Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Robot welding line tracking deviation compensation method

A compensation method and robot technology, applied in welding equipment, arc welding equipment, manufacturing tools, etc., to achieve the effect of ensuring stability and good molding

Active Publication Date: 2010-07-14
昆山华恒机器人有限公司
View PDF5 Cites 39 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, the classic control theory and modern control theory based on the precise mathematical model have encountered serious challenges in the automatic control of the welding process.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Robot welding line tracking deviation compensation method
  • Robot welding line tracking deviation compensation method
  • Robot welding line tracking deviation compensation method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0025] The concrete structure of the present invention will be described in detail below with reference to accompanying drawing:

[0026] A robot seam tracking device includes an arc sensor, a signal processing module, and a seam deviation correction module. The arc sensor is used to detect welding current, and the seam deviation correction module is used to compensate the track deviation of the weld seam. Wherein, the trajectory deviation compensation method includes the following steps:

[0027] as attached figure 1 , 2 Shown: Step 1: Start welding, the arc sensor detects the current welding current immediately, the signal processing module samples the welding current detected by the arc sensor, and filters the collected welding current data. In this embodiment, a digital filter combining local mean filtering and improved sliding median filtering is designed through experiments. Experiments show that the filter can better filter out the interference signal in the welding ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to a robot welding line deviation compensation method based on arc oscillation welding line tracking, comprising the steps of: 1, detecting a welding current, sampling, filtering collected welding current data; 2, extracting deviation of the filtered current data, fitting a deviation direction, extracting according to an integral differential method, obtaining a compensation dosage and a transverse deviation value of a height deviation direction; 3, storing the transverse deviation value, adjusting the sensitivity; 4, computing a compensation dosage of the deviation by combining with the transverse deviation value and the sensitivity; 5, updating and accumulating deviation compensation dosages along the height direction and the transverse direction; 6, converting a three-dimensional compensation dosage into interpolation points of x axis, y axis and z axis; and 7, sending the compensated interpolation points to a control part of the robot. The invention can not generate jump change aiming at the compensation dosages, can ensure the stability of the system at a certain degree, and has better molding of a welding line subjected to the deviation compensation and tracking error of generally within + / -mm.

Description

technical field [0001] The invention relates to a compensation method for robot welding seam tracking deviation. Background technique [0002] Seam tracking is the premise and important guarantee of welding automation. For robot welding systems, seam tracking undoubtedly plays a great role in improving welding quality. The welding seam tracking process of an arc welding robot is a complex system affected by multiple parameters, in which there are a large number of uncertain factors, such as the machining accuracy of the welded workpiece groove, assembly accuracy, heat during welding, arc force, and magnetic deflection. Weldment deformation caused by blowing, etc., the accuracy of robot teaching, robot repeatability, etc. Due to the nonlinearity of the welding process, the modeling work of the welding process is much more complicated and difficult than that of the linear system. Although researchers have used various methods to establish some more accurate models in recent ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): B23K9/127
Inventor 齐荣怀朱伟郭祖魁
Owner 昆山华恒机器人有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com