CN109967834A - A kind of seam tracking system and method based on dot laser range sensor - Google Patents
A kind of seam tracking system and method based on dot laser range sensor Download PDFInfo
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- CN109967834A CN109967834A CN201910387603.4A CN201910387603A CN109967834A CN 109967834 A CN109967834 A CN 109967834A CN 201910387603 A CN201910387603 A CN 201910387603A CN 109967834 A CN109967834 A CN 109967834A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000003466 welding Methods 0.000 claims abstract description 76
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- 239000000284 extract Substances 0.000 claims abstract description 13
- 230000001012 protector Effects 0.000 claims abstract description 5
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
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- Length Measuring Devices By Optical Means (AREA)
Abstract
Present invention relates particularly to a kind of seam tracking system and method based on dot laser range sensor.The system includes the source of welding current, dot laser range sensor, acceleration transducer, linear guide, sliding block, welding gun, signal processor, arithmetic unit, controller, protector for sensor, wire-feed motor, driver.The seam tracking system and method based on dot laser range sensor it is characterized in that: linear guide is fixed on welding gun, the dot laser range sensor and acceleration transducer being fixed on sliding block do bilateral reciprocation in linear guide, the system is scanned groove region by the dot laser range sensor and acceleration transducer being fixed on sliding block, system extracts the laser emission point of characteristic point to the vertical range signal of groove and the sliding distance signal of sliding block, weld seam or so is calculated using characteristic point distance difference method and antitrigonometric function, upper lower deviation and welding gun work angular displacement, realize the accurate tracking of weld seam.Present system is simple, automatic welding it is high-efficient, it can be achieved that space difference groove pattern weld joint tracking.
Description
Technical field
The present invention relates to welding automatization technology fields, and in particular to a kind of weld seam based on dot laser range sensor with
Track system and method.
Background technique
Welding technique is a critically important research field in machinery manufacturing technology field, with arriving for intellectualization times
Come, welding technique gradually tends to intelligent, automation development.Welding robot is a kind of most common industrial machine of practical application
People, in recent years, development are very fast, in order to meet the needs of different industries are to weld job, have developed various forms of welderings
Welding robot.With the raising of welding quality and efficiency requirements, the raising of human weld's cost, every profession and trade butt welding machine device people
Demand it is very high.Meanwhile more stringent requirements are proposed for the ability and the degree of automation of butt welding machine device people adaptation environment, weldering
Welding robot develops into sensing type from teaching type, and sensing type welding robot utilizes various sensors, and termination process is defended in acquisition
The signals such as sound, light and electricity handle these signals, realize automatic detection to weld seam, sensing type welding robot according to
Various sensors identify that welding gun deviates the deviation signal of weld seam, automatically track to weld seam.
Currently, the control technology and THE WELD SEAM TRACKING TECHNOLOGY of welding gun pose, depend on visual sensor and rotating the arc
Sensor robot.Weld Seam Tracking Control is the critical issue that welding process needs to solve, and modern arc welding process welds matter
Measure the important component automatically controlled.Realize that Weld Seam Tracking Control, weld seam recognition technology are one of core technologies therein.
For sensor applied to weld seam recognition process there are many kind, the application of traditional sensors is no longer satisfied THE WELD SEAM TRACKING TECHNOLOGY
Demand needs to develop the sensor more simple, error is small, more practical to realize that weld seam precisely tracks automatically.
In conclusion improving seam tracking system and method there is an urgent need for developing or introducing different sensors to realize weldering
The automatic weld joint tracking of welding robot improves weld joint tracking precision.
Summary of the invention
The purpose of the invention is to keep welding robot operating system simpler, weld joint tracking is more accurate.According to feature
Point the methods of distance difference method and antitrigonometric function, binding site laser distance sensor and acceleration transducer design a kind of base
In the seam tracking system and method for dot laser range sensor.The system includes the source of welding current, dot laser range sensor, adds
Velocity sensor, linear guide, sliding block, welding gun, signal processor, arithmetic unit, controller, protector for sensor, wire-feed motor,
Driver, system structure is simple, and weld joint tracking precision is high.
A kind of seam tracking system and method based on dot laser sensor, it is characterised in that: the linear guide of the system
It is fixed on welding gun, the central axis of linear guide and welding gun is divided equally, wherein the dot laser Distance-sensing being fixed on sliding block
Device and acceleration transducer do bilateral reciprocation in linear guide, which passes through the dot laser distance that is fixed on sliding block
Sensor and acceleration transducer are scanned groove region, and system extracts laser emission point the hanging down to groove of characteristic point
The sliding distance signal of straight distance signal and sliding block, can construct mathematical model.
Seam tracking system detailed process of the invention is as follows:
Dot laser range sensor and acceleration transducer are separately fixed at the two sides up and down of sliding block, in order to avoid welding
The damage to detection device such as spark, splashing in journey is equipped with protector for sensor outside linear guide.In controller
Under control, sliding block linear guide one end with initial velocity v be 0, acceleration a certain form moves back and forth in linear guide,
Dot laser sensor and acceleration transducer acquire vertical and horizontal distance signal respectively during slide block movement, and system will acquire
The range information arrived is with current signal input signal processor, since two sensors are the same with the initial time of slide block movement
, according to the range information of each characteristic point of regular length system automatic collection of linear guide；Each characteristic point of acquisition is believed
It number is fed together in arithmetic unit, the characteristic point in the system includes two inflection point A, B of groove, Weld pipe mill point C, linear guide
Two-end-point D, E and linear guide midpoint O, each characteristic point are characterized in that: laser emission point at inflection point to groove it is vertical away from
Be extreme point from value, the vertical range value of the laser emission point of Weld pipe mill point to groove is maximum value, linear guide endpoint, in
Point is determined according to acceleration transducer.According to Weld pipe mill dot laser line to the vertical range value of linear guide midpoint laser rays |
OC ' |=m extract the left and right deviation of weld seam, according to two Laser Measurings obtain laser emission point to groove vertical range difference | CC '-OO '
|=n extracts the upper and lower deviation of weld seam, for different groove patterns, according to the several of inflection point A, B or endpoint D, E and Weld pipe mill point C
What relationship extracts welding gun work angular displacement.By the weld seam deviation value of welding gun and operating angle deviation input controller, welding gun is adjusted
Posture realizes that real-time weld seam precisely tracks.
The present invention has the advantages that the entire seam tracking system of the present invention is simple, strong operability, opposite conventional weld with
Track system is more simple, and the algorithm of system is also comparatively simpler, merges and accelerates on the basis of dot laser range sensor
Sensor is spent, difference and antitrigonometric function based on each characteristic point distance extract each deviation signal of weld seam, to realize
The accurate tracking of weld seam.
Detailed description of the invention
Fig. 1 is System Working Principle figure of the invention；
Fig. 2 is welding gun structure schematic diagram of the present invention and welded section figure；
Weld joint tracking geometrical model figure when Fig. 3 is groove bilateral symmetry of the present invention；
Fig. 4 is weld joint tracking geometrical model figure when groove of the present invention is left-right asymmetry；
Fig. 5 is the functional arrangement that welding gun of the present invention realizes weld joint tracking process.
In figure: (1)-acceleration transducer, (2)-dot laser range sensor, (3)-sliding block, (4)-linear guide.
Specific embodiment
In order to preferably express technical solution of the present invention and beneficial achievement, with reference to the accompanying drawings and examples to the present invention
It is described in further detail.
A kind of embodiment 1: the system work of seam tracking system and method based on dot laser range sensor of the invention
Make schematic diagram as shown in Figure 1, the problems such as it mainly solves seam tracking system, structure is complicated, locating effect is poor, feature exists
In: the system include the source of welding current, dot laser range sensor, acceleration transducer, linear guide, sliding block, welding gun, at signal
Manage device, arithmetic unit, controller, protector for sensor, wire-feed motor, driver.In conjunction with Fig. 2, it can be seen that acceleration transducer
Above the survey of sliding block, be conducive to the transverse movement for incuding sliding block, signal processor, arithmetic unit clearly can be calculated quickly
The distance of sliding block sliding；In the dot laser range sensor that the side-lower of sliding block is small power single pulse, as shown in Fig. 2, point swashs
Luminous energy measures laser emission point to the vertical range of workpiece surface, and two sensors are by being fixed on sliding block, with sliding block straight
It moves reciprocatingly on line guide rail, realizes and workpiece surface is scanned, extract weld seam deviation.The present invention is on original laser sensor
In conjunction with acceleration transducer, keep weld joint tracking effect more acurrate, system structure is more simple and efficient.
Embodiment 2: as shown in Figure 3,4, posture of welding torch correction process is illustrated.
When groove morphological rules, if Fig. 3 (a), DE are linear guide, when sliding block moves back and forth at a high speed in linear guide
When, by laser distance measuring principle can calculate sensor to workpiece grooves surface distance, as seen from the figure, dot laser range sensor
Distance to workpiece surface is presented from left to right: first being gradually become smaller, is gradually increased again after reaching A point, reaches C point and reach maximum
Value is then gradually become smaller again with given pace, is reached B point and is gradually become smaller again with another rate.Signal processor is according to survey
Changing rule out can extract the distance value of each characteristic point, i.e. distance value at point A, B, C, D, E, in addition, point O leads for straight line
The central point of rail and the characteristic point in the present invention.
When welding gun is in (a) state in Fig. 3, welding gun center, that is, linear guide midpoint O laser distance is | OO ' |, this
When slide block movement to C ' point when laser distance | CC ' | to be most worth, identification calculates welding gun under the action of processor, arithmetic unit
Left-right deviation, this situation welding gun right avertence, right avertence difference is | OC ' |,
If sliding block, from the end linear guide E setting in motion, sliding block is with initial velocity for 0, and acceleration is that a does uniform variable motion, then |
OC ' |=| EC ' |-| EO |=1/2at1-1/2at0=1/2a (t1-t0), slide block movement time, acceleration respectively by controller and
Acceleration transducer induction obtains.
Meanwhile can recognize and calculating the upper lower deviation of welding gun according to the distance of sensor at characteristic point C, O to workpiece, because
Wire feed length is constant when for robot automatic welding, can judge that welding gun is according to the distance that dot laser range sensor is measured
It is no that there are upper lower deviations.In this case, | CC ' | with | OO ' | distance difference be welding gun upper lower deviation, on welding gun partially.System
The distance signal of welding gun is inputted letter by the distance that system is measured according to sensor, dot laser range sensor combination acceleration transducer
Signal is carried out identifying processing by number processor, processor, and arithmetic unit calculates characteristic point distance value and simultaneously calculates weld seam deviation, such as schemes
Shown in 3, the deviation signal that controller will acquire is handled, and control driver drives welding gun to automatically track weld seam center, i.e., (a)
→(b)。
It as shown in Fig. 3 (b), is entangled partially by Butt welding gun pose, welding gun center is to positive Weld pipe mill at this time, in order to realize weldering
Seam precisely tracks and reaches actual welding effect, and the influence that welding gun work angle-butt weld is seamed into type is most important, before the present invention passes through
The geometrical model that face is established realizes that welding gun operating angle entangles partially based on antitrigonometric function and reaches weld joint tracking effect.In Fig. 3 (b), square
In shape AFC ' A ' and BGC ' B ', | AF |=| A ' C ' |, | BG |=| B ' C ' |, can be measured by acceleration transducer | A ' C ' | and | C '
B ' | distance value；By the laser distance value of characteristic point A, B, C | AA ' |, | BB ' |, | CC ' | available | FC |=| CC '-AA ' |, | GC
|=| CC '-BB ' |, it can be obtained in right angled triangle △ FAC, △ BGC according to arcsin function:
∠ α=arctan (| AF |/| GC |),
∠ β=arctan (| BG |/| GC |),
According to actual welding appearance of weld situation, as ∠ α=∠ β, welding gun operating angle at this time is best, appearance of weld effect
Fruit is best.Arithmetic unit carries out operation according to the distance value Butt welding gun operating angle that sensor measures, and angle of welding gun deviation is inputted and is controlled
Device processed, controller passes through control driver again drives welding gun to adjust posture, reaches weld seam and precisely tracks, is i.e. (b) → (c).
Can similarly obtain, when groove pattern is irregular, as shown in figure 4, controller action sliding block move, dot laser away from
Workpiece surface is scanned from sensor, identical as situation when groove morphological rules, system handles characteristic point, with
The left and right of welding gun, upper lower deviation are obtained afterwards, and driver drives welding gun real-time deviation correcting posture, i.e., | OO ' |=| CC ' |, make welding gun pair
Middle Weld pipe mill.Welding gun and groove angle ∠ α=arctan (| AF |/| GC |), ∠ β=arctan (| BG |/| GC |), ∠ α
When ≠ ∠ β, two corners illustrate that the operating angle deviation of welding gun, system will rectify a deviation according to the deviation of two angles with the presence of deviation, from
And realize accurate weld joint tracking, i.e. (d) → (e) → (f).
Embodiment 3: as shown in figure 5, L-t indicates the Laser emission when welding gun carries out weld joint tracking at linear guide center
The functional picture that the distance of point to groove changes over time, α/β-t indicate the linear guide center when welding gun carries out weld joint tracking
The functional picture that angle between the laser and groove two sides at place changes over time, X-t are indicated when welding gun carries out weld joint tracking
The functional picture that the distance of laser to longest laser at linear guide center changes over time, actually welding gun weld seam with
Posture of welding torch changes with time functional picture when track, can intuitively reflect the correction process of welding gun, welding gun can be monitored in real time
Deviation signal, so that the automatic Butt welding gun of system is adjusted.
Claims (5)
1. a kind of seam tracking system and method based on dot laser range sensor, it mainly solves seam tracking system, knot
The problems such as structure is complicated, locating effect is poor, it is characterised in that: the system includes the source of welding current, dot laser range sensor, acceleration
Sensor, linear guide, sliding block, welding gun, signal processor, arithmetic unit, controller, protector for sensor, wire-feed motor, driving
Device, wherein linear guide is fixed on welding gun and divides equally with the central axis of welding gun, the dot laser distance being fixed on sliding block
Sensor and acceleration transducer do bilateral reciprocation in linear guide, which passes through the dot laser that is fixed on sliding block
Range sensor and acceleration transducer are scanned groove region, and system extracts the laser emission point of characteristic point to groove
Vertical range signal and sliding block sliding distance signal, extract weld seam using characteristic point distance difference method and antitrigonometric function
Deviation input controller is adjusted posture of welding torch, realizes the accurate of weld seam by left and right, upper lower deviation and welding gun work angular displacement
Tracking.
2. the laser way of output of dot laser range sensor according to claim 1 is small power single pulse.
3. dot laser range sensor according to claim 1 and acceleration transducer, it is characterized in that: being fixed on sliding block
Upper and lower two sides, under the control of the controller, sliding block linear guide one end with initial velocity v be 0, acceleration a certain form exists
It is moved back and forth in linear guide, dot laser sensor and acceleration transducer acquire vertical and horizontal respectively during slide block movement
Distance signal.
4. characteristic point according to claim 1, two inflection point A, B, Weld pipe mill point C, linear guide two including groove
Endpoint D, E and linear guide midpoint O, each characteristic point are characterized in that: the vertical range of laser emission point at inflection point to groove
Value is extreme point, and the vertical range value of laser emission point to the groove of Weld pipe mill point is maximum value, linear guide endpoint, midpoint
It is determined according to acceleration transducer.
5. characteristic point distance difference method according to claim 1 and antitrigonometric function extract weld seam deviation, it is characterised in that:
According to Weld pipe mill dot laser line to the distance value of linear guide midpoint laser rays | OC ' |=m extracts the left and right deviation of weld seam, according to
Distance difference of the laser emission point that two Laser Measurings obtain to workpiece grooves surface | CC '-OO ' |=n extracts the upper and lower deviation of weld seam, needle
To different groove patterns, welding gun work angular displacement is extracted according to the geometrical relationship of inflection point A, B or endpoint D, E and Weld pipe mill point C.
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Citations (8)
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| JPH08276269A (en) * | 1995-03-31 | 1996-10-22 | Nippon Steel Corp | Copy welding method |
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-
2019
- 2019-05-09 CN CN201910387603.4A patent/CN109967834B/en active Active - Reinstated
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|---|---|---|---|---|
| JPS5982172A (en) * | 1982-11-04 | 1984-05-12 | Mitsubishi Heavy Ind Ltd | Detection of welding position and welding |
| CN85106473A (en) * | 1985-08-29 | 1987-03-18 | 松下电器产业株式会社 | Bevel for welding sectional area pick-up unit |
| JPH08276269A (en) * | 1995-03-31 | 1996-10-22 | Nippon Steel Corp | Copy welding method |
| CN102528231A (en) * | 2011-12-30 | 2012-07-04 | 南昌大学 | Double-line cross laser sensing method for seam tracking |
| US9375808B2 (en) * | 2013-09-16 | 2016-06-28 | Lincoln Global, Inc. | Welding and cutting laser displacement compensation system |
| CN107442900A (en) * | 2017-08-04 | 2017-12-08 | 淮安信息职业技术学院 | A kind of laser vision welding seam tracking method |
| CN108213788A (en) * | 2018-01-03 | 2018-06-29 | 湘潭大学 | A kind of full pose corrugated plating intelligence weld seam tracking sensor of three mesh |
| CN109514042A (en) * | 2018-12-07 | 2019-03-26 | 北京博清科技有限公司 | Position while welding tracking and controlling method and device based on PID |
Non-Patent Citations (1)
| Title |
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