Mobile Welding Robot RCM Control Against Crane Vibration
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Solution Overview
Problem
Robotic welding systems face challenges in maintaining stability and accuracy due to undesired movements from positioning devices like cranes, which can result in decreased welding quality and limited flexibility in workshop integration.
Innovation Solution
The introduction of a welding robot that defines a remote center of motion (RCM) along its kinematic chain with the positioning arm, allowing continuous monitoring and compensation of undesired displacements caused by noise and vibration, thereby stabilizing the welding gun.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a positioning device such as a mobile crane is used to transport and position the welding robot, then the welding robot can be moved to different locations and work on large structures, but the positioning device introduces noise and vibration that cause undesired movements of the welding robot
Solution Approach 1:
The patent introduces an intermediary control system that acts as a mediator between the positioning device and the welding robot. This control system continuously monitors the welding robot's position and compensates for disturbances by calculating counteracting movements, effectively isolating the welding robot from the instability of the positioning device while maintaining mobility.
Solution Approach 2:
The patent implements a feedback control mechanism where sensors continuously monitor the welding robot's position and the control system processes this information to calculate compensating movements. The feedback loop enables real-time correction of undesired movements caused by the positioning device, maintaining welding accuracy despite mobility requirements.
2Productivity
If the welding robot is engaged with a positioning arm that is subject to environmental noise and vibration, then the welding robot can operate in real-world conditions, but the welding accuracy decreases due to undesired movements
Solution Approach 1:
The control system continuously receives feedback from sensors about the welding robot's position and the forces acting on it. This feedback enables real-time calculation of compensating movements that counteract environmental disturbances, maintaining welding accuracy while allowing operation in real-world conditions with noise and vibration.
Solution Approach 2:
The control system calculates and applies compensating movements in advance to counteract anticipated disturbances. By predicting and counteracting the effects of environmental noise and vibration before they significantly impact the welding process, the system maintains precision while operating in real-world conditions.
3Adaptability or versatility
If large welding equipment is transported to different workshops, then the equipment can serve multiple production sites, but the transport and positioning become cumbersome and time-consuming
Solution Approach 1:
The patent replaces complex mechanical transport and positioning mechanisms with a control system that uses sensors and calculations to achieve positioning. Instead of relying on heavy mechanical systems for precise positioning, the invention uses intelligent control to compensate for positioning errors, significantly reducing transport and setup time while maintaining multi-site capability.
4Manufacturing precision
If the welding robot uses a stable fixed construction, then the welding accuracy is maintained, but the flexibility to integrate with various workshop setups and move between locations is limited
Solution Approach 1:
The patent transitions from a static fixed construction to a dynamic system that can adapt to different workshop setups. The control system continuously adjusts the welding robot's position and orientation based on real-time feedback, enabling the system to maintain welding accuracy while integrating with various mobile positioning devices and workshop configurations.
Solution Approach 2:
The control system is designed to be universal and compatible with various positioning devices and workshop setups. By implementing a flexible feedback control mechanism that can compensate for different types of positioning errors, the system maintains welding accuracy across multiple locations and configurations without requiring fixed construction.
Data Source
AI summary
The disclosure regards a welding robot for performing welding operations when engaged by a positioning arm; the welding robot comprising, a robot arm configured for being connected to the positioning arm at a mounting point, a welding gun connected to the robot arm, wherein an at least first remote center of motion is defined by a point on a kinematic chain along the robot arm and the positioning arm. The welding robot is configured to continuously monitor the at least first remote center of motion and a tool center point of the welding gun during operation of the welding gun.