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Control method, robot and storage medium of crawling welding robot

A welding robot and control method technology, applied in the field of measurement and control, can solve the problem of difficult to reflect the change of arc length in real time, and achieve the effects of accurate automatic adjustment of welding torch height, accurate automatic adjustment of robot moving speed, and accurate calculation.

Active Publication Date: 2021-11-05
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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  • Control method, robot and storage medium of crawling welding robot
  • Control method, robot and storage medium of crawling welding robot
  • Control method, robot and storage medium of crawling welding robot

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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. like figure 1 shown, including 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 during the welding proce...

Embodiment 2

[0045] figure 2 This is a flowchart of the control method of the crawling welding robot provided by the second embodiment 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 height of the first welding torch and the height of the second welding torch is the Kalman filtering method, and the most The optimal solution and the characteristics of the Gaussian distribution determine the fitting torch height. correspondingly, as figure 2 shown, including the following steps:

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

[0047] S22. Determine the height of the first welding torch by the control module according to the current parameter and the preset parameter of the welding power source.

[0048] S23. The laser camera module deter...

Embodiment 3

[0059] image 3 This is a schematic structural diagram of the control device of the crawling welding robot provided in the third embodiment of the present invention, the device can be realized by means of hardware and / or software, and can be integrated into the crawling welding robot. like 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 for determining the first welding torch height through the control module according to the current parameters and the preset parameters of the welding power source;

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

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Abstract

The embodiment of the invention discloses a control method, robot and storage medium of a crawling welding robot. The method includes: obtaining the current parameters of the welding power supply through the current acquisition module and transmitting them to the control module; determining the first welding torch height according to the current parameters and the preset parameters of the welding power supply through the control module; seam image, determine the second welding torch height and transmit it to the control module; carry out data fitting on the first welding torch height and the second welding torch height through the control module, and obtain the fitting welding torch height; through the control module according to the fitting welding torch Height and reference torch height, control the welding torch height adjustment module to adjust the current welding torch height and control the crawling module to adjust the current moving speed. The technical scheme of the embodiment of the present invention realizes accurate calculation of the height of the welding torch, and further realizes accurate automatic adjustment of the height of the welding torch and automatic adjustment of the moving speed of the robot during the welding process of the welding torch.

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 Patents(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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