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Planar triangle weaving welding method for welding arc weld by welding robot

A welding robot, triangular pendulum technology, applied in welding equipment, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve problems such as complicated calculation and reduced flexibility

Active Publication Date: 2016-08-10
NANJING ESTUN ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this method requires that the feed direction of the welding torch must be the positive direction of the Z-axis of the tool coordinate system, which reduces the flexibility of the user; and it can only be used for double-plane straight-line weaving welding, which has great limitations
[0004] The article "Research on Weaving Weaving Method of Arc Welding Robot" proposes a realization method of plane triangular weaving welding, but it can only be applied to linear weaving welding, and there are great limitations in the use of welding
The "five-point graphic teaching method" mentioned later needs to obtain the intermediate interpolation points according to various situations, and the calculation is too cumbersome

Method used

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  • Planar triangle weaving welding method for welding arc weld by welding robot
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  • Planar triangle weaving welding method for welding arc weld by welding robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0031] Embodiment: In this embodiment, a welding robot welds a circular-arc seam, using a plane triangular weaving method.

[0032] 1. Determine the following parameters: welding starting point coordinate P start (901.7880, 182.9200, 932.7880), target point coordinates P target (901.7880,210.9640,960.6240), auxiliary point coordinates P aux (918.1900, 194.9720, 948.5460); the center of the arc weld is O 0 (898.4030,197.3336,946.3114), the radius is 20.0523; the origin of the robot base coordinate system is O(0,0,0); the torch swing H is 8cm, and the torch swing width L is 3cm.

[0033] 2. Calculate the welding interpolation point P according to the swing amplitude and swing width i , i=1, 2...n, where odd interpolation points are on the outside of the arc weld, and even interpolation points are on the inside of the arc weld.

[0034] a. Determine the arc weld The welding direction

[0035] The position vector can be obtained through the position information of welding sta...

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Abstract

The invention relates to the field of robot welding, and provides a planar triangle weaving welding method for welding an arc weld by a welding robot. According to the method, a robot welding gun does continuous triangle weaving in the direction of the planar arc weld and moves forwards constantly, so that triangle weaving welding of the planar arc weld is achieved. Interpolation is planned on the upper layer of a moving core, a welding path of the arc weld is subjected to linear fitting, and an algorithm is simple and good in universality. The method is suitable for triangle weaving welding of any planar arc weld in a space, high in application flexibility, suitable for arc triangle weaving welding by the arc welding robot and suitable for welding devices capable of moving linearly.

Description

technical field [0001] The invention relates to a weaving welding method for arc welding seams of a welding robot, in particular to a plane triangular weaving welding method for arc welding seams of a welding robot. Background technique [0002] The welding robot is not only required to be used for welding of straight line and arc welds, but also weaving welding is often used when the welds are large or special welding process requirements are required. Weaving welding refers to a welding method in which the welding torch periodically swings from side to side at a specific angle along the direction of the welding seam to increase the width of the welding bead, thereby improving the welding strength and welding efficiency. It has been obtained in automatic welding equipment Wide range of applications. According to the shape of the weaving bar, weaving welding can be divided into sawtooth weaving welding, sinusoidal weaving welding, triangular weaving welding and circular wea...

Claims

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Application Information

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IPC IPC(8): B23K37/02B25J9/16
CPCB23K37/0252B25J9/1664B25J9/1687
Inventor 王正谦宋方方
Owner NANJING ESTUN ROBOTICS CO LTD