Multi-directional laser vision tracking device and tracking and controlling method thereof

Abstract

The invention discloses a multi-direction laser vision tracking device and a tracking and controlling method thereof. The device comprises a laser vision sensor, a special-shaped welding gun and a computer control system, wherein the laser vision sensor is arranged at the tail end of a mechanical arm, and the special-shaped welding gun is arranged at the lower end of the center of the laser visionsensor. The laser vision sensor comprises a flange frame, four cameras, three lasers, an integrated pipeline. The four cameras are uniformly arranged around the upper end of the welding gun, whereinthe first camera and the third camera are arranged in a paring mode with the first laser and the third laser on the inclined opposite sides of the flange frame for measuring and tracking weld joints in the front, in the rear and in the side, and the fourth camera is arranged in the other direction for observing and monitoring the weld joints. According to the multi-direction laser vision trackingdevice and the tracking and controlling method thereof, the measuring and tracking of the crossed welding joints can be achieved, thus realizing the switching and tracking of the welding joints in thelongitudinal direction, the transverse direction and the vertical direction; in addition, the welding method solves the problems that due to the fact that a steel plate well-shaped structure, a corrugated plate and other complex structures are limited in space and easy to interfere with the starting end and the tail end,

Description

technical field [0001] The invention relates to welding equipment, in particular to a multi-directional laser vision tracking device and a method for tracking and controlling the same. Background technique [0002] At present, automatic tracking welding of visual recognition welds has been applied to heavy machinery industries such as shipbuilding, marine engineering, steel structure bridges, steel structure buildings, containers, chemical machinery and hoisting machinery. Large and complex structure, the visual tracking equipment itself is limited by its own structure, resulting in the interference between the welding robot and the welded part during the welding process of flat fillet welding and vertical fillet welding, especially the start and end of the weld, resulting in some positions that cannot be identified. , tracking and welding. SUMMARY OF THE INVENTION [0003] In order to overcome the shortcomings of the above technologies, the present invention provides a m...

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Problems solved by technology

[0002] At present, the visual recognition weld seam automatic tracking welding has been applied to heavy machinery industries such as shipbuilding, ocean engineering, steel structure bridges, steel structure buildings, containers, chemical machinery, and lifting machinery. Large size, complex structure, and the structural limitations of the visual tracking equipment itself, resulting in interference between the welding robot and the welded part during the welding process from flat fillet welding to vertical fillet welding, especially at the beginning and end of the weld, resulting in some positions being unrecognizable , tracking and welding

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