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Arc 8-shaped swing arc path planning algorithm capable of quickly adjusting posture of welding gun

A fast-adjustment, figure-of-eight technology, applied in the direction of welding equipment, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve the problems of inability to adjust welding process parameters, low work efficiency, low teaching time, etc., and shorten the teaching time time, reduce operating time, improve welding efficiency and welding quality

Active Publication Date: 2021-08-03
GUANGXI UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, due to the complexity of the posture teaching, the teaching of the welding torch posture takes up a lot of teaching time, and the traditional teaching cannot adjust the welding process parameters at any time during the actual welding process, resulting in low work efficiency

Method used

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  • Arc 8-shaped swing arc path planning algorithm capable of quickly adjusting posture of welding gun
  • Arc 8-shaped swing arc path planning algorithm capable of quickly adjusting posture of welding gun
  • Arc 8-shaped swing arc path planning algorithm capable of quickly adjusting posture of welding gun

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Embodiment Construction

[0104] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0105] as attached figure 1 As shown in the flow chart, the present invention discloses a planning algorithm for the circular arc figure-of-eight swing path that can quickly adjust the posture of the welding torch, including the following steps:

[0106] Step 1: Acquisition of teaching points: Obtain a 3 teaching points P through manual teaching s ,P m and P e ;

[0107] Step 2: Take 3 teaching points P s ,P m and P e defined arc O c Establish an arc coor...

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Abstract

The invention discloses an arc 8-shaped swing arc path planning algorithm capable of quickly adjusting a posture of a welding gun. The planning algorithm comprises the following steps of: carrying out position teaching on an arc welding seam according to any welding gun posture, and adding a welding gun working angle to adjust the posture of a welding gun to obtain a welding surface; calculating an offset vector from path interpolation points to the welding surface according to a geometrical relationship between the welding surface and the workpiece; calling an arc 8-shaped swing arc path generation algorithm to obtain position information of each swing interpolation point on a swing model based on a robot absolute coordinate system according to parameters such as a welding gun swing amplitude and a robot tail end linear speed; and establishing a welding gun coordinate system, adding a welding gun walking angle to adjust the welding gun posture, and calculating a welding gun posture change matrix to obtain the posture value of each swing interpolation point in the robot welding process. According to the method, new path planning for quickly adjusting the posture of the welding gun can be realized, and the teaching efficiency and the welding quality of an industrial robot are improved.

Description

technical field [0001] The invention relates to the field of path planning for welding robots, in particular to a planning algorithm for a figure-of-eight swing arc path of an arc that can quickly adjust the posture of a welding torch in the field of path planning for welding robots. Background technique [0002] In recent years, advanced industrial countries have achieved very rapid development in robot research. Robots are widely used in industrial production, and are used more and more in automobile manufacturing, welding, spraying, construction, handling and palletizing, assembly and other operations. However, due to the complexity of posture teaching, the teaching of welding torch posture takes up a lot of teaching time, and the traditional teaching cannot adjust the welding process parameters at any time during the actual welding process, resulting in low work efficiency. Therefore, it is urgent to find a new method, so that in the actual welding process, welding with ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B23K37/02
CPCB25J9/1664B23K37/0252
Inventor 陈琳刘冠良李睿亮李松莛梁旭斌潘海鸿梁安潘寿岭张琦伟
Owner GUANGXI UNIV
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