Welding robot and method for planning swing track of welding robot
A welding robot and planning technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of complex calculation, difficult to ensure the welding robot to achieve the expected speed and expected cycle, and achieve the effect of simple calculation.
Active Publication Date: 2019-11-19
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 invention discloses a welding robot and a method for planning a swing track of the welding robot. The method for planning the swing track of the welding robot comprises the steps that first position coordinates of a plurality of track points on a weld joint in a workpiece coordinate system are determined; position coordinates of second track points corresponding to the first track points undera swing coordinate system are determined, wherein the a linear deviation track located on an XOY plane is formed by the second track points corresponding to the first track points under the swing coordinate system, and the linear deviation track is parallel to the Y axis and extends to the negative half of the Y axis from the positive half of the Y axis; the position coordinates of the second track points under the swing coordinate system are converted into second position coordinates under the workpiece coordinate system; and first position coordinates of the second track points and second position tracks corresponding to the second track points are superposed to obtain position coordinates of interpolation points corresponding to the first track points under the workpiece coordinate system; and a planned swing track is determined according to the interpolation points. The method for planning the swing track of the welding robot 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