CN107964585A - Robot trajectory control system - Google Patents
Robot trajectory control system Download PDFInfo
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- CN107964585A CN107964585A CN201711248594.8A CN201711248594A CN107964585A CN 107964585 A CN107964585 A CN 107964585A CN 201711248594 A CN201711248594 A CN 201711248594A CN 107964585 A CN107964585 A CN 107964585A
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
- C21D9/50—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor for welded joints
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D10/00—Modifying the physical properties by methods other than heat treatment or deformation
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D10/00—Modifying the physical properties by methods other than heat treatment or deformation
- C21D10/005—Modifying the physical properties by methods other than heat treatment or deformation by laser shock processing
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D11/00—Process control or regulation for heat treatments
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- Crystallography & Structural Chemistry (AREA)
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Abstract
The invention discloses a kind of robot trajectory control system, is made of four reflecting pieces, two reflective infrared or laser sensor, two distance measuring sensors, a synchronous motor, Mobile welding equipment, postwelding impact robot, mark post, two small synchronous motors.The present invention provides a kind of record Mobile welding equipment in real time and the mode of postwelding impact robot motion track, and it is applied in postwelding impact manipulator trajectory tracking TT＆C system, postwelding impact robot is set accurately to track welding tip track, implement to impact along welding line, the efficiency of postwelding impact is improved, strengthens welding quality.
Description
The application is application number：201610649424.X the applying date：2016-08-09, title " postwelding impact robot rail
The divisional application of mark tracking telemetering and control system ".
Technical field
The present invention relates to a kind of postwelding to impact manipulator trajectory tracking TT＆C system.
Background technology
Automatic welding technique develops into large shipbuilding industry, aviation, the production for making the steel machinery equipment such as car industry
Provide safe and efficient technical guarantee.But weld after weldment use quality not only with the welding involved in welding process
The parameters such as material, bonding power and speed of welding are related, and the stress for welding generation also plays considerable effect.Welding
If the corresponding processing work such as impact after not butt welding afterwards, not only the size of welding workpiece and outer shape will be difficult to meet anticipation
Standard, and the structural bearing effect of welding workpiece interface can also weaken significantly.Especially in hull construction, to reach anticipation
Flatness, the flat work of beating to the deck of boat occupies considerable proportion.With the raising of Automation of Welding degree, postwelding impact
Work is progressively substituted by intelligent robot.At present, in the ascendant using the postwelding impact robot of ultrasonic impact technology, stress disappears
Except significant effect, progressively grow up.
Domestic related patents only have patent, and " constant scanning positions formula postwelding weld joint tracking and residual stress eliminates system
(CN201210401736) ", " tracking system for movable welding line stress eliminating robot (CN201310341420) ", " postwelding weld seam
High precision tracking and residual stress eliminate system (CN201310341500) " etc..What China developed moves with weldering and weldering
Impact robot is also not carried out carrying out the tracks such as the long weld seam and non straight line weld after observing and controlling tracking welding automatically afterwards
Function.Allow and further realize automatic implementation operation with weldering and postwelding impact robot, then the equipment need to realize weldering
The function of weld joint tracking observing and controlling afterwards.
The content of the invention
It is an object of the invention to provide a kind of efficiency for improving postwelding impact, the postwelding for strengthening welding quality impacts machine
People's track following TT＆C system.
The present invention technical solution be：
A kind of postwelding impacts manipulator trajectory tracking TT＆C system, it is characterized in that：Including postwelding impact robot, movable type
Welding equipment, postwelding impacts robot at the rear of Mobile welding equipment, positioned at Mobile welding equipment institute's welding line track
On, impacted for postwelding weld joint tracking and postwelding；Synchronous motor is as a reference point, and synchronous motor is located at seam track side,
Every a distance；There is a constant speed synchronous shaft on the synchronous motor；First, second two reflective infrared or laser sensing
Device is individually fixed in the constant speed synchronous shaft above synchronous motor, identical with motor rotational shaft speed, and it is portable to be respectively used to detection
Welding equipment and postwelding impact robot divide relative to the angle between synchronous motor and the initial position line of mark post line formation
∠ DFE, ∠ ACB are not denoted as；Two reflective infrared or laser sensor is not in the same horizontal line；Mark post is placed on welding just
At initial point, first, second two reflecting pieces are affixed on mark post respectively, and two reflecting pieces are not in the same horizontal line；First is reflective
On piece and synchronous motor shaft first is reflective infrared or laser sensor in the same horizontal line, the second reflecting piece with it is synchronous electric
On arbor second is reflective infrared or laser sensor in the same horizontal line；Mobile welding equipment and postwelding impact machine
Respectively there is a vertical shaft on people, the 3rd reflecting piece is affixed on the axis above Mobile welding equipment, anti-with first on synchronous motor
The first reflecting piece on infrared formula or laser sensor and mark post is penetrated in same level, three's group in same level
Into triangle, labeled as Δ ABC；4th reflecting piece is affixed on the axis above postwelding impact robot, with the on synchronous motor
The second reflecting piece on two reflective infrared or laser sensors and mark post is in same level, and three is in same level
Upper composition triangle, labeled as Δ DEF；First distance measuring sensor is fixed on the axis above Mobile welding equipment, with mark post
On the first reflecting piece in the same horizontal line, for detect Mobile welding equipment with weld initial point at horizontal distance,
First in the 3rd reflecting piece and mark post on the axis of mobile welding robot in the horizontal distance same horizontal line is reflective
The distance between piece represents, is denoted as line segment AB；Second distance measuring sensor is fixed on the axis above postwelding impact robot, with mark
On bar second it is reflective in the same horizontal line, for detect postwelding impact robot with weld initial point at horizontal distance,
Second in the 4th reflecting piece and mark post on the axis of postwelding impact robot in the horizontal distance same horizontal line is reflective
The distance between piece represents, is denoted as line segment DE；Due to being bending weld seam, it is likely that two distance measuring sensors and welding initial point mark
Bar cannot be just opposite, can not ranging, two distance measuring sensors load onto first, second small synchronous motor respectively, and constantly rotation, turns
One circle is surveyed once；Reflecting piece by avoiding interfering with each other installed in different height, and using different modulating frequency laser or
Infrared light avoids disturbing.Weld seam is planar-two-dimensional weld seam mixing in figure, and filled black line is welding line, remaining is non-welding line.
First distance measuring sensor and the second distance measuring sensor use Infrared High-Power distance measuring sensor.
Postwelding impacts robot by controller, double DC servo motors and driving, mobile robot body, double ultrasonic waves electricity
Machine and driving, crosshead shoe, postwelding impact robot manipulating task end composition；Controller and the biography in observing and controlling track following TT＆C system
Sensor and interface circuit are connected；Double DC servo motors and driving, double supersonic motors and driving are connected with controller 21, double straight
Flow servo motor and driving are connected with mobile robot body, and double supersonic motors and driving are connected with crosshead shoe, and cross is slided
Block is connected with postwelding impact robot manipulating task end；Positioning drive mechanisms of the crosshead shoe as postwelding impact robot manipulating task end,
Realize the precision positioning at postwelding impact robot manipulating task end 26；Postwelding impact robot manipulating task end is fixedly connected with crosshead shoe,
Double supersonic motors and driving are so that crosshead shoe drives postwelding impact robot manipulating task end to reach precision positioning.
The postwelding impact robot manipulating task end uses electromagnetic hammer or ultrasonic impact head.
The mobile robot body is wheeled mobile robot, realizes that robot location is slightly fixed by the way that two-wheel is differential
Position.
The present invention provides a kind of record Mobile welding equipment in real time and the side of postwelding impact robot motion track
Formula, and be applied in postwelding impact manipulator trajectory tracking TT＆C system, postwelding impact robot is accurately tracked
Welding tip track, implements to impact, improves the efficiency of postwelding impact, strengthen welding quality along welding line.
Brief description of the drawings
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is postwelding impact manipulator trajectory tracking TT＆C system structure chart.In figure, 1,2,3,4 be four reflecting pieces (four
The position of a reflecting piece is respectively labeled as point A, B, D, E), 5 and 6 be (two reflections of two reflective infrared or laser sensor
Formula is infrared or the position of laser sensor is respectively labeled as point C and F), 7 and 8 be two distance measuring sensors, and 9 be a synchronous electricity
Machine, 10 be Mobile welding equipment (containing welding tip), and 11 be that postwelding impact robot (contains electronic compass, postwelding impact machine
People's operation end can be first-class using electromagnetic hammer or ultrasonic impact), 12 be mark post, and 13 and 14 are two small synchronous motors.
Fig. 2 is postwelding impact robot control system architecture figure.
Fig. 3 is that postwelding seam tracking system angular surveying top view (is measured as with reflective infrared or laser sensor 5
Example).In figure, 5 be reflective infrared or laser sensor (reflective infrared or laser sensor 5 position mark is C).1(A)
0th, 1 (A) 1,1 (A), 2,1 (A) 3 represents four points (referred to as track in Mobile welding equipment (welding tip) motion track
Point, position mark A0、A1、A2、A3).L0, L1, L2, L3 are the distances of synchronous motor to be asked and pad.2 (B) are welding
Starting point.α 0, α 1, α 2, the change that α 3 is the angle that initial position, synchronous motor and pad are formed.
Fig. 4 is that postwelding seam tracking system angular surveying sequence diagram (is measured as with reflective infrared or laser sensor 5
Example).
Fig. 5 is postwelding seam tracking system range measurement top view (by taking the measurement of distance measuring sensor 1 as an example).In figure, position C
It is reflective infrared or laser sensor 5 the correspondence position on 9 axis of synchronous motor, A is the position that distance measuring sensor 1 moves,
Position B is the correspondence position of the reflecting piece 2 on mark post 12.
Embodiment
A kind of postwelding impacts manipulator trajectory tracking TT＆C system, using constant speed rotary motor as referring to position, using away from
The method being combined from measurement and angular surveying records welding tip motion track (relative to synchronous motor reference point) in real time, leads to
Cross and be compared two tracks, you can obtain postwelding impact robot manipulating task end and deviate the distance of welding line and direction, so that
Postwelding is adjusted by control system and impacts robot pose, realizes correction, ensures that postwelding impact robot manipulating task end is right all the time
Quasi- weld seam operation.
The present invention will be further described below in conjunction with the accompanying drawings：
With reference to Fig. 1, postwelding of the invention impact manipulator trajectory tracking TT＆C system, by four reflecting pieces 1,2,3,4 (four
The position of a reflecting piece is respectively labeled as point A, B, D, E), (two reflective for two reflective infrared or laser sensor 5 and 6
Infrared or laser sensor position is respectively labeled as point C and F), it is two distance measuring sensors, 7 and 8, synchronous motors 9, mobile
Formula welding equipment 10 (containing welding tip), postwelding impact robot 11 (can containing electronic compass, postwelding impact robot manipulating task end
It is first-class using electromagnetic hammer or ultrasonic impact), 12, two small synchronous motors 13 and 14 of mark post form.
Described postwelding impact robot 11 is at the rear of Mobile welding equipment 10, positioned at the institute of Mobile welding equipment 10
On welding line track, impacted for postwelding weld joint tracking and postwelding.Synchronous motor 9 (synchronous motor is as a reference point) is located at weld seam
Track side, is spaced a distance, and has a constant speed synchronous shaft on the synchronous motor 9.Two reflective infrared or laser
Sensor 5 and 6 is individually fixed on the synchronous rotating shaft of the top of synchronous motor 9, identical with motor rotational shaft speed, is respectively used to detection and is moved
The initial position line that dynamic formula welding equipment 10 and postwelding impact robot 11 are formed relative to synchronous motor 9 and 12 line of mark post it
Between angle, be denoted as ∠ DFE, ∠ ACB respectively.Two reflective infrared or laser sensor is not in the same horizontal line.Mark post
12 are placed at welding initial point, and two reflecting pieces 2 and 4 are affixed on mark post respectively, and two reflecting pieces are not in the same horizontal line.
Reflective infrared or laser sensor 5 on reflecting piece 2 and 9 axis of synchronous motor in the same horizontal line, reflecting piece 4 with it is synchronous electric
Reflective infrared or laser sensor 6 on 9 axis of machine is in the same horizontal line.Mobile welding equipment 10 and postwelding impact machine
Respectively there is a vertical shaft on people 11, reflecting piece 1 is affixed on the axis of the top of Mobile welding equipment 10, with the reflection on synchronous motor 9
Formula is infrared or laser sensor 5 and mark post 12 on reflecting piece 2 in same level, three can in same level group
Into triangle, labeled as Δ ABC.Reflecting piece 3 is affixed on the axis of postwelding impact robot 11 top, and anti-on synchronous motor 9
The reflecting piece 4 on infrared formula or laser sensor 6 and mark post 12 is penetrated in same level, three can be in same level
Triangle is formed, labeled as Δ DEF.Distance measuring sensor 7 is fixed on the axis of the top of Mobile welding equipment 10, and on mark post 12
Reflecting piece 2 in the same horizontal line, for detect Mobile welding equipment 10 with weld initial point at horizontal distance, the water
Flat distance can use the reflecting piece 2 in the reflecting piece 1 and mark post 12 on the axis of the mobile welding robot 10 in same horizontal line
The distance between represent, be denoted as line segment AB.Distance measuring sensor 8 is fixed on the axis of 11 top of postwelding impact robot, with mark post
On 12 reflective 4 in the same horizontal line, should for detecting postwelding impact robot 11 with welding the horizontal distance at initial point
Horizontal distance can use the reflecting piece in the reflecting piece 3 and mark post 12 on the axis of the postwelding impact robot 11 in same horizontal line
The distance between 4 represent, are denoted as line segment DE.Distance measuring sensor 7 and distance measuring sensor 8 use Infrared High-Power distance measuring sensor,
Due to being bending weld seam, it is likely that two distance measuring sensors cannot be just opposite with welding initial point mark post, can not ranging.Therefore two
A distance measuring sensor will load onto small synchronous motor 13 and 14, constantly rotation, turn around survey once.Reflecting piece by installed in
Different height avoids interfering with each other, and avoids disturbing using the laser or infrared light of different modulating frequency.Weld seam is in figure
Planar-two-dimensional weld seam mixing, filled black line are welding line, remaining is non-welding line.
With reference to Fig. 2, the postwelding in postwelding of the invention impact manipulator trajectory tracking TT＆C system impacts robot by controlling
Device 21 processed, double DC servo motors and driving 22, mobile robot body 23, double supersonic motors and driving 24, crosshead shoe
25th, postwelding impact robot manipulating task end 26 forms.Postwelding is impacted in robot controller and observing and controlling track following TT＆C system
Sensor and interface circuit 27 are connected, including 7 and 8, two reflective infrared or laser sensings of described two distance measuring sensors
Device 5 and 6, synchronous motor 9 and small synchronous motor 13 and 14 etc..Electricity can be used in the postwelding impact robot manipulating task end 26
Magnetic hammer, the first-class composition of ultrasonic impact.Double DC servo motors and driving 22, double supersonic motors and driving 24 and controller 21
It is connected, double DC servo motors and driving 22 are connected with mobile robot body, and double supersonic motors and driving 24 are slided with cross
Block 25 is connected, and crosshead shoe 25 is connected with postwelding impact robot manipulating task end 26.The mobile robot body 23 is wheeled
Mobile robot, realizes robot location's coarse positioning, crosshead shoe 25 is as postwelding impact robot manipulating task by the way that two-wheel is differential
The positioning drive mechanisms at end 26, realize the precision positioning at postwelding impact robot manipulating task end 26.Postwelding impact robot manipulating task end
26 are fixedly connected with crosshead shoe 25, and double supersonic motors and driving 24 are so that crosshead shoe 25 drives postwelding impact robot to make
Industry end 26 reaches precision positioning.
With reference to Fig. 3, by taking reflective infrared or laser sensor 5 measurement as an example, illustrate postwelding weld seam in the present invention
Tracking system angular surveying principle.Reflective infrared or laser sensor 5 position mark is C.1(A)0、1(A)1、1(A)2、1
(A) 3 four points (referred to as pad, the position mark A in the mobile welding of Mobile welding equipment (welding tip) are represented0、
A1、A2、A3).L0, L1, L2, L3 are the distances of synchronous motor to be asked and pad.2 (B) are welding initial position.α0、α1、α
2nd, α 3 is the angle that initial position, synchronous motor and pad are formed.
With reference to Fig. 4, by taking reflective infrared or laser sensor 5 measurement as an example, according to sequence diagram, further illustrate
Postwelding seam tracking system angular surveying principle in the present invention.Reflective infrared or laser sensor 5 is synchronous with synchronous motor 9
Shaft is fixed, constant speed rotary.Motor every revolution, reflective infrared or laser sensor 5 and reflecting piece 2 relatively once, at this time
Controller exports a high level pulse.Since reflective infrared or 5 rotating speed of laser sensor is uniform, high level pulse frequency
Rate is constant.Using high-frequency impulse interpolation method, high-frequency impulse is filled between pulse is exported, its frequency-invariant, the umber of pulse of filling
Amount is denoted as N.Reflective infrared or laser sensor 5 and 1 (A of reflecting piece0、A1、A2、A3) it is opposite when, also can be defeated by controller
Go out a high level pulse.As welding tip constantly moves, distance AC and angle [alpha] are constantly changing, and pass through high-frequency impulse
Number N (N0、N1、N2) characterize the change of angle [alpha].
If synchronous motor 9 drives reflective infrared or laser sensor 5 to rotate clockwise, transfer point A is in the counterclockwise direction
Movement.The transfer point initial position is A0, welding equipment is along during weld movement, reflective infrared or laser sensor 5
Continuous high-speed rotating scanning.The light passing point A that reflective infrared or laser sensor 5 is launched0During with point B, interface electricity can be passed through
Road exports two high level pulses.If when initial, welding tip is still in A0Place, starting phase angle ∠ BCA0It is denoted as α0.Light passes through
Start high-frequency impulse when crossing A to count, stop counting when reaching B.If motor speed is constant, and rotates the high frequency arteries and veins that a circle can fill
It is N to rush number.Controller can pass through the high-frequency impulse number N representated by angle between interface circuit reading A0 and B0, then can be calculated：
∠ BCA can similarly be measured1、∠BCA2…….Therefore welding tip can be recorded in real time relative to reference position
Angle change track (∠ BCA0、∠BCA1、∠BCA2……)。
With reference to Fig. 5, illustrate that postwelding seam tracking system distance is surveyed in the present invention so that the distance measuring sensor 1 measures as an example
Measure principle.Reflective infrared or laser sensor 5 (position C), distance measuring sensor 1 (transfer point A), mark on 9 axis of synchronous motor
Reflecting piece 2 (position B) on bar 12 can form triangle in same level, be denoted as A0BC.The length of line segment BC can be straight
Connect and measured with scale, line segment A0B can be measured in real time by distance measuring sensor 1, then it is opposite to can be calculated welding tip according to formula (2)
Distance in reference position：
A0B2=BC2+A0C2-2BC*A0C*cosα0 (2)
Formula (2) can be arranged as formula (3)：
A0C2-2BC*cosα0*A0C+BC2-A0B2=0 (3)
When meeting BC2(cos2α0-1)+A0B2When >=0,
Take A0C≥0。L0=A0C.L can similarly be tried to achieve1、L2、L3......
Therefore distance change track (L of the welding tip relative to reference position can be recorded in real time0、L1、L2、
L3...) and angle change track (∠ BCA0、∠BCA1、∠BCA2...), the track of Weld pipe mill is obtained by fitting
(on condition that welding tip has higher weld joint tracking precision).
The present invention detects postwelding impact robot with distance measuring sensor using reflective infrared or laser sensor and makees in real time
The position at industry end, can obtain postwelding and impact robot manipulating task end relative to the distance change track of reference position and angle change
Track.Postwelding is impacted into robot manipulating task end track compared with the track of Mobile welding equipment, postwelding punching can be obtained
Hit the angle and distance that Weld pipe mill is deviateed at robot manipulating task end (on the basis of the synchronous motor of reference position).
In addition to the technical characteristic described in specification, remaining is the known technology theory of those skilled in the art.
Claims (1)
1. a kind of robot trajectory control system, it is characterized in that：By first, second, third, fourth 4 reflecting pieces (1), (2),
(3), (4), first, second two reflective infrared or laser sensor (5) and (6), first, second two distance measuring sensors
(7) and (8), a synchronous motor (9), Mobile welding equipment (10), postwelding impact robot (11), mark post (12), first,
The composition such as the second two small synchronous motors (13) and (14)；The position of four reflecting pieces is respectively labeled as point A, B, D, E, two
Reflective infrared or laser sensor position is respectively labeled as point C and F；
Described postwelding impact robot (11) is at the rear of Mobile welding equipment (10), positioned at Mobile welding equipment (10)
On institute's welding line track, impacted for postwelding weld joint tracking and postwelding；Postwelding impact robot (11) contains electronic compass；Synchronous electricity
Machine (9) is located at seam track side, is spaced a distance, and has a constant speed synchronous shaft, synchronous electricity on the synchronous motor (9)
Machine is as a reference point；Two reflective infrared or laser sensor (5) and (6) are individually fixed in same above synchronous motor (9)
Walk in shaft, it is identical with motor rotational shaft speed, it is respectively used to detection Mobile welding equipment (10) and postwelding impact robot (11)
Angle between the initial position line formed relative to synchronous motor (9) and mark post (12) line, is denoted as ∠ DFE, ∠ respectively
ACB；Two reflective infrared or laser sensor is not in the same horizontal line；Mark post (12) is placed at welding initial point, the
2nd, the 4th two reflecting piece (2) and (4) are affixed on mark post respectively, and second, the 4th two reflecting piece is not in the same horizontal line；
Reflective infrared or laser sensor (5) on second reflecting piece (2) and synchronous motor (9) axis in the same horizontal line, the 4th
Reflective infrared or laser sensor (6) in reflecting piece (4) and synchronous motor (9) axis is in the same horizontal line；Movable welding
Connecing in equipment (10) and postwelding impact robot (11) respectively has a vertical shaft, and the first reflecting piece (1) is affixed on Mobile welding equipment
On the axis of 10 tops, with first on synchronous motor (9) be reflective infrared or laser sensor (5) and mark post (12) on the
For two reflecting pieces (2) in same level, three can form triangle in same level, labeled as Δ ABC；3rd is reflective
Piece (3) is affixed on the axis above postwelding impact robot (11), and second on synchronous motor (9) be reflective infrared or laser
For the 4th reflecting piece (4) on sensor (6) and mark post (12) in same level, three can form three in same level
It is angular, labeled as Δ DEF；Distance measuring sensor (7) is fixed on the axis above Mobile welding equipment (10), and on mark post (12)
The second reflecting piece (2) in the same horizontal line, for detect Mobile welding equipment (10) with weld initial point at level
Distance, the horizontal distance can with the first reflecting piece (1) on the axis of the mobile welding robot (10) in same horizontal line and
The distance between second reflecting piece (2) on mark post (12) represents, is denoted as line segment AB；Distance measuring sensor (8) is fixed on postwelding punching
Hit on the axis above robot (11), with the 4th reflecting piece (4) on mark post (12) in the same horizontal line, for detecting postwelding
Robot (11) and the horizontal distance at welding initial point are impacted, which can be impacted with the postwelding in same horizontal line
The distance between the 4th reflecting piece (4) in the 3rd reflecting piece (3) and mark post (12) on the axis of robot (11) represents, is denoted as
Line segment DE；First distance measuring sensor (7) and the second distance measuring sensor (8) all load onto small synchronous motor, constantly rotation, turn around
Survey once；Reflecting piece uses the laser or infrared of different modulating frequency by avoiding interfering with each other installed in different height
Light avoids disturbing；
Postwelding impacts robot by controller (21), double DC servo motors and driving (22), mobile robot body (23), double
Supersonic motor and driving (24), crosshead shoe (25), postwelding impact robot manipulating task end (26) composition；Postwelding impacts robot
Controller is connected with the sensor in observing and controlling track following TT＆C system and interface circuit (27), including described two rangings pass
Sensor, two reflective infrared or laser sensor, synchronous motor and small synchronous motor；Double DC servo motors and driving
(22), double supersonic motors and driving (24) are connected with controller (21), double DC servo motors and driving (22) and moving machine
Device human body is connected, and double supersonic motors and driving (24) are connected with crosshead shoe (25), and crosshead shoe (25) is impacted with postwelding
Robot manipulating task end (26) is connected；The mobile robot body 23 is wheeled mobile robot, passes through the differential realization of two-wheel
Robot location's coarse positioning；Positioning drive mechanisms of the crosshead shoe (25) as postwelding impact robot manipulating task end (26), are realized
The precision positioning of postwelding impact robot manipulating task end (26)；It is fixed with crosshead shoe (25) that postwelding impacts robot manipulating task end (26)
Connection, double supersonic motors and driving (24) are so that crosshead shoe (25) drives postwelding impact robot manipulating task end (26) to reach essence
Close positioning；
First reflective infrared or laser sensor (5) position mark is C；1 (A) 0,1 (A) 1,1 (A), 2,1 (A) 3, which is represented, to be moved
Four points in the movement welding of dynamic formula welding equipment, referred to as pad, position mark A0、A1、A2、A3；L0、L1、L2、L3
It is the distance of synchronous motor to be asked and pad；2 (B) are welding initial position；α 0, α 1, α 2, α 3 are initial position, synchronization
The angle that motor is formed with pad；
First reflective infrared or laser sensor (5) and the synchronous rotating shaft of synchronous motor (9) are fixed, constant speed rotary；Motor is every
Turn around, with the second reflecting piece (2) relatively once, controller exports one to the first reflective infrared or laser sensor (5) at this time
A high level pulse；Since first is reflective infrared or laser sensor (5) rotating speed is uniform, high level pulse frequency is not
Become；Using high-frequency impulse interpolation method, high-frequency impulse is filled between pulse is exported, its frequency-invariant, the number of pulses note of filling
For N；First is reflective infrared or when laser sensor (5) is opposite with the first reflecting piece, passes through the exportable one high electricity of controller
Flat pulse；As welding tip constantly moves, distance AC and angle [alpha] are constantly changing, and angle is characterized by high-frequency impulse number N
Spend the change of α；
If synchronous motor (9) drives, first is reflective infrared or laser sensor rotates clockwise, and transfer point A is in the counterclockwise direction
Movement；The transfer point initial position is A0, welding equipment is along during weld movement, the first reflective infrared or laser sensing
The continuous high-speed rotating scanning of device；First reflective infrared or laser transmitter projects light passing point A0During with point B, pass through interface
Two high level pulses of circuit output；If when initial, welding tip is still in A0Place, starting phase angle ∠ BCA0It is denoted as α0；Light
Counted by starting high-frequency impulse during A points, stop counting when reaching B points；If motor speed is constant, and rotates what a circle can fill
High-frequency impulse number is N；Controller can pass through the high-frequency impulse number N representated by angle between interface circuit reading A0 and B0, then count
Calculation can obtain：
∠ BCA can similarly be measured1、∠BCA2……；Therefore angle of the welding tip relative to reference position can be recorded in real time
Variation track (∠ BCA0、∠BCA1、∠BCA2……)；
First is reflective infrared at position C on synchronous motor (9) axis or laser sensor (5), transfer point A at distance measuring sensor
(1), the second reflecting piece (2) on mark post (12) at the B of position can form triangle in same level, be denoted as A0BC；Line segment
The length of BC can be measured directly with scale, line segment A0B can be measured in real time by distance measuring sensor 1, then being calculated according to formula (2) can
Obtain distance of the welding tip relative to reference position：
A0B2=BC2+A0C2-2BC*A0C*cosα0 (2)
Formula (2) can be arranged as formula (3)：
A0C2-2BC*cosα0*A0C+BC2-A0B2=0 (3)
When meeting BC2(cos2α0-1)+A0B2When >=0,
<mrow>
<msub>
<mi>A</mi>
<mn>0</mn>
</msub>
<mi>C</mi>
<mo>=</mo>
<mi>B</mi>
<mi>C</mi>
<mi> </mi>
<msub>
<mi>cos&alpha;</mi>
<mn>0</mn>
</msub>
<mo>&PlusMinus;</mo>
<msqrt>
<mrow>
<msup>
<mi>BC</mi>
<mn>2</mn>
</msup>
<mrow>
<mo>(</mo>
<msup>
<mi>cos</mi>
<mn>2</mn>
</msup>
<msub>
<mi>&alpha;</mi>
<mn>0</mn>
</msub>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
<mo>+</mo>
<msub>
<mi>A</mi>
<mn>0</mn>
</msub>
<msup>
<mi>B</mi>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>4</mn>
<mo>)</mo>
</mrow>
</mrow>
Take A0C≥0；L0=A0C；L can similarly be tried to achieve1、L2、L3......
Record distance change track L of the welding tip relative to reference position in real time0、L1、L2、L3... and angle change rail
Mark ∠ BCA0、∠BCA1、∠BCA2..., the track of Weld pipe mill is obtained by fitting.
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