Research On Key Technologies Of Dual Target Weld Seam Tracking System For High-speed MAG Welding

In the field of welding,robot welding technology has gradually replaced the position of manual welding.With the application of visual technology in welding,weld seam tracking technology has emerged,making robot welding smarter and more efficient.In the weld seam tracking system,the most widely used is the front-end weld seam tracking technology based on line structured light.In the welding process,spatter,arc,and mechanical vibration of the slag will have a serious impact on the visual sensing.Causes the welding error,and the error is difficult to reject.This paper made a preliminary study of the pre-welding seam tracking technology,and on this basis increased the imaging of the molten pool.The digital image processing technology is used to process the weld seam and the weld pool image respectively,and the central coordinate of the weld seam and the center coordinate of the weld pool are obtained so as to achieve the purpose of adaptive and high-precision welding.This thesis first introduced the construction of the welding mobile platform,and selected the device according to the needs.Motion control uses solid-state motion control card,servo motor and its driver;visual imaging device selects CMOS industrial camera and lens,selects line laser with 650 nm wavelength and narrowband filter with 650 nm wavelength according to arc characteristics;welding device selection MAG high-precision welding equipment,and set up a welding experiment platform.Through the calibration of the visual system,the coordinate transformation relationship between the visual system and the motion system was established.Aiming at the problem that the outer corner point coordinate extraction error is relatively large in the existing checkerboard calibration method,the outermost corner point elimination algorithm is proposed,and the Zhang Zhengyou calibration algorithm is used to solve the calibration parameters,and the camera's internal participation is obtained.Senate.By using the dual target surface imaging device to image the weld and the weld pool,image processing operations are performed on the weld image and the weld pool image to obtain the weld center coordinates and the weld pool center coordinates.The welding torch is welded with the center coordinates of the weld,and the welding torch is used to correct the welding torch's center coordinates.The welding accuracy reaches 0.5 mm,which meets the need for high-precision welding.Using the combination of C# and HALCON as a software platform.HALCON is an image processing algorithm design platform.It designs HALCON image processing algorithms and generates C# call files.C # as the main body of the system,can be page design,and call the image processing algorithm by calling the HALCON generated file.Combine C# and HALCON to build the software product platform to verify the reliability and accuracy of the experiment.