Online demonstration method for 'J'-shaped groove welding robot

A technology of groove welding and teaching method, which is applied in the direction of welding equipment, welding equipment, auxiliary welding equipment, etc., can solve the problems of reducing the robot's working accuracy, error, and distance error at the end of the welding torch, so as to reduce the influence of teaching human factors , Ensure the consistency of weld quality and solve the effect of rapid positioning
CN102581444AActive Publication Date: 2012-07-18TIANJIN UNIV
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
TIANJIN UNIV
Publication Date
2012-07-18

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Abstract

The invention discloses an online demonstration method for a 'J'-shaped groove welding robot, which relates to the field of robot welding, and includes the steps: judging whether circumferential deviation is within a first preset range or not by a microprocessor, acquiring axial deviation if the circumferential deviation is within the first preset range, and if the circumferential deviation is not within the first preset range, rectifying the circumferential deviation by the microprocessor, and acquiring a first practical weld shape track; and judging whether the axial deviation is within a second preset range or not by a microprocessor, if the axial deviation is not within the second preset range, rectifying the axial deviation by the microprocessor, and acquiring a second practical weld shape track or a third practical weld shape track, and if the axial deviation is within the second preset range, leading the J-shaped groove welding robot to return to a start point again, turning off a laser range finder and starting to weld so as to complete the process. The online demonstration method for the 'J'-shaped groove welding robot has the advantages that the quantity of weld characteristic data points are obviously decreased by means of B-spline interpolation, the problem of quick positioning of a robot-based coordinate system and a workpiece coordinate system is fundamentally solved by means of judgment and deviation rectifying of the microprocessor, human factor influence on demonstration is reduced, and weld quality consistency is guaranteed.
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Description

technical field

[0001] The invention relates to the field of robot welding, in particular to an online teaching method for a "J" type groove welding robot. Background technique

[0002] figure 1 It is a structural schematic diagram of a pressure vessel. The head of the pressure vessel is composed of a hemispherical head intersecting with a plurality of round pipes. The weld seam connecting the pressure vessel head and the round pipe is inside the pressure vessel head, its trajectory is a space curve, and its groove shape is J-shaped. In order to ensure the welding quality and improve the labor efficiency of welding, it is necessary to use robots to weld it.

[0003] For the intersecting J-groove weld of pressure vessel bulbs, the general robot teaching and programming method mainly has the following deficiencies and deficiencies:

[0004] ①For complex welds, general-purpose welding robots can only use teaching methods or offline programming methods to plan welding seam tr...

Claims

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