Off-line tracking method of curved seam for arc welding robot welding

Abstract

The invention provides an offline tracking method of a curve welding line welded by an arc welding robot. The robot teaches a section of standard route; the route is equally divided into N path points according to a distance equal division principle; and meanwhile, a set of standard coordinate values of a measuring sensor is obtained. In actual operation, the measuring sensor firstly scans the welding line; coordinates of all path points of the welding line are sent to the robot; the robot compares the coordinate values with the standard values to obtain deviated values to correct corresponding nth path points; and after the measuring sensor scans all the path points, the robot operates point by point for welding along the corrected path points. The method is simple and accurate, effectively prevents the effect of influence on the robot welding effect by change of a linear welding line trajectory caused by such factors as workpiece error or loading position error, and solves the problems of noise pollution and influence of measuring precision in measurement easily caused by welding in online tracking when measuring.

Description

Technical field [0001] The invention belongs to the field of automation control, and particularly relates to an offline tracking method for curved welds when arc welding robots are welding curved welds. Background technique [0002] In the automatic welding control process of arc welding robots, there are many reasons for errors, such as unpredictable errors in the position and size of the welding workpiece, including changes in the position and size of the weld caused by errors in the processing and assembly processes , There are also deformations caused by the heat of the workpiece during the welding process. [0003] Usually, the above-mentioned problems are solved by strictly controlling the processing accuracy in the production process to reduce errors in the environment and applications. However, it is necessary to increase the production cost and time cost of the enterprise, which causes an additional burden on the enterprise. [0004] Another solution is to further improve t...

AI Technical Summary

Problems solved by technology

[0005] In view of the above-mentioned status quo, this patent proposes an off-line tracking method of curved seam for arc welding robot welding, which is convenient and simple, solves the error problem in the automatic welding control process, improves the measurement accuracy, and makes the robot welding torch move in the expected position and posture Continuous and stable welding of curved seams

Images