Electric arc sensing control method and system for welding robot
A welding robot and arc sensing technology, applied in welding equipment, arc welding equipment, manufacturing tools, etc., can solve problems such as welding deviation and welding quality degradation, and achieve the effect of ensuring accuracy and improving welding quality
Active Publication Date: 2022-03-25
PANASONIC WELDING SYST TANGSHAN
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Problems solved by technology
[0004]
Since the welding robot can only operate in the "teaching and reproduction" mode according to the taught trajectory or the trajectory generated by offline programming, when the workpiece to be welded has deviations such as alignment deviation, positioning deviation, or welding thermal deformation, the robot still follows the original Trajectory operation, this will cause the problem of welding deviation, resulting in reduced welding quality
And the welding mode of constant penetration depth is adopted for the welding power supply, and the welding current is constant, so it is impossible to judge whether it deviates from the actual weld seam through the change of welding current
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[0047] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The same reference numerals denote the same or similar structures in the drawings, and thus their repeated descriptions will be omitted.
[0048] In this embodiment, every two adjacent teaching points on the teaching track determine a normal plane (that is, the normal plane of the connection), and the projection of the welding torch on the normal plane is determined as the V direction, which is the second direction. , the direction perpendicular to the V direction on the normal plane is determined as the H direction, that is, the first direction. refer to f...
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The invention provides an electric arc sensing control method and system for a welding robot, and the method comprises the steps: continuously collecting the wire feeding speed according to a preset collection interval, and obtaining the average wire feeding speed of each half period in a half period sequence; calculating a first target wire feeding speed in the first direction and a second target wire feeding speed in the second direction according to the average wire feeding speed of each half period in the period corresponding to the preset period number from the preset starting period sequence number; according to the average wire feeding speed, the first target wire feeding speed and the second target wire feeding speed of each half period in the current period, a first deviation vector of the welding wire in the first direction and a second deviation vector of the welding wire in the second direction are obtained; a resultant offset vector is obtained, and the robot is controlled to move the welding wire from the current position to the direction where the resultant offset vector is located by a value corresponding to the resultant offset vector; the method is beneficial for improving the welding quality of the welding robot based on electric arc sensing control in a constant fusion depth welding mode.
Description
technical field [0001] The invention relates to the technical field of robot arc welding, in particular to a welding robot arc sensing control method and system. Background technique [0002] With the development of automatic welding equipment and technology, welding robots are being popularized and applied continuously due to the advantages of high efficiency, high quality, high flexibility and high stability welding operations. On the other hand, arc sensing, as an arc welding sensing technology, has the advantage that it does not need to add additional tools except the welding torch, does not affect the accessibility and flexibility of the robot, and cooperates with contact sensing to perform automatic welding efficiently. Therefore, the use of welding robots in combination with arc sensing technology to complete welding has been widely used. [0003] Before the welding robot performs welding tasks, it will perform teaching operations. After the teaching is completed, t...
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IPC IPC(8): B23K9/133B23K9/12B23K9/095B23K9/28
CPCB23K9/133B23K9/124B23K9/095B23K9/28
Inventor 王兴阳王景磊苏立虎顾小辉谷孝满
Owner PANASONIC WELDING SYST TANGSHAN