Study On In-suit Identification Of Irregular Welding Seam And Simulation Of Its Path Planning

Robot applications in the welding process greatly improve the welding efficiency,but the current robot is mainly used for regular shape weld welding,welding for irregular welds is also difficult to deal with.In view of this problem,this paper studies the problem of visual inspection of irregular weld machines and plans the welding path of curve weld and trapezoidal weld.In this paper,the CCD camera is used as the tool to collect the image,the camera is installed on the welding torch,and the work piece with different weld shape and direction is obtained more flexibly.Firstly,the calibration of the internal and external parametric matrices of the CCD camera and the correction of the distortion of the camera are studied.In order to obtain the foundation of the weld parameters accurately,the conversion matrix of the image coordinate system and the world coordinate system is determined.In the seam identification algorithm,considering the influence of the precision of the edge of the weld on the welding error,the method of guiding filtering is used to denoise the obtained image.The algorithm uses the refinement of the weld area to obtain the center line of the weld.The algorithm can adapt to the complex weld area with various shapes,and the accuracy of the centerline can be up to 2 pixels.Then,the welding path planning problem of the single-channel welded curve weld and the multi-channel welded trapezoidal weld is analyzed.The welding path is programmed for the curve weld using the weld centerline as the welding path.For the multi-channel welding trapezoidal welds,a welding cannot be completely filled with the weld area,this paper uses a step-by-step path programming,first of all the provisions of the first weld to the edge of the butt weld,for the next Welding to lay the foundation,and then analyze and calculate the theoretical edge of the first weld,calculate the function of the welding path of the second weld,and propose the idea of maximum welding distance to prevent the welding distance from being too small to interfere with the stability of the system TheFinally,the simulation system is established by combining Robotstudio and UG modeling,and the information of the weld is read into the simulation software to simulate the welding path planning of the curve weld and the trapezoidal weld.