Method for autonomous tracking welding line

Abstract

An autonomous weld tracking method includes using a CCD camera to take the image of a weld segment before welding torch, processing the image by computer to obtain the deflection between weld and torch and the angle information of said weld segment, controlling robot to move along the weld, regulating the direction of camera by servo motor, recording the modified coordinate value of robot and the angle value of servo motor, and generating the coordinate value of robot in basic coordinate system and the angle value of servo motor for needed direction of camera.

Description

technical field [0001] The invention relates to a seam tracking method used in the field of welding technology, in particular to an autonomous seam tracking method. Background technique [0002] Now the industry is mainly working in the teaching and reproduction mode. Before welding a new workpiece, it needs to rely on a lot of manpower to teach the weld seam, which is especially obvious in small batch production. On the other hand, the teaching robot cannot sense the changes in workpiece size, clamping position, etc. When these factors change, the welding quality will decline. Therefore, relying on vision to automatically generate weld coordinates is of great significance, which can improve production efficiency and welding quality, and help to improve the intelligence level of robotic arc welding. [0003] After searching the existing technical documents, it was found that Xiong Zhenyu et al. published "Spatial Position Curve Weld Seam Tracking Based on Rotating Arc Sensi...

AI Technical Summary

Problems solved by technology

But there are also the following deficiencies, a straight line trajectory needs to be taught in advance, and because the welding torch is only adjusted during welding, the adjustment process will be reflected in the weld bead, which will affect the tracking accuracy and weld bead shape