Welding trajectory real-time detecting method in welding process of welding robot

Abstract

A welding trajectory real-time detecting method in the welding process of a welding robot includes the steps that welding trajectory data in the welding process of a normal welding robot are acquired; dimensionality reduction analysis is performed on the acquired welding trajectory data, and the cluster number of distribution dense clusters of the data is determined; according to the cluster data, all data points are accurately classified, and center point coordinates of each category are obtained; most TCP data point coordinate values of each category are substituted into a BP neutral network algorithm for network training; remaining TCP coordinate values are substituted into a neutral network algorithm for network authentication success; welding trajectory data of a certain point are acquired in real time; TCP-X and TCP-Y coordinate values in actual TCP coordinate values are substituted into the neutral network algorithm so that a predicted TCP-Z coordinate value can be obtained; and a difference between the predicted TCP-Z coordinate value and an actual TCP-Z coordinate value are is calculated, the point is a normal point if the difference falls into a preset confidence interval, and the point is an abnormal point if the difference does not fall into the preset confidence interval, and predicting alarming is performed.

Description

technical field [0001] The invention relates to the technical field of welding trajectory detection, in particular to a method for real-time detection of welding trajectory during the welding process of a welding robot, which is used for real-time detection of whether there is a welding deviation defect during the welding process of the welding robot. Background technique [0002] The so-called welding deviation means that when the robot performs welding work, the actual welding track deviates from the position of the welding joint, resulting in poor connection of the welded seam or even failure to connect. Once the welding deviation occurs during the welding process of the robot, all the welded seams must be ground off. The grinding work efficiency is low, the labor intensity is high, and the working environment is harsh, which seriously affects the welding efficiency of the arc welding robot. [0003] Among the existing welding deviation detection methods, image sensor and...

AI Technical Summary

Problems solved by technology

The cost of this solution is relatively high, and the installation and implementation on the project site are complicated

Images