Welding optimization method based on six-axis robot

Abstract

The invention discloses a welding optimization method based on a six-axis robot. The welding optimization method comprises the steps that firstly, a required welding track on a welding part is obtained; secondly, the initial distance between each joint of the six-axis robot and the welding seam, the initial distance between the tail end of a welding gun of the six-axis robot and the welding seam, the initial joint rotation angle of each joint of the six-axis robot, the initial angle between the tail end of the welding gun of the six-axis robot and the welding seam, the maximum width of the welding seam and the minimum width of the welding seam are collected; step 3, calculating a joint rotation angle and a torque of the six-axis robot; step 4, welding a welding seam, tracking a real-time welding track, comparing the real-time welding track with a required welding track, and if welding deviation is generated, compensating the welding deviation; and fifthly, welding is completed. The device has the characteristics of automatically controlling the welding operation and improving the welding efficiency and stability.

Description

technical field [0001] The present invention relates to the technical field of welding equipment, and more specifically, the present invention relates to a welding optimization method based on a six-axis robot. Background technique [0002] With the development of society, the level of my country's manufacturing industry has also been greatly improved. In the fields of industrial manufacturing, heating, nuclear energy and electric power, the requirements for welding are also higher. [0003] In the traditional manufacturing industry construction operations, most of the equipment that needs to be welded is large-scale equipment, the quality is heavier, the structure is more complicated, and the requirements for welding seam precision and welding quality are also higher. In order to ensure the quality of workpiece welding, manual methods are widely used at present. , and requires the welding tool to have a super high technical level, but because the workpiece is prone to displ...

AI Technical Summary

Problems solved by technology

[0005] However, the accuracy of intelligent robots for complex welds is low, and because the trajectory planning is too complicated, the amount of calculation is too large, and the welding parameters and welding torch posture are relatively solid, and the program is too templated, which cannot be used for complex welds. make real-time changes

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