CN105834557A - Straight-line welding seam off-line tracking method for arc welding robot welding - Google Patents
Straight-line welding seam off-line tracking method for arc welding robot welding Download PDFInfo
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- CN105834557A CN105834557A CN201610361378.3A CN201610361378A CN105834557A CN 105834557 A CN105834557 A CN 105834557A CN 201610361378 A CN201610361378 A CN 201610361378A CN 105834557 A CN105834557 A CN 105834557A
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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
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
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Abstract
The invention provides a straight-line welding seam off-line tracking method for arc welding robot welding. The straight-line welding seam off-line tracking method comprises the following steps: demonstrating a section of a reference line by the robot, equally dividing a path into N path points according to the distance equidistribution principle, and obtaining a reference coordinate value of a measuring sensor; during practical operation, scanning a welding seam in real time by the measuring sensor, sending coordinates of the welding seam to the robot, comparing coordinate values with a reference value by the robot to obtain a deviation value to correct a n-th path point; and after all path points are scanned by the measuring sensor, welding point by point along the corrected path points by the robot. The scheme adopted by the invention is simple and accurate, so that the problem that the welding effect of the robot is affected due to the fact that a straight-line welding seam track is changed by workpiece errors or loading position errors and the like is effectively avoided. Meanwhile, the problem that the measuring accuracy is affected due to the fact online tracking during measuring and welding easily causes noise pollution in measurement is solved.
Description
Technical field
The invention belongs to automation control area, especially relate to off-line during a kind of arc welding robot welding straight bead
Tracking.
Background technology
During the automatic welding of arc welding robot controls, there is a lot of reasons to cause error to produce, such as, weld workpiece
The position while welding that error during unpredictable error on pose with size, the most existing processing and assembling is caused
Change in size, also has the deformation that the reasons such as workpiece in welding process is heated are caused.
Generally solving the problems referred to above is by the strict machining accuracy controlled in production process, reduces in environment and application
Error, 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 WELD SEAM TRACKING TECHNOLOGY further hoisting machine people's Automation of Welding and intelligent journey
Degree, according to the feature of field welding, is guided robot by detection sensor and completes the tracking of butt welded seam, usual this tracking
Mode is on-line tracing, but the welding of measurement limit, limit easily causes sound pollution in the measurements, affects certainty of measurement.
Summary of the invention
For described present situation, this patent proposes a kind of straight bead off-line tracking method for arc welding robot welding, side
Just simple, essence is measured in the influence of noise solving the error problem during automatic welding control and on-line tracing welding
Degree problem.
For reaching above-mentioned purpose, the technical scheme is that and be achieved in that: the straight line weldering of a kind of arc welding robot welding
Seam off-line tracking method, is applied to the welding process with the robot measuring sensor, comprises the steps:
Step one: obtain the transformational relation of the coordinate system measuring sensor and the coordinate system of robotic gun；
Step 2: by weld seam by distance decile, obtains needing scanning and the path point of welding, starts with weld seam starting point, with
Weld seam terminal terminates；
Step 3: when accurately being welded by robot teaching welding gun, is obtained the reference coordinate value measuring sensor, is stored in slow
Deposit；
Step 4: measurement sensor, from the beginning of the weld seam starting point of workpiece to be welded, using each path point as measuring point, moves successively
Move all measurement points of scanning, and each coordinate figure measuring some scanning obtained is sent to robot, interior corresponding with caching
Reference value compares, and obtains all absolute deviation values measuring point, is stored in caching；
Step 5: after measuring sensor stopping measurement, robot starts welding, Yi Gelu from the weld seam starting point of workpiece to be welded
Footpath point is as pad；Robotic gun is at each pad, according to the absolute deviation values of this pad in caching,
Revise this pad coordinate, be converted to the coordinate of robotic gun, robot according to the transformational relation of the coordinate system of step one
Welding gun moves to this pad coordinate revised；Until completing the welding of weld seam terminal, quit work.
Further, the acquisition of coordinate system transformational relation in described step one, refer mainly to obtain measure sensor coordinate system with
Robotic gun coordinate system Y-axis and the transformational relation of Z axis, employing step is:
(1) move robot, make the laser rays of measurement sensor pass perpendicularly through the weld seam starting point of a standard workpiece, read
Measurement sensor coordinates now and robotic gun coordinate system coordinate；
(2) Y-axis is demarcated, mobile robotic gun coordinate system Y-axis one segment distance, if laser rays deviation datum line, also
Need mobile robotic gun coordinate system X-axis so that it is return on datum line, then record sensor
Y-axis variable quantity, by variable quantity and the sensor Y-axis variable quantity of robotic gun coordinate system Y-axis,
Just the angle of two coordinate axess can be calculated；
(3) Z axis is demarcated, mobile robotic gun coordinate system Z axis one segment distance, if laser rays deviation datum line, also
Need mobile robotic gun coordinate system X-axis so that it is return on datum line, then record sensor
Z axis variable quantity, by variable quantity and the sensor Z axis variable quantity of robotic gun coordinate system Z axis,
Just the angle of two coordinate axess can be calculated.
Further, described step 4 is measured the move mode of sensor for along each path point single point movement.
Or, described step 4 is measured the move mode of sensor for along each path point continuous moving.
Relative to prior art, the invention have the benefit that
(1) the present invention program is simple, accurate, effectively avoids owing to workpiece error or feeding site error etc. are former
Because causing straight bead track to change thus the problem that affects robot welding effect.
(2) the weld seam off-line tracking method of the present invention, solves the welding of measurement limit, on-line tracing limit and easily draws in the measurements
The problem play sound pollution, affecting certainty of measurement.
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 in the case of not conflicting, the feature in embodiments of the invention and embodiment can mutual group
Close.
The present invention is described in detail below in conjunction with embodiment:
The process of the enforcement 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, as robot
Measure starting point.
P2 is and weld seam terminal is spaced and measures the location point of future range between sensor and robot, as robot
Measure terminal.
P0P1 distance=P2P3 distance, as welding gun alignment P0, the laser rays measuring sensor should be just passed through P1 point.
Preparation: obtain the conversion pass measuring sensor coordinates (Ys, Zs) with robot tool coordinate (Yr, Zr)
It is and measures sensor measurement point and the future range of welding gun pad.
The acquisition of transformational relation, refers 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, it is perpendicular to the Y-axis that direction is welding gun coordinate system of weld seam, welding gun coordinate system
Z axis determined by right-hand rule, use step be:
(1) move robot, make the laser rays of measurement sensor pass perpendicularly through P1, read measurement sensor now and sit
Mark and robotic gun coordinate system coordinate；
(2) Y-axis is demarcated, mobile robotic gun coordinate system Y-axis one segment distance, if laser rays deviation datum line, also
Need mobile robotic gun coordinate system X-axis so that it is return on datum line, then record sensor
Y-axis variable quantity, by variable quantity and the sensor Y-axis variable quantity of robotic gun coordinate system Y-axis,
Just the angle of two coordinate axess can be calculated；
(3) Z axis is demarcated, mobile robotic gun coordinate system Z axis one segment distance, if laser rays deviation datum line, also
Need mobile robotic gun coordinate system X-axis so that it is return on datum line, then record sensor
Z axis variable quantity, by variable quantity and the sensor Z axis variable quantity of robotic gun coordinate system Z axis,
Just the angle of two coordinate axess can be calculated.
1-P3 is divided into n-1 section, altogether n path point.The robot pose of each path point is saved in program cache
In.
For convenience of describing, it is now assumed that P1-P3 divides 100 sections, totally 101 path point；Weld seam only has deviation in the Y direction.
Accurately welded by robot teaching welding gun, during welding gun alignment P0, the coordinate of the P1 point that sensor obtains will be measured
(X0, Y0, Z0) is sent to robot, preserves in the buffer, as the reference point measuring sensor；
Measure sensor the move to actual welds P1 coordinate (X1, Y1, Z1) of ' point, obtain actual welds P1 ', be sent to machine
Device people, robot receives, processes (X1-X0, Y1-Y0, Z1-Z0), after coordinate transform, obtains P1 '-P3 '
The correction value △ d1 of the 1st absolute deviation values of path point, i.e. P1 '.
Then measuring the sensor path point pointwise advance along P1 ' P3 ', now measuring sensor can be single point movement, also
Can be continuous moving, each path point all scans and sends to robot, until measuring sensor to obtain actual welds the
The coordinate (X101, Y101, Z101) of 101 path point, i.e. terminal P3 ', now robot obtains the correction of terminal P3 '
Value △ d101, measures sensor and quits work.Caching stores the correction value of each path point.
Welding gun moves to actual welds P1 ' point, start welding, using each path point as pad；Robotic gun is each
Individual pad, according to the absolute deviation values of this pad in caching, revises this pad coordinate, turning according to coordinate system
The relation of changing is converted to the coordinate of robotic gun, and robotic gun moves to this pad coordinate revised；Until completing
The welding of weld seam terminal, quits work.
The foregoing describe the information such as the ultimate principle of the present invention, principal character and embodiment, but the present invention is not by above-mentioned
The restriction of implementation process, on the premise of 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 (4)
1. a straight bead off-line tracking method for arc welding robot welding, is applied to the robot measuring sensor
Welding process, it is characterised in that comprise the steps:
Step one: obtain the transformational relation of the coordinate system measuring sensor and the coordinate system of robotic gun；
Step 2: by weld seam by distance decile, obtains needing scanning and the path point of welding, starts with weld seam starting point, with
Weld seam terminal terminates；
Step 3: when accurately being welded by robot teaching welding gun, is obtained the reference coordinate value measuring sensor, is stored in slow
Deposit；
Step 4: measurement sensor, from the beginning of the weld seam starting point of workpiece to be welded, using each path point as measuring point, moves successively
Move all measurement points of scanning, and each coordinate figure measuring some scanning obtained is sent to robot, interior corresponding with caching
Reference value compares, and obtains all absolute deviation values measuring point, is stored in caching；
Step 5: after measuring sensor stopping measurement, robot starts welding, Yi Gelu from the weld seam starting point of workpiece to be welded
Footpath point is as pad；Robotic gun is at each pad, according to the absolute deviation values of this pad in caching,
Revise this pad coordinate, be converted to the coordinate of robotic gun, robot according to the transformational relation of the coordinate system of step one
Welding gun moves to this pad coordinate revised；Until completing the welding of weld seam terminal, quit work.
The straight bead off-line tracking method of a kind of arc welding robot the most according to claim 1 welding, its feature exists
In: the acquisition of coordinate system transformational relation in described step one, refer mainly to obtain and measure sensor coordinate system and robotic gun
Coordinate system Y-axis and the transformational relation of Z axis, employing step is:
(1) move robot, make the laser rays of measurement sensor pass perpendicularly through the weld seam starting point of a standard workpiece, read
Measurement sensor coordinates now and robotic gun coordinate system coordinate；
(2) Y-axis is demarcated, mobile robotic gun coordinate system Y-axis one segment distance, if laser rays deviation datum line, also
Need mobile robotic gun coordinate system X-axis so that it is return on datum line, then record sensor
Y-axis variable quantity, by variable quantity and the sensor Y-axis variable quantity of robotic gun coordinate system Y-axis,
Just the angle of two coordinate axess can be calculated；
(3) Z axis is demarcated, mobile robotic gun coordinate system Z axis one segment distance, if laser rays deviation datum line, also
Need mobile robotic gun coordinate system X-axis so that it is return on datum line, then record sensor
Z axis variable quantity, by variable quantity and the sensor Z axis variable quantity of robotic gun coordinate system Z axis,
Just the angle of two coordinate axess can be calculated.
The straight bead off-line tracking method of a kind of arc welding robot the most according to claim 1 welding, its feature exists
In: described step 4 is measured the move mode of sensor for along each path point single point movement.
The straight bead off-line tracking method of a kind of arc welding robot the most according to claim 1 welding, its feature exists
In: described step 4 is measured the move mode of sensor for along each path point continuous moving.
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Cited By (9)
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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 |
| CN108581279A (en) * | 2018-04-04 | 2018-09-28 | 山东艾弗森特智能设备制造有限公司 | A kind of welding for steel structure robot off-line program laser automatic correcting method |
| CN108672907A (en) * | 2018-05-31 | 2018-10-19 | 华南理工大学 | The online method for correcting error of arc welding robot weld seam based on structured light visual sensing |
| CN109927047A (en) * | 2019-04-11 | 2019-06-25 | 上海工程技术大学 | The axial tracking system and method for arc welding robot straight line butt weld |
| CN109967929A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | It is a kind of for calibrating the method and device thereof in welding robot path |
| CN110434512A (en) * | 2019-07-25 | 2019-11-12 | 西北工业大学 | A kind of length of hull weld seam real-time tracking welding system based on gantry and robot |
| CN110450170A (en) * | 2019-09-09 | 2019-11-15 | 北京配天技术有限公司 | The planing method of welding robot and its swinging track |
| CN114012323A (en) * | 2021-11-30 | 2022-02-08 | 成都卡诺普机器人技术股份有限公司 | Real-time box splicing edge weld joint identification method based on laser displacement sensor |
| CN114012327A (en) * | 2021-11-24 | 2022-02-08 | 重庆机电智能制造有限公司 | Flexible welding device and welding method for medium and large flanges |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109967929A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | It is a kind of for calibrating the method and device thereof in welding robot path |
| CN108581279A (en) * | 2018-04-04 | 2018-09-28 | 山东艾弗森特智能设备制造有限公司 | A kind of welding for steel structure robot off-line program laser automatic correcting method |
| CN108672907A (en) * | 2018-05-31 | 2018-10-19 | 华南理工大学 | The online method for correcting error of arc welding robot weld seam based on structured light visual sensing |
| 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 |
| CN109927047A (en) * | 2019-04-11 | 2019-06-25 | 上海工程技术大学 | The axial tracking system and method for arc welding robot straight line butt weld |
| CN109927047B (en) * | 2019-04-11 | 2021-12-03 | 上海工程技术大学 | Axial tracking system and method for straight butt weld of arc welding robot |
| CN110434512A (en) * | 2019-07-25 | 2019-11-12 | 西北工业大学 | A kind of length of hull weld seam real-time tracking welding system based on gantry and robot |
| CN110450170A (en) * | 2019-09-09 | 2019-11-15 | 北京配天技术有限公司 | The planing method of welding robot and its swinging track |
| CN114012327A (en) * | 2021-11-24 | 2022-02-08 | 重庆机电智能制造有限公司 | Flexible welding device and welding method for medium and large flanges |
| CN114012327B (en) * | 2021-11-24 | 2022-12-27 | 重庆机电智能制造有限公司 | Flexible welding device and welding method for medium and large flanges |
| CN114012323A (en) * | 2021-11-30 | 2022-02-08 | 成都卡诺普机器人技术股份有限公司 | Real-time box splicing edge weld joint identification method based on laser displacement sensor |
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