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A Collaborative Planning Method for Welding Trajectory and Welding Process in Complex Space Curves

A welding process and space curve technology, applied in welding equipment, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve problems such as lack of system planning, and achieve the effect of collaborative intelligent planning

Active Publication Date: 2021-07-13
BEIJING SATELLITE MFG FACTORY
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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

Method used

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  • A Collaborative Planning Method for Welding Trajectory and Welding Process in Complex Space Curves
  • A Collaborative Planning Method for Welding Trajectory and Welding Process in Complex Space Curves

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Embodiment Construction

[0027] The present invention will be further elaborated below in conjunction with embodiment.

[0028] The present invention includes two main modules of robot welding trajectory planning and process specification planning, and has the functions of complex weld extraction, partition planning, welding sequence planning and welding process planning, such as figure 1 , 2 As shown, the specific technical scheme is as follows:

[0029] A method for collaborative planning of welding seam movement trajectory and welding process with complex space curves, the steps of the method include:

[0030] (1) Extract the weld profile of complex products: when the weld profile deviation between the actual complex product and its theoretical model is not greater than 2mm, select the three-dimensional profile curve of the weld to be welded from the theoretical model; the actual complex product and its theoretical model The weld profile deviation When it is larger than 2mm, the measurement param...

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Abstract

The invention relates to a method for collaborative planning of welding seam motion track and welding process in complex space curves. (4) Motion simulation and multi-robot collaborative motion simulation for the formed robot trajectory; (5) Welding process parameter planning; (6) Data distribution and execution. The invention is innovative in the field of automatic welding for complex space curve welds, realizes the intelligent partitioning of space curve welds and the sequence planning of welds, and adapts to the motion trajectory and process of the welding robot with variable posture and curvature. Collaborative planning realizes the collaborative intelligent planning of the trajectory of the space curve welding robot and the process.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B23K37/02
CPCB23K37/0252B25J9/1664
Inventor 黄宁姚旗张所来章朋田何云军侯振姜坤张玉良
Owner BEIJING SATELLITE MFG FACTORY
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