A robotic corrugated plate automatic welding method based on laser seam tracking
An automatic welding and robot technology, applied in welding equipment, arc welding equipment, manufacturing tools, etc., can solve the problems of non-adjustable welding torch angle, precise control, and inability to realize welding line, etc., to reduce parameter configuration, high degree of automation, guarantee The effect of welding quality
Active Publication Date: 2020-12-08
智昌科技集团股份有限公司
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Problems solved by technology
However, due to the fact that the angle of the welding torch cannot be adjusted during the welding process or the precise control of the welding line speed cannot be realized after adjustment, the welding of deep corrugated plates cannot be automatically welded
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Embodiment 1
[0041] The present invention is a robot automatic welding method for corrugated plates based on laser seam tracking, and its specific operation method is as follows:
[0042] (1) Realize a calibration algorithm of laser seam tracker, which is used to calibrate the coordinate system of laser seam tracker. Afterwards, the x, y, and z offset values measured by the laser can be directly converted into the target point of the robot;
[0043] (2) Define a weld data buffer module, which is used to temporarily store the feedback data of the laser (including the x / y / z offset of the weld, and the corresponding robot TCP position), and call the visual processing module to preprocess the weld data . In actual use, since the laser seam tracker is front-mounted, the laser line is 20cm away from the center point of the tool (TCP, welding wire position). Ensure that at least one corrugated board module can be buffered in the buffer (that is, a complete cycle);
[0044] (3) Realize a visu...
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The invention discloses a robot corrugated plate automatic welding method based on laser welding seam tracking. The method comprises the specific operations: a calibration algorithm of a laser weldingseam tracker is realized and is used for calibrating a laser welding seam tracker coordinate system; a weld seam data buffer module is defined; a visual processing module is realized; a first-in first-out target point queue is defined; two threads are defined; when a program starts to run, the laser welding seam tracker searches for a welding seam P point according to a preset welding seam type and parameters, when TCP reaches the P point, a welding gun has a welding switch automatically turned on, arcing welding is carried out, after arcing succeeds, the motion threads continue to send a target point position to a robot controller, the robot carries out welding along a welding seam, and the operations repeat. An inflection point is recognized in advance through a visual algorithm, trajectory planning is carried out on an inflection point area, the high-precision characteristic of an industrial robot is used for guaranteeing stable and constant welding linear speed, and the current and voltage of the welding machine are dynamically adjusted according to inflection point transition characteristics and welding seam width.
Description
technical field [0001] The invention relates to a robot welding method, in particular to a robot automatic welding method for corrugated plates based on laser seam tracking. Background technique [0002] Corrugated sheet is a sheet with a three-dimensional or spatial structure. The structure has increased resistance to horizontal and vertical loads. Because of its structural characteristics, it is widely used in the container industry. Due to the influence of the processing accuracy and stability of the front stamping station, when the corrugated plate and the bottom beam are welded, there is a problem of consistency of incoming materials, and automatic welding cannot be realized. At present, the special mode of PLC plus laser sensor is widely used in the industry, and the automatic welding of shallow corrugated plates has been initially realized. However, because the angle of the welding torch cannot be adjusted during the welding process or the precise control of the we...
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IPC IPC(8): B23K9/02B23K9/127
CPCB23K9/02B23K9/127B23K9/1274
Inventor 冯永
Owner 智昌科技集团股份有限公司