基于双线结构光传感器的埋弧焊缝跟踪系统研究

SAW seam tracking system based on dual structure laser sensor

针对船舶制造中长板对接焊缝的埋弧焊生产效率低、劳动强度大,且使用单线结构光传感器易受小车行走轨道安放的影响而产生导前误差,研制了一种基于双线结构光传感器的埋弧焊缝跟踪系统。基于结构光成像原理,建立了双线结构光传感器的数学模型,从中得到了焊缝轨迹空间位姿和焊缝偏差。设计了双线结构光传感器,并结合埋弧焊的焊接特点,设计了针对V形坡口焊缝的图像处理算法。介绍了焊缝跟踪系统的组成和工作原理,并对传感器和焊缝跟踪系统进行了试验验证。结果表明,传感器数学模型正确且检测精度较高,能够实现对焊缝轨迹空间位姿的检测,焊缝跟踪系统运行稳定,能够满足实际焊接要求。

In the shipbuilding process,SAW(submerged arc welding)is the main welding process for long plate butt joining,while the use of solo structure laser sensor will bring prepositive errors caused by rail installation.For these reasons,a new SAW seam tracking system was developed based on dual structure laser sensor.The mathematical model of dual structure laser sensor was established on the basis of structured-light imaging principle.According to the mathematical model,the position and offset of welds were obtained.In connection with the characteristics of SAW,the dual structure laser sensor and image processing algorithm of V-groove weld were developed,and experiments were performed to testify the sensor and seam tracking system.The results show that the sensor can be used to detect the position and shape of welds,and the system can meet the need of practical welding perfectly.