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A comprehensive evaluation method for operating schemes of mobile welding robots

A technology for welding robots and operation schemes, applied in welding equipment, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve the problems of less research on robot system performance evaluation, and achieve improved continuous power supply time, strong comprehensiveness, and optimized The effect of energy distribution

Active Publication Date: 2018-04-10
SHANGHAI UNIVERSITY OF ELECTRIC POWER
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the research on robots focuses on kinematics, dynamics and decoupling control, and there are few studies on the system performance evaluation of robots.

Method used

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  • A comprehensive evaluation method for operating schemes of mobile welding robots
  • A comprehensive evaluation method for operating schemes of mobile welding robots
  • A comprehensive evaluation method for operating schemes of mobile welding robots

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Experimental program
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Embodiment

[0043] Such as figure 2 As shown, the welding robot system in this evaluation method includes a mobile welding robot body, a robot main controller and a fuel cell hybrid power system. The fuel cell hybrid power system is connected to the welding robot body through a drive controller. Among them, the hybrid power system includes a main power supply, an auxiliary power supply device and an energy management unit. The main power supply is a fuel cell, and the auxiliary power supply device is a battery. The output end of the fuel cell is connected to the drive controller through a Buck DC / DC converter, and the battery is connected in parallel to The output end of the Buck type DC / DC converter and the energy management unit are respectively connected to the mobile welding robot, the fuel cell, the storage battery and the Buck type DC / DC converter.

[0044] The welding robot controls the output current through a Buck DC / DC converter, and the energy management control process includ...

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Abstract

The invention relates to a comprehensive evaluation method for operating schemes of mobile welding robots. The method comprises the steps of: collecting the values of second-level evaluation indexes in a seam tracking experiment and screening out operating schemes meeting seam tracking error; grouping all the second-level evaluation indexes into multiple first-level evaluation indexes according todifferent evaluation viewpoints and calculating the grade of each operating scheme under the first-level evaluation indexes according to the information entropy of the second-level evaluation indexes; performing kernel principal component analysis on all the first-level evaluation index grades of all the operating schemes, obtaining comprehensive evaluation scores of all the operating schemes andobtaining the operating scheme with the optimal comprehensive evaluation. Compared with the prior art, the method determines the operating parameters of a robot system in a seam tracking process through comprehensive evaluation of the welding robot system, thereby optimizing energy distribution of a hybrid power system, improving the moving performance of a welding robot and improving the continuous power supply duration of a hybrid power system while guaranteeing the tracking accuracy and stability.

Description

technical field [0001] The invention relates to the technical field of welding robots, in particular to a comprehensive evaluation method for an operation scheme of a mobile welding robot. Background technique [0002] Welding is one of the most important fields of application for industrial robots. With the development of modern technology, more and more projects need to realize automatic welding. At present, the working range and application fields of cable-powered mobile welding robots are limited by the way of cable power supply. A hybrid power system is composed of proton exchange membrane fuel cells (PEMFC) and lithium batteries as auxiliary energy. This power supply method not only continues the advantages of fuel cells in cleanliness, high specific energy, and no need to charge, but also retains the advantages of lithium batteries with fast response. specialty. Applying this hybrid power system to a mobile welding robot system can improve the flexibility of robot ...

Claims

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Application Information

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IPC IPC(8): G06Q10/06B23K37/00B25J19/00
CPCB23K37/00B25J19/0095G06Q10/06393Y04S10/50
Inventor 吕学勤李新宇瞿艳苗兴王敏顾冬霞
Owner SHANGHAI UNIVERSITY OF ELECTRIC POWER
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