Parallel double-line laser robot welding initial position guiding system and method

Abstract

The application discloses a parallel double-line laser robot welding initial position guiding system, which comprises a welding robot, a welding torch connected to the welding robot, a visual sensor arranged on the welding torch, a camera arranged in the visual sensor, a laser arranged in the visual sensor, parallel laser emitted, the parallel light intersecting with a weld seam of a to-be-welded piece to form a first intersection point and a second intersection point, the first intersection point and the second intersection point being connected to form a welding track line, and the welding robot controlling the welding torch to weld the weld seam along the welding track line. The application also discloses a parallel double-line laser robot welding initial position guiding method. The parallel double-line laser robot welding initial position guiding system and method provided by the application realize welding robot welding initial position guiding, reduce the leading error of a tracking system, and improve the precision of welding robot welding initial position guiding.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robot welding, and particularly relates to a parallel double-line laser robot welding initial position guiding system and method. BACKGROUND

[0002] In the field of modern welding, automation and intelligent welding have become the development trend, and the visual sensor based on the welding robot has become an important research direction of modern welding. The visual sensing method applied to the robot has the advantages of providing rich information, high sensitivity and measurement accuracy, strong anti-electromagnetic field interference ability, being able to be far away from the arc light and strong heat area, being free of contact with the workpiece, and large detection area. The visual sensing technology in the field of welding robots is mainly applied to macro-environment recognition, initial welding position guiding, welding joint form recognition, welding seam tracking and penetration control. Among them, the autonomous guiding of the initial position of the robot welding has been one of the key contents of the research on intelligent welding. Active laser visual sensing is widely valued due to its stable signal and less interference compared with passive visual sensing. However, the traditional single-line laser active visual sensing has an error in advance detection, which affects the guiding accuracy of the initial welding position in the intelligent welding of the robot.

[0003] Therefore, it is urgent to design a parallel double-line laser robot welding initial position guiding system and method to solve the problem of the single-line laser active visual sensing in the intelligent welding of the robot, which has an error in advance detection and affects the guiding accuracy of the initial welding position. SUMMARY

[0004] In order to solve the technical problem of the single-line laser active visual sensing in the intelligent welding of the robot, which has an error in advance detection and affects the guiding accuracy of the initial welding position, a parallel double-line laser robot welding initial position guiding system and method are provided to solve the above problems.

[0005] To achieve the above purpose, the specific technical scheme of the parallel double-line laser robot welding initial position guiding system and method of the present application is as follows:

[0006] A parallel double-line laser robot welding initial position guiding system, comprising 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, and a laser emitter arranged in the visual sensor to emit parallel laser. The parallel light intersects with the weld 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. The welding robot controls the welding gun to weld along the welding trajectory line.

[0007] The parallel laser includes a first laser and a second laser, and the box is provided with a first laser emitter and a second laser emitter, the first laser emitter and the second laser emitter are arranged in parallel, the first laser emitter and the second laser emitter are rotationally arranged on the side wall of the box, the first laser emitter emits laser to irradiate on the to-be-welded part to form the first laser, and the second laser emitter emits laser to irradiate on the to-be-welded part to form the second laser.

[0008] The visual sensor includes a box, a mechanical arm is connected outside the box, a welding gun is arranged at one end of the mechanical arm away from the box, and the box and the welding gun are arranged on a welding robot; the visual sensor further includes a first support, the first support is rotationally arranged on the side wall of the box, the first support is provided with a first mounting hole and a second mounting hole in parallel, the first laser emitter is arranged in the first mounting hole, the second laser emitter is arranged in the second mounting hole, and the camera is arranged between the welding gun and the first support.

[0009] The box is further provided with a baffle outside the box, the baffle is arranged on the side of the box close to the mechanical arm, and the baffle is used for blocking the arc light during welding of the welding gun.

[0010] Further, the robot controller and the industrial computer are further included, the robot controller, the industrial computer, the welding robot and the visual sensor are connected, the industrial computer receives images captured by the camera of the visual sensor, processes and analyzes the weld characteristics of the to-be-welded part, extracts the welding initial position, feeds back the data obtained by processing to the robot controller, and 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.

[0011] Further, the light rays of the first laser and the second laser are perpendicular to the weld, the first laser and the second laser intersect with the weld 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 trajectory line coincides with the weld.

[0012] Further, the second support is further included, the second support is arranged in the box, and the camera is mounted on the second support.

[0013] Further, the visual sensor further includes a light reduction and light filtering unit, the light reduction and light filtering unit is provided with a light reduction sheet and a light filtering sheet, and the light reduction sheet and the light filtering sheet are used for light reduction and light filtering operations on the arc light.

[0014] Further, the first laser emitter and the second laser emitter are both semiconductor sensors.

[0015] Further, the first laser emitter and the second laser emitter are both arranged obliquely with the side wall of the box.

[0016] A parallel double-line laser robot welding initial position guiding method, including the following steps:

[0017] S1, collect the weld image, pre-process the to-be-welded seam image, obtain the welding initial position and the weld position;

[0018] S2, feed back the data obtained by processing to the controller, the controller generates the motion instruction of the welding robot, controls the arc striking, arc extinguishing and specified motion mode of the welding robot;

[0019] S3, the controller controls the welding robot to adjust the position of the welding torch, and the welding torch performs welding at the weld along the welding trajectory line connected by the first intersection point and the second intersection point.

[0020] The parallel double-line laser robot welding initial position guiding system and method have the following advantages:

[0021] By connecting the visual sensor on the welding torch, the camera is arranged in the visual sensor, the parallel laser is emitted in the visual sensor, the parallel light intersects with the weld of the to-be-welded piece to form the first intersection point and the second intersection point, the first intersection point and the second intersection point are connected to form the welding trajectory line, and the welding robot controls the welding torch to weld the weld along the welding trajectory line. The welding robot welding initial position guiding is realized, the double-line laser robot welding can be welded according to the welding trajectory line, and compared with the single-line laser and the weld, only one intersection point exists between the single-line laser and the weld. In the welding initial position, the welding torch is not easy to realize the welding of the weld according to one intersection point. The double-line laser robot welding can obtain more rich feature information for subsequent image processing, reduces the leading error of the tracking system, and improves the precision of the welding robot welding initial position guiding. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is the internal structure schematic view of the visual sensor of the application;

[0023] Figure 2 It is the laser stripe of the double-line laser close to the edge of the to-be-welded piece Figure One ;

[0024] Figure 3 It is the laser stripe of the double-line laser close to the edge of the to-be-welded piece Figure Two ;

[0025] Figure 4 It is the laser stripe of the double-line laser close to the edge of the to-be-welded piece Figure Three .

[0026] Marking description in the figure:

[0027] 1. Vision sensor; 2. Welding torch; 3. Camera; 4. Housing; 41. Baffle; 5. Robotic arm; 6. First laser emitter; 7. Second laser emitter; 8. First support; 9. Second support; 10. Weld seam; 100. Part to be welded; 101. First laser; 102. Second laser; 201. Line 1; 202. Line 2; 203. Line 3; 204. Line 4. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

[0030] The following is a reference to the appendix. Figure 1 To be continued Figure 4 The present invention describes the parallel dual-line laser robot welding initial position guidance system and method.

[0031] like Figure 1 As shown, the parallel dual-line laser robot welding initial position guidance system of the present invention includes a welding robot, a welding torch 2 connected to the welding robot, a vision sensor 1 mounted on the welding torch 2, and a camera 3 installed inside the vision sensor 1. The vision sensor 1 emits parallel laser light, which intersects with the weld seam 10 of the workpiece 100 to form a first intersection point and a second intersection point. The first and second intersection points are connected to form a welding trajectory line. The welding robot controls the welding torch 2 to weld the weld seam 10 along the welding trajectory line. In this embodiment, the welding robot is a six-axis industrial robot, which moves the welding torch 2 to perform the welding operation. The camera 3 is a Daheng MER-200-14GM, with a maximum sampling frequency of 14fps. The top of the CCD camera 3 has a GigE data interface for convenient image transmission and a GPIO interface for adjusting the camera 3 parameters while acquiring images.

[0032] A vision sensor 1 is connected to the welding torch 2, and a camera 3 is installed inside the vision sensor 1. The vision sensor 1 emits a parallel laser, which intersects with the weld seam 10 of the workpiece 100 to form a first intersection point and a second intersection point. The first and second intersection points are connected to form a welding trajectory line. The welding robot controls the welding torch 2 to weld the weld seam 10 along the welding trajectory line. This achieves initial position guidance for the welding robot. Dual-line laser robot welding can weld according to the welding trajectory line. Compared with single-line laser welding, which only has one intersection point with the weld seam 10, the welding torch 2 cannot easily track and weld the weld seam 10 based on a single intersection point at the initial welding position. Moreover, the arc light emitted by the welding torch 2 during welding will affect the image acquisition of the intersection point by the camera 3, resulting in poor welding quality and large errors. Dual-line laser robot welding can obtain richer feature information for subsequent image processing, reducing the lead error of the tracking system and improving the accuracy of the initial position guidance of the welding robot. Similarly, dual-line laser robot welding can also improve the accuracy of the end position guidance of the welding robot near the end of the welding process.

[0033] Furthermore, such as Figure 1 As shown, the parallel dual-line laser robot welding initial position guidance system of this invention also includes a robot controller and an industrial computer. The robot controller, industrial computer, welding robot, and vision sensor 1 are connected. The industrial computer receives images from the vision sensor 1, processes and analyzes the features of the weld seam 10 of the workpiece 100 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 torch 2 to weld the weld seam 10 along the welding trajectory line. In this invention, the industrial computer can also provide a human-machine interface to display parameters during the welding process and allow setting and modification of some 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 version V7.7. The industrial computer obtains the real-time status of the welding robot and transmits data to the welding robot in real time.

[0034] Furthermore, such as Figure 1 As shown, the vision sensor 1 is a core component of the parallel dual-line laser robot welding initial position guidance system. The vision sensor 1 includes a housing 4, with a robotic arm 5 connected to the outside of the housing 4. The welding torch 2 is located at the end of the robotic arm 5 furthest from the housing 4. Both the housing 4 and the welding torch 2 are mounted on the welding robot. Parallel light emitted from inside the housing 4 intersects with the weld seam 10 at a first intersection point and a second intersection point. The first and second intersection points are connected to form a welding trajectory line. The welding robot controls the welding torch 2 by controlling the robotic arm 5, thereby enabling the welding torch 2 to weld the weld seam 10 along the welding trajectory line.

[0035] Furthermore, such as 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 disposed inside the housing 4, arranged parallel to each other. The first excitation emitter 6 and the second laser emitter 7 are rotatably mounted on the side wall of the housing 4, and their angles can be adjusted according to actual conditions. The first laser emitter 6 emits laser light that irradiates the workpiece 100 to be welded, forming the first laser 101. The second laser emitter emits laser light that irradiates the workpiece 100 to be welded, forming the second laser 102. The light rays of both the first laser 101 and the second laser 102 are perpendicular to the weld seam 10. The intersections of the first laser 101 and the second laser 102 with the weld seam 10 form a first intersection point and a second intersection point. Connecting these two points forms a welding trajectory line, which substantially coincides with the weld seam 10. In this embodiment, both the first laser emitter 6 and the second laser emitter 7 are semiconductor sensors. Both the first laser emitter 6 and the second laser emitter 7 are inclined to the side wall of the housing 4.

[0036] Furthermore, such as Figure 1 As shown, the parallel dual-line laser robot welding initial position guidance system of the present invention also includes a first support 8, which is rotatably mounted on the side wall of the housing 4. The first support 8 has a first mounting hole and a second mounting hole parallel to each other. A first laser emitter 6 is mounted in the first mounting hole, and a second laser emitter 7 is mounted in the second mounting hole. The first support 8 is tilted on the housing 4 so that the first laser emitter 6 and the second laser emitter 7 are tilted relative to the housing 4. The rays of the first laser 101 and the second laser 102 are both perpendicular to the weld 10. The intersections of the first laser 101 and the second laser 102 with the weld 10 form a first intersection point and a second intersection point. Connecting the first intersection point and the second intersection point forms a welding trajectory line, which coincides with the weld 10.

[0037] Furthermore, such as Figure 1 As shown, the parallel dual-line laser robot welding initial position guidance system of the present invention also includes a second support 9, which is set inside the housing 4. A camera 3 is mounted on the second support 9 and positioned between the welding torch 2 and the first support 8. The camera 3 is used to capture images of the positions of the first laser 101 and the second laser 102 on the workpiece 100 to be welded and transmit these images to the industrial control computer. The industrial control computer receives images from the vision sensor, processes and analyzes the workpiece, extracts the initial welding position, and feeds the processed data back to the controller. The controller generates motion commands for the welding robot, controlling the arc initiation, arc extinguishing, and specified motion mode of the welding robot. The controller controls the welding robot to adjust the position of the welding torch 2, and the welding torch 2 welds along the welding trajectory line formed by the first and second intersection points at the weld seam 10. In this embodiment, the camera 3 is vertically positioned above the workpiece.

[0038] Furthermore, such as Figure 1 As shown, a baffle 41 is also provided outside the housing 4. The baffle 41 is located on the side of the housing 4 near the robotic arm 5 and is used to block the arc light generated during welding by the welding torch 2. During the welding process, the welding torch 2 generates arc light, which interferes with the camera 3's capture of the first laser 101 and the second laser 102, resulting in unclear images fed back to the industrial control computer. This, in turn, affects the controller's operation of adjusting the position of the welding torch 2, thus affecting the welding quality. Therefore, the baffle 41 is provided to block the arc light generated during welding by the welding torch 2, facilitating the illumination of the first laser 101 and the second laser 102, as well as the subsequent image capture by the camera 3.

[0039] Furthermore, the vision sensor 1 also includes a light reduction and filtering unit, which is equipped with a light reduction filter and a light filter. The light reduction filter and the light filter are used to reduce and filter the arc light. The power of the first laser emitter 6 and the second laser emitter 7 is in the milliwatt range, while the power of the welding torch 2 is in the kilowatt range during welding. This results in the brightness of the spot arc light generated during welding being much greater than the brightness of the laser stripe. In order to ensure that the features of the weld 10 can be extracted normally, a light filter and a light reduction filter are used to reduce and filter the arc light of the molten pool. The laser stripe has monochromaticity and coherence, and the wavelength of the light generated by the laser is within a certain range around a certain wavelength. The laser wavelength in this system is 660nm. Using a filter, other wavelengths of light outside the 650-670nm wavelength range can be filtered out. Using a light reduction filter, the light transmittance is reduced to about 10%.

[0040] Furthermore, the parallel dual-line laser robot welding initial position guidance system of the present invention also includes an automated calibration module, a parameter setting module, an image processing module, and a robot communication and trajectory transmission module. The human-machine interface includes a parameter setting area, a function button area, and a real-time welding image display area.

[0041] The parallel dual-line laser robot welding initial position guidance system of this invention requires calibration before practical application. Calibration is a crucial step in determining the system's static characteristics, input-output relationships, and eliminating system errors. Calibration converts two-dimensional image information into three-dimensional environmental information, ensuring that the position coordinates of each pixel in the image captured by camera 3 correspond one-to-one with a point on the surface of the spatial object. Only after completing the calibration process can the initial welding position be guided. The calibration of the welding initial position guidance system includes camera 3 calibration, laser plane calibration, and hand-eye calibration.

[0042] The welding robot uses its chassis as a reference plane, and its coordinate system is as follows: In the welding machine, The tool coordinate system can be considered the world coordinate system and is the key to coordinate transformation; It consists of the tool's center point and coordinate orientation, with its origin at the tip of the welding torch 2; camera 3 coordinate system. The origin is the center point of the camera's three optical axes; This is a two-dimensional pixel coordinate system for the photosensitive element. The origin of the pixel coordinate system is located at the upper left corner of the image, and the two sides are along the right and down directions of the image.

[0043] A point on the laser stripe in a known image Coordinates in the pixel coordinate system of photosensitive components Under certain conditions, the entire process of transforming the coordinates of this point to the robot's coordinate system can be expressed by the following formula:

[0044]

[0045] -A point on the laser stripe Homogeneous form of pixel coordinates;

[0046] -Laser stripe dots from To the camera 3-coordinate system Conversion;

[0047] - Hand-eye conversion matrix;

[0048] - Transformation of robot TCP points to the origin of the base coordinate system;

[0049] -exist Homogeneous coordinates under the given conditions;

[0050] - Coefficients used for secondary form coordinate transformation.

[0051] In the formula, This is the transformation matrix from the robot's tool coordinate center point to the origin of the robot's base coordinate system. The default factory location of the industrial robot's tool center point is on the robot itself. Before use, the origin of the tool coordinate system needs to be moved from this location to the working position and direction. This process is called tool coordinate system calibration. Most industrial robots have built-in tool coordinate system calibration functions, including three-point and six-point methods. However, the three-point method does not offer very high precision, so it is generally not used for tool coordinate system calibration. After configuration, the information can be read from the robot controller via the robot communication interface.

[0052] The robot welding initial position guidance method of this invention mainly includes welding environment recognition and initial position coordinate extraction. Specifically, as follows... Figures 2 to 4 As shown:

[0053] The bevel section of the first laser 101 begins to deviate from the workpiece, resulting in a notch. Image processing algorithms can determine the pixel coordinates of points d and e, corresponding to points D and E on the edges of the two workpieces 100 to be welded on the bevel. Points a1 and a2 can also be extracted from the first laser 101, representing the intersection points A1 and A2 of the workpiece surface and the two ridges of the V-shaped bevel with the first laser 101. The second laser 102 remains fully irradiated on the surface of the workpiece 100. Image processing algorithms can extract points b1 and b2, similarly representing the intersection points B1 and B2 of the workpiece surface and the two ridges of the V-shaped bevel with the second laser 102. Point c1 is the feature point of the weld 10 at the bevel irradiated by the second laser 102, corresponding to the center point C1 of the weld 10 in physical space.

[0054] The laser plane transformation matrix obtained through the calibration process can transform the seven points a1, a2, b1, b2, c1, d, and e in the image from the pixel coordinate system to the camera 3 coordinate system. Then, through the hand-eye matrix transformation, the positions of these seven points in the welding robot's TCP coordinate system can be obtained. After obtaining the position information of the welding robot's TCP at this time, the positions of the seven points in the welding robot's 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 seven points a1, a2, b1, b2, c1, d, and e in the welding robot's base coordinate system have been obtained.

[0055] Assume point B1 is in the robot's base coordinate system. The coordinates below are ( Point B2 is in the robot's base coordinate system. The coordinates below are ( Point C1 is in the robot's base coordinate system. The coordinates below are ( Point D is in the robot's base coordinate system. The coordinates below are ( Point E is in the robot's base coordinate system. The coordinates below are ( Find the equations of line 201 containing A1B1 and line 202 containing A2B2, respectively. These two lines are the ridge lines where the workpiece surface intersects the weld bevel. Let line 201 and line 202 intersect the vector ( ) and vector ( If the lines are parallel, then the equations of line 1 (201) and line 2 (202) are respectively:

[0056]

[0057]

[0058] Because the bevel ridge line and the weld 10 direction line are basically parallel, the vector ( ) and vector ( The difference will not be significant; it is mainly due to the workpieces not being perfectly parallel. The straight-line parameters of the weld seam in the 10 direction are now estimated using the straight-line parameters of the two bevel ridges. Here, it is assumed that ( Parallel to the direction of weld line 10, take

[0059]

[0060]

[0061]

[0062] Therefore, the equation of the weld seam in direction 10 can be obtained as follows:

[0063]

[0064] Then the equation of the line between points D and E is:

[0065]

[0066] The coordinates of point Q can be obtained by projecting the vertical projection of line 204 (where points D and E are located) onto line 203 (where point C1 is located). This is the desired initial welding position. In this embodiment, the first and second intersection points correspond to points C1 and Q, and the welding trajectory line is the straight line containing points C1 and Q. The welding torch 2 welds along the straight line containing points C1 and Q. The current coordinate system of this point is the base coordinate system of the welding robot, which can be sent to the welding robot to guide the welding torch 2 to move to this point for welding. During the welding process of the welding torch 2 on the workpiece 100, the first and second intersection points continuously move on the weld 10. Since the welding trajectory line connecting the first and second intersection points basically coincides with the weld 10, the welding torch 2 continuously welds the weld 10 along the welding trajectory line formed by the first and second intersection points.

[0067] 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 it saves the time of scanning and constructing the three-dimensional coordinate trajectory of the weld seam.

[0068] After the welding robot is initialized, camera 3 is turned on and connected to the welding robot. It is then checked whether camera 3 has been calibrated. If not, calibration is performed in the vision system calibration module. After connecting the welding robot, its status is checked. Once the check is passed, the parameters of the calibrated transformation matrix are set. This allows the first laser 101 emitted by the first laser emitter 6 and the second laser 102 emitted by the second laser emitter 7 to be projected onto the laser intersection line formed by the workpiece 100 to be welded, generating deformation. The acquired image will show the laser stripe image with shape changes at the weld seam 10, facilitating the extraction of initial welding position features.

[0069] The first laser emitter 6 and the second laser emitter 7 both operate at 3V. The distance between the first laser 101 emitted by the first laser emitter 6 and the second laser 102 emitted by the second laser emitter 7 is constant. However, 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. Similarly, 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 directions of the first laser 101 emitted by the first emitter and the stripe directions of the second laser 102 emitted by the second emitter are set at a certain angle to the optical path center of the camera 3. This allows the laser intersection lines 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 onto the workpiece 100 to be welded to generate deformation. The acquired image shows the laser stripe image with shape changes at the weld 10 position, which facilitates the extraction of the initial position features of the subsequent welding.

[0070] The present invention also provides a method for guiding the initial position of parallel dual-line laser robot welding, comprising the following steps;

[0071] S1. Acquire images of weld 10, preprocess the images of weld 10 to obtain the initial welding position and the position of weld 10;

[0072] S2. The processed data is fed back to the controller, which generates motion commands for the welding robot to control the arc ignition, arc extinguishing, and specified motion mode of the welding robot.

[0073] S3. The controller controls the welding robot to adjust the position of the welding torch 2. The welding torch 2 welds at the weld seam 10 along the welding trajectory line formed by the connection of the first intersection point and the second intersection point.

[0074] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A parallel dual-line laser robot welding initial position guidance system, characterized in that, The system includes a welding robot, which is equipped with a welding torch. The welding torch is equipped with a vision sensor, which contains a camera and a laser that emits parallel laser light. The parallel laser 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. The welding robot controls the welding torch 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 installed inside the box. The first laser emitter and the second laser emitter are arranged in parallel. The first excitation emitter and the second laser emitter are rotatably installed on the side wall of the box. The first laser emitter emits laser light to irradiate the workpiece to be welded to form the first laser. The second welding emitter emits laser light to irradiate the workpiece to be welded to form the second laser. The vision sensor includes a housing, with a robotic arm connected to the outside of the housing. A welding torch is located at the end of the robotic arm away from the housing, and both the housing and the welding torch are mounted on the welding robot. It also includes a first bracket, which is rotatably mounted on the side wall of the housing. The first bracket has a first mounting hole and a second mounting hole opened in parallel on it. A first laser emitter is located in the first mounting hole, and a second laser emitter is located in the second mounting hole. A camera is placed between the welding torch and the first bracket. A baffle is also installed on the outside of the box, located on the side of the box near the robotic arm. The baffle is used to block the arc light from the welding torch during welding.

2. The parallel dual-line laser robot welding initial position guidance system according to claim 1, characterized in that, It also includes a robot controller and an industrial computer. The robot controller, industrial computer, welding robot and vision sensor are connected. The industrial computer receives the images captured by the camera of the vision sensor, processes and analyzes the weld features 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 torch to weld the weld along the welding trajectory line.

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

4. The parallel dual-line laser robot welding initial position guidance system according to claim 1, characterized in that, It also includes a second bracket, which is set inside the housing, and the camera is mounted on the second bracket.

5. The parallel dual-line laser robot welding initial position guidance system according to claim 1, characterized in that, The vision sensor also includes a light reduction and filtering unit, which is equipped with a light reduction filter and a light filter. The light reduction filter and the light filter are used to reduce and filter the arc light.

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

7. The parallel dual-line laser robot welding initial position guidance system according to claim 1, characterized in that, Both the first and second laser emitters are inclined to the side wall of the enclosure.

8. A method for guiding the initial position of parallel dual-line laser robot welding, employing the parallel dual-line laser robot welding initial position guidance system as described in any one of claims 1 to 7, characterized in that, Includes the following steps; S1. Acquire weld images, preprocess the weld images to obtain the initial welding position and weld position; S2. The processed data is fed back to the controller, which generates motion commands for the welding robot to control the arc ignition, arc extinguishing, and specified motion mode of the welding robot. S3. The controller controls the welding robot to adjust the position of the welding torch, and the welding torch performs welding at the weld seam along the welding trajectory line formed by the connection of the first intersection point and the second intersection point.

Images