A welding method for non-uniform wall thickness and non-uniform gap panel welding robot

Abstract

A robot welding method for welding panels with non-equal wall thickness and non-uniform gap belongs to the field of general welding technology. In order to solve the problems of weld undercut, weld penetration, discontinuity of welds caused by robot welding of panels with non-equal wall thickness and non-uniform gaps in existing railway freight car body inspection and maintenance, the present application combines a visual intervention control unit with a traditional welding robot, and accurately measures the specific data of "non-equal gap and non-uniform wall thickness" of the weld to be measured through a laser tracking generator in the visual intervention control unit, so as to provide accurate weld morphology for subsequent welding work, and at the same time uses an open arc camera to take pictures of the weld, and uses the obtained weld center position to correct the starting point to ensure the accuracy of subsequent welding, and on the above basis, optimizes the process parameters and swing parameters to achieve the best welding effect. The present application is used as a welding method for splicing welds with non-equal wall thickness and non-uniform gaps that occur during the inspection and maintenance of railway freight car bodies.

Description

Technical Field

[0001] The invention belongs to the field of general welding technology, and in particular relates to a welding method of a robot for welding panels with uneven wall thickness and uneven gap. Background Art

[0002] The inspection and maintenance of railway freight cars is an important guarantee for railway transportation safety and freight operation capacity, and is of great significance to improving the construction of railway transportation trunk lines in my country. After a period of use, the steel structure of my country's heavy-duty railway freight cars is corroded and damaged by the friction of goods and rainwater corrosion. Therefore, it is necessary to regularly cut off the damaged car body and replace the new plate for welding. Due to the long-term wear of the car body and the thermal deformation operation under the cutting of waste plates, the plate undergoes wave deformation during the welding of the panels, and is limited by the assembly accuracy, resulting in non-equal wall thickness and non-uniform gap. However, when the welding gap and misalignment reach a certain range, both traditional arc welding and high-energy beam welding will have weld defects, such as weld edge biting, weld penetration, and discontinuous welds. This affects the welding quality. Therefore, in order to overcome the above defects, it is very practical to develop a welding robot welding method for non-equal wall thickness and non-uniform gap panel welding. Summary of the invention

[0003] In order to solve the problems of weld undercut, weld penetration, weld discontinuity, etc. caused by the existing robot welding of uneven wall thickness and uneven gap for the repair of railway freight car bodies, the present invention further provides a robot welding method for welding uneven wall thickness and uneven gap for the welding of panels;

[0004] A robot welding method for welding panels with uneven wall thickness and uneven gaps, the method being achieved by the following steps:

[0005] Step 1: First, pre-set the welding program in the robot teaching pendant, including welding path, welding gun posture, welding gun swing mode, and basic data of welding process parameters, where welding process parameters include: welding current, welding voltage, welding speed, shielding gas flow, dry extension length, and welding inclination angle;

[0006] Step 2: Import the prefabricated welding program in step 1 into the PLC of the welding robot, and install the visual intervention control unit on the neck of the welding gun;

[0007] Step 3: Before welding, use the visual intervention control unit to take a photo of the weld start, extract the weld contour and calculate the weld center X position, pass the X coordinate to the robot for starting point correction, and after data extraction, convert the visual intervention control unit coordinates into the robot world coordinates to determine the starting welding position;

[0008] Step 4: After determining the initial welding position, run the program imported in step 2 to weld the two panels. During the welding process, the visual intervention control unit is used to observe the weld center, and the weld center is changed in real time through the RSI signal flow to achieve the centering of the weld. The line laser emitted by the visual intervention control unit is used to measure the specific data of "non-uniform gap and non-uniform wall thickness" in the weld.

[0009] Step 5: Feedback the specific data of "non-uniform gap and non-uniform wall thickness" measured by the visual intervention control unit in step 4 to the host computer, and transmit it to the PLC of the welding robot through the host computer;

[0010] Step 6: The PLC identifies the specific gap and wall thickness difference of the feedback data transmitted to the robot program, and then feeds back different results. Different welding process parameters (prefabricated process parameters in step 1) are selected according to different results, so as to realize the calling of process parameters.

[0011] Step 7: Use the visual intervention control unit to observe the height between the welding gun wire and the workpiece to ensure that the arc height is consistent during each welding process.

[0012] Furthermore, in the step 1, the welding process parameters of the standing welding are as follows: the welding current is 110-190 I / A, the welding voltage is 20.5-23.6 U / V, and the welding speed is 800-1000 V / (mm·min -1 ), the protective air flow is 20-25L / min, the dry extension is 10-16L / mm and the welding inclination is 5-10° forward:

[0013] Furthermore, the welding process parameters of the horizontal welding in step 1 are as follows: welding current is 90-170I / A, welding voltage is 16-21U / V, welding speed is 350-500v / (mm·min -1 ), the protective air flow is 20-25L / min, the dry extension is 9-14L / mm and the welding angle is 5-10° upward;

[0014] Furthermore, the welding gun swing mode described in step 1 is a triangular swing, the swing length is 2-3mm, the swing amplitude is 3-4mm, and the side wall residence time is 0.05s-0.1s;

[0015] Further, the visual intervention control unit described in step 2 includes a laser tracking generator, an arc camera, a manual joystick and a connecting mounting bracket, wherein the manual joystick is integrated on the control panel of the welding robot, the manual joystick includes a laser control joystick and a camera control joystick, the laser tracking generator and the arc camera are both mounted on the connecting mounting bracket, the connecting mounting bracket is mounted on the tail end of the welding gun, and the transmitting end of the laser tracking generator and the irradiation end of the arc camera are located on the same straight line as the neck of the welding gun, the laser control joystick is electrically connected to the laser tracking generator, the laser control joystick is used to control the working angle of the transmitting end of the laser tracking generator, the camera control joystick is electrically connected to the arc camera, and the laser control joystick is used to control the shooting angle of the irradiation end of the arc camera;

[0016] Furthermore, in the step 3, before welding, an open arc camera is used to take a picture of the start of the weld, the weld contour is extracted and the X position of the weld center is calculated, the X coordinate is passed to the robot for starting point correction, and after data extraction, the coordinates of the visual intervention control unit are converted into the robot world coordinates to determine the starting welding position;

[0017] Furthermore, after the initial welding position is determined in step 4, the program imported in step 2 is run to weld the two panels. During the welding process, the center of the weld is observed by an open arc camera, the center of the weld is changed in real time by the RSI signal stream to achieve the centering of the weld, and the specific data of "non-uniform gap and non-uniform wall thickness" in the weld is measured by the line laser emitted by the laser tracking generator;

[0018] Furthermore, in the step 5, the specific data of "non-uniform gap and non-uniform wall thickness" measured by the laser tracking generator in the step 4 is fed back to the host computer, and transmitted to the PLC of the welding robot through the host computer;

[0019] Furthermore, in step seven, an open arc camera is used to observe the height between the welding wire of the welding gun and the welded workpiece to ensure that the arc height is consistent during each welding process;

[0020] Furthermore, in the step seven, the height between the welding gun wire and the welded workpiece is adaptively adjusted by the feedback voltage of the welding machine itself. According to the weld form and working condition, 5 levels of sensitivity are set in the initial program. The initial position of the welding gun wire and the distance between the welding workpiece are set to Z. When the welding gun wire is in the initial position, the feedback voltage of the motor is V. Then, in every 100ms of the welding process, the feedback voltage increment of the motor is ΔV, and the increment of the distance between the working position of the welding gun wire and the welding workpiece is ΔZ. The feedback voltage increment ΔV increases linearly with the distance increment ΔZ.

[0021] The beneficial effects of this application compared to the prior art are as follows:

[0022] The present invention provides a welding method for a robot for welding panels with non-equal wall thickness and non-uniform gaps. The visual intervention control unit is combined with a traditional welding robot. The laser tracking generator in the visual intervention control unit accurately determines the specific data of "non-equal gap and non-uniform wall thickness" of the weld to be measured, and provides accurate weld morphology for subsequent welding work. At the same time, the weld is photographed by an open arc camera, and the starting point is corrected with the obtained weld center position to ensure the accuracy of subsequent welding. In order to ensure that the arc height generated during each welding is the same during the welding process, so that the entire welding path and weld quality can achieve the best welding effect, the present application adds a welding gun wire position adaptive adjustment function. Through the different feedback voltage increments of the welding machine within 100 milliseconds (which involves a 5-level sensitivity response, so as to complete the optimal increment change according to different welds and working conditions), a corresponding distance increment is generated between the welding gun wire and the welding workpiece, and the open arc camera in the visual intervention control unit can accurately observe the state of the welding arc and the distance change between the welding wire and the welding workpiece each time to ensure the accuracy of the welding effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the composition of the visual intervention control unit in the present invention;

[0024] Figure 2 It is a process parameter table of the transverse welding seam in the present invention;

[0025] Figure 3 It is a process parameter table of the neutral welding seam of the present invention;

[0026] Figure 4 It is a process parameter table of welding gun swing in the present invention;

[0027] Figure 5 It is a primary sensitivity response parameter table of the distance increment between the welding wire and the welding workpiece and the feedback voltage of the welding machine within every 100 milliseconds in the present invention;

[0028] Figure 6 It is a secondary sensitivity response parameter table of the distance increment between the welding wire and the welding workpiece and the feedback voltage of the welding machine every 100 milliseconds in the present invention;

[0029] Figure 7 It is a three-level sensitivity response parameter table of the distance increment between the welding wire and the welding workpiece and the feedback voltage of the welding machine within every 100 milliseconds in the present invention;

[0030] Figure 8 It is a four-level sensitivity response parameter table of the distance increment between the welding wire and the welding workpiece and the feedback voltage of the welding machine within every 100 milliseconds in the present invention;

[0031] Fig. 9It is a five-level sensitivity response parameter table of the distance increment between the welding wire and the welding workpiece and the feedback voltage of the welding machine within every 100 milliseconds in the present invention;

[0032] Fig.10 It is a curve showing the relationship between the distance increment between the welding wire and the welding workpiece and the change of the feedback voltage of the welding machine in the present invention;

[0033] Fig.11 It is a schematic diagram of the weld seam (horizontal welding) of panels with unequal wall thickness and uneven gaps using traditional welding technology;

[0034] Fig.12 It is a schematic diagram of the weld seam (vertical welding) of panels with non-uniform wall thickness and non-uniform gaps using traditional welding technology;

[0035] Fig.13 It is a schematic diagram of a weld seam (horizontal welding) of panels with unequal wall thickness and unequal gaps using the welding method of the present application;

[0036] Fig.14 It is a schematic diagram of a weld seam (vertical welding) of a plate with uneven wall thickness and uneven gap using the welding method of the present application;

[0037] Fig.15 This is the corresponding welding process parameter table (horizontal welding) after using laser line to judge the weld gap and misalignment in this application;

[0038] Fig.16 This is the corresponding welding process parameter table (vertical welding) after using laser line to judge the weld gap and misalignment in this application;

[0039] In the figure, 1 is a welding gun, 2 is welding wire, 3 is a connecting mounting frame, 4 is an open arc camera and 5 is a laser tracking generator. DETAILED DESCRIPTION

[0040] Specific implementation method 1: Combination Figures 1 to 16 This embodiment describes a robot welding method for welding panels with uneven wall thickness and uneven gaps, which is implemented by the following steps:

[0041] Step 1: First, pre-set the welding program in the robot teaching pendant, including welding path, welding gun posture, welding gun swing mode, and basic data of welding process parameters, where welding process parameters include: welding current, welding voltage, welding speed, shielding gas flow, dry extension length, and welding inclination angle;

[0042] Step 2: Import the prefabricated welding program in step 1 into the PLC of the welding robot, and install the visual intervention control unit on the neck of the welding gun;

[0043] Step 3: Before welding, use the visual intervention control unit to take a photo of the weld start, extract the weld contour and calculate the weld center X position, pass the X coordinate to the robot for starting point correction, and after data extraction, convert the visual intervention control unit coordinates into the robot world coordinates to determine the starting welding position;

[0044] Step 4: After determining the initial welding position, run the program imported in step 2 to weld the two panels. During the welding process, the visual intervention control unit is used to observe the weld center, and the weld center is changed in real time through the RSI signal flow to achieve the centering of the weld. The line laser emitted by the visual intervention control unit is used to measure the specific data of "non-uniform gap and non-uniform wall thickness" in the weld.

[0045] Step 5: Feedback the specific data of "non-uniform gap and non-uniform wall thickness" measured by the visual intervention control unit in step 4 to the host computer, and transmit it to the PLC of the welding robot through the host computer;

[0046] Step 6: The PLC identifies the specific gap and wall thickness difference of the feedback data transmitted to the robot program, and then feeds back different results. Different welding process parameters (prefabricated process parameters in step 1) are selected according to different results, so as to realize the calling of process parameters.

[0047] Step 7: Use the visual intervention control unit to observe the height between the welding gun wire and the workpiece to ensure that the arc height is consistent during each welding process.

[0048] In this embodiment, the visual intervention control unit is combined with the traditional welding robot, and the specific data of the "non-uniform gap and non-uniform wall thickness" of the weld to be tested is accurately determined by the visual intervention control unit to provide accurate weld morphology for subsequent welding work. At the same time, under the intervention of the visual intervention control unit, parameters such as weld quality, welding process and arc size can also be monitored in real time to achieve the best welding effect.

[0049] Specific implementation method 2: Combination Figures 1 to 16 The present embodiment is different from the first embodiment in that the welding process parameters of the first step are as follows: the welding current is 110-190 I / A, the welding voltage is 20.5-23.6 U / V, and the welding speed is 800-1000 V / (mm·min -1 ), the protective gas flow is 20-25 L / min, the dry extension is 10-16 L / mm and the welding inclination angle is 5-10°. Other components and operation methods are the same as those of the first embodiment.

[0050] Specific implementation method three: Combination Figures 1 to 16The present embodiment is different from the second embodiment in that the welding process parameters of the horizontal welding in step 1 are 90-170 I / A for welding current, 16-21 U / V for welding voltage, and 350-500 V / (mm·min -1 ), the protective gas flow is 20-25 L / min, the dry extension is 9-14 L / mm and the welding inclination is 5-10° upward. Other components and operation methods are the same as those of the second embodiment.

[0051] In combination with the description of the second and third specific embodiments, the present application is divided into transverse welds and vertical welds according to the extension direction of the welds to be welded, and different welding methods and corresponding welding parameters are used for welds in different directions.

[0052] Specific implementation method four: Combination Figures 1 to 16 This embodiment is described. The difference between this embodiment and the second embodiment is that the welding gun swing mode described in step 1 is a triangular swing, the swing length is 2-3mm, the swing amplitude is 3-4mm, and the side wall residence time is 0.05s-0.1s. The other components and operation methods are the same as those of the third embodiment.

[0053] In this embodiment, by optimizing the swing law of the welding gun, it is ensured that the welding liquid after the welding wire is heated adheres to the welds with uneven wall thickness and uneven gap along a triangular trajectory. On the one hand, it avoids the welding liquid from sliding downward, causing leaks in the weld and affecting the welding quality. On the other hand, this swinging method is more conducive to the uniform adhesion of the welding liquid to the weld, thereby achieving better filling performance.

[0054] Specific implementation method five: Combination Figures 1 to 16 This embodiment is described. The difference between this embodiment and the fourth embodiment is that the visual intervention control unit described in step 2 includes a laser tracking generator, an arc camera, a manual joystick and a connecting mounting frame. The manual joystick is integrated on the control panel of the welding robot. The manual joystick includes a laser control joystick and a camera control joystick. The laser tracking generator and the arc camera are both installed on the connecting mounting frame. The connecting mounting frame is installed at the tail end of the welding gun. The transmitting end of the laser tracking generator and the irradiation end of the arc camera are located on the same straight line as the neck of the welding gun. The laser control joystick is connected to the laser tracking generator by electrical signals. The laser control joystick is used to control the working angle of the transmitting end of the laser tracking generator. The camera control joystick is connected to the arc camera by electrical signals. The laser control joystick is used to control the shooting angle of the irradiation end of the arc camera. The other components and operation methods are the same as those of the fourth embodiment.

[0055] In this embodiment, the arc camera system + flexible control system + manual joystick are used to control the welding of uneven wall thickness and uneven gap panels in combination with the special weld morphology. The arc camera system observes the welding process in real time. In the position where the gap is large or the misalignment is large, the worker manually adjusts the welding gun position through the joystick to avoid problems such as undercut, weld penetration, and discontinuous welds.

[0056] Specific implementation method six: Combination Figures 1 to 16 This embodiment is described. The difference between this embodiment and the fifth embodiment is that in step 3, the start of the weld is photographed with an open arc camera before welding, the weld contour is extracted and the X position of the weld center is calculated, the X coordinate is passed to the robot for starting point correction, and after data extraction, the coordinates of the visual intervention control unit are converted into the robot world coordinates to determine the starting welding position. The other components and operation methods are the same as those of the fifth embodiment.

[0057] Specific implementation method seven: Combination Figures 1 to 16 This embodiment is described. The difference between this embodiment and the sixth embodiment is that after the initial welding position is determined in step 4, the program imported in step 2 is run to weld the two panels. During the welding process, the center of the weld is observed by an open arc camera, and the center of the weld is changed in real time through the RSI signal flow to achieve the centering of the weld. The line laser emitted by the laser tracking generator is used to measure the specific data of "non-uniform gap and non-uniform wall thickness" in the weld. Other components and operation methods are the same as those of the sixth embodiment.

[0058] Specific implementation method eight: Combination Figures 1 to 16 This embodiment is described. The difference between this embodiment and the seventh embodiment is that in step 5, the specific data of "non-uniform gap and non-uniform wall thickness" measured by the laser tracking generator in step 4 is fed back to the host computer, and then transmitted to the PLC of the welding robot through the host computer. The other components and operation methods are the same as those of the seventh embodiment.

[0059] Specific implementation method nine: Combination Figures 1 to 16 This embodiment is described. The difference between this embodiment and the eighth embodiment is that in step seven, an open arc camera is used to observe the height between the welding wire of the welding gun and the welded workpiece to ensure that the arc height is consistent during each welding process. Other components and operation methods are the same as those of the eighth embodiment.

[0060] Specific implementation method ten: Combination Figures 1 to 16This embodiment is described. The difference between this embodiment and the ninth embodiment is that the height between the welding gun wire and the welded workpiece in step seven is adaptively adjusted by the feedback voltage of the welding machine itself. According to the weld form and working condition, the initial program sets 5 levels of sensitivity. The distance between the initial position of the welding gun wire and the welded workpiece is set to Z. When the welding gun wire is at the initial position, the feedback voltage of the motor is V. Then, in every 100ms of the welding process, the feedback voltage increment of the motor is ΔV, and the distance increment between the working position of the welding gun wire and the welded workpiece is ΔZ. The feedback voltage increment ΔV increases linearly with the distance increment ΔZ. The other components and operation methods are the same as those of the ninth embodiment.

[0061] In this embodiment, the development is mainly about welding arc voltage tracking, because after the above process, it can be determined that the arc can cover the entire area to be welded, but the distance between the arc and the surface of the test plate is also an important parameter in the welding process. In this embodiment, 5 levels of sensitivity are set to take into account plates with different thicknesses and different misalignment amounts. Through the corresponding requirements of the 5 levels of sensitivity, a corresponding distance increment is generated between the welding gun wire and the welding workpiece, so as to achieve a stable welding effect;

[0062] During the welding process, the welding gun drives the welding wire to perform a triangular swing, and the arc must be kept consistent with the height of the plate in real time during the swinging process. However, in some special occasions, such as when one side of the plate is particularly high, the conventional working route of the welding gun will cause the welding wire and the plate to collide. Therefore, it can be manually raised with the external joystick. This process requires the participation of the visual intervention control unit. The open arc camera in the visual intervention control unit can accurately observe the state of the welding arc and the change in the distance between the welding wire and the welding workpiece each time, and can also observe the welding conditions. People can make good predictions about complex working conditions through the working information fed back by the open arc camera, avoid the occurrence of welding accidents, and thus ensure the accuracy and reliability of the welding work.

[0063] The present invention has been disclosed as above with preferred implementation cases, but it is not intended to limit the present invention. Any technician familiar with the profession can make some changes or modifications to equivalent implementation cases with equivalent changes by using the above-disclosed structures and technical contents without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above implementation cases based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A robot welding method for welding panels with non-uniform wall thickness and non-uniform gap, characterized in that: The method is achieved by the following steps: Step 1: First, pre-set the welding program in the robot teaching pendant, including welding path, welding gun posture, welding gun swing mode, and basic data of welding process parameters, where welding process parameters include: welding current, welding voltage, welding speed, shielding gas flow, dry extension length, and welding inclination angle; Step 2: Import the prefabricated welding program in step 1 into the PLC of the welding robot, and install the visual intervention control unit on the neck of the welding gun; Step 3: Before welding, use the visual intervention control unit to take a photo of the weld start, extract the weld contour and calculate the weld center X position, pass the X coordinate to the robot for starting point correction, and after data extraction, convert the visual intervention control unit coordinates into the robot world coordinates to determine the starting welding position; Step 4: After determining the initial welding position, run the program imported in step 2 to weld the two panels. During the welding process, the visual intervention control unit is used to observe the weld center, and the weld center is changed in real time through the RSI signal flow to achieve the centering of the weld. The line laser emitted by the visual intervention control unit is used to measure the specific data of "non-uniform gap and non-uniform wall thickness" in the weld. Step 5: Feedback the specific data of "non-uniform gap and non-uniform wall thickness" measured by the visual intervention control unit in step 4 to the host computer, and transmit it to the PLC of the welding robot through the host computer; Step 6: The PLC identifies the specific gap and wall thickness difference of the feedback data transmitted to the robot program, and then feeds back different results. Different welding process parameters are selected according to different results, so as to realize the calling of process parameters. Step 7: Use the visual intervention control unit to observe the height between the welding gun wire and the workpiece to ensure that the arc height is consistent during each welding process.

2. A robot welding method for welding panels with non-uniform wall thickness and non-uniform gap according to claim 1, characterized in that: The welding process parameters of the neutral welding in step 1 are as follows: welding current is 110-190I / A, welding voltage is 20.5-23.6U / V, welding speed is 800-1000v / (mm·min -1 ), the protective air flow is 20-25L / min, the dry extension is 10-16L / mm and the welding inclination angle is 5-10° forward.

3. The robot welding method for welding panels with non-uniform wall thickness and non-uniform gap according to claim 1 is characterized in that: The welding process parameters of the horizontal welding in step 1 are as follows: welding current 90-170I / A, welding voltage 16-21U / V, welding speed 350-500v / (mm·min -1 ), the protective air flow is 20-25L / min, the dry extension is 9-14L / mm and the welding inclination angle is 5-10° upward.

4. The robot welding method for welding panels with non-uniform wall thickness and non-uniform gap according to claim 1 is characterized in that: The welding gun swing mode described in step 1 is a triangular swing, with a swing length of 2-3 mm, a swing amplitude of 3-4 mm, and a side wall residence time of 0.05s-0.1s.

5. The robot welding method for welding panels with non-uniform wall thickness and non-uniform gap according to claim 1 is characterized in that: The visual intervention control unit described in the step 2 includes a laser tracking generator, an open arc camera, a manual joystick and a connecting mounting bracket, wherein the manual joystick is integrated on the control panel of the welding robot, the manual joystick includes a laser control joystick and a camera control joystick, the laser tracking generator and the open arc camera are both installed on the connecting mounting bracket, the connecting mounting bracket is installed at the tail end of the welding gun, and the transmitting end of the laser tracking generator and the irradiation end of the open arc camera are located on the same straight line as the neck of the welding gun, the laser control joystick is electrically signal connected to the laser tracking generator, the laser control joystick is used to control the working angle of the transmitting end of the laser tracking generator, the camera control joystick is electrically signal connected to the open arc camera, and the laser control joystick is used to control the shooting angle of the irradiation end of the open arc camera.

6. A robot welding method for welding panels with non-uniform wall thickness and non-uniform gap according to claim 5, characterized in that: In the step three, before welding, an open arc camera is used to take a picture of the weld start, the weld contour is extracted and the weld center X position is calculated, the X coordinate is passed to the robot for starting point correction, and after data extraction, the visual intervention control unit coordinates are converted into the robot world coordinates to determine the starting welding position.

7. A robot welding method for welding panels with non-uniform wall thickness and non-uniform gap according to claim 5, characterized in that: After determining the initial welding position in step 4, run the program imported in step 2 to weld the two panels. During the welding process, the center of the weld is observed by an open arc camera, and the center of the weld is changed in real time through the RSI signal stream to achieve the centering of the weld. The line laser emitted by the laser tracking generator is used to measure the specific data of "non-equal gap and non-uniform wall thickness" in the weld.

8. The robot welding method for welding panels with non-uniform wall thickness and non-uniform gap according to claim 5 is characterized in that: In the step 5, the specific data of "non-uniform gap and non-uniform wall thickness" measured by the laser tracking generator in step 4 is fed back to the host computer, and then transmitted to the PLC of the welding robot through the host computer.

9. The robot welding method for welding panels with non-uniform wall thickness and non-uniform gap according to claim 5 is characterized in that: In step seven, an open arc camera is used to observe the height between the welding wire of the welding gun and the workpiece to be welded, so as to ensure that the arc height is consistent during each welding process.

10. A robot welding method for welding panels with non-uniform wall thickness and non-uniform gap according to claim 9, characterized in that: In the step seven, the height between the welding gun wire and the welded workpiece is adaptively adjusted by the feedback voltage of the welding machine itself. According to the weld form and working conditions, 5 levels of sensitivity are set in the initial program. The distance between the initial position of the welding gun wire and the welding workpiece is set to Z. When the welding gun wire is at the initial position, the feedback voltage of the motor is V. Then, in every 100ms of the welding process, the feedback voltage increment of the motor is ΔV, and the distance increment between the working position of the welding gun wire and the welding workpiece is ΔZ. The feedback voltage increment ΔV increases linearly with the distance increment ΔZ.

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