Automatic welding technology for circular seam of spherical tank based on passive vision sensor

WU Yifei; FU Qiang; QI Jiacheng

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Automatic welding technology for circular seam of spherical tank based on passive vision sensor
Vol. 49, Issue 9, Pages: 91-94(2019)
Published：2019
DOI：
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DOI：

WU Yifei, FU Qiang, QI Jiacheng. Automatic welding technology for circular seam of spherical tank based on passive vision sensor[J]. Eletric Welding Machine2019, 49(9): 91-94. DOI：

摘要

针对球罐环缝焊接存在的焊接效率低、焊缝质量差等问题

设计了一种基于被动视觉技术的环缝自动焊机。该焊机通过开关磁座将行走轨道吸附在球罐表面

焊机小车沿轨道行走

进而完成对环缝的焊接。焊缝跟踪系统利用被动视觉传感器采集到的焊接图像

提取出图像中焊缝与熔池的偏差。控制系统利用焊接偏差控制纠偏机构工作

实现焊缝跟踪。该系统解决了因轨道安装而导致的焊接误差问题

极大地提高了环缝的焊接精度。

Abstract

An automatic girth welding machine

which based on passive vision technology

was designed to solve the problems of low welding efficiency and poor welding quality of spherical tank girth welding. The walking tracks are attracted on the surface of the spherical tank through the switch magnetic seat

and the welding tractor walks along the tracks to complete the welding of the circular seam. The welding tracking system uses welding images

which collected by the passive vision sensor

to extract the deviation between the weld seam and the weld pool. Furthermore

the extracted deviation is used by the control system to control the rectifying mechanism and realize the welding seam tracking. The result shows that the tracking system corrects the welding deviation

which caused by the installation of walking track and greatly improves the precision of girth seam welding.