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

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.

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...

AI Technical Summary

Problems solved by technology

[0004] ①For complex welds, general-purpose welding robots can only use teaching methods or offline programming methods for welding seam trajectory planning

As far as its teaching method is concerned, as the complexity of the path increases, the number of teaching points will increase accordingly, and the workload of teaching will inevitably increase; and its offline programming tends to satisfy the trajectory planning between points. , does not take into account the overall planning of the entire weld trajectory, and this method puts forward higher requirements for the professional quality of the operators

[0005] ②In actual engineering, the robot is generally not easy to move, and frequent moving of the robot will cause errors between the robot base coordinate system and the workpiece coordinate system, reducing the working accuracy of the robot

However, if a general-purpose welding robot is used, it is difficult to solve this problem

[0006] ③ When using a general-purpose robot for welding seam trajectory planning, due to differences in worker proficiency and errors in artificial vision, the consistency of welding seam forming quality cannot be guaranteed.

[0008] The existing technology involves the use of multi-layer and multi-pass welding methods to fill the "J" groove. When recording and expressing the shape characteristics of the weld, it must involve the problem of how to store the shape of the weld; at the same time, it is affected by the processing and deformation of the workpiece. As well as the limitations of the robot structure, there will inevitably be errors between the shape of the theoretically calculated weld and the actual groove shape; similarly, there will be errors in the worker's vision during the robot teaching process

If the operation process is too cumbersome, it will cause the operator to feel disgusted or even not complete the work according to the established process requirements

The combination of various errors and deficiencies will eventually lead to different degrees of errors in the distance between the end of the welding torch and the surface of the workpiece, and this error is fatal to the welding process

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