A vibration-resistant detection method of position and gap for seam tracking of Z-weave GMAW

Abstract

Aiming at the failure problem of automatic weave weld tracking of V-butt welds with gaps due to arc light, molten metal splash, seam gap variations, and inertial vibration of the weave motion in the manufacture of weave gas metal arc welding for pipelines vessels and ships, a vibration-resistant detection method of position and gap based on laser vision sensing was proposed. In this method, an improved random sampling consistency algorithm and an adaptive grayscale centroid algorithm are proposed to overcome the interference of arc light and molten metal splash to achieve the simultaneous image detection of weld position and gap, as well as a moving polynomial fitting algorithm was proposed to overcome the interference of vibration at the direction of weave motion and to further correct the weld position. Finally, the experimental results of Z-weave welding seam tracking of S-curve welds show that the proposed method is effective and can significantly reduce the weld tracking error, which meets the requirements of practical welding. This study provides a novel solution for eliminating the vibration interference of system device in practical weave welding manufacture.