Skew offset pipe trajectory planning method based on arc welding robot system

Abstract

The invention discloses a skew offset pipe trajectory planning method based on an arc welding robot system. According to the method, a corresponding skew offset pipe mathematical model is established and an equation of a space welding curve is worked out; in combination with a Frenet-Serret ternary space vector principle in a curve theory, a pose array of all discrete points on a space weld joint path is worked out, and welding postures of a welding gun are planned; and finally, a relation between a skew pipe coordinate system and a robot base coordinate system during actual welding is calibrated through a special teaching mode. By means of the skew offset pipe trajectory planning method based on the arc welding robot system, the positions and postures of the welding gun can be effectively controlled when an arc welding robot welds intersecting pipes. Compared with traditional intersection line trajectory planning, through the trajectory planning method provided by the invention, the fluctuation range of each joint angle can be reduced, occurrence of singular points of joints can be reduced, and accordingly the welding stability is effectively improved.

Description

Technical field [0001] The invention relates to the field of automatic welding of arc welding robots, in particular to a method for planning intersecting line trajectories in complex spaces of oblique offset intersecting pipes. Background technique [0002] With the development of economic globalization, the footsteps of the industry 4.0 era can no longer be stopped. The demand for industrial robot technology and automation equipment in my country's manufacturing industry is growing rapidly. Among them, industrial robots are most widely used in welding. At present, domestic welding robots are still in the initial stage of development. Most of them work in the teaching and reproduction mode. There are many technical problems in actual production and application. The programming process is cumbersome, low in efficiency, and poor in accuracy. teaching effect. For this contradiction between production and programming, the effective way to solve it is path planning technology. ...

AI Technical Summary

Problems solved by technology

The welding strength of these space weld curves is high, and the welding quality and efficiency are difficult to guarantee

The oblique offset tube is a universally applicable tube-tube welding model. In order to meet the strict requirements of the welding process, the simple trajectory planning algorithm through pose interpolation can no longer meet the requirements, and the position and attitude of the welding torch must be adjusted at all times.

[0004] When planning the attitude of the pipe-pipe intersection line, the usual method is to obtain the bisector of the dihedral angle between the tangent plane of the main pipe and the tangent plane of the branch pipe to carry out the pose planning of the discrete points, but this method is in the actual welding Singular points are prone to appear when welding, and the stability of welding is difficult to guarantee

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