Welding robot energy optimization method based on welding gun rotation angles

A welding robot and energy optimization technology, which is applied to welding accessories, electrode characteristics, electrode support devices, etc., can solve problems such as inaccurate energy consumption, difficulty in obtaining robot models, and complex calculations, and achieve simple data processing methods and broaden energy optimization. The effect of simple method and equipment

Active Publication Date: 2020-04-21
TIANJIN UNIV
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Problems solved by technology

To explore the influence of this degree of freedom (that is, the rotation angle of the welding torch) on the energy consumption of the robot welding process, although it is possible to start from the robot dynamics and kinematics, firstly, the calculation of the route is complicated; secondly, it is difficult to obtain an accurate robot model, based on the The model gets the energy consumption is not accurate

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  • Welding robot energy optimization method based on welding gun rotation angles
  • Welding robot energy optimization method based on welding gun rotation angles
  • Welding robot energy optimization method based on welding gun rotation angles

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Embodiment Construction

[0039]In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:

[0040] Before studying this energy optimization method, the definition of the torch rotation angle of the arc welding robot is given first. as attached figure 1 As shown, the tool coordinate system is a coordinate system established with the tool center point as the origin, and is a rectangular coordinate system used to represent the tool center point and tool posture. In the arc welding robot 1, the origin O of the tool coordinate system is generally defined at the place where the welding wire protrudes 10mm from the contact tip, the z-axis of the tool coordinate system is defined as the axial direction of the welding torch (that is, the direction in which the welding wire protrudes), and the rotation angle of the welding torch is defined as ...

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Abstract

The invention discloses a welding robot energy optimization method based on welding gun rotation angles. The method comprises the steps that 1, an arc welding robot power measurement platform is established; 2, a to-be-optimized trajectory of a working path of an arc welding robot is determined; 3, the welding gun rotation angles at a welding start point and a welding ending point are changed, andthe value range of the welding gun rotation angles is determined under the condition of meeting the requirement for reachability of the arc welding robot; 4, a power consumption measurement experiment is performed according to the value range of the welding gun rotation angles; and 5, in combination with experimental data, average power consumption is compared to obtain welding starting point andending point welding gun rotation angles with the optimal energy. According to the method, a welding starting point and ending point welding gun rotation angle combination with the minimum power consumption is obtained through a small number of tests, the power consumption of the arc welding robot in the welding operation process is reduced, and the method has great significance in energy conservation in the actual welding production process.

Description

technical field [0001] The invention relates to an arc welding robot, in particular to an energy optimization method for a welding robot based on the rotation angle of a welding torch, which reduces the energy consumption of the robot by changing the rotation angle of the welding torch. Background technique [0002] With the improvement of industrial production automation, the application of robots in industrial production is becoming more and more extensive. Energy conservation has always been a focus of attention in both academia and industry. Therefore, with the wide-scale application of robots, how to better save energy will be the core of future industrial development. [0003] The energy saving of robots is closely related to the kinematics and dynamics of the robot itself; however, due to the different inherent characteristics of different processing technologies, the focus of attention in energy optimization is quite different. [0004] Many researchers have studie...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K9/28B23K9/32
CPCB23K9/28B23K9/32
Inventor 吕小青张梦龙徐连勇韩永典荆洪阳
Owner TIANJIN UNIV
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