Method for adjusting self-tracing pose of mobile welding robot

Abstract

The invention relates to a method for adjusting the self-tracing pose of a mobile welding robot, which belongs to the technical field of automatic welding. The method comprises the following steps: getting the welding robot march toward the direction at an entrance angle of less than or equal to 90 degree, and searching a weld joint according to a characteristic model of a welding groove; according to the pose of the welding robot and the distortion characteristics of laser streaks projected on the groove, obtaining the initial entrance angle of the mobile welding robot; performing differential preadjustment to make the entrance angle of the mobile welding robot less than or equal to 20 degree; and applying a least square method to perform preweld self-tracing pose adjustment to position the mobile welding robot under the weld joint, wherein a bodywork of the mobile welding robot is parallel to the weld joint and a welding gun is positioned in the center of the weld joint. The method adopts closed-loop feed control, realizes precise self-tracing pose adjustment of the mobile welding robot at the entrance angle range of between 0 and 90 degree, is stable and reliable and has short adjusting distance and strong antijamming capacity on external environment.

Description

technical field [0001] The invention relates to a method in the field of welding technology, in particular to a self-tracking pose adjustment method for a mobile welding robot. Background technique [0002] Before welding, if only the welding robot needs to be placed at a certain distance from the welding seam, and the welding robot automatically finds the welding seam according to the characteristic information of the welding seam and adjusts its pose to the set state to be welded, that is, by The welding robot can independently realize the identification of welding centering and starting point, which will greatly reduce the time of preparation work before welding, and make the welding robot have higher autonomy, which is undoubtedly of great practical significance. The pose adjustment is the most critical link in the self-tracking process. Whether it can be adjusted to the desired welding position and posture is the key to the success of the entire self-tracking process. ...

AI Technical Summary

Problems solved by technology

However, in the actual process, many factors such as the accuracy of the groove processing and the consistency of the assembly gap make it difficult to obtain an accurate cutting angle simply by relying on the positional relationship between the laser stripe and the weld seam; The closed-loop relationship is formed between the welds. In the process of posture adjustment, the influence of many uncertain factors such as the moment of inertia, the electrical parameters of the driving wheel, and the external operating environment are also very likely to lead to the final adjustment failure.

Therefore, the above adjustment method is difficult to apply in actual production

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