CN102922114B - A kind of meticulous tracking system of micro-plasma arc welding of ultra-thin fine texture part - Google Patents

Abstract

The invention relates to a fine tracking system for micro-beam plasma arc welding of ultra-thin and fine-structure parts, which includes an expansion interface board (2), a stepping motor drive board (3), a first electronically controlled translation stage (4), a second electric Control translation platform (5), tooling traveling mechanism (6), tooling clamping platform (7), and its features also include BOA smart camera (8) fixed on the welding torch (9), installed on the expansion interface board (2) DSP processor (1); expansion interface board (2) for BOA smart camera (8), DSP processor (1), first electric control translation stage (4) and second electric control translation stage (5), step The motor drive board (3) provides power; the welding gun (9) is fixed on the second electronically controlled translation platform (5), and the first electronically controlled translation platform (4) and the second electronically controlled translation platform (5) are assembled vertically. The system realizes high-quality welding of micro-beam plasma arc welding of ultra-thin and ultra-fine structural parts, high-precision control, and stable and reliable work.

Description

A fine tracking system for micro-beam plasma arc welding of ultra-thin and fine-structured parts

technical field

The invention relates to the technical field of fine seam tracking systems, in particular to a fine tracking system for micro-beam plasma arc welding of ultra-thin and fine structural parts.

Background technique

Nowadays, in the welding seam automatic tracking technology, the welding seam tracking system with visual sensing technology is the research focus and hot spot. The welding seam tracking system with visual sensing technology is to image the real-time situation of the welding seam through the visual sensor, and then transmit the data to the control processor through corresponding image processing. After the control processor undergoes signal processing, it is controlled by a closed-loop control circuit The motor adjusts the position of the welding torch to the center of the welding seam to achieve high-quality welding. The entire automatic seam tracking system mainly includes the seam image information acquisition and processing part, the real-time signal processing control part, the feedback control circuit part, and the power transmission part.

In order to be able to automatically track any weld under various circumstances, this requires the tracking system to have high intelligence, that is, to solve the following key problems: 1. Weld seam recognition and weld image information extraction; 2. , Real-time image processing and timely feedback; 3, Real-time control system; 4, Power control and precision adjustment.

After searching and analyzing the existing technical documents, it is found that all the existing tracking systems either track the weld seam of the large-size steel plate, or the tracking accuracy is not high. Sun Naiwen and Ding Peifan's "Electronic Distributed Seam Tracking Method and Device" (Application No. 86106386) proposes that while electron beam welding is being performed, an electronic receiver made of two mutually axisymmetric electronic sensors receives the information on the welding seam. For the reflected electrons generated, judge whether the electron beam and the weld seam are centered according to whether the density of the reflected electrons is symmetrical to the weld seam. If it is not symmetrical, adjust it until it is symmetrical. Poor, resulting in biased tracking. In addition, Xiao Zengwen et al.’s “Multi-structured light binocular compound visual tracking method and device” (application number: 200910024758) proposes to use two cameras to capture weld seam image information, and calculate the current ideal position of the welding torch after processing, and obtain the actual position. The difference is converted into an analog signal or wireless communication output by the controller to control the welding gun deviation correction motor to achieve the purpose of automatic welding seam tracking. The system uses two cameras. Although the tracking effect is good, it is suspected of waste of resources. There is also no mention that the system can track ultra-thin fine structures, and the related technology has not been disclosed in other technical documents.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies and deficiencies of the prior art, and provide a fine tracking system for micro-beam plasma arc welding of ultra-thin and fine-structured parts, which can identify and extract ultra-thin and fine-structured parts (with a size smaller than 0.1mm) welding seam image information; DSP processor is used as the control center, and its powerful data processing capability and high operating speed are used to meet the real-time requirements of the entire system; high-precision electronically controlled translation is controlled and driven by the stepping motor driver board The platform realizes the high-precision feedback control adjustment of the welding torch, and the adjustment accuracy is as high as 10um.

Technical scheme of the present invention is as follows:

A fine tracking system for micro-beam plasma arc welding of ultra-thin and fine-structured parts, including a BOA smart camera, a DSP processor, a first electronically controlled translation platform and a second electronically controlled translation platform (both of which are composed of stepping motors + ball wires) Rod translation platform), expansion interface board, stepper motor drive board; the expansion interface board is connected to an external power supply, and after corresponding voltage transformation, it supplies the BOA smart camera, DSP processor, the first electronically controlled translation platform and the second electronically controlled translation platform respectively. stage, stepper motor driver board power supply; DSP processor is installed on the expansion interface board; welding torch is fixed on the table of the second electric control translation platform, BOA smart camera is fixedly installed on the welding torch; BOA smart camera, through the I/OPWR interface Connect to the expansion interface board, connect to the DSP processor through the expansion interface board through the LAMP interface, and connect to the host computer through the LAN interface to realize the setting of various parameters of the BOA smart camera and the establishment of image processing and communication solutions, and then the BOA smart camera can communicate with The host computer is disconnected from the LAN interface; the first electronically controlled translation platform and the second electronically controlled translation platform are fixed on the traveling mechanism of the tooling; the first electronically controlled translation platform and the second electronically controlled translation platform are connected to the stepper motor drive board through wires , the stepper motor drive board is connected to the expansion interface board through wires, and receives the control signal from the DSP processor to drive the stepper motor and then adjust the centering of the welding torch.

Description of drawings

Fig. 1 is a schematic view of the micro-beam plasma arc welding fine tracking system structure of a kind of ultra-thin structure of the present invention;

Fig. 2 is the second schematic diagram of the micro-beam plasma arc welding fine tracking system structure of a kind of ultra-thin structure of the present invention;

Fig. 3 is a control circuit connection block diagram of a fine tracking system for micro-beam plasma arc welding of ultra-thin and fine-structure parts according to the present invention.

Explanation of reference numerals

1-DSP processor 2-Extended interface board 3-Stepping motor drive board 4-First electronically controlled translation platform 5-Second electronically controlled translation platform 6-Working walking mechanism 7-Working card loading platform 8-BOA smart camera 9 -Welding torch 10-ultra-thin fine structure parts

specific implementation plan

Below in conjunction with accompanying drawing and embodiment the present invention will be further described

A fine tracking system for micro-beam plasma arc welding of ultra-thin and fine-structured parts proposed by the present invention adopts DSP processor 1 as the control center, and obtains image information of welds of ultra-thin and fine-structured parts through BOA smart camera 8, and obtains after processing The center coordinates of the welding seam are communicated to the DSP processor 1 through the asynchronous serial port of the LAMP interface. After corresponding calculation, the DSP processor 1 outputs pulses to the stepping motor drive board 3. The stepping motor rotates according to the direction and offset information carried by the pulses, driving The welding torch 9 is fine-tuned so that the micro-beam plasma arc is centered on the center of the welding seam of the ultra-thin fine structure part 10 . The DSP processor 1 is the minimum system board of TMS320DSPF2812.

According to the actual situation of the existing tooling system, the BOA smart camera 8 is installed on a specially designed 6mm thick bakelite board, and the 6mm thick bakelite board is fixed on the welding torch by a specially designed aluminum alloy part with a ring shape similar to "K" 9, the welding torch 9 is fixed on the second electronically controlled translation platform 5; the BOA smart camera 8 adopts M1280 with a resolution of 1280×960 and a pixel size of 3.7um, which is fully capable of clearly imaging the weld seam of ultra-thin and fine structural parts; The BOA smart camera 8 does not need to install any image processing software except the driver program on the computer. It is connected to the host computer through the Ethernet LAN cable during setting, and the built-in iNspectExpress application program is started to quickly set and build the BOA smart camera 8 through the web browser. After the image processing and communication scheme is completed, the BOA smart camera 8 can be disconnected from the LAN interface of the host computer; the DSP processor 1 is installed on the expansion interface board 2, and the BOA smart camera 8 and the DSP processor 1 are expanded through the LAMP line The interface board 2 is connected, and the trigger signal sent by the DSP processor 1 is received through the I/OPWR interface to start detection of the running scheme. BOA Smart Phase 8 has built-in three processors, namely digital signal processor, central processing unit and field programmable gate array, which are respectively responsible for optimizing algorithms, managing applications and managing image sensor functions, and can be programmed to realize the desired functions.

The BOA smart camera 8 processes the data obtained by processing the weld image information of ultra-thin and fine-structure parts to the DSP processor 1 through the asynchronous serial port of the LAMP line, and the DSP processor 1 calculates and outputs the data according to the received data fed back by the BOA smart camera 8 The pulse signal that controls the rotation direction and angle of the stepper motor controls the rotation of the stepper motor through the stepper motor driver board 3; Realize higher precision adjustment of electronically controlled translation stage.

The expansion interface board 2 is connected to an external power supply, and supplies power to the BOA smart camera 8, the DSP processor 1, the first electronically controlled translation platform 4, the second electronically controlled translation platform 5, and the stepping motor driver board 3 after corresponding voltage transformation; BOA The analog signal and data communication between the smart camera 8 and the DSP processor 1 and the pulses from the DSP processor 1 to the stepping motor driver board 3 all pass through the photoelectric isolation module of the expansion interface board 2 .

The first electronically controlled translation platform 4 and the second electronically controlled translation platform 5 are assembled together vertically and crosswise, and the work between the base plane of the first electronically controlled translation platform 4 and the second electronically controlled translation platform 5 and the tooling clamping platform 7 is required during installation. The table top is vertical, which can realize the stepping movement in the X and Y two-dimensional directions, and can drive the welding torch to make fine adjustments to align with the weld seam center of the ultra-thin weldment. When the horizontal center loads of the first electronically controlled translation platform 4 and the second electronically controlled translation platform 5 are the same, it doesn't matter if any one of the two is placed horizontally or vertically, and can meet the requirements of the system load; but when the first electronically controlled translation platform When the horizontal center load and the vertical center load of platform 4 and the second electronically controlled translation platform 5 are different, assuming that the horizontal center load of the first electronically controlled translation platform 4 is greater than the horizontal center load of the second electronically controlled translation platform 5, the first electronically controlled translation platform is assembled. When controlling the translation platform 4 and the second electronically controlled translation platform 5, it is also necessary to pay attention to: during assembly, the base of the first electronically controlled translation platform 4 with a large horizontal center load is horizontally fixed on the tooling traveling mechanism 6, and the second electronically controlled translation platform 5 is vertically fixed on the table top of the first electronically controlled translation table 4; the welding torch 9 is connected and fixed to the table top of the second electronically controlled translation table 5, and the BOA smart camera 8 is fixed on the welding torch, and the fixed position is adjustable to ensure that the BOA smart camera 8 is on the The image is clear when the torch is raised and lowered. The first electronically controlled translation platform 4 and the second electronically controlled translation platform 5 selected by the micro-beam plasma arc welding fine tracking system for ultra-thin and fine-structured parts are the same model Huawei Haorun A023, and the first electronically controlled translation platform 4 and The second electronically controlled translation stage 5 is respectively provided with two limit position switches.

The present invention innovatively realizes the real-time task distribution and data communication between the BOA smart camera 8 and the DSP controller 1 . It can well realize the ultra-thin (0.1mm stainless steel sheet, 0.05mm titanium foil), ultra-fine (0.2mm and below wire mesh) gap-free high-precision assembly, the butt gap size is 28~86μm, and its tracking High-quality welding of structural parts with a precision of 5 μm, high control precision, stable and reliable work.

Claims (4)

1. the meticulous tracking system of the micro-plasma arc welding of ultra-thin fine texture part, comprises expansion interface plate(2), stepper motor drive plate (3), the first electronic control translation stage (4) and the second electronic control translation stage (5), frock rowWalk mechanism (6) and the frock platform (7) that is installed, it is characterized in that, also comprise the BOA intelligence being fixed on welding gun (9)Can camera (8) and be arranged on the dsp processor (1) on expansion interface plate (2);

In described BOA smart camera (8), establish and be responsible for respectively optimized algorithm, management application, managing image sensorFunction, complete in the lump ultra-thin, ultra-fine in conjunction with embedded graphical image process software iNspectExpressThe acquisition and processing of fine structure part weld image information and realization and dsp processor (1) asynchronous serial port communicationDigital signal processor, central processing unit and three processors of field programmable gate array;

Serial ports pin RX, the TX of described BOA smart camera (8) is asynchronous through LAMP line and dsp processor (1)Serial communication connects, and dsp processor (1) carries out the defeated of low and high level through I/OPWR line and BOA smart cameraEnter output;

Described BOA smart camera (8) adopts M1280, and resolution ratio is 1280 × 960, and Pixel size is 3.7um;

Described BOA smart camera (8) disconnects LAN mouth with host computer and is connected in the time of work, independent operating;

Described dsp processor (1) adopts DSP control chip TMS320DSPF2812 minimum system plate.

2. the meticulous tracking system of the micro-plasma arc welding of a kind of ultra-thin fine texture part as claimed in claim 1,It is characterized in that described expansion interface plate (2) external power supply is given respectively BOA intelligence after corresponding transformationCamera (8), dsp processor (1), the first electronic control translation stage (4) and the second electronic control translation stage (5), stepper motorDrive plate (3) power supply; Dsp processor (1) is arranged on described expansion interface plate (2); BOA smart camera (8)With analog signal between dsp processor (1) and data communication and dsp processor (1) drive to stepper motorThe photoelectric isolation module of described expansion interface plate (2) is all passed through in the pulse of plate (3).

3. the meticulous tracking system of the micro-plasma arc welding of a kind of ultra-thin fine texture part as claimed in claim 1,It is characterized in that, described stepper motor drive plate (3) one end connects through expansion interface plate (2) and dsp processor (1)Connect, the other end is connected with the first electronic control translation stage (4) and the second electronic control translation stage (5);

Described stepper motor drive plate (3) is provided with can realize the electronic control translation stage segmentation that more high accuracy is adjustedCircuit.

4. the meticulous tracking system of the micro-plasma arc welding of a kind of ultra-thin fine texture part as claimed in claim 1,It is characterized in that, the object of described meticulous tracking is ultra-thin, super fine precision structural member, ultra-thin, super fine precisionThe size of structural member is less than or equal to 0.1mm, and when the assembling of gapless high accuracy, its butt-joint clearance size exists28～86 μ m, its tracking accuracy is 5 μ m.