Welding position defined by means of angles of slope and rotation 用斜角和旋轉(zhuǎn)角定義的焊接位置
Welding position : if the configuration collocation of weld is symmetry and the welding sequence is reasonable , the longitudinal contraction and transverse lateral contraction deformation are usually produced , incontrast , the bending deformation is usually produced 焊接位置:如果焊縫在結(jié)構(gòu)布置對稱,焊接順序合理時,則主要產(chǎn)生縱向收縮和橫向收縮變形,反之,則要發(fā)生彎曲變形。
Weld positioning under load without installation , seam thickness of the seam thickness of not less than two - thirds of the design , not to exceed 8 mm , should not be less than 25 mm in length weld , located in welds inside 安裝定位焊縫不需承受荷載時,焊縫厚度不少于設(shè)計焊縫厚度的2 / 3 ,且不大于8 ? ,焊縫長度不宜小于25 ? ,位置應(yīng)在焊道內(nèi).安裝焊縫全數(shù)外觀檢查,主要的焊縫應(yīng)按設(shè)計要求用超聲波探傷檢查內(nèi)在質(zhì)量.上述檢查均需做出記錄
The welding position can be detected accurately through processing the image of arc area collected by the vision sensor ccd ( charge coupled device ) , by the system of image collection and computer - ware , we can recognize the position of the welding line exactly , count out the warp between moving track of robot and the welding line . so we can control the robot ' s act real - timely , the seam tracking accuracy is enhanced efficiently 重點論述焊縫圖像分割和邊緣提取的理論方法,焊縫圖像由面陣ccd攝像系統(tǒng)攝取,通過圖像采集系統(tǒng)和計算機軟件,對檢測到的弧焊區(qū)圖像進行處理來準確地識別焊縫位置,計算機器人的運動軌跡和實際焊縫之間的偏差,據(jù)此控制機器人運動進行實時跟蹤,從而有效地提高焊縫跟蹤精度。