基于机器人焊枪倾角变化的熔池图像分析

Image Analysis of Molten Pool Based on Inclination Variation of Robot Welding Gun

熔池是工艺规范综合作用的结果,熔池形状特征与焊接质量密切相关。建立基于熔化极气体保护焊平台的机器视觉监控系统,设计图像处理程序,对采集的熔池图像进行预处理、形态学处理和Canny算子提取边缘,得到边缘轮廓平滑的熔池图像,并计算出其面积以及长宽比。根据提取的熔池图像,分析焊枪前倾和后倾角度变化对熔池形状变化的影响规律,为指导机器人焊枪工艺参数选择提供参考。

The molten pool is the result of the comprehensive action of process specifications.The shape characteristics of the molten pool are closely related to the welding quality.The thesis establishes a machine vision monitoring system based on the GMAW platform,designs an image processing program,pre-processes the collected molten pool image,morphological processing and Canny operator to extract the edges,and the edge contour is smooth,calculate its area and aspect ratio.According to the proposed graph,the influence of the forward and backward tilting angles of the welding torch on the shape of the molten pool was analyzed,which provided a reference for guiding the selection of the welding torch process parameters.