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Super-thick plate robot welding gun and groove sidewall collision detection method and system

A robot welding and collision detection technology, which is applied in welding equipment, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve the problems that are not easy to implement and the welding process is complicated, and achieve the effect that is conducive to automatic welding

Inactive Publication Date: 2019-07-30
SHANDONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Although this method avoids the collision between the welding torch and the side wall of the groove, it needs to frequently change the inclination angle of the welding torch when welding thick plates and extra-thick plates, which makes the welding process more complicated and difficult to implement

Method used

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  • Super-thick plate robot welding gun and groove sidewall collision detection method and system
  • Super-thick plate robot welding gun and groove sidewall collision detection method and system
  • Super-thick plate robot welding gun and groove sidewall collision detection method and system

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Embodiment Construction

[0059] It should be noted that the following detailed description is exemplary and intended to provide further explanation of the present disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

[0060] It should be noted that the terminology used herein is only for describing specific embodiments, and is not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.

[0061] Implementation example one

[0062] This embodiment discloses a collision detection method between a robot welding torc...

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Abstract

The invention discloses a super-thick plate robot welding gun and groove sidewall collision detection method and system. The method comprises the steps of establishing a model used for detecting whether a welding gun collides with the sidewall of a groove or not; establishing a coordinate system based on the groove with the lowest end of the cross section of the groove as the original point, the side where the lowest end of the groove is located as the y-axis and the direction perpendicular to the y-axis as the z-axis; and solving the value z of the vertical coordinate based on the establishedmodel, wherein the plate thickness t of a super-thick plate is less than z, and then collision between the welding gun and the sidewall of the groove can be avoided. According to the super-thick plate robot welding gun and groove sidewall collision detection method, in order to solve the problem that a thick plate robot welding gun collides with the sidewall of the groove easily, a welding gun wall-collision model is established, and the dip angle of the welding gun is changed in time when the welding gun collides with the groove.

Description

technical field [0001] The present disclosure relates to the field of welding technology, in particular to a method and system for detecting the collision between a robot welding torch of an extra-thick plate and a groove side wall. Background technique [0002] With the rapid development of underground and tunnel engineering, subway construction, steel structure, large-scale construction machinery and other industries, the application of shield machines in engineering is increasing. Shield machine is an important equipment for underground and tunnel engineering construction. Compared with ordinary construction machinery, shield machine products have high added value and complex processing technology. The cutter head, the key component of the shield machine, is a large welded structural part. The common cutter head has a diameter of 7m and a mass of 60 tons. It is a large structural part welded by 80-100mm thick plates, and the multi-layer and multi-pass welding workload is ...

Claims

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Application Information

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IPC IPC(8): B23K37/00G06F17/50
CPCB23K37/00G06F30/20
Inventor 孙俊生靳军温永策崔凯王驰卢庆亮于普涟郝小东曹永华
Owner SHANDONG UNIV
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