High-efficiency welding seam tracking device and working method thereof

Abstract

The invention relates to the field of welding engineering, in particular to a high-efficiency welding seam tracking device which comprises a welding gun, a gear ring, an inner ring, an outer ring and a tungsten electrode, a connecting column is arranged at the center of the lower end of the welding gun, the bottom end of the connecting column is connected with a welding gun lower column, and the tungsten electrode is arranged at the center of the lower end of the welding gun lower column; the gear ring is located in the inner ring and the outer ring, the inner ring is embedded in the inner top of the outer ring, the bottom end of the outer ring is slidably connected to the surface of a lower column of the welding gun, a gear is arranged on the surface of the gear ring, a first bevel gear is arranged at the top end of the gear, and the top end of the gear ring penetrates through the welding gun and extends into the welding gun; the stepping motor is connected with the bevel gear III; the gear ring rotates in two directions through bevel gear transmission, and the inner ring and the outer ring autonomously select the rotation direction when the gear ring rotates in a reciprocating mode through the elastic teeth capable of popping out and retracting of the inner ring and the outer ring.

Description

Technical Field

[0001] The present invention relates to the field of welding engineering, and in particular to a high-efficiency weld tracking device and a working method thereof. Background Art

[0002] Welding is a commonly used manufacturing method in the manufacturing industry. Automatic welding processes usually have a weld seam tracking visual inspection system, which is used to track and detect the weld seam trajectory in real time during the welding process to ensure product quality. Traditional weld seam tracking visual inspection systems generally have a fixed angle and position of the visual sensor relative to the welding gun. This method is only suitable for tracking straight welds. This weld seam tracking visual inspection system cannot achieve controllable adjustment of the visual sensor angle. As a result, during the tracking of curved welds, the image captured by the visual sensor is prone to missing the weld seam, making it impossible for the visual acquisition device to observe the shape and position of the weld seam in real time, and thus unable to correct and adjust the position of the welding gun through the control system.

[0003] To address this issue, existing technologies use a visual sensor that revolves around the welding head. This allows the visual sensor to revolve according to the direction of the weld, allowing the visual acquisition device to observe the shape and position of the weld in real time. This problem is solved by correcting and adjusting the position of the welding gun through the control system.

[0004] However, during the welding process, it is difficult to detect whether there is a leaking weld when the welding gun is welding, and the laser 3D vision sensor is also easily damaged during welding and difficult to replace;

[0005] Therefore, it is necessary to design a weld tracking welding device that can observe whether the weld is welded well and the laser three-dimensional vision sensor is easy to replace. Summary of the Invention

[0006] Therefore, the present invention is made in view of the above problems. The purpose of the present invention is to use a stepper motor to drive the gear ring to rotate back and forth. The inner ring and the outer ring respectively have spring teeth that can be ejected and retracted. The reciprocating rotation of the gear ring allows the inner ring and the outer ring to independently choose whether to rotate and the direction of rotation, thereby allowing the main and auxiliary laser three-dimensional vision sensors to rotate freely. The main and auxiliary laser three-dimensional vision sensors are divided into two parts and cooperate with each other. When the main laser three-dimensional vision sensor is damaged, the auxiliary laser three-dimensional vision sensor can temporarily replace the work to solve the above problems. The present invention achieves the above purpose through the following technical solutions:

[0007] The cam is secured to the underside of the welding gun and is secured to the underside of the welding gun with a spring which is secured to the underside of the welding gun with a spring which is secured to the underside of the welding gun with a spring which is secured to the underside of the welding gun with a spring which is secured to the underside of the welding gun with a spring

[0008] Preferably, the outer side of the connecting column has a gear ring upper mounting groove, and the outer side of the connecting column at the end face of the lower column of the welding gun has a gear ring lower mounting groove, the gear ring upper mounting groove corresponds to the gear ring lower mounting groove, the lower end of the gear ring is installed in the gear ring lower mounting groove, and the upper end of the gear ring passes through the gear ring upper mounting groove.

[0009] Preferably, the outer side of the upper mounting groove of the gear ring has a sliding ring 1 mounting groove, and the outer side of the lower mounting groove of the gear ring has a sliding ring 2 mounting groove. The position of the sliding ring 1 mounting groove corresponds to the position of the sliding ring 2 mounting groove. The top end of the outer ring is installed in the sliding ring 1 mounting groove, and the bottom end of the outer ring is installed in the sliding ring 2 mounting groove.

[0010] Preferably, the first spring tooth is slidably mounted on the inner side of the inner ring through an electromagnet and a spring, and the second spring tooth is slidably mounted on the inner side of the outer ring through an electromagnet and a spring.

[0011] Preferably, the middle section of the outer circumference of the inner ring has a protruding ring, a mounting seat 1 is installed on one side of the protruding ring, and a secondary laser three-dimensional vision sensor is installed in the mounting seat 1.

[0012] Preferably, the outer ring has a sliding ring 1 at the upper end and a sliding ring 2 at the lower end, a mounting seat 2 is provided between the sliding ring 1 and the sliding ring 2, and a main laser three-dimensional vision sensor is installed inside the mounting seat 2.

[0013] Preferably, the top end of the outer ring is installed in the sliding ring 1 installation groove through the sliding ring 1, and the bottom end of the outer ring is installed in the sliding ring 2 installation groove through the sliding ring 2.

[0014] A high-efficiency working method of a weld tracking device comprises the following steps: S1: The main laser 3D vision sensor captures the welding image, processes the welding image, extracts the weld feature information, obtains the deflection angle information of the second mounting base, converts the angle information into an electrical signal, sends the electrical signal to the control system, and then the control system calculates the time when the second spring tooth needs to be ejected. The auxiliary laser 3D vision sensor captures the completed welding image, processes the completed welding image, extracts the feature information of the completed weld, captures the entire completed weld, obtains the deflection angle information of the first mounting base, converts the angle information into an electrical signal, sends the electrical signal to the control system, and then the control system calculates the time when the first spring tooth needs to be ejected; S2: The stepper motor starts to rotate in the direction required by the main laser 3D vision sensor, driving bevel gear 3, bevel gear 2, and bevel gear 1 to rotate and then drive the gear ring. If the main laser 3D vision sensor and the auxiliary laser 3D vision sensor need to rotate in the same direction, the stepper motor rotates in the direction required by the two. If the required directions are different, the stepper motor first rotates in the direction required by the main laser 3D vision sensor and then rotates in the direction required by the auxiliary laser 3D vision sensor. S3: If the main laser 3D vision sensor and the auxiliary laser 3D vision sensor need to rotate in the same direction, the inner ring and the outer ring can control the spring tooth 1 and the spring tooth 2 to pop out and rotate. When the main laser 3D vision sensor reaches the position, the spring tooth 2 is retracted. When the auxiliary laser 3D vision sensor reaches the position, the spring tooth 1 is retracted. If the main laser 3D vision sensor and the auxiliary laser 3D vision sensor need to rotate in different directions, the stepper motor first rotates in the direction required by the main laser 3D vision sensor, the outer ring controls the spring tooth 2 to pop out and rotate, and then the stepper motor rotates in the direction of rotation of the auxiliary laser 3D vision sensor, and the inner ring controls the spring tooth 1 to pop out and rotate. At this time, the equipment reaches a working state; S4: The equipment starts working. After welding begins, the main laser 3D vision sensor and the auxiliary laser 3D vision sensor start tracking the weld seam respectively. When the main laser 3D vision sensor and the auxiliary laser 3D vision sensor need to rotate in the same direction, the stepper motor drives the gear ring to rotate, and the spring tooth 1 and the spring tooth 2 only need to pop out at different times. When the main laser 3D vision sensor and the auxiliary laser 3D vision sensor need to turn in different directions, the stepper motor first drives the gear ring to rotate in the direction required by the main laser 3D vision sensor, and then drives the gear ring to rotate in the direction required by the auxiliary laser 3D vision sensor; S5: When the main laser 3D vision sensor is damaged, the equipment will swap the main laser 3D vision sensor and the auxiliary laser 3D vision sensor, use the auxiliary laser 3D vision sensor as the main laser 3D vision sensor, and ignore the rotation request of the main laser 3D vision sensor under computer control, ensuring that the equipment can adapt to extremely complex welds and can perform high-precision positioning and stable correction and adjustment of the position of the welding gun through the control system.

[0015] Beneficial effects of the present invention:

[0016] 1. The present invention uses an inner ring and an outer ring to be nested together so that the main and auxiliary laser 3D vision sensors can move freely in the circumferential space of the equipment, which is convenient for the main laser 3D vision sensor to observe along the complex weld trajectory and realize high-precision positioning of the welding head and the weld position through the algorithm at long and short viewing angles, thereby realizing high freedom of the laser 3D vision sensor to observe the weld. In addition, the auxiliary laser 3D vision sensor can observe from the rear whether the weld is intact. When the main laser 3D vision sensor is damaged, the auxiliary laser 3D vision sensor and the main laser 3D vision sensor are exchanged and the auxiliary laser 3D vision sensor temporarily replaces the main laser 3D vision sensor to work, so that the equipment can adapt to extremely complex welds, check the welding effect, and work continuously, thereby improving the working efficiency of the equipment.

[0017] 2. The present invention adopts a stepper motor to drive the gear ring, utilizes bevel gear transmission to make the gear ring rotate in both directions, and utilizes the retractable spring teeth of the inner ring and outer ring to make the inner ring and outer ring independently select the rotation direction and rotate when the gear ring rotates back and forth, making the equipment easy to control. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 An axonometric diagram of a high-efficiency weld tracking device provided by the present invention.

[0019] Figure 2 An exploded view of a high-efficiency weld tracking device provided by the present invention.

[0020] Figure 3 The present invention provides an exploded view of the rotating part of a high-efficiency weld tracking device.

[0021] Figure 4 A cross-sectional view of a high-efficiency weld tracking device provided by the present invention.

[0022] Figure 5 This is a top view of the rotating part of a high-efficiency weld tracking device provided by the present invention.

[0023] Figure 6 An axonometric view of a welding gun of a high-efficiency weld tracking device provided by the present invention.

[0024] Figure 7 An axonometric view from another perspective of a welding gun of a high-efficiency weld tracking device provided by the present invention.

[0025] Figure 8 An axonometric view of a gear ring of a high-efficiency weld tracking device provided by the present invention.

[0026] Figure 9This is an inner ring axonometric diagram of a high-efficiency weld tracking device provided by the present invention.

[0027] Figure 10 This is an outer ring axonometric view of a high-efficiency weld tracking device provided by the present invention.

[0028] Description of reference numerals:

[0029] 1. Welding gun; 11. Gear ring upper mounting groove; 12. Slide ring 1 mounting groove; 13. Connecting column; 14. Gear ring lower mounting groove; 15. Slide ring 2 mounting groove; 16. Welding gun lower column; 17. Bevel gear 2; 18. Stepper motor; 19. Bevel gear 3; 2. Gear ring; 21. Gear; 22. Bevel gear 1; 3. Inner ring; 31. Protruding ring; 32. Mounting seat 1; 33. Spring tooth 1; 34. Auxiliary laser 3D vision sensor; 4. Outer ring; 41. Slide ring 1; 42. Slide ring 2; 43. Mounting seat 2; 44. Spring tooth 2; 45. Main laser 3D vision sensor; 5. Tungsten electrode. DETAILED DESCRIPTION

[0030] The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings so that it is easy for a person skilled in the art to implement these embodiments; however, the present invention can also be implemented in various different forms, so the present invention is not limited to the embodiments described below; in addition, in order to more clearly describe the present invention, parts that are not connected to the present invention will be omitted from the accompanying drawings.

[0031] like Figure 1 、 Figure 2 、 Figure 4 As shown, a high-efficiency weld seam tracking device includes: a welding gun 1, a gear ring 2, an inner ring 3, an outer ring 4, and a tungsten electrode 5;

[0032] like Figure 6 、 Figure 7 As shown, the center of the lower end face of the welding gun 1 has a connecting column 13, the outer side of the connecting column 13 has a gear ring upper mounting groove 11, the outer side of the gear ring upper mounting groove 11 has a sliding ring first mounting groove 12, the lower end of the connecting column 13 is connected to the welding gun lower column 16, the outer side of the end face of the welding gun lower column 16 has a gear ring lower mounting groove 14 at the connecting column 13, and the outer side of the gear ring lower mounting groove 14 has a sliding ring second mounting groove 15, wherein the gear ring upper mounting groove 11 corresponds to the gear ring lower mounting groove 14, and the sliding ring first mounting groove 12 corresponds to the sliding ring second mounting groove 15, as shown in FIG. Figure 4-5As shown, the gear ring 2 is installed on the outside of the circumference of the connecting column 13, the lower end of the gear ring 2 is installed in the gear ring lower mounting groove 14, and the upper end of the gear ring 2 passes through the gear ring upper mounting groove 11, so that the gear ring 2 can rotate around the connecting column 13, the inner ring 3 and the outer ring 4 are fitted together, the inner ring 3 is nested and installed on the top of the outer ring 4, the bottom end of the outer ring 4 is slidably set on the surface of the lower column 16 of the welding gun, the top end of the outer ring 4 is installed in the sliding ring first mounting groove 12 through the sliding ring 1 41, and the bottom end of the outer ring 4 is installed in the sliding ring second mounting groove 15 through the sliding ring 2 42, so that the inner ring 3 and the outer ring 4 can rotate freely, and the gear ring 2 can engage with the spring tooth 1 33 and the spring tooth 2 44; as shown Figure 2 As shown, the welding gun 1 is internally installed with a bevel gear 2 17, a stepper motor 18, and a bevel gear 3 19. The stepper motor 18 is connected to the bevel gear 3 19. A bevel gear 2 17 meshing with the bevel gear 3 19 is provided on one side of the bottom end of the bevel gear 3 19. The bottom end of the bevel gear 2 17 is provided with a bevel gear 1 22 meshing with the bevel gear 2 17. The stepper motor 18 drives the bevel gear 2 17 through the bevel gear 3 19 and then drives the bevel gear 1 22 to rotate the gear ring 2 forward and reverse, and then the steering can be used to control the rotation and movement of the auxiliary laser 3D vision sensor 34 and the main laser 3D vision sensor 45 respectively. The tungsten electrode 5 is installed at the center of the lower end of the welding gun lower column 16;

[0033] like Figure 3 、 Figure 4 、 Figure 5 、 Figure 8 As shown, the gear ring 2 is located inside the inner ring 3 and the outer ring 4. The gear ring 2 has a gear 21 on its surface, and a bevel gear 1 22 on the top of the gear 21. The gear ring 2 is mounted on the circumferential side of the connecting column 13. The lower end of the gear ring 2 is mounted in the gear ring lower mounting groove 14. The upper end of the gear ring 2 passes through the gear ring upper mounting groove 11, so that the gear ring 2 can rotate around the connecting column 13. The gear 21 on the surface of the gear ring 2 can mesh with the spring tooth 1 33 and the spring tooth 2 44. Figure 5 As shown, when the gear ring 2 rotates clockwise, the gear 21 rotates clockwise. At this time, the inner ring 3 and the outer ring 4 can choose whether to pop out the spring tooth 1 33 and the spring tooth 2 44 to control the inner ring 3 and the outer ring 4 to rotate clockwise. Conversely, when the gear ring 2 rotates counterclockwise, the gear 21 rotates counterclockwise. At this time, the inner ring 3 and the outer ring 4 can choose whether to pop out the spring tooth 1 33 and the spring tooth 2 44 to control the inner ring 3 and the outer ring 4 to rotate counterclockwise.

[0034] like Figure 2 、 Figure 3 、 Figure 9As shown, the middle section of the outer circumference of the inner ring 3 has a protruding ring 31, and a mounting seat 32 is installed on one side of the protruding ring 31. A secondary laser three-dimensional vision sensor 34 is installed on the mounting seat 32. The inner side of the inner ring 3 has a spring tooth 33, which is slidably installed on the inner side of the inner ring 3 through an electromagnet and a spring. The spring tooth 33 can be ejected and retracted according to the electromagnet and spring device in the inner ring 3. The inner ring 3 can change its own rotation angle and direction according to whether the spring tooth 33 is ejected or not. The inner ring 3 is nested in the outer ring 4, so that the inner ring 3 can rotate relative to the outer ring 4.

[0035] like Figure 2 、 Figure 9 As shown, the outer ring 4 has a sliding ring 1 41 at the upper end and a sliding ring 2 42 at the lower end, a mounting seat 2 43 is provided between the sliding ring 1 41 and the sliding ring 2 42, and the mounting seat 2 43 is installed with a main laser three-dimensional vision sensor 45, and a spring tooth 2 44 is provided on the inner side of the sliding ring 1 41. The spring tooth 2 44 is slidably installed on the inner side of the outer ring 4 through an electromagnet and a spring. The spring tooth 2 44 can be ejected and retracted according to the electromagnet and spring device in the outer ring 4. The outer ring 4 can change its own rotation angle and direction according to whether the spring tooth 2 44 is ejected or not. The outer ring 4 is installed in the sliding ring 1 mounting groove 12 through the sliding ring 1 41, and the outer ring 4 is installed in the sliding ring 2 mounting groove 15 through the sliding ring 2 42, so that the inner ring 3 and the outer ring 4 can rotate freely.

[0036] Basic principles of the present invention:

[0037] like Figure 10As shown, when the present invention starts working, when the main laser three-dimensional vision sensor 45 starts to capture the welding image, the welding image is processed to extract the weld feature information, the deflection angle information of the mounting seat 2 43 is obtained, the angle information is converted into an electrical signal, the electrical signal is sent to the control system, and the control system calculates the time when the spring tooth 2 44 needs to be ejected, and the stepper motor 18 starts to rotate in the direction of rotation required by the main laser three-dimensional vision sensor 45 to drive the gear ring 2. At this time, the outer ring 4 controls the spring tooth 2 44 to pop out and is driven by the gear ring 2 to rotate; when the main laser three-dimensional vision sensor 45 reaches the position, the spring tooth 2 44 is retracted. At this time, the auxiliary laser three-dimensional vision sensor 34 has captured the welding completion image, and the welding completion image is processed to extract the feature information of the weld completion, and the completed weld is captured throughout the entire process, and the deflection angle information of the mounting seat 1 32 is obtained. The angle information is converted into an electrical signal, and the electrical signal is sent to the control system. The control system calculates the time when the spring tooth 1 33 needs to be ejected, and the stepper motor 18 starts to rotate in the direction of rotation required by the main laser three-dimensional vision sensor 45 to drive the gear ring 2. Drive, at this time the inner ring 3 can control the spring tooth 1 33 to pop out, and is driven by the gear ring 2 to rotate; when the auxiliary laser 3D vision sensor 34 reaches the position, the spring tooth 1 33 is retracted, and the equipment starts to work. After welding starts, the main laser 3D vision sensor 45 and the auxiliary laser 3D vision sensor 34 start to track the weld seam respectively. When the main laser 3D vision sensor 45 and the auxiliary laser 3D vision sensor 34 need to rotate in the same direction, the stepper motor 18 drives the gear ring 2 to rotate, and the spring tooth 1 33 and the spring tooth 2 44 only need to pop out at different times; when the main laser 3D vision sensor When the sensor 45 and the auxiliary laser 3D vision sensor 34 need to rotate in different directions, the stepper motor 18 first drives the gear ring 2 to rotate the main laser 3D vision sensor 45 in the direction required, and then drives the gear ring 2 to rotate the auxiliary laser 3D vision sensor 34 in the direction required. When the main laser 3D vision sensor 45 is damaged, the device swaps the positions of the main laser 3D vision sensor 45 and the auxiliary laser 3D vision sensor 34, uses the auxiliary laser 3D vision sensor 34 as the main laser 3D vision sensor 45, and ignores the rotation request of the main laser 3D vision sensor 45;

[0038] The working method of the above-mentioned weld tracking device is as follows:

[0039] S1: The main laser 3D vision sensor 45 captures the welding image, processes the welding image, extracts weld feature information, obtains the deflection angle information of the mounting seat 2 43, converts the angle information into an electrical signal, sends the electrical signal to the control system, and then the control system calculates the time when the spring tooth 2 44 needs to be ejected. The auxiliary laser 3D vision sensor 34 captures the welding completion image, processes the welding completion image, extracts the feature information of the weld completion, captures the entire completed weld, obtains the deflection angle information of the mounting seat 1 32, converts the angle information into an electrical signal, sends the electrical signal to the control system, and then the control system calculates the time when the spring tooth 1 33 needs to be ejected;

[0040] S2: The stepper motor 18 starts to rotate in the direction required by the main laser 3D vision sensor 45, driving the bevel gear 3 19, the bevel gear 2 17, and the bevel gear 1 22 to rotate and then drive the gear ring 2. If the main laser 3D vision sensor 45 and the auxiliary laser 3D vision sensor 34 need to rotate in the same direction, the stepper motor 18 rotates in the direction required by the two. If the required directions are different, the stepper motor 18 first rotates in the direction required by the main laser 3D vision sensor 45, and then rotates in the direction of rotation of the auxiliary laser 3D vision sensor 34.

[0041] S3: If the main laser 3D vision sensor 45 and the auxiliary laser 3D vision sensor 34 need to rotate in the same direction, the inner ring 3 and the outer ring 4 can control the spring tooth 1 33 and the spring tooth 2 44 to pop out and rotate. When the main laser 3D vision sensor 45 reaches the position, the spring tooth 2 44 is retracted. When the auxiliary laser 3D vision sensor 34 reaches the position, the spring tooth 1 33 is retracted. If the main laser 3D vision sensor 45 and the auxiliary laser 3D vision sensor 34 need to rotate in different directions, the stepper motor 18 first rotates in the direction of rotation required by the main laser 3D vision sensor 45, the outer ring 4 controls the spring tooth 2 44 to pop out and rotate, and then the stepper motor 18 rotates in the direction of rotation of the auxiliary laser 3D vision sensor 34, and the inner ring 3 controls the spring tooth 1 33 to pop out and rotate. At this time, the equipment reaches an operational state.

[0042] S4: The equipment starts working. After welding begins, the main laser 3D vision sensor 45 and the auxiliary laser 3D vision sensor 34 start tracking the weld seam respectively. When the main laser 3D vision sensor 45 and the auxiliary laser 3D vision sensor 34 need to rotate in the same direction, the stepper motor 18 drives the gear ring 2 to rotate, and the spring tooth 1 33 and the spring tooth 2 44 only need to pop out at different times. When the main laser 3D vision sensor 45 and the auxiliary laser 3D vision sensor 34 need to turn in different directions, the stepper motor 18 first drives the gear ring 2 to rotate in the direction required by the main laser 3D vision sensor 45, and then drives the gear ring 2 to rotate in the direction required by the auxiliary laser 3D vision sensor 34;

[0043] S5: When the main laser 3D vision sensor 45 is damaged, the equipment will swap the positions of the main laser 3D vision sensor 45 and the auxiliary laser 3D vision sensor 34, use the auxiliary laser 3D vision sensor 34 as the main laser 3D vision sensor 45, and ignore the rotation request of the main laser 3D vision sensor 45. It is controlled by the computer to ensure that the equipment can adapt to extremely complex welds and can perform high-precision positioning and stable correction and adjustment of the position of the welding gun through the control system.

Claims

1. A highly efficient weld tracking device, characterized by: The invention comprises a welding gun (1), a gear ring (2), an inner ring (3), an outer ring (4), and a tungsten electrode (5); the center of the lower end of the welding gun (1) is provided with a connecting column (13), the bottom end of the connecting column (13) is connected to the welding gun lower column (16), the center of the lower end of the welding gun lower column (16) is provided with a tungsten electrode (5), the outer side of the connecting column (13) is provided with a gear ring (2), the gear ring (2) is located inside the inner ring (3) and the outer ring (4), the inner ring (3) is nested and installed on the inner top of the outer ring (4), the bottom end of the outer ring (4) is slidably arranged on the surface of the welding gun lower column (16), the surface of the gear ring (2) is provided with a gear (21), the top end of the gear (21) is provided with a bevel gear (22), the top end of the gear ring (2) passes through the welding gun (1) and The welding gun (1) extends to the interior of the welding gun (1), wherein a second bevel gear (17), a stepper motor (18) and a third bevel gear (19) are installed inside the welding gun (1), wherein the stepper motor (18) is connected to the third bevel gear (19), wherein a second bevel gear (17) meshing with the third bevel gear (19) is provided on one side of the bottom end of the third bevel gear (19), wherein a first bevel gear (22) meshing with the second bevel gear (17) is provided on the bottom end of the second bevel gear (17), wherein a first spring tooth (33) and a second spring tooth (44) meshing with the gear (21) are respectively slidably installed inside the inner ring (3) and the outer ring (4), wherein a secondary laser three-dimensional vision sensor (34) is provided on the outside of the inner ring (3), and a primary laser three-dimensional vision sensor (45) is provided on the outside of the outer ring (4).

2. The high-efficiency weld tracking device according to claim 1, characterized in that: The outer side of the connecting column (13) is provided with a gear ring upper mounting groove (11), and the outer side of the end surface connecting column (13) of the welding gun lower column (16) is provided with a gear ring lower mounting groove (14), and the gear ring upper mounting groove (11) corresponds to the gear ring lower mounting groove (14) in position.

3. A high-efficiency weld tracking device according to claim 2, characterized in that: The lower end of the gear ring (2) is installed in the gear ring lower installation groove (14), and the upper end of the gear ring (2) passes through the gear ring upper installation groove (11).

4. The high-efficiency weld tracking device according to claim 3, characterized in that: The outer side of the gear ring upper mounting groove (11) is provided with a sliding ring first mounting groove (12), and the outer side of the gear ring lower mounting groove (14) is provided with a sliding ring second mounting groove (15), and the sliding ring first mounting groove (12) corresponds to the sliding ring second mounting groove (15).

5. The high-efficiency weld tracking device according to claim 4, characterized in that: The top end of the outer ring (4) is installed in the first installation groove (12) of the sliding ring, and the bottom end of the outer ring (4) is installed in the second installation groove (15) of the sliding ring.

6. A high-efficiency weld seam tracking device according to claim 5, characterized in that: The first spring tooth (33) is slidably mounted on the inner side of the inner ring (3) through an electromagnet and a spring, and the second spring tooth (44) is slidably mounted on the inner side of the outer ring (4) through an electromagnet and a spring.

7. The high-efficiency weld seam tracking device according to claim 6, characterized in that: The inner ring (3) has a protruding ring (31) in the middle section of the outer circumference side, a mounting seat (32) is installed on one side of the protruding ring (31), and a secondary laser three-dimensional vision sensor (34) is installed in the mounting seat (32).

8. The high-efficiency weld seam tracking device according to claim 7, characterized in that: The outer ring (4) has a sliding ring 1 (41) at the upper end and a sliding ring 2 (42) at the lower end. A mounting seat 2 (43) is provided between the sliding ring 1 (41) and the sliding ring 2 (42). A main laser three-dimensional vision sensor (45) is installed inside the mounting seat 2 (43).

9. The high-efficiency weld tracking device according to claim 8, characterized in that: The top end of the outer ring (4) is installed in the sliding ring first installation groove (12) through the sliding ring first (41), and the bottom end of the outer ring (4) is installed in the sliding ring second installation groove (15) through the sliding ring second (42).

10. A high-efficiency operating method of a weld tracking device, characterized in that: The use of a high-efficiency weld tracking device according to any one of claims 1 to 9 comprises the following steps: S1: The main laser three-dimensional vision sensor (45) captures the welding image, processes the welding image, extracts the weld feature information, obtains the deflection angle information of the second mounting seat (43), converts the angle information into an electrical signal, sends the electrical signal to the control system, and then the control system calculates the time when the second spring tooth (44) needs to be ejected. The auxiliary laser three-dimensional vision sensor (34) captures the welding completion image, processes the welding completion image, extracts the weld feature information after completion, captures the completed weld in its entirety, obtains the deflection angle information of the first mounting seat (32), converts the angle information into an electrical signal, sends the electrical signal to the control system, and then the control system calculates the time when the first spring tooth (33) needs to be ejected. S2: The stepper motor (18) starts to rotate in the direction required by the main laser three-dimensional vision sensor (45), driving the bevel gear three (19), the bevel gear two (17), and the bevel gear one (22) to rotate and then drive the gear ring (2). If the main laser three-dimensional vision sensor (45) and the auxiliary laser three-dimensional vision sensor (34) need to rotate in the same direction, the stepper motor (18) rotates in the direction required by the two. If the required directions are different, the stepper motor (18) first rotates in the direction required by the main laser three-dimensional vision sensor (45), and then rotates in the direction of rotation of the auxiliary laser three-dimensional vision sensor (34); S3: If the main laser three-dimensional vision sensor (45) and the auxiliary laser three-dimensional vision sensor (34) need to rotate in the same direction, the inner ring (3) and the outer ring (4) can control the spring tooth 1 (33) and the spring tooth 2 (44) to pop out and rotate. When the main laser three-dimensional vision sensor (45) reaches the position, the spring tooth 2 (44) is retracted. When the auxiliary laser three-dimensional vision sensor (34) reaches the position, the spring tooth 1 (33) is retracted. If the main laser three-dimensional vision sensor (45) and the auxiliary laser three-dimensional vision sensor (34) need to rotate in different directions, the stepper motor (18) first rotates according to the rotation direction of the main laser three-dimensional vision sensor (45), the outer ring (4) controls the spring tooth 2 (44) to pop out and rotate, and then the stepper motor (18) rotates according to the rotation direction of the auxiliary laser three-dimensional vision sensor (34), and the inner ring (3) controls the spring tooth 1 (33) to pop out and rotate. At this time, the device reaches a working state. S4: The equipment starts working. After welding starts, the main laser three-dimensional vision sensor (45) and the auxiliary laser three-dimensional vision sensor (34) start tracking the weld seam respectively. When the main laser three-dimensional vision sensor (45) and the auxiliary laser three-dimensional vision sensor (34) need to rotate in the same direction, the stepper motor (18) drives the gear ring (2) to rotate, and the spring tooth 1 (33) and the spring tooth 2 (44) only need to be ejected at different times. When the main laser three-dimensional vision sensor (45) and the auxiliary laser three-dimensional vision sensor (34) need to turn in different directions, the stepper motor (18) first drives the gear ring (2) to rotate in the direction required by the main laser three-dimensional vision sensor (45), and then drives the gear ring (2) to rotate in the direction required by the auxiliary laser three-dimensional vision sensor (34); S5: When the main laser 3D vision sensor (45) is damaged, the device swaps the positions of the main laser 3D vision sensor (45) and the auxiliary laser 3D vision sensor (34), uses the auxiliary laser 3D vision sensor (34) as the main laser 3D vision sensor (45), and ignores the rotation request of the main laser 3D vision sensor (45) under computer control, ensuring that the device can adapt to extremely complex welds and can perform stable deviation correction and adjustment of the position of the welding gun through high-precision positioning and the control system.

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