CN115805592A - Welding robot locating and tracking system and method - Google Patents
Welding robot locating and tracking system and method Download PDFInfo
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- CN115805592A CN115805592A CN202211636285.9A CN202211636285A CN115805592A CN 115805592 A CN115805592 A CN 115805592A CN 202211636285 A CN202211636285 A CN 202211636285A CN 115805592 A CN115805592 A CN 115805592A
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Abstract
The invention relates to the technical field of welding robots, in particular to a positioning and tracking system and a method of a welding robot, wherein the positioning and tracking system comprises a laser welding seam tracker and an electric arc tracking sensor, wherein the laser welding seam tracker and the electric arc tracking sensor are used for respectively detecting welding seam information of a workpiece to be welded, transmitting the welding seam information to a welding seam position receiving module, processing the welding seam information in the welding seam position receiving module through an information processing module to obtain welding track information matched with the welding seam information, transmitting the welding track information to a mobile control module, and controlling a driving assembly for controlling the movement of an arc welding robot through the mobile control module, so that the positioning and tracking operation matched with the welding track is completed, the welding operation is completed by matching with the opening and closing of the arc welding robot, and the laser welding seam tracker and the electric arc tracking sensor are used for simultaneous detection, so that the accuracy of obtaining the welding seam information is improved, the welding accuracy of the arc welding robot is improved, and the qualification rate of welding finished products is improved.
Description
Technical Field
The invention relates to the technical field of welding robots, in particular to a positioning and tracking system and method for a welding robot.
Background
In prior art, the mechanical arm through many joint degrees of freedom accomplishes automatic welding and has been very common in the course of working of main equipment, when specifically welding with welding robot, puts the work piece on the machine of shifting, drives welder by welding robot's arm, and the motion of machine cooperation arm is shifted, finally accomplishes the welding.
Although current welding robot is provided with machine vision system to fix a position and track the welding seam of welding, current welding robot positioning and tracking system's vision acquisition element sets up in a fixed position usually, and only adopts an acquisition device, when carrying out the welding seam position to anomalous work piece and acquireing, the welding seam information that easily leads to acquireing is inaccurate, make the welding operation accuracy reduce, lead to follow-up robot to produce the welding operation of invalid or unfavorable effect when carrying out welding operation along the welding rail that sets up simultaneously, lead to welding workpiece's finished product qualification rate to descend.
Disclosure of Invention
The present invention is directed to a system and a method for locating and tracking a welding robot, so as to solve the problems mentioned in the background art.
The technical scheme of the invention is as follows: a position-finding tracking system of a welding robot comprises a plurality of upright cantilevers arranged on a ground rail in a sliding mode, an arc welding robot is arranged at the lower end of each upright cantilever in a reversed mode, a driving assembly for driving the arc welding robot to move is further installed on each upright cantilever, a control cabinet electrically connected with the arc welding robot is installed on one side of the ground rail, a position-finding assembly is installed on each arc welding robot and comprises a laser welding seam tracker and an arc tracking sensor, the laser welding seam trackers are fixed on the side walls of the arc welding robots and synchronously rotate in the same direction with welding guns at the lower ends of the arc welding robots, the arc tracking sensors are embedded in the lower ends of the arc welding robots, a position-finding system matched with the position-finding assemblies is installed in the control cabinet and comprises a welding seam position receiving module, an information processing module and a mobile control module, the welding seam position receiving module is electrically connected with the laser welding seam trackers and the arc tracking sensors, and the mobile control module is electrically connected with the driving assemblies.
Preferably, the welding seam position receiving module comprises a changeable welding seam information receiving unit and a preset welding rail information storage unit, the changeable welding seam information receiving unit is electrically connected with the laser welding seam tracker and the arc tracking sensor, and the preset welding rail information storage unit is electrically connected with an input terminal on the control cabinet.
Preferably, the information processing module comprises a first processing unit, a second processing unit and a third processing unit, the first processing unit is electrically connected with the variable welding seam information receiving unit and the preset welding rail information storage unit, the second processing unit is electrically connected with the variable welding seam information receiving unit and the preset welding rail information storage unit, and the third processing unit is electrically connected with the first processing unit and the second processing unit.
Preferably, the variable weld information receiving unit comprises a receiving node and an information storage node, the receiving node is electrically connected with both the laser weld tracker and the arc tracking sensor, the information storage node comprises a first node and a second node, the first node is adapted to the laser weld tracker, the second node is adapted to the arc tracking sensor, the first node is electrically connected with the first processing unit, and the second node is electrically connected with the second processing unit.
Preferably, the mobile control module comprises a positioning control unit and a tracking control unit, and the positioning control unit and the tracking control unit are electrically connected with the third processing unit and the driving assembly.
Preferably, the lower extreme is fixed with infrared distance measuring sensor, and infrared distance measuring sensor is located the arc welding robot top, infrared distance measuring sensor and mobile control module electric connection.
Preferably, the mobile control module further comprises a protection control unit, the protection control unit is electrically connected with the infrared distance measuring sensor and the driving assembly, and the protection control unit is matched with the positioning control unit and the tracking control unit.
A welding robot locating and tracking method is suitable for the welding robot locating and tracking system and comprises the following steps:
s1, obtaining weld joint information of a workpiece to be welded, respectively detecting the weld joint information of the workpiece to be welded through a laser weld joint tracker and an arc tracking sensor, and transmitting the weld joint information to a weld joint position receiving module;
s2, processing to obtain welding rail information matched with the welding seam information, processing the welding seam information in the welding seam position receiving module through the information processing module to obtain welding rail information matched with the welding seam information, and transmitting the welding rail information to the mobile control module;
and S3, controlling the arc welding robot to move by using the movement control assembly to complete corresponding positioning and tracking operation, and controlling a driving assembly for controlling the arc welding robot to move by using the movement control module so as to complete positioning and tracking operation matched with a welding rail and complete welding operation by matching with the start and stop of the arc welding robot.
Preferably, before S1 is executed, preset welding rail information adapted to the current workpiece needs to be input into the welding seam position receiving module through an input terminal of the control cabinet.
Preferably, S2 comprises:
s21, processing the welding seam information acquired by the laser welding seam tracker, and performing matching calculation processing on the welding seam information T acquired by the laser welding seam tracker and stored in a first node in the information storage node of the variable welding seam information receiving unit and preset welding seam information F stored in a preset welding seam information storage unit through a first processing unit to obtain welding seam information A matched with the welding seam information T;
s22, processing the welding seam information obtained by the arc tracking sensor, and performing matching calculation processing on the welding seam information Y obtained by the arc tracking sensor and stored in a second node in the information storage node of the variable welding seam information receiving unit and preset welding seam information F stored in a preset welding seam information storage unit through a second processing unit to obtain welding seam information B matched with the welding seam information Y;
s23, further processing the processing results of the first processing unit and the second processing unit, and performing matching calculation processing on the welding track information A and the welding track information B through a third processing unit to obtain welding track information C which is adaptive to the welding track information T and adaptive to the welding track information Y;
and S24, generating a corresponding positioning instruction and a corresponding tracking instruction according to the welding track information C, and respectively sending the positioning instruction and the tracking instruction to a positioning control unit and a tracking control unit.
The invention provides a welding robot locating and tracking system and a method thereof through improvement, compared with the prior art, the welding robot locating and tracking system and the method thereof have the following improvement and advantages:
1. the welding seam information of a workpiece to be welded is detected through the laser welding seam tracker and the electric arc tracking sensor respectively, the welding seam information is transmitted to the welding seam position receiving module, the welding seam information in the welding seam position receiving module is processed through the information processing module to obtain welding track information matched with the welding seam information, the welding track information is transmitted to the mobile control module, a driving assembly for controlling the movement of the arc welding robot is controlled through the mobile control module, so that positioning and tracking operations matched with the welding track are completed, the welding operation is completed by matching with the starting and closing of the arc welding robot, the laser welding seam tracker and the electric arc tracking sensor are used for detecting simultaneously, the accuracy of obtaining the welding seam information is improved, double welding seam information is processed through the information processing module, the welding track information with a wider adaptation range is obtained, the welding accuracy of the arc welding robot is improved, and the qualification rate of a welding finished product is improved;
2. according to the invention, the relative distance between the arc welding robot (3) and the workpiece is measured in real time through the arrangement of the infrared distance measuring sensor (8), when the arc welding robot (3) is too close to the workpiece, the infrared distance measuring sensor (8) sends a signal to the protection control unit, and the protection control unit controls the arc welding robot (3) to be far away from the workpiece through the driving assembly, so that the arc welding robot (3) is prevented from being damaged due to collision friction with the workpiece when the arc welding robot (3) is close to the workpiece.
Drawings
The invention is further explained below with reference to the figures and examples:
FIG. 1 is a schematic overall perspective view of the present invention;
FIG. 2 is a schematic perspective view of the stand cantilever and arc welding robot of the present invention;
FIG. 3 is a block diagram of the seek tracking system architecture of the present invention;
FIG. 4 is a block diagram of a detailed structure of the seek tracking system of the present invention;
FIG. 5 is a flow chart of the seek tracking method of the present invention;
FIG. 6 is a detailed flow chart of the seek tracking method of the present invention.
Description of the reference numerals:
1. a ground rail; 2. a column cantilever; 201. a column; 202. a cross arm; 203. a vertical arm; 3. an arc welding robot; 4. welding a positioner; 5. a welding table; 6. a guide rail; 7. a control cabinet; 8. an infrared ranging sensor; 9. a laser weld tracker; 10. an arc tracking sensor.
Detailed Description
The present invention is described in detail below, and technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a welding robot locating and tracking system and a method thereof through improvement, the technical scheme of the invention comprises two parts, namely a welding robot locating and tracking system and a welding robot locating and tracking method, and the method specifically comprises the following steps:
as shown in fig. 1-4, a position-finding tracking system for a welding robot includes a plurality of upright cantilevers 2 sliding on a ground rail 1, a driving component for driving an arc welding robot 3 to move is further installed on an arc welding robot 3,2 inversely installed at a lower end of the upright cantilevers 2, a control cabinet 7 electrically connected to the arc welding robot 3 is installed at one side of the ground rail 1, a position-finding component is installed on the arc welding robot 3, the position-finding component includes a laser seam tracker 9 and an arc tracking sensor 10, the laser seam tracker 9 is fixed on a side wall of the arc welding robot 3, the laser seam tracker 9 synchronously and simultaneously rotates with a welding gun at the lower end of the arc welding robot 3, the arc tracking sensor 10 is embedded inside the lower end of the arc welding robot 3, a position-finding system adapted to the position-finding component is installed in the control cabinet 7, the position-finding system includes a seam position receiving module, an information processing module and a movement control module, the seam position receiving module is electrically connected to the laser seam position tracker 9 and the arc tracking sensor 10, the information processing module is electrically connected to the welding position receiving module, and the movement control module is electrically connected to the driving component.
The method comprises the steps that firstly, preset welding track information matched with a current workpiece is input into a welding track position receiving module by a worker through an input terminal of a control cabinet 7, after the preset welding track information is input, welding track information of the workpiece to be welded is detected through a laser welding track tracker 9 and an arc tracking sensor 10 respectively, the welding track information is transmitted into the welding track position receiving module, the welding track information in the welding track position receiving module is processed through an information processing module to obtain the welding track information matched with the welding track information, the welding track information is transmitted to a mobile control module, a driving assembly for controlling the movement of a robot 3 is controlled through the mobile control module, positioning and tracking work matched with the welding track is completed, the welding work is completed by matching with the opening and closing of the arc welding robot 3, the laser arc welding track welder 9 and the arc tracking sensor 10 are used for detecting simultaneously, the accuracy of the obtained welding track information is improved, double welding track information is processed through the information processing module, the welding track information with a wider adaptation range is obtained, the welding track information is improved, the welding precision of the welding robot 3 is improved, the qualification rate of welding products is improved, and meanwhile, the problem that the welding track information of the robot is not valid due to the welding track information of the workpiece is caused by the wrong welding track information obtained due to the positioning and the welding track system is avoided.
It should be noted that: the two ground rails 1 are symmetrically arranged, each ground rail 1 is provided with at least two upright cantilevers 2, so that the positioning tracking of multiple welding seams is realized by matching with the welding robot positioning tracking system, each upright cantilever 2 consists of an upright 201, a cross arm 202 and a vertical arm 203, the upright 201 is slidably connected onto the ground rail 1, one end of the cross arm 202 is fixed with the upper end of the upright 201, the vertical arm 203 is slidably connected with the cross arm 202, the arc welding robot 3 is inversely arranged at the lower end of the vertical arm 203, and a driving assembly consists of various driving devices commonly used in the prior art, including but not limited to a silent drag chain and a servo motor, wherein the driving assembly comprises a first drag chain for driving the vertical arm 203 to transversely move along the cross arm 202 and a second drag chain for driving the vertical arm 203 to vertically move along the cross arm 202;
it needs to be further explained that: still be provided with guide rail 6 between two ground rails 1, the slip is provided with positioner 4 on guide rail 6, positioner 4 is used for the centre gripping to treat the welding workpiece to the upset work piece cooperates arc welding robot 3 to carry out welding operation, and drive assembly drives welding bench 5 and slides along guide rail 6 equally, and still sliding connection has welding bench 5 on the guide rail 6, and when treating that the quality of welding workpiece surpasss positioner 4's bearing range, welding bench 5 is used for supporting the work piece.
Further, the welding seam position receiving module comprises a changed welding seam information receiving unit and a preset welding rail information storage unit, the changed welding seam information receiving unit is electrically connected with the laser welding seam tracker 9 and the arc tracking sensor 10, the preset welding rail information storage unit is electrically connected with an input terminal on the control cabinet 7, current welding seam information acquired by the laser welding seam tracker 9 and the arc tracking sensor 10 is received through the changed welding seam information receiving unit, and the preset welding rail information is acquired through the preset welding rail information storage unit.
Further, the information processing module comprises a first processing unit, a second processing unit and a third processing unit, the first processing unit is electrically connected with the variable weld joint information receiving unit and the preset weld joint information storage unit, the second processing unit is electrically connected with the variable weld joint information receiving unit and the preset weld joint information storage unit, the third processing unit is electrically connected with the first processing unit and the second processing unit, the current weld joint information acquired by the laser weld joint tracker 9 and the preset weld joint information stored in the preset weld joint information storage unit are subjected to matching calculation processing through the first processing unit, so that weld joint information matched with the current weld joint information acquired by the laser weld joint tracker 9 is obtained, the current weld joint information acquired by the arc tracking sensor 10 and the preset weld joint information stored in the preset weld joint information storage unit are subjected to matching calculation processing through the second processing unit, so that weld joint information matched with the current weld joint information acquired by the arc tracking sensor 10 is obtained, and the weld joint information matched with the current weld joint information acquired by the laser weld joint tracker 9 and the preset weld joint information stored in the preset weld joint information storage unit are finally subjected to welding information calculation processing.
Further, the change weld information receiving unit comprises a receiving node and an information storage node, the receiving node is electrically connected with both the laser weld tracker 9 and the arc tracking sensor 10, the information storage node comprises a first node and a second node, the first node is adapted to the laser weld tracker 9, the second node is adapted to the arc tracking sensor 10, the first node is electrically connected with the first processing unit, the second node is electrically connected with the second processing unit, the information receiving unit is used for receiving current weld information acquired by the laser weld tracker 9 and the arc tracking sensor 10, the first node is used for storing current weld information acquired by the laser weld tracker 9, and the second node is used for storing current weld information acquired by the arc tracking sensor 10.
Further, the mobile control module comprises a positioning control unit and a tracking control unit, the positioning control unit and the tracking control unit are both electrically connected with the third processing unit and the driving assembly, the positioning control unit is used for controlling the arc welding robot 3 to move to the initial welding position of the welding seam through the driving assembly to complete positioning, and the tracking control unit is used for controlling the arc welding robot 3 to move along with the final welding rail through the driving assembly to complete tracking welding operation.
Further, 2 the lower extreme is fixed with infrared distance measuring sensor 8, infrared distance measuring sensor 8 is located arc-welding robot 3 top, infrared distance measuring sensor 8 and mobile control module electric connection, mobile control module still includes the protection the control unit, the protection the control unit and infrared distance measuring sensor 8 and the equal electric connection of drive assembly, the protection the control unit and the equal adaptation of positioning the control unit and tracking the control unit, through infrared distance measuring sensor 8's setting, the relative distance of real-time measurement arc-welding robot 3 and work piece, when arc-welding robot 3 is too near apart from the work piece, infrared distance measuring sensor 8 sends out the signal to the protection the control unit, the protection the control unit passes through drive assembly control arc-welding robot 3 and keeps away from the work piece, thereby avoid arc-welding robot 3 to take place collision friction with the work piece near arc-welding robot and lead to robot 3 to receive the arc-welding damage.
A welding robot locating and tracking method is suitable for the welding robot locating and tracking system and comprises the following steps:
s1, obtaining weld information of a workpiece to be welded, respectively detecting the weld information of the workpiece to be welded through a laser weld tracker 9 and an arc tracking sensor 10, and transmitting the weld information to a weld position receiving module;
s2, processing to obtain welding track information matched with the welding seam information, processing the welding seam information in the welding seam position receiving module through the information processing module to obtain welding track information matched with the welding seam information, and transmitting the welding track information to the mobile control module;
and S3, controlling the arc welding robot 3 to move by using the mobile control assembly to complete corresponding positioning and tracking operation, and controlling a driving assembly for controlling the arc welding robot 3 to move by using the mobile control module so as to complete positioning and tracking operation matched with a welding rail, and completing welding operation by matching with the start and stop of the arc welding robot 3.
Further, before S1 is executed, preset welding rail information adapted to the current workpiece needs to be input into the welding position receiving module through the input terminal of the control cabinet 7.
Further, S2 includes:
s21, processing the welding seam information acquired by the laser welding seam tracker 9, and performing matching calculation processing on the welding seam information T acquired by the laser welding seam tracker 9 and stored in a first node in the information storage node of the changed welding seam information receiving unit and preset welding seam information F stored in a preset welding seam information storage unit through a first processing unit to obtain welding seam information A matched with the welding seam information T;
s22, processing the welding seam information obtained by the arc tracking sensor 10, and performing matching calculation processing on the welding seam information Y obtained by the arc tracking sensor 10 and stored in a second node in the information storage node of the changed welding seam information receiving unit and preset welding seam information F stored in a preset welding seam information storage unit through a second processing unit to obtain welding seam information B matched with the welding seam information Y;
s23, further processing the processing results of the first processing unit and the second processing unit, and performing matching calculation processing on the welding track information A and the welding track information B through a third processing unit to obtain welding track information C which is adaptive to the welding track information T and adaptive to the welding track information Y;
and S24, generating a corresponding positioning instruction and a corresponding tracking instruction according to the welding track information C, and respectively sending the positioning instruction and the tracking instruction to a positioning control unit and a tracking control unit.
The working principle is as follows: in the daily use process, a worker firstly needs to input preset welding track information matched with a current workpiece into a welding track position receiving module through an input terminal of a control cabinet 7, after the input is finished, the welding track information of the workpiece to be welded is respectively detected through a laser welding track tracker 9 and an arc tracking sensor 10, the welding track information is transmitted into the welding track position receiving module, welding track information A matched with the welding track information T is obtained through matching calculation processing of welding track information T, which is obtained through a laser welding track tracker 9 stored in a first node in an information storage node of a change welding track information receiving unit, and preset welding track information F stored in a preset welding track information storage unit, welding track information Y stored in a second node in an arc welding information storage node of the change welding track information receiving unit is matched with welding track information Y through a second processing unit, welding track information Y matched with the welding track information stored in the preset welding track information storage unit is matched with the preset welding track information F, welding track information B matched with the welding track information, namely, a control unit which is used for driving a tracking control module and a positioning control module which is matched with the welding track information C3 and used for completing positioning control of tracking operation according to the tracking control module of a control module which is matched with the tracking information and a tracking control module of a tracking robot, and a control module which is used for completing the control module for tracking operation of a tracking robot, and a tracking operation of a tracking robot Tracking operation, the start and stop of cooperation arc welding robot 3 accomplishes welding operation, adopt laser welding seam tracker 9 and arc tracking sensor 10 to detect simultaneously, thereby improve the accuracy of obtaining the welding seam information, and handle the welding seam information of duplicate through information processing module, obtain the welding track information that the adaptation scope is wider, thereby improve arc welding robot 3's welding precision, improve the qualification rate of welding finished product, avoid simultaneously because of the welding seam information that positioning and tracking system received work piece to put the wrong situation emergence of influence and lead to, avoid arc welding robot 3 to carry out the welding operation of invalid or producing adverse effect.
The previous description is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides a welding robot seeks a tracker, includes stand cantilever (2) of establishing on ground rail (1) a plurality of carriages, stand cantilever (2) lower extreme flip-chip has arc welding robot (3), still install the drive assembly who orders about arc welding robot (3) and remove on (2), switch board (7) with arc welding robot (3) electric connection, its characterized in that are installed to ground rail (1) one side: install on arc welding robot (3) and seek a subassembly, it includes laser welding seam tracker (9) and arc tracking sensor (10) to seek a subassembly, laser welding seam tracker (9) are fixed in on arc welding robot (3) lateral wall, laser welding seam tracker (9) are along with the synchronous syntropy rotation of welder of arc welding robot (3) lower extreme, arc tracking sensor (10) are inlayed inside arc welding robot (3) lower extreme, install in switch board (7) and seek a system of seeking of subassembly looks adaptation, it includes welding seam position receiving module, information processing module and mobile control module to seek a system, welding seam position receiving module and laser welding seam tracker (9) and the equal electric connection of arc tracking sensor (10), information processing module and welding seam position receiving module electric connection, mobile control module and drive assembly electric connection.
2. The positioning and tracking system of the welding robot as claimed in claim 1, wherein: the welding seam position receiving module comprises a changeable welding seam information receiving unit and a preset welding rail information storage unit, the changeable welding seam information receiving unit is electrically connected with the laser welding seam tracker (9) and the arc tracking sensor (10), and the preset welding rail information storage unit is electrically connected with an input terminal on the control cabinet (7).
3. The positioning and tracking system of the welding robot as claimed in claim 2, wherein: the information processing module comprises a first processing unit, a second processing unit and a third processing unit, the first processing unit is electrically connected with the change welding seam information receiving unit and the preset welding rail information storage unit, the second processing unit is electrically connected with the change welding seam information receiving unit and the preset welding rail information storage unit, and the third processing unit is electrically connected with the first processing unit and the second processing unit.
4. The positioning and tracking system of the welding robot as claimed in claim 3, wherein: the variable welding seam information receiving unit comprises a receiving node and an information storage node, the receiving node is electrically connected with both the laser welding seam tracker (9) and the arc tracking sensor (10), the information storage node comprises a first node and a second node, the first node is matched with the laser welding seam tracker (9), the second node is matched with the arc tracking sensor (10), the first node is electrically connected with the first processing unit, and the second node is electrically connected with the second processing unit.
5. The positioning and tracking system of the welding robot as claimed in claim 4, wherein: the mobile control module comprises a positioning control unit and a tracking control unit, and the positioning control unit and the tracking control unit are electrically connected with the third processing unit and the driving assembly.
6. The positioning and tracking system of the welding robot as claimed in claim 5, wherein: the lower end of the (2) is fixed with an infrared distance measuring sensor (8), the infrared distance measuring sensor (8) is located above the arc welding robot (3), and the infrared distance measuring sensor (8) is electrically connected with the mobile control module.
7. The positioning and tracking system of the welding robot as claimed in claim 5, wherein: the mobile control module further comprises a protection control unit, the protection control unit is electrically connected with the infrared distance measuring sensor (8) and the driving assembly, and the protection control unit is matched with the positioning control unit and the tracking control unit.
8. A positioning and tracking method for a welding robot, which is applied to the positioning and tracking system for the welding robot as claimed in any one of claims 1 to 7, characterized in that: the method comprises the following steps:
s1, obtaining weld joint information of a workpiece to be welded, respectively detecting the weld joint information of the workpiece to be welded through a laser weld joint tracker (9) and an arc tracking sensor (10), and transmitting the weld joint information to a weld joint position receiving module;
s2, processing to obtain welding rail information matched with the welding seam information, processing the welding seam information in the welding seam position receiving module through the information processing module to obtain welding rail information matched with the welding seam information, and transmitting the welding rail information to the mobile control module;
and S3, controlling the arc welding robot (3) to move by using the movement control assembly to complete corresponding positioning and tracking operation, and controlling a driving assembly for controlling the arc welding robot (3) to move by using the movement control module so as to complete positioning and tracking operation matched with a welding rail and complete welding operation by matching with the start and stop of the arc welding robot (3).
9. The positioning and tracking method of the welding robot according to claim 8, wherein: before executing the S1, inputting preset welding rail information matched with the current workpiece into a welding position receiving module through an input terminal of a control cabinet (7).
10. The positioning and tracking method of the welding robot according to claim 9, wherein: the S2 comprises the following steps:
s21, processing the welding seam information acquired by the laser welding seam tracker (9), and performing matching calculation processing on the welding seam information T acquired by the laser welding seam tracker (9) and stored in a first node in an information storage node of the changed welding seam information receiving unit and preset welding seam information F stored in a preset welding seam information storage unit through a first processing unit to obtain welding seam information A matched with the welding seam information T;
s22, processing the welding seam information obtained by the arc tracking sensor (10), and performing matching calculation processing on the welding seam information Y obtained by the arc tracking sensor (10) stored in a second node in the information storage node of the changed welding seam information receiving unit and preset welding seam information F stored in a preset welding seam information storage unit through a second processing unit to obtain welding seam information B matched with the welding seam information Y;
s23, further processing the processing results of the first processing unit and the second processing unit, and performing matching calculation processing on the welding track information A and the welding track information B through a third processing unit to obtain welding track information C which is adaptive to the welding track information T and adaptive to the welding track information Y;
and S24, generating a corresponding positioning instruction and a corresponding tracking instruction according to the welding track information C, and respectively sending the positioning instruction and the tracking instruction to a positioning control unit and a tracking control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211636285.9A CN115805592A (en) | 2022-12-20 | 2022-12-20 | Welding robot locating and tracking system and method |
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| CN202211636285.9A CN115805592A (en) | 2022-12-20 | 2022-12-20 | Welding robot locating and tracking system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117140538A (en) * | 2023-10-31 | 2023-12-01 | 天津伍嘉联创科技发展股份有限公司 | Asynchronous anti-collision method and system for moving manipulator |
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2022
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117140538A (en) * | 2023-10-31 | 2023-12-01 | 天津伍嘉联创科技发展股份有限公司 | Asynchronous anti-collision method and system for moving manipulator |
| CN117140538B (en) * | 2023-10-31 | 2024-01-05 | 天津伍嘉联创科技发展股份有限公司 | Asynchronous anti-collision method and system for moving manipulator |
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