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A method for automatic trajectory planning of welding robot

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

Active Publication Date: 2022-06-24
SHANGHAI JIAOTONG 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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  • A method for automatic trajectory planning of welding robot
  • A method for automatic trajectory planning of welding robot
  • A method for automatic trajectory planning of welding robot

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0068] The principle of the automatic trajectory planning method of the welding robot disclosed in the present invention is as follows: figure 1 As shown in the figure, the attitude of the welding robot is solved in the form of a vector, and the robot attitude with the maximum forward inclination angle is obtained with the aid of the inverse solution method of the bisection method.

[0069] exist figure 2 The shown working schematic diagram of the welding robot 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] The workpiece 1 is fixed by the fixture 3, and the welding robot 4 is aligned with the position of the welding seam 2 to perform welding.

[0071] The method provided by the present invention comprises the following steps:

[0072] Step 1. Extract the position information of weld 2;

[0073] Step 2. Define the user coordinates and record the initial posture of the welding...

Embodiment 2

[0078] STEP is a general 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 the first embodiment, 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 determine whether it contains the "CLOSED_SHELL" field;

[0082] Step 1.2. Access the CLOSED_SHELL collection and record the number N of ADVANCED_FACE attributes in the CLOSED_SHELL collection;

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

[0084] Step 1.4. Read the ADVANCED_FACE attributes one by one, index to EDGE_LOOP in turn, and record the number M o...

Embodiment 3

[0092] On the basis of Embodiment 2, 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 (Rx) of the welding robot 4 in the user coordinate system. 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 )) to obtain the initial posture of the welding robot 4, and record it as a vector t based on the reverse direction of the z-axis vector direction of the tool coordinate system 0 , the vector t 0 The vector for the initial pose 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, record the vector a 0 (0,0,1) is the transition vector, the vector t 0 to the vector a 0 The first rotation matrix of is obtained by the Rodrigue rotation formula; according to the first rotation matrix, ...

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Abstract

The invention discloses a method for automatically planning the trajectory of a welding robot, which relates to the field of off-line programming and trajectory planning for a welding robot. The method includes the following steps: step 1, extracting position information of a weld; The initial posture of the welding robot; step 3, input the inclination angle θ of the welding seam, and obtain the posture information of the welding robot; step 4, use the dichotomy to assist the inverse solution method, and obtain the maximum forward tilt angle posture of the welding robot; step 5 1. Generating an operation file of the welding robot. Given the three-dimensional model of the workpiece, the present invention only needs to input the set welding angle to complete the trajectory planning in the welding process, which replaces the cumbersome teaching process and improves the production efficiency; it involves a large number of calculation processes, and only needs to It is obtained by writing a calculation program, changing the corresponding parameters, such as changing the size of the mechanical arm in the algorithm for different robots, and 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 an automatic trajectory planning method for a welding robot. Background technique [0002] Industrial robots are currently the most mature and successful robotics technology. For different work tasks and control objectives, the operator needs to use the teaching box to teach and program to obtain control tasks. With the development and diversification of modern manufacturing, online teaching is often difficult to meet the requirements of automatic production of multiple varieties and small batches. For the work piece 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 greatly reduces the work efficiency; For the machining of irregular curve paths, it is cumbersome to...

Claims

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Application Information

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Patent Type & Authority Patents(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 JIAOTONG UNIV