Arc welding robot welding seam tracking posture adjusting method
An adjustment method and robot technology, applied in arc welding equipment, welding equipment, manufacturing tools, etc., can solve the problems of lack of environmental adaptability and inability to guarantee welding quality, so as to improve continuity and stability and improve welding quality , to ensure continuous and stable effect
Inactive Publication Date: 2018-11-16
SOUTH CHINA UNIV OF TECH +1
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Problems solved by technology
[0002] Welding is one of the main applications of robots. The current welding robots are mainly based on teaching reproduction and offline programming, and lack the ability to adapt to the environment. The quality of the weld will not be guaranteed during the initial procedure
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[0032] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings.
[0033] The present invention proposes an arc welding robot seam tracking posture adjustment method based on a structured light vision sensor, which is mainly aimed at the automatic adjustment and control of the posture when the non-linear seam is tracked, so as to ensure the continuous and stable posture of the welding torch when the robot is tracking the seam, and ensure Welding quality, while adding image field of view centering control, to ensure the continuity and stability of structured light vision sensor detection.
[0034] In order to make the present invention more clear, this embodiment will be described in detail by taking a fillet T-shaped weld as an example.
[0035] figure 1 Create a schematic diagram of the weld coordinate system for a fillet T-wel...
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The invention discloses an arc welding robot welding seam tracking posture adjusting method. The method comprises the steps that 1, a welding seam coordinate system is built on a welding seam track according to different types of welding seams; 2, the relation between a robot welding gun tool coordinate system and a welding seam coordinate system is built, and a welding gun posture is adjusted byadopting a position servo control way; and 3, an image servo control way is adopted, the Z-axis rotation amount of the welding gun coordinate system is adjusted according to the difference value between the transverse coordinate Px(t) of a welding seam point detected in an image and the transverse coordinate Cx of the center of the image, and the welding gun posture is adjusted. By means of the method, the welding process corner and sensor visual field centering conditions are considered at the same time, and continuity and stability of the tracking process and stability of welding quality canbe ensured.
Description
technical field [0001] The invention relates to the field of robot control, in particular to a method for adjusting the seam tracking attitude of an arc welding robot based on a structured light vision sensor. Background technique [0002] Welding is one of the main applications of robots. The current welding robots are mainly based on teaching reproduction and offline programming, and lack the ability to adapt to the environment. The quality of the weld cannot be guaranteed during the initial procedure. In order to make the production of arc welding robots automatic and flexible, the use of visual sensors is a better way to solve the above problems. [0003] Structured light vision sensing is a non-contact sensing method with high speed and precision, which can meet the requirements of welding applications. The structured light vision sensor is mainly composed of cameras, lenses, lasers, filters and other structures. It is generally installed on the welding torch of the r...
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Login to View More IPC IPC(8): B23K9/127
CPCB23K9/1274
Inventor 王念峰石小东郑永忠周升勇
Owner SOUTH CHINA UNIV OF TECH