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

A welding robot and welding process technology, applied in welding equipment, welding equipment, auxiliary welding equipment, etc., can solve the problems of complex on-site installation and high cost, and achieve the effect of simple and fast implementation, convenient maintenance, and simple and fast installation.

Active Publication Date: 2019-09-17
SHANGHAI ZHANWAN INFORMATION SCI & TECHCO LTD
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The cost of this solution is relatively high, and the instal

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

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[0028] In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0029] Such as figure 1 As shown, this embodiment provides a method for real-time detection of welding trajectories during welding by a welding robot, which includes the following steps:

[0030] Step 101: Collect welding trajectory data in a three-dimensional space during a normal welding robot welding process. The welding trajectory ...

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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...

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Application Information

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IPC IPC(8): B23K31/12B23K37/00B25J11/00B25J9/16
CPCB23K31/125B23K37/00B25J9/1664B25J11/005
Inventor 唐栎徐海涛金东赫
Owner SHANGHAI ZHANWAN INFORMATION SCI & TECHCO LTD
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