Curved weld joint tracking method based on weld joint industrial robot postures

Abstract

The invention discloses a curved weld joint tracking method based on weld joint industrial robot postures. The curved weld joint tracking method comprises the steps that boundary points of a weld joint portion are selected to build a space coordinates system for the X axis, the Y axis and the Z axis, the position of a weld joint point is represented through the space coordinates system, connectinglines among points in the weld joint position are curved lines, connecting tracks among the points are calculated through a space curve formula, and weld joint tracks of the curved lines are determined. According to the curved weld joint tracking method based on the weld joint industrial robot postures, through combination of a feature recognition camera and a measuring sensor, weld joint featurepictures extracted from a robot are subjected to coordinatograph, the weld joint shapes of the curved lines are represented with points in the space, and then a welding gun is controlled to sequentially weld the points; meanwhile, by eliminating position differences of a body, errors of the weld joint position are avoided, and the weld joint precision is improved; and the welding gun adopts the form of a bulb base, moving in the space is convenient, the welding precision is higher, the welding position is more flexible, the welding position is determined through testing data, the automation degree is higher, and operation is convenient.

Description

technical field [0001] The invention relates to the field of curved welding seams, in particular to a method for tracking curved welding seams based on the posture of a welding seam industrial robot. Background technique [0002] In the automatic weld seam control process of the arc welding robot, there are many reasons that lead to errors, such as the unpredictable error in the pose and size of the welded workpiece, among which the weld position caused by the error in the processing and assembly process Dimensional changes, as well as deformation caused by the heating of the workpiece during the welding process. [0003] Usually, the above problems are solved by strictly controlling the machining accuracy in the production process, reducing the errors in the environment and applications, but it needs to increase the production cost and time cost of the enterprise, causing an additional burden on the enterprise. [0004] Another solution is to further enhance the automation...

AI Technical Summary

Problems solved by technology

[0005] The object of the present invention is to provide a curve weld seam tracking method based on the attitude of the welding seam industrial robot, to solve the above-mentioned background technology, according to the characteristics of the on-site weld seam, the detection sensor guides the robot to complete the tracking of the weld seam, usually this The first tracking method is online tracking, but due to the movement of the welding seam position, and the welding seam position is mostly a curve, if the welding is not accurate, it will affect the movement of the robot, resulting in poor movement accuracy of the robot after the welding seam. Changes, the difference cannot be eliminated, making the welding seam positioning not accurate enough

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