Universal arc welding robot teaching method regarding cylinder intersection welding seam

A teaching method and technology of intersecting lines, applied in arc welding equipment, welding equipment, manufacturing tools, etc., can solve the problems of high trajectory interpolation accuracy, low trajectory interpolation accuracy, and low teaching efficiency, and achieve the goal of teaching The effect of high efficiency, small number and strong adaptability

Inactive Publication Date: 2011-05-25
HANGZHOU KAIERDA ELECTRIC WELDING MACHINE
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Problems solved by technology

If the number of teaching points is large, the teaching efficiency will be low and the trajectory interpolation accuracy will be high; if the number of teaching points is small, the teaching efficiency will be high and the trajectory interpolation accuracy will be low

Method used

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  • Universal arc welding robot teaching method regarding cylinder intersection welding seam
  • Universal arc welding robot teaching method regarding cylinder intersection welding seam

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Embodiment Construction

[0009] below for figure 1 The shown eccentric oblique intersecting cylinder intersecting line welded seam workpiece illustrates the specific method of the present invention.

[0010] see figure 1 , first identify the four feature points 1, 2, 3 and 4 on the workpiece of the cylindrical intersecting line weld, operate the arc welding robot to reach the position of the above feature points in turn, and teach the coordinate values ​​of each feature point in the base coordinate system. Determine the origin 5 and Y axis of the workpiece coordinate system according to feature points 1, 2 and 3, and determine the X and Z axes according to feature points 3 and 4, so as to establish the pose transformation matrix of the workpiece coordinate system relative to the base coordinate system, and realize the cylinder Workpiece coordinate system calibration of intersecting line welds.

[0011] In the workpiece coordinate system, according to the polar coordinate analytical equation of the w...

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Abstract

The invention relates to a universal arc welding robot teaching method regarding a cylinder intersection welding seam. The method is suitable for four kinds of cylinder intersection welding seams, namely central vertical crossing, central inclined crossing, eccentric vertical crossing and eccentric inclined crossing. The method is characterized in that a pose transformation matrix of a workpiece coordinate system relative to a robot-based coordinate system is established and calibration of a cylinder intersection welding seam workpiece coordinate system is realized by operating a robot to teach four characteristic points on a cylinder intersection welding seam workpiece on line; a cylinder intersection discrete point coordinate and a corresponding welding gun pose under the robot-based coordinate system are generated through the corresponding interpolation algorithm, so that generation of a cylinder intersection welding seam track and welding gun pose fitting are realized. The method has the following advantages: the arc welding robot only needs to teach four characteristic points in a cylinder intersection welding seam welding task; the teaching efficiency is high, the track interpolation accuracy is high and the adaptability is strong; and the working efficiency and the welding quality of the arc welding robot for welding the cylinder intersection can be greatly improved.

Description

Technical field [0001] The invention relates to a teaching method for a general arc welding robot, in particular to a teaching method for a general arc welding robot aiming at the welding seam of a cylindrical intersecting line. Background technique [0002] A large number of cylinder intersecting line welds are involved in welding tasks such as vessel head, vessel intubation, and pipe insertion. This type of weld is a typical complex space weld. For the current general-purpose arc welding robot system, to complete the welding of cylindrical intersecting line welds, the general method is to perform linear interpolation or circular interpolation by teaching a number of discrete points on the intersecting line, but the teaching There is a contradiction between the number of points and the accuracy of trajectory interpolation. If the number of teaching points is large, the teaching efficiency is low and the trajectory interpolation accuracy is high; if the number of teaching p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K9/02
Inventor 魏秀权王胜华侯润石艾文学高喜飞
Owner HANGZHOU KAIERDA ELECTRIC WELDING MACHINE
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