Industrial arc welding robot cross swing device and process

Abstract

The invention discloses an industrial arc welding robot cross swing device and process, and relates to the technical field of arc welding, the swing device comprises an arc welding robot base, a plurality of swing arm mechanisms are arranged on the arc welding robot base, and every two adjacent swing arm mechanisms are connected through a joint mechanism; a welding gun body is fixedly arranged at the tail end swing arm mechanism, a welding wire is arranged at the output end of the welding gun body, and the swing arm mechanisms are used for driving the welding gun body to conduct crossed left-right angle swing motion in the weld joint advancing direction. It can be effectively guaranteed that a welding gun nozzle and a welding wire are away from base metal in the swinging process, and wire explosion and arc breaking caused by contact between the welding wire and the edge of the base metal in the vertical direction are prevented; by changing the orientation angle of a welding gun, a welding wire can directly face the left root and the right root of a welding seam, the penetration depth and the welding strength of the left root and the right root are increased, mathematical expressions of a swing track in the X + direction, the Y + direction and the Z + direction are defined, the expressions can be used for accurately controlling movement of a robot, and therefore high-quality welding seam swing welding is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of arc welding, and in particular to a cross-swing device and process for an industrial arc welding robot. Background Art

[0002] An arc welding robot refers to an industrial robot used for automatic arc welding. The arc welding robot is generally composed of a teaching box, a control panel, a robot body, an automatic wire feeding device, a welding power supply, and other parts. The working principle is as follows: the robot is guided by the user and operates step by step according to the actual task. During the guidance process, it automatically memorizes the position, posture, motion parameters, welding parameters, etc. of each action taught, and automatically generates a program for continuous execution of all operations. After the teaching is completed, just give the robot a start command, and the robot will accurately complete all operations step by step according to the taught actions.

[0003] During the welding process, the arc welding robot uses the electric arc as a heat source for welding, and at the same time continuously sprays protective gas from the nozzle of the spray gun to isolate the air from the molten metal in the welding area, so as to protect the electric arc and the liquid metal in the welding pool from being contaminated by oxygen, nitrogen, hydrogen, etc. in the atmosphere, thereby improving the welding quality.

[0004] Arc welding robot swing welding is a method in which the welding gun swings left and right at a specific angle periodically to increase the width of the weld and improve the welding strength. Figure 1 as well as Figure 2 Conventional oscillating welding is a periodic left-right motion of the welding gun in a fixed plane. The disadvantage of this oscillating method is that it is easy to cause contact and collision between the welding gun nozzle, welding wire and welding base material, which directly affects the welding formation and the internal quality of the weld. Summary of the invention

[0005] The purpose of the present invention is to provide an industrial arc welding robot cross-swing device and process to solve the following technical problems:

[0006] Conventional oscillating welding is a left-right periodic motion of the welding gun within a fixed plane; the disadvantage of this oscillating method is that it is easy to cause contact and collision between the welding gun nozzle, welding wire and welding base material, which directly affects the welding formation and the internal quality of the weld.

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] An industrial arc welding robot cross swing device comprises an arc welding robot base, on which a plurality of swing arm mechanisms are arranged, and two adjacent swing arm mechanisms are connected by a joint mechanism;

[0009] The welding gun body is fixedly arranged at the swing arm mechanism at the end, and a welding wire is arranged at the output end of the welding gun body. The swing arm mechanism is used to drive the welding gun body to perform a cross left and right angular swing motion along the forward direction of the weld.

[0010] Preferably, the swing range of the left and right angles is -10°-10°.

[0011] A swinging process of a cross swinging device of an industrial arc welding robot comprises the following steps:

[0012] Establish the weld oscillation coordinate system;

[0013] Determine the swing form and swing formula;

[0014] Add left and right angular swings and interpolate the rotation angle in the X+ direction.

[0015] Preferably, the establishment of the weld swing coordinate system comprises the following steps:

[0016] Define the direction of the welding gun body 1 as the Z+ direction, the weld forward direction as the X+ direction, and the left and right direction of the welding gun body 1 as the Y+ direction;

[0017] A weld seam swing coordinate system is established according to the right-hand rule and the optimized X+, Y+, and Z+ directions. The weld seam swing coordinate system is used to control the movement of the welding gun body on the weld seam.

[0018] Define the position offset P relative to the robot base coordinate system c and the rotation matrix R c ;

[0019] Define the weld coordinate system expression g c , weld coordinate system expression g c for:

[0020] Preferably, the swing form includes but is not limited to a sine wave, a triangle wave or a square wave.

[0021] Preferably, the determination of the swing form and the swing formula comprises the following steps:

[0022] Based on the swing frequency f and the swing amplitude A, the basic parameters of the swing and the value of the swing position in the Y+ direction are determined; specifically, based on the swing frequency f and the swing amplitude A, the basic parameters of the swing and the value of the swing position in the Y+ direction are determined; wherein the swing frequency f is the number of swings per unit time, and the swing amplitude A is the maximum deviation distance of the swing from the center line. These parameters jointly determine the speed and amplitude of the swing, which have an important influence on the welding effect; in the weld coordinate system, the Y+ direction usually represents the lateral position of the weld. This step is to determine the specific position or range of the swing in the Y+ direction to ensure that the swing can cover the entire weld width or follow a predetermined trajectory;

[0023] The swing trajectory is expressed based on the weld coordinate system, and its expressions in the X+, Y+ and Z+ directions of the weld coordinate system are defined.

[0024] Specifically, the swing trajectory is the actual movement path of the welding gun when the robot performs swing welding. This step is to analyze and determine the shape and characteristics of the swing trajectory to ensure that the welding process can be carried out in a predetermined manner; define the mathematical expressions of the swing trajectory in the three directions of X+, Y+ and Z+. These expressions can be used to accurately control the movement of the robot to achieve high-quality weld swing welding;

[0025] Preferably, the expressions of the swing trajectory in each direction in the weld coordinate system are as follows:

[0026] X w =F x (A x , f x ) Y w =F y (A y , f y ) Z w =F z (A z , f z )

[0027] Among them, F is the formula for generating the oscillating welding trajectory, and the generated formula is a sinusoidal oscillation formula;

[0028] The formula for sinusoidal oscillation is F = A·sin(2π·f·s+φ);

[0029] Based on the sinusoidal oscillation formula and various expressions, the superposition matrix g based on the weld coordinate system is obtained: w The definition is as follows:

[0030]

[0031] Among them, P w represents the offset of the swing position estimate relative to the robot base coordinate system, R w Represents its rotation matrix.

[0032] Preferably, the α w is the rotation matrix of the weld coordinate system in the X+ direction around the robot polar coordinate system, and its expression is as follows:

[0033] α w =F α (A α , f α )

[0034] Among them, F αThis is the formula for generating the posture of pendulum welding in the X+ direction.

[0035] Preferably, when the robot is not swinging and moves along the main weld, the kinematic formula between the robot end trajectory and the robot joint mechanism is as follows:

[0036]

[0037] Among them, θ is the angle of each joint mechanism of the robot, g e represents the posture of the robot end in Cartesian space, R t (α) is the rotation matrix of the weld coordinate system relative to the robot coordinate system, P t (X, Y, Z) is the position offset of the weld coordinate system relative to the base coordinate system. The swing trajectory is superimposed on the trajectory of the main weld. The superposition formula is as follows:

[0038] P e =P t +R c P w

[0039]

[0040] Among them, P e is the position offset of the weld coordinate system after the swing trajectory is superimposed, R e The rotation matrix after superimposing the swing trajectory on the weld coordinate system is the final calculation matrix.

[0041] Preferably, the final calculation matrix is ​​converted into the robot coordinate system, the robot forward and inverse kinematics model is established, and the inverse solution operation is performed to obtain the actual angle of each joint mechanism:

[0042]

[0043] Beneficial effects of the present invention:

[0044] (1) The present invention can effectively ensure that the welding gun nozzle and welding wire are away from the base material during the swinging process, and prevent the welding wire from contacting the edge of the base material in the vertical direction, causing wire explosion and arc breakage; specifically, when driving the welding gun body for welding, the present invention increases the left and right angular swing of the welding gun body through the cooperation of the swing arm mechanism and the joint mechanism on the basis of the original conventional fixed plane swing of the welding gun body, and also increases the operating angle or tilt angle, so that during the swinging process of the welding gun body, not only the position of the end of the welding wire changes, but also the posture of the welding gun body changes in real time according to the specified angle; ensure that the nozzle and welding wire of the welding gun body are away from the base material during the swinging process, and prevent the welding wire from contacting the edge of the base material in the vertical direction, causing wire explosion and arc breakage; at the same time, the posture of the welding gun body is directly related to the welding quality, and changing the orientation angle of the welding gun body can make the welding wire face the left and right roots of the weld, thereby increasing the penetration depth and welding strength of the left and right roots;

[0045] (2) The present invention can change the direction angle of the welding gun so that the welding wire can be directly opposite to the left and right roots of the weld, thereby increasing the penetration depth and welding strength of the left and right roots; specifically, according to the right-hand rule, after determining the three directions of X+, Y+, and Z+, the present invention can establish a complete rectangular coordinate system, which is used to describe the position and shape of the weld, as well as the swing of the welding gun body relative to the weld. The weld swing coordinate system is usually used to control the precise movement of the welding gun body 1 on the weld to achieve high-quality welding; the swing trajectory is the actual movement path of the welding gun when the robot performs swing welding. This step is to analyze and determine the shape and characteristics of the swing trajectory to ensure that the welding process can be carried out in a predetermined manner; define mathematical expressions of the swing trajectory in the three directions of X+, Y+, and Z+, which can be used to accurately control the movement of the robot to achieve high-quality weld swing welding;

[0046] (3) The present invention solves the root fusion problem of the right-angle weld, reduces the rework caused by root quality problems, improves welding quality, and improves efficiency;

[0047] (4) The present invention determines the basic parameters of the swing and the value of the swing position in the Y+ direction based on the swing frequency f and the swing amplitude A; wherein the swing frequency f is the number of swings per unit time, and the swing amplitude A is the maximum deviation of the swing from the center line. These parameters jointly determine the speed and amplitude of the swing, which have an important influence on the welding effect; in the weld coordinate system, the Y+ direction usually represents the lateral position of the weld. This step is to determine the specific position or range of the swing in the Y+ direction to ensure that the swing can cover the entire weld width or follow a predetermined trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The present invention will be further described below in conjunction with the accompanying drawings.

[0049] Figure 1 It is a schematic diagram of the structure of the welding gun moving along the forward direction of the weld;

[0050] Figure 2 It is a structural schematic diagram of a welding gun in the prior art performing left-right periodic motion along a fixed plane;

[0051] Figure 3 It is a schematic diagram of the structure of the welding gun of the present invention when it swings along the increasing left and right angles;

[0052] Figure 4 It is a structural schematic diagram of the arc welding robot of the present invention;

[0053] Figure 5 The present invention is a schematic diagram of the process flow of a cross-swing process of an industrial arc welding robot.

[0054] In the figure: 1, welding gun body; 2, arc welding robot base; 101, welding wire; 201, swing arm mechanism; 202, joint mechanism. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] Example 1

[0057] See also Figure 3 As shown, the present invention is a cross-swing device for an industrial arc welding robot, including an arc welding robot base 2, on which a plurality of swing arm mechanisms 201 are arranged, two adjacent swing arm mechanisms 201 are connected by a joint mechanism 202, and a servo drive device is arranged at the joint mechanism 202 to drive the swing arm mechanism 201 to rotate around the joint mechanism 202; specifically, the arc welding robot base 2 is arranged as a rotating base to drive the swing arm mechanism 201 to rotate circumferentially.

[0058] It should be noted that the industrial arc welding robot in this embodiment is a 6-axis robot.

[0059] In this embodiment, please refer to Figure 4 The welding gun body 1 is fixedly arranged at the swing arm mechanism 201 at the end, and the output end of the welding gun body 1 is provided with a welding wire 101. The swing arm mechanism 201 is used to drive the welding gun body 1 to perform a cross swinging motion along the forward direction of the weld;

[0060] Specifically, when the welding gun body 1 is driven to perform welding, the present embodiment increases the left and right angular swing of the welding gun body 1 by cooperating with the swing arm mechanism 201 and the joint mechanism 202 on the basis of the original conventional fixed plane swing of the welding gun body 1, and also increases the operating angle or the tilt angle, so that during the swinging process of the welding gun body 1, not only the end position of the welding wire 101 changes, but also the posture of the welding gun body 1 changes in real time according to the specified angle; during the swinging process, the nozzle of the welding gun body 1 and the welding wire 101 are ensured to be away from the base material to prevent the welding wire 101 from vertically contacting the edge of the base material to cause wire explosion and arc breaking; at the same time, the posture of the welding gun body 1 is directly related to the welding quality, and by changing the orientation angle of the welding gun body 1, the welding wire 101 can be directed to the left and right roots of the weld, thereby increasing the penetration depth and welding strength of the left and right roots.

[0061] In this embodiment, when the left and right angles are set to 0°, the posture of the welding gun body 1 remains unchanged during the swinging process and is always perpendicular to the weld. When the left and right angles are not 0°, the posture of the welding gun body 1 changes accordingly during the swinging process. The left and right angles are the maximum angles of the welding gun body 1 when it swings, and the range of the left and right angles is -10°-10°.

[0062] Example 2

[0063] Based on Example 1, please refer to Figure 5 , an industrial arc welding robot cross swing process, comprising the following steps:

[0064] S100, establishing a weld swing coordinate system;

[0065] For details, please refer to Figure 1 , establishing the weld swing coordinate system includes the following steps:

[0066] S101, define the orientation of the welding gun body 1 as the Z+ direction, the weld advancing direction as the X+ direction, and the left and right direction of the welding gun body 1 as the Y+ direction;

[0067] Among them, the Z+ direction refers to the direction in which the welding gun nozzle points, which is usually defined as the positive direction of the Z axis. During the welding process, the welding gun welds along this direction; the X+ direction is the direction of the welding speed, that is, the direction in which the welding gun body 1 moves on the workpiece; in this embodiment, it is defined as the positive direction of the X axis; the Y+ direction is perpendicular to the welding gun direction (Z+) and the welding forward direction (X+). Based on the right-hand rule (the thumb of the right hand points to Z+, the index finger points to X+, and the middle finger points to Y+), the positive direction of the Y axis can be obtained;

[0068] It should also be noted that after the Z+ and Y+ directions are determined, the X+ direction needs to be readjusted to ensure that it is a unit vector and is orthogonal to the Y and Z axes; specifically, this is to ensure the accuracy of the coordinate system, because in actual operation, due to various factors (such as mechanical errors, workpiece deformation, etc.), the initially defined X+ direction is not completely accurate;

[0069] S102, establishing a weld swing coordinate system according to the right-hand rule and the optimized X+, Y+, and Z+ directions;

[0070] Specifically, according to the right-hand rule, after determining the three directions of X+, Y+, and Z+, a complete rectangular coordinate system can be established. This coordinate system is used to describe the position and shape of the weld, as well as the swing of the welding gun body relative to the weld. The weld swing coordinate system is usually used to control the precise movement of the welding gun body 1 on the weld to achieve high-quality welding;

[0071] In addition, it should be noted that the swinging method of the welding gun body 1 depends largely on the direction of the TCP (tool center point) tool coordinate system, so it is necessary to set a higher TCP precision as much as possible to ensure the accuracy of the coordinate system;

[0072] S103, define the position offset P relative to the robot base coordinate system c and the rotation matrix R c ;

[0073] Specifically, the position offset P c : This is the position offset of the weld coordinate system origin relative to the robot base coordinate system origin, which describes the position of the weld in the entire workspace.

[0074] Rotation matrix R c : This is the rotation matrix of the weld coordinate system relative to the robot base coordinate system, which describes the orientation of the weld coordinate system relative to the base coordinate system;

[0075] S104. Define the weld coordinate system expression g c , weld coordinate system expression g c It is used to guide the motion control of the welding robot to achieve accurate swing welding of the weld. The weld coordinate system expression g c as follows:

[0076]

[0077] S200, determining a swing form and a swing formula; wherein the swing form includes but is not limited to a sine wave, a triangle wave or a square wave;

[0078] Specifically, the determination of the swing form and the swing formula includes the following steps:

[0079] S201. Determine the basic parameters of the swing and the value of the swing position in the Y+ direction based on the swing frequency f and the swing amplitude A; wherein the swing frequency f is the number of swings per unit time, and the swing amplitude A is the maximum deviation of the swing from the center line. These parameters jointly determine the speed and amplitude of the swing, which have an important impact on the welding effect; in the weld coordinate system, the Y+ direction usually represents the lateral position of the weld. This step is to determine the specific position or range of the swing in the Y+ direction to ensure that the swing can cover the entire weld width or follow a predetermined trajectory;

[0080] S202. Consider the robot swing trajectory. The swing trajectory is expressed based on the weld coordinate system. The expressions for the robot swing trajectory in the X+, Y+ and Z+ directions of the weld coordinate system are defined as follows:

[0081] X w =F x (A x , f x)Y w =F y (A y , f y )Z w =F z (A z , f z )

[0082] Among them, F is the generation formula of the pendulum welding trajectory, and the generated formula is the sinusoidal swing formula; the sinusoidal swing formula is F = A sin(2π f s + φ); based on the sinusoidal swing formula and various expressions, the superposition matrix g based on the weld coordinate system is obtained w The definition is as follows:

[0083]

[0084] Among them, P w represents the offset of the swing position estimate relative to the robot base coordinate system, R w Represents its rotation matrix.

[0085] Specifically, the swing trajectory is the actual movement path of the welding gun when the robot performs swing welding. This step is to analyze and determine the shape and characteristics of the swing trajectory to ensure that the welding process can be carried out in a predetermined manner; define the mathematical expressions of the swing trajectory in the three directions of X+, Y+ and Z+. These expressions can be used to accurately control the movement of the robot to achieve high-quality weld swing welding;

[0086] In this embodiment, the mathematical expression of the weld seam swing trajectory in the three directions of the weld seam coordinate system X+, Y+ and Z+ is derived by analyzing the kinematic and dynamic characteristics of the welding robot and combining the weld seam shape and size.

[0087] S300, increase the left and right angular swing, and perform interpolation operation on the rotation angle in the X+ direction;

[0088] Specifically, F α is the formula for generating the posture of pendulum welding in the X+ direction; α w is the rotation matrix of the weld coordinate system in the X+ direction around the robot polar coordinate system, and its expression is as follows:

[0089] α w =F α (A α , f α )

[0090] In this embodiment, when the robot is not swinging and moves along the main weld, the kinematic formula between the robot end trajectory and the robot joint mechanism 202 is as follows:

[0091]

[0092] Wherein, θ is the angle of each joint mechanism 202 of the 6-axis robot, g e represents the posture of the robot end in Cartesian space, R t (α) is the rotation matrix of the weld coordinate system relative to the robot coordinate system, P t (X, Y, Z) is the position offset of the weld coordinate system relative to the base coordinate system. The swing trajectory is superimposed on the trajectory of the main weld. The superposition formula is as follows:

[0093] P e =P t +R c P w

[0094]

[0095] Among them, P e is the position offset of the weld coordinate system after the swing trajectory is superimposed, R e The rotation matrix after the welding bead coordinate system is superimposed with the swing trajectory is the final calculation matrix. The final calculation matrix is ​​converted into the robot coordinate system, the robot forward and inverse kinematics model is established, and the inverse solution operation is performed to obtain the actual angle of each joint mechanism 202:

[0096] In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, and a specific direction structure and operation, and therefore, cannot be understood as a limitation of the present invention. In addition, "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0097] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0098] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. An industrial arc welding robot cross swing device, comprising an arc welding robot base, on which a plurality of swing arm mechanisms are arranged, and two adjacent swing arm mechanisms are connected by a joint mechanism; It is characterized in that The welding gun body is fixedly arranged at the swing arm mechanism at the end, and a welding wire is arranged at the output end of the welding gun body. The swing arm mechanism is used to drive the welding gun body to perform a cross left and right angular swing motion along the forward direction of the weld.

2. The cross-swing device of an industrial arc welding robot according to claim 1, characterized in that: The swing range of the left and right angles is -10°-10°.

3. A swinging process of the cross swinging device of the industrial arc welding robot as claimed in claim 1, characterized in that: The steps include: Establish the weld oscillation coordinate system; Determine the swing form and swing formula; Add left and right angular swings and interpolate the rotation angle in the X+ direction.

4. The swing process of the cross swing device of an industrial arc welding robot according to claim 3 is characterized in that: The establishment of the weld oscillation coordinate system comprises the following steps: Define the direction of the welding gun body 1 as the Z+ direction, the weld forward direction as the X+ direction, and the left and right direction of the welding gun body 1 as the Y+ direction; A weld seam swing coordinate system is established according to the right-hand rule and the optimized X+, Y+, and Z+ directions. The weld seam swing coordinate system is used to control the movement of the welding gun body on the weld seam. Define the position offset P relative to the robot base coordinate system c and the rotation matrix R c ; Define the weld coordinate system expression g c , weld coordinate system expression g c for:

5. The swinging process of the cross swinging device of an industrial arc welding robot according to claim 2 is characterized in that: The swing form includes but is not limited to a sine wave, a triangle wave or a square wave.

6. The swinging process of the cross swinging device of an industrial arc welding robot according to claim 1 is characterized in that: The determination of the swing form and the swing formula comprises the following steps: Based on the swing frequency f and the swing amplitude A, the basic parameters of the swing and the value of the swing position in the Y+ direction are determined; The swing trajectory is expressed based on the weld coordinate system, and its expressions in the X+, Y+ and Z+ directions of the weld coordinate system are defined.

7. The swing process of the cross swing device of an industrial arc welding robot according to claim 6, characterized in that: The expressions of the swing trajectory in each direction in the weld coordinate system are as follows: X w =F x (A x ,f x ) Y w =F y (A y ,f y ) Z w =F z (A z ,f z ) Among them, F is the formula for generating the oscillating welding trajectory, and the generated formula is a sinusoidal oscillation formula; The formula for sinusoidal oscillation is F = A·sin(2π·f·s+φ); Based on the sinusoidal oscillation formula and various expressions, the superposition matrix g based on the weld coordinate system is obtained: w The definition is as follows: Among them, P w represents the offset of the swing position estimate relative to the robot base coordinate system, R w Represents its rotation matrix.

8. The swing process of the cross swing device of an industrial arc welding robot according to claim 7, characterized in that: The α w is the rotation matrix of the weld coordinate system in the X+ direction around the robot polar coordinate system, and its expression is as follows: a w =F α (A α ,f α ) Among them, F α This is the formula for generating the posture of pendulum welding in the X+ direction.

9. The swinging process of the cross swinging device of an industrial arc welding robot according to claim 8, characterized in that: When the robot is not swinging and moves along the main weld, the kinematic formula between the robot end trajectory and the robot joint mechanism is as follows: Among them, θ is the angle of each joint mechanism of the robot, g e represents the posture of the robot end in Cartesian space, R t (α) is the rotation matrix of the weld coordinate system relative to the robot coordinate system, P t (X, Y, Z) is the position offset of the weld coordinate system relative to the base coordinate system. The swing trajectory is superimposed on the trajectory of the main weld. The superposition formula is as follows: P e =P t +R c P w Among them, P e is the position offset of the weld coordinate system after the swing trajectory is superimposed, R e The rotation matrix after superimposing the swing trajectory on the weld coordinate system is the final calculation matrix.

10. The swing process of the cross swing device of an industrial arc welding robot according to claim 9, characterized in that: Convert the final calculation matrix into the robot coordinate system, establish the robot forward and inverse kinematics model, and perform inverse calculation to obtain the actual angle of each joint mechanism:

Images