Research On Intelligent Tracking Detection Technology For Complex Curve Weld

Industrial robots are widely used in packaging,handling,testing,spraying,cutting and other manufacturing industries.Robot welding technology is one of the important research directions.With the continuous study of industrial robots and the labor costs of labor increased year by year,which promoting the industrial robot welding technology in the direction of automation,intelligent development.At present,most of the domestic robot welding are used to teach the traditional way to reproduce,that is,before welding in advance manually set the welding path point.But when the robot faces complex spatial trajectories,low accuracy or easy deformation of the weld,it will exist the larger situation of the actual weld and teaching route deviation.Therefore,in the implementation of the complex trajectory of the welding task,supplemented by seam tracking detection technology is more appropriate.The research on the seam tracking detection technology of robot is mainly focused on the plane straight line or the simple curve weld,but the research on the tracking detection problem of the complex curve is less.In this paper,the intelligent welding technology of robot based on structured light scanning seam tracking sensor is studied.Including the digital processing algorithm of the weld image,the system parameter calibration method,the robot motion control method and so on.During the welding process,the movement of the welding torch is divided into two parts: translation and rotation.The motion control of the robot is realized by the optimal control method based on genetic algorithm.Finally,in order to verify the effectiveness of the proposed algorithm for seam tracking motion control proposed in this paper.The simulation of the welding process of simple curve and complex curve weld is carried out under Matlab software,and then verified by experiment.Experimental results show that the robot calibration system and motion control feasibility of the strategy.