YG20/45#钢激光焊焊缝组织与界面元素扩散研究

在无填充、不开坡口条件下,以5 k W光纤激光作为热源,研究激光扫描速度对YG20硬质合金与45#钢的焊缝组织与元素扩散的影响规律。分析了YG20/45#钢焊缝成形、组织及元素扩散。讨论了激光扫描速度对于热胀系数差异较大的异质材料焊接的焊缝成形的影响规律。研究结果表明,当被焊材料厚度为2 mm时,采用激光功率P=1.93 k W、激光扫描速度v=2.40 m/min,离焦量-8 mm时,可以获得冶金结合良好的YG20/45#钢焊接接头;随着焊接热输入的增加,硬质合金/焊缝侧界面的碳化钨晶粒粗化,裂纹倾向增加。主要分布在焊缝和硬质合金侧热影响区,降低焊接接头的性能。线扫描分析结果表明,硬质合金中的W、Co与钢中Fe发生了互相扩散,使整个接头达到了很好的冶金结合。     

Study on welded seam recognition using circular laser vision sensor

A novel visual robotic arc welding system based on circular laser vision sensor is developed.After image de-noising,image segmentation,and image thinning,the relation of depth value of workpiece and off-axis angleγ,three-dimensional(3D)calculation,and seam tracking experiments are carried out.Finally,the error for seam tracking system is analyzed.The results show that 1)3D information can be obtained using the proposed visual robotic arc welding system and the real-time seam tracking is realized;2)the seam tracking error is small enough for gas tungsten arc welding(GTAW)process,and this system can be used for seam location and seam tracking or seam finder.     

Mathematical model for light scanning system based on circular laser

A novel light scanning system based on circular laser trajectory for welding robot is developed. With the help of image processing technique, intelligent laser welding could be realized. According to laser triangulation algorithm and Scheimpflug condition, mathematical model for circular laser vision is built. This scanning system projects circular laser onto welded seams and recovers the depth of the welded seams, escapes from shortcomings of less information, explains ambiguity and single tracking direction inherent in "spot" or "line" type laser trajectory. Three-dimensional (3D) model for welded seams could be recognized after depth recovery. The imaging error is investigated also.     

利用环形激光视觉传感的焊缝三维恢复

为了实现复杂条件下的焊缝检测与跟踪,通过激光扫描技术,开发了环形激光视觉传感器,与机器人手爪一起构成焊接机器人"手-眼"系统,从而获得焊缝三维信息。改善了传统的点状或线条状激光视觉传感器信息量少、解释模糊以及跟踪方向单一等问题。研究了用于焊缝定位与跟踪的环形激光视觉传感器系统的内外参量标定,提出了实现焊缝三维计算的模型,最后,以对接接头、搭接接头、角接接头为对象进行了试验验证,并对标定精度进行了分析。结果表明:环形激光在不同的焊缝表现了不同的形态,结合标定试验结果,能够计算被检测焊缝的三维坐标,计算精度能够满足试验要求。