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Planning Method of Welding Robot and Its Swing Trajectory

A welding robot and trajectory 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: 2020-12-08
BEIJING A&E TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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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

Method used

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  • Planning Method of Welding Robot and Its Swing Trajectory
  • Planning Method of Welding Robot and Its Swing Trajectory
  • Planning Method of Welding Robot and Its Swing Trajectory

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Embodiment Construction

[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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Abstract

The application discloses a welding robot, and a planning method of a swing track thereof. The planning method comprises the steps of determining first position coordinates and first attitude coordinates of a plurality of first track points on a weld joint in a workpiece coordinate system; determining position coordinates of second track points corresponding to the multiple first track points in aswing coordinate system, wherein the second track points corresponding to the multiple first track points form a V-type offset track located on a YOZ plane in the swing coordinate system; convertingthe position coordinates of the second track points in the swing coordinate system into the second position coordinates in the workpiece coordinate system; superimposing the first position coordinatesof the first track points and the second position coordinates of the corresponding second track points, and obtaining the position coordinates of interpolation points corresponding to the first trackpoints in the workpiece coordinate system; and determining a planned swing track according to the interpolation points. The planning method of the swing track 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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1664
Inventor 张志明
Owner BEIJING A&E TECH
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