CN210125833U - Crawling welding robot - Google Patents
Crawling welding robot Download PDFInfo
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- CN210125833U CN210125833U CN201920947721.1U CN201920947721U CN210125833U CN 210125833 U CN210125833 U CN 210125833U CN 201920947721 U CN201920947721 U CN 201920947721U CN 210125833 U CN210125833 U CN 210125833U
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Abstract
The utility model provides a crawling welding robot, including automobile body, laser sensor and welder, laser sensor with welder fixes on the automobile body, towards the place ahead of automobile body and be located same axis.
Description
Technical Field
The present disclosure relates to the field of welding technology, and more particularly, to a crawling welding robot.
Background
In recent years, with the development of welding automation, automated welding is required for more and more large structural members. The guide-rail-free all-position crawling welding robot has unique competitive advantages, and makes the automatic welding of large structural members possible. The crawling welding robot mainly comprises a moving mechanism, a welding line sensor, a control circuit and an information processing system, wherein the welding line sensor is mainly used for detecting the deviation of a welding gun and the center position of a welding line and providing input information for a welding line tracking control system.
Many weld sensors among the prior art are installed on the axis of crawling welding robot side, walk under the inclined to one side condition at crawling welding robot, because the automobile body turns to the position deviation who brings to the weld sensor very little for the unable timely skew of learning the welding position of weld sensor causes the unable accurate ground of crawling welding robot to trail the welding position.
SUMMERY OF THE UTILITY MODEL
In view of this, the present disclosure provides a crawling welding robot and a welding position tracking method, so as to solve or alleviate the problems of low welding position tracking sensitivity and poor precision caused by the side placement of a welding seam sensor in the prior art.
According to one aspect of the present disclosure, there is provided a crawling welding robot comprising a vehicle body, a laser sensor and a welding gun, wherein the laser sensor and the welding gun are fixed on the vehicle body facing the front of the vehicle body and on the same central axis.
Further, the laser sensor may be used to detect the midpoint of the weld.
Further, the laser sensor and the welding gun may be fixed to a front end of the vehicle body.
Further, the crawling welding robot may further include wheels, and the differential speed of the wheels enables the crawling welding robot to turn and track the middle point of the weld.
Further, the crawling welding robot can further comprise an attitude sensor for acquiring an attitude angle of the crawling welding robot in a crawling process.
According to another aspect of the present disclosure, there is also provided a welding position tracking method of a crawling welding robot including a vehicle body, wheels, a welding torch and a laser sensor fixed on the vehicle body facing the front of the vehicle body and located on the same central axis, the laser sensor detecting a midpoint of a weld, the tracking method including:
determining an initial coordinate of a middle point of a welding seam as a target value; and
calculating a voltage signal for controlling a differential speed of the wheel based on a deviation between subsequent coordinates of a midpoint of the weld and the target value to control the crawling welding robot to track the target value.
Further, the coordinates may be lateral coordinates of the midpoint of the weld relative to the crawling welding robot.
Further, the welding position tracking method may be performed by a PID controller.
Further, the subsequent coordinate of the middle point of the weld may be the current coordinate.
Further, the subsequent coordinates of the middle point of the weld may be a series of coordinates of the middle point of the weld detected by the laser sensor in sequence at respective time points equally dividing the time when the welding torch moves to the laser line of the laser sensor, and the tracking method may further include: the target value is tracked using the series of coordinates in sequence after the welding torch is moved to an initial detection position of the laser sensor.
Further, the subsequent coordinates of the middle point of the weld may be a series of coordinates of the middle point of the weld detected by the laser sensor in sequence at each position where the distance from the welding torch to the laser line of the laser sensor is equally divided, and the tracking method may further include: and tracking the target value by using the series of welding seam midpoint coordinates in sequence after the welding gun moves to the initial detection position of the laser sensor.
Further, if the target value is tracked to reach a steady state and lasts for a period of time, recording the average value of the steady state attitude angle of the crawling welding robot in the period of time; and controlling the crawling welding robot to track the average value of the steady-state attitude angles when the deviation between the subsequent coordinates of the middle point of the welding seam and the target value is larger than a threshold value.
Further, the crawling welding robot is controlled to track the average value of the steady attitude angles, specifically, the current attitude angle and the average value of the steady attitude angles are subjected to difference, a fuzzy coefficient matched with the difference is called, and the fuzzy coefficient is related to differential control of wheels.
As described above, according to the crawling welding robot and the welding position tracking method provided by the present disclosure, by disposing the laser sensor and the welding gun at the front end of the vehicle body of the crawling welding robot, the deviation of the welding position can be sensitively obtained, and the high-precision tracking of the welding position can be realized by finely adjusting the vehicle body.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are one embodiment of the present disclosure, and those skilled in the art can also obtain other drawings based on the drawings without inventive labor.
FIG. 1A is an exemplary block diagram of a crawling welding robot provided in an embodiment of the present disclosure;
FIG. 1B is an exemplary perspective view of a crawling welding robot provided by an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a welding position tracking method according to an embodiment of the disclosure;
fig. 3 is a schematic diagram of a control circuit of a welding position tracking method according to an embodiment of the disclosure.
Detailed Description
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is illustrative only and is not intended to limit the scope of the present disclosure. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The words "a", "an" and "the" and the like as used herein are also intended to include the meanings of "a plurality" and "the" unless the context clearly dictates otherwise. Furthermore, the terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.
The prior art typically installs the sensors in the sides of the crawling welding robot, at which time the steering of the crawling welding robot brings little offset to the lateral direction of the sensors. According to this disclosure, but sensor installation has the perception effect that side several times is many when the front, can let the change of the earlier faster perception welding seam of system make the more timely adjustment tracking direction of crawling welding robot reach faster, more accurate, no effect of shaking.
The first embodiment is as follows:
fig. 1A shows a schematic structural view of a crawling welding robot 100 of an embodiment of the present disclosure; fig. 1B illustrates an example perspective view of a crawling welding robot of an embodiment of the present disclosure. As shown, the crawling welding robot 100 includes a vehicle body 110, wheels 120, a laser sensor 130, a welding torch 140, and an attitude sensor 150, and the laser sensor 130 and the welding torch 140 are fixed to a front end of the vehicle body 110, disposed facing the front of the vehicle body 110, and located on the same central axis. In this embodiment, the laser sensor 130 is used to detect the midpoint of the weld.
In the embodiment, the laser sensor 130 and the welding gun 140 are fixedly disposed on the vehicle body 110 and located on the same central axis, so that when the laser sensor 130 is shifted, the position of the welding gun 140 is shifted accordingly, and the laser sensor 130 and the welding gun 140 are still in a straight line, no redundant lateral shift is generated, and thus, the laser sensor 130 and the welding gun 140 only have a longitudinal distance difference.
The laser sensor 130 used in this embodiment is composed of a laser generator and a CCD camera, and is an active visual sensor using structured light as an auxiliary light source, and its specific working principle is: projecting a light beam onto a weld joint, enabling the light to deform on the weld joint due to unevenness on the surface of a workpiece, capturing the deformed structured light by using a camera, and detecting the deformation position of a light band in the image to calculate the shape of the weld joint; after the distances among the camera, the light source and the workpiece are calibrated, the actual three-dimensional position of the welding line can be obtained. Laser sensor 130 has the advantage that information acquisition is rapid and the accuracy is high, but other any equipment that can carry out the collection to the butt weld width is also in the utility model discloses the within range of protection.
The crawling welding robot provided in the present embodiment further includes wheels 120, and the differential speed of the wheels 120 causes the crawling welding robot 100 to steer and track the middle point of the weld. The crawling welding robot 100 provided in the present embodiment may be a dual-track structure that employs two independent wheels for driving. Because the dc motor has a series of advantages of large starting torque, good dynamic performance, wide speed regulation range, simple control, etc., in this embodiment, two dc servo motors can be used as driving units of two track wheels, respectively, including a dc motor with a reduction gear, a servo amplifier, and a rotary optical code disc for speed feedback. They provide the required rotational speed and torque for rotation. The running speed and the rotating angular speed of the vehicle body are controlled by adjusting the rotating speeds of the two crawler wheels, so that the crawling welding robot can move according to the required direction and speed.
The crawling welding robot 100 further comprises an attitude sensor 150 (not shown in fig. 1B) for acquiring an attitude angle of the crawling welding robot in a crawling process, and the attitude angle can be used for controlling the crawling welding robot to track the weld.
Fig. 2 shows a schematic flow diagram of a weld location tracking method 200 according to an embodiment of the present disclosure. As shown in fig. 2, the tracking method includes:
210: determining an initial coordinate of a middle point of a welding seam as a target value; and
220: calculating a voltage signal for controlling a differential speed of the wheel based on a deviation between subsequent coordinates of a midpoint of the weld and the target value to control the crawling welding robot to track the target value.
In this embodiment, for example, a dynamic coordinate system may be established with the position of the crawling welding robot as the origin, the right direction of the crawling welding robot as the X axis, and the forward direction as the Y axis.
Since the laser sensor and the crawling welding robot are in fixed mechanical connection, the deviation of the vehicle body of the crawling welding robot can cause the laser sensor to deflect in the direction of the X, Y axis. The laser sensor is installed in the place ahead of crawling welding robot axis, and wherein the skew of crawling welding robot automobile body is great at the deflection that the X axle direction produced, and the deflection that produces in the Y axle direction is more little. Therefore, the lateral coordinate of the middle point of the weld relative to the crawling welding robot is used as the coordinate value in the embodiment.
In this embodiment, for example, the initial coordinate of the middle point of the weld joint in the initial state is 0 (not limited thereto), the laser sensor acquires the subsequent coordinate of the middle point of the weld joint in real time at a certain time interval after the tracking starts, and the subsequent coordinate is the current coordinate Xt。
Fig. 3 shows a control circuit schematic for implementing a welding position tracking method of an embodiment of the present disclosure. In this embodiment, the welding position tracking method may be performed by a control circuit such as a PID controller. Specifically, after the industrial personal computer 302 receives a signal for starting welding tracking, the laser sensor 301 is triggered to scan the position of the welding seam, the laser sensor 301 stores the initial coordinate of the welding seam midpoint acquired in the initial state into the PID controller 304 through the industrial personal computer 302 and the single chip microcomputer 303 as a target value, and the current coordinate X of the welding seam midpoint acquired at each moment later is stored into the PID controller 304tAs an input value to the PID controller 304. The PID controller 304 calculates the deviation e between the current coordinate of the middle point of the weld and the target value, and obtains the final differential value delta V through linear conversion, and the differential value delta V is transmitted to the servo module 306And a servo driver 307, wherein the servo driver 307 controls the servo motor 308 of the left and right wheels of the vehicle body to act so as to realize differential control of the left and right wheels of the vehicle body. Wherein, the car body turns to and adopts the differential of double round, if the speed of current crawling welding robot is V1Then the speed of the right wheel of the vehicle body is VR＝V1Δ V, the speed of the left wheel of the vehicle body is VL＝V1+ Δ V, wherein,
when V isR＞VLWhen the vehicle body turns left;
when V isR＜VLWhen the vehicle body turns to the right;
when V isR＝VLWhen in use, the vehicle body moves straight.
Because the vehicle body of the crawling welding robot is fixedly connected with the laser sensor 301, the vehicle body drives the laser sensor 301 to deflect when steering, correspondingly collected coordinate values of the middle point of the welding seam can also generate deviation, the coordinate values of the middle point of the welding seam are collected again, and the steps are repeated until the current coordinate of the middle point of the welding seam is consistent with the initial coordinate.
The method compensates the position deviation between the vehicle body and the welding seam by controlling the crawling welding robot to generate the motion deviation, so that the vehicle body and the welding seam are continuously close until the position deviation is 0, and the purpose of adjusting the welding position in real time is achieved.
Example two:
on the basis of the technical solution provided by the first embodiment, the present embodiment simultaneously considers the welding time delay caused by the distance between the laser sensor and the welding gun on the longitudinal axis, and is specifically described as follows:
because the laser sensor is arranged at the front end of the welding gun, the laser sensor and the welding gun have a distance on the longitudinal axis. The crawling welding robot cannot directly apply the laser sensor to acquire the position of the middle point of the welding line at a certain moment to adjust the position of the crawling welding robot.
In the embodiment, the time spent from the position of the welding gun to the position of the laser sensor can be calculated through the vehicle speed, the position coordinates of the welding seam collected by the laser sensor are calculated through a time lag method, and then the position coordinates are input into a controller for controlling the vehicle body of the crawling welding robot to move.
In this embodiment, the subsequent coordinates of the middle point of the weld are a series of coordinates of the middle point of the weld detected by the laser sensor in sequence at each time point obtained by equally dividing the time when the welding gun moves to the laser line of the laser sensor, and the target value is tracked by using the series of coordinates in sequence after the welding gun moves to the initial detection position of the laser sensor.
In the embodiment, the distance from the laser line of the laser sensor to the welding gun can be set to be d, the running speed of the crawling welding robot is v, so that the time t required from the laser sensor to the welding gun can be calculated, the time t is divided into N time periods, each time period is t/N, and the coordinate value X of the middle point of the welding seam collected by the current laser collector is recorded once every other time period t/N from the initial time until the time t. When the welding gun moves to the initial recording point, the welding seam starts to be tracked, then the collected coordinate values of the middle point of the welding seam are sequentially read according to the time sequence, and the coordinate values are used as input quantity to be input into a PID controller for controlling the movement of the vehicle body of the crawling welding robot.
In the embodiment, a distance interval method can be directly adopted, and the position coordinates of the welding seam collected by the laser sensor are corresponding to the subsequent control of the crawling welding robot body.
In this embodiment, the subsequent coordinates of the middle point of the weld are a series of coordinates of the middle point of the weld detected in sequence by the laser sensor at each position where the distance from the welding gun to the laser line of the laser sensor is equally divided, and when the welding gun moves to the initial detection position of the laser sensor, the target value is tracked by sequentially using the series of coordinates of the middle point of the weld.
In this embodiment, the distance from the laser line of the laser sensor to the welding gun may be set to d, the distance d may be divided into N equal parts, and the current welding seam midpoint coordinate value of each equal part may be recorded until the recording of the N equal parts is completed. When the welding gun moves to the initial recording point, the welding seam starts to be tracked, then the collected coordinate values of the middle point of the welding seam are sequentially read according to the time sequence, and the coordinate values are used as input quantity to be input into a PID controller for controlling the movement of the vehicle body of the crawling welding robot.
Example three:
on the basis of the technical scheme disclosed by the first embodiment and the second embodiment, the situation that the position of the middle point of the welding seam deviates from the position of the crawling welding robot and is large is further considered.
When the welding position tracking is carried out by applying the method disclosed in the first embodiment and the second embodiment, and a steady state is reached and the time lasts for t seconds (t is a normal number), the average value of the steady state attitude angle of the time period is recorded and is used as an angle target value for vehicle body attitude tracking.
And when the absolute value of the real-time welding seam midpoint coordinate acquired by the laser sensor relative to the PID tracking target value difference is larger than a threshold value, triggering an attitude tracking mode, and controlling the crawling welding robot to track the average value of the steady-state attitude angle.
In this embodiment, the average value of the steady-state attitude angle is tracked by the crawling welding robot, which specifically includes: and the attitude sensor collects the current attitude angle of the crawling welding robot and makes a difference between the current attitude angle and the angle target value. In this embodiment, the system is provided with an M-level fuzzy control table, and a fuzzy coefficient corresponding to the difference is stored in the fuzzy control table.
And calling a fuzzy coefficient corresponding to the difference value from a fuzzy control table, so that the fuzzy coefficient is related to the differential value of the left wheel and the right wheel of the crawling welding robot, and finally, tracking the target attitude angle by controlling the differential of the left wheel and the right wheel.
The technical scheme that this embodiment provided can be under the great condition of welding seam position deviation crawling welding robot, uses attitude sensor to gather the current attitude angle of crawling welding robot, utilizes the fuzzy tracking of gesture to realize the quick adjustment to crawling welding robot position, is the effective replenishment to the high accuracy small deviation welding position tracking method that embodiment one, two provided.
Although example embodiments have been described, it will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the disclosed concept. Accordingly, it should be understood that the above-described exemplary embodiments are not limiting, but illustrative.
Claims (5)
1. The crawling welding robot comprises a vehicle body, a laser sensor and a welding gun, and is characterized in that the laser sensor and the welding gun are fixed on the vehicle body, face the front of the vehicle body and are located on the same central axis.
2. The crawling welding robot of claim 1, wherein the laser sensor is used to detect the mid-point of the weld.
3. The crawling welding robot of claim 1, wherein the laser sensor and the welding gun are fixed to a front end of the vehicle body.
4. The crawling welding robot of claim 1, further comprising wheels, the differential speed of the wheels causing the crawling welding robot to steer and track the mid-point of the weld.
5. The crawling welding robot of claim 1, further comprising an attitude sensor for acquiring an attitude angle of the crawling welding robot during crawling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920947721.1U CN210125833U (en) | 2019-06-22 | 2019-06-22 | Crawling welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920947721.1U CN210125833U (en) | 2019-06-22 | 2019-06-22 | Crawling welding robot |
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| CN210125833U true CN210125833U (en) | 2020-03-06 |
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| CN201920947721.1U Active CN210125833U (en) | 2019-06-22 | 2019-06-22 | Crawling welding robot |
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