Crawling welding robot control method, robot and storage medium

A technology of welding robot and control method, which is applied in the field of measurement and control, and can solve problems such as difficult to reflect the change of arc length in real time

Active Publication Date: 2020-05-19
BEIJING BO TSING TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It is difficult for the feedback arc current and voltage to reflect the change of arc length in real time

Method used

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  • Crawling welding robot control method, robot and storage medium
  • Crawling welding robot control method, robot and storage medium
  • Crawling welding robot control method, robot and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0024] figure 1 It is a flow chart of the control method of the crawling welding robot provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation of using a welding torch for automatic welding. This method can be executed by the control device of the crawling welding robot provided by the embodiment of the present invention. This device can be implemented by hardware and / or software, and generally can be integrated in crawling welding robots. Such as figure 1 As shown, it specifically includes the following steps:

[0025] S11. Obtain the current parameters of the welding power source through the current acquisition module and transmit them to the control module.

[0026] The current acquisition module can be located in the welding power source. The welding power source provides real-time feedback of current and voltage parameters during welding while providing welding energy. Among them, the current parameters change significantly dur...

Embodiment 2

[0045] figure 2 It is a flow chart of the control method of the crawling welding robot provided by Embodiment 2 of the present invention. The technical solution of this embodiment is further refined on the basis of the above-mentioned technical solution. Optionally, the method used for data fitting of the first welding torch height and the second welding torch height is the Kalman filter method, and the The optimal solution and the characteristics of the Gaussian distribution determine the fitting torch height. Correspondingly, such as figure 2 As shown, it specifically includes the following steps:

[0046] S21. Obtain the current parameters of the welding power source through the current acquisition module and transmit them to the control module.

[0047] S22. Using the control module to determine a first welding torch height according to the current parameters and the preset parameters of the welding power source.

[0048] S23. Using the laser camera module to determi...

Embodiment 3

[0059] image 3 It is a schematic structural diagram of a control device for a crawling welding robot provided in Embodiment 3 of the present invention. The device can be realized by hardware and / or software, and can be integrated into a crawling welding robot. Such as image 3 As shown, the device includes:

[0060] The current parameter acquisition module 31 is used to acquire the current parameters of the welding power source through the current acquisition module and transmit them to the control module;

[0061] The first welding torch height determination module 32 is used to determine the first welding torch height through the control module according to the current parameters and the preset parameters of the welding power supply;

[0062] The second welding torch height determination module 33 is used to determine the second welding torch height and transmit it to the control module according to the acquired welding seam image through the laser camera module;

[0063...

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Abstract

The invention discloses a crawling welding robot control method, a robot and a storage medium. The crawling welding robot control method comprises the following steps: adopting a current acquisition module to obtain the current parameter of a welding power source and transmitting the current parameter to a control module; through the control module, determining a first welding torch height according to the current parameter and the preset parameter of the welding power source; through a laser camera module, determining a second welding torch height and transmitting the second welding torch height to the control module according to an obtained welding seam image; through the control module, carrying out data fitting on the first welding torch height and the second welding torch height to obtain a fitted welding torch height; and through the control module, controlling a welding torch height adjusting module to adjust the current welding torch height and controlling a crawling module toadjust the current moving speed according to the fitted welding torch height and a datum welding torch height. According to the technical scheme, the crawling welding robot control method realizes precise calculation of the welding torch height to further realize correct welding torch height automatic adjustment and automatic robot moving speed adjustment in the welding torch welding process.

Description

technical field [0001] Embodiments of the present invention relate to measurement and control technology, and in particular to a control method, robot and storage medium of a crawling welding robot. Background technique [0002] As a high-quality welding method, gas shielded welding has gradually been widely used in production practice, and is developing toward automation and robotization. [0003] In the development process, many control parameters are required, one of which is the height of the welding torch, which is very important when the welding seam passes through a fixed point and so on. In the prior art, the arc feedback current or voltage is used to control the height of the welding torch, but for the filament gas shielded welding, the power supply used in the filament gas shielded welding basically adopts the constant-speed wire feeding and constant voltage mode, which has a certain arc Long self-adaptive adjustment function. It is difficult for the feedback arc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K9/095B25J9/16B25J11/00
CPCB23K9/0953B25J9/161B25J9/1664B25J11/005
Inventor 冯消冰潘际銮高力生张磊
Owner BEIJING BO TSING TECH CO LTD
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