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Estimation method of included angle between crawling welding robot and welding line

A welding robot and robot technology, applied in welding equipment, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve the problem of not being able to obtain the included angle of crawling welding robots in real time, and achieve easy implementation, accurate filtering results, and simple methods Effect

Active Publication Date: 2017-05-31
中国东方电气集团有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the problem that a single laser seam tracking sensor cannot obtain the angle between the crawling welding robot and the weld seam in real time, and provides a robot speed and angular displacement measured by using a laser seam tracking sensor, a gyroscope and the robot itself at the same time. Information, combined to obtain the optimal estimation method of the included angle

Method used

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  • Estimation method of included angle between crawling welding robot and welding line
  • Estimation method of included angle between crawling welding robot and welding line
  • Estimation method of included angle between crawling welding robot and welding line

Examples

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Effect test

Embodiment 1

[0045] A method for estimating the included angle between a crawling welding robot and a weld seam, characterized in that it includes the following steps:

[0046] Step 1: Obtain the information collected by the sensor; the sensor includes a laser seam tracking sensor and a gyroscope measurement, and the information specifically includes the coordinates of the seam flute collected by the laser seam tracking sensor, and the angular velocity information of the robot measured by the gyroscope;

[0047] Obtain the coordinate X of the weld flute at time k 1m (k) and X 2m (k), the angular velocity ω of the robot measured by the gyroscope m (k). m stands for this value is the measured value.

[0048] Step 2: Obtain the motion information of the laser seam tracking sensor;

[0049] The motion information specifically refers to speed and rotation angle. These two values ​​are given by the robot system.

[0050] Obtain the forward velocity V of the robot at time k C (k), the robo...

Embodiment 2

[0055] A method for estimating the included angle between a crawling welding robot and a weld seam, characterized in that it includes the following steps:

[0056] Step 1: Obtain the information collected by the sensor; the sensor includes a laser seam tracking sensor and a gyroscope measurement, and the information specifically includes the coordinates of the seam flute collected by the laser seam tracking sensor, and the angular velocity information of the robot measured by the gyroscope;

[0057] Obtain the coordinate X of the weld flute at time k 1m (k) and X 2m (k), the angular velocity ω of the robot measured by the gyroscope m (k). m stands for this value is the measured value.

[0058] Step 2: Obtain the motion information of the laser seam tracking sensor;

[0059] The motion information specifically refers to speed and rotation angle. These two values ​​are given by the robot system.

[0060] Obtain the forward velocity V of the robot at time k C (k), the robo...

Embodiment 3

[0090] The hardware part of the invention includes the following basic units: a laser seam tracking sensor, a gyroscope, and a robot system that provides the speed and rotation angle of the laser seam tracking sensor. Among them, when installed, the sensitive axis of the gyroscope is perpendicular to the weld plane.

[0091] The following describes the implementation in detail according to the steps.

[0092] Step 1: Obtain the information collected by the sensor. Including the coordinates of the seam flute collected by the laser seam tracking sensor, and the angular velocity of the robot measured by the gyroscope:

[0093] Obtain the coordinate X of the weld flute at time k 1m (k) and X 2m (k), the angular velocity ω of the robot measured by the gyroscope m (k).

[0094] Step 2: Obtain the motion information of the laser seam tracking sensor:

[0095] Obtain the forward velocity V of the robot at time k C (k), the robot rotation angle Δθ calculated by the code disc m ...

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Abstract

The invention relates to the field of welding, in particular to an estimation method of an included angle between a crawling welding robot and a welding line. The method comprises the steps of 1, obtaining information collected by a sensor; 2, obtaining motion information of a laser welding line tracking sensor; 3, establishing a state equation according to coordinates of edges of the welding line and an angular velocity, forward velocity and intersection angle of the robot, using a Kalman filter to conduct optimal estimation on the included angle between the crawling welding robot and the welding line, and obtaining a filter value of the coordinates of the edges of the welding line; 4, repeating the steps, and continuously obtaining new results until a welding process is completed. According to the estimation method of the included angle between the crawling welding robot and the welding line, the angular velocity measured by a gyroscope and the velocity and intersection angle given by a robot system are applied on the basis of the laser welding line tracking sensor, and a more complicated and reasonable filter model is established; not only is the filter result of the coordinates of the edges of the groove welding line preciser, but also the included angle between the crawling welding robot and the welding line can be estimated.

Description

technical field [0001] The invention relates to the field of welding, in particular to a method for estimating the included angle between a crawling welding robot and a welding seam. Background technique [0002] In the crawling welding robot system, it is necessary to ensure that the forward direction of the crawling robot is basically parallel to the welding seam. Therefore, it is necessary to control the motion of the crawling welding robot, and the feedback and control of the angle between the crawling welding robot and the weld seam are the keys to the motion control of the crawling welding robot. Moreover, the included angle between the crawling welding robot and the welding seam also needs to be used to correct the lateral distance between the welding torch and the welding seam. Therefore, it is very important to obtain the angle between the crawling welding robot and the weld. However, there is no sensor to directly measure the angle between the crawling welding ro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/16B23K37/00
CPCB23K37/00G01S5/16
Inventor 张义昕肖唐杰刘丝丝于信宾刘标
Owner 中国东方电气集团有限公司