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Welding gun tracking method and crawling welding robot

A welding robot and tracking controller technology, applied in welding equipment, arc welding equipment, manufacturing tools, etc., can solve the problems of welding torch error tracking, tracking error accumulation, etc., to reduce accumulated errors, ensure reliability, and improve tracking accuracy Effect

Active Publication Date: 2019-03-26
BEIJING BO TSING TECH CO LTD
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Problems solved by technology

However, in the existing welding torch tracking process, the laser sensor can only detect the welding front position, and the interference of strong arc light during welding cannot directly detect the weld seam information of the welding position, resulting in a certain distance between the laser sensor and the welding torch position. In other words, in the prior art, the current weld seam information detected by the laser sensor is used as the weld seam information at the position of the welding torch for welding, which is likely to cause wrong tracking of the welding torch, and there is a phenomenon of tracking error accumulation

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  • Welding gun tracking method and crawling welding robot
  • Welding gun tracking method and crawling welding robot
  • Welding gun tracking method and crawling welding robot

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Embodiment Construction

[0040] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

[0041] Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art wi...

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Abstract

The embodiment of the invention provides a welding gun tracking method and a crawling welding robot. In the tracking process of a welding seam by a welding gun, the vehicle posture angle collected bya posture sensor and a welding seam middle point position collected by a linear displacement sensor are lagged to the collection position when the welding gun arrives at the posture sensor and the linear displacement sensor for data collection, the position of the welding gun is adjusted, the welding gun tracking precision is effectively improved, and the welding gun tracking accumulation error isreduced.

Description

technical field [0001] The invention relates to the technical field of robot design, in particular to a welding torch tracking method and a crawling welding robot. Background technique [0002] In recent years, laser tracking has been widely used in robot welding tracking. For example, welding torch can track the welding seam by collecting welding seam information in real time. However, in the existing welding torch tracking process, the laser sensor can only detect the welding front position, and the interference of strong arc light during welding cannot directly detect the weld seam information of the welding position, resulting in a certain distance between the laser sensor and the welding torch position. In other words, in the prior art, the current weld seam information detected by the laser sensor is used as the weld seam information at the position of the welding torch for welding, which may easily cause wrong tracking of the welding torch, and there is a phenomenon o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K9/127B23K9/12
CPCB23K9/12B23K9/1274
Inventor 冯消冰潘百蛙陈尚成张磊
Owner BEIJING BO TSING TECH CO LTD
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