为了实现对T型接头的双光束激光焊接, 采用基于多轴联动数控机床的双光束激光焊接平台和基于视觉传感器的焊缝跟踪控制相结合的方法, 进行了理论分析和实验研究。通过建立平台的运动学模型实现了焊缝的轨迹规划, 设计了基于比例、积分、微分控制的位置环和高速焊接过程中的跟踪算法来提高控制系统的控制精度等, 并且通过焊接试验, 验证了所提出的算法。结果表明, 该焊接跟踪控制系统能够快速、准确地对焊接过程中的偏差进行动态补偿,很好地完成了对T型接头的双光束焊接。

In order to achieve the dual-beam laser welding for T-joint, the dual-beam laser welding platform based on multi-axis computer numerical control machine tools and the seam tracking control based on vision sensors were adopted. Theoretical analysis and experiments were carried out, including the welding trajectory planning according to the established mathematic model of welding platform, the design of the position loop based on proportional, integral, derivative control and the algorithm of high speed tracking to improve the accuracy of the tracking system, etc. Finally, the proposed algorithm was verified in the welding experiments. The results show that the welding tracking control system can eliminate the deviation during laser welding process with a high speed and a high precision by means of dynamic compensation, and can do the dual-beam laser welding for T-joint well.