Laser vision guided automatic welding track tracking system and method

Abstract

The invention discloses a laser vision guided automatic welding track tracking system which comprises an embedded type industrial personal computer with an image processing device, a laser vision sensor, a welding robot, matched welding equipment and a workpiece clamping workbench; the laser vision sensor is installed on a welding gun in an advanced parallel manner in the welding direction through a laser sensor fixing element; the welding gun is installed on a tail end flange disc of the welding robot through a welding gun fixing element; and the embedded type industrial personal computer is connected with the laser vision sensor through a circuit. The invention also discloses a laser vision guided automatic welding track tracking method. With adoption of the laser vision guided automatic welding track tracking system and method, without the process of teaching in advance, the welding production efficiency and the adaptive ability are improved through real-time detection and tracking; and meanwhile, the problem of tracking lag caused by advanced detection is prevented, and the problem that when a sensor is too near the welding gun, large noise of coupling feature images is caused by factors including strong arc light irradiation, high temperature and smoke dusts, thus the real time and the tracking accuracy of the system are restricted is solved.

Description

technical field

[0001] The invention relates to the field of automatic tracking of welding trajectories, in particular to a system and method for automatic tracking of welding trajectories guided by laser vision. Background technique

[0002] With the development of automation technology, welding robots have been widely used in the industrial field and have become the main welding automation equipment. At present, the robot welding method is mainly based on the "teaching and reproduction" mode, that is, the user guides the robot, and the robot automatically memorizes the position, posture, motion parameters, welding parameters, etc. of each movement taught during the guidance process, and automatically generates a A program that executes all operations continuously. After the teaching is completed, you only need to give the robot a start command, and the robot will repeat the expected welding work through the working program stored in the teaching program. However, due to ...

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