Welding seam tracking control device and method based on cross laser device

Abstract

The invention discloses a welding seam tracking control device and method based on a cross laser device. The welding seam tracking control device is characterized by comprising a four-freedom-degree robot, a visual sensor and an integrated control cabinet; the four-freedom-degree robot comprises a working platform, a moving module, a Y-axis stepping motor, a bracket and a welding gun; the Y-axis stepping motor is fixed to a Z-axis slide table of a Z-axial moving module body, and a rotary shaft of the Y-axis stepping motor is parallel to the moving direction of a Y-axial moving module body; the bracket is used for fixing the visual sensor and the welding gun; the visual sensor comprises a camera and the cross laser device; and cross laser rays emitted by the cross laser device are irradiated on a to-be-welded workpiece and shot by the camera. The welding seam tracking control method is used for conducting vision measurement on fillet welding seams, three-dimensional position information of the welding seams, the inclined angle of the plane of the welded workpiece and the directions of the welding seams can be obtained accurately, and the welding gun can conduct high-precision self-adapting tracking control over the welding seams.

Description

technical field [0001] The invention belongs to the technical field of auxiliary welding equipment, and in particular relates to a welding seam tracking control device and control method based on a cross-shaped laser. The control device and control method can visually recognize fillet welds based on a cross-shaped laser and can realize four degrees of freedom Adaptive tracking of the welding seam by the robot. Background technique [0002] With the current development of science and technology, the manufacturing industry puts forward higher requirements on the quality and efficiency of welding work. As a typical weld type, fillet welds widely appear in important fields such as ships, automobiles, construction and aerospace. However, there is a big gap between our country's four-degree-of-freedom robot and foreign technologies, especially in the control accuracy of four-degree-of-freedom robots that need to be further improved. [0003] In the current existing technology, t...

AI Technical Summary

Problems solved by technology

There is human intervention in the manual teaching method, which produces human errors, and cannot eliminate the random errors in the vertical and horizontal directions of the fillet welds; the automatic welding method of the machine contact measurement welds has complex mechanical structures, low detection accuracy, Features of high scrap rate

[0004] The Chinese patent with publication number CN105728972A discloses a concave-convex deformation fillet weld adaptive tracking control device and its control method. The method is a method for visually detecting weld tracking based on an inline laser. The three-degree-of-freedom robot detects and tracks the fillet weld, which has the following disadvantages: 1. During the welding process, it can only detect the spatial relative position of the fillet weld, and cannot detect the angle of the two surfaces of the weldment; 2. . When the angle between the direction of the welding seam and the plane of the weldment changes, the angle of the welding torch cannot be adjusted, and the angle of the welding torch cannot be kept perpendicular to the welding seam, which will lead to a decline in welding quality; When traveling along the weld seam, the weld seam is only detected once, and there will be random errors in the dynamic detection of the weld seam during the welding process; 4. The device cannot locate the starting point of the fillet weld seam, and needs to scan the weld seam once and reset it To start welding the weld seam, each welding takes a long time

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