The COarc welding was carried out under a longitudinal magnetic field,and the arc shape has been studied by using a high-speed camera.From the camera images,we know that under the action of the longitudinal magnetic f...The COarc welding was carried out under a longitudinal magnetic field,and the arc shape has been studied by using a high-speed camera.From the camera images,we know that under the action of the longitudinal magnetic field,the upper end of the arc will constrict and the lower end of the arc will expand.It would become a bell-type shape and rotate at a highspeed in the optimum range of magnetic field parameters.The arc shape was simulated using a mathematical model,which was established based on experiment data and theoretical knowledge,and mechanism analysis has been carried out regarding the effect of longitudinal magnetic field on COwelding arcs.展开更多
A general industrial CCD( ICCD) camera is redesigned to detect the weld pool without arc at the period of short circuiting, so that the interference of arc and spatter during CO2 short circuiting arc welding is elim...A general industrial CCD( ICCD) camera is redesigned to detect the weld pool without arc at the period of short circuiting, so that the interference of arc and spatter during CO2 short circuiting arc welding is eliminated. Through the analysis of weld pool image, both size parameters (such as weld pool area A, weld pool length L1, L2 and weld pool breadth b) and contour parameters (b, which describe the curves of weld pool boundany) ,which could indicate the shape features of weld pool, had been defined to express weld pool information quantitatively. The investigation of the relationships between weld pool shape parameters and welding process parameters may be beneficial to the quality control of CO2 welding.展开更多
A real-time arc welding robot visual control system based on a local network with a multi-level hierarchy is developed in this paper. It consists of an intelligence and human-machine interface level, a motion planning...A real-time arc welding robot visual control system based on a local network with a multi-level hierarchy is developed in this paper. It consists of an intelligence and human-machine interface level, a motion planning level, a motion control level and a servo control level. The last three levels form a local real-time open robot controller, which realizes motion planning and motion control of a robot. A camera calibration method based on the relative movement of the end-effector connected to a robot is proposed and a method for tracking weld seam based on the structured light stereovision is provided. Combining the parameters of the cameras and laser plane, three groups of position values in Cartesian space are obtained for each feature point in a stripe projected on the weld seam. The accurate three-dimensional position of the edge points in the weld seam can be calculated from the obtained parameters with an information fusion algorithm. By calculating the weld seam parameter from position and image data, the movement parameters of the robot used for tracking can be determined. A swing welding experiment of type V groove weld is successfully conducted, the results of which show that the system has high resolution seam tracking in real-time, and works stably and efficiently.展开更多
基金supported by National Natural Science Foundation of China(No.51275314)the Program of Science and Technology Foundation of Shenyang,China(F13-316-1-04)
文摘The COarc welding was carried out under a longitudinal magnetic field,and the arc shape has been studied by using a high-speed camera.From the camera images,we know that under the action of the longitudinal magnetic field,the upper end of the arc will constrict and the lower end of the arc will expand.It would become a bell-type shape and rotate at a highspeed in the optimum range of magnetic field parameters.The arc shape was simulated using a mathematical model,which was established based on experiment data and theoretical knowledge,and mechanism analysis has been carried out regarding the effect of longitudinal magnetic field on COwelding arcs.
基金This project is supported by National 863 project( No.412-9913-02)and National Natural Science Foundation of China(No.599750
文摘A general industrial CCD( ICCD) camera is redesigned to detect the weld pool without arc at the period of short circuiting, so that the interference of arc and spatter during CO2 short circuiting arc welding is eliminated. Through the analysis of weld pool image, both size parameters (such as weld pool area A, weld pool length L1, L2 and weld pool breadth b) and contour parameters (b, which describe the curves of weld pool boundany) ,which could indicate the shape features of weld pool, had been defined to express weld pool information quantitatively. The investigation of the relationships between weld pool shape parameters and welding process parameters may be beneficial to the quality control of CO2 welding.
基金This work was supported by the National High Technology Research and Development Program of China under Grant 2002AA422160 by the National Key Fundamental Research and the Devel-opment Project of China (973) under Grant 2002CB312200.
文摘A real-time arc welding robot visual control system based on a local network with a multi-level hierarchy is developed in this paper. It consists of an intelligence and human-machine interface level, a motion planning level, a motion control level and a servo control level. The last three levels form a local real-time open robot controller, which realizes motion planning and motion control of a robot. A camera calibration method based on the relative movement of the end-effector connected to a robot is proposed and a method for tracking weld seam based on the structured light stereovision is provided. Combining the parameters of the cameras and laser plane, three groups of position values in Cartesian space are obtained for each feature point in a stripe projected on the weld seam. The accurate three-dimensional position of the edge points in the weld seam can be calculated from the obtained parameters with an information fusion algorithm. By calculating the weld seam parameter from position and image data, the movement parameters of the robot used for tracking can be determined. A swing welding experiment of type V groove weld is successfully conducted, the results of which show that the system has high resolution seam tracking in real-time, and works stably and efficiently.
