A weld tracking method for pressurized roller welding

Abstract

The invention discloses a weld tracking method for suppressing roller welding. The method is based on a weld tracking system of a two-dimensional laser sensor component. The two-dimensional laser sensor component collects deviation data in real time and processes it in an array by adopting a first-in-first-out storage algorithm and a comparison compensation method. The first-in-first-out data storage algorithm and the comparison compensation method can be used to track and compensate the running path of the welding gun on the Z axis and the Y axis in real time. In this way, each step of the welding of the welding gun is compensated and corrected, ensuring that the welding gun is at a specific height from the weld and that the welding gun can move along the weld, thereby avoiding the phenomenon that the existing welding gun is easy to deviate from the weld during the welding process, resulting in deviations in the straightness of the weld and the suppression roundness. At the same time, the weld tracking method is used to realize intelligent welding of the weld of the suppressing roller without human participation, thereby avoiding the problems of low efficiency, poor quality, high labor intensity, low degree of automation and harm to the human body in manual welding.

Description

Technical Field

[0001] The invention relates to the technical field of welding, in particular to a weld seam tracking method for suppressing roller welding. Background Art

[0002] Xinjiang is a major agricultural province and also a major agricultural machinery manufacturing province. Manufacturing is the main body of the national economy, the foundation of the country, the tool for the country's prosperity and the basis for the country's strength. Therefore, the agricultural machinery manufacturing industry is also a top priority in Xinjiang. For example, when using mechanical equipment with a sowing function for sowing, a pressing roller is required. The main purpose of using the pressing roller is to compact the soil by its own gravity or external pressure after sowing, so that the soil density is increased to help retain soil moisture and facilitate seed germination.

[0003] The existing pressing roller usually includes a pressing roller and a main shaft, and the pressing roller is sleeved on the main shaft. The existing pressing roller is a cylindrical roller, which is rolled from iron sheets, and a weld seam is generated at the joint. At present, the welding of the pressing roller in Xinjiang generally relies on manual or semi-automatic products. The problems are: (1) Manual welding has problems such as low efficiency, poor quality, high labor intensity, low degree of automation and harm to the human body; (2) Semi-automatic products will cause deviations between the movement trajectory of the welding gun and the weld to be welded and the height of the welding gun wire from the roller due to equipment accuracy and process reasons in actual welding, thereby affecting the roundness and size of the pressing roller; At present, in order to realize intelligent welding, there are corresponding products and methods, but they are not suitable for pressing rollers. The main reason is that their structure and operation are complicated and the cost is high. General pressing roller manufacturers can only stay away from them. For example, The invention patent with application number 201910933733.3 discloses a system and welding method for laser identification of weld position and automatic welding. It discloses a method of using a laser sensor to scan the weld contour information in real time and correct it in real time. This patent document is mainly used for some major equipment manufacturing, such as automobile manufacturing, etc. Using it for welding the weld of the pressure roller not only wastes resources, but also increases the cost of use. At the same time, the technical solution disclosed in the patent document is mainly to use a laser sensor to scan the weld contour information in real time and correct it in real time. The problem is that when the laser sensor works abnormally, it will not be known in time. Since the weld length of the pressure roller is limited, if the abnormal working condition of the laser sensor is not discovered in time, the weld welding will deviate and affect the welding quality of the pressure roller. Therefore, based on the above problems, this application designs a weld tracking method for pressure roller welding. Summary of the invention

[0004] In order to solve the above problems, the present application provides a weld tracking method for the welding of a suppression roller. This method can solve the problems of low intelligence, great harm to the human body, low efficiency, and easy deviation in weld straightness and roundness of the suppression roller 8 in the existing welding of the suppression roller 8. At the same time, this method can realize correction and compensation for each step of the welding gun movement during the welding process of the suppression roller, thereby improving the compensation accuracy and meeting the welding requirements of the rolling roller.

[0005] The present application provides a weld tracking method for suppressing roller welding, comprising a weld tracking system based on a two-dimensional laser sensor assembly 1, the weld tracking system comprising a two-dimensional laser sensor assembly 1, a welding gun 2, a displacement compensation mechanism and a controller 3, the two-dimensional laser sensor assembly 1 and the welding gun 2 are both fixedly arranged below the displacement compensation mechanism and move synchronously with the displacement compensation mechanism, the two-dimensional laser sensor assembly 1 is located at the front end of the welding gun 2, the displacement compensation mechanism comprises an X-axis direction driving assembly 4, a Y-axis direction compensation assembly 5 and a Z-axis direction compensation assembly 6, the controller 3 is electrically connected to the two-dimensional laser sensor assembly 1, the welding gun 2 and the compensation assembly, and the method comprises:

[0006] S1: Move the two-dimensional laser sensor assembly 1 to the starting position of the weld of the pressure roller 8, and set the initial values ​​of the Z-axis deviation data, i.e., the height information of the welding wire from the weld of the pressure roller 8, and the Y-axis deviation data, i.e., the deviation information of the weld in the Y direction, output by the two-dimensional laser sensor assembly 1 to zero, that is, the initial deviation data output by the two-dimensional laser sensor assembly 1 is (H: 0, Y: 0);

[0007] S2: Start the X-axis driving component 4 and the two-dimensional laser sensor component 1. The two-dimensional laser sensor component 1 moves along the X-axis driven by the X-axis driving component 4. The two-dimensional laser sensor component 1 collects one deviation data (Hi, Yi) every distance d and saves it into the array according to the first-in-first-out algorithm until the welding gun 2 moves to the starting position of the weld of the pressure roller 8. While controlling the welding gun 2 to start the arc, the deviation data (H1i, Yi) overflowing from the array exit position are compared with the preset accuracy value P respectively. When Hi<P and Yi<P, the Y-axis compensation component 5 and the Z-axis compensation component 6 do not respond at this time; when Hi>P, the Z-axis compensation component 6 is controlled to drive the welding gun 2 to move the Hi distance to achieve displacement compensation in the Z-axis direction, and all H data in the array are compensated for displacement Hi; if Yi>P, the Y-axis compensation component 5 is controlled to drive the welding gun 2 to move the Yi distance to achieve displacement compensation in the Y-axis direction, and all Y data in the array are compensated for displacement Yi;

[0008] S3: Execute the above step S2 until the two-dimensional laser sensor component 1 reaches the end point of the weld of the pressure roller 8, and the two-dimensional laser sensor component 1 outputs deviation data (Hi: null, Yi: null); when the controller 3 determines that all the data in the array are the string null, the controller 3 controls the welding gun 2 to extinguish the arc, and the two-dimensional laser sensor component 1 stops detecting and outputting data;

[0009] S4: The controller 3 drives the X-axis direction driving component 4 to drive the welding gun 2 and the two-dimensional laser sensor component 1 back to the welding starting point.

[0010] As a preferred solution of the present application, before step S1, it also includes: setting a multi-bit array in the controller 3, the number of bits of the array being the ratio of the distance D between the two-dimensional laser sensor component 1 and the welding gun 2 to the distance d between two adjacent paths in the welding gun 2 movement method on the X-axis.

[0011] As a preferred embodiment of the present application, in step S3, the specific manner in which the deviation data (Hi, Yi) enters the array according to the first-in-first-out algorithm includes: when the first group of deviation data (H1, Y1) is collected, it is placed in the first position of the array entry; when the second group of deviation data (H2, Y2) is collected, the first group of deviation data (H1, Y1) located in the first position of the array entry is shifted to the second position of the array entry, and the second group of deviation data (H2, Y2) currently collected is placed in the first position of the array entry, and so on. When the nth group of deviation data (Hn, Yn) is collected, the deviation data of other positions are shifted in turn and the nth group of deviation data (Hn, Yn) currently collected is placed in the array entry, and at the same time, the deviation data (Hi, Yi) overflowing from the array exit is compared with the preset precision value P.

[0012] As a preferred embodiment of the present application, in step S1, the number of bits in the array is an integer; and / or, the welding gun 2 adopts a "triangle" gun movement path, and the two-dimensional laser sensor component 1 is activated once each time the welding gun 2 runs the "triangle" gun movement path.

[0013] As a preferred embodiment of the present application, the direction from the starting point to the end point of the weld is the positive direction of the X-axis; and / or the distance D between the two-dimensional laser sensor assembly 1 and the welding gun 2 is in the range of 15-20 cm.

[0014] Compared with the prior art, the weld tracking method for suppressing roller welding in the present application has the following advantages:

[0015] (1) A multi-bit array is set in the controller. Since the number of bits of the array is determined by D / d, that is, the number of bits or the number of deviation data collected by the two-dimensional laser sensor component 1 within the distance D is certain, therefore, within a distance D, when the deviation data overflowing or stored in the array is abnormal, it will be determined that the two-dimensional laser sensor component 1 is working abnormally. Therefore, by setting a multi-bit array, the working state of the two-dimensional laser sensor component 1 can be monitored to avoid its abnormal operation and thus affect the welding precision and accuracy;

[0016] (2) The two-dimensional laser sensor component 1 is used to collect deviation data in real time and the collected deviation data is processed in an array using a first-in-first-out storage algorithm and a comparison compensation method. The first-in-first-out data storage algorithm and the comparison compensation method can realize real-time tracking and compensation of the running path of the welding gun 2 on the Z axis and the Y axis. In this way, compensation and correction can be made for each step of welding by the welding gun 2, thereby improving the welding accuracy, meeting the welding requirements of the rolling roller 8, and avoiding the phenomenon that the existing welding gun 2 is easy to deviate from the weld during the welding process, resulting in deviations in the straightness of the weld and the roundness of the pressing roller 8. At the same time, the weld tracking method in the present application realizes intelligent welding of the weld of the pressing roller 8 without human intervention, avoiding the problems of low efficiency, poor quality, high labor intensity, low degree of automation and harm to the human body in the existing manual welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the connection structure between a two-dimensional laser sensor assembly and a welding gun provided in an embodiment of the present invention.

[0018] Figure 2 A schematic structural diagram of a weld tracking system provided in an embodiment of the present invention.

[0019] Figure 3 This is a control structure diagram of the weld tracking system provided in an embodiment of the present invention.

[0020] Figure 4 A flow chart of a weld tracking method provided in an embodiment of the present invention.

[0021] Figure 5 A schematic diagram of welding a pressure roller using a weld tracking method provided in an embodiment of the present invention.

[0022] Reference numerals

[0023] Two-dimensional laser sensor component 1, welding gun 2, controller 3, X-axis direction driving component 4, Y-axis direction compensation component 5, Z-axis direction compensation component 6, support frame 7, suppression roller 8, shading plate 9. DETAILED DESCRIPTION

[0024] The present embodiment provides a weld tracking method for suppressing roller welding, the weld tracking method comprises a weld tracking system based on a two-dimensional laser sensor assembly 1, the weld tracking system comprises a two-dimensional laser sensor assembly 1, a welding gun 2, a displacement compensation mechanism and a controller 3; the two-dimensional laser sensor assembly 1 and the welding gun 2 are both fixed on a connecting seat, and the two-dimensional laser sensor assembly 1 is located at the front end of the welding gun 2. In the present embodiment, the distance D between the two-dimensional laser sensor assembly 1 and the welding gun 2 is preferably in the range of 15-20 cm, see Figure 1 In this embodiment, in order to prevent the arc light generated by the welding gun 2 from affecting the two-dimensional laser sensor component 1 during operation, a light shielding plate 9 is preferably provided between the two-dimensional laser sensor component 1 and the welding gun 2; the displacement compensation mechanism and the controller 3 are both fixed on the support frame 7, wherein the displacement compensation mechanism comprises an X-axis direction driving component 4, a Y-axis direction compensation component 5 and a Z-axis direction compensation component 6. In this embodiment, the X-axis direction driving component 4, the Y-axis direction compensation component 5 and the Z-axis direction compensation component 6 are perpendicular to each other. Specifically, the X-axis direction driving component 4 comprises a base A, a synchronous belt A and a motor A that can drive the synchronous belt A to move horizontally (laterally). The step belt A and the motor A are both arranged on the base A. The Y-axis direction compensation mechanism includes a base B, a synchronous belt B and a motor B capable of driving the synchronous belt B to move longitudinally. The synchronous belt B and the motor B are both arranged on the base B, wherein the base B is vertically arranged relative to the synchronous belt A and can move horizontally (along the X-axis) with the synchronous belt A. The Z-axis direction compensation mechanism includes a base C, a synchronous belt C and a motor C capable of driving the synchronous belt C to move up and down. The synchronous belt C and the motor C are both fixed on the base C. The base C is vertically arranged relative to the synchronous belt B and can move longitudinally (Y-axis) with the synchronous belt B. The connecting base on which the two-dimensional laser sensor component 1 and the welding gun 2 are fixed is fixed on the synchronous belt C, see Figure 2 In actual use, the X-axis driving component 4 can drive the Y-axis compensation mechanism, the Z-axis compensation mechanism, the two-dimensional laser sensor component 1 and the welding gun 2 to move horizontally (laterally) synchronously (the direction of the weld of the pressure roller 8, the direction from the start point to the end point of the weld is the positive direction of the X-axis), the Y-axis compensation mechanism can drive the Z-axis compensation mechanism, the two-dimensional laser sensor component 1 and the welding gun 2 to move longitudinally synchronously, and the Z-axis compensation mechanism can drive the two-dimensional laser sensor component 1 and the welding gun 2 to move up and down synchronously, that is, the displacement compensation mechanism can drive the two-dimensional laser sensor component 1 and the welding gun 2 to move synchronously, and can also realize displacement compensation in the Y-axis and Z-axis directions; the controller 3 is electrically connected to the two-dimensional laser sensor component 1, the welding gun 2 and the compensation component by using the existing traditional communication method, see Figure 3 .

[0025] In this embodiment, the two-dimensional laser sensing component 1 includes a two-dimensional laser sensor and a laser processor. In this embodiment, the two-dimensional laser sensing component 1 is preferably an existing commonly used image acquisition and processing product.

[0026] In this embodiment, the weld tracking method includes the following steps: Figure 4 :

[0027] S1: Move the two-dimensional laser sensor assembly 1 to the starting position of the weld of the pressure roller 8. At this time, the welding gun 2 located at the rear end of the two-dimensional laser sensor assembly 1 is D away from the starting position of the weld of the pressure roller 8. The Z-axis deviation data output by the two-dimensional laser sensor assembly 1, i.e., the height information of the welding wire from the weld of the pressure roller 8, and the Y-axis deviation data, i.e., the deviation information of the weld in the Y direction, are set to zero, that is, the initial deviation data output by the two-dimensional laser sensor assembly 1 is (H: 0, Y: 0);

[0028] In this embodiment, before the step S1, a multi-bit array and a precision value P are set in the controller 3. The number of bits in the array is the integer of the ratio between the distance D between the two-dimensional laser sensor assembly 1 and the welding gun 2 and the distance d between two adjacent paths on the X axis in the welding gun 2 operation method. In this embodiment, the data in the multi-bit array is zero (empty) in the initial state. In this embodiment, it is preferred that the welding gun 2 adopts a "triangular" gun operation path, see Figure 5 The gun moving path of each "triangle" is ABCDE, where the distance d between two adjacent paths is the distance between AE. The two-dimensional laser sensor component 1 is activated once each time the welding gun 2 runs the "triangle" gun moving path; the accuracy value P is the minimum displacement of the welding gun in the up and down and left and right directions during the weld welding process obtained according to the test. Within this minimum displacement, the deviation of the welding gun has the least impact on the weld welding accuracy.

[0029] S2: Start the motor A and the two-dimensional laser sensor component 1 in the X-axis direction driving component 4. The two-dimensional laser sensor component 1 moves along the X-axis driven by the synchronous belt A. The two-dimensional laser sensor component 1 collects one bit of deviation data (H) every distance d. i , Y i ) and save it to the array according to the first-in-first-out algorithm until the welding gun 2 moves to the starting position of the welding seam of the pressure roller 8. While controlling the welding gun 2 to start the arc, since the two-dimensional laser sensor component 1 and the welding gun 2 have moved a displacement D at this time, and the two-dimensional laser sensor component 1 has collected D / d times of deviation data, the bits in the array are all stored with the collected deviation data. When the subsequent collected deviation data is stored, the excess deviation data in the array needs to be overflowed before it can be stored. In this embodiment, the deviation data at the exit of the array is preferably overflowed before the next deviation data is collected, and the overflowed deviation data (H1 i , Y i ) are compared with the preset accuracy value P. When H i <P and Y i<P, then the Y-axis direction compensation component 5 and the Z-axis direction compensation component 6 do not respond; when H i >P, then the motor C in the Z-axis direction compensation component 6 is started to drive the synchronous belt C to drive the welding gun 2 to move H i Distance to achieve displacement compensation in the Z-axis direction, and all H data in the array are compensated for displacement H i ; if Y i >P, then start the motor B in the Y-axis direction compensation component 5 to drive the synchronous belt B to drive the welding gun 2 to move Y i Distance to achieve displacement compensation in the Y-axis direction, and all Y data in the array are compensated for displacement Y i That is, in this embodiment, the two-dimensional laser sensor component 1 is located at the front end of the welding gun 2, and the deviation data collected is the position where the welding gun 2 has not yet welded, that is, the deviation data within the distance D between the welding gun 2 and the two-dimensional laser sensor component 1. When the welding gun 2 moves to the starting position of the distance D, the two-dimensional laser sensor component 1 will collect the next group of deviation data within D. Moreover, in this embodiment, the collected deviation data is processed in the array using a first-in-first-out (overflow one by one) algorithm and a comparison compensation method, so that compensation correction can be achieved for each step of welding with the welding gun 2, which can not only ensure that the welding gun 2 is at a specific height from the weld, but also ensure that the welding gun 2 can move along the weld, avoiding the phenomenon that the existing welding gun 2 is easy to deviate from the weld during welding, resulting in deviations in the weld straightness and the roundness of the pressing roller 8.

[0030] In this embodiment, the deviation data at the array outlet is overflowed before the next deviation data is collected, so that the current welding point of the welding gun can be compensated or corrected for displacement before welding. That is, the current welding point of the welding gun has been corrected, and the next welding point is being corrected, thereby improving the welding precision and accuracy.

[0031] In this embodiment, the deviation data (H i , Y i ) The specific method of entering the array according to the first-in-first-out algorithm includes: For better explanation of this embodiment, preferably D / d=n,

[0032] Initially, the two-dimensional laser sensor component 1 is located at the starting end of the weld. After startup, it will collect the first set of deviation data (H1, Y1) and put the deviation data into the first position of the array entry. When the second set of deviation data (H2, Y2) is collected, the first set of deviation data (H1, Y1) located at the first position of the array entry is moved to the second position of the array entry, and the second set of deviation data (H2, Y2) currently collected is put into the first position of the array entry. By analogy, when the nth set of deviation data (H n , Y n ), the deviation data of other bits are shifted in sequence and the currently collected nth group of deviation data (Hn , Y n ) is put into the array entrance. At the same time, since the number of array bits is only n groups, in order to store the deviation data collected subsequently, the deviation data (H1, Y1) at the array exit end needs to overflow, and the overflowed deviation data is compared with the preset accuracy value P. When the nth group of deviation data is collected, the welding gun 2 also moves to the welding seam starting position, and the two-dimensional laser sensor component 1 subsequently collects the n+1th group of deviation data (H n+1 , Y n+1 ) will be the second set of deviation data within the distance D, and the n+1th set of deviation data (H n+1 , Y n+1 ) is put into the array entry, the other bit deviation data will be shifted in sequence, and the subsequent deviation data collected will cycle the above method in sequence until welding gun 2 reaches the end point of the weld.

[0033] S3: Execute the above step S2 until the two-dimensional laser sensor assembly 1 reaches the end point of the weld of the pressure roller 8 (the two-dimensional laser sensor moves to the position D from the end point of the weld), and the two-dimensional laser sensor cannot detect the weld information, and outputs the deviation data (H i :null, Y i :null); when the controller 3 determines that all the data in the array are the string null, it means that the welding gun 2 moves to the end position of the welding seam of the suppression roller 8. At this time, the controller 3 controls the welding gun 2 to extinguish the arc, the sensor stops detecting and outputting data.

[0034] S4: The controller 3 starts the motor A in the X-axis direction driving component 4 to drive the transmission belt A to drive the welding gun 2 and the two-dimensional laser sensor component 1 back to the welding starting point.

[0035] In summary, this embodiment not only facilitates data storage and calculation by setting a D / d bit array in the controller, but also facilitates checking whether there is any abnormality in the two-dimensional laser sensor component 1. During specific use, when the two-dimensional laser sensor component 1 moves a distance D and the array overflows or the stored deviation data is less than D / d bits, it means that the two-dimensional laser sensor component 1 is working abnormally. If the two-dimensional laser sensor component 1 is working abnormally, it will not be able to collect or completely collect the deviation data and thus cannot compensate for each point of the welding, thereby affecting the welding efficiency and accuracy. The method of real-time collection and real-time correction of weld offset information used in the existing traditional technology will not be able to be timely known when the two-dimensional laser sensor component 1 fails to collect deviation data due to abnormal operation, thereby reducing the welding precision and accuracy.

[0036] That is, the weld tracking method for the suppression roller welding in this embodiment is based on the weld tracking system based on the two-dimensional laser sensor component 1, and uses the two-dimensional laser sensor component 1 to collect deviation data in real time and processes the collected deviation data in the array using a first-in-first-out storage algorithm and a comparison compensation method. Setting the array and using the first-in-first-out data storage algorithm and the comparison compensation method can realize real-time tracking and compensation of the running path of the welding gun 2 on the Z axis and the Y axis, so that not only the working state of the two-dimensional laser sensor component 1 can be monitored, but also each step of the welding of the welding gun 2 can be realized. Compensation correction is performed to improve the compensation precision and accuracy, ensure that the welding gun 2 is at a specific height away from the weld, and ensure that the welding gun 2 can move along the weld. Therefore, the weld tracking method for pressing roller welding in this embodiment can avoid the existing welding gun 2 easily deviating from the weld during welding, resulting in deviations in the weld straightness and the roundness of the pressing roller 8. At the same time, the weld tracking method in this embodiment is used to realize intelligent welding of the weld of the pressing roller 8 without human participation, avoiding the problems of low efficiency, poor quality, high labor intensity, low degree of automation and harm to the human body in the existing manual welding.

[0037] The above is only an embodiment of the present invention, and the common knowledge such as the known specific structure and characteristics in the scheme is not described in detail here. It should be pointed out that for those skilled in the art, several improvements can be made without departing from the present invention, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of the claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A weld tracking method for suppressing roller welding, characterized in that: The invention relates to a weld seam tracking system based on a two-dimensional laser sensor component (1). The weld seam tracking system comprises a two-dimensional laser sensor component (1), a welding gun (2), a displacement compensation mechanism and a controller (3). The two-dimensional laser sensor component (1) and the welding gun (2) are both fixedly arranged below the displacement compensation mechanism and move synchronously with the displacement compensation mechanism. The two-dimensional laser sensor component (1) is located at the front end of the welding gun (2). The displacement compensation mechanism comprises an X-axis direction driving component (4), a Y-axis direction compensation component (5) and a Z-axis direction compensation component (6). The controller (3) is electrically connected to the two-dimensional laser sensor component (1), the welding gun (2) and the compensation component. The method comprises: S1: moving the two-dimensional laser sensor assembly (1) to the starting position of the weld of the pressure roller (8), and setting the initial values ​​of the Z-axis deviation data, i.e., the height information of the welding wire from the weld of the pressure roller (8), and the Y-axis deviation data, i.e., the deviation information of the weld in the Y direction, output by the two-dimensional laser sensor assembly (1) to zero, that is, the initial deviation data output by the two-dimensional laser sensor assembly (1) is (H: 0, Y: 0); Before step S1, the method further includes: setting a multi-bit array in the controller (3), the number of bits of the array being the ratio of the distance D between the two-dimensional laser sensor component (1) and the welding gun (2) to the distance d between two adjacent paths on the X-axis in the welding gun (2) movement method; S2: starting the X-axis direction driving component (4) and the two-dimensional laser sensor component (1); the two-dimensional laser sensor component (1) moves along the X-axis under the drive of the X-axis direction driving component (4); the two-dimensional laser sensor component (1) collects one bit of deviation data (H) every distance d i , Y i ) and saves it into the array according to the first-in-first-out algorithm until the welding gun (2) moves to the starting position of the welding seam of the pressing roller (8), controls the welding gun (2) to start the arc, and at the same time, saves the deviation data (H1) overflowing from the exit position of the array. i , Y i ) are compared with the preset accuracy value P. When H i <P and Y i <P, then the Y-axis direction compensation component (5) and the Z-axis direction compensation component (6) do not respond; when H i >P, the Z-axis direction compensation component (6) is controlled to drive the welding gun (2) to move H i Distance to achieve displacement compensation in the Z-axis direction, and all H data in the array are compensated for displacement H i ; if Y i >P, the Y-axis direction compensation component (5) is controlled to drive the welding gun (2) to move Y i Distance to achieve displacement compensation in the Y-axis direction, and all Y data in the array are compensated for displacement Y i ; The deviation data (H i , Y i ) enters the array according to the first-in-first-out algorithm. The specific method includes: when the first set of deviation data ((H1, Y1)) is collected, it is placed in the first position of the array entrance. When the second set of deviation data (H2, Y2) is collected, the first set of deviation data (H1, Y1) located in the first position of the array entrance is moved to the second position of the array entrance, and the second set of deviation data (H2, Y2) currently collected is placed in the first position of the array entrance. And so on. When the nth set of deviation data (H n , Y n ), the deviation data of other bits are shifted in sequence and the currently collected nth group of deviation data (H n , Y n ) into the array entry, and at the same time, the deviation data (H i , Y i ) is compared with the preset accuracy value P; S3: Execute the above step S2 until the two-dimensional laser sensor component (1) reaches the end point of the weld of the pressing roller (8), and the two-dimensional laser sensor component (1) outputs deviation data (H i :null,Y i :null); when the controller (3) determines that all the data in the array are the string null, the controller (3) controls the welding gun (2) to extinguish the arc and the two-dimensional laser sensor component (1) to stop detecting and outputting data; S4: The controller (3) drives the X-axis direction driving component (4) to drive the welding gun (2) and the two-dimensional laser sensor component (1) back to the welding starting point.

2. The weld seam tracking method for pressurized roller welding according to claim 1, characterized in that: In step S1, the number of bits in the array is an integer; and / or the welding gun (2) adopts a "triangular" gun movement path, and the two-dimensional laser sensor component (1) is activated once each time the welding gun (2) runs the "triangular" gun movement path.

3. The weld seam tracking method for pressurized roller welding according to claim 1, characterized in that: The direction from the starting point to the end point of the weld is the positive direction of the X-axis; and / or the distance D between the two-dimensional laser sensor component (1) and the welding gun (2) is in the range of 15-20 cm.

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