A U-shaped workpiece automatic welding tracking system and working method based on Leisai controller

Abstract

The invention discloses a U-shaped workpiece automatic welding tracking system based on a Leisai controller. First, the data point data on the U-shaped workpiece is scanned by a laser position sensor; then the laser position sensor sends the scanned information to the The controller, the controller corrects the data point data through the optimization algorithm to form a weld profile curve with a high degree of matching with the U workpiece, that is, to optimize the weld profile curve obtained by the laser position sensor; then the controller controls according to the corrected data point data The mechanical arm control mechanism and the welding torch control mechanism work; after the controller has adjusted the positions of the mechanical arm and the welding torch in the previous step, the U-shaped workpiece can be welded; the present invention optimizes the path of the data points through an algorithm, and Compared with the existing technology, the cost is saved, and there is no need to designate a host computer for algorithm optimization, which ensures the timeliness of data optimization.

Description

technical field [0001] The invention belongs to the technical field of automatic control systems, in particular to an automatic welding tracking system for U-shaped workpieces based on a Leisai controller and an optimization control method. Background technique [0002] Welding technology is widely used in various fields such as industrial production, energy, transportation, and electrical engineering, and plays an important role in the development of the national economy. Intelligence and automation replace the original manual welding, ensuring welding quality and welding efficiency. The welding automation in foreign countries has reached more than 80%, and the welding automation in my country's manufacturing industry has basically reached 30%. With the introduction and development of intelligent manufacturing, higher requirements have been put forward for welding automation, and a welding tracking system based on sensor technology has been produced. The general welding tr...

AI Technical Summary

Problems solved by technology

Sun Junhua proposed to use the nearest point iterative algorithm, which has high real-time performance, but the measurement accuracy will be reduced when noise interferes; Yang Qiang proposed to use genetic algorithm, but the algorithm complexity is high, and a host computer is needed, so the real-time performance is not high; Zheng L, Tan Zhouwen proposed A contour matching algorithm based on least squares is adopted, which has high real-time performance. However, due to the influence of light sources, isolated cluster points will appear when collecting signals on the side of the workpiece, and the error of using this algorithm is relatively large.

[0003] At the same time, during the working process of the existing welding tracking system, the search of welding points on the weld seam often has inaccurate phenomena, especially for some irregular workpieces. It is found through experiments that when scanning a U-shaped workpiece, the inflection point data error probability is 90% when the plane enters the side, or the inflection point data changes when the side enters the plane. , so the existing welding tracking system still needs to be improved

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