that the utlity model has is: the utility model adopts magneto-optic imaging sensing technology, in ultra micro gap butt weld welding process, tested weld seam produces alternating magnetic field by magnetic field generator, and by magneto-optic imaging sensor generation weld image, realize weld image identification and position while welding coordinate Calculation, the servomotor drive system is finished seam track and is followed the tracks of.This device can be realized noncontact measurement and the tracking automatically of butt weld position, ultra micro gap, not only measures and the tracking accuracy height, and also reliable.Because the flexible cooperation of magneto-optic imaging sensor, computer control and servo-driver makes computer control can control the real-time deviation correcting that the servo driver drives servomotor is realized weld seam in real time, the automaticity height, tracking velocity is fast.
Description of drawings
Fig. 1 is the general structure schematic diagram of the utility model embodiment;
Fig. 2 is the overturn structure schematic diagram of the motion in one dimension workbench of the utility model embodiment;
Fig. 3 is the overturn structure schematic diagram of the weld seam detection part of the utility model embodiment;
Fig. 4 is the general structure assembling schematic diagram of the utility model embodiment;
Fig. 5 is that the imaging of the utility model ultra micro gap butt weld magneto-optic detects and tracking means work schematic diagram automatically.
Respectively number implication among the figure: 1-motion in one dimension workbench, 2-sensor base plate, 3-magnetic field generator, 4-magneto-optic imaging sensor, 5-anchor clamps, 1-1-upper plate, the 1-2-bearing block, the 1-3-guide rail, 1-4-bearing, 1-5-ball-screw, the 1-6-slide block, the 1-7-servomotor, 1-8-shaft coupling, 1-9-servomotor fixed head.
The specific embodiment
Below in conjunction with embodiment and accompanying drawing the utility model is described in further detail, but embodiment of the present utility model is not limited thereto.
Extremely shown in Figure 2 as Fig. 1, the utility model is that the imaging of a kind of ultra micro gap butt weld magneto-optic detects and tracking means automatically, comprise motion in one dimension workbench 1 and the sensor base plate 2 that is installed under it, device also comprises weld seam detection parts and weld joint tracking moving component, the weld seam detection parts are installed in sensor base plate 2 times, and the weld joint tracking moving component is installed in the motion in one dimension workbench 1.The weld seam detection parts comprise magnetic field generator 3 and magneto-optic imaging sensor 4.The weld joint tracking moving component comprises guide rail 1-3, slide block 1-6, servomotor 1-7, servomotor fixed head 1-9, bearing block 1-2, ball-screw 1-5, shaft coupling 1-8 and bearing 1-4.Described motion in one dimension workbench 1 is provided with upper plate 1-1 and guide rail 1-3, guide rail 1-3 closely is connected by bolt with upper plate 1-1, motion slide block 1-6 is installed on the slideway of guide rail 1-3, servomotor 1-7 is installed under the upper plate 1-1 by servomotor fixed head 1-9, ball-screw 1-5 and shaft coupling 1-8 are fixed in the bearing block 1-2 by bearing 1-4, and bearing block 1-2 is fixed by bolt and upper plate 1-1.Upper plate 1-1, guide rail 1-3 and bearing block 1-2 closely are formed by connecting and are one.Wherein, described weld seam detection and tracking means are connected in the outside weldings mechanism by the screw of upper plate 1-1, realize clamping and the dismounting of whole device and outside weldings mechanism easily, and practical and convenient, implementation is strong.Described slide block 1-6 slides along slideway by shaft coupling 1-8 and ball-screw 1-5 under servomotor 1-7 drives.
To shown in Figure 4, be equiped with the sensor base plate 2 for fixed magnetic field generator 3, magneto-optic imaging sensor 4 and anchor clamps 5 as Fig. 3 under the described slide block 1-6, sensor base plate 2 is installed under the slide block by hexagon socket head cap screw.Sensor base plate 2 is equiped with magnetic field generator 3, magneto-optic imaging sensor 4 and anchor clamps 5, and magnetic field generator 3, magneto-optical sensor 4 and anchor clamps 5 are installed under the sensor base plate by hexagon socket head cap screw.Wherein send instruction by computer control and start magnetic field generator 3 work, controlling magnetic field generator 3 produces alternating magnetic field in the commissure.Described magneto-optic imaging sensor 3 major parts comprise LASER Light Source, the polarizer, cmos sensor, analyzer and magneto-optic wafer.The magneto-optic imaging sensor belongs to non-contact measurement, good reliability, certainty of measurement height, low in energy consumption and the rate of information throughput is high.In magneto-optic imaging sensor when work, make by accurate controlling magnetic field generator to produce induced field near the weld seam of weldment that because weld seam exists, induced field has its special variation near weld seam above the weld seam on weldment surface.Rotate a certain angle by after the induced field reflection when polarised light is parallel, can realize passing through of postrotational polarised light pointedly by analyzer again or end, obtained and imaging by cmos camera at last, the image of gained has namely comprised the The magneto optic images of weld seam information.Described anchor clamps 5 are the anchor clamps of removable different size, can realize the clamping of laser head or the welding torch of different size.
Whole welding line detects and the work of weld joint tracking telecontrol equipment is controlled by the computer control system, and Fig. 5 is that the imaging of the utility model ultra micro gap butt weld magneto-optic detects and tracking means work schematic diagram automatically.At first the computer control magnetic field generator produces alternating magnetic field, and send instruction simultaneously and start the work of magneto-optic imaging sensor, synchronous coordination magneto-optic imaging sensor continuous acquisition weld seam The magneto optic images, and the The magneto optic images that obtains is input to computer control.Calculate weld seam correction amount by corresponding control algolithm then, thereby the movement by servo driver drives servomotor motion control anchor clamps realizes that the position of ultra micro gap butt weld is followed the tracks of.Computer control also has self-test capability, has significantly improved the real-time of system and the automaticity of observation and control technology.The control system that adopts can be revised measure error automatically, improves position while welding and measures and tracking accuracy.
Operation principle: magneto-optic imaging sensor, magnetic field generator and servo-driver are connected with computer control respectively, when using this measurement device weld seam, this device is connected on the welding mechanism by the screw on the motion in one dimension workbench, simultaneously weldment is placed on the welding bench.Rising before the weldering by computer control control servo-driver and driving servomotor makes magneto-optic imaging sensor wafer align the weld seam center.Controller controlling magnetic field generator produces alternating magnetic field, and synchronous coordination magneto-optic imaging sensor continuous acquisition The magneto optic images is delivered to computer control with The magneto optic images, realizes that by computer control the image of weld seam is handled and position while welding calculates.Because the magneto-optic imaging sensor has fixing coordinate relation with the anchor clamps that welding torch or laser head are installed, so computer control is handled through image and analysis meter is calculated the weld seam correction amount that is just calculated motion behind the real time position of weld seam by computer control, by servo-driver servomotor is driven, servomotor is realized the real-time and accurate tracking of butt welded seam by shaft coupling and ball-screw control welding torch or laser head motion.
Claims (7)
1. ultra micro gap butt weld magneto-optic imaging detects and tracking means automatically, comprise motion in one dimension workbench (1) and be installed on sensor base plate (2) under it, it is characterized in that: device also comprises weld seam detection parts and weld joint tracking moving component, the weld seam detection parts are installed under the sensor base plate (2), and the weld joint tracking moving component is installed in the motion in one dimension workbench (1).
2. device according to claim 1, it is characterized in that: described motion in one dimension workbench (1) is provided with upper plate (1-1) and guide rail (1-3), slide block (1-6) is installed on the guide rail (1-3), and servomotor (1-7) is installed under the upper plate by servomotor fixed head (1-9).
3. device according to claim 1, it is characterized in that: described motion in one dimension workbench (1) is equiped with bearing block (1-2), and ball-screw (1-5) and shaft coupling (1-8) are fixed in the bearing block (1-2) by bearing (1-4).
4. device according to claim 1, it is characterized in that: described weld seam detection parts comprise magnetic field generator (3) and magneto-optic imaging sensor (4).
5. device according to claim 1, it is characterized in that: described weld joint tracking parts comprise guide rail (1-3), slide block (1-6), servomotor (1-7), servomotor fixed head (1-9), bearing block (1-2), ball-screw (1-5), shaft coupling (1-8) and bearing (1-4).
6. device according to claim 2, it is characterized in that: be equiped with the sensor base plate (2) for fixed magnetic field generator (3), magneto-optic imaging sensor (4), anchor clamps (5) under the described slide block (1-6), sensor base plate (2) is installed under the slide block by hexagon socket head cap screw.
7. device according to claim 6, it is characterized in that: described sensor base plate (2) is equiped with magnetic field generator (3), magneto-optic imaging sensor (4), anchor clamps (5), and magnetic field generator (3), magneto-optic imaging sensor (4) and anchor clamps (5) are installed under the sensor base plate by hexagon socket head cap screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN 201320196158 CN203156204U (en) | 2013-04-08 | 2013-04-08 | Supermicro gap butt welding seam magneto-optical imaging automatic detecting and tracking device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201320196158 CN203156204U (en) | 2013-04-08 | 2013-04-08 | Supermicro gap butt welding seam magneto-optical imaging automatic detecting and tracking device |
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| CN203156204U true CN203156204U (en) | 2013-08-28 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103698393A (en) * | 2013-12-03 | 2014-04-02 | 广东工业大学 | Magneto-optical imaging nondestructive detection method of weld defects |
| CN104889613A (en) * | 2015-05-15 | 2015-09-09 | 无锡阳工机械制造有限公司 | Intelligent welding process |
| CN104942404A (en) * | 2015-07-15 | 2015-09-30 | 广东工业大学 | Dual-wavelength binocular vision seam tracking method and tracking system |
| CN107340329A (en) * | 2017-09-14 | 2017-11-10 | 广东工业大学 | A kind of method and sensor of metal weldment carrying out flaw detection |
| CN107378200A (en) * | 2017-05-26 | 2017-11-24 | 广东工业大学 | Microgap welding seam tracking method and device under rotating excitation field excitation |
| CN107830892A (en) * | 2017-10-27 | 2018-03-23 | 惠州市美呈空间装饰设计工程有限公司 | A kind of inspection after welding mechanism for billboard |
| CN109855574A (en) * | 2019-02-01 | 2019-06-07 | 广东工业大学 | A kind of weld seam side surface roughness detecting method, device, equipment and storage medium |
-
2013
- 2013-04-08 CN CN 201320196158 patent/CN203156204U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103698393A (en) * | 2013-12-03 | 2014-04-02 | 广东工业大学 | Magneto-optical imaging nondestructive detection method of weld defects |
| CN104889613A (en) * | 2015-05-15 | 2015-09-09 | 无锡阳工机械制造有限公司 | Intelligent welding process |
| CN104942404A (en) * | 2015-07-15 | 2015-09-30 | 广东工业大学 | Dual-wavelength binocular vision seam tracking method and tracking system |
| CN107378200A (en) * | 2017-05-26 | 2017-11-24 | 广东工业大学 | Microgap welding seam tracking method and device under rotating excitation field excitation |
| CN107340329A (en) * | 2017-09-14 | 2017-11-10 | 广东工业大学 | A kind of method and sensor of metal weldment carrying out flaw detection |
| CN107830892A (en) * | 2017-10-27 | 2018-03-23 | 惠州市美呈空间装饰设计工程有限公司 | A kind of inspection after welding mechanism for billboard |
| CN109855574A (en) * | 2019-02-01 | 2019-06-07 | 广东工业大学 | A kind of weld seam side surface roughness detecting method, device, equipment and storage medium |
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| CF01 | Termination of patent right due to non-payment of annual fee |
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| CF01 | Termination of patent right due to non-payment of annual fee |