Collaborative planning method of complicated space curve welding seam motion track and welding technology

Abstract

The invention relates to a collaborative planning method of a complicated space curve welding seam motion track and the welding technology. The collaborative planning method comprises the following steps: 1, extracting a complicated product welding seam outline; 2, carrying out zoning planing on the three-dimensional outline of the welding seam; 3, planning the welding seam welding sequence of each area; 4, carrying out motion simulation and multi-robot synergic movement simulation on a formed robot motion track; 5, planning the welding technological parameters; and 6, carrying out data distribution and execution. The collaborative planning method is innovatively used in the automatic welding field of complicated space curve welding seams, realizes intelligent partition of the space curvewelding seam and the sequence planning of the welding seam, carries out self-adaption collaborative planning on the motion track and technology of a pose-variable and curvature-variable welding seam robot and realizes collaborative intelligent planning of the motion track and technology of the space curve welding seam robot.

Description

technical field [0001] The invention belongs to the technical field of mechanical engineering, and relates to a method for collaborative planning of complex space curve welding seam motion trajectory and welding process. Background technique [0002] In the structure of large spacecraft, there are a large number of welds in complex forms, such as the intersecting lines formed by spherical, cylindrical, conical shells and circular and special-shaped flanges. Cabin structures such as manned spacecraft, Tiangong series, and lunar exploration vehicles all involve welding problems of this type of weld to varying degrees. The spatial pose of the weld to be welded in the large and complex thin-walled welding structure of aerospace is changeable, so the welding process parameters also need to be changed in real time to adapt to different poses. [0003] At present, the motion trajectory planning of welding robots has developed from the traditional teaching type to the offline progr...

AI Technical Summary

Problems solved by technology

[0003] At present, the motion trajectory planning of welding robots has developed from the traditional teaching type to the offline programming technology. The offline programming technology is based on the screen teaching method based on three-dimensional graphics, but the offline programming software that comes with the robot company, such as ABB and KUKA The offline programming software of the welding robot can only plan the path of the robot and simulate the motion, lacks the function of system planning, the welding process parameters still need to be set from the welding machine, and frequent modification is required when welding tasks with complex space curves Welding process parameters become the bottleneck of automated welding applications

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