摘要
为了同时实现钨极惰性气体保护焊(GTAW)中弧长控制和焊缝跟踪,文中提出一种基于钨极倒影的焊缝位置检测新方法.该方法将所研制的视觉传感器固接于焊枪上,从侧前方观测熔池,拍摄得到的图像包含有钨极前端、熔池前部、焊缝棱边以及钨极在熔池中所成的像等元素.通过所提出的基于实际钨极中心线约束的弧长算法和基于熔池水平约束的钨极左右偏差算法,计算得到焊缝相对钨极的三维位置,以此为控制量可以实现三维精密焊缝跟踪.结果表明,该方法是有效的,检测精度达到±0.1mm,满足精密焊接应用要求.
This paper proposed a novel detection method of seam position for realizing arc length control and seam tracking of GTA welding at the same time. In the method, a developed visual sensor is fixed on a welding torch from the side-front view captures image, which includes the front of tungsten electrode, pool, seam lines and the mirror of tungsten electrode in pool. An algorithm based on the constraint of real tungsten electrode center line is proposed to calculate the arc length error. Another algorithm by the hypothesis that the pool being considered as a flat plain is proposed to calculate the seam tracking error. Therefore 3D position of seam relative to tungsten electrode can be obtained as a control input for 3D seam tracking. Experimental results show that the method is valid and the detecting precision reaches ±0.1 mm which meets requirements of precise welding.
出处
《焊接学报》
EI
CAS
CSCD
北大核心
2010年第3期1-4,共4页
Transactions of The China Welding Institution
基金
清华大学基础研究基金资助项目(JC2007009)
清华大学先进成形制造教育部重点实验室开放基金资助项目(2008011)
