Robot path planning method applied to weld joints

A path planning and robot technology, which is applied in the direction of manipulators, program control manipulators, manufacturing tools, etc., can solve the problem that the welding method cannot meet the welding seam welding requirements, so as to improve welding efficiency and welding quality, save welding time, and improve welding quality Effect

Active Publication Date: 2019-06-28
GUANGDONG UNIV OF TECH
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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a robot path planning method applied to welding seams to solve the problem that the welding method transformed from the traditional spot welding experience cannot meet the welding requirements of the weld seam in view of the deficiencies of the prior art technical problem

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  • Robot path planning method applied to weld joints
  • Robot path planning method applied to weld joints
  • Robot path planning method applied to weld joints

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[0040] In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the following description The embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0041] In the description of the present invention, it is to be understood that when a component is said to be "connected" to another component, it may be directly connected to the other component or there may be an intervening component at the same time. When a component is said to be "set on" another component, it ca...

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Abstract

The invention provides a robot path planning method applied to weld joints. The method comprises the following steps of acquiring basic information of each weld joint, wherein the basic information comprises the length of a weld joint, endpoints coordinates, and whether having the directivity requirement or not; calculating a no-load path according to the endpoints coordinates of each weld joint;combining the basic information and the no-load path, calculating to obtain an optimal path through a genetic algorithm by ; initializing an initial value of the ant colony algorithm pheromone according to the optimal path; and combining the basic information and the initial value of the pheromone, calculating to obtain an optimal welding path by utilizing an ant colony algorithm. The method can be used for carrying out more effective process constraint on a robot moving path by acquiring the basic information of the weld joints, so that the weld joints meet the directivity requirements; an optimal solution obtained by utilizing the genetic algorithm is used for initializing the pheromone of the ant colony algorithm, so that the ant colony algorithm can quickly and effectively obtain the optimal solution; and the advantages of the two algorithms are complemented, so that the welding path capable of saving welding time and meeting the weld joints requirements is effectively planed.

Description

technical field [0001] The invention relates to the technical field of automatic welding of ships, in particular to a robot path planning method applied to welding seams. Background technique [0002] Automatic welding technology is an automation technology that combines welding robots and their path planning. However, my country's automatic welding technology only accounts for 30%, of which spot welding is the main one. For some directional requirements such as straight lines or arcs The welding seam does not have a strong automatic welding technology. Therefore, the welding method transformed from the traditional spot welding experience cannot meet the welding needs of the welding seam. There are often unreasonable welding work sequences and unsatisfactory welding quality of the robot. The occurrence of the situation has seriously affected the work efficiency of the welding robot and the performance quality of the welding product. [0003] Furthermore, intelligent bionic al...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
Inventor 程良伦李杰王涛徐金雄
Owner GUANGDONG UNIV OF TECH
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