Key Technology Research Of Automatic Tube-to-sheet Welding Machine Based On Machine Vision

In large-scale high-parametric pressure vessels,the welding quality of tube-to-sheet components directly affects the heat transfer performance and service life of the equipment.Although current tube-to-sheet welding uses semi-automated,specialized welding equipment,such as welding manipulators,automated welding cars,etc.But in the face of as many as tens of thousands of root pipes needed to be welded to the orifice plate,these equipments have long production cycle and cost lost,poor accuracy,labor intensity,low yield and other issues.In order to establish a fully automatic pipe-to-plate welding process with high precision,good quality,and stable quality,this paper presents a fully automated tube-to-sheet welding method based on machine vision,and gives the overall design plan and key technology implementation.The work is as follows:First of all,the work objects and processes of tube-to-sheet welding are studied and analyzed.Under the premise of tube-to-sheet automatic welding process and welding machine design requirements,the overall design of tube-to-sheet automatic welding machine is proposed.The automatic tube-to-sheet welding machine is studied.The control model of the system and completed the selection of the system's basic hardware.Through the research and design of the machine vision system,the hardware selection of the vision detection system was completed.Based on this,the camera model was studied.The pinhole imaging model was used as the object to study the camera calibration;The image processing algorithm and feature information extraction methods are studied in the image,which lays the foundation for the accurate positioning of the automatic tube-to-sheet welding machine.Aiming at the control model of the upper and lower position machine of the automatic tube-to-sheet welder system,the system software architecture of the layered system is proposed,and the function software module is divided and the key modules are designed and implemented.Finally,the prototype graphics editing function module,visual system image processing algorithm and system feasibility are tested.The test results verify that the automatic welding system of the tube-to-sheet has sufficient detection accuracy and can meet the industrial production requirements.