阅读说明：本技术 一种单层多道焊缝堆积熔敷效果检测方法及系统 (Single-layer multi-channel weld accumulation deposition effect detection method and system ) 是由 高向东 马波 黄怡洁 季玉坤 于 2019-08-12 设计创作，主要内容包括：本发明涉及电弧增材制造领域,更具体地,涉及一种单层多道焊缝堆积熔敷效果检测方法及系统。本发明采用基于激光视觉传感技术来获取被测表面的轮廓信息,通过采集待测物体表面的轮廓,并使用相关图像处理算法,结合判断熔敷效果的公式,对单层多道焊缝堆积熔敷效果进行检测,本发明克服了人工检测复杂程度高、效率低、易受主观因素影响等缺点,利用先进高效的视觉检测技术,极大提高了自动化生产程度。(The invention relates to the field of electric arc additive manufacturing, in particular to a method and a system for detecting a single-layer multi-channel welding seam accumulation deposition effect. The invention adopts the laser vision sensing technology to obtain the profile information of the surface to be detected, and detects the accumulation and deposition effect of a single-layer multi-channel welding seam by acquiring the profile of the surface of an object to be detected and using a related image processing algorithm and combining a formula for judging the deposition effect.)

1. A single-layer multi-channel welding line accumulation deposition effect detection method is characterized by comprising the following steps:

step S1: acquiring an image of the contour of the surface of the welding seam through a laser vision sensing system;

step S2: sending the collected image of the contour of the surface of the welding seam to an upper computer;

step S3: the upper computer processes the image and extracts pixel coordinates in the image;

step S4: converting the pixel coordinates to obtain the actual position of the contour, and generating world coordinates;

step S5: extracting characteristic parameters in world coordinates;

step S6: and calculating deposition effect data of the weld contour accumulation according to the characteristic parameters.

Step S7: and comparing the deposition effect data with a set threshold value to judge the deposition effect.

2. The method of claim 1, wherein the laser vision sensing system comprises a laser transmitter and a CMOS camera; the laser emitter and the CMOS camera are respectively connected with the upper computer, the laser emitter is used for emitting laser to the surface of the welding seam, and the CMOS camera is used for collecting the image of the laser stripe of the outline of the surface of the welding seam.

3. The method for detecting the effect of deposition and deposition on a single-layer multi-pass weld according to claim 1, wherein the specific steps of step S6 are as follows:

n weld profiles are set, in the ith weld profile, A_iIs the apex of the weld profile, B_iIs the intersection point of the weld profile, d_iIs A_iAnd B_iPerpendicular distance of d_i-1Is the top point A of the welding seam contour in the previous contour of the ith contour_i-1Boundary point B with weld seam profile_i-1The vertical distance of (d); m is_iIs B_iThe distance to the bottom surface and the deposition effect dep of the weld profile accumulation are calculated by the following formula:

Δd_i＝|d_i-d_i-1|(i>1)

4. the method of claim 1, wherein the threshold is set to 1/2, and the closer the threshold is, the better the welding effect is.

5. A single-layer multi-channel welding seam accumulation deposition effect detection system is based on the method of any one of claims 1 to 4 and comprises an overlaying substrate (1) and a moving platform (2), wherein the overlaying substrate (1) is installed on the moving platform (2), and the system is characterized by further comprising a laser vision sensing system (3), an upper computer (5) and a moving platform control cabinet (4); the motion control cabinet (4) and the laser vision sensing system (3) are respectively connected with an upper computer (5); the motion platform control cabinet (4) is connected with the motion platform (2).

6. The system for detecting deposition effect of single-layer multi-channel welding seam according to claim 5, wherein the laser vision sensing system (3) comprises a laser emitter (7) and a CMOS camera (6); the laser emitter (7) and the CMOS camera (6) are respectively connected with the upper computer (5), the laser emitter (7) is used for emitting laser to the surface of the welding seam, and the CMOS camera (6) is used for collecting an image of a laser stripe of the outline of the surface of the welding seam.

7. The system for detecting the deposited and deposited effect of the single-layer multi-channel welding seam as claimed in claim 6, wherein the moving platform (2) is provided with a motor, and the motor is used for driving the moving platform (2) to move in the up-down, left-right directions.

Technical Field

The invention relates to the field of electric arc additive manufacturing, in particular to a method and a system for detecting a single-layer multi-channel welding seam accumulation deposition effect.

Background

Currently, the current practice is. In the field of electric arc additive manufacturing, the metal part additive manufacturing technology using electric arcs as heat sources has the advantages of simple equipment, high material utilization rate, high production efficiency and the like. The arc surfacing welding is additive manufacturing by welding a welding rod or an electrode on the surface of a base material in a melting mode, due to the influence of various factors, the melting effect of a welding seam in the process of multi-layer and single-layer accumulation is influenced by melting temperature, welding current voltage, shielding gas flow and the like, the forming melting effect of the surface of the arc additive manufacturing is lack of a detection and quantification method, and the purpose of nondestructive detection cannot be achieved by most detection methods at present. The quality of the deposition effect of the multi-channel single-layer welding seam accumulation is mainly judged by means of microscopic structure analysis of the cut surface of the product by experienced workers. Or observing the approximate welding effect of the formed surface by naked eyes and workers. Both the two methods depend on manual work and need a large amount of experience support, the product needs to be damaged in the section analysis, the microscopic structure analysis is carried out, although the result is accurate, a large amount of time and material resources are wasted, the production efficiency is influenced, the unified standard is lacked, the misjudgment is easy to generate, and the like.

Disclosure of Invention

In order to solve the defect that the deposition effect in the arc surfacing process needs to be judged manually in the prior art, the invention provides a single-layer multi-channel welding seam deposition effect detection method and system.

In order to solve the technical problems, the technical scheme of the invention is as follows:

a single-layer multi-channel welding line accumulation deposition effect detection method comprises the following steps:

step S1: acquiring an image of the contour of the surface of the welding seam through a laser vision sensing system;

step S2: sending the collected image of the contour of the surface of the welding seam to an upper computer;

step S3: the upper computer processes the image and extracts pixel coordinates in the image;

step S4: converting the pixel coordinates to obtain the actual position of the contour, and generating world coordinates;

step S5: extracting characteristic parameters in world coordinates;

step S6: and calculating the deposition effect of the weld contour accumulation according to the characteristic parameters.

Preferably, the laser vision sensing system comprises a laser transmitter and a CMOS camera; the laser emitter and the CMOS camera are respectively connected with the upper computer, the laser emitter is used for emitting laser to the surface of the welding seam, and the CMOS camera is used for collecting the image of the laser stripe of the outline of the surface of the welding seam.

Preferably, the specific steps of step S6 are as follows:

n weld profiles are set, in the ith weld profile, A_iIs the apex of the weld profile, B_iIs the intersection point of the weld profile, d_iIs A_iAnd B_iPerpendicular distance of d_i-1Is the top point A of the welding seam contour in the previous contour of the ith contour_i-1Boundary point B with weld seam profile_i-1The vertical distance of (d); m is_iIs B_iThe distance to the bottom surface and the deposition effect dep of the weld profile accumulation are calculated by the following formula:

Δd_i＝|d_i-d_i-1| (i>1)

a single-layer multi-channel welding seam accumulation deposition effect detection system is based on the method and comprises an accumulation welding substrate and a motion platform, wherein the accumulation welding substrate is arranged on the motion platform, and the system further comprises a laser vision sensing system, an upper computer and a motion platform control cabinet; the motion control cabinet and the laser vision sensing system are respectively connected with an upper computer; the motion platform control cabinet is connected with the motion platform.

And fixing the laser vision sensing system above the moving platform to emit laser and collect laser stripe images on the surface of the welding seam. Under the control of the motion platform control cabinet, the motion platform enables the surface to be measured of the weldment to be in the measurable range of the laser vision sensing system, then the upper computer controls the laser vision sensing system to scan the surface of the weld joint, the laser vision sensing system collects laser stripe images in the scanning process and transmits the laser stripe images to the upper computer, and the upper computer calculates the welding joint accumulation deposition effect based on the received images.

Preferably, the laser vision sensing system comprises a laser transmitter and a CMOS camera; the laser emitter and the CMOS camera are respectively connected with the upper computer, the laser emitter is used for emitting laser to the surface of the welding seam, and the CMOS camera is used for collecting the image of the laser stripe of the outline of the surface of the welding seam.

Preferably, the motion platform is provided with a motor, and the motor is used for driving the motion platform to complete the motion in the up-down, left-right directions.

Compared with the prior art, the technical scheme of the invention has the beneficial effects that:

the invention adopts the laser vision sensing technology to obtain the profile information of the surface to be detected, and detects the accumulation and deposition effect of a single-layer multi-channel welding seam by acquiring the profile of the surface of an object to be detected and using a related image processing algorithm and combining a formula for judging the deposition effect.

Drawings

FIG. 1 is a flow chart of the method of the present invention.

Fig. 2 is a schematic diagram illustrating detection of a weld deposit effect according to the present invention.

Fig. 3 is a system configuration diagram of the present invention.

Fig. 4 is a physical diagram of an arc additive.

Fig. 5 is an actual profile of a weld.

Detailed Description

The drawings are for illustrative purposes only and are not to be construed as limiting the patent;

for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;

it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.