Online demonstration method for 'J'-shaped groove welding robot
A technology of groove welding and teaching method, which is applied in the direction of welding equipment, welding equipment, auxiliary welding equipment, etc., can solve the problems of reducing the robot's working accuracy, error, and distance error at the end of the welding torch, so as to reduce the influence of teaching human factors , Ensure the consistency of weld quality and solve the effect of rapid positioning
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[0051] In order to make the objectives, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings.
[0052] In order to reduce the labor intensity of the trajectory taught by workers, improve the efficiency of trajectory teaching, reduce the influence of teaching human factors, and ensure the consistency of weld quality, the embodiment of the present invention provides a "J"-shaped groove welding robot Online teaching method, see figure 2 , image 3 , Figure 4 with Figure 5 , See the description below for details:
[0053] 101: Establish the intersecting line parameter equation through the tube radius r, the spherical curvature R and the eccentric distance e between the tube and the spherical surface;
[0054] Wherein, this step is specifically: establishing a parameter equation reflecting different curvature spheres and intersecting lines of ...
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