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A Method for Estimating the Angle Between a Crawling Welding Robot and Weld Seam

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, improved precision, and accurate filtering results Effect

Active Publication Date: 2019-05-03
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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  • A Method for Estimating the Angle Between a Crawling Welding Robot and Weld Seam
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  • A Method for Estimating the Angle Between a Crawling Welding Robot and Weld Seam

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Embodiment 1

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

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

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

[0048] Step 2: Obtain the movement information of the laser weld 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 robot forward speed V at time k C (k), the robot rotation angle Δθ calculated by the encoder m (k)....

Embodiment 2

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

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

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

[0058] Step 2: Obtain the movement information of the laser weld 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 robot forward speed V at time k C (k), the robot rotation angle Δθ calculated by the encoder m (k)....

Embodiment 3

[0090] The hardware part of the present 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 installing, the sensitive axis of the gyroscope is perpendicular to the welding seam plane.

[0091] The following steps describe the implementation in detail.

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

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

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

[0095] Obtain the robot forward speed V at time k C (k), the robot rotation angle Δθ calculated by the encoder m (k).

[0096] Step 3: According to the coordinat...

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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 angle between a crawling welding robot and a weld. 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 movement of the crawling welding robot, and the feedback and control of the angle between the crawling welding robot and the weld is the key to the motion control of the crawling welding robot. In addition, the angle between the crawling welding robot and the welding seam 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 robot and the weld. [0003] At present, ...

Claims

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Application Information

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Patent Type & Authority Patents(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