CN112658444A - Arc sensing control method and system for welding robot - Google Patents
Arc sensing control method and system for welding robot Download PDFInfo
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Abstract
The invention provides an arc sensing control method and system for a welding robot, wherein the method comprises the following steps: continuously collecting welding current to obtain an average current value of each half period; calculating to obtain a first target current in a first direction and a second target current in a second direction according to the average current value of each half period in a period corresponding to the preset period number from the preset initial period sequence number; respectively obtaining a first offset vector of the welding wire in a first direction and a second offset vector of the welding wire in a second direction according to the average current value, the first target current and the second target current of each half period from the period beginning corresponding to the second period sequence number; according to the first offset vector and the second offset vector, obtaining a synthetic offset vector, and controlling the robot to move the welding wire from the current position to the direction of the synthetic offset vector by a value corresponding to the synthetic offset vector; the application improves the welding quality of the welding robot based on arc sensing control.
Description
Technical Field
The invention relates to the technical field of robot arc welding, in particular to an arc sensing control method and system for a welding robot.
Background
With the development of automatic welding equipment and technology, welding robots are increasingly popularized and applied by virtue of the advantages of high efficiency, high quality, high flexibility and high stability of welding operation. On the other hand, arc sensing, which is an arc welding sensing technology, has advantages in that additional auxiliary tools except for a welding gun are not required, the accessibility and flexibility of a robot are not affected, and automatic welding can be efficiently performed in cooperation with contact sensing. Therefore, welding is accomplished by using a welding robot in cooperation with an arc sensing technique, and is being widely used.
The welding robot performs teaching operations before performing a welding task. After the teaching is finished, welding parameters such as welding point gun postures and all idle walking point positions are stored in corresponding teaching points of a welding program of the robot. The position and the posture of the teaching point can be directly stored in the robot, and the welding starting point can be found through contact sensing or laser sensing.
Because the welding robot can only operate in a teaching and reproducing mode according to the taught track or the track generated by off-line programming, when the deviation such as group pairing deviation, positioning deviation or welding thermal deformation occurs to the workpiece to be welded, the robot still operates according to the original track, so that the problem of welding deviation is caused, and the welding quality is reduced.
Disclosure of Invention
In view of this, the present invention provides an arc sensing control method and system for a welding robot, which can improve the welding quality of the welding robot.
According to an aspect of the present invention, there is provided a welding robot arc sensing control method, comprising the steps of:
s10, continuously collecting welding current to obtain an average current value of each half period, wherein the half period is determined according to a swing phase generated during welding of the robot;
s20, calculating to obtain a first target current in a first direction and a second target current in a second direction according to the average current value of each half period in the period corresponding to the preset period number from the preset initial period sequence number; the projection of the welding gun on a normal plane of a connecting line of two adjacent teaching points is the second direction, and the direction perpendicular to the second direction on the normal plane is the first direction; each period comprises two half periods;
s30, respectively obtaining a first offset vector of the welding wire in a first direction and a second offset vector of the welding wire in a second direction according to the average current value of each half period in the current period, the first target current and the second target current;
and S40, obtaining a composite offset vector according to the first offset vector and the second offset vector, and controlling the robot to move the welding wire from the current position to the direction of the composite offset vector by the value corresponding to the composite offset vector.
Optionally, the step S20 includes:
calculating to obtain a first target current in a first direction according to an average current value of each half period in a period corresponding to the preset period number from the preset initial period sequence number and a first direction preset offset vector;
and calculating to obtain a second target current in the second direction according to the average current value of each half period in the period corresponding to the preset period number and the preset offset vector in the second direction from the preset initial period sequence number.
Optionally, the current cycle includes a current half cycle and a first half cycle of the current half cycle, and the step S30 includes:
presetting an offset vector according to a preset function, a first direction preset gain and a first direction, and taking the average current value of the current half period, the average current value of the previous half period and the first target current as the input of the preset function to obtain a first offset vector of the welding wire in the current period;
and presetting an offset vector according to a preset function, a second direction preset gain and a second direction, and taking the average current value of the current half period, the average current value of the previous half period and the second target current as the input of the preset function to obtain a second offset vector of the welding wire in the current period.
Optionally, the step S40 includes:
judging whether the first offset vector is larger than a first direction preset adjustment limit value or not, and if so, determining the first offset vector as the first direction preset adjustment limit value;
and judging whether the second offset vector is larger than a second direction preset adjustment limit value or not, and if so, determining the second offset vector as the second direction preset adjustment limit value.
And obtaining a composite offset vector according to the first offset vector and the second offset vector, and controlling the robot to move the welding wire from the current position to the direction of the composite offset vector by a value corresponding to the composite offset vector.
Optionally, the method further comprises the step of:
s50, judging whether the sum of all the first offset vectors is larger than a first direction preset total deviation limit value or not from the period corresponding to the second period sequence number to the current period, or whether the sum of all the second offset vectors is larger than a second direction preset total deviation limit value or not, and if so, ending the process; the second period sequence number is the sum of the preset starting period sequence number and the preset period number.
Optionally, the first target current is calculated by the following formula:
AimH＝[A2(s+c-1)-A2(s+c-1)-1]K1+[A2(s+c-1)-2-A2(s+c-1)-3]K2+…+(A2s-A2s-1)Ks+c-1+offsetH
wherein AimH is the first target current, s is the preset initial period sequence number, c is the preset period number, A2(s+c-1)Is the [2 x (s + c-1) ]]Average current value of half period, offset is the preset offset vector of the first direction, A2(s+c-1)-1Is [2 x (s + c-1) -1 ]]Average current value of half period, A2(s+c-1)-2Is [2 x (s + c-1) -2 ]]Average current value of half period, A2(s+c-1)-3Is [2 x (s + c-1) -3 ]]Average current value of half period, A2sAverage current value for the (2 s) th half cycle, A2s-1Is the average current value of the (2 x s-1) th half period, K1、K2And Ks+c-1Are all preset parameters.
Optionally, the second target current is calculated by the following formula:
AimV＝[A2(s+c-1)+A2(s+c-1)-1]J1+[A2(s+c-1)-2+A2(s+c-1)-3]J2+…+(A2s+A2s-1)Js+c-1+offsetV
wherein AimV is the second target current, s is the number of the preset initial period sequences, c is the number of the preset periods, A2(s+c-1)Is the [2 x (s + c-1) ]]Average current value of half period, offset v is the preset offset vector of the second direction, a2(s+c-1)-1Is [2 x (s + c-1) -1 ]]Average current value of half period, A2(s+c-1)-2Is [2 x (s + c-1) -2 ]]Average current value of half period, A2(s+c-1)-3Is [2 x (s + c-1) -3 ]]Average current value of half period, A2sAverage current value for the (2 s) th half cycle, A2s-1The average current value of the (2 x s-1) th half period, J1、J2And Js+c-1Are all preset parameters.
Optionally, the first offset vector is calculated by the following formula:
shiftH＝F(x)*GainH+offsetH
wherein x is An-An-1-AimH, shiftH representing said first offset vector, F(x)For said preset function, AnIs the average current value of the current half period, An-1Taking the average current value of the previous half cycle, AimH being the first target current, Gainh being the first direction preset gain, and offset being the first direction preset offset vector; the preset function is:
F(x)＝-0.003*x3+0.0003*x2-0.0748*x+6.45。
optionally, the second offset vector is calculated by the following formula:
shiftV＝F(y)*GainV+offsetV
wherein y is (A)n+An-1) 0.5-AimV, shiftV represents the second offset vector, F(y)For said preset function, AnIs the average current value of the current half period, An-1And taking the average current value of the previous half period, AimV as the second target current, GainV as the second direction preset gain, and offsetV as the second direction preset offset vector.
According to another aspect of the present invention, there is provided a welding robot arc sensing control system for implementing the welding robot arc sensing control method, the system comprising:
the current acquisition unit is used for continuously acquiring welding current to obtain an average current value of each half period, and the half period is determined according to a swing phase generated during robot welding;
the target current obtaining unit is used for calculating to obtain a first target current in a first direction and a second target current in a second direction according to the average current value of each half period in a period corresponding to the preset period number from the preset initial period sequence number; the projection of the welding gun on a normal plane of a connecting line of two adjacent teaching points is the second direction, and the direction perpendicular to the second direction on the normal plane is the first direction; each period comprises two half periods;
the offset vector acquisition unit is used for respectively acquiring a first offset vector of the welding wire in a first direction and a second offset vector of the welding wire in a second direction according to the average current value of each half period in the current period, the first target current and the second target current;
and the offset adjusting unit is used for obtaining a composite offset vector according to the first offset vector and the second offset vector and controlling the robot to move the welding wire from the current position to the direction of the composite offset vector by a value corresponding to the composite offset vector.
Compared with the prior art, the invention has the beneficial effects that:
the welding robot arc sensing control method and the welding robot arc sensing control system provided by the invention determine the swing period based on the swing phase, then respectively obtain target currents in two directions based on a plurality of preset period parameters input by a user, respectively obtain offset vectors in the two directions based on the average current value in the current period and the target currents, and perform offset adjustment based on the offset vectors, so that the position of a welding wire is adjusted in real time when the robot is used for welding under the arc sensing technology, the accuracy of the welding position is ensured, and the welding quality is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic diagram of a first direction and a second direction determined by two adjacent teach points in the present embodiment;
FIG. 2 is a schematic diagram of the swing trajectory and swing phase generated by the welding robot;
FIG. 3 is a schematic flow chart illustrating a method for controlling arc sensing of a welding robot according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of a method for controlling arc sensing of a welding robot according to another embodiment of the present invention;
fig. 5 is a schematic structural diagram of an arc sensing control system of a welding robot according to an embodiment of the present invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their repetitive description will be omitted.
In this embodiment, a normal plane (i.e., a normal plane of the connection line) is determined by connecting every two adjacent teaching points on the teaching trajectory, a projection of the welding gun on the normal plane is determined as a V direction, i.e., a second direction, and a direction perpendicular to the V direction on the normal plane is determined as an H direction, i.e., a first direction. Referring to a normal plane 200 that is a line connecting two teaching points P1 and P2 in fig. 1, a projection of the torch 100 on the normal plane 200 is a V direction, i.e., a second direction, and a direction perpendicular to the V direction on the normal plane 200 is an H direction, i.e., a first direction. P1 and P2 are two adjacent teach points on the teach path. And the positive direction of the second direction and the positive direction of the first direction accord with a left-hand spiral rule. For example, as shown in fig. 1, a vertical downward direction in the normal plane 200 is a positive direction of the second direction, and a horizontal leftward direction in the normal plane 200 is a positive direction of the first direction.
In the swing welding process of the robot, the change and fluctuation of the current can reflect the change of dry elongation to a certain extent. According to the principle, whether the welding gun deviates from the actual welding seam can be judged by analyzing the swing phase and the change of the swing welding current in real time. If the welding position deviates, the position of the tip of the welding wire can be adjusted in real time, and the accuracy of the welding position is guaranteed.
Referring to fig. 2, a curve 300 in fig. 2 is a swing trajectory of the welding robot during the swing welding. The swing trajectory is a trajectory of an actual movement of the welding robot. Curve 301 represents the swing position signal, i.e., the swing phase, generated by the welding robot. The swing phase is determined according to the swing parameters input by the user and the teaching track. The above-mentioned oscillation parameters may be amplitude, frequency and/or oscillation type. The wobble period is determined by the wobble phase. Each wobble period comprises two half periods. For example, cycle 1 and cycle 2 are shown in fig. 2, with cycle 1 comprising half cycle 1 and half cycle 2. Cycle 2 includes half cycle 3 and half cycle 4.
As shown in fig. 3, an embodiment of the present invention discloses a method for controlling arc sensing of a welding robot, comprising the following steps:
and S10, continuously collecting the welding current to obtain the average current value of each half period. The half period is determined according to the swing phase generated when the robot welds. Specifically, the collected welding current is output by the welding power supply. The welding current can be collected once at intervals of a preset time period, after the welding current is collected, preprocessing operation can be carried out, and then the average current value corresponding to each half period is calculated. The preprocessing operations include, but are not limited to, low pass filtering and sliding mean filtering. In addition, the step can also obtain the half-cycle sequence number corresponding to each half-cycle according to the interruption of the swing phase, namely the triggering of the rising edge and the falling edge.
Illustratively, the welding current may be collected at intervals of 0.1ms, for example, to obtain a sampling point. Ten thousand samples are obtained in 1 second. According to the welding current value corresponding to the ten thousand sampling points, the average current value in the 1 second period can be calculated. According to the above exemplary method, the average current value corresponding to each half period can be calculated.
And S20, calculating to obtain a first target current in the first direction and a second target current in the second direction according to the average current value of each half period in the period corresponding to the preset period number from the preset initial period sequence number. And the projection of the welding gun on a normal plane of a connecting line of two adjacent teaching points on the teaching track is in a second direction. A direction perpendicular to the second direction on the normal plane is the first direction. Wherein each period comprises two half periods.
Specifically, step S20 includes:
s201, calculating to obtain a first target current in a first direction according to the average current value of each half period in a period corresponding to the preset period number and the preset offset vector in the first direction from the preset initial period sequence number.
And S202, calculating to obtain a second target current according to the average current value of each half period in the period corresponding to the preset period number and the preset offset vector in the second direction from the preset initial period sequence number.
Wherein, the first target current is calculated by the following formula:
AimH＝[A2(s+c-1)-A2(s+c-1)-1]K1+[A2(s+c-1)-2-A2(s+c-1)-3]K2+…+(A2s-A2s-1)Ks+c-1+offsetH
wherein AimH is the first target current, s is the preset initial period sequence number, c is the preset period number, A2(s+c-1)Is the [2 x (s + c-1) ]]The average current value of the half period, offset, is the preset offset vector of the first direction, A2(s+c-1)-1Is [2 x (s + c-1) -1 ]]Average current value of half period, A2(s+c-1)-2Is [2 x (s + c-1) -2 ]]Average current value of half period, A2(s+c-1)-3Is [2 x (s + c-1) -3 ]]Average current value of half period, A2sAverage current value for the (2 s) th half cycle, A2s-1Is the average current value of the (2 x s-1) th half period, K1、K2To Ks+c-1Are all preset parameters. For example, K can be taken1＝K2＝…＝Ks+c-11/c. The value range of the preset parameters is 0-1.
The second target current is calculated by the following formula:
AimV＝[A2(s+c-1)+A2(s+c-1)-1]J1+[A2(s+c-1)-2+A2(s+c-1)-3]J2+…+(A2s+A2s-1)Js+c-1+offsetV
wherein AimV is the second target current, s is the number of the preset initial period sequences, c is the number of the preset periods, A2(s+c-1)Is the [2 x (s + c-1) ]]An average current value of the half period, offset V is the preset offset vector in the second direction, A2(s+c-1)-1Is [2 x (s + c-1) -1 ]]Average current value of half period, A2(s+c-1)-2Is [2 x (s + c-1) -2 ]]The average current value of the half-cycles,A2(s+c-1)-3is [2 x (s + c-1) -3 ]]Average current value of half period, A2sAverage current value for the (2 s) th half cycle, A2s-1The average current value of the (2 x s-1) th half period, J1、J2To Js+c-1Are all preset parameters. The value range of the preset parameter is 0-1. For example, J can be taken1＝J2＝…＝Js+c-1＝1/(2*c)。
For example, if the number of the predetermined initial period sequences is 3, the number of the predetermined periods is also 2. And the half cycle count is counted from 1, i.e. the first half cycle is 1. The first target current is calculated by the average current value of the half period and the offset in the 3 rd period and the 4 th period, that is, the average current value and the offset of the 5 th half period, the 6 th half period, the 7 th half period and the 8 th half period. I.e. passing through A5、A6、A7、A8And offset h.
The second target current is calculated by the average current value of the half period and the offset v in the 3 rd period and the 4 th period, that is, by the average current value and the offset v of the 5 th half period, the 6 th half period, the 7 th half period and the 8 th half period. I.e. passing through A5、A6、A7、A8And offset v.
And S30, respectively obtaining a first offset vector of the welding wire in a first direction and a second offset vector of the welding wire in a second direction according to the average current value of each half period in the current period, the first target current and the second target current. The current period includes a current half-period and a first half-period of the current half-period. Wherein, according to the half-period sequence number acquired in step S10, a period sequence number, that is, the current period, is calculated, wherein the period sequence number
WnWhich represents the number of half-cycle sequences,
represents to WnAnd carrying out downward rounding operation. For example, if WnIs 7, then WNIs 3. If WnIs 6, then WNIs 3. If WnIs 9, then WNIs 4.
Specifically, step S30 includes:
s301, when the current period is greater than or equal to the sum of the preset initial period sequence number and the preset period number, presetting an offset vector according to a preset function, a first direction preset gain and a first direction, and taking the average current value of the current half period, the average current value of the previous half period and the first target current as the input of the preset function to obtain a first offset vector of the welding wire in the current period.
And S302, obtaining a second offset vector of the welding wire in the current period by taking the average current value of the current half period, the average current value of the previous half period and the second target current as the input of the preset function according to the preset function, the second direction preset gain and the second direction preset offset vector.
Wherein, the first offset vector is calculated by the following formula:
shiftH＝F(x)*GainH+offsetH
wherein x is An-An-1-AimH, shiftH denotes said first offset vector, F(x)For the above-mentioned predetermined function, AnIs the average current value of the current half period, An-1The average current value of the previous half cycle of the current half cycle is AimH, GainH, and offset, where AimH is the first target current, GainH is the first direction preset gain, and offsetH is the first direction preset offset vector.
The preset function may be:
F(x)＝-0.003*x3+0.0003*x2-0.0748*x+6.45。
the second offset vector is calculated by the following formula:
shiftV＝F(y)*GainV+offsetV
wherein y is (A)n+An-1) 0.5-AimV, shiftV denotes the second offset vector, AnIs the average current value of the current half period, An-1The average current value of the previous half cycle of the current half cycle is AimV, GainV, the second direction default gain, and the offset v, respectively. F(y)For the above-mentioned predetermined function, i.e. F(y)Comprises the following steps:
F(y)＝-0.003*y3+0.0003*y2-0.0748*y+6.45
it should be noted that the preset function F is(x)And F(y)The representation of (a) is merely an example, and the present application is directed to the above-mentioned predetermined function F(x)And F(y)The representation form of (A) is not limited, and the skilled person can set the representation form as required.
And S40, obtaining a composite offset vector according to the first offset vector and the second offset vector, and controlling the robot to move the welding wire from the current position to the direction of the composite offset vector by the value corresponding to the composite offset vector. Specifically, the first offset vector and the second offset vector are vector-synthesized to obtain a synthesized offset vector. For example, if the first offset vector is 0.1mm and the second offset vector is-0.2 mm, the welding robot controls the welding wire to move the numerical value corresponding to the composite offset vector, that is, the absolute value corresponding to the composite offset vector, in the direction in which the composite offset vector is located, based on the composite offset vector. That is, after the welding wire is adjusted, the welding wire moves 0.1mm in the positive direction of the first direction and moves 0.2mm in the negative direction of the second direction.
It should be noted that, in the present application, the first offset vector, the second offset vector, and the composite offset vector, that is, all offset vectors are vectors including a direction and a numerical value. That is, all the offset vectors have directivity.
In a preferred embodiment of the present application, the step S40 includes:
s401, judging whether the first offset vector is larger than a first direction preset adjustment limit value, and if so, determining the first offset vector as the first direction preset adjustment limit value. If not, the value of the first offset vector is not changed.
S402, judging whether the second offset vector is larger than a second direction preset adjusting limit value or not, and if so, determining the second offset vector as the second direction preset adjusting limit value. If not, the value of the second offset vector is not changed.
And S403, obtaining a synthetic offset vector according to the adjusted first offset vector and the second offset vector, and controlling the robot to move the welding wire from the current position to the direction of the synthetic offset vector by the value corresponding to the synthetic offset vector.
Therefore, the overshoot of the welding wire can be avoided, and the welded finished product can not meet the welding requirement. It should be noted that, if the first offset vector or the second offset vector is a negative value, the absolute value of the first offset vector or the second offset vector is calculated and then compared with the first direction preset adjustment limit or the second direction preset adjustment limit. And the first direction preset adjusting limit value and the second direction preset adjusting limit value are both positive values.
In another embodiment of the present application, based on the above embodiment, as shown in fig. 4, the method further includes the steps of:
s50, determining whether the sum of all the first offset vectors is greater than the first direction preset total offset limit or whether the sum of all the second offset vectors is greater than the second direction preset total offset limit from the beginning of the period corresponding to the second period sequence number to the current period, and if so, ending the process. If not, returning to the step S10, and continuing to collect welding current data of the next period. The second period sequence number is the sum of the preset initial period sequence number and the preset period number.
Therefore, the welded finished product can be prevented from not meeting the welding requirement, and the adverse effect on subsequent reassembling is avoided. It should be noted that, if the sum of the first offset vectors or the sum of the second offset vectors is a negative value, the sum of the first offset vectors or the sum of the second offset vectors is calculated as an absolute value and then compared with the first-direction preset total deviation limit value or the second-direction preset total deviation limit value. And the first direction preset total deviation limit value and the second direction preset total deviation limit value are both positive values.
Illustratively, this is exemplified following the example in step S20 above, when the second number of periodic sequences is 5. If the current period is 7, the sum of all the first offset vectors is the sum of the first offset vectors of the welding wires in the 5 th period, the 6 th period and the 7 th period.
The present application does not limit all of the above preset values (for example, the preset adjustment limit value in the first direction, the preset adjustment limit value in the second direction, the preset total deviation limit value in the first direction, and the preset total deviation limit value in the second direction), and those skilled in the art can set the preset values as needed.
As shown in fig. 5, the embodiment of the present invention further discloses an arc sensing control system 5 for a welding robot, which includes:
and the current collecting unit 51 is used for continuously collecting the welding current to obtain the average current value of each half period. The half period is determined according to the swing phase generated when the robot welds.
The target current obtaining unit 52 is configured to calculate to obtain a first target current in the first direction and a second target current in the second direction according to an average current value of each half cycle in a period corresponding to the preset number of cycles from the preset starting period sequence number. And the projection of the welding gun on a normal plane of a connecting line of two adjacent teaching points is the second direction. The direction perpendicular to the second direction on the normal plane is the first direction. Each cycle comprises two half cycles.
The offset vector obtaining unit 53 is configured to obtain a first offset vector of the welding wire in the first direction and a second offset vector of the welding wire in the second direction according to the average current value of each half cycle in the current cycle, the first target current, and the second target current.
And an offset adjusting unit 54, configured to obtain a composite offset vector according to the first offset vector and the second offset vector, and control the robot to move the welding wire from the current position toward the direction in which the composite offset vector is located by a value corresponding to the composite offset vector.
It is understood that the welding robot arc sensing control system of the present invention also includes other existing functional modules that support the operation of the welding robot arc sensing control system. The welding robot arc sensing control system shown in fig. 5 is only an example and should not impose any limitations on the functionality or scope of use of embodiments of the present invention.
The welding robot arc sensing control system in this embodiment is used to implement the method for welding robot arc sensing control, and therefore, for the specific implementation steps of the welding robot arc sensing control system, reference may be made to the description of the method for welding robot arc sensing control, which is not repeated herein.
In summary, the arc sensing control method and system for the welding robot disclosed by the invention have at least the following advantages:
the welding robot arc sensing control method and system disclosed in the embodiment determine the swing period based on the swing phase, then respectively obtain target currents in two directions based on a plurality of preset period parameters input by a user, respectively obtain offset vectors in the two directions based on an average current value in the current period and the target currents, and perform offset adjustment based on the offset vectors, so that the position of a welding wire is adjusted in real time when the robot is used for welding under the arc sensing technology, the accuracy of a welding position is ensured, and the welding quality is improved.
In the description herein, references to the description of "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," etc., indicate that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. A welding robot arc sensing control method is characterized by comprising the following steps:
s10, continuously collecting welding current to obtain an average current value of each half period, wherein the half period is determined according to a swing phase generated during welding of the robot;
s20, calculating to obtain a first target current in a first direction and a second target current in a second direction according to the average current value of each half period in the period corresponding to the preset period number from the preset initial period sequence number; the projection of the welding gun on a normal plane of a connecting line of two adjacent teaching points is the second direction, and the direction perpendicular to the second direction on the normal plane is the first direction; each period comprises two half periods;
s30, respectively obtaining a first offset vector of the welding wire in a first direction and a second offset vector of the welding wire in a second direction according to the average current value of each half period in the current period, the first target current and the second target current;
and S40, obtaining a composite offset vector according to the first offset vector and the second offset vector, and controlling the robot to move the welding wire from the current position to the direction of the composite offset vector by the value corresponding to the composite offset vector.
2. The welding robot arc sensing control method of claim 1, wherein the step S20 comprises:
calculating to obtain a first target current in a first direction according to an average current value of each half period in a period corresponding to the preset period number from the preset initial period sequence number and a first direction preset offset vector;
and calculating to obtain a second target current in the second direction according to the average current value of each half period in the period corresponding to the preset period number and the preset offset vector in the second direction from the preset initial period sequence number.
3. The welding robot arc sensing control method of claim 1, wherein the current cycle comprises a current half-cycle and a first half-cycle of the current half-cycle, the step S30 comprises:
presetting an offset vector according to a preset function, a first direction preset gain and a first direction, and taking the average current value of the current half period, the average current value of the previous half period and the first target current as the input of the preset function to obtain a first offset vector of the welding wire in the current period;
and presetting an offset vector according to a preset function, a second direction preset gain and a second direction, and taking the average current value of the current half period, the average current value of the previous half period and the second target current as the input of the preset function to obtain a second offset vector of the welding wire in the current period.
4. The welding robot arc sensing control method of claim 1, wherein the step S40 comprises:
judging whether the first offset vector is larger than a first direction preset adjustment limit value or not, and if so, determining the first offset vector as the first direction preset adjustment limit value;
judging whether the second offset vector is larger than a second direction preset adjustment limit value or not, and if so, determining the second offset vector as the second direction preset adjustment limit value;
and obtaining a composite offset vector according to the first offset vector and the second offset vector, and controlling the robot to move the welding wire from the current position to the direction of the composite offset vector by a value corresponding to the composite offset vector.
5. The welding robot arc sensing control method of claim 1, further comprising the steps of:
s50, judging whether the sum of all the first offset vectors is larger than a first direction preset total deviation limit value or not from the period corresponding to the second period sequence number to the current period, or whether the sum of all the second offset vectors is larger than a second direction preset total deviation limit value or not, and if so, ending the process; the second period sequence number is the sum of the preset starting period sequence number and the preset period number.
6. The welding robot arc sensing control method of claim 2, wherein the first target current is calculated by the following equation:
AimH＝[A2(s+c-1)-A2(s+c-1)-1]K1+[A2(s+c-1)-2-A2(s+c-1)-3]K2+…+(A2s-A2s-1)Ks+c-1+offsetH
wherein AimH is the first target current, s is the preset initial period sequence number, c is the preset period number, A2(s+c-1)Is the [2 x (s + c-1) ]]Average current value of half period, offset is the preset offset vector of the first direction, A2(s+c-1)-1Is [2 x (s + c-1) -1 ]]Average current value of half period, A2(s+c-1)-2Is [2 x (s + c-1) -2 ]]Average current value of half period, A2(s+c-1)-3Is [2 x (s + c-1) -3 ]]Average current value of half period, A2sAverage current value for the (2 s) th half cycle, A2x-1Is the average current value of the (2 x s-1) th half period, K1、K2And Ks+c-1Are all preset parameters.
7. The welding robot arc sensing control method of claim 2, wherein the second target current is calculated by the following equation:
AimV＝[A2(s+c-1)+A2(s+c-1)-1]J1+[A2(s+c-1)-2+A2(s+c-1)-3]J2+…+(A2s+A2s-1)Js+c-1+offsetV
wherein AimV is the second target current, s is the number of the preset initial period sequences, c is the number of the preset periods, A2(s+c-1)Is the [2 x (s + c-1) ]]Average current value of half period, offset v is the preset offset vector of the second direction, a2(s+c-1)-1Is [2 x (s + c-1) -1 ]]Average current value of half period, A2(s+c-1)-2Is [2 x (s + c-1) -2 ]]Average current value of half period, A2(s+c-1)-3Is [2 x (s + c-1) -3 ]]Average current value of half period, A2sAverage current value for the (2 s) th half cycle, A2s-1The average current value of the (2 x s-1) th half period, J1、J2And Js+c-1Are all preset parameters.
8. The welding robot arc sensing control method of claim 3, wherein the first offset vector is calculated by the following equation:
shiftH＝F(x)*GainH+offsetH
wherein x is An-An-1-AimH, shiftH representing said first offset vector, F(x)For said preset function, AnIs the average current value of the current half period, An-1Taking the average current value of the previous half cycle, AimH being the first target current, Gainh being the first direction preset gain, and offset being the first direction preset offset vector; the preset function is:
F(x)＝-0.003*x3+0.0003*x2-0.0748*x+6.45。
9. the welding robot arc sensing control method of claim 8, wherein the second offset vector is calculated by the following equation:
shiftV＝F(y)*GainV+offsetV
wherein y is (A)n+An-1) 0.5-AimV, shiftV represents the second offset vector, F(y)For said preset function, AnIs the average current value of the current half period, An-1And taking the average current value of the previous half period, AimV as the second target current, GainV as the second direction preset gain, and offsetV as the second direction preset offset vector.
10. A welding robot arc sensing control system for implementing the welding robot arc sensing control method of claim 1, the system comprising:
the current acquisition unit is used for continuously acquiring welding current to obtain an average current value of each half period, and the half period is determined according to a swing phase generated during robot welding;
the target current obtaining unit is used for calculating to obtain a first target current in a first direction and a second target current in a second direction according to the average current value of each half period in a period corresponding to the preset period number from the preset initial period sequence number; the projection of the welding gun on a normal plane of a connecting line of two adjacent teaching points is the second direction, and the direction perpendicular to the second direction on the normal plane is the first direction; each period comprises two half periods;
the offset vector acquisition unit is used for respectively acquiring a first offset vector of the welding wire in a first direction and a second offset vector of the welding wire in a second direction according to the average current value of each half period in the current period, the first target current and the second target current;
and the offset adjusting unit is used for obtaining a composite offset vector according to the first offset vector and the second offset vector and controlling the robot to move the welding wire from the current position to the direction of the composite offset vector by a value corresponding to the composite offset vector.
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