Curve Online Seam Tracking Method for Arc Welding Robot Welding

Abstract

The invention provides an online welding line tracking method of a welding curved line of an arc welding robot. The robot demonstrates a length of reference path; the path is equally divided into N path points according to a distance equal dividing principle; and meanwhile, a set of reference coordinate values of a measuring sensor is obtained. In actual operation, the measuring sensor scans a welding line in real time; welding line coordinates are sent to the robot; the robot compares the coordinate values with the reference values to obtain a deviation value to correct the corresponding nth path point; and the robot is operated along the corrected path points one by one. The method is simple and accurate in scheme, effectively prevents the problem of influence on the robot welding effect by change of a linear welding line trajectory due to such factors as workpiece errors or loading position errors, solves the problem of low tracking precision caused by no consideration of front distance in similar operation, in particular, solves the problem that a variable-curvature curve has no fixed reference value due to the front distance, improves the tracking precision, and enables a robot welding gun to continuously and stably weld the curve welding line by an expected posture.

Description

technical field [0001] The invention belongs to the field of automatic control, and in particular relates to a curve online seam tracking method when an arc welding robot welds a curve seam. Background technique [0002] In the automatic welding control process of the arc welding robot, there are many reasons that lead to errors, such as unpredictable errors in the pose and size of the welding workpiece, among which are the changes in the position and size of the weld caused by errors in the processing and assembly process , There are also deformations caused by the heating of the workpiece during the welding process. [0003] Usually, the above problems are solved by strictly controlling the machining accuracy in the production process, reducing the errors in the environment and applications, but it needs to increase the production cost and time cost of the enterprise, causing an additional burden on the enterprise. [0004] Another solution is to further improve robot wel...

AI Technical Summary

Problems solved by technology

[0005] In view of the present situation, this patent proposes a curve online seam tracking method for arc welding robot welding, which is convenient and simple, solves the error problem in the automatic welding control process, improves the tracking accuracy, and solves the problem of the variable curvature curve caused by the front distance. There is no problem of fixed reference value, so that the robot welding torch can perform continuous and stable welding on the curved welding seam in the expected pose

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