Off-line seam tracking method for arc welding robot welding

A technology for robotic welding and straight-line welding, applied in welding equipment, arc welding equipment, manufacturing tools, etc., can solve problems such as affecting measurement accuracy, online tracking welding with errors, and achieve the effect of solving noise pollution and simple solutions

Active Publication Date: 2018-10-16
廊坊智通机器人系统有限公司
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Problems solved by technology

[0005] In view of the present situation, this patent proposes an off-line tracking method for linear welds for arc welding robot welding, which is convenient and simple, and solves the error problem in the process of automatic welding control and the problem that the noise of online tracking welding affects the measurement accuracy

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  • Off-line seam tracking method for arc welding robot welding

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Embodiment Construction

[0022] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0023] The present invention will be described in detail below in conjunction with embodiment:

[0024] Implement the process of the present invention:

[0025] Such as figure 1 As shown, it indicates the teaching welding seam position and the actual welding seam position.

[0026] P1 is the starting point of the teaching welding seam, and P1' is the starting point of the actual welding seam.

[0027] P3 is the end point of the teaching weld, and P3' is the end point of the actual weld.

[0028] P0 is the position point separated from the starting point of the welding seam by the distance between the measurement sensor and the robot, and it is used as the starting point of the robot for measurement.

[0029] P2 is the position point separated from the end point of the welding seam by the distance between...

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Abstract

The invention provides an off-line tracking method for straight line welds welded by an arc welding robot. The robot teaches a reference route, divides the route into n route points according to the principle of equal distance division, and obtains a reference coordinate value of a measuring sensor at the same time. During actual operation, the measurement sensor scans the weld seam in real time, and sends the weld seam coordinates to the robot. The robot compares the coordinate value with the reference value, and obtains the deviation value to correct the corresponding nth path point; when the measurement sensor scans all path points After that, the robot runs welding point by point along the corrected path point. The solution of the invention is simple and accurate, and effectively avoids the problem that the welding effect of the robot is affected by the change of the linear welding seam track due to workpiece errors or feeding position errors. At the same time, it solves the problem that the online tracking and welding are easy to cause noise pollution in the measurement and affect the measurement accuracy.

Description

technical field [0001] The invention belongs to the field of automatic control, and in particular relates to an off-line tracking method when an arc welding robot welds a linear seam. Background technique [0002] In the automatic welding control process of the arc welding robot, there are many reasons that lead to errors, such as unpredictable errors in the pose and size of the welding workpiece, among which there are changes in the position and size of the weld caused by errors in the processing and assembly process , There are also deformations caused by the heating of the workpiece during the welding process. [0003] Usually, the above problems are solved by strictly controlling the machining accuracy in the production process, reducing the errors in the environment and applications, but it needs to increase the production cost and time cost of the enterprise, causing an additional burden on the enterprise. [0004] Another solution is to further improve the automation...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23K9/127
CPCB23K9/1274
Inventor 齐立哲甘中学孙云权
Owner 廊坊智通机器人系统有限公司
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