Arc welding robot collision-free path planning method

A path planning and collision-free technology, which is applied in the direction of manipulators, welding rod characteristics, welding accessories, etc., can solve the problems of not considering the welding direction, not considering the combination of trajectory planning and path planning, and difficult to apply the welding environment, so as to shorten the development cycle. The effect of reducing the cost of experience acquisition and improving welding efficiency

Active Publication Date: 2020-08-11
EAST CHINA UNIV OF SCI & TECH
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Problems solved by technology

However, most of the optimization methods that can be used in the prior art are used in spot welding, and the welding scheme is relatively simple, regardless of the welding direction and the combination of trajectory planning and path planning, so it is difficult to apply to complex welding environments

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  • Arc welding robot collision-free path planning method
  • Arc welding robot collision-free path planning method
  • Arc welding robot collision-free path planning method

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Embodiment Construction

[0043] In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0044] Such as figure 1 As shown, an arc welding robot collision-free path planning method provided by an embodiment of the present invention includes the following steps:

[0045] S1. The grid method and the bounding box method are adopted to establish a welding environment model to determine the obstacle objects and guidance spac...

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Abstract

The invention relates to the technical field of welding robots, in particular to an arc welding robot collision-free path planning method, computer equipment and a computer readable storage medium. The method comprises the steps of building a welding environment model in a grid method and bounding box method hybrid modeling mode, and determining an obstacle object and a guide space; searching forcollision-free transfer tracks between weld joints through an RRT method to form a transfer matrix; and discretizing a difference method through a discrete strategy, dynamically adjusting the variation step length by adopting an adaptive strategy, screening the collision-free transfer tracks in the transfer matrix by taking the welding sequence and the welding direction as objects, and determiningthe shortest collision-free welding path. A complete solution of model establishment, track planning and path planning is provided for a complex welding task, the calculation speed and precision areboth considered, a path reference can be provided for engineers in the face of new products, the experience acquisition cost is reduced, and the development cycle is shortened.

Description

Technical field [0001] The invention relates to the technical field of welding robots, and in particular to a collision-free path planning method for an arc welding robot, computer equipment and computer-readable storage media. Background technique [0002] Arc welding robot path planning refers to planning a reasonable walking path that does not collide with obstacles for the robot's welding task, including: welding sequence design, welding direction design, and trajectory planning of transfer paths between welds. The rationality of path planning can improve the efficiency of welding tasks and reduce costs. [0003] At present, the arc welding path planning program is mainly completed by experienced senior engineers through manual teaching. This method requires higher engineers, the design plan takes a long time, and when new products (new welded workpieces) appear, there is no With the help of guidance, manual teaching is directly used to complete the path planning, and the cost...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K9/28B23K9/32B25J11/00B25J9/16
CPCB23K9/28B23K9/32B25J9/1666B25J11/005
Inventor 王学武夏泽龙顾幸生
Owner EAST CHINA UNIV OF SCI & TECH
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