Welding robot and its swing trajectory planning method
A welding robot and planning technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of complex calculations and difficulty in ensuring the expected speed and cycle of welding robots, and achieve the effect of simple calculations
Active Publication Date: 2021-04-06
BEIJING A&E TECH
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Problems solved by technology
[0003] The inventors of the present application found that the calculation of the current planning method for the swing trajectory of welding robots is complicated, and it is difficult to ensure that the welding robot reaches the expected speed and expected cycle during the swing welding process
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[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
[0020] refer to figure 1 , figure 1 It is a schematic flowchart of an embodiment of a method for planning a swing trajectory of a welding robot in this application. The execution body of the planning method of the swing trajectory in this application is a welding robot, and the planning method includes:
[0021] S110: Determine first position coordinates and first attitude coordinates of multiple first trajectory points on the weld seam in the workpiece coor...
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The present application discloses a welding robot and a planning method for its swing trajectory. The planning method includes: determining the first position coordinates and the first attitude coordinates of multiple first trajectory points on the weld seam under the workpiece coordinate system; determining the first The position coordinates of the second trajectory points corresponding to the trajectory points in the swing coordinate system, wherein the second trajectory points corresponding to the plurality of first trajectory points form a triangular offset trajectory located in the YOZ plane under the swing coordinate system; The position coordinates of the two track points in the swing coordinate system are transformed into the second position coordinates in the workpiece coordinate system; the first position coordinates of the first track point and the corresponding second position coordinates of the second track point are superimposed to obtain the same as the second position coordinates of the second track point The position coordinates of the interpolation point corresponding to the first trajectory point in the workpiece coordinate system are obtained, and the position coordinates of the interpolation point corresponding to the first trajectory point in the workpiece coordinate system are obtained; the planned swing trajectory is determined according to the interpolation point. The planning method of the swing trajectory provided by the present application is simple in calculation.
Description
technical field [0001] The present application relates to the technical field of welding robots, in particular to a planning method for a welding robot and its swing trajectory. Background technique [0002] The swing welding of the welding robot (referred to as swing welding) is a welding method in which the welding torch moves along the direction of the weld while swinging longitudinally with a certain rule. It improves welding strength and welding efficiency, is widely used in automatic welding technology, and has practical engineering significance. [0003] The inventors of the present application found that the current planning method for the swing trajectory of the welding robot is complex in calculation, and it is difficult to ensure that the welding robot reaches the expected speed and expected period during the swing welding process. Contents of the invention [0004] The technical problem mainly solved by this application is to provide a planning method for a we...
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IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1664
Inventor 张志明
Owner BEIJING A&E TECH