Real-time welding seam tracking method of intelligent welding robot based on rotating arc sensing

A welding robot and rotating arc technology, applied in arc welding equipment, welding equipment, manufacturing tools, etc., to achieve the effect of strong flexibility, high stability, and improved adaptability

Inactive Publication Date: 2016-04-06
XIANGTAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, there are few studies on the application of rotating arc sensing technolog

Method used

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  • Real-time welding seam tracking method of intelligent welding robot based on rotating arc sensing
  • Real-time welding seam tracking method of intelligent welding robot based on rotating arc sensing
  • Real-time welding seam tracking method of intelligent welding robot based on rotating arc sensing

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Experimental program
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Effect test

Embodiment 1

[0018] Embodiment 1, the robot real-time seam tracking system based on rotating arc sensing includes rotating arc sensor 3, rotating arc tracking system control box 6, water cooling system 2, Hall sensor 10; robot system (rotating arc real-time tracking extended serial port ) 11, mechanical arm 9, dimension classifier 7, signal preprocessing device 8; welding machine 12, workpiece and clamping device 4, wire feeder 1, protective gas cylinder 5. The two poles of the welding power supply in the welding machine 12 are respectively connected to the wire feeder 1, the Hall sensor 10 and the robot system (rotating arc real-time tracking extended serial port) 11; the Hall sensor 10 is connected to the rotating arc tracking system control box 6; the signal preprocessing device 8 are respectively connected with the rotary arc tracking system control box 6 and the robot system (rotary arc real-time tracking extended serial port) 11; the wire feeder 1 is connected with the rotary arc sens...

Embodiment 2

[0019] Embodiment 2, the dimension classifier is based on the Euclidean distance principle, and calculates the Euclidean distance between the feature space of the welding current data of unknown posture collected by the rotating arc tracking system and the feature vector corresponding to the empirical data sample, corresponding to the nearest fall into this category. Assume that the welding torch postures of the empirical data samples are divided into k categories, respectively u 1 , u 2 ,...,u k , each class has a corresponding feature space vector, then there are k feature space vectors, denoted as Γ 1 , Γ 2 ,…,Γ k . And assuming that there are m types of spatial feature vectors for the unknown welding torch attitude, denoted as τ m , then τ n (1≤n≤m) and u i The Euclidean distance between the eigenvectors of the empirical welding torch attitude of the class is:

[0020] d i ( τ ...

Embodiment 3

[0027] Embodiment 3, the specific flow of the real-time seam tracking method for an intelligent welding robot based on rotating arc sensing. Before welding starts, the welding robot performs initialization settings, analyzes the weld trajectory according to the welding task and welding environment settings, and analyzes the spatial motion range of the welding robot for complex space weld trajectory, and selects the appropriate weldment assembly method. The rotating arc sensor is coaxially assembled with the wrist axis of the mechanical arm 9. In order to ensure the accuracy of welding arc ignition, a suitable movement path 13 must be set. The path setting from the initial position to the starting welding point 14. The rotary arc sensor weld seam tracking system 6 is initialized and set, through its control box panel LCD screen to set the parameters related to weld seam tracking, including the arc rotation frequency and scanning radius setting of the rotary arc sensor 3, Hall s...

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Abstract

The invention relates to a real-time welding seam tracking method of an intelligent welding robot based on rotating arc sensing, and mainly solves the problems that a conventional welding robot is complex in space, welding seam tracks are difficult in demonstration and the conventional robot does not have the capacity of sensing outside information. The technical scheme of the real-time welding seam tracking method lies in that according to in the real-time welding seam tracking method disclosed by the invention, the characteristics of a rotating arc sensing type welding seam tracking system and the characteristics of a welding robot system are organically combined, a rotating arc welding seam tracking sensor is used for collecting the space pose information of a welding gun during welding in a real-time manner, a dimensionality classifier is used for separating the spatial attitudes of the sensor, a robot communication serial port is developed, obtained shift quantity and shift angle signals are converted into machine codes, the machine codes are transmitted to an amplified rotating arc real-time welding seam tracking sensor module in a real-time manner, a six-shaft executing mechanism is driven to perform real-time deviation correction, the deviation quantity of the real-time welding of the robot is effectively compensated, and the automated, flexible and intelligentized real-time welding seam tracking of the robot is realized.

Description

technical field [0001] The invention belongs to the technical field of welding automatic control equipment, and in particular relates to a real-time seam tracking method for an intelligent welding robot based on rotating arc sensing. Background technique [0002] Today, under the global background of the industrial 4.0 high-tech strategic plan and the new situation of China's 2025 machinery manufacturing, the promotion and application of robots is an indispensable and important link. Welding automation, welding robots and intelligence have become the development trend of welding technology . More and more welding robots have been widely used in various fields of automated manufacturing. However, most of the welding robots in factories now only maintain the level of traditional teaching and reproduction. It takes a lot of manual time to teach for space-complex weld trajectories and workpieces with complex sizes and shapes, which not only brings huge Manpower consumption is ...

Claims

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Application Information

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IPC IPC(8): B23K9/127
CPCB23K9/1276
Inventor 洪波唐明李湘文姚强
Owner XIANGTAN UNIV
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