Line laser weld joint automatic tracking system and method for six-axis industrial robot

Abstract

The invention discloses a line laser weld joint automatic tracking system for a six-axis industrial robot. The system comprises the six-axis industrial robot, a welding gun, a line laser visual sensor, a worktable, welding corollary equipment, an embedded industrial controller, a Beckhoff module and a control cabinet. The invention also discloses a line laser weld joint automatic tracking method for the six-axis industrial robot. The method comprises the following steps: S1, before welding, collecting an image by a line laser visual sensor and sending the image to the embedded industrial controller for characteristic extraction to obtain an initial weld joint characteristic point and an adjacent region; S2, after welding is started, continuously collecting each frame of the image and sending the same to the embedded industrial controller for continuous convolution operation tracking algorithm to determine the position of the weld joint characteristic point in the image, and updating parameters of a filter with a novel sample; and S3, sending a deviation value obtained to the six-axis industrial robot in real time to automatically track the weld joint of the six-axis industrial robot.

Description

technical field [0001] The invention relates to an automatic tracking system for a robot-line laser welding seam, in particular to a six-axis industrial robot-line laser welding seam automatic tracking system and method. Background technique [0002] The current welding robots are basically taught before welding, so that the robot walks a fixed trajectory every time. This method has the advantage of high repeatability and no need to correct the trajectory. However, it has a fatal The biggest defect is that it is not adaptable enough and not flexible enough. When the machining accuracy of the workpiece to be welded is relatively poor, or the workpiece needs to be welded in real time with an unclear outline, this welding robot will become powerless and needs to be re-taught to complete. Each teaching will take a lot of time, which is time-consuming and labor-intensive, which cannot meet the requirements of modern factories for welding processing. [0003] Therefore, in order ...

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Problems solved by technology

[0007] The primary purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, and provide a six-axis industrial robot line laser weld automatic tracking system and method, which solves the problem that the existing welding robot must perform teaching operations before welding workpieces, and Complicated operation, low efficiency and low precision

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