CN105798432A - offline tracking method of curve welding line welded by arc welding robot - Google Patents
offline tracking method of curve welding line welded by arc welding robot Download PDFInfo
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- CN105798432A CN105798432A CN201610361784.XA CN201610361784A CN105798432A CN 105798432 A CN105798432 A CN 105798432A CN 201610361784 A CN201610361784 A CN 201610361784A CN 105798432 A CN105798432 A CN 105798432A
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- welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
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
The invention belongs to automation control area, especially relate to curved welding seam off-line tracking method during a kind of arc welding robot welding curved welding seam.
Background technology
In the automatic welding control process of arc welding robot, error produces to have a lot of reasons to cause, such as welding workpiece appearance in place and unpredictable error in size, the position while welding change in size that wherein error in existing processing and assembling process causes, also has the deformation that the reasons such as workpiece in welding process is heated cause.
Generally solving the problems referred to above is the machining accuracy by strictly controlling in production process, reduces the error in environment and application, but person needs to increase the production cost of enterprise and time cost, causes the added burden of enterprise.
Another kind of settling mode is by the further hoisting machine people's Automation of Welding of THE WELD SEAM TRACKING TECHNOLOGY and intelligence degree, feature according to field welding, guided robot by detection sensor and complete the tracking of butt welded seam, usual this tracking mode is on-line tracing, but limit measurement side weld connects and easily causes sound pollution in the measurements, affects certainty of measurement；Especially when workpiece weld seam is curve, the not high welding making robotic gun cannot carry out continuous-stable with intended pose butt welded seam of certainty of measurement, cause that welding is unable to reach expected effect.
Summary of the invention
For described present situation, this patent proposes a kind of curved welding seam off-line tracking method for arc welding robot welding, convenient and simple, solves the error problem in automatic welding control process, improve certainty of measurement, make robotic gun that curved welding seam to carry out with intended pose the welding of continuous-stable.
For reaching above-mentioned purpose, the technical scheme is that and be achieved in that: the curved welding seam off-line tracking method of a kind of arc welding robot welding, be applied to the welding process with the robot measuring sensor, comprise the steps:
Step one: obtain the transformational relation of the coordinate system of coordinate system and the robotic gun measuring sensor；
Step 2: by curved welding seam by distance decile, obtain the path point needing scanning and welding, start with weld seam starting point, terminate with weld seam terminal；
Step 3: when accurately being welded by robot teaching welding gun, is obtained and measures sensor in the reference coordinate value of each path point of curved welding seam, this group reference coordinate value is stored in buffer memory；
Step 4: measure sensor from the curved welding seam starting point of workpiece to be welded, using each path point as measuring point, the all measurement points of motion scan successively, and it is sent to robot by scanning each coordinate figure measuring point obtained, the reference value corresponding with in buffer memory compares, obtain all absolute deviation values measuring point, be stored in buffer memory；
Step 5: measuring after sensor stops measuring, robot starts welding from the weld seam starting point of workpiece to be welded, using each path point as pad；Robotic gun is at each pad, absolute deviation values according to this pad in buffer memory, revising this pad coordinate, be converted to the coordinate of robotic gun according to the transformational relation of the coordinate system of step one, robotic gun moves to this pad coordinate revised；Until completing the welding of weld seam terminal, quit work.
Further, the acquisition of ordinate transform relation in described step one, refer mainly to the transformational relation obtaining sensor coordinate system with welding gun coordinate system Y-axis with Z axis, employing step is:
(1) mobile apparatus people, makes the laser rays of measurement sensor pass perpendicularly through the weld seam starting point of a standard workpiece, reads measurement sensor coordinates now and robotic gun coordinate system coordinate；
(2) Y-axis is demarcated, mobile apparatus people's welding gun coordinate system Y-axis one segment distance, if laser rays deviation datum line, also need to mobile apparatus people's welding gun coordinate system X-axis, it is made to return on datum line, then record sensor Y-axis variable quantity, by the variable quantity of robotic gun coordinate system Y-axis and sensor Y-axis variable quantity, just can calculate the angle of two coordinate axess；
(3) Z axis is demarcated, mobile apparatus people's welding gun coordinate system Z axis one segment distance, if laser rays deviation datum line, also need to mobile apparatus people's welding gun coordinate system X-axis, it is made to return on datum line, then record sensor Z axis variable quantity, by the variable quantity of robotic gun coordinate system Z axis and sensor Z axis variable quantity, just can calculate the angle of two coordinate axess.
Further, in described step 2, decile distance refers to that the arc length between a path point is equal or air line distance is equal.
Further, the move mode measuring sensor in described step 4 is along each path point single point movement.
Or, the move mode measuring sensor in described step 4 is along each path point continuous moving.
Relative to prior art, the invention have the benefit that
(1) the present invention program is simple, accurately, effectively avoids owing to the reasons such as workpiece error or feeding site error cause curved welding seam track to change thus the problem that affects robot welding effect.
(2) the curved welding seam off-line tracking algorithm of the present invention, solve on-line tracing limit to measure side weld and connect and easily cause sound pollution in the measurements, affect the problem of certainty of measurement, improve certainty of measurement, make robotic gun that curved welding seam to carry out with intended pose the welding of continuous-stable.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the embodiment of the present invention.
Detailed description of the invention
It should be noted that when not conflicting, embodiments of the invention and the feature in embodiment can be mutually combined.
The present invention is described in detail below in conjunction with embodiment:
Implement the process of the present invention:
As it is shown in figure 1, represent teaching position while welding and actual welds position.
P1 is teaching weld seam starting point, and P1 ' is actual welds starting point.
P3 is teaching weld seam terminal, and P3 ' is actual welds terminal.
P0 is and weld seam starting point is spaced and measures the location point of future range between sensor and robot, and it is equal to future range for P1 point according to curvature reverse extending, air line distance from P1 point.
P2 is and weld seam terminal P3 linear interval measures the location point of future range between sensor and robot.
P0P1 air line distance=P2P3 air line distance, when welding gun is directed at P0, the laser rays measuring sensor should be just passed through P1 point.
Preparation: obtain the future range measuring the sensor coordinates (Ys, the Zs) transformational relation with robot tool coordinate (Yr, Zr) and measurement sensor measurement point and welding gun pad.
The acquisition of transformational relation, refer mainly to the transformational relation obtaining sensor coordinate system with welding gun coordinate system Y-axis with Z axis, along the X-axis that bead direction is welding gun coordinate system, be perpendicular to the Y-axis that direction is welding gun coordinate system of weld seam, the Z axis of welding gun coordinate system is determined by right-hand rule, and employing step is:
(1) mobile apparatus people, makes the laser rays of measurement sensor pass perpendicularly through P1, reads measurement sensor coordinates now and robotic gun coordinate system coordinate；
(2) Y-axis is demarcated, mobile apparatus people's welding gun coordinate system Y-axis one segment distance, if laser rays deviation datum line, also need to mobile apparatus people's welding gun coordinate system X-axis, it is made to return on datum line, then record sensor Y-axis variable quantity, by the variable quantity of robotic gun coordinate system Y-axis and sensor Y-axis variable quantity, just can calculate the angle of two coordinate axess；
(3) Z axis is demarcated, mobile apparatus people's welding gun coordinate system Z axis one segment distance, if laser rays deviation datum line, also need to mobile apparatus people's welding gun coordinate system X-axis, it is made to return on datum line, then record sensor Z axis variable quantity, by the variable quantity of robotic gun coordinate system Z axis and sensor Z axis variable quantity, just can calculate the angle of two coordinate axess.
Described step one is measured the defining method of sensor and the future range of robotic gun: allowing the laser rays measuring sensor get on P3 point, welding gun is on P2 point simultaneously, the position of recorder people's welding gun；Then along bead direction mobile apparatus people, welding gun is allowed to move on P3 point, the position of recorder people welding gun again, both deviations, it is future range.
P1-P3 is divided into n-1 section, altogether n path point.The robot pose of each path point is saved in program cache.
For convenience of describing, it is now assumed that P1-P3 divides 100 sections, totally 101 path point；
Accurately being welded by robot teaching welding gun, welding gun is directed at each path point successively by P0, will measure the coordinate (Xi of each path point that sensor obtains, Yi, Zi) it is sent to robot, this is organized coordinate and preserves in the buffer, as the reference point measuring sensor；
Measure sensor and move to actual welds P1 ' point, obtain the coordinate (X1 of actual welds P1 ', Y1, Z1), being sent to robot, robot receives, processes (X1-X0, Y1-Y0, Z1-Z0), after coordinate transform, obtain the correction value △ d1 of the 1st absolute deviation values of path point, the i.e. P1 ' of P1 '-P3 '.
Then measurement sensor advances along the path point pointwise of P1 ' P3 ', now measuring sensor can be single point movement, it can also be continuous moving, each path point all scans and sends to robot, until measuring sensor to obtain the 101st path point of actual welds, the i.e. coordinate (X101 of terminal P3 ', Y101, Z101), now robot obtains the correction value △ d101 of terminal P3 ', measures sensor and quits work.Buffer memory stores the correction value of each path point.
Welding gun moves to actual welds P1 ' point, starts welding, using each path point as pad；Robotic gun, at each pad, the absolute deviation values according to this pad in buffer memory, is revised this pad coordinate, is converted to the coordinate of robotic gun according to the transformational relation of coordinate system, and robotic gun moves to this pad coordinate revised；Until completing the welding of weld seam terminal, quit work.
The foregoing describing the information such as the ultimate principle of the present invention, principal character and embodiment, but the present invention is not by the restriction of above-mentioned implementation process, under the premise without departing from spirit and scope, the present invention can also have various changes and modifications.Therefore, unless this changes and improvements are departing from the scope of the present invention, they should be counted as comprising in the present invention.
Claims (5)
1. a curved welding seam off-line tracking method for arc welding robot welding, is applied to the welding process with the robot measuring sensor, it is characterised in that comprise the steps:
Step one: obtain the transformational relation of the coordinate system of coordinate system and the robotic gun measuring sensor；
Step 2: by curved welding seam by distance decile, obtain the path point needing scanning and welding, start with weld seam starting point, terminate with weld seam terminal；
Step 3: when accurately being welded by robot teaching welding gun, is obtained and measures sensor in the reference coordinate value of each path point of curved welding seam, this group reference coordinate value is stored in buffer memory；
Step 4: measure sensor from the curved welding seam starting point of workpiece to be welded, using each path point as measuring point, the all measurement points of motion scan successively, and it is sent to robot by scanning each coordinate figure measuring point obtained, the reference value corresponding with in buffer memory compares, obtain all absolute deviation values measuring point, be stored in buffer memory；
Step 5: measuring after sensor stops measuring, robot starts welding from the weld seam starting point of workpiece to be welded, using each path point as pad；Robotic gun is at each pad, absolute deviation values according to this pad in buffer memory, revising this pad coordinate, be converted to the coordinate of robotic gun according to the transformational relation of the coordinate system of step one, robotic gun moves to this pad coordinate revised；Until completing the welding of weld seam terminal, quit work.
2. the curved welding seam off-line tracking method of a kind of arc welding robot according to claim 1 welding, it is characterized in that: the acquisition of ordinate transform relation in described step one, referring mainly to the transformational relation obtaining sensor coordinate system with welding gun coordinate system Y-axis with Z axis, employing step is:
(1) mobile apparatus people, makes the laser rays of measurement sensor pass perpendicularly through the weld seam starting point of a standard workpiece, reads measurement sensor coordinates now and robotic gun coordinate system coordinate；
(2) Y-axis is demarcated, mobile apparatus people's welding gun coordinate system Y-axis one segment distance, if laser rays deviation datum line, also need to mobile apparatus people's welding gun coordinate system X-axis, it is made to return on datum line, then record sensor Y-axis variable quantity, by the variable quantity of robotic gun coordinate system Y-axis and sensor Y-axis variable quantity, just can calculate the angle of two coordinate axess；
(3) Z axis is demarcated, mobile apparatus people's welding gun coordinate system Z axis one segment distance, if laser rays deviation datum line, also need to mobile apparatus people's welding gun coordinate system X-axis, it is made to return on datum line, then record sensor Z axis variable quantity, by the variable quantity of robotic gun coordinate system Z axis and sensor Z axis variable quantity
Just the angle of two coordinate axess can be calculated.
3. the curved welding seam off-line tracking method of a kind of arc welding robot according to claim 1 welding, it is characterised in that: in described step 2, decile distance refers to that the arc length between a path point is equal or air line distance is equal.
4. the curved welding seam off-line tracking method of a kind of arc welding robot according to claim 1 welding, it is characterised in that: the move mode measuring sensor in described step 4 is along each path point single point movement.
5. the curved welding seam off-line tracking method of a kind of arc welding robot according to claim 1 welding, it is characterised in that: the move mode measuring sensor in described step 4 is along each path point continuous moving.
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Cited By (6)
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| CN108527332A (en) * | 2018-06-11 | 2018-09-14 | 华南理工大学 | A kind of seam track off-line calibration method based on structured light vision sensor |
| CN110376966A (en) * | 2019-07-08 | 2019-10-25 | 长沙长泰机器人有限公司 | A kind of main spelling Modification of Clamp method of vehicle body |
| CN110605463A (en) * | 2018-06-15 | 2019-12-24 | 上海振华重工电气有限公司 | Automatic robot welding device for submerged arc welding of spatial arc path |
| CN112975907A (en) * | 2021-02-08 | 2021-06-18 | 易思维（杭州）科技有限公司 | Visual detection method for arc-shaped welding seam and adhesive tape |
| CN114055004A (en) * | 2021-12-17 | 2022-02-18 | 宝武重工有限公司 | Intelligent welding method for steel structure welding robot |
| CN115488503A (en) * | 2022-09-23 | 2022-12-20 | 广州卫亚汽车零部件有限公司 | Method and system for searching curve track based on robot welding |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527332A (en) * | 2018-06-11 | 2018-09-14 | 华南理工大学 | A kind of seam track off-line calibration method based on structured light vision sensor |
| CN110605463A (en) * | 2018-06-15 | 2019-12-24 | 上海振华重工电气有限公司 | Automatic robot welding device for submerged arc welding of spatial arc path |
| CN110605463B (en) * | 2018-06-15 | 2021-05-18 | 上海振华重工电气有限公司 | Automatic robot welding device for submerged arc welding of spatial arc path |
| CN110376966A (en) * | 2019-07-08 | 2019-10-25 | 长沙长泰机器人有限公司 | A kind of main spelling Modification of Clamp method of vehicle body |
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| CN112975907A (en) * | 2021-02-08 | 2021-06-18 | 易思维（杭州）科技有限公司 | Visual detection method for arc-shaped welding seam and adhesive tape |
| CN112975907B (en) * | 2021-02-08 | 2022-04-01 | 易思维（杭州）科技有限公司 | Visual detection method for arc-shaped welding seam and adhesive tape |
| CN114055004A (en) * | 2021-12-17 | 2022-02-18 | 宝武重工有限公司 | Intelligent welding method for steel structure welding robot |
| CN115488503A (en) * | 2022-09-23 | 2022-12-20 | 广州卫亚汽车零部件有限公司 | Method and system for searching curve track based on robot welding |
| CN115488503B (en) * | 2022-09-23 | 2023-08-15 | 广州卫亚汽车零部件有限公司 | Curve track locating method and system based on robot welding |
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