Control method for manipulator of welding robot
A welding robot and control method technology, applied in the field of robots, can solve the problems of low welding quality and reduced welding quality, and achieve the effect of improving accuracy and richness
Inactive Publication Date: 2021-12-21
XIJING UNIV
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Problems solved by technology
However, in the prior art, only sensors are used to control the welding manipulator, and the welding quality is not high.
[0004] Through the above analysis, the existing problems and defects of the prior art are: the prior art only relies on the sensor to control the welding manipulator, which reduces the quality of welding
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[0049] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0050] Aiming at the problems existing in the prior art, the present invention provides a welding robot manipulator control method. The present invention will be described in detail below in conjunction with the accompanying drawings.
[0051] Such as figure 1 As shown, the welding robot manipulator control method provided by the embodiment of the present invention includes:
[0052]S101: The data collection and processing module collects images of the weldment and the surrounding environment, the operating state of the manipulator, the temperature of the surface of the weldment, welding current and voltage, and the weldin...
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The invention belongs to the technical field of robots, and discloses a control method for a manipulator of a welding robot. The control method comprises the following steps: a data acquisition and processing module acquires a weldment and surrounding environment image, a manipulator operation state, a weldment surface temperature, welding current and voltage and a welding process through various detection devices, and processes the acquired data; a central control module controls the welding robot according to the processed data; a simulation modeling module performs three-dimensional simulation modeling according to the acquired images and data acquired by various sensors to obtain calibrated point space three-dimensional coordinate data; and a welding manipulator operation module controls the welding operation track through a motor and a hydraulic cylinder of the robot. By arranging the data acquisition and processing module, the richness of data acquisition is improved, so that the movement of the manipulator is effectively controlled; and meanwhile, the accuracy of the welding track of the manipulator is improved.
Description
technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a method for controlling a welding robot manipulator. Background technique [0002] At present, welding robots are industrial robots engaged in welding. According to the definition of the ISO welding robot as a standard industrial robot, an industrial robot is a multi-purpose, reprogrammable automatic control manipulator with three or more programmable axes, used in the field of industrial automation. In order to adapt to different purposes, the mechanical interface of the last axis of the robot is usually a connecting flange, which can be connected to different tools or end effectors. The welding robot is equipped with welding tongs or welding torches on the flange of the final axis of the industrial robot, so that it can perform welding, cutting or thermal spraying. [0003] The welding robot mainly includes two parts: the robot and the welding equipment. The robot...
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IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 董忍娥史建宏李宁
Owner XIJING UNIV