A Linear Weaving Welding Method of Arc Welding Robot Based on the Principle of Space Transformation

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 in particular relates to a linear swing welding method of an arc welding robot based on the principle of space transformation. Background technique [0002] Swing arc movement is a unique form of motion during arc welding operations. Use swing arc technology to weld wide seams or welds in space; 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 studies on the arc swing algorithm of arc welding robots. 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 bas...

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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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