Linear online seam tracking method for arc welding robot during welding

A robot welding and robot technology, applied in welding equipment, arc welding equipment, manufacturing tools, etc., can solve the problems of error, unconsidered lead distance, low tracking accuracy, etc., and achieve the effect of simple scheme

Active Publication Date: 2016-08-17
廊坊智通机器人系统有限公司
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  • Abstract
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Problems solved by technology

[0005] In view of the present situation, this patent proposes a straight-line online seam tracking method for arc welding robot welding, which is convenient and s

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  • Linear online seam tracking method for arc welding robot during welding

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Embodiment Construction

[0026] 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.

[0027] The present invention will be described in detail below in conjunction with embodiment:

[0028] Implement the process of the present invention:

[0029] like figure 1 As shown, it indicates the teaching welding seam position and the actual welding seam position.

[0030] P1 is the starting point of the teaching welding seam, and P1' is the starting point of the actual welding seam.

[0031] P3 is the end point of the teaching weld, and P3' is the end point of the actual weld.

[0032] 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.

[0033] P2 is the position point separated from the end point of the welding seam by the distance between th...

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Abstract

The invention provides a linear online seam tracking method for an arc welding robot during welding. According to the method, the robot demonstrates a section of standard path, the path is equally divided into N path points according to the distance equidistribution principle, and standard coordinate values of a measuring sensor are acquired at the same time; during actual operation, the measuring sensor scans a seam in real time and transmits seam coordinates to the robot; and the robot compares the coordinate values with the standard values to obtain deviation values and then corrects the corresponding n path point, and the robot operates along the corrected path points point by point. According to the method, the scheme is simple and accurate, and the problem that the robot welding effect is affected by changes of a linear seam track due to workpiece errors or loading position errors and the like is effectively avoided. Meanwhile, the problem of low tracking precision caused by not considering prepositive distances in the same kind of operations is solved.

Description

technical field [0001] The invention belongs to the field of automatic control, and in particular relates to a straight line online seam tracking method when an arc welding robot welds a straight line 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...

Claims

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Application Information

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IPC IPC(8): B23K9/127
CPCB23K9/1274
Inventor 孙云权齐立哲甘中学
Owner 廊坊智通机器人系统有限公司
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