Welding robot cosmetic welding on-line tracking method based on laser sensor

Abstract

The invention relates to a welding robot cosmetic welding on-line tracking method based on a laser sensor. The on-line tracking method comprises the following steps: (1) installing and debugging a welding gun and the laser sensor on a robot; (2) calibrating the robot; (3) adjusting the posture of the welding gun, and calibrating the TCP of the welding gun according to the standard program of the robot; (4) adjusting the welding gun to a posture at which the welding gun is perpendicular to a workpiece and meanwhile the laser stripe is perpendicular to the welding seam of the workpiece, measuring the angle of the laser sensor relative to the welding gun and the horizontal distance between the laser stripe projecting onto the workpiece and the tail end of the welding gun; (5) selecting the welding bead type as cosmetic welding, and carrying out parameter setting through a control system; and (6) switching on the laser sensor, and calculating to acquire the coordinates of various points on the laser stripe by taking the parameters in the step (5) as the formulas, and utilizing the coordinates of the various points to acquire the welding tracking path by fitting. The welding robot cosmetic welding on-line tracking method based on the laser sensor has the advantages as follows: the welding bead characteristics before cosmetic welding can be recognized and fed back in real time and the cosmetic welding bead path and welding seam tracking method can also be adjusted.

Description

technical field [0001] The invention belongs to the field of welding robots, in particular to a welding robot based on a laser sensor. [0002] On-line tracking method for robot cover welding. Background technique [0003] During the welding process of the robot, due to the influence of factors such as the processing accuracy of the workpiece groove and the thermal deformation of the workpiece during the welding process, when the robot runs the teaching path, the welding torch often deviates from the center of the weld seam, resulting in uneven deposited metal, deviation of the weld bead, and bite. Welding defects such as edges, resulting in a decline in welding quality. Therefore, the arc welding robot is required to be able to effectively detect the deviation of the weld and adjust the welding path during the welding process to ensure the reliability of the welding quality. [0004] In recent years, with the development of machine vision, image processing, pattern recogn...

AI Technical Summary

Problems solved by technology

However, due to the complex surface morphology of multi-layer multi-pass welds, especially when the front weld bead features are not obvious during cover welding, it is difficult for ordinary laser vision sensors to correctly identify its morphology features, which limits the application of laser trackers in the field of cover welding. limit

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