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Welding movement control method, system and device, computer equipment and storage medium

A motion control and motion trajectory technology, applied in the fields of welding motion control methods, systems, devices, computer equipment and storage media, can solve the problems of reducing welding quality and affecting the welding accuracy of welding torch tracking, so as to improve welding quality and improve tracking. The effect of precision

Active Publication Date: 2020-06-02
BEIJING BO TSING TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At the same time, there is a certain distance between the laser and the welding torch, and the lateral offsets at the two positions are different when the crawler is turning, so the trajectory of the two during the crawling process does not coincide. If the trajectory of the laser is directly used as The trajectory of the welding torch welds the weld seam, which will affect the accuracy of the welding torch tracking the weld seam, and these objective conditions will reduce the quality of welding

Method used

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  • Welding movement control method, system and device, computer equipment and storage medium
  • Welding movement control method, system and device, computer equipment and storage medium
  • Welding movement control method, system and device, computer equipment and storage medium

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Experimental program
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Embodiment 1

[0036] Figure 1a It is a flow chart of a welding motion control method provided by Embodiment 1 of the present invention. This embodiment is applicable to controlling the welding crawler to weld non-linear welds such as spheres. The method can be executed by a welding motion control device , the device can be realized by software and / or hardware, and generally can be integrated in computer equipment, and this computer equipment can be integrated on the welding crawler, such as PID (proportional-integral-derivative controller) as a welding crawler controller equipment, etc. Correspondingly, such as Figure 1a As shown, the method includes the following operations:

[0037] S110. During the crawling movement of the welding crawler, acquire in real time the movement track of the welding spot of the welding torch and the laser measurement point of the laser sensor, and the deflection angle of the welding crawler.

[0038] The laser sensor in the embodiment of the present inventi...

Embodiment 2

[0056] Figure 2a It is a flow chart of a welding motion control method provided in Embodiment 2 of the present invention. This embodiment is embodied on the basis of the above-mentioned embodiments. In this embodiment, it is given according to the deflection angle and the laser measurement The specific implementation manner of adjusting the movement trajectory of the welding torch welding point by the movement trajectory of the point, and verifying the adjusted movement trajectory of the welding torch welding point. Correspondingly, such as Figure 2a As shown, the method of this embodiment may include:

[0057] S210. During the crawling movement of the welding crawler, acquire in real time the movement track of the welding spot of the welding torch and the laser measurement point of the laser sensor, and the deflection angle of the welding crawler.

[0058] S220. Using a fixed-point recording method according to the preset point intervals, record the deflection angle of ea...

Embodiment 3

[0090] image 3 It is a structural schematic diagram of a welding motion control system provided by Embodiment 3 of the present invention, as shown in image 3 As shown, the structure of the welding motion control system includes: laser sensor 310, motion sensor 320, welding torch 330, welding crawler 340, cross slider 350 and data processing module 360, laser sensor 310, motion sensor 320, welding torch 330, cross The slider 350 and the data processing module 360 ​​are installed on the welding crawler 350; the laser sensor 310, the motion sensor 320, the welding torch 330 and the cross slider 350 are connected in communication with the data processing module 360; wherein: the laser sensor 310 is used to detect the weld by laser Midpoint; the motion sensor 320 is used to obtain the deflection angle of the welding crawler in real time; the welding torch 330 is used to weld the weld seam; the cross slider 350 is used to adjust the lateral deflection distance of the welding torch...

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Abstract

The embodiment of the invention discloses a welding movement control method, system and device, computer equipment and a storage medium. The method includes the steps of obtaining movement trajectories of a welding point of a welding gun and a laser measuring point of a laser sensor and the deflection angle of a welding crawler in real time in the crawling movement process of the welding crawler,adjusting the movement trajectory of the welding point of the welding gun according to the deflection angle and the movement trajectory of the laser measuring point, and controlling the welding movements of the welding crawler according to the adjusted movement trajectory of the welding point of the welding gun. By means of the technical scheme, the precision of the welding gun for tracking a weldjoint can be improved, and then the welding quality is improved.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of automation control, and in particular to a welding motion control method, system, device, computer equipment and storage medium. Background technique [0002] In recent years, with the development of welding automation, more and more large-scale welding structures need to realize automatic welding. The non-rail all-position crawling welding robot has unique competitive advantages, making it possible to realize automatic welding of large structural parts. [0003] In the process of realizing the present invention, the inventor found that in the actual welding process, the welded grooves are not equal in width and completely standard. The uniformity of the weld groove is mainly limited by the processing accuracy and assembly accuracy of the groove. In addition, due to the thermal deformation during the welding process, the unwelded groove will shrink inward due to the thermal defo...

Claims

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Application Information

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IPC IPC(8): B23K28/00B23K37/00
CPCB23K28/00B23K37/00
Inventor 冯消冰潘百蛙
Owner BEIJING BO TSING TECH CO LTD
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