Welding robot control method

A welding robot and control method technology, applied in welding equipment, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve the problem of lack of external information sensing and real-time adjustment functions, inability to adapt to changes in the welding environment and process, man-machine Problems such as operating space limitations, to achieve the effect of simplifying the teaching process, shortening the movement or empty distance, and strong anti-electromagnetic field interference

CN103170767BInactive Publication Date: 2015-01-21XUZHOU UNIV OF TECH +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2015-01-21
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a welding robot control method, and relates to a welding robot control device. According to the welding robot control method, a laser vision sensing system, a laser barcode scanning system, a main industrial personal computer, a driving device and a wireless demonstration device are utilized. A weldment is scanned through the laser bar code scanning system to form a three-dimensional model, the three-dimensional model is led into the main industrial personal computer, and welding information is directly designated on the three-dimensional model through the wireless demonstration device. The welding information comprises positions and lengths of weld joints, and the swing mode of a welding gun. When welding workpieces needs to be produced in a batch mode, a bar code identification system can be used for reading the welding information of welding bar codes on the welding workpieces, then the welding information is sent to the main industrial personal computer, and the main industrial personal computer converts the information of the bar codes into welding signals. The welding robot control method has the advantages that closed-loop control is realized, demonstration efficiency is improved, control of a welding robot is convenient, the electromagnetic field disturbance resistance ability is high, the demonstration efficiency and the quality of the weld joints of the workpieces are improved, the adaptive ability of a control system is enhanced, and the reliability is high.
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Description

technical field

[0001] The invention relates to a welding robot control device, in particular to a welding robot control method, a welding robot control method based on wireless intelligent teaching and three-dimensional laser scanning of visual tracking technology. Background technique

[0002] Welding robots are industrial robots that replace welders in welding tasks in the field of welding production. They are mainly divided into two categories: spot welding and arc welding. The welding parameters of the existing teaching reproducible welding robots are preset according to the working conditions, lack of external information sensing and real-time adjustment functions in the welding process, have strict requirements on the consistency of working conditions, and cannot adapt to the welding environment and process. Variety. Secondly, the teaching process of the teaching reproduction welding robot is cumbersome, the empty travel time is too long, and the work efficiency is ...

Examples

Embodiment Construction

[0030] Such as figure 1 As shown, the welding robot control method is used to detect the sensors of various states of the robot, monitor the force state, rotation angle and speed of each arm of the robot in real time, and capture the information of the welding seam at the same time to form a closed-loop control of the robot.

[0031] The signal conversion device converts various signals detected by the sensor and transmits them to the main industrial computer through the communication device. The main industrial computer receives the signal from the wireless teaching device for analysis and processing and completes the human-computer interaction function. The main industrial computer receives the signals from various sensors and performs mechanical calculations, and the control system solves the calculation to form a control error signal. The driving device is used to drive the robot to work by receiving the command sent by the main industrial computer. The wireless teaching ...