Automatic calibration method for laser welding track of gapless welding seam

Abstract

The invention provides an automatic calibration method for a laser welding track of a gapless welding seam, which is characterized in that a track calibration system is adopted; the automatic calibration method comprises the following steps of: 1, importing or generating a preset track; 2, automatic focusing is carried out, a welding head is controlled to move back and forth along a laser processing light path to carry out CCD image collection, the highest definition position of a full-width CCD image is recognized, and the position is set as a reference point; 3, adjusting the posture, and extracting and identifying the light spot form in the CCD image; when the light spot form is abnormal, the posture of the welding head is adjusted; fourthly, the welding track is optimized; and fifthly, welding track inspection is completed. According to the method, coaxial image monitoring is adopted, the problems that position errors are caused by a method of preposed structured light or a laser range finder, seamless welding seams, all-position fillet welding seams or small-diameter pipe butt joint are difficult to recognize, or the precision is reduced due to image splicing are solved, and the cost is obviously reduced compared with a structured light sensor.

Description

Technical Field

[0001] The invention relates to the technical field of welding, and in particular to an automatic calibration method for a laser welding track of a gapless weld. Background Art

[0002] In the field of laser welding, in addition to special processes, during the welding process, the relative position of the focus and the workpiece needs to remain stable in order to obtain a stable and uniform weld. Existing autofocus methods are generally divided into four types:

[0003] One is to use laser line structured light as the front scanning device to obtain the surface morphology information of the weld. After obtaining the welding trajectory, the laser welding head at the rear is controlled for calibration. However, this method is limited by the installation distance between the structured light and the welding head. Moreover, this method is mostly suitable for long straight welds, and the recognition effect of joints without gaps and grooves is slightly poor.

[0004] The second method is to directly measure the distance between a specific position and the workpiece by adding a laser rangefinder to the laser welding head. However, this method is more suitable for workpieces with a single structure and straight welds.

[0005] The third method is to locate the welding position by taking pictures and identifying images with an external CCD camera, or to obtain three-dimensional information of the welding position through a multi-angle camera before welding. However, this method is difficult to identify welds at multiple angles or all positions, and requires more camera combinations or multi-angle three-dimensional recognition.

[0006] Fourth, a coaxial CCD camera or other sensor is used in conjunction with a nearby CCD camera or other device to jointly complete focusing and track recognition. There is little research on using a coaxial sensor alone for automatic focusing and track calibration.

[0007] The above four methods all have the problems of low recognition resolution, incomplete functions of a single method and difficulty in locating welds in butt joints without gaps and grooves. They can only identify the joint position under certain conditions in corner joints and have difficulty in identifying small-sized and spatial curve welds. Therefore, the above four methods cannot be applied in engineering under some working conditions. Summary of the invention

[0008] In view of the problems existing in the prior art, the present invention proposes a method for automatic calibration of the laser welding trajectory of gapless welds. By improving the hardware design and cooperating with the image recognition system, the automatic focusing and trajectory calibration of the gapless welds are completed, manual teaching participation is reduced, and the welding efficiency and welding accuracy are improved. The method is particularly suitable for automatic welding of small-diameter pipe-to-pipe butt joints and tube-to-plate corner joints.

[0009] In view of this, the present invention provides a method for automatically calibrating the laser welding trajectory of a gapless weld, which is implemented based on a welding robot with a trajectory calibration system; the welding robot is provided with a laser welding head with a coaxial monitoring optical path, the laser welding head includes a laser processing optical path and a CCD imaging optical path coaxial with the laser processing optical path; the laser processing optical path includes a collimator, a spectroscope, a focusing lens and a high-transmittance glass protection lens arranged in sequence along the laser processing optical path, the CCD imaging optical path includes a CCD camera, a lens module, a reflective lens and a bandpass filter arranged in sequence, the CCD camera and the lens module are electrically connected to the control system inside the welding robot respectively; the CCD imaging optical path is arranged on one side of the spectroscope; the method includes the following steps:

[0010] Step 1: Import or generate a preset welding trajectory

[0011] Generate a welding trajectory according to the part model, import the welding trajectory into a trajectory calibration system, and move the laser welding head to the starting point of the welding trajectory;

[0012] Step 2: Autofocus

[0013] Adjust the aperture of the automatic adjustable diaphragm in the lens module to 22mm-28mm, increase the brightness of the CCD image and reduce the depth of field to less than 0.2mm, control the laser welding head to move back and forth along the laser processing optical path through the control system, perform CCD image acquisition, and identify the position with the highest clarity of the CCD image, and set the coordinates of the position of the laser welding head at this position as the reference point;

[0014] Step 3: Laser welding head posture adjustment

[0015] Extracting and identifying the light spot shape in the CCD image; when the light spot shape is found to be abnormal, adjusting the posture of the laser welding head according to a predetermined adjustment strategy;

[0016] Step 4: Optimize welding trajectory

[0017] After completing the adjustment of the laser welding head posture, repeat the steps 2 and 3 until there are no abnormalities in the spot shape and the focus position of the reference point, optimize the welding trajectory, generate a new welding trajectory according to the optimized welding trajectory, and re-introduce the new welding trajectory into the trajectory calibration system;

[0018] Step 5: Complete welding track inspection

[0019] The laser welding head is controlled by the control system to continue to move along the welding track. When the clarity of the CCD image decreases and / or the halo morphology becomes abnormal, the welding track is calibrated again at this position according to the process of steps 2 to 4; after the calibration is completed, the welding track is re-inspected until the new welding track is normal, and the welding track calibration is completed.

[0020] Preferably, the method for automatic calibration of the laser welding trajectory of the gapless weld also includes welding and process monitoring;

[0021] According to the monitoring needs of the welding process, the aperture of the automatic adjustable aperture is set to -5mm-+5mm, the laser power is 300W-2000W, the welding speed is 0.5m / min-2m / min, the protective gas is Ar gas, and the flow rate is 10L / min-30L / min to complete the pre-welding preparation; during the welding process, a CCD camera is used to capture the coaxial image of the molten pool according to the CCD imaging optical path.

[0022] Preferably, the method for automatic calibration of the laser welding trajectory of the gapless weld further comprises post-weld inspection;

[0023] The appearance and internal quality of the weld after welding are inspected, where the appearance morphology inspection is carried out through manual visual inspection or setting the aperture of the automatic adjustable aperture to 5mm-15mm, and the laser welding head is moved to collect the weld surface image after welding. The surface defects of the weld after welding are inspected by fluorescence, and the internal quality of the weld after welding is inspected by X-ray.

[0024] Preferably, in step three, the predetermined adjustment strategy is to obtain the deflection amount of the laser head by identifying the light spot morphology characteristics, and adjust the posture of the laser welding head according to the deflection amount of the laser welding head to restore the light spot morphology to normal.

[0025] Preferably, in step three, after adjusting the aperture of the automatic adjustable diaphragm in the lens module to 10 mm-16 mm, the light spot morphology in the CCD image is extracted and identified.

[0026] Preferably, the method for optimizing the welding trajectory in step 4 is:

[0027] There are n characteristic trajectory points on the welding trajectory. During the movement of the laser welding head along the welding trajectory, when the distance between the calibrated coordinates of the laser welding head and the nearest characteristic trajectory point is not greater than a set value, the nearest characteristic trajectory point in the trajectory calibration system is deleted, and the coordinate point of the nearest characteristic trajectory point is replaced by a new characteristic trajectory point. When the distance between the calibrated coordinates of the laser welding head and the nearest trajectory point is greater than a set value, the calibrated coordinate point is inserted into the welding trajectory to become a new characteristic trajectory point. A new welding trajectory is generated according to the optimized new characteristic trajectory point, and the new welding trajectory is re-imported into the trajectory calibration system.

[0028] The beneficial effects of the present invention are:

[0029] 1. In the present invention, coaxial image monitoring is adopted to avoid the position error caused by the method of front structured light or laser rangefinder, as well as the problem of difficulty in identifying gapless welds, full-position fillet welds or small-diameter pipe-to-pipe joints, or the reduction in accuracy caused by image stitching, and the cost is significantly lower than that of structured light sensors.

[0030] 2. Compared with trajectory recognition by multiple cameras, the present invention reduces equipment costs. For multi-angle spatial curve welds, it is not necessary to arrange multiple cameras for recognition, the computational difficulty is reduced, and the recognition efficiency and accuracy are improved, especially for welds without gaps or small sizes, the recognition accuracy is higher.

[0031] 3. Compared with the existing coaxial calibration method, the present invention improves the trajectory calibration system, utilizes the corresponding relationship between aperture and depth of field, adopts a large aperture to control the focusing range, improves the focusing accuracy, and adjusts the position of the laser welding head at the same time, so that the laser head always maintains a certain distance and angle with the weld surface during welding, ensuring the consistency of weld formation.

[0032] 4. The present invention is suitable for gapless thin plate laser welding, which can realize rapid positioning and trajectory calibration before welding, reduce manual teaching participation, greatly improve the production efficiency of parts welding, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A flow chart of the automatic calibration method of the laser welding trajectory of the gapless weld of the present invention;

[0034] Figure 2 It is a schematic diagram of the structure of a laser welding head with a coaxial monitoring optical path of the present invention;

[0035] Figure 3 This is a typical butt joint spot shape of the present invention;

[0036] In the figure: 1. Collimating lens; 2. Beam splitter lens; 3. Focusing lens; 4. High-transmittance glass protection lens; 5. CCD camera; 6. Lens module; 7. Reflecting lens; 8. Bandpass filter. DETAILED DESCRIPTION

[0037] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0038] Example 1

[0039] See also Figure 1-3 As shown, the present invention is a method for automatically calibrating the laser welding trajectory of a gapless weld, using a welding robot, the welding robot is provided with a laser welding head with a coaxial monitoring optical path, see Figure 2 As shown, the laser welding head includes a CCD imaging optical path along the laser processing optical path and coaxial with the laser processing optical path; the laser processing optical path includes a collimator 1, a beam splitter 2, a focusing lens 3 and a high-transmittance glass protection lens 4 arranged in sequence, and the CCD imaging optical path includes a CCD camera 5, a lens module 6, a reflective lens 7 and a bandpass filter 8, and the CCD camera 5 and the lens module 6 are respectively electrically connected to the control system inside the welding robot; the CCD imaging optical path is arranged on one side of the beam splitter 2; wherein, the CCD camera 5 selects a camera with a universal interface, and the resolution is not less than 480×480; the lens module 6 is composed of an automatic adjustable diaphragm and an optical lens, and the aperture range of the automatic adjustable diaphragm is 0mm-30mm; the passing band of the bandpass filter is 400mm-750nm, and the cut-off depth of other bands is OD2~4. The welding robot also includes a trajectory calibration system.

[0040] Based on this, a method for automatically calibrating a laser welding trajectory of a gapless weld of the present invention comprises the following steps:

[0041] Step 1: Import or generate a preset welding trajectory

[0042] Generate a welding trajectory according to the part model, import the welding trajectory points into the trajectory calibration system, the welding trajectory includes a starting point and an end point, and move the welding robot to the starting point of the welding trajectory point;

[0043] Step 2: Autofocus

[0044] The aperture of the automatic adjustable diaphragm in the lens module 6 is adjusted to 22mm-28mm, the brightness of the CCD image is increased, and the depth of field is reduced to less than 0.2mm. The control system in the welding robot controls the laser welding head on it to move back and forth along the laser processing optical path, collects CCD images, and identifies the position with the highest clarity of the CCD image. The coordinates of the position of the laser welding head at this position are set as the reference point;

[0045] Step 3: Posture Adjustment

[0046] Extract and identify the light spot morphology in the CCD image; when the light spot morphology is found to be abnormal, adjust the laser welding head posture according to the established adjustment strategy;

[0047] Step 4: Optimize welding trajectory

[0048] After completing the adjustment of the laser welding head posture, repeat steps 2 and 3 until there are no abnormalities in the spot shape and the focus position of the reference point, then optimize the welding trajectory, generate a new welding trajectory based on the optimized welding trajectory, and re-import the new welding trajectory into the trajectory calibration system;

[0049] Step 5: Complete welding track inspection

[0050] The laser welding head is controlled by the operating system to continue to move along the welding track. When the clarity of the CCD image decreases and / or the halo morphology becomes abnormal, the welding track is recalibrated at this position according to steps 2 to 4. After the calibration is completed, the welding track is rechecked until the new welding track is normal, and the welding track calibration is completed.

[0051] Example 2

[0052] The present embodiment provides a method for automatically calibrating a laser welding trajectory of a gapless weld, comprising the following steps:

[0053] Step 1: Import or generate preset tracks

[0054] Generate a welding trajectory according to the part model, import the welding trajectory into the trajectory calibration system, the welding trajectory includes a starting point and an end point, and move the welding robot to the starting point of the welding trajectory point; the welding trajectory includes but is not limited to a curved welding trajectory or a straight welding trajectory;

[0055] Step 2: Autofocus

[0056] The aperture of the automatic adjustable diaphragm in the lens module 6 is adjusted to 22mm-28mm, the brightness of the CCD image is increased, and the depth of field is reduced to less than 0.2mm. The control system provided inside the welding robot controls the laser welding head on it to move back and forth along the laser processing optical path, collects CCD images, and identifies the position with the highest clarity of the CCD image. The coordinates of the position of the laser welding head at this position are set as the reference point;

[0057] Step 3: Posture Adjustment

[0058] Adjust the aperture of the automatic adjustable diaphragm in the lens module 6 to 10mm-16mm, and extract and identify the light spot shape in the CCD image; see Figure 3 As shown, Figure 3 (a) is the normal spot shape, Figure 3(b), (c), (d) and (e) are abnormal spot shapes. By identifying the spot state, it can be determined whether the laser head posture is correct and then corrected. When the spot shape is found to be abnormal, the deflection of the laser welding head is obtained by identifying the spot shape characteristics, and the laser welding head posture is adjusted according to the deflection of the laser welding head to restore the spot shape to normal. Adjusting the laser welding head posture includes offsetting and rotating the laser welding head.

[0059] Step 4: Trajectory Optimization

[0060] After completing the adjustment of the laser welding head posture, repeat steps 2 and 3 until there is no abnormality in the spot shape and the focus position of the reference point, and then optimize the welding trajectory. Set n characteristic trajectory points on the welding trajectory. When the distance between the calibrated coordinates of the laser welding head and the characteristic trajectory point closest to it is not greater than the set value during the movement of the welding robot along the welding trajectory, delete the nearest characteristic trajectory point in the trajectory calibration system, and replace the coordinate point of the nearest characteristic trajectory point with a new characteristic trajectory point. When the distance between the calibrated coordinates of the laser welding head and the nearest trajectory point is greater than the set value, insert the calibrated coordinates into the welding trajectory to become a new characteristic trajectory point. Generate a new welding trajectory based on the optimized characteristic trajectory points, and re-import the new welding trajectory into the trajectory calibration system; wherein, the set value is set manually according to the part model or automatically calibrated and set by the trajectory calibration system according to the part model;

[0061] Step 5: Complete the trajectory test

[0062] The laser welding head is controlled by the control system to continue to move along the welding track. When the clarity of the CCD image decreases and / or the halo morphology becomes abnormal, the welding track is calibrated again at this position according to steps 2 to 4. When the laser welding head moves to the end point of the welding track and completes all calibrations, it returns to the starting point of the welding track and repeats the re-inspection of the welding track until the new welding track is normal and the welding track calibration is completed.

[0063] Step 6: Welding and process monitoring

[0064] According to the monitoring needs of the welding process, the aperture of the automatic adjustable diaphragm of the lens module 6 is set to -5mm-+5mm, the laser power is 300W-2000W, the welding speed is 0.5m / min-2m / min, the protective gas is Ar gas, and the flow rate is 10L / min-30L / min, and the pre-welding preparation is completed; during the welding process, the CCD camera 5 is used to capture the coaxial image of the molten pool according to the CCD imaging optical path;

[0065] Step 7: Post-weld inspection

[0066] The appearance and internal quality of the weld after welding are inspected, where the appearance morphology inspection is carried out through manual visual inspection or setting the aperture of the automatic adjustable aperture to 5-15mm, and the laser welding head is moved to collect the surface image of the weld after welding. The surface defects of the weld after welding are usually inspected by fluorescence, and the internal quality of the weld after welding is usually inspected by X-ray.

[0067] Example 3

[0068] The difference between this embodiment and embodiment 1 is that the following steps are added in step 1: pre-welding assembly and positioning

[0069] The parts to be welded are processed to the corresponding precision as required, and the surfaces on both sides of the parts are polished or cleaned after processing; they are assembled on the fixture to complete the positioning welding.

[0070] Example 4

[0071] The present embodiment provides a method for automatically calibrating a laser welding trajectory of a gapless weld, comprising the following steps:

[0072] Step 1: Import or generate preset tracks

[0073] Generate a welding trajectory according to the part model, import the welding trajectory into the trajectory calibration system, the welding trajectory includes a starting point and an end point, and move the welding robot to the starting point of the welding trajectory point; the welding trajectory includes but is not limited to a curved welding trajectory or a straight welding trajectory;

[0074] Step 2: Autofocus

[0075] The aperture of the automatic adjustable diaphragm in the lens module 6 is adjusted to 24 mm, the brightness of the CCD image is increased, and the depth of field is reduced to 0.1 mm. The laser welding head on the welding robot is controlled by the control system provided inside the welding robot to move back and forth along the laser processing optical path, and the CCD image is collected to identify the position with the highest clarity of the CCD image. The point where the laser welding head is located in the laser processing optical path at this position is set as the reference point;

[0076] Step 3: Posture Adjustment

[0077] Adjust the aperture of the automatic adjustable diaphragm in the lens module 6 to 14 mm, and extract and identify the light spot shape in the CCD image; see Figure 3 As shown, Figure 3 (a) is the normal spot shape, Figure 3(b), (c), (d) and (e) are abnormal spot shapes. By identifying the spot state, it can be determined whether the laser head posture is correct and then corrected. When the spot shape is found to be abnormal, the deflection of the laser welding head is obtained by identifying the spot shape characteristics, and the laser welding head posture is adjusted according to the deflection of the laser welding head to restore the spot shape to normal. Adjusting the laser welding head posture includes offsetting and rotating the laser welding head.

[0078] Step 4: Trajectory Optimization

[0079] n characteristic trajectory points are arranged on the welding trajectory. When the welding robot moves along the welding trajectory, when the distance between the coordinates of the laser welding head after calibration and the characteristic trajectory point closest to it is not greater than a set value, the nearest characteristic trajectory point in the trajectory calibration system is deleted, and the coordinate point of the nearest characteristic trajectory point is replaced with a new characteristic trajectory point. When the distance between the coordinates of the laser welding head after calibration and the nearest trajectory point is greater than a set value, the calibrated coordinates are inserted into the welding trajectory to become new characteristic trajectory points. A new welding trajectory is generated according to the optimized characteristic trajectory points, and the new welding trajectory is re-imported into the trajectory calibration system. Wherein, the surface of the part to be welded is circular, and the radius of the circle is 17 mm. The specific setting value is set manually according to the part model or automatically calibrated and set by the trajectory calibration system according to the part model and is set between 0 mm and 17 mm.

[0080] Step 5: Complete the trajectory test

[0081] The laser welding head is controlled by the control system to continue to move along the welding track. When the clarity of the CCD image decreases or the halo morphology is abnormal, the welding track is calibrated again at this position according to the process of steps 2 to 4; until the laser welding head moves to the end point of the welding track to complete all calibrations, returns to the starting point of the welding track, and repeats the re-inspection of the welding track until the new welding track is normal, and the welding track calibration is completed;

[0082] Step 6: Welding and process monitoring

[0083] According to the monitoring needs of the welding process, the aperture of the automatic adjustable diaphragm of the lens module 6 is set to 4 mm, the laser power is 600 W, the welding speed is 1 m / min, the shielding gas is Ar gas, and the flow rate is 20 L / min, and the pre-welding preparation is completed; during the welding process, the CCD camera 5 is used to take a coaxial image of the molten pool according to the CCD imaging optical path;

[0084] Step 7: Post-weld inspection

[0085] The appearance and internal quality of the weld after welding are inspected, where the appearance morphology inspection is carried out by manual visual inspection or setting the aperture of the automatic adjustable aperture to 10mm, and the laser welding head is moved to collect the surface image of the weld after welding. The surface defects of the weld after welding are usually inspected by fluorescence, and the internal quality of the weld after welding is usually inspected by X-ray.

Claims

1. A method for automatic calibration of laser welding trajectory of gapless welds, which is implemented based on a welding robot with a trajectory calibration system; the welding robot is provided with a laser welding head with a coaxial monitoring optical path, the laser welding head includes a laser processing optical path and a CCD imaging optical path coaxial with the laser processing optical path; the laser processing optical path includes a collimator, a spectroscope, a focusing lens and a high-transmittance glass protection lens arranged in sequence along the laser processing optical path, the CCD imaging optical path includes a CCD camera, a lens module, a reflective lens and a bandpass filter arranged in sequence, the CCD camera and the lens module are electrically connected to the control system inside the welding robot respectively; the CCD imaging optical path is arranged on one side of the spectroscope; it is characterized in that The steps include: Step 1: Import or generate a preset welding trajectory Generate a welding trajectory according to the part model, import the welding trajectory into a trajectory calibration system, and move the laser welding head to the starting point of the welding trajectory; Step 2: Autofocus Adjust the aperture of the automatic adjustable diaphragm in the lens module to 22mm-28mm, increase the brightness of the CCD image and reduce the depth of field to less than 0.2mm, control the laser welding head to move back and forth along the laser processing optical path through the control system, perform CCD image acquisition, and identify the position with the highest clarity of the CCD image, and set the coordinates of the position of the laser welding head at this position as the reference point; Step 3: Laser welding head posture adjustment Extracting and identifying the light spot shape in the CCD image; when the light spot shape is found to be abnormal, adjusting the posture of the laser welding head according to a predetermined adjustment strategy; Step 4: Optimize welding trajectory After completing the adjustment of the laser welding head posture, repeat the steps 2 and 3 until there are no abnormalities in the spot shape and the focus position of the reference point, optimize the welding trajectory, generate a new welding trajectory according to the optimized welding trajectory, and re-introduce the new welding trajectory into the trajectory calibration system; Step 5: Complete welding track inspection The laser welding head is controlled by the control system to continue to move along the welding track. When the clarity of the CCD image decreases and / or the halo morphology becomes abnormal, the welding track is calibrated again at this position according to the process of steps 2 to 4; after the calibration is completed, the welding track is re-inspected until the new welding track is normal, and the welding track calibration is completed.

2. The automatic calibration method for laser welding trajectory of gapless weld according to claim 1, characterized in that: It also includes welding and process monitoring; According to the monitoring needs of the welding process, the aperture of the automatic adjustable aperture is set to -5mm-+5mm, the laser power is 300W-2000W, the welding speed is 0.5m / min-2m / min, the protective gas is Ar gas, and the flow rate is 10L / min-30L / min to complete the pre-welding preparation; during the welding process, a CCD camera is used to capture the coaxial image of the molten pool according to the CCD imaging optical path.

3. The automatic calibration method for laser welding trajectory of gapless weld according to claim 1, characterized in that: It also includes post-weld inspection; The appearance and internal quality of the weld after welding are inspected, where the appearance morphology inspection is carried out through manual visual inspection or setting the aperture of the automatic adjustable aperture to 5mm-15mm, and the laser welding head is moved to collect the weld surface image after welding. The surface defects of the weld after welding are inspected by fluorescence, and the internal quality of the weld after welding is inspected by X-ray.

4. The automatic calibration method for laser welding trajectory of gapless weld according to claim 1, characterized in that: In the step three, the established adjustment strategy is to obtain the deflection amount of the laser head by identifying the light spot morphology characteristics, and adjust the posture of the laser welding head according to the deflection amount of the laser welding head to restore the light spot morphology to normal.

5. The automatic calibration method for laser welding trajectory of gapless weld according to claim 1, characterized in that: In the step three, after adjusting the aperture of the automatic adjustable diaphragm in the lens module to 10 mm-16 mm, the light spot morphology in the CCD image is extracted and identified.

6. The automatic calibration method for laser welding trajectory of gapless weld according to claim 5, characterized in that: The method for optimizing the welding trajectory in step 4 is: There are n characteristic trajectory points on the welding trajectory. During the movement of the laser welding head along the welding trajectory, when the distance between the calibrated coordinates of the laser welding head and the nearest characteristic trajectory point is not greater than a set value, the nearest characteristic trajectory point in the trajectory calibration system is deleted, and the coordinate point of the nearest characteristic trajectory point is replaced by a new characteristic trajectory point. When the distance between the calibrated coordinates of the laser welding head and the nearest trajectory point is greater than a set value, the calibrated coordinate point is inserted into the welding trajectory to become a new characteristic trajectory point. A new welding trajectory is generated according to the optimized new characteristic trajectory point, and the new welding trajectory is re-imported into the trajectory calibration system.

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