A Weaving Weaving Trajectory Planning Method for Welding Robot

Abstract

The invention discloses a method for planning a welding robot's swing welding trajectory. During the operation of the robot, a dynamic local swing coordinate system is established in real time and a space superposition vector is constructed to form a composite motion, so that the welding torch at the end of the robot can be welded with an "L"-shaped trajectory. Alternate weaving welding on the surface of the parts. The method disclosed in the present invention is simple and convenient to teach and operate, the amount of calculation in the control system is small, the logic is simple, and it is easy to implement; it can realize the curved weaving trajectory formed by the space curved surface and the plane, and has good versatility; the final weaving trajectory section presents "L" type can ensure the bonding between the welding torch and the surface of the weldment, and realize the full filling of the solder; it supports the introduction of any form of weaving trajectory displacement function in the planning, and the swing type presented by the displacement function supports the user to flexibly according to the actual welding needs The selection supports the operation logic of speed planning, which can ensure the stability of the robot's movement during the welding operation.

Description

technical field [0001] The invention relates to a method for planning a weaving welding trajectory of a welding robot. Background technique [0002] Welding robots have been widely used in automated welding operations. The swing welding of welding robots means that the end tool of the robot is moving along the direction of the weld while continuously swinging at a set amplitude and frequency for welding, referred to as swing welding. In the welding operation, there is often a combination of curved surface weldment and flat weldment. At this time, the weld is curved, there is a certain angle between the weldment and the weldment, and there may even be a gap in the weld. In this case, the pendulum The welding trajectory movement can expand the actual welding range and achieve high-strength and high-efficiency welding effects, which has practical engineering significance. [0003] At present, there are relatively few studies on the planning method of arc swing trajectory for w...

AI Technical Summary

Problems solved by technology

However, this method solves the interpolation points in the space path according to the trajectory characteristics of the triangular pendulum, so it is only suitable for arc welding of the triangular pendulum, and cannot be applied to other swing forms such as sinusoidal pendulum and trapezoidal pendulum. There is a distance from the welding seam, on the one hand, the swing range will be limited, and on the other hand, the solder will not be fully filled, which will affect the firmness of the welding

In addition, because this method only determines the interpolation points at the swing amplitude, the controller needs to make the end of the robot pass through these points in the form of multiple linear motion instructions, without introducing speed planning, and it cannot guarantee that the robot has a relatively high speed during operation. good athletic performance

Chinese patent CN201810984979.9 discloses a space circular arc weaving welding interpolation method for an arc welding robot. This method adopts an "L" type weaving welding method to obtain a sinusoidal weaving trajectory that alternately swings on a cylindrical surface and a plane. The implementation method in the patent is based on the sine pendulum, which also belongs to a special type of weaving welding. When the type of weaving welding changes, the arc length calculation formula of the sine curve cannot be directly used, and the difficulty of solving increases accordingly, which is not universal. , and this method uses a large number of numerical calculation methods in the planning process, the calculation method and logic are relatively complicated, and the realizability in the actual application process is poor

Images