Automatic weld seam tracking of tube-to-tubesheet TIG welding robot with multiple sensors

Lei Ting; Huang Yu; Wang Hui; Rong Youmin

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Automatic weld seam tracking of tube-to-tubesheet TIG welding robot with multiple sensors

机译：具有多个传感器的管 - 管板TIG焊接机器人的自动焊缝跟踪

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摘要

Welding height and welding distance were the two important parameters for tube-to-tubesheet welding. This paper introduced an automatic tube-to-tubesheet TIG welding robot. The center of tube was extracted by a vision sensor. The arc voltage between the tungsten electrode and the tubesheet was monitored by a voltage convertor. The initial welding height was measured by a laser sensor. The optimal image recognition algorithm was selected through comparative experiments. The experiment showed that the calculation error of tube center can be controlled within 0.2 mm. The tube center can be accurately aligned with the rotary center of welding torch by the robot. Thus, the distance between the tungsten electrode and the tube can be ensured to meet the process requirements, namely welding distance consistency. Arc voltage tracking was realized after arc voltage acqui-sition, peak extraction and arc voltage threshold control. This can regulate the welding torch move towards or away from the tubesheet, namely real-time control of the welding height. The voltage fluctuation can be reduced from 1.84 V to 1.15 V by arc voltage tracking, which was beneficial for welding robot to obtain better weld seam.

机译：焊接高度和焊接距离是管型管板焊接的两个重要参数。本文介绍了一种自动管 - 管板TIG焊接机器人。通过视觉传感器提取管的中心。通过电压转换器监测钨电极和管板之间的电弧电压。初始焊接高度由激光传感器测量。通过比较实验选择最佳图像识别算法。实验表明，管中心的计算误差可以控制在0.2毫米内。管中心可以通过机器人与焊枪的旋转中心精确对齐。因此，可以确保钨电极和管之间的距离以满足工艺要求，即焊接距离稠度。电弧电压跟踪在电弧电压验收，峰值提取和电弧电压阈值控制之后实现。这可以调节焊炬朝向或远离管板，即实时控制焊接高度。通过电弧电压跟踪可以从1.84 V到1.15V减小电压波动，这对焊接机器人有利于获得更好的焊缝。

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来源
《Journal of Manufacturing Processes》 |2021年第3期|60-69|共10页
作者
Lei Ting; Huang Yu; Wang Hui; Rong Youmin;
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作者单位

Huazhong Univ Sci & Technol State Key Lab Digital Mfg Equipment & Technol Wuhan Peoples R China|Huazhong Univ Sci & Technol Sch Mech Sci & Engn Wuhan Peoples R China;

Huazhong Univ Sci & Technol State Key Lab Digital Mfg Equipment & Technol Wuhan Peoples R China|Huazhong Univ Sci & Technol Sch Mech Sci & Engn Wuhan Peoples R China;

Huazhong Univ Sci & Technol State Key Lab Digital Mfg Equipment & Technol Wuhan Peoples R China|Huazhong Univ Sci & Technol Sch Mech Sci & Engn Wuhan Peoples R China;

Huazhong Univ Sci & Technol State Key Lab Digital Mfg Equipment & Technol Wuhan Peoples R China|Huazhong Univ Sci & Technol Sch Mech Sci & Engn Wuhan Peoples R China;

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原文格式 PDF
正文语种 eng
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关键词
Seam tracking; Vision sensor; Voltage convertor; Laser sensor; Tube-to-tubesheet welding;

机译：接缝跟踪;视觉传感器;电压转换器;激光传感器;管 - 管板焊接;

Automatic weld seam tracking of tube-to-tubesheet TIG welding robot with multiple sensors

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