CN-122007555-A - Welding control method, storage medium and welding robot

CN122007555ACN 122007555 ACN122007555 ACN 122007555ACN-122007555-A

Abstract

The invention discloses a welding control method, a storage medium and a welding robot, which belong to the technical field of welding robots, wherein the welding control method comprises the steps of calculating and obtaining horizontal direction adjustment quantity and vertical direction adjustment quantity according to a full-period welding current fed back in real time and an arc burning stage welding current, a swing phase signal generated during welding of a robot body and a set arc sensing parameter, and carrying out real-time adjustment on the robot body in the vertical direction and the horizontal direction according to the horizontal direction adjustment quantity and the vertical direction adjustment quantity so as to correct the motion track of the robot body.

Inventors

WANG JINGLEI
GUO AO
CHAI ZONGXING

Assignees

唐山松下产业机器有限公司

Dates

Publication Date: 20260512
Application Date: 20260410

Claims (10)

1. A welding control method, comprising: Setting arc sensing parameters; collecting welding current in the whole period and welding current in an arcing stage in a short circuit period in real time through a welding machine, and sending the welding current to a welding robot in a fixed period after pretreatment; The swing phase signals of the welding robot are collected in a fixed period through an arc sensing control unit; Calculating and obtaining the whole period average current of each swing period according to the whole period welding current and the swing phase signal in the short circuit period; Calculating and obtaining the average current of the half period in each swinging period according to the welding current and the swinging phase signal in the arcing stage; and correcting the motion trail of the welding robot according to the horizontal adjustment amount and the vertical adjustment amount.
2. The welding control method of claim 1, wherein the arc sensing parameters comprise a vertical direction tracking target value, a vertical direction tracking target adjustment value, a horizontal direction tracking target value, and a horizontal direction tracking target adjustment value.
3. The welding control method according to claim 2, wherein the calculation of the average current per swing period from the sum swing phase signal is performed to obtain the average current per swing period, and the calculation of the adjustment amount in the vertical direction from the average current per swing period and the arc sensing parameter is performed according to the following formula: adjustment amount in V direction= ((An-V direction tracking target value) +v_offset) K2; Wherein An represents the average current per the whole period of the wobble period, an= (a_all_s1+a_all_s2+). A_all_sn)/n is the number of times a_all_s is received in one wobble period, a_all_s1, a_all_s2..a_all_sn represents that all a_all_s are received in one swing period, a_all_s represents the welding current in the whole period in the short-circuit period after pretreatment by the welder, the adjustment amount in the V direction represents the adjustment amount in the vertical direction, and K2 represents the current coefficient.
4. The welding control method according to claim 3, wherein calculating an average current per half cycle of the wobble period based on the welding current and the wobble phase signal in the arcing phase, calculating an adjustment amount in a horizontal direction based on the average current per half cycle of the wobble period and the arc sensing parameter, comprises: According to the swing phase signal and the welding current of the arcing stage, calculating and obtaining an average value of the welding current A_burn_s of the arcing stage received in each half period in each swing period, and obtaining a primary side average current A_burn_1st and a secondary side average current A_burn_2nd, wherein A_burn_s represents the welding current of the arcing stage after pretreatment; According to the primary side average current, the secondary side average current, the horizontal direction tracking target value and the horizontal direction tracking target adjustment value in each swing period, the adjustment quantity in the horizontal direction is calculated and obtained, and the formula is expressed as follows: Adjustment amount of H direction= (a_burn_n-H direction tracking target value+h_offset) ×k1; The adjustment amount in the H direction indicates the adjustment amount in the horizontal direction, a_burn_n=a_burn_1st—a_burn_2nd, k1 indicates the current coefficient, and h_offset indicates the horizontal direction tracking target adjustment value.
5. The welding control method of claim 1, wherein the welding machine collects welding current at a collection rate greater than 10Khz.
6. The welding control method according to claim 1, wherein the preprocessing is a sliding filter processing.
7. The welding control method of claim 1 wherein the fixed period has a frequency greater than 10Hz and less than 10Khz.
8. The welding control method according to claim 1, wherein the adjustment frequency of the motion trajectory of the welding robot is adjusted once for each swing period.
9. A welding robot, comprising: a processor for executing the computer program; A memory for storing a computer program; Wherein the computer program is for storage by the memory and loading and executing by the processor the welding control method according to any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which program, when being executed by a processor, implements the steps of the welding control method as claimed in any one of claims 1 to 8.

Description

Welding control method, storage medium and welding robot Technical Field The application relates to the technical field of welding robots, in particular to a welding control method, a storage medium and a welding robot. Background The arc sensing technology is widely applied to the field of welding of medium plates, and the position of the robot is adjusted in real time by utilizing information such as welding current, voltage and the like in the welding process, so that the arc sensing technology is suitable for the problems of thermal deformation, inaccurate workpiece positioning and the like in welding. The flexibility and the welding efficiency of the welding robot system are greatly improved, and good automatic welding quality is ensured. The problem existing in the prior art is that in the short circuit welding process, the complicated short circuit control technology introduces noise, so that the whole welding current is slowly changed along with the dry extension, the sensing precision is low, and particularly in the field of medium and small current sections, the welding seam size is generally smaller, and the sensing precision cannot meet the requirement. The arc sensing control method in the prior art generally requires accurate positions at the beginning of welding, obtains tracking targets in the horizontal and vertical directions according to feedback information (such as welding current) at the beginning of welding, causes deviation of the tracking targets once the welding beginning position is deviated, and all welding positions at the back can be deviated according to the deviated targets. Disclosure of Invention The invention aims to overcome the defects in the prior art, and provides a welding control method, a storage medium and a welding robot, wherein the adjustment amounts in the horizontal and vertical directions can be obtained according to the welding current in the whole period and the welding current in the arcing stage in the short-circuit period acquired in real time and the arc sensing parameters input by a user, so that the tracking effect is ensured, and the accuracy of the position of the beginning of welding is not depended. In order to achieve the above purpose, the invention is realized by adopting the following technical scheme: In a first aspect, the present invention provides a welding control method comprising: Setting arc sensing parameters; collecting welding current in the whole period and welding current in an arcing stage in a short circuit period in real time through a welding machine, and sending the welding current to a welding robot in a fixed period after pretreatment; The swing phase signals of the welding robot are collected in a fixed period through an arc sensing control unit; Calculating and obtaining the whole period average current of each swing period according to the whole period welding current and the swing phase signal in the short circuit period; Calculating and obtaining the average current of the half period in each swinging period according to the welding current and the swinging phase signal in the arcing stage; and correcting the motion trail of the welding robot according to the horizontal adjustment amount and the vertical adjustment amount. Further, the arc sensing parameters include a vertical direction tracking target value, a vertical direction tracking target adjustment value, a horizontal direction tracking target value, and a horizontal direction tracking target adjustment value. Further, the average current of the whole period of each swinging period is obtained according to the sum swinging phase signal, and the adjustment quantity in the vertical direction is obtained according to the average current of the whole period of each swinging period and the arc sensing parameter, wherein the formula is as follows: adjustment amount in V direction= ((An-V direction tracking target value) +v_offset) K2; Wherein An represents the average current per the whole period of the wobble period, an= (a_all_s1+a_all_s2+). A_all_sn)/n is the number of times a_all_s is received in one wobble period, a_all_s1, a_all_s2..a_all_sn represents that all a_all_s are received in one swing period, a_all_s represents that the adjustment amount in the welding current V direction in the whole period in the short-circuit period after pretreatment by the welder represents the adjustment amount in the vertical direction, and K2 represents the current coefficient. Further, according to the welding current and the swing phase signal in the arcing stage, calculating and obtaining the half-period average current in each swing period, and according to the half-period average current in each swing period and the arc sensing parameter, calculating and obtaining the adjustment quantity in the horizontal direction, wherein the adjustment quantity comprises the following steps: According to the swing phase signal and the welding current of the arcing stage, calculating an