CN105798432B - The curved welding seam off-line tracking method of arc welding robot welding - Google Patents
The curved welding seam off-line tracking method of arc welding robot welding Download PDFInfo
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- CN105798432B CN105798432B CN201610361784.XA CN201610361784A CN105798432B CN 105798432 B CN105798432 B CN 105798432B CN 201610361784 A CN201610361784 A CN 201610361784A CN 105798432 B CN105798432 B CN 105798432B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
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Abstract
The present invention provides a kind of curved welding seam off-line tracking method of arc welding robot welding, and path is divided equally into N number of path point by apart from equipartition principle by one section of reference route of robot teaching, while obtaining one group of reference coordinate value of measurement sensor.When actual motion, measurement sensor first scans weld seam, and the coordinate of each path point of weld seam is sent to robot, and robot compares coordinate value and a reference value, obtains deviation and goes to correct corresponding n-th of path point；After measurement sensor scans all path points, robot runs welding along the path point corrected again point by point.The present invention program is simple, accurate, effectively avoids and straight bead track is caused to change the problem of influencing robot welding effect due to workpiece error or feeding location error etc..It solves the problems, such as to track online simultaneously to weld in measurement and is easy to cause in the measurements noise pollution, influences measurement accuracy.
Description
Technical field
The invention belongs to automation control areas, especially relate to song when a kind of arc welding robot welding curved welding seam
Wire bonding stitches off-line tracking method.
Background technique
In the automatic welding control process of arc welding robot, there is a lot of reasons that error is caused to generate, such as Welder
Part unpredictable error on pose and size, wherein existing processing and position while welding caused by the error in assembling process
Change in size also has in welding process deformation caused by the reasons such as workpiece is heated.
Usually solving the above problems is machining accuracy by strict control production process, is reduced in environment and application
Error, but person needs to increase the production cost and time cost of enterprise, causes the added burden of enterprise.
Another settling mode is by the further hoisting machine people Automation of Welding of THE WELD SEAM TRACKING TECHNOLOGY and intelligence
Degree the characteristics of according to field welding, completes the tracking to weld seam, usual this track side by detection sensor guiding robot
Formula is online tracking, but welds in measurement and be easy to cause noise pollution in the measurements, influences measurement accuracy；Especially workpiece
In the case that weld seam is curve, measurement accuracy not high so that robotic gun weld seam can not be carried out with expected pose it is continuous
Stable welding causes welding to be unable to reach expected effect.
Summary of the invention
For the status, this patent proposes a kind of curved welding seam off-line tracking method for arc welding robot welding,
It is convenient and simple, it solves the error problem in automatic welding control process, improves measurement accuracy, make robotic gun with expection
Pose to curved welding seam carry out continuous-stable welding.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows: a kind of curve of arc welding robot welding
Weld seam off-line tracking method includes the following steps: applied to the welding process of the robot with measurement sensor
Step 1: the transformational relation of the coordinate system of measurement sensor and the coordinate system of robotic gun is obtained；
Step 2: curved welding seam is pressed to the path point for obtaining needing to scan and weld apart from equal part, is opened with weld seam starting point
Begin, is terminated with weld seam terminal；
Step 3: when accurately welding by robot teaching welding gun, measurement sensor is obtained in each path point of curved welding seam
Reference coordinate value, by this group of reference coordinate value deposit caching；
Step 4: measurement sensor is since the curved welding seam starting point of workpiece to be welded, using each path point as measurement point, according to
Secondary all measurement points of motion scan, and the coordinate value for each measurement point that scanning obtains is sent to robot, it is corresponding in caching
A reference value compare, obtain the absolute deviation values of all measurement points, deposit caching；
Step 5: after measurement sensor stops measurement, robot is welded since the weld seam starting point of workpiece to be welded, Yi Gelu
Diameter point is as pad；Robotic gun is in each pad, according to the absolute deviation values of the pad in caching, amendment
The pad coordinate, the coordinate of robotic gun is converted to according to the transformational relation of the coordinate system of step 1, and robotic gun moves
It moves to the revised pad coordinate；Until completing the welding of weld seam terminal, stop working.
Further, in the step 1 coordinate system transformational relation acquisition, refer mainly to obtain sensor coordinate system and weldering
The transformational relation of rifle coordinate system Y-axis and Z axis, using step are as follows:
(1) mobile robot makes the laser rays of measurement sensor pass perpendicularly through the weld seam starting point of a standard workpiece, reads this
When measurement sensor coordinate and robotic gun coordinate system coordinate；
(2) Y-axis is demarcated, mobile robot welding gun coordinate system Y-axis a distance, if laser rays deviates reference line, it is also necessary to
Mobile robot welding gun coordinate system X-axis, is restored to it on reference line, then records sensor Y-axis variable quantity, passes through robot
The variable quantity and sensor Y-axis variable quantity of welding gun coordinate system Y-axis, can calculate the angle of two reference axis；
(3) Z axis is demarcated, mobile robot welding gun coordinate system Z axis a distance, if laser rays deviates reference line, it is also necessary to
Mobile robot welding gun coordinate system X-axis, is restored to it on reference line, then records sensor Z axis variable quantity, passes through robot
The variable quantity and sensor Z axis variable quantity of welding gun coordinate system Z axis, can calculate the angle of two reference axis.
Further, in the step 2, equal part distance refers to that the arc length between path point is equal or linear distance phase
Deng.
Further, the move mode of measurement sensor is along each path point single point movement in the step 4.
Alternatively, the move mode of measurement sensor is along each path point continuous moving in the step 4.
Compared with the existing technology, the invention has the benefit that
(1) the present invention program is simple, accurate, effectively avoids due to workpiece error or feeding location error etc.
Curved welding seam track is caused to change the problem of influencing robot welding effect.
(2) curved welding seam off-line tracking algorithm of the invention, solves online tracking and welds in measurement and be easy measuring
In cause noise pollution, influence measurement accuracy the problem of, improve measurement accuracy, make robotic gun with expected pose to curve
The welding of weld seam progress continuous-stable.
Detailed description of the invention
Fig. 1 is the schematic diagram of the embodiment of the present invention.
Specific embodiment
It should be noted that in the absence of conflict, the feature in the embodiment of the present invention and embodiment can be mutual
Combination.
Below in conjunction with embodiment, the present invention will be described in detail:
Implement process of the invention:
As shown in Figure 1, indicating teaching position while welding and actual welds position.
P1 is teaching weld seam starting point, and P1 ' is actual welds starting point.
P3 is teaching weld seam terminal, and P3 ' is actual welds terminal.
P0 is the location point that future range between measurement sensor and robot is spaced with weld seam starting point, is pressed for P1
According to curvature reverse extending, the linear distance away from P1 point be equal to future range.
P2 is and weld seam terminal P3 linear interval location point of future range between measurement sensor and robot.
P0P1 linear distance=P2P3 linear distance, when welding gun is directed at P0, the laser rays of measurement sensor should just be worn
Cross P1 point.
Preparation: obtain measurement sensor coordinate (Ys, Zs) and robot tool coordinate (Yr, Zr) transformational relation and
The future range of measurement sensor measurement point and welding gun pad.
The acquisition of transformational relation refers mainly to the transformational relation for obtaining sensor coordinate system and welding gun coordinate system Y-axis and Z axis,
It is the X-axis of welding gun coordinate system along bead direction, the direction perpendicular to weld seam is the Y-axis of welding gun coordinate system, the Z axis of welding gun coordinate system
It is determined by right-hand rule, using step are as follows:
(1) mobile robot makes the laser rays of measurement sensor pass perpendicularly through P1, reads measurement sensor coordinate at this time
With robotic gun coordinate system coordinate；
(2) Y-axis is demarcated, mobile robot welding gun coordinate system Y-axis a distance, if laser rays deviates reference line, it is also necessary to
Mobile robot welding gun coordinate system X-axis, is restored to it on reference line, then records sensor Y-axis variable quantity, passes through robot
The variable quantity and sensor Y-axis variable quantity of welding gun coordinate system Y-axis, can calculate the angle of two reference axis；
(3) Z axis is demarcated, mobile robot welding gun coordinate system Z axis a distance, if laser rays deviates reference line, it is also necessary to
Mobile robot welding gun coordinate system X-axis, is restored to it on reference line, then records sensor Z axis variable quantity, passes through robot
The variable quantity and sensor Z axis variable quantity of welding gun coordinate system Z axis, can calculate the angle of two reference axis.
The determination method of the future range of measurement sensor and robotic gun in the step 1: measurement sensor is allowed
Laser rays is got on P3 point, while welding gun is on P2 point, the position of recorder people's welding gun；Then machine is moved along bead direction
People allows welding gun to be moved on P3 point, again the position of recorder people welding gun, the deviation of the two, as future range.
P1-P3 is divided into n-1 sections, total n path point.The robot pose of each path point is saved in program cache
In.
For convenience of description, it is now assumed that P1-P3 points 100 sections, totally 101 path points；
It is accurately welded by robot teaching welding gun, welding gun is successively directed at each path point by P0, by measurement sensor
The coordinate (Xi, Yi, Zi) of obtained each path point is sent to robot, this group of coordinate is saved in the buffer, is passed as measurement
The reference point of sensor；
Measurement sensor moves to actual welds P1 ' point, obtains the coordinate (X1, Y1, Z1) of actual welds P1 ', is sent to machine
Device people, robot receives, processing (X1-X0, Y1-Y0, Z1-Z0) obtains the 1st path of P1 '-P3 ' after coordinate transform
The correction value △ d1 of the absolute deviation values, i.e. P1 ' put.
Then measurement sensor is advanced point by point along the path point of P1 ' P3 ', and measurement sensor can be single point movement at this time,
It may be continuous moving, each path point is all scanned and sent to robot, until measurement sensor obtains actual welds the
101 path points, i.e. the coordinate (X101, Y101, Z101) of terminal P3 ', robot obtains the correction value △ of terminal P3 ' at this time
D101, measurement sensor stop working.The correction value of each path point is stored in caching.
Welding gun is moved to actual welds P1 ' point, starts to weld, using each path point as pad；Robotic gun is every
One pad corrects the pad coordinate, according to the conversion of coordinate system according to the absolute deviation values of the pad in caching
Relationship is converted to the coordinate of robotic gun, and robotic gun is moved to the revised pad coordinate；Until completing weld seam
The welding of terminal, stops working.
The foregoing describe the information such as basic principles and main features of the invention and embodiment, but the present invention is not by upper
The limitation for stating implementation process, under the premise of not departing from spirit and range, the present invention can also have various changes and modifications.
Therefore, unless this changes and improvements are departing from the scope of the present invention, they should be counted as comprising in the present invention.
Claims (5)
1. a kind of curved welding seam off-line tracking method of arc welding robot welding, applied to the robot with measurement sensor
Welding process, which comprises the steps of:
Step 1: the transformational relation of the coordinate system of measurement sensor and the coordinate system of robotic gun is obtained；
Curved welding seam: being pressed the path point for obtaining needing to scan and weld apart from equal part, is started with weld seam starting point by step 2, with
Weld seam terminal terminates；
Step 3: when accurately being welded by robot teaching welding gun, welding gun is by being spaced measurement sensor with teaching weld seam starting point
The location point of future range starts successively to be directed at each path point between robot, each path point that measurement sensor is obtained
Coordinate is sent to robot, this group of coordinate is saved in the buffer, the reference point as measurement sensor；
Step 4: measurement sensor, using each path point as measurement point, is successively moved since the curved welding seam starting point of workpiece to be welded
Dynamic all measurement points of scanning, and the coordinate value for each measurement point that scanning obtains is sent to robot, with corresponding base in caching
Quasi- value compares, and obtains the absolute deviation values of all measurement points, deposit caching；
Step 5: after measurement sensor stops measurement, robotic gun is welded since the weld seam starting point of workpiece to be welded, Yi Gelu
Diameter point is as pad；Robotic gun is in each pad, according to the absolute deviation values of the pad in caching, amendment
The pad coordinate, the coordinate of robotic gun is converted to according to the transformational relation of the coordinate system of step 1, and robotic gun moves
It moves to the revised pad coordinate；Until completing the welding of weld seam terminal, stop working.
2. a kind of curved welding seam off-line tracking method of arc welding robot welding according to claim 1, it is characterised in that:
The acquisition of coordinate system transformational relation in the step 1 refers mainly to obtain sensor coordinate system and welding gun coordinate system Y-axis and Z axis
Transformational relation, using step are as follows:
(1) mobile robot makes the laser rays of measurement sensor pass perpendicularly through the weld seam starting point of a standard workpiece, reads at this time
Measurement sensor coordinate and robotic gun coordinate system coordinate；
(2) Y-axis is demarcated, mobile robot welding gun coordinate system Y-axis a distance, if laser rays deviates reference line, it is also necessary to mobile
Robotic gun coordinate system X-axis, is restored to it on reference line, then records sensor Y-axis variable quantity, passes through robotic gun
The variable quantity and sensor Y-axis variable quantity of coordinate system Y-axis, can calculate the angle of two reference axis；
(3) Z axis is demarcated, mobile robot welding gun coordinate system Z axis a distance, if laser rays deviates reference line, it is also necessary to mobile
Robotic gun coordinate system X-axis, is restored to it on reference line, then records sensor Z axis variable quantity, passes through robotic gun
The variable quantity and sensor Z axis variable quantity of coordinate system Z axis,
The angle of two reference axis can be calculated.
3. a kind of curved welding seam off-line tracking method of arc welding robot welding according to claim 1, it is characterised in that:
In the step 2, equal part distance refers to that the arc length between a path point is equal or linear distance is equal.
4. a kind of curved welding seam off-line tracking method of arc welding robot welding according to claim 1, it is characterised in that:
The move mode of measurement sensor is along each path point single point movement in the step 4.
5. a kind of curved welding seam off-line tracking method of arc welding robot welding according to claim 1, it is characterised in that:
The move mode of measurement sensor is along each path point continuous moving in the step 4.
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| CN108527332A (en) * | 2018-06-11 | 2018-09-14 | 华南理工大学 | A kind of seam track off-line calibration method based on structured light vision sensor |
| CN110605463B (en) * | 2018-06-15 | 2021-05-18 | 上海振华重工电气有限公司 | Automatic robot welding device for submerged arc welding of spatial arc path |
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| CN112975907B (en) * | 2021-02-08 | 2022-04-01 | 易思维（杭州）科技有限公司 | Visual detection method for arc-shaped welding seam and adhesive tape |
| CN114055004A (en) * | 2021-12-17 | 2022-02-18 | 宝武重工有限公司 | Intelligent welding method for steel structure welding robot |
| CN115488503B (en) * | 2022-09-23 | 2023-08-15 | 广州卫亚汽车零部件有限公司 | Curve track locating method and system based on robot welding |
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Effective date of registration: 20230419 Address after: No. 3 Yunhe Road, New District Sub district Office, Xuzhou High tech Industrial Development Zone, Xuzhou City, Jiangsu Province, 221100 Patentee after: Xuzhou Zhichang Robot System Co.,Ltd. Address before: 301700 building B1, Jingbin Ruicheng, Jingbin Industrial Park, Wuqing District, Tianjin Patentee before: TIANJIN INTERSMART ROBOT CO.,LTD. |