Oscillating arc tracking welding system based on dual gyroscopes

Abstract

The invention discloses an oscillating arc tracking welding system based on dual gyroscopes. The system comprises a welding robot arm, a welding machine, a wire feeder connected with the welding machine, a gas bottle, the static gyroscope, a weld seam tracking oscillator, the dynamic gyroscope and a welding gun; the static gyroscope, the welding seam tracking oscillator, the dynamic gyroscope andthe welding gun are sequentially connected to the front end of the welding robot arm of a oscillating arc tracking welding robot body, the dual gyroscopes formed through combining of the dynamic gyroscope and the static gyroscope collects an instantaneous change signal of the pose of the welding gun and transmits the signal to a controller to be subjected to system operation, the system error is compensated for, the welding robot arm is controlled to execute the equivalent reverse motion, and the anti-shake property during welding gun welding can be improved; the problem that an original welding robot is low in welding precision is solved, and the advantages that the structure is simple, the anti-shake property is good, welding waveforms are subjected to weighted treatment, and the systemcan achieve the high-precision welding under the scurviness condition.

Description

technical field [0001] The invention belongs to the technical field of welding automation and relates to a swing arc tracking welding system based on double gyroscopes. Background technique [0002] At present, the welding process basically stays in the state of manual or semi-automatic welding. With the advancement of science and technology, the intelligentization of welding automation is also becoming more and more perfect. The heat, smoke, arc light, and electromagnetic pollution in the welding process lead to a very harsh working environment. Some specific workpieces need to be preheated to 100-300 degrees to complete welding. In addition, with the development of nuclear energy industry, marine engineering and space technology, it is inevitable to require welding and repairing in radioactive places, underwater and space. The welding conditions are even worse, which seriously damages the health of welders and affects the welding effect. [0003] The most difficult point ...

AI Technical Summary

Problems solved by technology

However, the disadvantage of this system is that the sensor and the welding torch are integrated, which limits the accessibility of the welding torch and the welding accuracy is low

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