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Robot friction stir welding track planning method based on offline programming

A technology of friction stir welding and off-line programming, which is applied in the direction of program control of manipulators, manipulators, welding equipment, etc., can solve the problems of not providing complex friction stir welding trajectory planning schemes, etc., to improve production efficiency and welding accuracy, simple and practical operation , The effect of reducing the difficulty of teaching

Pending Publication Date: 2021-11-12
SHANGHAI FANUC ROBOTICS
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Problems solved by technology

[0004] Based on the above problems, the present invention provides a robot friction stir welding trajectory planning method based on off-line programming, aiming to solve technical problems such as not providing a practical complex friction stir welding trajectory planning scheme in the prior art

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  • Robot friction stir welding track planning method based on offline programming
  • Robot friction stir welding track planning method based on offline programming

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Embodiment Construction

[0036] 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.

[0037] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0038] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.

[0039] see figure 1 , the present invention provides a robot friction stir welding trajectory planning method b...

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Abstract

The invention provides a robot friction stir welding track planning method based on offline programming. The robot friction stir welding track planning method comprises the following steps that a three-dimensional model is constructed; the three-dimensional model is imported into offline programming software, the working environment layout of the three-dimensional model is completed by utilizing the offline programming software, tool parameters of a robot are established according to the actual size of a robot clamp, user coordinate system pose parameters of the robot are established according to the positions of a to-be-welded workpiece and a welding tool, and a spline curve is drawn at the welding position of the to-be-welded workpiece to serve as a welding track; the welding track is imported into the offline programming software completing the working environment layout, and a reference welding track is generated according to the three-dimensional model; a robot controller controls the robot to execute the welding process on the to-be-welded workpiece, and an actual welding track is generated; and a deviation value between the actual welding track and the reference welding track is acquired, the reference welding track is corrected by utilizing the deviation value, and therefore a standard welding track is formed. Operation is simple and practical, and production efficiency and welding accuracy are improved.

Description

technical field [0001] The invention relates to the technical field of friction stir welding, in particular to a trajectory planning method for robot friction stir welding based on off-line programming. Background technique [0002] With the improvement of the rigidity and control precision of heavy-duty industrial robots, robot friction stir welding technology and equipment have become an important development direction in the field of friction stir welding in recent years. Industrial robots have high flexibility, can realize complex trajectory movement, make welding of complex structural parts possible, and effectively promote the popularization and application of robot friction stir welding technology. [0003] In the prior art, the robot used for friction stir welding is mainly programmed by manual teaching. Generally, the robot is moved to the corresponding target point by manually operating the teaching pendant, and then the robot motion command is selected, and the po...

Claims

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Application Information

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IPC IPC(8): B23K20/12B25J9/16B25J11/00G06F30/17
CPCB23K20/12B25J9/1605B25J9/1671B25J9/1664B25J11/00G06F30/17
Inventor 陈玉喜曾俊博张杰刘学坤陈吉
Owner SHANGHAI FANUC ROBOTICS
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