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

A robot system and offset tube technology, applied in arc welding equipment, manipulators, welding equipment, etc., can solve the problems of difficulty in guaranteeing welding quality and efficiency, high welding strength, and easy occurrence of singular points.

Inactive Publication Date: 2016-07-20
NANJING UNIV OF TECH
View PDF0 Cites 38 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 adjuste

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Skew offset pipe trajectory planning method based on arc welding robot system
  • Skew offset pipe trajectory planning method based on arc welding robot system
  • Skew offset pipe trajectory planning method based on arc welding robot system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0028] Such as figure 1 Shown is the flow chart of trajectory planning for arc welding robot system welding oblique offset pipe, and the implementation of the present invention will be further described below according to the accompanying drawings and specific examples:

[0029] Establish oblique offset tube workpiece coordinate system, solve the space intersecting curve equation; establish the corresponding space intersecting curve weld discrete point expression; construct the welding discrete point auxiliary coordinate system relative to the oblique offset tube workpiece coordinate system transformation matrix; construct the transformation matrix between the welding torch coordinate system and the weld discrete point auxiliary coordinate system; through a special teaching method, construct the homogeneous transformation of the oblique offset tube workpiece coordinate system relative to the robot workpiece coordinate system matrix; solve the pose matrix of the welding torch o...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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. ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B23K9/032B25J9/16
CPCB23K9/032B25J9/1664
Inventor 沈健嵇保健洪磊凌超
Owner NANJING UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap