Tightly-arranged pipe space curve laser welding track planning method under welding seam tracking

• Main Authors: CHEN MING, LIU MIN, LI YUE, XIE MEIRONG, WANG FUDE, XU KUNHE, GUO SHENGBIN, CHEN JINCUN, ZHANG HENG, LIU JINGDUO, HAN XU, SUN GUOHUI, KONG ZHAOCAI, MI YANLONG, WU NAN, FANG DONGQING
• Format: Patent
• Language: Chinese; English
• Published: 15.04.2022
• Subjects: CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR; PERFORMING OPERATIONS; SOLDERING OR UNSOLDERING; TRANSPORTING; WELDING; WORKING BY LASER BEAM

The invention discloses a densely-arranged pipe space curve laser welding track planning method under welding seam tracking. The method comprises the following steps that a tracking sensor is connected with a laser welding head through a connecting tool; establishing a relative position relation between the tracking sensor and the laser welding head by adopting a ten-point calibration method; carrying out plane calibration on the focal distance of the laser welding head; adjusting the posture of the laser welding head by adopting a two-vertical and one-alignment method; laser head focus distance alignment aiming at a space curve is completed; adjusting a tracking field of view of the tracking sensor; and four teaching points of the space curve track of the spray pipe welding seam are found out, the four teaching points are input into a robot control system, and the robot control system controls the six-axis industrial robot to conduct space curve track movement according to the four teaching points. Accurate