CN102581444B - Online demonstration method for 'J'-shaped groove welding robot - Google Patents
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Abstract
The invention discloses an online demonstration method for a 'J'-shaped groove welding robot, which relates to the field of robot welding, and includes the steps: judging whether circumferential deviation is within a first preset range or not by a microprocessor, acquiring axial deviation if the circumferential deviation is within the first preset range, and if the circumferential deviation is not within the first preset range, rectifying the circumferential deviation by the microprocessor, and acquiring a first practical weld shape track; and judging whether the axial deviation is within a second preset range or not by a microprocessor, if the axial deviation is not within the second preset range, rectifying the axial deviation by the microprocessor, and acquiring a second practical weld shape track or a third practical weld shape track, and if the axial deviation is within the second preset range, leading the J-shaped groove welding robot to return to a start point again, turning off a laser range finder and starting to weld so as to complete the process. The online demonstration method for the 'J'-shaped groove welding robot has the advantages that the quantity of weld characteristic data points are obviously decreased by means of B-spline interpolation, the problem of quick positioning of a robot-based coordinate system and a workpiece coordinate system is fundamentally solved by means of judgment and deviation rectifying of the microprocessor, human factor influence on demonstration is reduced, and weld quality consistency is guaranteed.
Description
Technical field
The present invention relates to robot welding field, particularly a kind of on-line teaching method for " J " type groove welding robot.
Background technology
Fig. 1 is the structural representation of certain pressure vessel, and this pressure vessel head is passed through and forms mutually by hemispherical head and a plurality of pipes.The weld seam that pressure vessel head is connected with pipe is inner at pressure vessel head, and its track is space curve, and its groove is shaped as J type.For guaranteeing welding quality, improve the efficiency of welding, need to adopt robot to weld it.
For pressure vessel bulb passes through J type groove weld mutually, mainly there is the not enough and disappearance of the following aspects in all-purpose robot teach programming mode:
1. General welding robot can only adopt the mode of teach mode or off-line programing to carry out autonomous seam tracking for complicated weld seam.With regard to its teach mode, along with the raising of path complexity, the quantity of taught point is corresponding increase also, and the workload of teaching also must increase; And its off-line programing is more prone to meet trajectory planning between points, the not better integrated planning of the whole seam track of consideration, and the method has proposed higher requirement for operator's professionalism.
2. in Practical Project, robot generally can not move easily, frequently moves robot and will cause robot base coordinate sys-tem and workpiece coordinate system to produce error, has reduced the operating accuracy of robot.For pressure vessel bulb, pass through mutually the robot welding of J type groove weld, owing to being subject to the restriction of welding work pieces, and need to adopt suspension type special purpose robot, this will inevitably run into the problem that how to solve basis coordinates system of robot and the quick location of workpiece coordinate system.And if use General welding robot is difficult to address this problem.
While 3. using all-purpose robot to carry out autonomous seam tracking, due to the difference of workman's skilled operation degree and artificial vision's error, must cause the uniformity of appearance of weld quality to be guaranteed.
Like this, reducing various artificial influence factors, guaranteeing, under the prerequisite of welding quality, to improve the efficiency of on-line teaching, is that pressure vessel bulb passes through the problem that the robot welding of J type groove weld must solve mutually.
In prior art, relate to and adopt the welding manner of multilayer multiple tracks to fill " J " type groove, when record and expression weld shape feature, must relate to the problem of how to store weld shape; Be subject to workpiece processing, distortion and robot architecture's restriction simultaneously, must occur the theoretical shape of weld seam and the problem that actual groove shape exists error calculated; The same error of workman's vision that there will be in robot teaching process.If operating process is too loaded down with trivial details, can causes operating personnel not dislike even and finish the work according to set technological requirement.All errors and disappearance sum up in the point that together, the error in various degree that is finally bound to cause the distance of welding gun end and surface of the work to exist, and this error is fatal for welding process.
Summary of the invention
The invention provides a kind of on-line teaching method for " J " type groove welding robot, the present invention has reduced the labour intensity of workman's teaching track, has improved the efficiency of track teaching, has reduced the impact of teaching human factor, guaranteed weldquality uniformity, described below:
An on-line teaching method for " J " type groove welding robot, said method comprising the steps of:
(1) choose N J type groove track characteristic data point, B spline interpolation is carried out in described characteristic strong point, obtain welding gun along between the walking path setting district of theory locus;
(2) laser range finder is reversed to vertical tube axis direction, theory locus motion described in J type groove welding Robot, the distance that described laser range finder gathers between welding gun end and pipe surface is also sent to microprocessor;
(3) described microprocessor is processed the distance between described welding gun end and pipe surface, obtains between actual welds shape and theoretical weld shape circumferentially deviation between described setting district according to actual welds shape and intersection parametric equation;
(4) described in described microprocessor judges circumferentially deviation whether in the first preset range, if so, execution step (6); If not, execution step (5);
(5) described microprocessor is rectified a deviation to described circumferential deviation, obtains the first actual welds shape track;
(6) starting point is got back to by described J type groove welding robot, described laser range finder is reversed to pipe axis direction, the walking path of theory locus or described the first actual welds shape orbiting motion described in described J type groove welding Robot, the distance that described laser range finder gathers between welding gun end and J type groove is also processed, and obtains axial deviation between actual welds shape and theoretical weld shape between described setting district according to actual welds shape and intersection parametric equation;
(7) described in described microprocessor judges axial deviation whether in the second preset range, if so, execution step (9); If not, execution step (8);
(8) described microprocessor is rectified a deviation to described axial deviation, obtains the second actual welds shape track or the 3rd actual welds shape track;
(9) starting point got back to again by described J type groove welding robot, closes described laser range finder, starts welding, and flow process finishes.
Describedly choose N J type groove track characteristic data point, B spline interpolation carried out in described characteristic strong point, obtain welding gun and be specially along between the walking path of theory locus setting district:
By pipe radius r, spheric curvature R and pipe and sphere eccentric distance e, set up intersection parametric equation;
By described intersection parametric equation, choose described N J type groove track characteristic data point under different θ, wherein θ represents certain point and the projection of initial point o ' line in x ' o ' y ' plane and the angle of x ' axle on intersection, x ', y ' and z ' expression intersection coordinate;
B spline interpolation is carried out in described characteristic strong point, obtain the control vertex of the corresponding B-spline curves of theory locus, by described control vertex, calculate welding gun along between the walking path setting district of theory locus.
Described microprocessor is processed and is specially the distance between described welding gun end and pipe surface:
Distance between described welding gun end and pipe surface is removed to noise and interfering data, the processing of matching and smoothed data point.
Described in described microprocessor judges, circumferentially whether deviation is specially in the first preset range:
Described microprocessor is analyzed described circumferential deviation, searches interior the first deviation maximum number strong point between each setting district;
Described in described microprocessor judges, whether the first deviation maximum number strong point is in described the first preset range.
Described microprocessor is rectified a deviation to described circumferential deviation, obtains the first actual welds shape track and is specially:
Adopt population searching method to ask for the independent variable parameter of first B-spline function at interior the first deviation maximum number strong point between each setting district, by described the first B-spline function independent variable parameter, search first several control vertexs that need to modify;
Track and theory locus average deviation minimum after meet revising, and after described modification under the condition of track by described the first deviation maximum number strong point, utilize lagrange's method of multipliers to calculate the variable quantity of described first several control vertexs;
Variable quantity by described first several control vertexs is rectified a deviation to described circumferential deviation, obtains the track of described the first actual welds shape.
Described in described microprocessor judges, whether axial deviation is specially in the second preset range:
Described microprocessor is analyzed described axial deviation, searches interior described the second deviation maximum number strong point between each setting district;
Described in described microprocessor judges, whether the second deviation maximum number strong point is in described the second preset range.
Described microprocessor is rectified a deviation to described axial deviation, obtains the second actual welds shape track or the 3rd actual welds shape track is specially:
Adopt population searching method to ask for the second B-spline function independent variable parameter at interior described the second deviation maximum number strong point between each setting district, by described the second B-spline function independent variable parameter, search second several control vertexs that need to modify;
Track and theory locus average deviation minimum after meet revising, and after described modification under the condition of track by described the second deviation maximum number strong point, utilize lagrange's method of multipliers to calculate the variable quantity of second several control vertexs;
Variable quantity by described second several control vertexs is rectified a deviation to described axial deviation, obtains the track of described the second actual welds shape or the track of described the 3rd actual welds shape.
Starting point got back to again by described J type groove welding robot, closes described laser range finder, starts welding and is specially:
When there not being described circumferential deviation, while also there is not described axial deviation, along the walking path of described theory locus, start welding; When only there is described circumferential deviation, along described the first actual welds shape track, start welding; When only there is described axial deviation, along described the second actual welds shape track, start welding; When both there being described circumferential deviation, while there is described axial deviation again, along described the 3rd actual welds shape track, start welding.
The beneficial effect of technical scheme provided by the invention is:
The invention provides a kind of on-line teaching method for " J " type groove welding robot, the present invention has significantly reduced the quantity at seam track characteristic strong point by B spline interpolation; By microprocessor, to the judgement of circumferential deviation and axial deviation and correction, fundamentally solve basis coordinates system of robot and the quick problem of locating of workpiece coordinate system; By adopting laser range finder to gather distance, reduce the impact of operating personnel's human error factor, improve control accuracy; The labour intensity that has reduced workman's teaching track, has improved the efficiency of track teaching, has reduced the impact of teaching human factor, has guaranteed weldquality uniformity.
Accompanying drawing explanation
The structural representation of the pressure vessel that Fig. 1 provides for prior art;
Fig. 2 is bulb Intersect structure schematic diagram provided by the invention;
Fig. 3 is the schematic diagram of the circumferential deviation of measurement pipe provided by the invention;
Fig. 4 is the schematic diagram of measurement pipe axial deviation provided by the invention;
Fig. 5 is the flow chart of a kind of on-line teaching method for " J " type groove welding robot provided by the invention;
Fig. 6 is welding gun end run trace three-dimensional artificial figure provided by the invention;
Fig. 7 is the adjustment front and back comparison diagram of checking example provided by the invention.
The specific embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.
In order to reduce the labour intensity of workman's teaching track, improve the efficiency of track teaching, reduce the impact of teaching human factor, guarantee weldquality uniformity, the embodiment of the present invention provides a kind of on-line teaching method for " J " type groove welding robot, referring to Fig. 2, Fig. 3, Fig. 4 and Fig. 5, described below:
101: by pipe radius r, spheric curvature R and pipe and sphere eccentric distance e, set up intersection parametric equation;
Wherein, this step is specially: according to pipe radius r, spheric curvature R and pipe and sphere eccentric distance e, set up the different curvature sphere of reflection, different radius pipes is at the intersection parametric equation of sphere diverse location.
Intersection parametric equation
Wherein, x ' y ' and z ' expression intersection coordinate, θ represents certain point and the projection of initial point o ' line in x ' o ' y ' plane and the angle of x ' axle on intersection.
Wherein, the workpiece in the embodiment of the present invention be take pipe as example describes, and during specific implementation, can also be other workpiece, such as: rectangular tube and rectangular tube etc., the embodiment of the present invention does not limit this.
102: according to intersection parametric equation, choose N J type groove track characteristic data point under different θ;
Wherein, the value of N is set according to the needs in practical application, for example, when N is 13, θ=0 °, θ=30 °, θ=60 °, θ=90 ° ... θ=330 ° and θ=360 °.
103: N J type groove track characteristic data point carried out to B spline interpolation, obtain the control vertex of the corresponding B-spline curves of theory locus, by control vertex, calculate welding gun along between the walking path setting district of theory locus;
Wherein, compare with linear interpolation of the prior art or circular interpolation, adopt B spline interpolation can reduce choosing and stored number of seam track characteristic strong point, and guarantee precision and the fairness of welding gun run trace.B-spline curves are subset or special cases of NURBS (non-uniform rational b spline curve), and B-spline curves equation is defined as
Wherein, d
i(i=0,1 ..., n) be control vertex, claim again De Buer point, N
i, k(u) (i=0,1 ..., n) being called standard B spline base function k time, the value of n is to be more than or equal to zero integer.
104: laser range finder is reversed to vertical tube axis direction, the motion of J type groove welding Robot theory locus, laser range finder gathers the distance between welding gun end and pipe surface and is sent to microprocessor;
Wherein, in order to reduce artificial error, the embodiment of the present invention adopt laser range finder come Butt welding gun end and surface of the work between distance carry out the collection of data message.
105: the distance between microprocessor Butt welding gun end and pipe surface is processed, according to actual welds shape and intersection parametric equation, obtain between actual welds shape and theoretical weld shape circumferentially deviation between setting district;
Wherein, the distance between microprocessor Butt welding gun end and pipe surface is processed and is specially: the distance between Butt welding gun end and pipe surface is removed noise and interfering data, the processing of matching and smoothed data point.
Wherein, the embodiment of the present invention adopts the processing that Kalman filtering is removed noise and interfering data; The embodiment of the present invention adopts fuzzy mathematics to carry out the processing of matching and smoothed data point, during specific implementation, can also adopt other method to process, and the embodiment of the present invention does not limit this.
Wherein, during specific implementation, between setting district, can be four quadrants in reference axis, according to the needs in practical application, can also be set as other interval, the embodiment of the present invention does not limit this.
106: the circumferential deviation of microprocessor judges whether in the first preset range, if so, execution step 108; If not, execution step 107;
Wherein, whether the circumferential deviation of microprocessor judges is specially in the first preset range:
1) microprocessor is analyzed circumferential deviation, searches interior the first deviation maximum number strong point between each setting district;
2) whether microprocessor judges the first deviation maximum number strong point is in the first preset range.
Wherein, during specific implementation, according to setting the first preset range in practical application, the embodiment of the present invention does not limit this.
107: microprocessor is rectified a deviation to circumferential deviation, obtain the first actual welds shape track;
Wherein, microprocessor is rectified a deviation to circumferential deviation, obtains the first actual welds shape track and is specially:
1) adopt population searching method to ask for the independent variable parameter of first B-spline function at interior the first deviation maximum number strong point between each setting district, by the first B-spline function independent variable parameter, search first several control vertexs that need to modify;
Wherein, the quantity of control vertex is set according to the needs in practical application, and during specific implementation, the embodiment of the present invention does not limit this.
Wherein, population searching method mainly contains 6 basic performing steps: the original position and the speed that 1. initialize each particulate; 2. calculate the fitness value of each particulate; 3. for each particulate, as its adaptive value is better than the desired positions itself living through, use current fitness value as its new desired positions; 4. for whole Particle Swarm, if exist fitness to be better than the individuality of the historical desired positions of whole Particle Swarm, use the best individuality of fitness value in whole Particle Swarm as new whole desired positions; 5. for each particulate, first according to population computing formula, recalculate the position of particulate; If 6. reach maximum iterations or minimum criteria, terminator; Otherwise, jump to step 2..
2) after meeting modification, track and theory locus average deviation are minimum, and after revising, track passes through, under the condition at the first deviation maximum number strong point, to utilize lagrange's method of multipliers to calculate the variable quantity of first several control vertexs;
Wherein, from the local property of B-spline function, the curve shape of mobile wherein some control vertexs on only can affecting between limited a plurality of node area, guarantees that the curve shape beyond this control vertex remains unchanged.Utilize lagrange's method of multipliers to calculate the variable quantity of several control vertexs that need to modify.
3) by the variable quantity of first several control vertexs, circumferential deviation is rectified a deviation, obtain the track of the first actual welds shape.
Wherein, by above-mentioned steps, finally realized by the optimum to theory locus model and revised the track that obtains realistic weld shape.
Starting point is got back to by 108:J type groove welding robot, laser range finder is reversed to pipe axis direction, the walking path of J type groove welding Robot theory locus or the first actual welds shape orbiting motion, laser range finder gathers the distance between welding gun end and J type groove; Distance between Butt welding gun end and J type groove is processed, and obtains axial deviation between actual welds shape and theoretical weld shape between setting district according to actual welds shape and intersection parametric equation;
Wherein, when not there is not circumferential deviation, starting point is got back to by J type groove welding robot, laser range finder is reversed to pipe axis direction to the walking path motion of J type groove welding Robot theory locus; When there is circumferential deviation, starting point is got back to by J type groove welding robot, laser range finder is reversed to pipe axis direction to J type groove welding Robot the first actual welds shape orbiting motion.
109: microprocessor judges axial deviation whether in the second preset range, if so, execution step 111; If not, execution step 110;
Wherein, during specific implementation, according to setting the second preset range in practical application, the second preset range can be identical with the first preset range, also can be different from the first preset range, and the embodiment of the present invention does not limit this.
Wherein, whether microprocessor judges axial deviation is specially in the second preset range:
1) microprocessor is analyzed axial deviation, searches interior the second deviation maximum number strong point between each setting district;
2) whether microprocessor judges the second deviation maximum number strong point is in the second preset range.
110: microprocessor is rectified a deviation to axial deviation, obtain the second actual welds shape track or the 3rd actual welds shape track;
1) adopt population searching method to ask for the second B-spline function independent variable parameter at interior the second deviation maximum number strong point between each setting district, by the second B-spline function independent variable parameter, search second several control vertexs that need to modify;
2) after meeting modification, track and theory locus average deviation are minimum, and after revising, track passes through, under the condition at the second deviation maximum number strong point, to utilize lagrange's method of multipliers to calculate the variable quantity of second several control vertexs;
3) by the variable quantity of second several control vertexs, axial deviation is rectified a deviation, obtain the track of the second actual welds shape or the track of the 3rd actual welds shape.
Wherein, when not there is not circumferential deviation, while only there is axial deviation, microprocessor is rectified a deviation to axial deviation, obtains the second actual welds shape track; When both there is circumferential deviation, while there is axial deviation again, microprocessor is rectified a deviation to axial deviation, obtains the 3rd actual welds shape track.
Starting point got back to again by 111:J type groove welding robot, closes laser range finder, starts welding, and flow process finishes.
Wherein, this step specifically comprises: when not having circumferential deviation, also not having axial deviation, along the walking path of theory locus, start welding; When only there is circumferential deviation, along the first actual welds shape track, start welding; When only there is axial deviation, along the second actual welds shape track, start welding; When both there being circumferential deviation, while there is axial deviation again, along the 3rd actual welds shape track, start welding.
With a concrete test, verify the feasibility of a kind of on-line teaching method for " J " type groove welding robot that the embodiment of the present invention provides below, referring to Fig. 6 and Fig. 7, described below:
Experimental condition: pipe radius r=56mm, spheric curvature R=2190mm and pipe and sphere eccentric distance e=850mm, choose 13 characteristic strong points, suppose that ° position, θ=125 is the first deviation maximum number strong point, utilize B-spline function to carry out part to theory locus and revise, modification process is referring to step 104-step 107.Microprocessor is Intel T44002.2GHz CPU, DDR22G internal memory.Adopt Visual studio 2008 programming development platforms.Under .NET environment, Butt welding gun end is adjusted along the circumferential run trace of pipe, through the local modification time of verification experimental verification movement locus (shape arrives the amended time of shape before revising), is 20-25ms, and Controllable Error is 0.02mm.Adopt method in the embodiment of the present invention not only to realize the on-line teaching of " J " type groove welding robot for this reason, and no matter in precision and speed, all obtained good effect, met the needs in practical application.
In sum, the embodiment of the present invention provides a kind of on-line teaching method for " J " type groove welding robot, and the embodiment of the present invention has significantly reduced the quantity at seam track characteristic strong point by B spline interpolation; By microprocessor, to the judgement of circumferential deviation and axial deviation and correction, fundamentally solve basis coordinates system of robot and the quick problem of locating of workpiece coordinate system; By adopting laser range finder to gather distance, reduce the impact of operating personnel's human error factor, improve control accuracy; The labour intensity that has reduced workman's teaching track, has improved the efficiency of track teaching, has reduced the impact of teaching human factor, has guaranteed weldquality uniformity.
It will be appreciated by those skilled in the art that accompanying drawing is the schematic diagram of a preferred embodiment, the invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (7)
1. for an on-line teaching method for " J " type groove welding robot, it is characterized in that, said method comprising the steps of:
(1) choose N " J " type groove track characteristic data point, B spline interpolation is carried out in described characteristic strong point, obtain welding gun along between the walking path setting district of theory locus;
(2) laser range finder is reversed to vertical tube axis direction, theory locus motion described in " J " type groove welding Robot, the distance that described laser range finder gathers between welding gun end and pipe surface is also sent to microprocessor;
(3) described microprocessor is processed the distance between described welding gun end and pipe surface, obtains between actual welds shape and theoretical weld shape circumferentially deviation between described setting district according to actual welds shape and intersection parametric equation;
(4) described in described microprocessor judges circumferentially deviation whether in the first preset range, if so, execution step (6); If not, execution step (5);
(5) described microprocessor is rectified a deviation to described circumferential deviation, obtains the first actual welds shape track;
(6) described in, starting point is got back to by " J " type groove welding robot, described laser range finder is reversed to pipe axis direction, the walking path of theory locus or described the first actual welds shape orbiting motion described in described " J " type groove welding Robot, the distance that described laser range finder gathers between welding gun end and " J " type groove is also processed, and obtains axial deviation between actual welds shape and theoretical weld shape between described setting district according to actual welds shape and intersection parametric equation;
(7) described in described microprocessor judges axial deviation whether in the second preset range, if so, execution step (9); If not, execution step (8);
(8) described microprocessor is rectified a deviation to described axial deviation, obtains the second actual welds shape track or the 3rd actual welds shape track;
(9) described in, starting point got back to again by " J " type groove welding robot, closes described laser range finder, starts welding, and flow process finishes;
Wherein, described in choose N " J " type groove track characteristic data point, B spline interpolation is carried out in described characteristic strong point, obtain welding gun and be specially along between the walking path of theory locus setting district:
By pipe radius r, spheric curvature R and pipe and sphere eccentric distance e, set up intersection parametric equation;
By described intersection parametric equation, choose described N " J " type groove track characteristic data point under different θ, wherein θ represents certain point and the projection of initial point o ' line in x ' o ' y ' plane and the angle of x ' axle on intersection, x ', y ' and z ' expression intersection coordinate;
B spline interpolation is carried out in described characteristic strong point, obtain the control vertex of the corresponding B-spline curves of theory locus, by described control vertex, calculate welding gun along between the walking path setting district of theory locus.
2. a kind of on-line teaching method for " J " type groove welding robot according to claim 1, is characterized in that, described microprocessor is processed and is specially the distance between described welding gun end and pipe surface:
Distance between described welding gun end and pipe surface is removed to noise and interfering data, the processing of matching and smoothed data point.
3. a kind of on-line teaching method for " J " type groove welding robot according to claim 1, is characterized in that, circumferentially whether deviation is specially in the first preset range described in described microprocessor judges:
Described microprocessor is analyzed described circumferential deviation, searches interior the first deviation maximum number strong point between each setting district;
Described in described microprocessor judges, whether the first deviation maximum number strong point is in described the first preset range.
4. a kind of on-line teaching method for " J " type groove welding robot according to claim 1, is characterized in that, described microprocessor is rectified a deviation to described circumferential deviation, obtains the first actual welds shape track and is specially:
Adopt population searching method to ask for the independent variable parameter of first B-spline function at interior the first deviation maximum number strong point between each setting district, by described the first B-spline function independent variable parameter, search first several control vertexs that need to modify;
Track and theory locus average deviation minimum after meet revising, and after described modification under the condition of track by described the first deviation maximum number strong point, utilize lagrange's method of multipliers to calculate the variable quantity of described first several control vertexs;
Variable quantity by described first several control vertexs is rectified a deviation to described circumferential deviation, obtains the track of described the first actual welds shape.
5. a kind of on-line teaching method for " J " type groove welding robot according to claim 1, is characterized in that, whether axial deviation is specially in the second preset range described in described microprocessor judges:
Described microprocessor is analyzed described axial deviation, searches interior the second deviation maximum number strong point between each setting district;
Described in described microprocessor judges, whether the second deviation maximum number strong point is in described the second preset range.
6. a kind of on-line teaching method for " J " type groove welding robot according to claim 1; it is characterized in that; described microprocessor is rectified a deviation to described axial deviation, obtains the second actual welds shape track or the 3rd actual welds shape track is specially:
Adopt population searching method to ask for the second B-spline function independent variable parameter at interior the second deviation maximum number strong point between each setting district, by described the second B-spline function independent variable parameter, search second several control vertexs that need to modify;
Track and theory locus average deviation minimum after meet revising, and after described modification under the condition of track by described the second deviation maximum number strong point, utilize lagrange's method of multipliers to calculate the variable quantity of second several control vertexs;
Variable quantity by described second several control vertexs is rectified a deviation to described axial deviation, obtains the track of described the second actual welds shape or the track of described the 3rd actual welds shape.
7. a kind of on-line teaching method for " J " type groove welding robot according to claim 1, is characterized in that, starting point got back to again by described " J " type groove welding robot, closes described laser range finder, starts welding and is specially:
When there not being described circumferential deviation, while also there is not described axial deviation, along the walking path of described theory locus, start welding; When only there is described circumferential deviation, along described the first actual welds shape track, start welding; When only there is described axial deviation, along described the second actual welds shape track, start welding; When both there being described circumferential deviation, while there is described axial deviation again, along described the 3rd actual welds shape track, start welding.
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| CN104014907B (en) * | 2014-06-19 | 2016-02-24 | 北京创想智控科技有限公司 | The method of automatic detecting and tracking weld seam |
| CN104607848B (en) * | 2015-01-30 | 2016-04-27 | 上海气焊机厂有限公司 | Angle-style welding bead localization method |
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