Spatial circular arc swing welding interpolation method for arc welding robot

A space arc and robot technology, applied in arc welding equipment, welding equipment, complex mathematical operations, etc., can solve problems such as local stress concentration, process performance defects, welding is not strong enough, etc., and achieve the effect of uniform contact between solder and weld seam

Active Publication Date: 2018-12-07
SUZHOU ELITE ROBOTICS CO LTD
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Problems solved by technology

However, its process performance has obvious defects, figure 1 It is a cross-sectional view of the triangular weaving welding trajectory. It can be seen from the figure that the welding path does not fit the weld seam. There is a certain distance between the welding torch and the weld seam. If the solder cannot fully fill the weld seam, the welding is not strong enough, and because the weld seam If the reinforcement is too high, it will lead to local stress concentration, which will easily lead to deformation of the welding part

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  • Spatial circular arc swing welding interpolation method for arc welding robot
  • Spatial circular arc swing welding interpolation method for arc welding robot
  • Spatial circular arc swing welding interpolation method for arc welding robot

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Embodiment Construction

[0047] The present invention will be further described in detail below in conjunction with test examples and specific embodiments. However, it should not be understood that the scope of the above subject matter of the present invention is limited to the following embodiments, and all technologies realized based on the content of the present invention belong to the scope of the present invention.

[0048] Such as Figure 1-6As shown, the following parameters are determined: the starting point of sinusoidal line interpolation P s =(x s ,y s ,z s ), end point P e =(x e ,y e ,z e ), the far point of the robot coordinate system is (0, 0, 0), The start and end points determine the straight line for weaving welding. The formula of the sinusoidal curve is y=Asin(Bx), where A represents the amplitude, and B determines the period of the sinusoidal curve;

[0049] Calculates the arc length of a sine curve. The arc differential formula of a sine curve is Using numerical inte...

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Abstract

The invention discloses a spatial circular arc swing welding interpolation method for an arc welding robot. According to the method, based on a spatial circular arc line interpolation method, weldingtrace of alternate swinging on a cylindrical surface and a plane is acquired. An L-shaped swing welding manner is adopted. The welding trace is alternately conducted between the cylindrical surface and the plane. Because the starting point and the ending point of the trace and the plane in which the circular arc trace is located are determined through teaching, surface plates at the bottom can beof free spatial attitude; acceleration and deceleration planning can be conducted on swing welding trace; and thus great swing welding property is acquired.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to an arc welding robot space circular arc swing welding interpolation method. Background technique [0002] In the existing research on robot weaving welding technology, "Research on the method of arc welding robot weaving welding" puts forward the method of five-point graphic teaching weaving welding, which can only be used for linear interpolation, and the process performance is average. "Interpolation Algorithm of Weld Seam Swing Trajectory in Space" designed an interpolation algorithm for the swing trajectory of space weld seam. This method can interpolate straight line swing welding for space straight lines and space arcs. This algorithm cannot introduce speed planning. Lack of practical considerations. [0003] In actual engineering, the welding of cylindrical weldments and flat weldments is more widely used. Weaving welding can obtain better welding performance than traditi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K9/022B23K9/028B23K9/12G06F17/16G06F17/13
CPCB23K9/022B23K9/028B23K9/12G06F17/13G06F17/16
Inventor 曹宇男郭鑫鹏
Owner SUZHOU ELITE ROBOTICS CO LTD
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