CN107570847A - A kind of welding gun Quintic spline weave bead welding method for planning track, controller and system - Google Patents
A kind of welding gun Quintic spline weave bead welding method for planning track, controller and system Download PDFInfo
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- CN107570847A CN107570847A CN201710631443.4A CN201710631443A CN107570847A CN 107570847 A CN107570847 A CN 107570847A CN 201710631443 A CN201710631443 A CN 201710631443A CN 107570847 A CN107570847 A CN 107570847A
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Abstract
The invention discloses a kind of welding gun Quintic spline weave bead welding method for planning track, controller and system.Wherein this method includes scanning weld seam, and then determines the swing parameter of welding gun；The swing parameter includes amplitude of fluctuation, hunting period, left margin residence time, right margin residence time and center slew rate ratio；The basic function of selected Quintic spline weave bead welding wavy curve, basic function and center slew rate ratio based on Quintic spline weave bead welding wavy curve, tries to achieve speed of the electrode in oscillation center, i.e. pivot speed；According to the characteristic of Quintic spline weave bead welding wavy curve, Quintic spline weave bead welding wavy curve model is constructed, in conjunction with parameter and pivot speed is swung, tries to achieve the horizontal swing displacement of electrode at any time；The horizontal swing of electrode at any time is displacement superposed into electrode trace, finally give the track of welding gun Quintic spline weave bead welding.The present invention substantially reduces vibration and the mechanical wear of executing agency, improves and swings performance and production efficiency.
Description
Technical field
The invention belongs to welding gun welding track planning field, more particularly to a kind of welding gun Quintic spline weave bead welding trajectory planning
Method, controller and system.
Background technology
In production application, in order to ensure steel plate, the welding of big weld seam reliability, often take the mode of weave bead welding
To improve.Weave bead welding refers to that electrode does regular horizontal swing while being moved along weld line direction, and weave bead welding is not only
Weld width one can be increased and improve the production efficiency of welding, and lack of side wall fusion can be avoided and then improve welding matter
Amount.In the little continuous line welding of loading, weave bead welding can realize higher welding efficiency, preferably weldering than multi-pass welding
Quality and more attractive weld appearance are connect, therefore it is indispensable technique in intersection automatic Arc Welding.
By the track of oscillating electrode along straight line in plane fanning, the trochoidal wave form of electrode can be obtained, referred to as weave bead welding
Waveform.The waveform of weave bead welding increases oscillation center and left and right side on this basis typically using triangular wave or sine wave as fundamental wave
Boundary stops.
The realization of intersection weave bead welding has three kinds of schemes.The first scheme is to add to swing between welding gun and mechanical arm
Device.The control process of this scheme is the simplest, but the bulky wig-wag of volume can increase the burden of mechanical arm, and may
It can cause to interfere.Second scheme is that the swing of electrode is incorporated into track in the track planning stage.The third scheme is not
Oscillating motion is included in the track of pre-execution, but wobbling action is added in real time in TRAJECTORY CONTROL.
Arc welding robot is furnished with weave bead welding function more at present, and it needs to set each section in track programming phases (being mostly teaching)
The swinging plane or swaying direction in path.The straight weld and arch welded joint fixed for swinging plane, can be by setting each section
Path swings parameter and realizes weave bead welding；And for intersection welding seam that swinging plane persistently changes, it may be difficult to use arc-welding machine
The weave bead welding function that people has by oneself.
The content of the invention
In order to solve the deficiencies in the prior art, the invention provides a kind of welding gun Quintic spline weave bead welding trajectory planning side
Method, it can reduce the vibration of executing agency and mechanical wear, improve and swing performance and production efficiency.
In order to achieve the above object, the present invention adopts the following technical scheme that：
A kind of welding gun Quintic spline weave bead welding method for planning track, including：
Step 1：Weld seam is scanned, and then determines the swing parameter of welding gun；The swing parameter includes amplitude of fluctuation, swings week
Phase, left margin residence time, right margin residence time and center slew rate ratio；
Step 2：The basic function of selected Quintic spline weave bead welding wavy curve, based on Quintic spline weave bead welding wavy curve
Basic function and center slew rate ratio, try to achieve speed of the electrode in oscillation center, i.e. pivot speed；
Step 3：According to the characteristic of Quintic spline weave bead welding wavy curve, Quintic spline weave bead welding wavy curve mould is constructed
Type, in conjunction with parameter and pivot speed is swung, try to achieve the horizontal swing displacement of electrode at any time；Wherein, five samples
The characteristic of bar weave bead welding wavy curve includes：
A) Quintic spline weave bead welding wavy curve Second Order Continuous can be micro-；
B) hunting period, amplitude of fluctuation, right boundary residence time and pivot speed are adjustable；
Step 4：The horizontal swing of electrode at any time is displacement superposed into electrode trace, finally give welding gun five times
The track of batten weave bead welding.
Further, in the step 2, the basic function of the Quintic spline weave bead welding wavy curve is SIN function or remaining
String function.
Wherein, sin cos functionses are most typical periodicity high-order continuously differentiable functions.It is existing a kind of based on sine wave
The weave bead welding waveform stopped with right boundary, such weave bead welding waveform segments function is simple, and hunting period and right boundary stop
Stay the time adjustable, electrode movement speed is continuous, and the executing agency swung is produced suitable for arc welding robot etc. itself.Its monocycle
Interior wave function is：
In formula：δ is horizontal swing displacement；A is amplitude of fluctuation；T,Tl,TrWhen respectively hunting period, left margin stop
Between and the right margin residence time.
Further, in the step 2, the basic function of the Quintic spline weave bead welding wavy curve is except sin cos functionses
Outside, trigonometric function can also be selected.
Further, when the basic function of Quintic spline weave bead welding wavy curve is SIN function or cosine function, pass through
Ask for the derivative of the basic function of Quintic spline weave bead welding wavy curve, you can obtain pivot speed.
According to sinusoidal waveform function, its derivative is asked to calculate speed v of the electrode in oscillation center：
Present invention also offers a kind of welding gun Quintic spline weave bead welding trajectory planning controller.
The welding gun Quintic spline weave bead welding trajectory planning controller of the present invention, including：
Parameter determination module is swung, it is used to scan weld seam, and then determines the swing parameter of welding gun；The swing parameter bag
Include amplitude of fluctuation, hunting period, left margin residence time, right margin residence time and center slew rate ratio；
Pivot speed asks for module, and it is used for the basic function for selecting Quintic spline weave bead welding wavy curve, based on five
The basic function and center slew rate ratio of secondary batten weave bead welding wavy curve, try to achieve speed of the electrode in oscillation center, i.e. pivot
Speed；
Displacement computing module is swung laterally, it is used for the characteristic according to Quintic spline weave bead welding wavy curve, constructs five
Secondary batten weave bead welding wavy curve model, in conjunction with parameter and pivot speed is swung, try to achieve the horizontal stroke of electrode at any time
To swing displacement；Wherein, the characteristic of Quintic spline weave bead welding wavy curve includes：
A) Quintic spline weave bead welding wavy curve Second Order Continuous can be micro-；
B) hunting period, amplitude of fluctuation, right boundary residence time and pivot speed are adjustable；
Module is asked in track, and the horizontal swing that it is used for by electrode at any time is displacement superposed into electrode trace, most
The track of welding gun Quintic spline weave bead welding is obtained eventually.
Further, in the pivot speed asks for module, the basic function of Quintic spline weave bead welding wavy curve
For SIN function or cosine function.
Wherein, sin cos functionses are most typical periodicity high-order continuously differentiable functions.It is existing a kind of based on sine wave
The weave bead welding waveform stopped with right boundary, such weave bead welding waveform segments function is simple, and hunting period and right boundary stop
Stay the time adjustable, electrode movement speed is continuous, and the executing agency swung is produced suitable for arc welding robot etc. itself.Its monocycle
Interior wave function is：
In formula：δ is horizontal swing displacement；A is amplitude of fluctuation；T,Tl,TrWhen respectively hunting period, left margin stop
Between and the right margin residence time.
Further, in the pivot speed asks for module, the base of the Quintic spline weave bead welding wavy curve
Function can also select trigonometric function in addition to sin cos functionses.
Further, when the basic function of Quintic spline weave bead welding wavy curve is SIN function or cosine function, pass through
Ask for the derivative of the basic function of Quintic spline weave bead welding wavy curve, you can obtain pivot speed.
Present invention also offers a kind of welding gun Quintic spline weave bead welding Trajectory Planning System.
The welding gun Quintic spline weave bead welding Trajectory Planning System of the present invention, including welding gun Quintic spline described above are swung
Weld trajectory planning controller.
Further, the system also includes display, itself and the welding gun Quintic spline weave bead welding trajectory planning controller
It is connected.
Compared with prior art, the beneficial effects of the invention are as follows：
By the welding gun Quintic spline weave bead welding method for planning track of the present invention, obtained welding gun track has swinging track
Smooth, the characteristics of swing speed and acceleration are continuous, the characteristics of due to the above, substantially reduce vibration and the raising of executing agency
Swing performance.
Brief description of the drawings
The Figure of description for forming the part of the application is used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its illustrate be used for explain the application, do not form the improper restriction to the application.
Fig. 1 is the welding gun Quintic spline weave bead welding method for planning track flow chart of the present invention.
Fig. 2 (a) is the swing displacement diagram of sine wave wobble weldering motion；
Fig. 2 (b) is the swing speed figure of sine wave wobble weldering motion；
Fig. 3 (a) is the horizontal swing displacement diagram of Quintic spline weave bead welding motion；
Fig. 3 (b) is the swing speed figure of Quintic spline weave bead welding motion；
Fig. 3 (c) is the acceleration diagram of Quintic spline weave bead welding motion；
Fig. 4 is the structural representation of the welding gun Quintic spline weave bead welding trajectory planning controller of the present invention.
Embodiment
It is noted that described further below is all exemplary, it is intended to provides further instruction to the application.It is unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
Fig. 1 is the welding gun Quintic spline weave bead welding method for planning track flow chart of the present invention.
As shown in figure 1, the welding gun Quintic spline weave bead welding method for planning track of the present invention, including：
Step 1：Weld seam is scanned, and then determines the swing parameter of welding gun；The swing parameter includes amplitude of fluctuation, swings week
Phase, left margin residence time, right margin residence time and center slew rate ratio；
Step 2：The basic function of selected Quintic spline weave bead welding wavy curve, based on Quintic spline weave bead welding wavy curve
Basic function and center slew rate ratio, try to achieve speed of the electrode in oscillation center, i.e. pivot speed；
In the step 2, the basic function of the Quintic spline weave bead welding wavy curve is SIN function or cosine function.
Wherein, sin cos functionses are most typical periodicity high-order continuously differentiable functions.It is existing a kind of based on sine wave
The weave bead welding waveform stopped with right boundary, such weave bead welding waveform segments function is simple, and hunting period and right boundary stop
Stay the time adjustable, electrode movement speed is continuous, and the executing agency swung is produced suitable for arc welding robot etc. itself.Its monocycle
Interior wave function is：
In formula：δ is horizontal swing displacement；A is amplitude of fluctuation；T,Tl,TrWhen respectively hunting period, left margin stop
Between and the right margin residence time.
In the step 2, the basic function of the Quintic spline weave bead welding wavy curve is in addition to sin cos functionses, also
Trigonometric function can be selected.
Step 3：According to the characteristic of Quintic spline weave bead welding wavy curve, Quintic spline weave bead welding wavy curve mould is constructed
Type, in conjunction with parameter and pivot speed is swung, try to achieve the horizontal swing displacement of electrode at any time；Wherein, five samples
The characteristic of bar weave bead welding wavy curve includes：
A) Quintic spline weave bead welding wavy curve Second Order Continuous can be micro-；
B) hunting period, amplitude of fluctuation, right boundary residence time and pivot speed are adjustable.
When the basic function of Quintic spline weave bead welding wavy curve is SIN function or cosine function, by asking for five samples
The derivative of the basic function of bar weave bead welding wavy curve, you can obtain pivot speed.
According to sinusoidal waveform function, its derivative is asked to calculate speed v of the electrode in oscillation center：
Assuming that Quintic spline trochoidal wave form function is：
δ=a0t5+a1t4+a2t3+a3t2+a4t1+a5
In order to ensure the characteristics of swinging track is smooth, swing speed is continuous, oscillating acceleration is continuous, reduce executing agency
Vibration and mechanical wear, which simultaneously improve, swings performance and production efficiency, and as a rule, electrode centers speed is not required to during weave bead welding
Very big, the purpose of increase welding bead center fusion penetration can be reached by slowing down pivot speed.
According to the equation and primary condition of Quintic spline curve, the wave mode function provided in its monocycle is：
δ is the swing displacement of longitudinal direction in formula, and A is amplitude of fluctuation, T, Tl,TrRespectively hunting period, left margin residence time
With the right margin residence time.a0,a1,a2,a3,a4,a5For the coefficient of quintic algebra curve, wherein a3,a5It is that 0 event is unlisted.T " is
Intermediate variable.
The expression formula of multinomial coefficient and intermediate variable is：
In formula：Slew rate ratio centered on q：In the case of remaining swing parameter identical, in Quintic spline weave bead welding waveform
Heart swing speed is q times of sine wave wobble weld ripples shape pivot speed, and 0≤q≤1.
Wherein, sine wave wobble weld ripples is shaped like shown in Fig. 2 (a) and Fig. 2 (b)；Quintic spline weave bead welding waveform such as Fig. 3 (a)-
Shown in Fig. 3 (c).
Step 4：The horizontal swing of electrode at any time is displacement superposed into electrode trace, finally give welding gun five times
The track of batten weave bead welding.
By the welding gun Quintic spline weave bead welding method for planning track of the present invention, obtained welding gun track has swinging track
Smooth, the characteristics of swing speed and acceleration are continuous, the characteristics of due to the above, substantially reduce vibration and the raising of executing agency
Swing performance.
Fig. 4 is the structural representation of the welding gun Quintic spline weave bead welding trajectory planning controller of the present invention.
As shown in figure 4, the welding gun Quintic spline weave bead welding trajectory planning controller of the present invention, including：
(1) parameter determination module is swung, it is used to scan weld seam, and then determines the swing parameter of welding gun；It is described to swing ginseng
Number includes amplitude of fluctuation, hunting period, left margin residence time, right margin residence time and center slew rate ratio；
(2) pivot speed asks for module, and it is used for the basic function for selecting Quintic spline weave bead welding wavy curve, is based on
The basic function and center slew rate ratio of Quintic spline weave bead welding wavy curve, try to achieve speed of the electrode in oscillation center, i.e. center pendulum
Dynamic speed.
In the pivot speed asks for module, the basic function of Quintic spline weave bead welding wavy curve is SIN function
Or cosine function.
Wherein, sin cos functionses are most typical periodicity high-order continuously differentiable functions.It is existing a kind of based on sine wave
The weave bead welding waveform stopped with right boundary, such weave bead welding waveform segments function is simple, and hunting period and right boundary stop
Stay the time adjustable, electrode movement speed is continuous, and the executing agency swung is produced suitable for arc welding robot etc. itself.Its monocycle
Interior wave function is：
In formula：δ is horizontal swing displacement；A is amplitude of fluctuation；T,Tl,TrWhen respectively hunting period, left margin stop
Between and the right margin residence time.
In the pivot speed asks for module, the basic function of the Quintic spline weave bead welding wavy curve is except just
Outside cosine function, trigonometric function can also be selected.
When the basic function of Quintic spline weave bead welding wavy curve is SIN function or cosine function, by asking for five samples
The derivative of the basic function of bar weave bead welding wavy curve, you can obtain pivot speed.
(3) displacement computing module is swung laterally, it is used for the characteristic according to Quintic spline weave bead welding wavy curve, constructed
Quintic spline weave bead welding wavy curve model, in conjunction with swinging parameter and pivot speed, try to achieve electrode at any time
Swing laterally displacement；Wherein, the characteristic of Quintic spline weave bead welding wavy curve includes：
A) Quintic spline weave bead welding wavy curve Second Order Continuous can be micro-；
B) hunting period, amplitude of fluctuation, right boundary residence time and pivot speed are adjustable；
(4) module is asked in track, and the horizontal swing that it is used for by electrode at any time is displacement superposed into electrode trace,
Finally give the track of welding gun Quintic spline weave bead welding.
Present invention also offers a kind of welding gun Quintic spline weave bead welding Trajectory Planning System.
The welding gun Quintic spline weave bead welding Trajectory Planning System of the present invention, including welding gun Quintic spline as shown in Figure 4 pendulum
Dynamic weldering trajectory planning controller.
Wherein, the system also includes display, and it is connected with the welding gun Quintic spline weave bead welding trajectory planning controller.
Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, model not is protected to the present invention
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need to pay various modifications or deformation that creative work can make still within protection scope of the present invention.
Claims (10)
- A kind of 1. welding gun Quintic spline weave bead welding method for planning track, it is characterised in that including：Step 1：Weld seam is scanned, and then determines the swing parameter of welding gun；It is described swing parameter include amplitude of fluctuation, hunting period, Left margin residence time, right margin residence time and center slew rate ratio；Step 2：The basic function of selected Quintic spline weave bead welding wavy curve, the base letter based on Quintic spline weave bead welding wavy curve Number and center slew rate ratio, try to achieve speed of the electrode in oscillation center, i.e. pivot speed；Step 3：According to the characteristic of Quintic spline weave bead welding wavy curve, Quintic spline weave bead welding wavy curve model is constructed, In conjunction with parameter and pivot speed is swung, the horizontal swing displacement of electrode at any time is tried to achieve；Wherein, Quintic spline is put The characteristic of dynamic weldering wavy curve includes：A) Quintic spline weave bead welding wavy curve Second Order Continuous can be micro-；B) hunting period, amplitude of fluctuation, right boundary residence time and pivot speed are adjustable；Step 4：The horizontal swing of electrode at any time is displacement superposed into electrode trace, finally give welding gun Quintic spline The track of weave bead welding.
- A kind of 2. welding gun Quintic spline weave bead welding method for planning track as claimed in claim 1, it is characterised in that the step In 2, the basic function of the Quintic spline weave bead welding wavy curve is SIN function or cosine function.
- A kind of 3. welding gun Quintic spline weave bead welding method for planning track as claimed in claim 1, it is characterised in that the step In 2, the basic function of the Quintic spline weave bead welding wavy curve is trigonometric function.
- 4. a kind of welding gun Quintic spline weave bead welding method for planning track as claimed in claim 2, it is characterised in that when five samples When the basic function of bar weave bead welding wavy curve is SIN function or cosine function, by asking for Quintic spline weave bead welding wavy curve Basic function derivative, you can obtain pivot speed.
- A kind of 5. welding gun Quintic spline weave bead welding trajectory planning controller, it is characterised in that including：Parameter determination module is swung, it is used to scan weld seam, and then determines the swing parameter of welding gun；The swing parameter includes pendulum Dynamic amplitude, hunting period, left margin residence time, right margin residence time and center slew rate ratio；Pivot speed asks for module, and it is used for the basic function for selecting Quintic spline weave bead welding wavy curve, based on five samples The basic function and center slew rate ratio of bar weave bead welding wavy curve, try to achieve speed of the electrode in oscillation center, i.e. pivot speed；Displacement computing module is swung laterally, it is used for the characteristic according to Quintic spline weave bead welding wavy curve, constructs five samples Bar weave bead welding wavy curve model, in conjunction with parameter and pivot speed is swung, try to achieve the horizontal pendulum of electrode at any time Dynamic displacement；Wherein, the characteristic of Quintic spline weave bead welding wavy curve includes：A) Quintic spline weave bead welding wavy curve Second Order Continuous can be micro-；B) hunting period, amplitude of fluctuation, right boundary residence time and pivot speed are adjustable；Module is asked in track, and the horizontal swing that it is used for by electrode at any time is displacement superposed into electrode trace, final To the track of welding gun Quintic spline weave bead welding.
- 6. welding gun Quintic spline weave bead welding trajectory planning controller as claimed in claim 5, it is characterised in that at the center Swing speed is asked in module, and the basic function of Quintic spline weave bead welding wavy curve is SIN function or cosine function.
- 7. welding gun Quintic spline weave bead welding trajectory planning controller as claimed in claim 5, it is characterised in that at the center Swing speed is asked in module, and the basic function of Quintic spline weave bead welding wavy curve is trigonometric function.
- 8. welding gun Quintic spline weave bead welding trajectory planning controller as claimed in claim 6, it is characterised in that work as Quintic spline When the basic function of weave bead welding wavy curve is SIN function or cosine function, by asking for Quintic spline weave bead welding wavy curve The derivative of basic function, you can obtain pivot speed.
- 9. a kind of welding gun Quintic spline weave bead welding Trajectory Planning System, it is characterised in that including such as any one of claim 1-8 Described welding gun Quintic spline weave bead welding trajectory planning controller.
- 10. welding gun Quintic spline weave bead welding Trajectory Planning System as claimed in claim 9, it is characterised in that the system is also wrapped Display is included, it is connected with the welding gun Quintic spline weave bead welding trajectory planning controller.
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| CN107570847B (en) | 2019-06-25 |
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