High-speed welding macro-micro robot composite welding seam tracking system

Abstract

The invention discloses a robot high-speed laser welding macro-micro welding seam tracking system, and belongs to the technical field of welding engineering. The problems that in the high-speed laser welding process of a robot, a conventional welding seam tracking system is slow in robot tracking response, poor in robot tracking precision and jittering in the robot tracking process are solved. Large-track deviation is macroscopically adjusted through movement of the robot, small-track deviation is microscopically adjusted through a high-frequency response movement device additionally arranged at the tool end, and the problem that welding points are unstable due to low-frequency vibration of the robot is compensated through high-frequency movement when the robot conducts macroscopic adjustment is solved. The welding seam tracking efficiency and precision can be improved, and the welding quality of high-speed laser welding of the robot can be guaranteed.

Description

technical field [0001] The invention relates to the field of welding engineering, in particular to a welding seam tracking system for robot high-speed laser welding. Background technique [0002] The robot laser welding system uses the laser as the welding tool and the robot as the motion system, and applies the robot to hold the laser for welding operations. Using the multiple degrees of freedom of the robot, laser welding of complex trajectory welds is performed. The process uses a high-energy laser beam to locally heat and melt the welding material in a small area to form a specific molten pool, and finally form a stable and reliable welded joint. [0003] In the process of robotic laser welding, the assembly error of the workpiece to be welded and the deformation of the weld seam during the laser welding process will cause the laser welding point to deviate from the center of the weld seam, resulting in poor laser welding quality or even welding failure. The laser weld...

AI Technical Summary

Problems solved by technology

[0006] The invention aims to solve the problems of slow robot tracking response, poor robot tracking accuracy and jitter in the robot tracking process of the welding seam tracking system during the high-speed laser welding process of the robot

Conventional tracking systems rely entirely on the robot itself to adjust the laser welding point. Unlike conventional arc welding, laser welding has a very small effective laser area, but due to the limitations of the robot's own motion control system and trajectory accuracy, the weld seam tracking responds Untimely, small errors cannot be tracked, and vibration problems caused by the adjustment process, resulting in a decline in welding quality or welding failure

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