Study On The Application Of Automatic Welding Seam Tracking System For Stainl Steel Esscathode Plate

As an important non-ferrous metal with abundant reserves and excellent physical properties,copper has been widely used in various fields of social development.The electrolytic refining of crude copper requires the use of permanent stainless steel cathode plates.In the manufacturing process of permanent stainless steel cathode plate,the welding of conductive rod and stainless steel plate is very critical.At present,the welding of domestic stainless steel cathode plate is mainly based on argon arc manual welding,and the welding seam is prone to porosity,cracking,welding deviation and other problems,so it is difficult to meet the market requirements of the industry's increasing refinement.In this paper,an automatic weld seam tracking system with laser vision sensor is developed for the welding of stainless steel cathode plates.The system consists of an industrial control computer,laser vision sensor,image acquisition card,motion controller,servo driver,servo motor,etc.Focusing on the motion control of the welding system,Delta's 6-axis bus motion controller DVP15MC11T-06 is the core,equipped with multiple servo motors,the welding seam deviation is used as the driving signal,and the closed-loop control of the position control mode is adopted to realize the butt welding gun.Precise control.Based on the active vision sensor with high sensitivity,good real-time performance,high measurement accuracy and strong anti-interference ability,a monocular laser vision sensor is designed,which projects a laser onto the workpiece surface and acquires weld seam information through a CCD camera at a certain angle to the semiconductor laser to achieve real-time acquisition of the weld seam.Based on the Opencv open source vision library,an image processing method with windowing,binarization,median filtering,and edge detection is designed to effectively remove noise such as arc light and soot,and obtain an ideal image of the weld seam,and the slope analysis method is used to achieve accurate extraction of the deviation of the weld seam features.Around the motion control of the stainless steel cathode plate welding system,the6-axis bus motion controller DVP15MC11T-06 produced by Delta Group was used as the core,equipped with multiple servo motors,and closed-loop control in position control mode was used as the driving signal to achieve precise control of the welding gun.Finally,by comparing the pre-weld tracking curve with the weld tracking curve through the welding experiment on 316 L material,it can be seen that the error of weld tracking is within ±0.1mm,which meets the requirement of weld tracking accuracy.Through the weld section quality of stainless steel cathode plate as well as the weld strength and fatigue experiments,the weld breakage force reaches45.69KN-50.01 KN,which is far greater than the required strength index,proving the good effect of this welding tracking system in the automatic welding tracking of permanent stainless steel cathode plate.