Control method of robot intelligent welding

Abstract

The invention discloses a control method of robot intelligent welding. The method sequentially comprises the following steps that image marking is carried out on a welding point of a part to be welded; an image recognition system is built, and the image mark of the welding point is recorded into the image recognition system; the image recognition system is matched with a welding robot; unification and standardization are carried out on the image recognition system and a three-axis coordinate system inside the welding robot; the part to be welded is placed to a welding platform of the welding robot; the image recognition system and the welding robot are started; the image recognition system detects the image mark, the same as the recorded mark, on the part to be detected, and a three-dimensional coordinate of the part to be detected is obtained; the welding robot obtains a three-dimensional coordinate of a welding gun on a welding arm; the three-dimensional coordinate of the obtained image mark is compared with the three-dimensional coordinate of the welding gun, and vector operation is carried out; and a mechanical arm is controlled to move according to a vector operation result. The control method has the advantages that the improvement cost is low, improvement can be directly carried out on existing equipment, a self-inspection function is achieved, and working stability is high.

Description

technical field [0001] The invention relates to a welding machine, in particular to a control method for robot intelligent welding. Background technique [0002] Welding robots are industrial robots engaged in welding. According to the definition of the International Organization for Standardization that an industrial robot belongs to a standard welding robot, an industrial robot is a multipurpose, reprogrammable, automatic control manipulator with three or more programmable axes, used in the field of industrial automation. In order to adapt to different purposes, the mechanical interface of the last axis of the robot is usually a connecting flange, which can be connected to different tools or end effectors. The welding robot is equipped with welding tongs or welding torches on the flange of the final axis of the industrial robot, so that it can perform welding, cutting or thermal spraying. Spot welding does not have very high requirements for welding robots. Because spot...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is low-cost automatic welding, and the purpose is to provide a control method for robot intelligent welding, which solves the problem that existing welding robots generally perform welding according to preset programs or manual remote welding, and perform welding according to preset programs. Welding has high requirements on the overall production line, and the problem of low efficiency of manual remote welding