Robot tracking and welding system

Abstract

The invention provides a robot tracking and welding system. A to-be-welded part and a reference trajectory are provided, and the robot tracking and welding system involves a robot, a guide rail, a sensor, a sensor controller, a trajectory generation module and a control module, wherein the sensor is movably arranged on the guide rail and is used for obtaining a scanned image of the to-be-welded part, the sensor controller is connected with the sensor and is used for processing the scanned image to obtain to-be-welded position information of the to-be-welded part, the trajectory generation module is connected with the sensor controller and is used for obtaining the welding position offset according to the current to-be-welded position information and according to the reference trajectory, the control module is correspondingly connected with the trajectory generation module and the robot and is used for controlling the welding position offset of the robot to find the corresponding welding position, and then real-time welding machining on the to-be-welded part is performed. The robot tracking and welding system has the beneficial effects that the robot can conduct tracking and weldingon the to-be-welded part by changing a corresponding posture at the accurate welding position, so that the welding quality is improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot tracking welding system. Background technique [0002] At present, welding is mostly manual welding, which has many problems such as high cost of human resources, difficulty in guaranteeing human safety, high production cost, low production efficiency, and low installation and positioning accuracy. [0003] In order to solve the above problems, the existing technology adopts machine welding, usually the sensor is directly set on the welding tool of the machine, the sensor will set the induction information on the weld seam of the workpiece to be welded, and identify the actual weld seam position of the workpiece to be welded, And perform welding according to the identified actual welding seam position. However, when the posture of the welding gun needs to be changed during welding, the above-mentioned technical solution has the following problems: [0004] First, the sen...

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Problems solved by technology

[0004] First, the sensor cannot set stable sensing information on the correct weld according to the welding posture changes of the machine, resulting in the sensor being unable to correctly and continuously identify the weld;

[0005] Second, when there is a deviation in the welding direction of the part to be welded, the existing sensor cannot give the deviation value, so the machine cannot give the corresponding compensation measures, which causes the robot to change the posture of the welding torch in the wrong welding position, and make mistakes. Welding, so that qualified welds cannot be obtained

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