An intelligent path planning method for dual welding robots based on ant colony algorithm

Abstract

The invention discloses an intelligent path planning method for dual welding robots based on an ant colony algorithm, which includes: determining the welding order according to the total number of welds c and the number x of special welds, and setting the welding profit function under the welding order; initializing the ant Group parameters, through the ant colony algorithm to obtain several optimal paths of the first welding robot and the second welding robot; calculate the value of the welding profitability function of the first welding robot and the second welding robot under each optimal path; Under the premise of satisfying the qualification rate of the welding process, the optimal path corresponding to the maximum value of the welding yield function is taken as the optimal path. The present invention proposes a dual ant colony movement path optimization algorithm for large three-dimensional complex components based on the ant colony algorithm. The welding robot system can find a suitable welding path for dual welding robots when facing large three-dimensional complex components And welding sequence, greatly improve the welding speed, improve the quality of welding speed.

Description

technical field [0001] The invention relates to the technical field of path planning, in particular to an intelligent path planning method for dual welding robots based on an ant colony algorithm. Background technique [0002] With the continuous development of science and technology and industry, whether it is military or civilian, the demand for large-scale equipment is increasing. In the production process of these large-scale equipment, welding technology is required to realize the splicing of various equipment. The traditional welding process is mostly done manually. In recent years, due to the continuous improvement of industrial automation technology, robots are widely used in the welding field. The application of welding robots not only greatly improves production efficiency, but also liberates many workers from heavy work and harsh working environments. [0003] The development of welding robots has roughly gone through three development stages: from the simple fir...

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Problems solved by technology

[0005] Using dual robots for welding, under the conditions of satisfying the above welding constraints, try to make the welding path length of each robot approximate and the welding time the shortest, which can save half of the welding time, but most of the existing dual welding robot systems are simple teaching machines Or offline programming welding robots, these welding robot systems can only weld some components with few spatial dimensions, simple processes, and relatively simple environmental models, and it is difficult to deal with the welding of large three-dimensional complex components

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