Trajectory adjusting method and device

An adjustment method and trajectory technology, applied in auxiliary devices, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve the problems of waste of time and low efficiency, and achieve the effect of accurate adjustment

Active Publication Date: 2018-07-20
BEIJING C H L ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Embodiments of the present invention provide a trajectory adjustment method and device to at

Method used

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  • Trajectory adjusting method and device

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Example Embodiment

[0025] Example 1

[0026] In the process of generating a trajectory at one time, multiple trajectory points will be generated. In this embodiment of the present invention, various generating tools can be used to generate the trajectory. For example, an industrial robot (including a robotic arm and an end effector is used to execute the generation of trajectory points. equipment), welding machines, before generating a trajectory, it is necessary to determine the parameters of each generated trajectory, which may include: the starting point of the generated trajectory, the end point of the generated trajectory, the total number of trajectory points, and the distance between the trajectory points. , The direction of generating track points, the coordinates of each track point, the posture of each track point, and the orientation of the robotic arm when generating track points, etc.

[0027] figure 1 is a flow chart of the trajectory adjustment method according to the embodiment ...

Example Embodiment

[0040] Embodiment 2

[0041] figure 2 is a schematic diagram of a trajectory adjustment device according to an embodiment of the present invention, such as figure 2 As shown, the device may include: an acquisition unit 21 for acquiring an amplitude variation parameter, wherein the amplitude variation parameter is used to indicate the amplitude variation of the first trajectory point; and a first determining unit 23 for determining the target according to the amplitude variation parameter Rotation deviation amplitude and target rotation deviation direction, wherein, the target rotation deviation amplitude is used to indicate the adjustment amplitude of the trajectory point during adjustment, and the target rotation deviation direction is used to indicate the direction of the trajectory point during adjustment; the second determination unit 25 is used for According to the target rotation deviation magnitude and the target rotation deviation direction, determine the rotation a...

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Abstract

The invention discloses a trajectory adjusting method and device. The method comprises the steps of obtaining the amplitude change parameters, wherein the amplitude change parameters are used for indicating the amplitude change of a first trajectory point; determining the target rotation deviation amplitude and the target rotation deviation direction according to the amplitude change parameters, wherein the target rotation deviation amplitude is used for indicating the adjustment amplitude of the trajectory point during adjustment, and the target rotation deviation direction is used for indicating the direction of the trajectory point during adjustment; determining the rotation angle and rotation direction of a second trajectory point according to the target rotation deviation amplitude and the target rotation deviation direction, wherein the second trajectory point is a next trajectory point after the first trajectory point is generated; and adjusting the generation trajectory of thesecond trajectory point according to the rotation angle and rotation direction of the second trajectory point. The trajectory adjusting method and device solve the technical problems that much time iswasted and efficiency is low during trajectory modification.

Description

technical field [0001] The present invention relates to the field of track generation, in particular to a track adjustment method and device. Background technique [0002] Among the data used to describe tasks on many devices in the manufacturing industry, many key data contain "trajectory points" and "trajectories", such as the trajectory describing the motion of the end effector of an industrial robot; the g code describing the machining path of a CNC machine tool; describing Welding machine instructions for welding position and attitude, etc. In order to obtain a good quality of work, the trajectories need to be continuously corrected. In related technologies, when generating trajectories, these trajectories are often generated at one time. If they are modified later, all previous workloads need to be repeated, or Some trajectory batch modification tools cannot modify the parameters of the previous operation, resulting in a waste of time and low work efficiency. Moreove...

Claims

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Application Information

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IPC IPC(8): B23K37/02
Inventor 宋智广
Owner BEIJING C H L ROBOTICS CO LTD
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