A method for optimizing welding torch pose for off-line planning in robotic pipeline welding

Abstract

The invention provides a method for optimizing off-line planned welding gun pose in robot pipeline welding, and belongs to the field of welding gun pose optimizing and adjusting in pipeline welding. According to the method, firstly, a structured light measurement system for off-line planned welding gun pose optimization is built, and system parameters are calibrated; then, pipeline welding path points are off-line planned; a welding gun is adjusted to a desired pose, a phase diagram corresponding to the pose is generated, visual features of visual servo are extracted from the phase diagram, and a visual servo control law is designed; and at each off-line planned path point, the pose of each path point is optimized based on the visual servo control law, and corresponding angles of robot joints are recorded. According to the method, the advantages that structured light measurement is high in precision and visual servo control is high in precision are combined, and the advantage that a robot is high in repeated positioning precision is fully utilized, so that the pose of the welding gun in the actual welding process can be effectively optimized.

Description

technical field [0001] The invention belongs to the field of optimizing and adjusting the pose of a welding torch in pipeline welding, and in particular relates to a method for optimizing the pose of a welding torch in off-line planning in robot pipeline welding. Background technique [0002] Pipeline transportation is one of the main ways to transport oil, natural gas and other materials over long distances, so long-distance pipeline laying is of great significance. However, the length of a single pipeline is limited, so the pipeline laying mainly depends on the pipeline joint technology, and its main combination methods include threaded connection, flange connection, welding connection, socket connection, pipe bonding connection and other methods. Among them, pipeline welding is because of its firm and tight interface, simple structure, beautiful and neat pipeline, saving a lot of shaped pipe fittings, tight interface, no filler, can reduce maintenance work, the interface ...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the shortcomings of the welding torch position and posture of the off-line planning in robot pipeline welding, which are limited by workpiece installation errors, modeling errors, workpiece deformation, and the absolute accuracy of the robot is not high, and propose an optimization method for robot pipeline welding. A method for off-line planning of the welding torch pose

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