Laser Sensor For Adaptive Welding

Abstract

An autosynchronized laser scanning mechanism is integrated in a compact, mobile unit mounted on a six axis, articulated robot wrist. This camera combines a new geometrical arrangement for improving the performance of optical triangulation with the latest solid-state laser and CCD sensor technology. The camera enables in-process, 3D mea-surements of the welded workpiece and the optimization of the robotic arc welding process. Joint and weld geometry analysis can be performed in real time with high precision, even during high current arc welding. This provides information about weld joint geometry in front of the arc (e.g. seam tracking) and behind the weld pool (e.g. inspection of finished welds), both of which are required for closed loop adaptive welding. High dimensional resolution combined with high signal to noise ratio provides an ideal tool for the further development of expert welding systems. Furthermore, the vision system can be used for the generation of 3D object data, which can be used in conjunction with a computer graphics system for offline robot programming.