System and method for guiding initial welding position of parallel double-line laser robot

Abstract

The invention discloses a parallel double-line laser robot welding initial position guiding system which comprises a welding robot, a welding gun is connected to the welding robot, a visual sensor is arranged on the welding gun, a camera is arranged in the visual sensor, a laser device is arranged in the visual sensor, and the laser device is connected with the welding gun. The invention discloses a parallel double-line laser robot welding initial position guiding method, which comprises the following steps of: emitting parallel laser, intersecting the parallel laser with a welding seam of a to-be-welded part to form a first intersection point and a second intersection point, connecting the first intersection point and the second intersection point to form a welding track line, and controlling a welding gun to weld the welding seam along the welding track line by a welding robot, and further discloses a parallel double-line laser robot welding initial position guiding method. According to the welding initial position guiding system and method for the parallel double-line laser robot, the welding initial position guiding of the welding robot is achieved, the advanced error of a tracking system is reduced, and meanwhile the welding initial position guiding precision of the welding robot is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot welding, and in particular relates to a parallel double-line laser robot welding initial position guidance system and method. Background Art

[0002] In the field of modern welding, automated and intelligent welding has become a development trend, and visual sensors based on welding robots have become an important research direction for modern welding. The visual sensing method applied to robots has the advantages of providing rich information, high sensitivity and measurement accuracy, strong anti-electromagnetic interference ability, being able to stay away from arc strong light and strong heat areas, no contact with the workpiece, and a large detection area. Visual sensing technology is mainly used in the field of welding robots for macro-environment recognition, guidance of the initial welding position, identification of welding joint forms, weld tracking, and penetration control. Among them, the autonomous guidance of the initial welding position of the robot has always been one of the key contents of the research on intelligent welding. Active laser visual sensing has been widely valued because of its stable signal and is not easily disturbed compared to passive vision. However, the traditional single-line laser active visual sensing affects the guidance accuracy of the initial welding position in robot intelligent welding due to the existence of advance detection errors.

[0003] Therefore, it is urgent to design a parallel dual-line laser robot welding initial position guidance system and method to solve the above-mentioned single-line laser active visual sensing in robot intelligent welding has advance detection error and affects the guidance accuracy of the welding initial position. Summary of the invention

[0004] In order to solve the technical problems mentioned in the background technology that single-line laser active visual sensing has advance detection errors in robot intelligent welding and affects the guidance accuracy of the initial welding position, a parallel dual-line laser robot welding initial position guidance system and method are provided to solve the above problems.

[0005] To achieve the above-mentioned purpose, the specific technical scheme of the parallel dual-line laser robot welding initial position guidance system and method of the present invention is as follows: A parallel double-line laser robot welding initial position guidance system comprises a welding robot, a welding gun connected to the welding robot, a visual sensor connected to the welding gun, a camera arranged in the visual sensor, a laser installed in the visual sensor to emit parallel laser, the parallel light intersects with the weld seam of the to-be-welded piece to form a first intersection point and a second intersection point, the first intersection point and the second intersection point are connected to form a welding trajectory line, and the welding robot controls the welding gun to weld the weld seam along the welding trajectory line; The parallel laser includes a first laser and a second laser. The first laser emitter and the second laser emitter are arranged in the box body. The first laser emitter and the second laser emitter are arranged in parallel. The first excitation emitter and the second laser emitter are rotatably arranged on the side wall of the box body. The first laser emitter emits a laser to irradiate the workpiece to be welded to form a first laser. The second welding emitter emits a laser to irradiate the workpiece to be welded to form a second laser. The visual sensor comprises a box body, a mechanical arm is connected outside the box body, a welding gun is arranged at one end of the mechanical arm away from the box body, and the box body and the welding gun are both arranged on the welding robot; the visual sensor also comprises a first bracket, the first bracket is rotatably arranged on the side wall of the box body, a first mounting hole and a second mounting hole are parallelly opened on the first bracket, a first laser emitter is arranged in the first mounting hole, a second laser emitter is arranged in the second mounting hole, and a camera is arranged between the welding gun and the first bracket; A baffle is also arranged outside the box body, and the baffle is arranged on a side of the box body close to the mechanical arm. The baffle is used to block the arc light when the welding gun is welding.

[0006] Furthermore, it also includes a robot controller and an industrial computer. The robot controller, the industrial computer, the welding robot and the visual sensor are connected. The industrial computer receives the image taken by the camera of the visual sensor, processes and analyzes the weld characteristics of the workpiece to be welded, extracts the initial welding position, and feeds back the processed data to the robot controller. The robot controller adjusts the position of the welding robot so that the welding robot drives the welding gun to weld the weld along the welding trajectory line.

[0007] Furthermore, the light of the first laser and the second laser are perpendicular to the weld, and the first laser and the second laser intersect with the weld to form a first intersection and a second intersection, which are connected to form a welding trajectory line, and the welding trajectory line coincides with the weld.

[0008] Furthermore, it also includes a second bracket, which is arranged in the box body and the camera is installed on the second bracket.

[0009] Furthermore, the visual sensor also includes a dimming and filtering unit, which is provided with a dimming plate and a filter, and the dimming plate and the filter are used to perform dimming and filtering operations on the arc light.

[0010] Furthermore, the first laser emitter and the second laser emitter are both semiconductor sensors.

[0011] Furthermore, the first laser emitter and the second laser emitter are both arranged obliquely with respect to the side wall of the box body.

[0012] A parallel double-line laser robot welding initial position guidance method comprises the following steps; S1, collecting weld images, preprocessing the weld images, and obtaining the welding initial position and weld position; S2, feeding back the processed data to the controller, which generates motion instructions for the welding robot, controls arc starting, arc extinguishing and designated motion mode of the welding robot; S3. The controller controls the welding robot to adjust the position of the welding gun, and the welding gun welds at the weld along a welding trajectory line formed by connecting the first intersection point and the second intersection point.

[0013] The parallel double-line laser robot welding initial position guidance system and method of the present invention have the following advantages: A visual sensor is connected to the welding gun, a camera is arranged in the visual sensor, and parallel laser is emitted from the visual sensor. The parallel light intersects with the weld of the workpiece to be welded to form a first intersection and a second intersection. The first intersection and the second intersection are connected to form a welding trajectory line, and the welding robot controls the welding gun to weld the weld along the welding trajectory line. The welding robot realizes the initial welding position guidance of the welding robot. The dual-line laser robot welding can weld according to the welding trajectory line. Compared with the single-line laser, there is only one intersection between the laser and the weld. At the initial welding position, it is not easy for the welding gun to weld the weld according to one intersection. The dual-line laser robot welding can obtain richer feature information for subsequent image processing, reduce the lead error of the tracking system, and improve the accuracy of the initial welding position guidance of the welding robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 Schematic diagram of the internal structure of the visual sensor of the present invention; Figure 2 The laser stripes of the double-line laser of the present invention are close to the edge of the welded part. Figure 1 ; Figure 3 The laser stripes of the double-line laser of the present invention are close to the edge of the welded part. Figure 2 ; Figure 4 The laser stripes of the double-line laser of the present invention are close to the edge of the welded part. Figure 3 .

[0015] Description of the markings in the figure: 1. Visual sensor; 2. Welding gun; 3. Camera; 4. Box; 41. Baffle; 5. Robotic arm; 6. First laser emitter; 7. Second laser emitter; 8. First bracket; 9. Second bracket; 10. Welding seam; 100. Part to be welded; 101. First laser; 102. Second laser; 201. Line one; 202. Line two; 203. Line three; 204. Line four. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0017] Those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0018] Please refer to the attached Figure 1 To Attachment Figure 4 The invention describes a parallel dual-line laser robot welding initial position guidance system and method.

[0019] like Figure 1 As shown, the parallel double-line laser robot welding initial position guidance system in the present invention includes a welding robot, a welding gun 2 is connected to the welding robot, a visual sensor 1 is provided on the welding gun 2, a camera 3 is provided in the visual sensor 1, a parallel laser is emitted from the visual sensor 1, and the parallel light intersects with the weld 10 of the workpiece 100 to be welded to form a first intersection and a second intersection, the first intersection and the second intersection are connected to form a welding trajectory line, and the welding robot controls the welding gun 2 to weld the weld 10 along the welding trajectory line. In this embodiment, the welding robot is a six-axis industrial robot, and the welding robot is used to realize the movement of the welding gun 2 to perform welding operations. Camera 3 adopts Daheng MER-200-14GM, and the maximum sampling frequency of the camera 3 is 14fps. The top of the CCD camera 3 is provided with a GigE data interface to facilitate image transmission, and a GPIO interface to facilitate adjusting the parameters of the camera 3 while collecting images.

[0020] By connecting a visual sensor 1 to the welding gun 2, a camera 3 is arranged in the visual sensor 1, and a parallel laser is emitted from the visual sensor 1. The parallel light intersects with the weld 10 of the workpiece 100 to be welded to form a first intersection and a second intersection. The first intersection and the second intersection are connected to form a welding trajectory line, and the welding robot controls the welding gun 2 to weld the weld 10 along the welding trajectory line. The welding robot realizes the initial welding position guidance, and the dual-line laser robot welding can be welded according to the welding trajectory line. Compared with the single-line laser and the weld 10, there is only one intersection between the weld 10. At the initial welding position, it is not easy for the welding gun 2 to realize the tracking welding of the weld 10 according to one intersection. In addition, the arc light emitted by the welding gun 2 during welding will affect the image acquisition of the intersection by the camera 3, resulting in poor welding quality and large errors. The dual-line laser robot welding can obtain richer feature information for subsequent image processing, reduce the advance error of the tracking system, and improve the accuracy of the welding robot's initial welding position guidance. Similarly, when welding is about to end, the dual-line laser robot welding can also improve the accuracy of the welding robot's welding end position guidance.

[0021] Further, if Figure 1 As shown, the parallel dual-line laser robot welding initial position guidance system in the present invention also includes a robot controller and an industrial computer. The robot controller, the industrial computer, the welding robot and the visual sensor 1 are connected. The industrial computer receives the image of the visual sensor 1, processes and analyzes the characteristics of the weld 10 of the welded part 100, extracts the initial welding position, and feeds back the processed data to the robot controller. The robot controller adjusts the position of the welding robot so that the welding robot drives the welding gun 2 to weld the weld 10 along the welding trajectory line. In the present invention, the industrial computer can also provide a human-computer interaction interface to display the parameters in the welding process, and can set and modify some of the parameters to facilitate the execution of welding tasks. The robot controller model is R-30iA, and the current system software of the robot controller is V7.7 version. The industrial computer obtains the real-time status of the welding robot and transmits data to the welding robot in real time.

[0022] Further, if Figure 1 As shown, the visual sensor 1 is a core component of the parallel double-line laser robot welding initial position guidance system. The visual sensor 1 includes a box 4, a mechanical arm 5 is connected to the outside of the box 4, and a welding gun 2 is arranged at one end of the mechanical arm 5 away from the box 4. The box 4 and the welding gun 2 are both arranged on the welding robot. Parallel light emitted from the box 4 intersects with the weld 10 to form a first intersection and a second intersection. The first intersection and the second intersection are connected to form a welding trajectory line. The welding robot controls the welding gun 2 by controlling the mechanical arm 5, so that the welding gun 2 welds the weld 10 along the welding trajectory line.

[0023] Further, if Figure 1As shown, the parallel laser includes a first laser 101 and a second laser 102. A first laser emitter 6 and a second laser emitter 7 are arranged in the box 4. The first laser emitter 6 and the second laser emitter 7 are arranged in parallel. The first excitation emitter 6 and the second laser emitter 7 are rotatably arranged on the side wall of the box 4. The angles of the first laser emitter 6 and the second laser emitter 7 can be adjusted according to actual conditions. The first laser emitter 6 emits a laser to irradiate the workpiece 100 to be welded to form the first laser 101, and the second welding emitter emits a laser to irradiate the workpiece 100 to be welded to form the second laser 102. The light of the first laser 101 and the second laser 102 are both perpendicular to the weld 10. The first intersection and the second intersection are formed at the intersection of the first laser 101 and the second laser 102 with the weld 10. The first intersection and the second intersection are connected to form a welding trajectory line, and the welding trajectory line is basically consistent with the weld 10. In this embodiment, the first laser emitter 6 and the second laser emitter 7 are both semiconductor sensors. The first laser emitter 6 and the second laser emitter 7 are both inclined to the side wall of the box 4.

[0024] Further, if Figure 1 As shown, the parallel dual-line laser robot welding initial position guidance system in the present invention also includes a first bracket 8, which is rotatably arranged on the side wall of the box body 4, and the first bracket 8 is parallelly provided with a first mounting hole and a second mounting hole, and the first laser emitter 6 is arranged in the first mounting hole, and the second laser emitter 7 is arranged in the second mounting hole. The first bracket 8 is tiltedly arranged on the box body 4 so that the first laser emitter 6 and the second laser emitter 7 are tilted with the box body 4. The light of the first laser 101 and the second laser 102 are both perpendicular to the weld 10, and the first intersection and the second intersection are formed at the intersection of the first laser 101 and the second laser 102 with the weld 10, and the first intersection and the second intersection are connected to form a welding trajectory line, and the welding trajectory line coincides with the weld 10.

[0025] Further, if Figure 1 As shown, the parallel double-line laser robot welding initial position guidance system in the present invention also includes a second bracket 9, the second bracket 9 is arranged in the box 4, the camera 3 is installed on the second bracket 9, and the camera 3 is placed between the welding gun 2 and the first bracket 8. The camera 3 is used to shoot the position of the first laser 101 and the second laser 102 on the workpiece 100 to be welded to the industrial computer, the industrial computer receives the image from the visual sensor, and processes and analyzes the welding workpiece, extracts the welding initial position, and feeds back the processed data to the controller; the controller generates the motion command of the welding robot, controls the arc starting, arc extinguishing and designated motion mode of the welding robot. The controller controls the welding robot to adjust the position of the welding gun 2, and the welding gun 2 welds at the weld 10 along the welding trajectory line formed by the first intersection and the second intersection. In this embodiment, the camera 3 is vertically arranged above the weld.

[0026] Further, if Figure 1 As shown, a baffle 41 is also provided outside the box 4. The baffle 41 is provided on one side of the box 4 close to the robot arm 5. The baffle 41 is used to block the arc light when the welding gun 2 is welding. During the welding process of the welding gun 2, arc light will be generated, which will interfere with the camera 3 shooting the first laser 101 and the second laser 102, making the image fed back to the industrial computer unclear, thereby affecting the operation of the controller controlling the welding robot to adjust the position of the welding gun 2, affecting the quality of welding. Therefore, the baffle 41 is provided, and the baffle 41 can block the arc light when the welding gun 2 is welding, which is convenient for the first laser 101 and the second laser 102 to irradiate, and the subsequent camera 3 to take pictures.

[0027] Furthermore, the visual sensor 1 also includes a dimming and filtering unit, which is provided with a dimming plate and a filter, which are used to dim and filter the arc light. The power of the first laser emitter 6 and the second laser emitter 7 is in the milliwatt level, while during the welding process, the power of the welding gun 2 is in the kilowatt level, which causes the brightness of the point arc light generated during welding to be much greater than the brightness of the laser stripes. In order to ensure that the characteristics of the weld 10 can be extracted normally, a filter and a dimming plate are used to dim and filter the molten pool arc light. The laser stripes are monochromatic and coherent, and the wavelength of the light generated by the laser is within a certain range near a certain wavelength. The wavelength of the laser in this system is 660nm. Using a filter, other wavelengths outside the wavelength range of 650-670nm can be filtered out, and the transmittance of the light can be reduced to about 10% by using a dimming plate.

[0028] Furthermore, the parallel dual-line laser robot welding initial position guidance system of the present invention also includes an automatic calibration module, a parameter setting module, an image processing module and a robot communication and trajectory transmission module. The human-computer interaction interface includes a parameter setting area, a function button area, and a welding image real-time display area.

[0029] The parallel dual-line laser robot welding initial position guidance system of the present invention must first be calibrated in practical application. Calibration is an important step to determine the static characteristic indicators of the system, the input-output relationship, and eliminate system errors. Calibration realizes the transformation of two-dimensional image information into three-dimensional environmental information. The position coordinates of each pixel point in the image taken by the camera 3 correspond one-to-one to a certain point on the surface of the space object. After completing the calibration process, the initial position of welding can be guided. The calibration of the welding initial position guidance system includes camera 3 calibration, laser plane calibration, and hand-eye calibration.

[0030] The welding robot uses the chassis of the welding robot as the reference plane, and the coordinate system of the welding robot is , in the welding machine, It can be regarded as the world coordinate system, which is the focus of coordinate transformation; tool coordinate system It consists of the tool center point and coordinate orientation, with the origin being the tip of the welding gun 2; the camera 3 coordinate system The origin is the center point of the optical axis of camera 3; It is a two-dimensional pixel coordinate system of the photosensitive element. The origin of the pixel coordinate system is located in the upper left corner of the image, and the two sides are along the right and downward directions of the image.

[0031] A point on the laser stripe in a known image Coordinates in the photosensitive component pixel coordinate system Under the condition of , the whole process of transforming the coordinates of the point to the coordinate system of the robot is expressed by the formula: -A point on the laser stripe The pixel coordinates are in homogeneous form; -Laser stripe points from To the camera 3 coordinate system conversion; -Hand-eye transformation matrix; -Conversion of the robot TCP point to the origin of the base coordinate system; -exist Homogeneous form coordinates under ; - Coefficients used for the coordinate transformation of the secondary form.

[0032] In the formula, It is the transformation matrix from the tool coordinate center point of the robot to the origin of the robot base coordinate system. The default factory position of the tool center point of the industrial robot is on the robot. Before use, the origin of the tool coordinate system needs to be moved from this position to the working position and direction. This process is called tool coordinate system calibration. Industrial robots generally have built-in tool coordinate system calibration functions, including three-point method, six-point method, etc. Among them, the accuracy of the three-point method is not very high, so the three-point method is generally not used for tool coordinate system calibration. After setting it can be read from the robot controller via the robot communication interface.

[0033] The robot welding initial position guidance method of the present invention mainly includes welding environment recognition and initial position coordinate extraction. Figures 2 to 4 As shown:

[0034] The groove section of the first laser 101 begins to deviate from the workpiece, resulting in a gap. The pixel coordinates of points d and e can be obtained through the image processing algorithm, corresponding to the two edge points D and E of the workpiece 100 to be welded on the groove. The first laser 101 can also extract points a1 and a2, representing the intersection points A1 and A2 of the two ridges of the workpiece surface and the V-shaped groove and the first laser 101. The second laser 102 is still completely irradiated on the surface of the workpiece 100 to be welded at this time. The image processing algorithm can extract points b1 and b2, which also represent the intersection points B1 and B2 of the two ridges of the workpiece surface and the V-shaped groove and the second laser 102. Point c1 is the characteristic point of the weld 10 irradiated by the second laser 102 at the groove, corresponding to the center point C1 of the weld 10 in the physical space.

[0035] The laser plane conversion matrix obtained through the calibration process can complete the transformation of the 7 points a1, a2, b1, b2, c1, d, and e in the image from the pixel coordinate system to the camera 3 coordinate system, and then through the hand-eye matrix transformation, the positions of these 7 points in the welding robot tcp coordinate system can be calculated. After obtaining the position information of the welding robot tcp at this time, the positions of the 7 points in the welding robot base coordinate system can be obtained. In other words, the coordinates of the physical points A1, A2, B1, B2, C1, D, and E corresponding to the 7 points a1, a2, b1, b2, c1, d, and e in the welding robot base coordinate system have been obtained.

[0036] Assume that point B1 is in the robot base coordinates The coordinates below are ( ), point B2 is in the robot base coordinates The coordinates below are ( ), point C1 is in the robot base coordinates The coordinates below are ( ), point D is in the robot base coordinates The coordinates below are ( ), point E is in the robot base coordinates The coordinates below are ( ). Calculate the equations of the straight line 1 201 where A1B1 is located and the straight line 2 202 where A2B2 is located. These two lines are the straight line information of the ridge line where the workpiece surface intersects the welding groove. Assume that the straight line 1 201 and the straight line 2 202 are respectively related to the vector ( ) and vector ( ) are parallel, then the equations of line 1 201 and line 2 202 are:

[0037] Because the groove ridge line and the weld 10 direction line are basically parallel, the vector ( ) and vector ( ) will not differ greatly, mainly because the workpieces are not completely parallel. Now the linear parameters of the weld 10 direction line are estimated from the linear parameters of the two groove ridge lines. Here we assume that ( ) is parallel to the direction of the weld line 10, take

[0038] So the equation of the weld 10 direction line can be obtained as: Then find the equation of the line between point D and point E: The coordinates of point Q can be obtained by finding the vertical projection of the straight line 204 where point D and point E are located on the straight line 203 where point C1 is located, which is the desired initial welding position point. In this embodiment, the first intersection and the second intersection are the corresponding points C1 and Q, and the welding trajectory is the straight line where points C1 and Q are located. The welding gun 2 welds along the straight line where points C1 and Q are located. And the current coordinate system of the point is the base coordinate system of the welding robot, which can be sent to the welding robot to guide the welding gun 2 to move to the point for welding. In the process of welding the workpiece 100 to be welded by the welding gun 2, the first intersection and the second intersection are constantly moving on the weld 10. Since the welding trajectory connecting the first intersection and the second intersection is basically consistent with the weld 10, the welding gun 2 continuously welds the weld 10 along the welding trajectory formed by the first intersection and the second intersection.

[0039] The advantage of this method is that after obtaining an image that meets the conditions, the coordinates of the initial welding position of the workpiece edge in the robot base coordinate system can be obtained through image processing. The operation is simple, the image processing algorithm is concise, and the time of scanning and constructing the three-dimensional coordinate trajectory of the weld 10 is saved.

[0040] After the welding robot is initialized, turn on the camera 3 and connect it to the welding robot, check whether the camera 3 has been calibrated, and if not, enter the visual system calibration module for calibration. After connecting the welding robot, check the status of the welding robot, and accept the parameter setting of the calibrated conversion matrix after the check is passed. In this way, the first laser 101 emitted by the first laser emitter 6 and the second laser 102 emitted by the second laser emitter 7 can be projected on the plane to form the laser intersection line of the welded part 100 to generate deformation. In the collected picture, you can see the laser stripe image with shape changes at the position of the weld 10, which can facilitate the subsequent extraction of the initial welding position features.

[0041] The working voltage of the first laser emitter 6 and the second laser emitter 7 are both 3V. The distance between the first laser 101 emitted by the first laser emitter 6 and the laser emitted by the second laser emitter 7 is constant, but the thickness and brightness of the first laser 101 can be adjusted within a certain range by rotating the head of the first laser emitter 6, and the thickness and brightness of the second laser 102 can be adjusted within a certain range by rotating the head of the second laser emitter 7. The stripe direction of the first laser 101 emitted by the first emitter and the stripe direction of the second laser 102 emitted by the second emitter are set at a certain angle to the center of the optical path of the camera 3, so that the laser intersection line formed by the first laser 101 emitted by the first laser emitter 6 and the second laser 102 emitted by the second laser emitter 7 projected on the workpiece 100 to be welded can generate deformation, and the laser stripe image with shape change at the position of the weld 10 can be seen in the collected picture, which can facilitate the subsequent extraction of the initial position feature of the welding.

[0042] The present invention also provides a parallel double-line laser robot welding initial position guidance method, comprising the following steps: S1, collecting the image of the weld 10, pre-processing the image of the weld 10, and obtaining the initial welding position and the position of the weld 10; S2, feeding back the processed data to the controller, which generates motion instructions for the welding robot, controls arc starting, arc extinguishing and designated motion mode of the welding robot; S3. The controller controls the welding robot to adjust the position of the welding gun 2. The welding gun 2 performs welding at the weld 10 along a welding trajectory formed by connecting the first intersection point and the second intersection point.

[0043] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A parallel dual-line laser robot welding initial position guidance system, characterized in that: The invention comprises a welding robot, wherein a welding gun is connected to the welding robot, a visual sensor is connected to the welding gun, a camera is arranged in the visual sensor, a laser is installed in the visual sensor to emit parallel laser, the parallel light intersects with the weld seam of the workpiece to be welded to form a first intersection point and a second intersection point, the first intersection point and the second intersection point are connected to form a welding trajectory line, and the welding robot controls the welding gun to weld the weld seam along the welding trajectory line; The parallel laser includes a first laser and a second laser. The first laser emitter and the second laser emitter are arranged in the box body. The first laser emitter and the second laser emitter are arranged in parallel. The first excitation emitter and the second laser emitter are rotatably arranged on the side wall of the box body. The first laser emitter emits a laser to irradiate the workpiece to be welded to form a first laser. The second welding emitter emits a laser to irradiate the workpiece to be welded to form a second laser. The visual sensor comprises a box body, a mechanical arm is connected outside the box body, a welding gun is arranged at one end of the mechanical arm away from the box body, and the box body and the welding gun are both arranged on the welding robot; the visual sensor also comprises a first bracket, the first bracket is rotatably arranged on the side wall of the box body, a first mounting hole and a second mounting hole are parallelly opened on the first bracket, a first laser emitter is arranged in the first mounting hole, a second laser emitter is arranged in the second mounting hole, and a camera is arranged between the welding gun and the first bracket; A baffle is also arranged outside the box body, and the baffle is arranged on a side of the box body close to the mechanical arm. The baffle is used to block the arc light when the welding gun is welding.

2. The parallel double-line laser robot welding initial position guidance system according to claim 1 is characterized in that: It also includes a robot controller and an industrial computer. The robot controller, the industrial computer, the welding robot and the visual sensor are connected. The industrial computer receives the image taken by the camera of the visual sensor, processes and analyzes the weld characteristics of the workpiece to be welded, extracts the initial welding position, and feeds back the processed data to the robot controller. The robot controller adjusts the position of the welding robot so that the welding robot drives the welding gun to weld the weld along the welding trajectory line.

3. The parallel double-line laser robot welding initial position guidance system according to claim 1 is characterized in that: The light of the first laser and the second laser are perpendicular to the weld, and the intersection of the first laser and the second laser with the weld forms a first intersection and a second intersection, which are connected to form a welding trajectory line, and the welding trajectory line coincides with the weld.

4. The parallel double-line laser robot welding initial position guidance system according to claim 1, characterized in that: It also includes a second bracket, which is arranged in the box body and the camera is installed on the second bracket.

5. The parallel double-line laser robot welding initial position guidance system according to claim 1, characterized in that: The visual sensor also includes a dimming and filtering unit, which is provided with a dimming plate and a filter. The dimming plate and the filter are used to perform dimming and filtering operations on the arc light.

6. The parallel double-line laser robot welding initial position guidance system according to claim 1, characterized in that: The first laser emitter and the second laser emitter are both semiconductor sensors.

7. The parallel double-line laser robot welding initial position guidance system according to claim 1, characterized in that: The first laser emitter and the second laser emitter are both arranged obliquely to the side wall of the box body.

8. A parallel double-line laser robot welding initial position guidance method, characterized in that: The steps include: S1, collecting weld images, preprocessing the weld images, and obtaining the welding initial position and weld position; S2, feeding back the processed data to the controller, which generates motion instructions for the welding robot, controls arc starting, arc extinguishing and designated motion mode of the welding robot; S3. The controller controls the welding robot to adjust the position of the welding gun, and the welding gun welds at the weld along a welding trajectory line formed by connecting the first intersection point and the second intersection point.

Images