Research Of Welding Robot Welding Seam Tracking And Automatic Rectifying System

At present,the welding industry mostly adopts manual welding.The harmful substances produced by welding seriously affect the health of welding workers,and welding operation requires high skill level for workers.Especially for the key structure of welding,if the operation is improper,it may cause the work piece to be scrapped and even produce the hidden danger.In this case,we are in urgent need of an automated and intelligent robot welding method that can replace manpower by arc welding robots.Robot welding is also a problem: during the welding process,the actual position of workpiece welds may cause large deviations,and large thermal deformation will also affect the weld position.In the welding process of medium and thick steel plate,with the increase of the number of welding layers,the characteristics of the edge of the weld will also change.The actual situation of the slope is more and more different from the expected state,and the current welding robot can not make the corresponding countermeasures to this kind of change in time.And when the welding is to a certain extent,the pre-set welding process and welding trajectory will no longer adapt to the actual welding status of the workpiece,which will lead to the failure of welding.Therefore,we put forward higher requirements for welding robot.It is very urgent and important to develop an intelligent and automatic robot welding system that can track and process welding parameters and welding tracks in real-time.The main work and results of this article are as follows:(1)First,the CCD camera is calibrated briefly,then the incident angle of light is analyzed.Finally,the position relationship between laser sensor and robot welding torch is determined.(2)The CAN layer of DeviceNet connects the industrial control machine with the control cabinet of the robot,and can transmit data information.The real-time tracking interface is made to display the position of the weld image,the information of the left and right and the height deviation.(3)The prepositioned laser collects the image,and processing the collected images can get the characteristics of the weld in the region of interest.Then the skeleton is refined and the projection slope method is used to find the specific position coordinates of the weld.After a series of data are obtained,the interpolation trajectory is planned.Finally,the post laser processor is used to acquire the image processing and get the position coordinates,which is compared with the front position coordinates,and the offset data is obtained to control the robot to rectify the deviation.(4)Finally,the welding comparison experiment is carried out.The experiment shows that the welding tracking correction can get better welding quality.The above research experiments show that the seam tracking correction can be achieved in this paper,it can replace manual welding to a certain extent,and the welding rectification can get a more stable welding quality.