Automatic centering device and method for T-shaped structure dual laser beam dual-side synchronous welding

Abstract

The present invention discloses an automatic centering device and method for dual-laser beam dual-sided synchronous welding of a T-shaped structure, comprising: a laser welding system, a monitoring and feedback system, a computer control system, and a lens adjustment system. During the welding process, the monitoring and feedback system collects the position information of the keyholes on both sides in real time, and feeds it back to the computer control system, and analyzes and determines the position errors of the keyholes on both sides. When the position errors of the keyholes on both sides exceed the preset distance threshold, the computer control system formulates a lens adjustment plan and sends it to the lens adjustment system. The rotating device drives the adjustable lens to adjust the corresponding angle in the specified direction until the keyhole position error is less than or equal to the preset threshold, thereby achieving the purpose of automatic centering of dual-laser beam dual-sided synchronous welding of the T-shaped structure. The present invention can obtain and correct the positions of the keyholes on both sides in real time, realize the coupling of the keyholes on both sides of the T-shaped structure, solve the problems of asymmetric welds and misalignment, and thus improve the quality of welded joints.

Description

Technical Field

[0001] The invention relates to an automatic centering device and method for dual-laser beam dual-side synchronous welding of a T-shaped structure, belonging to the technical field of laser welding. Background Art

[0002] The rapid development of contemporary aerospace manufacturing technology has put forward huge demands and challenges on the materials and structures used, and structural weight reduction has become one of the important development directions in this field. Dual laser beam double-sided synchronous welding technology is a novel and unique laser welding process. The protective air pipes, laser beams and wire feed nozzles on both sides of the stringer are symmetrically distributed, and they act synchronously on the contact area between the stringer and the skin, melting the parent material and welding wire in this area, forming a joint molten pool on the lower side of the stringer, and then cooling and solidifying to form a weld. Compared with the traditional T-type structure single-sided welding and double-sided forming process, the dual laser beam double-sided synchronous welding technology can effectively ensure the surface integrity of the skin. At the same time, this technology has the advantages of high production efficiency, good weld forming effect, and significant weight reduction of the connection structure. It is an ideal connection process for skin-stringer structures and is expected to replace traditional machining and riveting technology in the manufacture of skin-stringer T-type structures in the aerospace field.

[0003] However, the dual laser beam dual-side synchronous welding technology has high requirements on the assembly accuracy of robots, tooling platforms and welding components. The laser heads on both sides of the stringer need to have high symmetry accuracy, and the transmission and reflection of the laser beam by different lenses in the laser head make it difficult to accurately control the position of the keyholes on both sides, resulting in uncoupling of the keyholes on both sides of the stringer during welding. This ultimately leads to asymmetry and misalignment of the welds in the dual laser beam dual-side synchronous welding of the skin-stringer T-shaped structure, and the quality of the welded joint is reduced. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a device and method for automatic centering of dual-laser beam double-sided synchronous welding of a T-shaped structure. The monitoring and feedback system monitors the welding process in real time to obtain a keyhole position signal, and further feeds it back to a computer control system to determine whether it is necessary to adjust the angle of the lens inside the laser head, thereby realizing automatic centering of dual-laser beam double-sided synchronous welding, thereby avoiding problems such as asymmetric welds and misaligned edges caused by keyhole uncoupling during the welding process, and achieving the purpose of improving the quality of dual-laser beam double-sided synchronous welding joints of the T-shaped structure.

[0005] The present invention is achieved through the following technical solutions:

[0006] The present invention provides an automatic centering method for dual-laser beam dual-side synchronous welding of a T-shaped structure, characterized in that the automatic centering method comprises the following steps:

[0007] (1) Keyhole position signal feature recognition: The laser welding system conducts dual-laser beam dual-side synchronous welding experiments on the T-shaped structure. During the welding process, the monitoring and feedback system records the signal features of the keyhole position of the T-shaped structure in real time and feeds back the signal features to the computer control system.

[0008] (2) Determination of keyhole position error: The computer control system determines the position error Δδ of the keyholes on both sides of the T-shaped structure based on the keyhole position signal. Before welding, a threshold value S of the keyhole distance on both sides of the T-shaped structure is preset. When |Δδ|≤|S|, it means that the keyhole position meets the expected requirements, and it is determined that the laser beams on both sides of the T-shaped structure are well aligned, and the lens angle does not need to be adjusted, and the welding process proceeds normally; when |Δδ|>|S|, it means that the keyhole position does not meet the expected requirements, and it is determined that there is misalignment of the laser beams on both sides of the T-shaped structure, and the lens angle needs to be adjusted;

[0009] (3) Formulating a lens angle adjustment plan: When the computer control system receives the judgment result and the keyhole position does not meet the expected requirements, a lens angle adjustment plan is formulated based on the error relationship between the lens angle and the keyhole position to accurately adjust the lens rotation angle. The relationship is as follows:

[0010]

[0011] Where θ is the lens adjustment angle, Δδ is the keyhole position error, and L is the distance from the lens to the keyhole;

[0012] (4) Implementing the lens angle adjustment plan: According to the lens angle adjustment plan formulated by the computer control system, the rotating device in the lens adjustment system drives the adjustable lens to rotate the corresponding angle θ in the specified adjustment direction until the position error is less than the preset distance threshold S, so as to achieve the purpose of automatic centering of the T-shaped structure dual laser beam dual-side synchronous welding;

[0013] Furthermore, the method for determining the position error of the keyholes on both sides of the T-shaped structure of the present invention is as follows: during the welding process, the high-speed camera system in the monitoring and feedback system collects the keyhole images on both sides of the T-shaped structure in real time, and the infrared camera system collects the infrared images of the welding molten pools on both sides of the T-shaped structure in real time, and further feeds the keyhole images and infrared images to the computer control system, and the computer control system uses the correlation analysis method to determine that the position where the highest temperature in the infrared image and the keyhole image overlap is the position of the keyhole; the position of the keyholes on both sides of the T-shaped structure in the spatial coordinate system is calculated by using the conversion relationship between the coordinate system where the keyhole position information is located and the spatial coordinate system where the T-shaped structure is located, and the conversion relationship is as follows:

[0014]

[0015] Where x, y, z are the keyhole space coordinates before coordinate transformation; x1, y1, z1, x2, y2, z2 are the keyhole space coordinates before coordinate transformation; x r1 ,y r1 、z r1 、x r2 ,y r2 、z r2 are the spatial coordinates of the keyholes on both sides after coordinate transformation; according to the positions of the keyholes in the spatial coordinate system, the position errors Δδ of the keyholes on both sides of the T-shaped structure are determined, and the keyhole position errors are determined by the following relationship:

[0016] Δδ x =|x r1 |-|x r1 |

[0017] Δδ y =|y r1 |-|y r1 |

[0018] Δδ z =|z r1 |-|z r1 |

[0019] In the formula, Δδ x , Δδ y , Δδ z are the position errors of the keyhole in the x, y, and z directions respectively; where Δδ is specified z =0.

[0020] Furthermore, the setting of the distance threshold S of the keyholes on both sides of the T-shaped structure of the present invention is related to the size of the laser welding molten pool, and the preset distance threshold is set to half of the radius of the molten pool, wherein the size of the molten pool can be measured by a high-speed camera;

[0021] Furthermore, the present invention provides a device for automatic centering method of dual-laser beam dual-side synchronous welding of a T-shaped structure, characterized in that it includes a computer control system, a lens adjustment system, a laser welding system, and a monitoring and feedback system;

[0022] Furthermore, the laser welding system of the present invention is used for dual-laser beam dual-side synchronous welding of a T-shaped structure, and comprises: a laser, two laser heads, a welding workbench, two welding robots, and a gantry;

[0023] Furthermore, the computer control system of the present invention is used to process keyhole position information, determine keyhole position error, and formulate a lens adjustment plan. The front end of the computer control system is connected to the monitoring and feedback system to receive the keyhole position information collected by the monitoring and feedback system; the back end of the computer control system is respectively connected to the laser welding system and the lens adjustment system to control them to carry out dual-laser beam bilateral synchronous welding experiments and complete the lens adjustment action;

[0024] Furthermore, the monitoring and feedback system of the present invention includes an infrared temperature measurement system and a high-speed camera system; the first infrared thermometer and the second infrared thermometer are respectively fixed on the first measuring column and the second measuring column on both sides of the T-shaped structure, and the temperature distribution at different times and spaces on both sides of the T-shaped structure is measured, and the temperature change of the molten pool at different times is fed back in real time to obtain an infrared image of the molten pool; the first high-speed camera and the second high-speed camera are placed on both sides of the T-shaped structure, and the shooting direction of the lens is at a certain angle to the horizontal plane. The third high-speed camera is fixed to the robot walking rail on the gantry, facing the welding molten pool, and the keyhole position is monitored in real time to obtain a keyhole image; the first high-speed camera and the first measuring column are fixed to the first walking mechanism on the welding workbench, and the second high-speed camera and the second measuring column are fixed to the second walking mechanism on the welding workbench, and the first walking mechanism and the second walking mechanism have the same walking speed as the robot walking rail on the gantry;

[0025] Furthermore, in the lens adjustment system of the present invention, the adjustable lens is driven by a rotating device that can complete 180° rotation within a spatial range, and the rotating device can drive the adjustable lens to complete adjustment according to the lens adjustment scheme.

[0026] The beneficial effects of the present invention are: in view of the fact that the keyhole positions on both sides of the beams are difficult to accurately control during the current T-shaped structure dual laser beam bilateral synchronous welding process, the keyholes on both sides are not coupled in the welding molten pool, resulting in asymmetric welds, misaligned edges, and other problems, the device and method obtain keyhole position information in real time, and formulate a lens adjustment plan through the matching relationship between the rotation angle of the lens in the laser head and the keyhole position error to make timely adjustments to the situation that does not meet the preset conditions, thereby achieving the purpose of automatic centering of the T-shaped structure dual laser beam bilateral synchronous welding. The present invention can obtain and correct the keyhole positions on both sides in real time, realize the coupling of the keyholes on both sides of the T-shaped structure, further achieve the synchronization of the welding molten pools on both sides, solve the problems of asymmetric welds, misaligned edges, etc., improve the stability of the welding process, and thus improve the quality of the welded joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a flow chart of the automatic centering method for dual-laser beam dual-side synchronous welding of a T-shaped structure according to the present invention;

[0028] Figure 2It is a schematic diagram of the overall structure of the T-shaped dual-laser beam dual-side synchronous welding automatic centering device of the present invention;

[0029] Figure 3 is a schematic diagram of the rotation angle of the lens in the lens adjustment system of the present invention;

[0030] Figure 4 1. It is a schematic diagram of the comparison between the automatic centering of the T-shaped structure dual laser beam dual-side synchronous welding before and after the present invention;

[0031] Figure 5 is a schematic diagram of the keyhole coordinate transformation on both sides of the beam of the present invention;

[0032] In the figure, 1-gantry; 2-robot walking rail; 3-first welding robot; 4-first laser head; 5-first keyhole; 6-beam; 7-third high-speed camera; 8-second laser head; 9-second welding robot; 10-laser; 11-second infrared thermometer; 12-second measuring column; 13-second high-speed camera; 14-second walking mechanism; 15-adjustable lens; 16-rotating device; 17-lens adjustment system; 18-high-speed camera system; 19-second keyhole; 20-skin; 21-computer control system; 22-welding workbench; 23-first walking mechanism; 24-first measuring column; 25-first high-speed camera; 26-first infrared thermometer. DETAILED DESCRIPTION

[0033] The present invention provides a T-shaped structure dual laser beam dual-side synchronous welding automatic centering device and method. In order to make the purpose, effect and technical solution of the present invention more distinct, the present invention is described in detail with reference to the accompanying drawings and examples. It should be understood that the specific implementation described herein is only used to explain the present invention and is not used to limit the present invention. For the convenience of description, only the part related to the present invention but not all structures are shown in the accompanying drawings.

[0034] The following is a detailed description of a T-shaped structure dual laser beam dual-side synchronous welding automatic centering device and method of the present invention in conjunction with the accompanying drawings:

[0035] A dual laser beam double-sided synchronous welding experiment was carried out for the T-shaped structure, in which the materials of the stringers 6 and the skin 19 were made of aluminum alloy or titanium alloy with a thickness of 3 mm, and the sizes of the stringers 6 and the skin 19 were both 400 mm × 400 mm. The skin-stringer T-shaped structure was placed on the welding workbench 14 for welding experiments. The experiment used the TrdDisk-12003 disk laser 10, whose maximum output laser power can reach 12000W. The laser 10 has a one-to-two optical gate and is equipped with two optical fibers with a length of 30 m and a core diameter of 1000 μm. It is connected to the first laser head 4 and the second laser head 8 to realize the dual-beam laser welding process.

[0036] like Figure 1 As shown, the laser welding system conducts a dual-laser beam bilateral synchronous welding experiment for a T-shaped structure. During the welding process, the monitoring and feedback system records the signal characteristics of the positions of the first keyhole 5 and the second keyhole 19 of the T-shaped structure in real time, and feeds back the signal characteristics to the computer control system 21; the computer control system 21 determines the position error Δδ of the first keyhole 5 and the second keyhole 19 on both sides of the T-shaped structure according to the position signals of the first keyhole 5 and the second keyhole 19, and presets the keyhole distance threshold S on both sides of the T-shaped structure before welding. When |Δδ|≤|S|, it means that the positions of the keyholes 5 and 19 meet the expected requirements, and it is determined that the laser beams on both sides of the T-shaped structure are well aligned, and it is not necessary to adjust the angle of the lens 15, and the welding process proceeds normally; when |Δδ|>|S|, it means that the positions of the first keyhole 5 and the second keyhole 19 do not meet the expected requirements, and it is determined that there is a misalignment of the laser beams on both sides of the T-shaped structure, and it is necessary to adjust the angle of the lens 15; the computer control system 21 receives the judgment result. When the positions of the first keyhole 5 and the second keyhole 19 do not meet the expected requirements, according to the relationship between the lens angle and the keyhole position error, as shown in FIG. Figure 3 As shown, a lens angle adjustment scheme is formulated to accurately adjust the rotation angle of the lens 15. The relationship is as follows:

[0037]

[0038] Wherein θ is the lens adjustment angle, Δδ is the keyhole position error, and L is the distance from the lens to the keyhole; according to the lens angle adjustment scheme formulated by the computer control system 21, the rotating device 16 in the lens adjustment system 17 drives the adjustable lens 15 to rotate the corresponding angle θ in the specified adjustment direction until the position error is less than the preset distance threshold S, so as to achieve the purpose of automatic centering of the T-shaped structure dual laser beam bilateral synchronous welding, as shown in FIG. Figure 4 As shown;

[0039] Specifically, the method for determining the position error of the first keyhole 5 and the second keyhole 19 on both sides of the T-shaped structure of the present invention is as follows: during the welding process, the high-speed camera system 18 in the monitoring and feedback system collects the keyhole images on both sides of the T-shaped structure in real time, and at the same time, the infrared camera system collects the infrared images of the welding molten pools on both sides of the T-shaped structure in real time, and further feeds the keyhole images and infrared images to the computer control system 21, and the computer control system 21 uses the correlation analysis method to determine that the position where the highest temperature in the infrared image and the keyhole image overlap is the position of the first keyhole 5 and the second keyhole 19; using the conversion relationship between the coordinate system where the position information of the first keyhole 5 and the second keyhole 19 is located and the spatial coordinate system where the T-shaped structure is located, as shown in FIG. Figure 5 As shown, the positions of the first keyhole 5 and the second keyhole 19 on both sides of the T-shaped structure in the space coordinate system are calculated, and the conversion relationship is as follows:

[0040]

[0041] Where x, y, z are the keyhole space coordinates before coordinate transformation; x1, y1, z1, x2, y2, z2 are the keyhole space coordinates before coordinate transformation; x r1 ,y r1 、z r1 、x r2 ,y r2 、z r2 is the spatial coordinate of the keyholes on both sides after coordinate transformation; according to the positions of the first keyhole 5 and the second keyhole 19 in the spatial coordinate system, the position error Δδ of the first keyhole 5 and the second keyhole 19 on both sides of the T-shaped structure is determined, and the position error of the first keyhole 5 and the second keyhole 19 is determined by the following relationship:

[0042] Δδ x =|x r1 |-|x r1 |

[0043] Δδ y =|y r1 |-|y r1 |

[0044] Δδ z =|z r1 |-|z r1 |

[0045] In the formula, Δδ x , Δδ y , Δδ z are the position errors of the keyhole in the x, y, and z directions respectively; where Δδ is specified z =0.

[0046] Specifically, the setting of the keyhole distance threshold S on both sides of the T-shaped member of the present invention is related to the size of the laser welding molten pool, and the preset distance threshold is set to half of the radius of the molten pool, wherein the size of the molten pool can be measured by the third high-speed camera 7;

[0047] like Figure 2 As shown, the present invention relates to a T-shaped structure dual laser beam double-sided synchronous welding automatic centering device, which is characterized by: comprising a computer control system 21, a lens adjustment system 17, a laser welding system and a monitoring and feedback system;

[0048] Specifically, the laser welding system of the present invention is used for dual-laser beam dual-side synchronous welding of a T-shaped structure, comprising: a laser 10, a first laser head 4 and a second laser head 8, a welding workbench 20, a first welding robot 3 and a second welding robot 9, a gantry 1, and a robot walking guide rail 2;

[0049] Specifically, the computer control system 21 of the present invention is used to process the position information of the first keyhole 5 and the second keyhole 19, determine the position error of the first keyhole 5 and the second keyhole 19, and formulate a lens adjustment plan. The front end of the computer control system 21 is connected to the monitoring and feedback system to receive the position information of the first keyhole 5 and the second keyhole 19 collected by it; the rear end of the computer control system 21 is respectively connected to the laser welding system and the lens adjustment system 17 to control them to carry out the dual-laser beam bilateral synchronous welding experiment and complete the lens 15 adjustment action;

[0050] Specifically, the monitoring and feedback system of the present invention includes an infrared temperature measurement system and a high-speed camera system 18; the first infrared thermometer 26 and the second infrared thermometer 11 are respectively fixed on the first measuring column 24 and the second measuring column 12 on both sides of the T-shaped structure, to measure the temperature distribution of the two sides of the T-shaped structure in different time and space, to feed back the temperature change of the molten pool at different times in real time, and to obtain the infrared image of the molten pool; the first high-speed camera 25 and the second high-speed camera 13 are placed on both sides of the T-shaped structure, the shooting direction of the lens is at a certain angle to the horizontal plane, the third high-speed camera 7 is fixed on the robot walking rail 2 on the gantry 1, facing the welding molten pool, to monitor the positions of the first keyhole 5 and the second keyhole 19 in real time, and to obtain the keyhole image; the first high-speed camera 25 and the first measuring column 24 are fixed on the first walking mechanism 23 on the welding workbench 20, the second high-speed camera 13 and the second measuring column 12 are fixed on the second walking mechanism 14 on the welding workbench 20, and the first walking mechanism 23 and the second walking mechanism 14 have the same walking speed as the robot walking rail 2 on the gantry 1;

[0051] Specifically, in the lens adjustment system of the present invention, the adjustable lens 15 is driven by a rotating device 16 that can complete 180° rotation within a spatial range, and the rotating device 16 can drive the adjustable lens 15 to complete adjustment according to the lens adjustment scheme.

[0052] The above description is only a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements without departing from the principle of the present invention, and these improvements should also be regarded as within the protection scope of the present invention.

Claims

1. A method for automatic centering of T-shaped structure dual laser beam dual-side synchronous welding, characterized in that: The automatic centering method comprises the following steps: (1) Keyhole position signal feature recognition: The laser welding system conducts dual-laser beam dual-side synchronous welding experiments on the T-shaped structure. During the welding process, the monitoring and feedback system records the signal features of the keyhole position of the T-shaped structure in real time and feeds back the signal features to the computer control system. (2) Determination of keyhole position error: The computer control system determines the position error Δδ of the keyholes on both sides of the T-shaped structure based on the keyhole position signal. Before welding, a threshold value S of the keyhole distance on both sides of the T-shaped structure is preset. When |Δδ|≤|S|, it means that the keyhole position meets the expected requirements, and it is determined that the laser beams on both sides of the T-shaped structure are well aligned, and the lens angle does not need to be adjusted, and the welding process proceeds normally; when |Δδ|>|S|, it means that the keyhole position does not meet the expected requirements, and it is determined that there is misalignment of the laser beams on both sides of the T-shaped structure, and the lens angle needs to be adjusted; (3) Formulating a lens angle adjustment plan: When the computer control system receives the judgment result and the keyhole position does not meet the expected requirements, a lens angle adjustment plan is formulated based on the error relationship between the lens angle and the keyhole position to accurately adjust the lens rotation angle. The relationship is as follows: Where θ is the lens adjustment angle, Δδ is the keyhole position error, and L is the distance from the lens to the keyhole; (4) Implementing the lens angle adjustment plan: According to the lens angle adjustment plan formulated by the computer control system, the rotating device in the lens adjustment system drives the adjustable lens to rotate the corresponding angle θ in the specified adjustment direction until the position error is less than the preset distance threshold S, so as to achieve the purpose of automatic centering of the T-shaped structure dual laser beam bilateral synchronous welding.

2. The automatic centering method for dual-laser beam dual-side synchronous welding of a T-shaped structure according to claim 1 is characterized in that: The method for determining the keyhole position error on both sides of the T-shaped structure is as follows: during the welding process, the high-speed camera system in the monitoring and feedback system collects the keyhole images on both sides of the T-shaped structure in real time, and the infrared camera system collects the infrared images of the welding molten pool on both sides of the T-shaped structure in real time, and further feeds the keyhole image and the infrared image back to the computer control system, and the computer control system uses the correlation analysis method to determine that the position where the highest temperature in the infrared image and the keyhole image overlap is the position of the keyhole; the position of the keyholes on both sides of the T-shaped structure in the spatial coordinate system is calculated by using the conversion relationship between the coordinate system where the keyhole position information is located and the spatial coordinate system where the T-shaped structure is located, and the conversion relationship is as follows: Where x, y, z are the keyhole space coordinates before coordinate transformation; x1, y1, z1, x2, y2, z2 are the keyhole space coordinates before coordinate transformation; x r1 ,y r1 、z r1 、x r2 ,y r2 、z r2 are the spatial coordinates of the keyholes on both sides after coordinate transformation; according to the positions of the keyholes in the spatial coordinate system, the position errors Δδ of the keyholes on both sides of the T-shaped structure are determined, and the keyhole position errors are determined by the following relationship: Dd x =|x r1 |-|x r1 | Dd y =|y r1 |-|y r1 | Δδ z =|from r1 |-|from r1 | In the formula, Δδ x , Δδ y , Δδ z are the position errors of the keyhole in the x, y, and z directions respectively; where Δδ is specified z =0.

3. The automatic centering method for dual-laser beam dual-side synchronous welding of a T-shaped structure according to claim 1 is characterized in that: The setting of the keyhole distance threshold S on both sides of the T-shaped structure is related to the size of the laser welding molten pool. The preset distance threshold is set to half of the radius of the molten pool, where the size of the molten pool can be measured by a high-speed camera.

4. A device for realizing the automatic centering method of dual laser beam dual-side synchronous welding of T-shaped structure according to any one of claims 1 to 3, characterized in that: Including computer control system, lens adjustment system, laser welding system and monitoring and feedback system; The laser welding system is used for dual-laser beam dual-side synchronous welding of T-shaped structures, and includes: a laser, two laser heads, a welding workbench, two welding robots, and a gantry; The computer control system is used to process keyhole position information, determine keyhole position error and formulate a lens adjustment plan. The front end of the computer control system is connected to the monitoring and feedback system to receive the keyhole position information collected by it; the back end of the computer control system is respectively connected to the laser welding system and the lens adjustment system to control them to carry out dual-laser beam bilateral synchronous welding experiments and complete lens adjustment actions.

5. The device according to claim 4, characterized in that: The monitoring and feedback system includes an infrared temperature measurement system and a high-speed camera system; the first infrared thermometer and the second infrared thermometer are respectively fixed on the first measuring column and the second measuring column on both sides of the T-shaped structure, to measure the temperature distribution at different times and spaces on both sides of the T-shaped structure, to feed back the temperature changes of the molten pool at different times in real time, and to obtain the infrared image of the molten pool; the first high-speed camera and the second high-speed camera are placed on both sides of the T-shaped structure, the shooting direction of the lens is at a certain angle to the horizontal plane, the third high-speed camera is fixed to the robot walking rail on the gantry, facing the welding molten pool, to monitor the keyhole position in real time, and to obtain the keyhole image; the first high-speed camera and the first measuring column are fixed to the first walking mechanism on the welding workbench, the second high-speed camera and the second measuring column are fixed to the second walking mechanism on the welding workbench, and the first walking mechanism and the second walking mechanism have the same walking speed as the robot walking rail on the gantry.

6. The device according to claim 4, characterized in that: The adjustable lens in the lens adjustment system is driven by a rotating device that can complete 180° rotation within a spatial range, and the rotating device can drive the adjustable lens to complete adjustment according to the lens adjustment scheme.

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