Robot welding line tracking deviation compensation method

A compensation method and robot technology, applied in welding equipment, arc welding equipment, manufacturing tools, etc., to achieve the effect of ensuring stability and good molding

Active Publication Date: 2010-07-14
昆山华恒机器人有限公司
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Problems solved by technology

Therefore, the classic control theory and modern control theory based on the precise mathemati

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  • Robot welding line tracking deviation compensation method
  • Robot welding line tracking deviation compensation method
  • Robot welding line tracking deviation compensation method

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Embodiment Construction

[0025] The concrete structure of the present invention will be described in detail below with reference to accompanying drawing:

[0026] A robot seam tracking device includes an arc sensor, a signal processing module, and a seam deviation correction module. The arc sensor is used to detect welding current, and the seam deviation correction module is used to compensate the track deviation of the weld seam. Wherein, the trajectory deviation compensation method includes the following steps:

[0027] as attached figure 1 , 2 Shown: Step 1: Start welding, the arc sensor detects the current welding current immediately, the signal processing module samples the welding current detected by the arc sensor, and filters the collected welding current data. In this embodiment, a digital filter combining local mean filtering and improved sliding median filtering is designed through experiments. Experiments show that the filter can better filter out the interference signal in the welding ...

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Abstract

The invention relates to a robot welding line deviation compensation method based on arc oscillation welding line tracking, comprising the steps of: 1, detecting a welding current, sampling, filtering collected welding current data; 2, extracting deviation of the filtered current data, fitting a deviation direction, extracting according to an integral differential method, obtaining a compensation dosage and a transverse deviation value of a height deviation direction; 3, storing the transverse deviation value, adjusting the sensitivity; 4, computing a compensation dosage of the deviation by combining with the transverse deviation value and the sensitivity; 5, updating and accumulating deviation compensation dosages along the height direction and the transverse direction; 6, converting a three-dimensional compensation dosage into interpolation points of x axis, y axis and z axis; and 7, sending the compensated interpolation points to a control part of the robot. The invention can not generate jump change aiming at the compensation dosages, can ensure the stability of the system at a certain degree, and has better molding of a welding line subjected to the deviation compensation and tracking error of generally within +/-mm.

Description

technical field [0001] The invention relates to a compensation method for robot welding seam tracking deviation. Background technique [0002] Seam tracking is the premise and important guarantee of welding automation. For robot welding systems, seam tracking undoubtedly plays a great role in improving welding quality. The welding seam tracking process of an arc welding robot is a complex system affected by multiple parameters, in which there are a large number of uncertain factors, such as the machining accuracy of the welded workpiece groove, assembly accuracy, heat during welding, arc force, and magnetic deflection. Weldment deformation caused by blowing, etc., the accuracy of robot teaching, robot repeatability, etc. Due to the nonlinearity of the welding process, the modeling work of the welding process is much more complicated and difficult than that of the linear system. Although researchers have used various methods to establish some more accurate models in recent ...

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Application Information

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IPC IPC(8): B23K9/127
Inventor 齐荣怀朱伟郭祖魁
Owner 昆山华恒机器人有限公司
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