Robot seam tracking algorithm based on arc sensing and position feedforward

Abstract

Robot seam tracking algorithm based on arc sensing and position feedforward, the tracking algorithm includes the following steps: the controller inputs the standard welding curve into the robot, and the robot drives the welding torch to move forward along the standard welding curve path while also making the welding torch move along the vertical Swing in the direction of the weld seam; receive the real-time arc voltage and welding current measured by the arc sensor during the swing process of the welding gun along the direction of the vertical weld seam; calculate the real-time impedance value of the welding circuit according to the received real-time arc voltage and welding current; Integrate the real-time impedance value to obtain the left and right impedance difference and the high and low impedance difference; process the left and right impedance difference and the high and low impedance difference, and multiply them by a coefficient respectively to obtain the left and right deviation adjustment value and the high and low deviation adjustment value.

Description

Technical field: [0001] The invention relates to a robot seam tracking algorithm based on arc sensing and position feedforward. Background technique: [0002] Arc welding refers to the use of arc as a heat source and the physical phenomenon of air discharge to convert electrical energy into thermal energy and mechanical energy required for welding, so as to achieve the purpose of connecting metals; the main methods are electrode arc welding, submerged arc welding, and gas shielded welding. etc. It is the most widely used and most important welding method, accounting for more than 60% of the total welding production. [0003] Arc welding can be divided into manual arc welding, semi-automatic arc welding, and automatic arc welding; automatic arc welding usually refers to submerged arc automatic welding-the welding part is covered with a protective flux layer, and the light welding wire made of filler metal is inserted into the flux Layer, and welding metal to generate arc, ar...

AI Technical Summary

Problems solved by technology

However, domestic robots started late, and there is a certain gap between them and international brands.

At present, the main bottleneck in the application of domestic robots in the field of arc welding is the lack of a mature and stable tracking system; due to the constraints of this bottleneck, the current application of domestic robots in the field of arc welding can only put forward higher requirements for the prefabrication and positioning of workpieces, but Often such high precision requirements are excessive precision requirements for the workpiece to be welded, resulting in greater waste; the existing commonly used tracking processes are arc tracking and laser tracking, because the cost of arc tracking is lower, so arc tracking The popularity of tracking is higher; as the sensing method of weld seam tracking, arc sensing has the advantages of simple system structure and overlapping of sensing position and welding position, but it also has disadvantages such as small signal-to-noise ratio, poor precision, and difficult adjustment of tracking parameters.

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