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Welding robot track automatic planning method

A welding robot and automatic planning technology, applied in the direction of manipulators, program control manipulators, manufacturing tools, etc., to achieve the effect of improving production efficiency and simple operation process

Active Publication Date: 2019-10-25
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The technical problem to be solved by the present invention is to design a method that can automatically adjust the angle of the forward tilt. The robot can maximize the forward tilt angle when it can reach it, so that the robot can successfully complete the welding track and ensure the welding quality. The situation where the target point cannot be reached due to the limitation of the range of motion of the robot arm

Method used

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  • Welding robot track automatic planning method

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0068] The principle of the automatic planning method for the trajectory of the welding robot disclosed in the present invention is as follows: figure 1 As shown, the attitude of the welding robot is solved in the form of vector, and the inverse solution method is assisted by the dichotomy to find the attitude of the robot with the maximum forward tilt angle.

[0069] exist figure 2 The working diagram of the welding robot shown includes a workpiece 1 , a welding seam 2 , a fixture 3 , a welding robot 4 , a tool coordinate system 5 and a user coordinate system 6 .

[0070] Wherein, the workpiece 1 is fixed by the clamp 3 , and the welding robot 4 aligns with the position of the welding seam 2 for welding.

[0071] Method provided by the invention comprises the following steps:

[0072] Step 1, extracting the position information of the weld 2;

[0073] Step 2, define the user coordinates, record the initial posture of the welding robot 4;

[0074] Step 3, input the inclin...

Embodiment 2

[0078] STEP is a common data format for CAD model data exchange between different design software. A weld 2 corresponds to a pentahedron in the CAD model, and the start and end points of the weld are found according to the topological relationship.

[0079] The part coordinate system can be redefined in SolidWorks software, which is convenient for user coordinate system teaching.

[0080] On the basis of embodiment one, step 1 is based on the STEP file, including the following sub-steps (such as image 3 shown):

[0081] Step 1.1, read the STEP file line by line, and judge whether it contains the "CLOSED_SHELL" field;

[0082] Step 1.2, visit the CLOSED_SHELL collection, record the number N of ADVANCED_FACE attributes in the CLOSED_SHELL collection;

[0083] Step 1.3, judging whether N is equal to 5; if N is equal to 5, enter the next step;

[0084] Step 1.4, read ADVANCED_FACE attributes one by one, index to EDGE_LOOP in turn, record the number M of ORIENTED_EDGE attribut...

Embodiment 3

[0092] On the basis of embodiment two, step 2 includes:

[0093] Step 2.1, teach three points on the part to determine the user coordinate system 6, the user coordinate system 6 coincides with the part coordinate system in the CAD model, and record the initial posture of the welding robot 4 under the user coordinate system (Rx t ,Ry t ,Rz t );

[0094] Step 2.2, according to (-sin(Ry t ),cos(Ry t )sin(Rx t ),cos(Rx t )cos(Ry t )) Calculate the initial posture of the welding robot 4, and record it as vector t based on the direction of the tool coordinate system z-axis vector 0 , vector t 0 is the vector of the initial posture of welding robot 4:

[0095] t 0 =(sin(Ry t ),-cos(Ry t )sin(Rx t ),-cos(Rx t )cos(Ry t ));

[0096]Step 2.3, remember the vector a 0 (0,0,1) is the transition vector, vector t 0 to vector a 0 The first rotation matrix of is obtained by Rodrigue's rotation formula; according to the first rotation matrix, the vector t is reversed 0 to ve...

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Abstract

The invention discloses a welding robot track automatic planning method, and relates to the field of welding robot offline programming and track planning. The method comprises the following steps of 1, extracting position information of a welding seam; 2, defining user coordinates, and recording the initial attitude of a welding robot; 3, inputting a tilt angle theta of the welding seam, and acquiring attitude information of the welding robot; 4, utilizing a dichotomy method to assist an inverse solution to obtain the maximum forward tilt angle attitude of the welding robot; and 5, generatinga job file of the welding robot. According to the welding robot track automatic planning method, a three-dimensional model of a workpiece is provided, the track planning during a welding process can be completed as long as a set welding angle is input, and in this way, a complicated teaching process is replaced so that the production efficiency is improved; and in addition, a large number of related calculation processes can be obtained through compiling a calculation program, and corresponding parameters are changed such as changing sizes of mechanical arms of an algorithm of different robots, so that similar welding problems can be solved.

Description

technical field [0001] The invention relates to the field of off-line programming and trajectory planning of a welding robot, in particular to a method for automatically planning a trajectory of a welding robot. Background technique [0002] Industrial robot is currently the most mature and successful robot technology. For different work tasks and control objectives, operators need to use the teaching box to perform teaching programming to obtain control tasks. With the development and diversification of modern manufacturing industry, online teaching is often difficult to meet the requirements of multi-variety and small-batch automated production. For the workpiece is very complex, there are hundreds of teaching points that need to be taught manually, or for a series of workpieces with different sizes and shapes but the same processing process, a large number of repetitive teaching will greatly reduce the work efficiency; For the processing of irregular curve paths, it is ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J9/04B25J9/16
CPCB25J11/005B25J9/045B25J9/1664
Inventor 朱诗怡李芳张跃龙华学明杨海澜
Owner SHANGHAI JIAO TONG UNIV
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