Spatial transformation principle based linear swing welding method of arc-welding robot

Abstract

The invention discloses a spatial transformation principle based linear swing welding method of an arc-welding robot. The method includes: by means of establishment of a swing basic plane, simplifyinga problem of three-dimensional space swing into a three-dimensional space to solve; solving basic swing points in the swing basic plane through part of demonstration parameters; solving a coordinatetransformation matrix of a swing plane and the swing basis plane according to the demonstration parameters; mapping the basis swing points in the swing basic plane into the swing plane through the coordinate transformation matrix to obtain a final swing welding trail. The method has advantages of high quantity of input parameters and high trail operation speed.

Description

Technical field [0001] The invention belongs to the technical field of arc welding operations, and particularly relates to a linear weaving welding method of an arc welding robot based on the principle of space transformation. Background technique [0002] Pendulum arc motion is a unique form of motion when performing arc welding operations. Pendulum arc technology is used for wide weld or in-space weld welding; the welding effect is better, and this technology is also one of the important technologies to realize welding automation. At present, there are relatively few researches on arc welding robot swing arc algorithm. Yang Haitao of Harbin Institute of Technology proposed a pendulum arc motion scheme based on the space vector position method, which can realize basic spatial pendulum arc motion; Xiong Shuo of Huazhong University of Science and Technology proposed a motion scheme based on the idea of ​​trajectory superimposition for this problem; these algorithms Although it ca...

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Problems solved by technology

Yang Haitao of Harbin Institute of Technology proposed a swing arc motion scheme based on the space vector position method, which can realize basic space swing arc motion; Xiong Shuo of Huazhong University of Science and Technology proposed a motion scheme based on the idea of ​​trajectory superposition for this problem; these algorithms Although they can complete the basic action of weaving welding, they all have the disadvantages of few input parameters, simple swing trajectory, and large amount of calculation.

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