Welding gun space position and posture self-adaptive adjustment system and method of wheel type welding robot

Abstract

The invention relates to a welding gun space position and posture self-adaptive adjustment system and method of a wheel type rotating arc welding robot. The system and method are characterized in that a vertical arm and a horizontal arm are mounted on a top plate of a moving trolley, an alpha angle adjuster is fixedly connected to a moving sliding block of the horizontal arm, and a beta angle adjuster is connected with the alpha angle adjuster through a hollow arm; and the beta angle adjuster is connected with a welding gun fine adjustment arm through electric bakelite, and the welding gun fine adjustment arm is connected with a rotating arc sensor welding gun through electric bakelite. According to collected welding gun space position and posture information, the welding gun posture is adjusted through a welding gun posture coordinator and a grading threshold value controller, and real-time tracking adjustment that the welding gun is located in the center of a weld joint all the time and is perpendicular to the weld joint is achieved. The system and method can achieve long-distance and wide-range tracking adjustment for multi-position weld joints with complex track manners of box type corrugated plates and other structural components in a self-adaptive manner, the interference of workpiece machining or mounting errors, heat deformation in the welding process and other factors is reduced, and welding quality is improved.

Description

technical field [0001] The present invention relates to the field of welding torch pose control of an autonomous wheeled multi-position welding robot, specifically a multi-position welding robot welding torch posture coordination strategy and pose classification threshold control strategy based on a rotating arc sensor, which can adaptively adjust the welding torch posture to realize the welding torch A real-time tracking adjustment method that is always in the center of the weld and perpendicular to the weld. Background technique [0002] Traditional articulated industrial welding robot welding torch position adjustment requires a large operating space. For box-shaped structural parts with long distances, large ranges, and multi-position automatic welding with complex trajectories, additional moving axes are required to expand the application range, and most of them use Teaching or offline programming takes a long time to program and cannot adapt to complex working conditio...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the deficiencies of the above-mentioned existing technologies, it promotes the intelligence of the welding process, and solves the problems of low efficiency of traditional teaching or offline programming, and the inability to track and adjust in real time

Images