Intelligent welding system and method based on visual identification

Abstract

The invention discloses an intelligent welding system and method based on visual recognition, and relates to the technical field of laser welding, the intelligent welding system comprises a position adjusting assembly, a laser welding assembly and a control assembly, the position adjusting assembly is provided with an adjusting end, and the adjusting end has at least three degrees of freedom; the laser welding head is mounted to the adjusting end; the rotating seat is rotationally arranged outside the laser welding head in the Y direction; one end of the arm body is connected with the rotating seat, the other end of the arm body is connected with a first visual recognizer, and the first visual recognizer is used for obtaining side welding information of the first workpiece and the second workpiece and obtaining side welding depth information according to the side welding information of the first workpiece and the second workpiece; wherein the parameters of the laser welding head can be adjusted according to the side welding depth information; and a synchronous monitoring assembly is further arranged below the first workpiece and the second workpiece and used for synchronously monitoring the welding depth of the first workpiece and the welding depth of the second workpiece, so that the intelligent welding effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of laser welding, and in particular to an intelligent welding system and method based on visual recognition. Background Art

[0002] In the manufacturing industry, laser welding technology has become one of the preferred methods for connecting metal parts due to its advantages of high precision, high efficiency and high flexibility. However, in the face of increasingly complex and changing workpiece welding requirements, its inherent limitations have gradually emerged, especially in terms of welding depth control and welding efficiency.

[0003] First of all, the accuracy of welding depth control is crucial. Welding that is too deep may cause excessive melting of the material, affecting the strength and stability of the structure; while welding that is too shallow may leave unfused defects and reduce the strength of the welded joint. Unfortunately, existing technologies are often unable to monitor and control welding depth in real time and accurately. The lack of effective depth monitoring and feedback mechanisms makes it difficult for the welding process to achieve the desired welding effect, thus affecting the overall performance of the product.

[0004] In terms of welding efficiency, existing technologies often require a lot of manual intervention and debugging, which not only prolongs the welding cycle and increases production costs, but also limits the automation and intelligence level of the production line. With the transformation of manufacturing to intelligent manufacturing, higher requirements are placed on the automation and intelligent control of the welding process, and existing technologies are obviously unable to meet this requirement.

[0005] Therefore, it is necessary to provide an intelligent welding system and method based on visual recognition to solve the above problems. Summary of the invention

[0006] To solve the above problems, the present invention provides the following technical solution: an intelligent welding system based on visual recognition, used for welding a first workpiece and a second workpiece, comprising:

[0007] A position adjustment assembly having an adjustment end, wherein the adjustment end has at least three degrees of freedom;

[0008] a laser welding head mounted to the adjustment end;

[0009] A swivel seat, which is rotatable around the Y direction and is arranged outside the laser welding head;

[0010] An arm body, one end of which is connected to the swivel seat, and the other end of which is connected to a first visual identifier, wherein the first visual identifier is used to obtain side welding information of the first workpiece and the second workpiece, and obtain side welding depth information according to the side welding information of the first workpiece and the second workpiece;

[0011] Wherein, the laser welding head can adjust its own parameters according to the side welding depth information;

[0012] Wherein, a synchronous monitoring component is also arranged below the first workpiece and the second workpiece for synchronously monitoring the welding depth of the first workpiece and the second workpiece.

[0013] Further, as a preference, the intelligent welding system further comprises a base and two jigs, wherein the jig is arranged on the base, and the two jigs are respectively a first jig and a second jig, wherein the first jig is used to position the first workpiece, and the second jig is used to position the second workpiece;

[0014] A first distance is maintained between the first workpiece and the second workpiece;

[0015] The bottoms of the first workpiece and the second workpiece maintain a second distance from the base, so that the synchronous monitoring component can synchronously monitor the first workpiece and the second workpiece from the bottoms of the first workpiece and the second workpiece.

[0016] Further, preferably, the synchronous monitoring component includes:

[0017] A follower assembly having a moving end that moves along the Z direction;

[0018] An offset adjustment component, which is fixed to the moving end, and the offset adjustment component has an offset adjustment end that moves along the X direction;

[0019] An angle adjustment component is disposed at the offset adjustment end, and the angle adjustment component has an angle adjustment end that rotates around the Z direction;

[0020] The second visual identifier is fixed to the angle adjustment end.

[0021] Further, preferably, the follower assembly is any one of a screw nut mechanism, an electric telescopic rod, a cylinder, and a hydraulic cylinder.

[0022] Further, preferably, the offset adjustment component comprises:

[0023] A base, which is fixed to the mobile end;

[0024] An offset seat, which serves as the offset adjustment end and is slidably disposed on the base;

[0025] Two first micro-motion telescopic rods are both fixed on the base and located on both sides of the offset seat, and the output ends of the two first micro-motion telescopic rods are in contact with the offset seat.

[0026] Further, as a preference, mounting seats are fixed on both sides of the offset seat and on the side of the base close to the offset seat;

[0027] An elastic arc plate is fixed between the two mounting seats on the same side of the offset seat.

[0028] Further, as a preference, an elastic rope is connected between two mounting seats on the same side of the offset seat.

[0029] Further, preferably, the angle adjustment component comprises:

[0030] A roller body, which is rotatably disposed on the offset seat and driven by a motor, and a support frame serving as an angle adjustment end is fixed above the roller body;

[0031] Two locking arc plates are symmetrically arranged and located on both sides of the roller body, one end of each locking arc plate is hinged to the offset seat, and an elastic pad is attached to one side of each locking arc plate close to the roller body;

[0032] A synchronization rod is hinged with the two locking arc plates and driven by a second micro-motion telescopic rod, wherein the second micro-motion telescopic rod is fixed on the offset seat.

[0033] An intelligent welding method based on visual recognition comprises the following steps:

[0034] S1. Obtaining the first workpiece information and the second workpiece information;

[0035] S2. Obtaining first spacing information and first welding depth information according to the first workpiece information and the second workpiece information;

[0036] S3. Positioning the first workpiece using a first fixture, positioning the second workpiece using a second fixture, and maintaining a first distance between the first workpiece and the second workpiece;

[0037] S4. The position adjustment assembly adjusts the laser welding head and welds the first workpiece and the second workpiece;

[0038] S5. The first visual identifier moves to the side of the first workpiece and the second workpiece, obtains the side welding depth information, calculates the difference between the side welding depth information and the first welding depth information, and adjusts the parameters of the laser welding head according to the difference;

[0039] S6. Reset the first visual identifier;

[0040] S7. Obtaining first angle information and first position information according to the first spacing information and the first welding depth information;

[0041] S8. Adjust the second visual identifier according to the first angle information and the first position information;

[0042] S9. Continue to use the laser welding head to weld the first workpiece and the second workpiece, and the second visual identifier performs synchronous monitoring.

[0043] Compared with the prior art, the present invention provides an intelligent welding system and method based on visual recognition, which has the following beneficial effects:

[0044] In the present invention, the laser welding head automatically adjusts its welding parameters, such as laser power, welding speed, focal position, etc., according to the side welding depth information provided by the first visual identifier to ensure that the preset welding depth is reached.

[0045] In the present invention, the synchronous monitoring component monitors the welding depth in real time to ensure the stability and accuracy of the welding process. If the welding depth is not consistent with the expectation, the system can make timely corrections by adjusting the position adjustment component and the parameters of the laser welding head.

[0046] In the present invention, through visual recognition technology, the system can accurately obtain the welding information of the workpiece and realize high-precision welding operation. The entire welding process is highly intelligent and automated, which reduces manual operation and improves production efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a structural schematic diagram of an intelligent welding system based on visual recognition;

[0048] Figure 2 It is a structural schematic diagram of a follower component in an intelligent welding system based on visual recognition;

[0049] Figure 3 It is a structural schematic diagram of a synchronous monitoring component in an intelligent welding system based on visual recognition;

[0050] Figure 4 for Figure 3 The enlarged structural diagram at A in the middle;

[0051] Figure 5 It is a flow chart of an intelligent welding method based on visual recognition;

[0052] In the figure: 1. position adjustment component; 2. laser welding head; 3. swivel seat; 4. arm body; 5. first visual identifier; 6. base; 7. fixture; 8. follow-up component; 9. offset adjustment component; 10. angle adjustment component; 11. second visual identifier; 91. base; 92. offset seat; 93. mounting seat; 94. elastic arc plate; 96. elastic rope; 97. first micro-motion telescopic rod; 101. locking arc plate; 102. elastic pad; 103. roller body; 104. synchronization rod; 105. second micro-motion telescopic rod; 106. support frame. DETAILED DESCRIPTION

[0053] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned description of the drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, which is merely a way of distinguishing the objects of the same attributes when describing them in the embodiments of the present application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment comprising a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0054] Please refer to Figure 1-Figure 5 In an embodiment of the present invention, there is provided an intelligent welding system based on visual recognition, which is used to weld a first workpiece and a second workpiece, comprising:

[0055] A position adjustment component 1, which has an adjustment end, and the adjustment end has at least three degrees of freedom;

[0056] A laser welding head 2, which is mounted to the adjustment end;

[0057] A swivel seat 3, which is rotatable around the Y direction and is arranged outside the laser welding head 2;

[0058] An arm body 4, one end of which is connected to the swivel seat 3, and the other end of which is connected to a first visual identifier 5, wherein the first visual identifier 5 is used to obtain side welding information of the first workpiece and the second workpiece, and obtain side welding depth information according to the side welding information of the first workpiece and the second workpiece;

[0059] Wherein, the laser welding head 2 can adjust its own parameters according to the side welding depth information;

[0060] Wherein, a synchronous monitoring component is also arranged below the first workpiece and the second workpiece for synchronously monitoring the welding depth of the first workpiece and the second workpiece.

[0061] The implementation includes the following steps:

[0062] S1. Place the first workpiece and the second workpiece on the welding workbench according to a predetermined position and method.

[0063] S2. Initially, the position adjustment component 1 (having at least three degrees of freedom, such as movement in the X, Y, and Z axis directions and possible rotation) adjusts the initial position of the laser welding head 2 so that it is aligned with the welding starting point of the workpieces (the first workpiece and the second workpiece).

[0064] S3. The first visual identifier 5 obtains the side welding information of the first workpiece and the second workpiece from the sides of the first workpiece and the second workpiece through the flexible rotation of the arm body 4 and the rotating base 3. According to the side welding information, the first visual identifier 5 calculates the side welding depth information.

[0065] S4. The laser welding head 2 automatically adjusts its welding parameters, such as laser power, welding speed, focus position, etc., according to the side welding depth information provided by the first visual identifier 5 to ensure that the preset welding depth is reached.

[0066] S5. The synchronous monitoring component (located below the first workpiece and the second workpiece) monitors the welding depth in real time to ensure the stability and accuracy of the welding process. If the welding depth is not as expected, the system can make timely corrections by adjusting the parameters of the position adjustment component 1 and the laser welding head 2.

[0067] In this embodiment, through visual recognition technology, the system can accurately obtain the welding information of the workpiece and realize high-precision welding operation. The automatic parameter adjustment function of the laser welding head 2 makes the welding process more efficient and reduces manual intervention and debugging time.

[0068] The entire welding process is highly intelligent and automated, reducing manual operations and improving production efficiency and safety. The system can dynamically adjust according to real-time welding depth information, making the welding quality more reliable and stable.

[0069] In this embodiment, the intelligent welding system further includes a base 6 and two jigs 7, wherein the jig 7 is disposed on the base 6, and the two jigs 7 are respectively a first jig and a second jig, wherein the first jig is used to position the first workpiece, and the second jig is used to position the second workpiece;

[0070] A first distance is maintained between the first workpiece and the second workpiece;

[0071] The bottoms of the first workpiece and the second workpiece maintain a second distance from the base 6 so that the synchronous monitoring component can synchronously monitor the first workpiece and the second workpiece from their bottoms.

[0072] It should be explained that the first fixture and the second fixture are mainly used to maintain a first spacing between the first workpiece and the second workpiece. The first spacing is actually the gap of the weld. The size of the weld gap usually needs to be determined according to the welding process, the type and thickness of the material, and the type of the weld joint. A gap that is too small may cause the molten pool to flow poorly during welding, resulting in poor weld formation; while a gap that is too large may make it difficult to fill the molten pool during welding, resulting in defects inside the weld, such as lack of fusion and lack of penetration.

[0073] During the welding process, it is very important to maintain a proper weld gap. This not only ensures the stability of the welding process, but also improves the quality and reliability of the weld.

[0074] In this embodiment, the synchronization monitoring component includes:

[0075] A follower assembly 8 having a moving end that moves along the Z direction;

[0076] An offset adjustment component 9, which is fixed to the moving end, and the offset adjustment component 9 has an offset adjustment end that moves along the X direction;

[0077] An angle adjustment component 10, which is disposed at the offset adjustment end, and the angle adjustment component 10 has an angle adjustment end that rotates around the Z direction;

[0078] The second visual identifier 11 is fixed to the angle adjustment end.

[0079] Then, during the welding process, the second visual identifier 11 continuously monitors the welding depth of the first workpiece and the second workpiece from the bottom. After the welding is completed, the synchronous monitoring component can also provide detailed welding depth monitoring data for the system to analyze and evaluate. These data can be used to optimize welding parameters, improve process flow or serve as a basis for quality control.

[0080] In this embodiment, the second visual identifier 11 realizes high-precision monitoring of the welding depth through precise adjustment of the follower component 8, the offset adjustment component 9 and the angle adjustment component 10. The second visual identifier 11 observes the weld from the bottom, avoiding monitoring errors caused by uneven or blocked workpiece surfaces.

[0081] In this embodiment, the follower assembly 8 is any one of a screw nut mechanism, an electric telescopic rod, a cylinder, and a hydraulic cylinder.

[0082] In this embodiment, the offset adjustment component 9 includes:

[0083] A base 91, which is fixed to the mobile end;

[0084] An offset seat 92, which serves as the offset adjustment end and is slidably disposed on the base 91;

[0085] Two first fine-motion telescopic rods 97 are both fixed on the base 91 and located on both sides of the offset seat 92 , and the output ends of the two first fine-motion telescopic rods 97 are in contact with the offset seat 92 .

[0086] In this embodiment, mounting seats 93 are fixed on both sides of the offset seat 92 and the side of the base 91 close to the offset seat 92;

[0087] An elastic arc plate 94 is fixed between the two mounting seats 93 on the same side of the offset seat 92 .

[0088] An elastic rope 96 is connected between the two mounting seats 93 on the same side of the offset seat 92 .

[0089] In this embodiment, the offset seat 92 is slidably arranged on the base 91 as an offset adjustment end, and is pushed and restricted by two first micro-motion telescopic rods 97. According to welding requirements, the system sends instructions to the first micro-motion telescopic rods 97, so that the output end thereof pushes the offset seat 92 to achieve fine adjustment in the X direction. The elastic arc plate 94 and the elastic rope 96 play a buffering and stabilizing role when the offset seat 92 moves, preventing impact and vibration caused by too fast or too large movement.

[0090] After welding is completed, the offset adjustment assembly 9 returns to the initial position according to the system instruction, and is ready for the next welding. In the resetting process, the elastic arc plate 94 and the elastic rope 96 play a role again, ensuring that the offset seat 92 can return to the specified position steadily.

[0091] In this embodiment, the angle adjustment component 10 includes:

[0092] A roller body 103 is rotatably disposed on the offset seat 92 and driven by a motor (not shown in the figure), and a support frame 106 serving as an angle adjustment end is fixed above the roller body 103;

[0093] Two locking arc plates 101 are symmetrically arranged and located on both sides of the roller body 103, one end of each locking arc plate 101 is hinged to the offset seat 92, and an elastic pad 102 is attached to one side of each locking arc plate 101 close to the roller body 103;

[0094] The synchronization rod 104 is hinged to the two locking arc plates 101 and driven by a second micro-motion telescopic rod 105 , and the second micro-motion telescopic rod 105 is fixed on the offset seat 92 .

[0095] During implementation, according to welding requirements, the system sends instructions to the second micro-telescopic rod 105, so that its output end pushes or pulls the synchronization rod 104. The synchronization rod 104 is hinged to the two locking arc plates 101, so when the synchronization rod 104 moves, it drives the locking arc plates 101 to rotate around the hinge point, thereby changing the angle between them and the roller body 103.

[0096] Since the locking arc plate 101 is attached with the elastic pad 102, they can provide a stable supporting force when in contact with the roller body 103 and prevent damage caused by friction. As the locking arc plate 101 rotates, the roller body 103 will be subjected to a certain squeezing force, thereby being restricted.

[0097] During the welding process, the angle adjustment assembly 10 and the second visual identifier 11 work closely together to monitor the position and depth of the weld in real time. During the welding process, as the weld moves and changes, the angle adjustment assembly 10 can adjust the rotation angle of the roller body 103 in real time to ensure that the second visual identifier 11 can always clearly observe the weld.

[0098] Based on this, this embodiment also provides an intelligent welding method based on visual recognition, comprising the following steps:

[0099] S1. Obtaining the first workpiece information and the second workpiece information. Specifically, a high-precision scanner or camera may be used to capture images or three-dimensional data of the first workpiece and the second workpiece, and the images or data may be preprocessed to extract key features, such as size, shape, edge, etc. Alternatively, the first workpiece information and the second workpiece information may be directly obtained from a database;

[0100] S2. Obtaining first spacing information and first welding depth information according to the first workpiece information and the second workpiece information. Specifically, after obtaining the first workpiece information and the second workpiece information, determining the first spacing information and the first welding depth information according to the data comparison table, wherein the first spacing information is actually the preset spacing information, and the first welding depth information is actually the preset welding depth information;

[0101] S3. Positioning the first workpiece using the first fixture, positioning the second workpiece using the second fixture, and maintaining a first distance between the first workpiece and the second workpiece. Specifically, placing the workpieces on the fixtures (the first fixture, the second fixture), and adjusting the positions and angles of the fixtures to ensure that the first distance between the two workpieces is maintained to meet the requirements of the above-mentioned preset distance information;

[0102] S4. The position adjustment assembly 1 adjusts the laser welding head 2 and welds the first workpiece and the second workpiece;

[0103] S5. The first visual identifier 5 moves to the side of the first workpiece and the second workpiece, obtains the side welding depth information, calculates the difference between the side welding depth information and the first welding depth information, and adjusts the parameters of the laser welding head 2 according to the difference. Specifically, during the welding process, the first visual identifier 5 moves to the side of the workpiece and captures the image of the welding area of ​​the side of the first workpiece and the second workpiece in real time. The side welding depth information is calculated by an image processing algorithm. The side welding depth information is compared with the preset first welding depth information to calculate the difference. According to the difference, the parameters of the laser welding head 2, such as power, speed, etc., are adjusted to ensure the welding quality;

[0104] S6. Reset the first visual identifier 5;

[0105] S7. Obtaining first angle information and first position information according to the first spacing information and the first welding depth information. Specifically, using the first spacing information and the first welding depth information, an algorithm is used to calculate the optimal angle and position required for the second visual identifier 11 to perform visual recognition, that is, the first angle information and the first position information;

[0106] S8. Adjust the second visual identifier 11 according to the first angle information and the first position information;

[0107] S9. Continue to use the laser welding head 2 to weld the first workpiece and the second workpiece, and the second visual identifier 11 performs synchronous monitoring.

[0108] The entire welding process is highly automated, reducing human intervention and errors. The system can automatically adjust welding parameters and monitor the position and angle of components based on monitoring data, improving production efficiency and welding quality.

[0109] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An intelligent welding system based on visual recognition, used for welding a first workpiece and a second workpiece, characterized in that: include: A position adjustment component (1) having an adjustment end, wherein the adjustment end has at least three degrees of freedom; A laser welding head (2) mounted on the adjustment end; A swivel seat (3) which is rotatable about the Y direction and is arranged outside the laser welding head (2); An arm body (4), one end of which is connected to the rotating seat (3), and the other end of which is connected to a first visual identifier (5), wherein the first visual identifier (5) is used to obtain side welding information of the first workpiece and the second workpiece, and to obtain side welding depth information based on the side welding information of the first workpiece and the second workpiece; Wherein, the laser welding head (2) is capable of adjusting its own parameters according to the side welding depth information; Wherein, a synchronous monitoring component is also arranged below the first workpiece and the second workpiece for synchronously monitoring the welding depth of the first workpiece and the second workpiece.

2. According to claim 1, the intelligent welding system based on visual recognition is characterized in that: The intelligent welding system further comprises a base (6) and two jigs (7), wherein the jig (7) is arranged on the base (6), and the two jigs (7) are respectively a first jig and a second jig, wherein the first jig is used to position the first workpiece, and the second jig is used to position the second workpiece; A first distance is maintained between the first workpiece and the second workpiece; The bottoms of the first workpiece and the second workpiece are both spaced apart from the base (6) at a second distance, so that the synchronous monitoring component can synchronously monitor the first workpiece and the second workpiece from their bottoms.

3. The intelligent welding system based on visual recognition according to claim 1 is characterized in that: The synchronous monitoring component comprises: A follower assembly (8) having a moving end that moves along the Z direction; An offset adjustment component (9) is fixed to the moving end, and the offset adjustment component (9) has an offset adjustment end that moves along the X direction; An angle adjustment component (10) is arranged at the offset adjustment end, and the angle adjustment component (10) has an angle adjustment end that rotates around the Z direction; A second visual identifier (11) is fixed to the angle adjustment end.

4. The intelligent welding system based on visual recognition according to claim 3 is characterized in that: The follower assembly (8) is any one of a screw nut mechanism, an electric telescopic rod, a cylinder, and a hydraulic cylinder.

5. The intelligent welding system based on visual recognition according to claim 3 is characterized in that: The offset adjustment component (9) comprises: A base (91) fixed to the mobile end; An offset seat (92), which serves as the offset adjustment end and is slidably disposed on the base (91); Two first micro-motion telescopic rods (97) are both fixed on the base (91) and located on both sides of the offset seat (92), and the output ends of the two first micro-motion telescopic rods (97) are in contact with the offset seat (92).

6. The intelligent welding system based on visual recognition according to claim 5 is characterized in that: Mounting seats (93) are fixed on both sides of the offset seat (92) and on the side of the base (91) close to the offset seat (92); An elastic arc plate (94) is fixed between two mounting seats (93) on the same side of the offset seat (92).

7. The intelligent welding system based on visual recognition according to claim 5 is characterized in that: An elastic rope (96) is connected between the two mounting seats (93) on the same side of the offset seat (92).

8. The intelligent welding system based on visual recognition according to claim 5, characterized in that: The angle adjustment component (10) comprises: A roller body (103) is rotatably disposed on the offset seat (92) and driven by a motor, and a support frame (106) serving as an angle adjustment end is fixed above the roller body (103); Two locking arc plates (101) are symmetrically arranged and located on both sides of the roller body (103), one end of the locking arc plate (101) is hinged to the offset seat (92), and an elastic pad (102) is attached to one side of the locking arc plate (101) close to the roller body (103); A synchronization rod (104) is hinged to the two locking arc plates (101) and driven by a second micro-motion telescopic rod (105), wherein the second micro-motion telescopic rod (105) is fixed on the offset seat (92).

9. An intelligent welding method based on visual recognition, which adopts the intelligent welding system based on visual recognition as claimed in any one of claims 2 to 8, characterized in that: The steps include: S1. Obtaining the first workpiece information and the second workpiece information; S2. Obtaining first spacing information and first welding depth information according to the first workpiece information and the second workpiece information; S3. Positioning the first workpiece using a first fixture, positioning the second workpiece using a second fixture, and maintaining a first distance between the first workpiece and the second workpiece; S4. The position adjustment assembly (1) adjusts the laser welding head (2) and welds the first workpiece and the second workpiece; S5. The first visual identifier (5) moves to the side of the first workpiece and the second workpiece, obtains the side welding depth information, calculates the difference between the side welding depth information and the first welding depth information, and adjusts the parameters of the laser welding head (2) according to the difference; S6. Resetting the first visual identifier (5); S7. Obtaining first angle information and first position information according to the first spacing information and the first welding depth information; S8. Adjusting the second visual identifier (11) according to the first angle information and the first position information; S9. Continue to use the laser welding head (2) to weld the first workpiece and the second workpiece, and the second visual identifier (11) performs synchronous monitoring.

Images