Three-dimensional welding robot mixed control method

A hybrid control and three-dimensional welding technology, which is applied in welding equipment, auxiliary welding equipment, program control manipulator, etc., can solve the problems of welding misalignment, low recognition of workpiece welding, and poor welding quality, etc.

Inactive Publication Date: 2018-03-02
GUILIN UNIV OF ELECTRONIC TECH
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0003] To sum up, the problems existing in the existing technology are: the existing welding robot does not have a high degree of identification of workpiece welding, and welding dislocation is prone to occur; there is a lack of monitoring mechanism, and the welding quality is poor

Method used

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Embodiment Construction

[0065] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0066] The application principle of the present invention will be further described below in conjunction with the accompanying drawings.

[0067] Such as figure 1 As shown, the hybrid control method for a three-dimensional welding robot provided in the embodiment of the present invention includes the following steps:

[0068] S101, performing image marking on the welding points of the parts to be welded;

[0069] S102, establishing an image recognition system;

[0070] S103, the image recognition system is matched with the welding robot;

[0071] S104, generating a three-dimensional model;

[0072] S105, signal transmi...

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Abstract

The invention belongs to the technical field of welding machinery, and discloses a three-dimensional welding robot mixed control method. Through building an image recognition system, the accuracy in welding and recognizing can be provided; meanwhile, an adopted laser vision sensing system has initiative and non-contact characteristics, and is capable of acquiring accurate three-dimensional information of an object, high in sensitivity accuracy and high in anti-electromagnetic interference capacity; a control system applies 4 types of sensors which work synergistically and compositely, so thatthe accuracy of a robot movement locus is greatly improved, the quality of workpiece welded joints is improved, and the probability in occurring errors is reduced since various states of a robot are monitored in real time; and the whole control system can automatically adjust a work mode of the robot according to the change of a welding condition and an environment, the welding robot has a lower requirement on the welding condition, an adaptive ability is enhanced, and the reliability is improved.

Description

technical field [0001] The invention belongs to the field of welding machinery technology, and in particular relates to a hybrid control method for a three-dimensional welding robot. Background technique [0002] Welding robots are industrial robots engaged in welding (including cutting and spraying). According to the definition of the International Organization for Standardization (ISO) that industrial robots belong to standard welding robots, an industrial robot is a multi-purpose, reprogrammable automatic control manipulator (Manipulator) with three or more programmable axes for field of industrial automation. In order to adapt to different purposes, the mechanical interface of the last axis of the robot is usually a connecting flange, which can be connected to different tools or end effectors. The welding robot is equipped with a welding tongs or a welding (cutting) torch on the flange of the final axis of the industrial robot, so that it can perform welding, cutting o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K37/00B23K37/02B25J11/00B25J9/16G06K9/00G06K17/00G06T1/00G06T7/00G06T7/90G06T17/00
CPCG06K17/00G06T1/0014G06T7/0004G06T7/90G06T17/00B23K37/00B23K37/0252B25J9/161B25J9/1653B25J9/1669B25J11/00G06T2207/30152G06T2207/10004G06T2207/10016G06V20/10G06V2201/06
Inventor 杨道国苗国强郝卫东魏尧曹冬旺淮旭鸽李静
Owner GUILIN UNIV OF ELECTRONIC TECH
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