Spatial arc interpolation welding method based on teaching robot

Abstract

The invention provides a space arc interpolation welding method based on a teaching robot. The space circular interpolation welding method includes the steps that coordinate values of any three points on an any space arc on a workpiece are preset; the circle center and the radius of a space circle corresponding to a space arc coordinate system and the space arc are determined according to the coordinate values of the three points; an attitude matrix of the robot under a workpiece coordinate system is obtained through calculation of the rolling angle, the pitch angle and the deflection angle of the robot at a teaching starting point under the workpiece coordinate system; the attitude matrix is converted into an initial matrix under the space arc coordinate system; a rotating matrix of the initial matrix around the Z axis of the space arc coordinate system is determined according to the circle center angle of the space circle corresponding to the space arc; a target matrix of a robot interpolation arc is determined according to the initial matrix and the rotating matrix; the target matrix is converted into an interpolation matrix under the workpiece coordinate system; and the robot conducts arc interpolation according to the interpolation matrix so as to weld the space arc. The operation method is simple, the machining precision is controllable, and the machining efficiency is high.

Description

technical field [0001] The embodiment of the present invention relates to the field of robot motion control, and in particular to a space arc interpolation welding method based on a teaching robot. Background technique [0002] Industrial robots are defined by ISO8373 [1] as automatically controlled, programmable, multipurpose machines with more than three programmable axes. Jobs in the field of robotics study, design, and apply robotic systems in manufacturing. Typical applications include welding robots, painting, assembly, pick and place (e.g. packaging, palletizing, SMT), product inspection and testing. Robots do all the work with high stamina, speed and precision. A robot with memory reproduction function. The operator performs teaching in advance, and the teaching and reproduction robot memorizes relevant operating procedures, positions and other information, and then takes out and interprets one by one according to the reproduction instructions, and repeats the tau...

AI Technical Summary

Problems solved by technology

It leads to problems such as low work efficiency, difficult control of precision, and low processing efficiency.

Images