Device for realizing laser welding and seam tracking and control method thereof

Abstract

The invention relates to a device for realizing laser welding and seam tracking and a control method thereof. The device of the invention comprises an image collecting and processing unit for collecting and processing the image data of laser welding and seam characteristics and outputting the seam position information, a motion control unit for receiving the seam position information and transmitting a motion control command to a motion shaft actuating mechanism, and an upper parameter setting and control unit for setting the parameters and being respectively connected with the image collecting and processing unit and the motion control unit in a communication mode. The method of the invention comprises the following steps: setting the parameters by utilizing the upper parameter setting and control unit; collecting and processing seam images to obtain the seam image data; caching and calibrating the seam image data, and determining the offset of a welding gun; carrying out filtering, fitting and track planning on tracking tracks by utilizing a motion controller in the motion control unit; and transmitting the result to a motion shaft driver. The invention can be suitable for various seam types and techniques and has the advantages of good generality, strong flexibility, high independence, high precision, accurate positioning, strong adaptability, and the like.

Description

technical field [0001] The invention and the vision measurement and intelligent motion control technology in the field of robot manufacturing are specifically a laser welding seam tracking realization device and a control method thereof. Background technique [0002] At present, in the welding process production of manufacturing robots, path planning and motion programming are generally carried out by manual control, robot teaching or offline programming, and the welding process is simply repeating the preset actions. However, in laser welding, due to its high-speed and high-precision process requirements, higher requirements are placed on laser welding equipment. [0003] In existing seam tracking solutions, mechanical, electromagnetic, and visual sensors are generally used to provide seam information, which is processed by the system to realize welding torch position control. However, such seam tracking systems are generally closed, and are sensors and processing algorith...

AI Technical Summary

Problems solved by technology

However, such seam tracking systems are generally closed, and are sensors and processing algorithms developed for specific systems, lacking a general, flexible and independent real-time seam tracking system

There are already some more mature products of laser welding seam tracking system in foreign countries, but compared with the system performance, each has its own advantages and disadvantages. It is difficult to meet the high-speed and high-precision requirements of laser welding in terms of accuracy and speed, and the system structure is huge and complex.

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