Welding seam tracking device and method based on visual and tactile fusion

Abstract

The invention relates to the field of curve welding seams, provides a welding seam tracking device and method based on visual and tactile fusion, and aims to solve the problems that in an existing welding seam tracking technology, the position of a welding seam is obtained mainly based on a visual sensor; and part of welding seams are easy to block, and the welding quality and safety are difficult to guarantee in pure visual guidance welding seam tracking due to low scanning precision. The device comprises a first acquisition part which is arranged above a workpiece to be welded and is used for acquiring coarse positioning coordinate information of a welding seam; the mechanical arm control module is arranged above the workpiece to be welded and located on one side of the first collecting piece, and the mechanical arm control module is electrically connected with the first collecting piece; the welding gun model exploration part is connected with the mechanical arm control module; and the exploration tactile feedback assembly comprises a flexible connecting piece, a probe, a two-dimensional code and a second collecting piece, and the flexible connecting piece is arranged to be hollow in the middle and is connected with the end, away from the mechanical arm control module, of the welding gun model exploration part.

Description

Technical Field

[0001] The present application relates to the field of curved welds, and more specifically, to a weld tracking device and method based on visual-tactile fusion. Background Art

[0002] The application of industrial robots in industrial production has promoted the rapid development of intelligence and automation in the field of welding, and greatly improved the efficiency and quality of welding. Among them, traditional industrial robot welding operations mainly rely on the teaching path mode, which requires manual preset trajectories for repeated operations. However, this method is inefficient in industrial production that requires a lot of repetitive work, especially when welding complex weld shapes. It is difficult to ensure welding quality by relying solely on the machine's teaching path, and it cannot meet the requirements of modern intelligent welding.

[0003] With the rapid advancement of sensor technology, the use of sensors for automated weld tracking has become a new trend. However, existing weld tracking technology is mainly based on visual sensors to obtain weld positions. In the actual point cloud scanning process, some welds are easily blocked and the low scanning accuracy makes it difficult for pure vision-guided weld tracking to ensure welding quality and safety.

[0004] Therefore, the prior art needs to be improved. Summary of the invention

[0005] The purpose of the present application is to provide a weld tracking device and method based on visual-tactile fusion, so as to solve the problem that the existing weld tracking technology is mainly based on visual sensors to obtain the weld position, while in the actual point cloud scanning process, part of the weld is easily blocked and the low scanning accuracy makes it difficult to ensure the welding quality and safety of pure vision-guided weld tracking.

[0006] To achieve the above objectives, the technical solution adopted in the first embodiment of the present application is:

[0007] A weld tracking device based on visual-tactile fusion is used to be arranged above a workpiece to be welded with a weld, and the weld tracking device comprises:

[0008] A first acquisition component is disposed above the workpiece to be welded and is used to acquire coarse positioning coordinate information of the weld;

[0009] A robot arm control module, which is arranged above the workpiece to be welded and located on one side of the first acquisition component, and the robot arm control module is electrically connected to the first acquisition component;

[0010] A welding gun model exploration unit connected to the robot arm control module;

[0011] An exploration tactile feedback component, comprising a flexible connector, a probe, a two-dimensional code, and a second acquisition component, wherein the flexible connector is configured to be hollowed out in the middle and connected to an end of the welding gun model exploration portion that is away from the robotic arm control module, the probe is connected to the flexible connector, and an end of the probe that is away from the flexible connector is located in the weld, the two-dimensional code is arranged on an end surface of the probe close to the flexible connector, and the second acquisition component is arranged in the welding gun model exploration portion and is located directly above the two-dimensional code through the hollowed-out flexible connector in the middle;

[0012] A welding gun application part is connected to the robot arm control module and is located at one side of the welding gun model exploration part. A welding wire is arranged at one end of the welding gun application part away from the robot arm control module, and the welding wire is arranged in the welding seam.

[0013] According to the weld seam tracking device based on visual-tactile fusion described above, the end face of the welding wire facing away from the welding gun application part and the end face of the probe facing away from the flexible connector are on the same horizontal line.

[0014] According to the weld tracking device based on visual-tactile fusion described above, the welding gun model exploration part and the exploration tactile feedback component form a combination, and the shape and size of the combination are the same as the shape and size of the welding gun application part.

[0015] According to the above-mentioned weld seam tracking device based on visual-tactile fusion, the weld seam tracking device further includes:

[0016] A plurality of lighting modules are embedded around the second collecting member.

[0017] According to the weld tracking device based on visual-tactile fusion described above, the weld tracking device also includes a light blocking portion, which is arranged on the welding gun model exploration portion and located on the outside of the flexible connector, and is used to block the arc light during the welding process of the welding gun application portion.

[0018] According to the weld tracking device based on visual-tactile fusion described above, the first acquisition component is configured as a line laser camera.

[0019] According to the weld tracking device based on visual-tactile fusion described above, the robot arm control module includes:

[0020] A mechanical arm, the end of which is connected to the welding gun model exploration part and the welding gun application part through a flange connector;

[0021] An industrial computer is connected to the first acquisition component and the second acquisition component respectively.

[0022] According to the weld tracking device based on visual-tactile fusion described above, the flexible connector is configured as a silicone connector or a nylon connector.

[0023] According to the weld tracking device based on visual-tactile fusion described above, the two-dimensional code can be set as an aruco two-dimensional code, and the second acquisition component can be set as an endoscopic camera.

[0024] The technical solution adopted in the second embodiment of the present application is:

[0025] A weld seam tracking method based on visual-tactile fusion is applied to the weld seam tracking device based on visual-tactile fusion as described above, and the weld seam tracking method comprises:

[0026] The robot arm control module drives the probe of the tactile feedback component to move along the rough positioning coordinate information of the weld;

[0027] When the probe hits the edge of the weld and deflects, under the action of the flexible connector, the second acquisition component collects the deflection information of the QR code on the probe to obtain the precise positioning coordinate information of the weld;

[0028] The robot arm control module drives the welding gun application part to move along the precise positioning coordinate information of the weld to perform the weld filling work.

[0029] The beneficial effects of a weld tracking device and method based on visual-tactile fusion provided by the present application are at least:

[0030] In the present application, the probe of the exploration tactile feedback component is driven by the robot arm control module to move along the coarse positioning coordinate information of the weld. When the probe hits the edge of the weld and deflects, the second acquisition component collects the deflection information of the QR code on the probe under the action of the flexible connector to obtain the precise positioning coordinate information of the weld, and the robot arm control module drives the welding gun application part to move along the precise positioning coordinate information of the weld to perform precise weld filling. It can be foreseen that the weld tracking device based on visual and tactile fusion in the present application can effectively avoid the collision between the welding gun application part and the workpiece to be welded, ensuring the safe operation of the equipment. At the same time, the present application sets up an exploration end (exploration tactile feedback component) and an application end (welding gun application part), and starts the work of the exploration end and the application end at the same time through the robot arm control module. The exploration end explores in front, and the application end applies the corrections after the exploration of the exploration end in the back. Only one operation is required, and the operation is a useful operation (the application end can perform welding gun work at one time), which greatly improves the efficiency and quality of weld tracking. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 A structural schematic diagram of a weld tracking device based on visual-tactile fusion provided in an embodiment of the present application, which is arranged above a workpiece with welding.

[0033] Figure 2 A structural schematic diagram of a welding gun model exploration part and a welding gun application part connected to a flange connection part in a weld tracking device based on visual-tactile fusion provided in an embodiment of the present application.

[0034] Figure 3 An exploded diagram of an exploration tactile feedback component connected to an exploration part of a welding gun model in a weld tracking device based on visual-tactile fusion provided in an embodiment of the present application.

[0035] Figure 4 A flow chart of a weld tracking method based on visual and tactile fusion provided in an embodiment of the present application.

[0036] Figure 5 A schematic diagram of a weld trajectory in a weld tracking method based on visual and tactile fusion provided in an embodiment of the present application.

[0037] Among them, the reference numerals in the figure are:

[0038] 1. First acquisition part; 21. Robotic arm; 22. Industrial computer; 3. Welding gun model exploration part; 4. Exploration of tactile feedback components; 41. Flexible connector; 42. Probe; 43. QR code; 44. Second acquisition part; 5. Welding gun application part; 51. Welding wire; 6. Workpiece to be welded; 61. Welding seam; 7. Light shielding part; 8. Flange connector. DETAILED DESCRIPTION

[0039] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0040] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be directly or indirectly located on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings and are only for the convenience of description and cannot be understood as limitations on the present technical solution. The terms "first" and "second" are only used for the convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0041] The application of industrial robots in industrial production has promoted the rapid development of intelligence and automation in the field of welding, and greatly improved the efficiency and quality of welding. Among them, traditional industrial robot welding operations mainly rely on the teaching path mode, which requires manual preset trajectories for repeated operations. However, this method is inefficient in industrial production that requires a lot of repetitive work, especially when welding complex weld shapes. It is difficult to ensure welding quality by relying solely on the machine's teaching path, and it cannot meet the requirements of modern intelligent welding.

[0042] With the rapid advancement of sensor technology, the use of sensors for automated weld tracking has become a new trend. However, existing weld tracking technology is mainly based on visual sensors to obtain weld positions. In the actual point cloud scanning process, some welds are easily blocked and the low scanning accuracy makes it difficult for pure vision-guided weld tracking to ensure welding quality and safety.

[0043] For this purpose, see Figure 1 , Figure 2 and Figure 3 In a first aspect, an embodiment of the present application provides a weld tracking device based on visual-tactile fusion, which is used to be set above a workpiece 6 to be welded with a weld 61. The weld tracking device includes a first acquisition component 1, a robotic arm control module, a welding gun model exploration unit 3, an exploration tactile feedback component 4 and a welding gun application unit 5.

[0044] Among them, the first acquisition component 1 is arranged above the workpiece 6 to be welded, and is used to collect the rough positioning coordinate information of the weld 61, the robot arm control module is arranged above the workpiece 6 to be welded, and is located on one side of the first acquisition component 1, the robot arm control module is electrically connected to the first acquisition component 1, the welding gun model exploration part 3 is connected to the robot arm control module, the exploration tactile feedback component 4 includes a flexible connector 41, a probe 42, a QR code 43 and a second acquisition component 44, the flexible connector 41 is set to be hollowed out in the middle, and is connected to one end of the welding gun model exploration part 3 away from the robot arm control module, The probe 42 is connected to the flexible connector 41, and one end of the probe 42 facing away from the flexible connector 41 is located in the weld 61. The two-dimensional code 43 is arranged on the end surface of the probe 42 close to the flexible connector 41. The second acquisition component 44 is arranged in the welding gun model exploration part 3 and is located directly above the two-dimensional code 43 through the flexible connector 41 hollowed out in the middle. The welding gun application part 5 is connected to the robot arm control module and is located on one side of the welding gun model exploration part 3. A welding wire 51 is arranged at one end of the welding gun application part 5 facing away from the robot arm control module, and the welding wire 51 is arranged in the weld 61.

[0045] In this embodiment, the probe 42 of the exploration tactile feedback component 4 is driven by the robot arm control module to move along the rough positioning coordinate information of the weld 61. When the probe 42 hits the edge of the weld 61 and deflects, under the action of the flexible connector 41, the deflection information of the two-dimensional code 43 on the probe 42 is collected by the second acquisition component 44 to obtain the precise positioning coordinate information of the weld 61, and the welding gun application part 5 is driven by the robot arm control module to move along the precise positioning coordinate information of the weld 61 to perform precise welding 61 filling work. It can be foreseen that in this embodiment, The weld tracking device based on visual-tactile fusion can effectively avoid the collision between the welding gun application part 5 and the workpiece to be welded 6, ensuring the safe operation of the equipment. At the same time, this embodiment sets up an exploration end (exploration tactile feedback component 4) and an application end (welding gun application part 5), and starts the work of the exploration end and the application end at the same time through the robotic arm control module. The exploration end explores in the front, and the application end applies the corrections after the exploration by the exploration end in the back. Only one operation is required, and the operation is a useful operation (the application end can perform the welding gun operation at one time), which greatly improves the efficiency and quality of weld tracking.

[0046] Optional, see Figure 1 In one embodiment, the robotic arm control module includes a robotic arm 21 and an industrial computer 22, the end of the robotic arm 21 is connected to the welding gun model exploration part 3 and the welding gun application part 5 through a flange connector 8, and the industrial computer 22 is connected to the first acquisition part 1 and the second acquisition part 44 respectively through a data cable.

[0047] Optionally, in one embodiment, the first acquisition component 1 can be configured as a line laser camera.

[0048] Optionally, in one embodiment, the flexible connector 41 may be configured as a silicone connector or a nylon connector.

[0049] Optionally, in one embodiment, the probe 42 may be configured as a metal probe.

[0050] Optionally, in one embodiment, the two-dimensional code 43 can be set as an aruco two-dimensional code.

[0051] Optional, see Figure 1 and Figure 2 In one embodiment, the second acquisition member 44 can be configured as an endoscopic camera.

[0052] Optionally, in one embodiment, in order to provide good lighting when identifying the QR code 43, the weld tracking device also includes a plurality of lighting modules (not shown in the figure), and the plurality of lighting modules are embedded around the second collecting part 44, wherein the lighting modules can be set to LED lights.

[0053] Optional, see Figure 1 and Figure 2 In one embodiment, the end surface of the welding wire 51 facing away from the welding gun application part 5 and the end surface of the probe 42 facing away from the flexible connector 41 are on the same horizontal line.

[0054] Optional, see Figure 1 and Figure 2 In one embodiment, the welding gun model exploration part 3 and the exploration tactile feedback component 4 form a combination, and the shape and size of the combination are the same as the shape and size of the welding gun application part 5.

[0055] Optional, see Figure 2 In one embodiment, the weld tracking device further includes a light blocking portion 7, which can be set as a hollow cylindrical structure. The light blocking portion 7 is arranged on the welding gun model exploration portion 3 and is located on the outside of the flexible connector 41. The light blocking portion 7 is used to block the arc light during the welding process of the welding gun application portion 5 to prevent the arc light from affecting the collection of deflection information of the two-dimensional code 43 on the probe 42 by the second collection component 44.

[0056] See also Figure 4 A second aspect of an embodiment of the present application provides a weld tracking method based on visual-tactile fusion, which is applied to the weld tracking device based on visual-tactile fusion as described above. The weld tracking method includes:

[0057] S10, driving the probe of the exploration tactile feedback component to move along the rough positioning coordinate information of the weld through the robotic arm control module;

[0058] S20, when the probe hits the edge of the weld and deflects, under the action of the flexible connector, the second acquisition component collects the deflection information of the QR code on the probe to obtain the precise positioning coordinate information of the weld;

[0059] S30, driving the welding gun application part to move along the precise positioning coordinate information of the weld through the robot arm control module to perform weld filling work.

[0060] Specifically, the coarse positioning coordinate information is collected by a first acquisition component, which can be a line laser camera. The robotic arm control module includes a robotic arm and an industrial computer. The robotic arm is respectively connected to a welding gun model exploration part and a welding gun application part, and the industrial computer is electrically connected to the robotic arm.

[0061] Among them, the weld is first roughly scanned and positioned using a line laser camera to obtain the rough positioning coordinate information of the weld in the coordinate system of the line laser camera, and the rough positioning coordinate information in the coordinate system of the robotic arm is obtained through coordinate conversion. Subsequently, the exploration tactile feedback component on the robotic arm is controlled by the industrial computer to move the probe on the exploration tactile feedback component along the rough positioning coordinate information of the weld. Due to the inaccuracy of the rough positioning coordinate information, when the probe touches the edge of the weld and deflects, the two-dimensional code on the probe will also deflect. Since the flexible connector separates the probe and the welding gun model exploration part, the second acquisition part in the welding gun model exploration part does not deflect, so that the deflection (posture) information of the two-dimensional code on the probe can be collected by the second acquisition part to obtain tactile feedback at the end of the probe, thereby obtaining the precise positioning coordinate information of the weld, and finally the welding gun application part is driven by the robotic arm control module to move along the precise positioning coordinate information of the weld to perform precise weld filling.

[0062] Optionally, in one embodiment, the specific steps of obtaining the coarse positioning coordinate information in the robot arm coordinate system through coordinate transformation can be: preprocessing the coarse positioning coordinate information of the weld in the line laser camera coordinate system to remove noise, thereby improving the accuracy and reliability of the information; using the RANSAC (random sampling consistency) algorithm to perform linear fitting on the preprocessed data (coarse positioning coordinate information), and identifying the surface of the workpiece to be welded; obtaining the position and shape of the weld notch by calculating the difference between the fitting data (fitting processed data) and the original data (coarse positioning coordinate information obtained by the line laser camera); determining the average position of the weld on each section by calculating the average value of the weld notch data of each section; splicing the weld position data of each section together one by one to form an overall weld position map, and taking the center of the bottom end of the weld as the position of the weld feature point; obtaining the hand-eye conversion relationship matrix between the line laser camera and the robot arm through hand-eye calibration, and obtaining the coarse positioning coordinate information of visual positioning in the robot arm coordinate system.

[0063] Optionally, in one embodiment, the above-mentioned steps of collecting the deflection (posture) information of the QR code on the probe through the second acquisition component to obtain the tactile feedback at the end of the probe, thereby obtaining the precise positioning coordinate information of the weld, can be as follows: calibrating the internal reference matrix of the second acquisition component through the chessboard method, and obtaining the hand-eye conversion relationship matrix between the second acquisition component and the flange connection component at the end of the robot arm through hand-eye calibration. During the movement of the robot arm, the second acquisition component reads the QR code position in the pixel coordinate system According to the probe size, the change matrix M from the QR code to the end of the probe is obtained, and the position of the end of the probe in the coordinate system of the second acquisition component is obtained. Then the probe end position in the coordinate system of the flange connector at the end of the robot arm is obtained The robot arm reads the transformation matrix between its end flange connection and the robot arm coordinate system Get the probe end position in the robot arm coordinate system That is, precise positioning coordinate information in the robotic arm coordinate system based on visual-tactile fusion.

[0064] Optional, see Figure 5 In one embodiment, the specific steps of the above-mentioned precise weld filling work by driving the welding gun application part along the precise positioning coordinate information of the weld through the robot arm control module can be: the robot arm controls the rotation of the end flange connection to drive the welding gun application part and the welding wire thereon to maintain a constant speed V0 and move along the precise positioning coordinate information to perform precise weld filling work.

[0065] Optional, see Figure 1 and Figure 2In one embodiment, the positions of the center of the robot flange connector, the end of the probe, and the end of the welding wire on the plane of the workpiece to be welded are P and tcp , P tip , P torch , the speed of the center of the robot arm flange connection along the visual rough weld track is The tangential velocity Normal velocity magnitude Among them, k p , f fn , They are custom speed constant, custom gain coefficient, The length along the normal direction of the rough weld trajectory and the custom base offset. The speed of the center of the robot flange connection along the x and y axes in the robot coordinate system can be obtained as follows: in are the unit vectors of the robot coordinate system respectively.

[0066] When the speed of the flange connection is When the speed of the end of the welding wire along the visual fine weld track is in The length is determined by the relative position of the end effector flange connector and the end of the welding wire. The direction is read by the industrial computer connected to the robot arm. The speed in the tangential direction is The magnitude of the normal velocity is in are the unit tangent vector and unit normal vector at the current probe end position on the fine weld trajectory, respectively.

[0067] In order to make the end of the welding wire move along the tactile fine weld trajectory, that is,

[0068] In order to keep the end of the welding wire moving at a constant speed,

[0069] Joint:

[0070]

[0071] in The direction of can be obtained by visual rough weld trajectory, based on Equivalent known parameters to obtain and

[0072] There are also:

[0073]

[0074] At this point, the robot end speed V can be determined by the fine weld trajectory and the relative positions of each component.x , V y , Realize the constant speed trajectory tracking of the weld by the welding gun application part.

[0075] In summary, the present application provides a weld tracking device and method based on visual-tactile fusion, which are used to be set above a workpiece to be welded with a weld. The weld tracking device includes a first acquisition component, a robotic arm control module, a welding gun model exploration unit, an exploration tactile feedback component and a welding gun application unit. Wherein, the first acquisition component is arranged above the workpiece to be welded, and is used to collect the rough positioning coordinate information of the weld, the robotic arm control module is arranged above the workpiece to be welded, and is located on one side of the acquisition component, the robotic arm control module is electrically connected to the acquisition component, the welding gun model exploration part is connected to the robotic arm control module, the exploration tactile feedback component includes a flexible connector, a probe, a two-dimensional code and a second acquisition component, the flexible connector is arranged to be hollowed out in the middle, and is connected to one end of the welding gun model exploration part away from the robotic arm control module, the probe is connected to the flexible connector, and the end of the probe away from the flexible connector is located in the weld, the two-dimensional code is arranged on the end face of the probe close to the flexible connector, the second acquisition component is arranged in the welding gun model exploration part, and is located directly above the two-dimensional code through the flexible connector hollowed out in the middle, the welding gun application part is connected to the robotic arm control module, and is located on one side of the welding gun model exploration part, and the end of the welding gun application part away from the robotic arm control module is provided with a welding wire, and the welding wire is arranged in the weld. In the present application, the probe of the exploration tactile feedback component is driven by the robot arm control module to move along the coarse positioning coordinate information of the weld. When the probe hits the edge of the weld and deflects, the second acquisition component collects the deflection information of the QR code on the probe under the action of the flexible connector to obtain the precise positioning coordinate information of the weld, and the robot arm control module drives the welding gun application part to move along the precise positioning coordinate information of the weld to perform precise weld filling. It can be foreseen that the weld tracking device based on visual and tactile fusion in the present application can effectively avoid the collision between the welding gun application part and the workpiece to be welded, ensuring the safe operation of the equipment. At the same time, the present application sets up an exploration end (exploration tactile feedback component) and an application end (welding gun application part), and starts the work of the exploration end and the application end at the same time through the robot arm control module. The exploration end explores in front, and the application end applies the corrections after the exploration of the exploration end in the back. Only one operation is required, and the operation is a useful operation (the application end can perform welding gun work at one time), which greatly improves the efficiency and quality of weld tracking.

[0076] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A weld tracking device based on visual-tactile fusion, used for being arranged above a workpiece to be welded with a weld, characterized in that: The weld tracking device comprises: A first acquisition component is disposed above the workpiece to be welded and is used to acquire coarse positioning coordinate information of the weld; A robot arm control module, which is arranged above the workpiece to be welded and located on one side of the first acquisition component, and the robot arm control module is electrically connected to the first acquisition component; A welding gun model exploration unit connected to the robot arm control module; The exploration tactile feedback component includes a flexible connector, a probe, a QR code and a second collection component. The flexible connector is configured to be hollowed out in the middle and connected to an end of the welding gun model exploration part away from the robotic arm control module. The probe is connected to the flexible connector, and an end of the probe away from the flexible connector is located in the weld. The two-dimensional code is arranged on the end surface of the probe close to the flexible connector, and the second acquisition component is arranged in the exploration part of the welding gun model and is located directly above the two-dimensional code through the flexible connector with a hollow middle portion; A welding gun application part is connected to the robot arm control module and is located at one side of the welding gun model exploration part. A welding wire is arranged at one end of the welding gun application part away from the robot arm control module, and the welding wire is arranged in the welding seam.

2. The weld tracking device based on visual-tactile fusion according to claim 1, characterized in that: The end surface of the welding wire facing away from the welding gun application part and the end surface of the probe facing away from the flexible connector are on the same horizontal line.

3. The weld tracking device based on visual-tactile fusion according to claim 1, characterized in that: The welding gun model exploration part and the exploration tactile feedback component form a combination, and the shape and size of the combination are the same as the shape and size of the welding gun application part.

4. The weld seam tracking device based on visual-tactile fusion according to claim 1, characterized in that: The weld tracking device also includes: A plurality of lighting modules are embedded around the second collecting member.

5. The weld tracking device based on visual-tactile fusion according to claim 1, characterized in that: The weld tracking device also includes a light shielding portion, which is arranged on the welding gun model exploration portion and located outside the flexible connector, and is used to shield the arc light during the welding process of the welding gun application portion.

6. The weld seam tracking device based on visual-tactile fusion according to claim 1, characterized in that: The first acquisition component is configured as a line laser camera.

7. The weld seam tracking device based on visual-tactile fusion according to claim 1, characterized in that: The robotic arm control module comprises: A mechanical arm, the end of which is connected to the welding gun model exploration part and the welding gun application part through a flange connector; An industrial computer is connected to the first acquisition component and the second acquisition component respectively.

8. The weld tracking device based on visual-tactile fusion according to claim 1, characterized in that: The flexible connector is configured as a silicone connector or a nylon connector.

9. The weld seam tracking device based on visual-tactile fusion according to claim 1, characterized in that: The two-dimensional code can be set as an aruco two-dimensional code, and the second acquisition component can be set as an endoscopic camera.

10. A weld tracking method based on visual and tactile fusion, characterized in that: It is applied to the weld tracking device based on visual-tactile fusion as claimed in claim 1, and the weld tracking method comprises: The robot arm control module drives the probe of the tactile feedback component to move along the rough positioning coordinate information of the weld; When the probe hits the edge of the weld and deflects, under the action of the flexible connector, the second acquisition component collects the deflection information of the QR code on the probe to obtain the precise positioning coordinate information of the weld; The robot arm control module drives the welding gun application part to move along the precise positioning coordinate information of the weld to perform the weld filling work.

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