Welding method, device and system based on pre-scanning and electronic equipment

Abstract

The invention provides a welding method, device and system based on pre-scanning and electronic equipment. The method comprises the steps of acquiring at least one welding seam image through pre-scanning a to-be-welded welding seam, wherein the welding seam image corresponds to one welding seam point in the to-be-welded welding seam; obtaining coordinate information of the welding seam point in aworld coordinate system according to the welding seam image; and generating a welding track corresponding to the to-be-welded welding seam according to the coordinate information of the welding seam point in the world coordinate system, and carrying out welding operation according to the generated welding track. According to the method, the welding track containing the positions of the plurality of weld joint points can be generated by pre-scanning the to-be-welded joint, the welding track containing a plurality of welding seam point positions is generated through pre-scanning the to-be-weldedwelding seam, and the welding operation is carried out according to the welding track, so that the problem that the welding seam deviates from a standard teaching position due to the fact that a fixture is not standard, workpiece differences and the like is avoided, the welding effect is good, and the working efficiency is high.

Description

technical field [0001] The present application belongs to the field of welding automation technology, and in particular relates to a welding method, device, system and electronic equipment based on pre-scanning. Background technique [0002] In the welding operation, in order to improve the control accuracy of the welding operation and the quality monitoring of the weld during the welding operation, the positioning effect is mainly improved by setting a tracking positioning device at the welding head of the welding robot. Welding robots can improve efficiency, optimize quality, and improve working conditions. Most of the current welding robots are programmable teaching robots. This kind of robot welds workpieces in batches by teaching fixed points when completing the teaching operation. The technical problem that the welding seam deviates from the standard teaching position due to the standard and the differences between the same batch of workpieces. Especially for curved s...

AI Technical Summary

Problems solved by technology

[0003] In view of this, the embodiment of the present application provides a welding method, device, system and electronic equipment based on pre-scanning to solve the problem of batch welding of workpieces by teaching fixed points when completing the teaching operation in the prior art, which is easy to occur. The technical problem that the weld deviates from the standard teaching position due to non-standard fixtures and differences between the same batch of workpieces

Especially for curved surface welds, when existing welding robots weld curved surface welds by means of fuzzy tracking and offset compensation, there are technical problems such as the teaching of fixed points for curve welds that often affects work efficiency and unsatisfactory welding results.

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