Adaptive multi-layer multi-pass welding based on laser sensors

Aiming at the positioning deviation,processing deviation and laser sensor installation deviation in the process of automated welding,this paper proposes a Multi-layer and multi-pass path planning method with laser vision sensor to obtain the shape and position information of the weld seam,which make the robot adjust the position automatically and control attitude of the welding gun to correct the deviation for welds.First,perform hand-eye calibration to convert the bead space point information from the visual coordinate system to the robot base coordinate system.Then scan the workpiece,preprocess and calculate the actual coordinate point information,and adaptively adjust the posture of the tool coordinate system to compensate for the deviation.Finally,according to the characteristic parameters of the weld groove and the welding process requirements,the path of multi-layer multi-pass welding is planned to complete the welding.This paper tests the groove of carbon steel single V medium and heavy plate,and the results show that this method has good practicability.