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

A vibration-resistant detection method of weld position and gap based on laser vision sensing is proposed in this paper due to 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. 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, achieving the simultaneous image detection of weld position and gap. Moreover, a moving polynomial fitting algorithm is proposed to overcome vibration interference in the direction of weave motion and correct the weld position. Finally, the experimental results of Z-weave welding seam tracking of S-curve welds show that the proposed method can significantly reduce the weld tracking error, meeting the practical welding requirements. This study provides a new solution for eliminating the vibration interference of system devices in practical weave welding manufacturing.