CN111702380A - Welding process control method of welding robot - Google Patents
Welding process control method of welding robot Download PDFInfo
- Publication number
- CN111702380A CN111702380A CN202010421533.2A CN202010421533A CN111702380A CN 111702380 A CN111702380 A CN 111702380A CN 202010421533 A CN202010421533 A CN 202010421533A CN 111702380 A CN111702380 A CN 111702380A
- Authority
- CN
- China
- Prior art keywords
- welding
- curve
- point
- robot
- welding seam
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
Landscapes
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a welding process control method of a welding robot, which traverses all welding seams required to be welded on a workpiece by a SolidWorks three-dimensional software secondary development technology, determines the position and the posture of the tail end of the robot when welding each point on the welding seams according to the traversed welding seam data, then carries out inverse solution operation of the robot to obtain each joint corner data when welding each point on the welding seams of the robot, and uses the joint corner data as the parameters of a robot control instruction to generate a welding program for controlling the work of the robot. When the method is used for off-line programming of the welding robot, the robot welds a workpiece with a plurality of welding seams, all welding programs are automatically generated, the welding seams do not need to be operated one by one, and the method is efficient and convenient.
Description
Technical Field
The invention relates to an off-line programming method for a welding robot, in particular to a welding process control method for the welding robot.
Background
The off-line programming method of the welding robot is to independently complete the programming of the welding program of the robot, the acquisition of the coordinate position of the welding seam track and the debugging of the program on one computer without the participation of the robot. The off-line programming software is mainly in a text mode, a programmer needs to be familiar with all instruction systems and grammars of the robot and also needs to know how to determine the spatial position coordinates of the welding seam track, and therefore, the programming work is not easy and time-saving. With the development of computer three-dimensional graphics technology, most of the current robot off-line programming systems can run in a three-dimensional graphics environment, a virtual teaching method can be usually adopted for obtaining the coordinate position of a welding seam track, a mouse is used for easily clicking a welding part of a workpiece in the three-dimensional virtual environment to obtain the space coordinate of the point, and then a robot program is automatically generated and downloaded to a robot control system. Thereby greatly improving the programming efficiency of the robot. However, when the robot is used for welding a complex workpiece, more than one welding seam is formed on the workpiece, and the traditional off-line programming method needs to click each welding seam manually, so that the time and the labor are wasted.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a welding process control method of a welding robot, which is efficient, reliable and visible in result.
In order to achieve the purpose, the invention adopts the technical scheme that:
a welding process control method of a welding robot comprises the following steps:
step one, opening a three-dimensional model of a workpiece to be welded by using SolidWorks three-dimensional software, adding a welding seam to be welded on the three-dimensional model of the workpiece, newly building an assembly body model in the SolidWorks three-dimensional software, introducing a welding robot and the three-dimensional model of the workpiece to be welded into the assembly body model, and adjusting the position of the robot relative to the workpiece in the assembly body model according to the actual use condition;
step two, carrying out secondary development on the SolidWorks by using a C # programming language, wherein the specific process is as follows:
traversing all welding seams on the workpiece in the assembling body model to obtain a welding seam curve of the welding seams; reading data of all welding seams on a workpiece, wherein the data of each welding seam comprises coordinates of a starting point and an end point of a welding seam curve, coordinates of any point between the starting point and the end point of the welding seam curve, the length S of the welding seam curve, the type of the welding seam and a unit normal vector of two intersecting surfaces intersecting to form the welding seam curve;
step three, calculating three-dimensional coordinates of all discrete points on the welding seam curve, and specifically comprising the following steps:
the method comprises the following steps that firstly, a weld curve is discretized into a plurality of points, the length of the weld curve between every two adjacent discretized points on the weld curve is L, and the number N of the discretized points is equal to the length S/L of the weld curve;
secondly, if the type of the welding seam curve is a straight line, using the coordinates of the starting point and the coordinates of the ending point of the welding seam curve to list the space parameter equation of the welding seam curve as (X, Y, Z) < X (t), Y (t), Z (t)), wherein t is more than or equal to 0 and less than or equal to 1, (X, Y, Z) represents the coordinates of any point on the curve, t is the independent variable of the parameter equation, X (t), Y (t), Z (t) are three coordinate functions with t as the independent variable respectively, X ═ X (t), Y ═ Y (t), Z ═ Z (t), and calculating the coordinates (X, Y, Z) of the point on the straight line according to t;
if the type of the welding seam curve is an arc, using coordinates of a starting point, coordinates of an end point and coordinates of any point between the starting point and the end point of the welding seam curve to list spatial parameter equations (X, Y, Z) < X (t), Y (t), Z (t)), wherein 0 < t < 1, (X, Y, Z) represents coordinates of any point on the curve, t is an independent variable of the parameter equation, X (t), Y (t), Z (t) are three coordinate functions with t as an independent variable, respectively, X < X > (t), Y < Y (t), and Z < t), calculating coordinates (X, Y, Z) of the point on the arc line according to t, and calculating coordinates (Xc, Yc, Zc) of the center of the arc;
thirdly, when the three-dimensional coordinate of the nth discrete point is obtained, enabling the independent variable t of the space parameter equation of the welding line curve to be N/N, substituting t into the space parameter equation of the welding line curve to calculate the three-dimensional coordinate (Xn, Yn and Zn) of the discrete point, and calculating the three-dimensional coordinate of all the discrete points, wherein N is more than or equal to 1 and less than or equal to N;
if the type of the welding seam curve is a straight line, the straight line welding seam is formed by intersecting two planes, and the two intersecting surfaces are marked as an A surface and a B surface, the axial direction of the welding gun is the sum of unit normal vectors of the A surface and the B surface when each discrete point on the straight line welding seam is welded;
if the type of the welding line curve is an arc, the arc welding line is formed by intersecting a plane and a cylindrical surface, the welding line curve of the arc welding line is on the cylindrical surface, the normal vector of each discrete point on the cylindrical surface is equal to the coordinate (Xn, Yn, Zn) of the discrete point minus the center coordinate (Xc, Yc, Zc) of the arc, and then the normal vector of the cylindrical surface at the discrete point is unitized to obtain the unit normal vector of the cylindrical surface at the discrete point, so that the axial direction of the welding gun during welding of each discrete point on the arc welding line is the sum of the unit normal vector of the intersected plane and the unit normal vector of the cylindrical surface at the point;
step five, calculating the axial direction of the welding gun during welding of all discrete points on the welding seam curve by adopting a four-way method, and taking the axial direction as the posture of the welding gun during welding;
inputting the three-dimensional coordinates of discrete points on the welding seam and the posture of the welding gun at the moment into a robot tool box module in MATLAB software to perform inverse solution operation of the robot, calculating the rotating angle of each joint when the robot welds the points, calculating the rotating angle of each joint of the robot when the remaining discrete points on the welding seam are welded by using the method, and finally recording the rotating angle data of each joint of the robot when each point on the welding seam is welded;
step seven, repeating the step three-six to calculate the next welding line curve until the corner data of each joint of the robot when all discrete points of each welding line curve are welded are calculated;
and step eight, using the corner data of each joint of the robot obtained in the step seven when the robot welds a certain discrete point as the parameters of the joint movement command to generate a joint movement command for controlling the robot to move to the point, generating the joint movement commands of all the discrete points according to the sequence calculated by the discrete points, and generating a robot program when the welding robot welds each welding line by all the joint movement commands.
Compared with the prior art, the invention has the following beneficial effects:
the method can traverse all welding seams to be welded on the workpiece and automatically generate the welding program of each welding seam through the three-dimensional software secondary development technology, is used for solving the problem of offline programming related to the welding robot, and is a method which is simple in operation, efficient, reliable and visible in result.
Detailed Description
The present invention will be described in detail with reference to specific examples.
The invention discloses a welding process control method of a welding robot, which comprises the following steps:
step one, opening a three-dimensional model of a workpiece to be welded by using SolidWorks three-dimensional software and adding a welding line to be welded on the three-dimensional model of the workpiece. Newly building an assembly body model in SolidWorks three-dimensional software, introducing a three-dimensional model of a welding robot and a workpiece to be welded into the assembly body model, and adjusting the position of the robot relative to the workpiece in the assembly body model according to actual use conditions.
Step two, carrying out secondary development on the SolidWorks by using a C # programming language, wherein the specific process is as follows:
and traversing all welding seams on the workpiece in the assembling body model to obtain a welding seam curve of the welding seam. And reading data of all welding seams on the workpiece, wherein the data of each welding seam comprises coordinates of a starting point and an end point of a welding seam curve, coordinates of any point between the starting point and the end point of the welding seam curve, the length S of the welding seam curve, the type of the welding seam and a unit normal vector of two intersecting surfaces which intersect to form the welding seam curve.
Step three, calculating three-dimensional coordinates of all discrete points on the welding seam curve, and specifically comprising the following steps:
firstly, a weld curve is discretized into a plurality of points, the length of the weld curve between every two adjacent discrete points on the weld curve is L, and the number of the discrete points N is equal to the length of the weld curve S/L.
And secondly, dividing a welding line curve into two types, namely a straight line and a circular arc, determining a straight line at two points, and determining a circle at three non-collinear points.
If the type of the welding seam curve is a straight line, using the coordinates of the starting point and the coordinates of the ending point of the welding seam curve to list the space parameter equation of the welding seam curve as (X, Y, Z) < X (t), Y (t), Z (t)), wherein t is more than or equal to 0 and less than or equal to 1, (X, Y, Z) represents the coordinates of any point on the curve, t is the independent variable of the parameter equation, X (t), Y (t), Z (t) are three coordinate functions respectively taking t as the independent variable, X ═ X (t), Y ═ Y (t), Z ═ Z (t), and the coordinates (X, Y, Z) of the point on the straight line can be calculated according to t;
if the weld is curvedThe line is in the shape of a circular arc, and the coordinates of the starting point, the ending point and the coordinates of any point between the starting point and the ending point of the welding seam curve are used for listing the space parameter equation of the welding seam curve as (X, Y, Z) < X (t), Y (t), Z (t)), wherein, t is more than or equal to 0 and less than or equal to 1, (X, Y, Z) represents the coordinates of any point on the curve, t is an independent variable of the parameter equation, X (t), Y (t), Z (t) are three coordinate functions with t as an independent variable, X ═ X (t), Y ═ Y (t), Z ═ Z (t), and the coordinates (X, Y, Z) of the point on the circular arc line can be calculated according to t. Simultaneously, the center coordinates of the circular arc are calculated as (X)c,Yc,Zc)。
And thirdly, when the three-dimensional coordinates of the nth (N is more than or equal to 1 and less than or equal to N) discrete points are calculated, enabling the independent variable t of the space parameter equation of the welding line curve to be N/N, substituting t into the space parameter equation of the welding line curve to calculate the three-dimensional coordinates (Xn, Yn and Zn) of the discrete points, and calculating the three-dimensional coordinates of all the discrete points.
Fourthly, marking two intersecting surfaces which intersect to form the welding seam curve as an A surface and a B surface, when a welding gun welds a certain discrete point on the welding seam, making a first straight line on the A surface through the discrete point and making the straight line perpendicular to the B surface, and making a second straight line on the B surface through the discrete point and making the straight line perpendicular to the A surface, wherein the two straight lines intersect at the discrete point, when the welding gun welds the discrete point, the welding gun is positioned on an angle bisector of an intersection angle of the first straight line and the second straight line, so that the welding gun can be ensured not to interfere with a workpiece, the axial direction of the welding gun is the same as the direction of the angle bisector, the direction is expressed in a vector mode, the vector of the angle bisector is equal to the sum of unit vectors of the two straight lines, the straight line on the A surface and perpendicular to the B surface is the normal vector of the B surface at the discrete point, and the straight line on the B surface and perpendicular to the A surface is the normal vector of the A surface at the discrete point, the vector of the angular bisector is the sum of the unit normal vectors of the two intersecting surfaces which intersect to form the weld joint at the discrete point, so the axial direction of the welding gun is the sum of the unit normal vectors of the two intersecting surfaces which intersect to form the weld joint at the discrete point.
If the type of the welding line curve is a straight line, the straight line welding line is formed by intersecting two planes, the unit normal vector of the plane keeps unchanged at each point on the plane, and the axial direction of the welding gun is the sum of the unit normal vectors of the A plane and the B plane when each discrete point on the straight line welding line is welded.
If the type of the welding seam curve is an arc, the arc welding seam is formed by intersecting a plane and a cylindrical surface, and the welding seam curve of the arc welding seam is on the cylindrical surface, so discrete points on the welding seam curve of the arc welding seam are also on the cylindrical surface. The normal vectors of different points on the cylindrical surface are different and need to be calculated independently, the normal vector of each discrete point on the cylindrical surface is equal to the coordinate (Xn, Yn, Zn) of the discrete point minus the center coordinate (Xc, Yc, Zc) of the circular arc, and then the normal vector of the cylindrical surface at the discrete point is unitized to obtain the unit normal vector of the cylindrical surface at the discrete point, so that the axial direction of the welding gun during welding of each discrete point on the circular arc welding seam is the sum of the unit normal vector of the intersected plane and the unit normal vector of the cylindrical surface at the point.
And step five, calculating the axial direction of the welding gun during welding of all discrete points on the welding seam curve by adopting a four-way method, and taking the axial direction as the posture of the welding gun during welding.
And sixthly, inputting the three-dimensional coordinates of the discrete points on the welding seam and the posture of the welding gun at the moment into a robot tool box module in MATLAB software to perform inverse solution operation of the robot, calculating the rotating angle of each joint when the robot welds the points, calculating the rotating angle of each joint of the robot when the remaining discrete points on the welding seam are welded by using the method, and finally recording the rotating angle data of each joint of the robot when each point on the welding seam is welded.
And step seven, repeating the step three-six to calculate the next welding line curve until the corner data of each joint of the robot when all discrete points of each welding line curve are calculated for welding.
Step eight, the industrial robot program is provided with joint motion instructions to control the robot to move, parameters of the joint motion instructions are corner data of each joint of the robot, and each joint motion instruction can enable the corner of each joint of the robot to rotate from the current corner to the corner in the instructions. And step seven, using the corner data of each joint of the robot when the robot welds a certain discrete point obtained in the step seven as the parameters of the joint movement command to generate a joint movement command for controlling the robot to move to the point, generating the joint movement commands of all the discrete points according to the sequence calculated by the discrete points, and generating a robot program when the welding robot welds each welding line by all the joint movement commands.
Claims (1)
1. A welding process control method of a welding robot is characterized by comprising the following steps:
step one, opening a three-dimensional model of a workpiece to be welded by using SolidWorks three-dimensional software, adding a welding seam to be welded on the three-dimensional model of the workpiece, newly building an assembly body model in the SolidWorks three-dimensional software, introducing a welding robot and the three-dimensional model of the workpiece to be welded into the assembly body model, and adjusting the position of the robot relative to the workpiece in the assembly body model according to the actual use condition;
step two, carrying out secondary development on the SolidWorks by using a C # programming language, wherein the specific process is as follows:
traversing all welding seams on the workpiece in the assembling body model to obtain a welding seam curve of the welding seams; reading data of all welding seams on a workpiece, wherein the data of each welding seam comprises coordinates of a starting point and an end point of a welding seam curve, coordinates of any point between the starting point and the end point of the welding seam curve, the length S of the welding seam curve, the type of the welding seam and a unit normal vector of two intersecting surfaces intersecting to form the welding seam curve;
step three, calculating three-dimensional coordinates of all discrete points on the welding seam curve, and specifically comprising the following steps:
the method comprises the following steps that firstly, a weld curve is discretized into a plurality of points, the length of the weld curve between every two adjacent discretized points on the weld curve is L, and the number N of the discretized points is equal to the length S/L of the weld curve;
secondly, if the type of the welding seam curve is a straight line, using the coordinates of the starting point and the coordinates of the ending point of the welding seam curve to list the space parameter equation of the welding seam curve as (X, Y, Z) < X (t), Y (t), Z (t)), wherein t is more than or equal to 0 and less than or equal to 1, (X, Y, Z) represents the coordinates of any point on the curve, t is the independent variable of the parameter equation, X (t), Y (t), Z (t) are three coordinate functions with t as the independent variable respectively, X ═ X (t), Y ═ Y (t), Z ═ Z (t), and calculating the coordinates (X, Y, Z) of the point on the straight line according to t;
if the type of the welding seam curve is an arc, using coordinates of a starting point, coordinates of an end point and coordinates of any point between the starting point and the end point of the welding seam curve to list spatial parameter equations (X, Y, Z) < X (t), Y (t), Z (t)), wherein 0 < t < 1, (X, Y, Z) represents coordinates of any point on the curve, t is an independent variable of the parameter equation, X (t), Y (t), Z (t) are three coordinate functions with t as an independent variable, respectively, X < X > (t), Y < Y (t), and Z < t), calculating coordinates (X, Y, Z) of the point on the arc line according to t, and calculating coordinates (Xc, Yc, Zc) of the center of the arc;
thirdly, when the three-dimensional coordinate of the nth discrete point is obtained, enabling the independent variable t of the space parameter equation of the welding line curve to be N/N, substituting t into the space parameter equation of the welding line curve to calculate the three-dimensional coordinate (Xn, Yn and Zn) of the discrete point, and calculating the three-dimensional coordinate of all the discrete points, wherein N is more than or equal to 1 and less than or equal to N;
if the type of the welding seam curve is a straight line, the straight line welding seam is formed by intersecting two planes, and the two intersecting surfaces are marked as an A surface and a B surface, the axial direction of the welding gun is the sum of unit normal vectors of the A surface and the B surface when each discrete point on the straight line welding seam is welded;
if the type of the welding line curve is an arc, the arc welding line is formed by intersecting a plane and a cylindrical surface, the welding line curve of the arc welding line is on the cylindrical surface, the normal vector of each discrete point on the cylindrical surface is equal to the coordinate (Xn, Yn, Zn) of the discrete point minus the center coordinate (Xc, Yc, Zc) of the arc, and then the normal vector of the cylindrical surface at the discrete point is unitized to obtain the unit normal vector of the cylindrical surface at the discrete point, so that the axial direction of the welding gun during welding of each discrete point on the arc welding line is the sum of the unit normal vector of the intersected plane and the unit normal vector of the cylindrical surface at the point;
step five, calculating the axial direction of the welding gun during welding of all discrete points on the welding seam curve by adopting a four-way method, and taking the axial direction as the posture of the welding gun during welding;
inputting the three-dimensional coordinates of discrete points on the welding seam and the posture of the welding gun at the moment into a robot tool box module in MATLAB software to perform inverse solution operation of the robot, calculating the rotating angle of each joint when the robot welds the points, calculating the rotating angle of each joint of the robot when the remaining discrete points on the welding seam are welded by using the method, and finally recording the rotating angle data of each joint of the robot when each point on the welding seam is welded;
step seven, repeating the step three-six to calculate the next welding line curve until the corner data of each joint of the robot when all discrete points of each welding line curve are welded are calculated;
and step eight, using the corner data of each joint of the robot obtained in the step seven when the robot welds a certain discrete point as the parameters of the joint movement command to generate a joint movement command for controlling the robot to move to the point, generating the joint movement commands of all the discrete points according to the sequence calculated by the discrete points, and generating a robot program when the welding robot welds each welding line by all the joint movement commands.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010421533.2A CN111702380A (en) | 2020-05-18 | 2020-05-18 | Welding process control method of welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010421533.2A CN111702380A (en) | 2020-05-18 | 2020-05-18 | Welding process control method of welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111702380A true CN111702380A (en) | 2020-09-25 |
Family
ID=72537766
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010421533.2A Pending CN111702380A (en) | 2020-05-18 | 2020-05-18 | Welding process control method of welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111702380A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112496582A (en) * | 2020-11-23 | 2021-03-16 | 博迈科海洋工程股份有限公司 | Ocean engineering complex node multi-robot welding cooperative control method |
| CN117400267A (en) * | 2023-12-12 | 2024-01-16 | 上海船舶工艺研究所(中国船舶集团有限公司第十一研究所) | Robot welding path generation method, apparatus, computer device and storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100762362B1 (en) * | 2006-09-29 | 2007-10-02 | 삼성중공업 주식회사 | Method control and apparatus welding robot |
| CN105034000A (en) * | 2015-07-13 | 2015-11-11 | 浙江大学 | Industrial robot imaging control system based on CAD import |
| CN106425181A (en) * | 2016-10-24 | 2017-02-22 | 南京工业大学 | Curve weld joint welding technology based on line structured light |
| CN106773739A (en) * | 2017-02-28 | 2017-05-31 | 山东大学 | Method for planning track of robot based on hereditary chaotic optimization algorithm |
| CN106896778A (en) * | 2017-04-07 | 2017-06-27 | 湘潭大学 | A kind of robot end's method for planning track based on Generating NC Tool file |
| CN106914896A (en) * | 2017-03-27 | 2017-07-04 | 刘程秀 | A kind of construction method of robot off-line programming |
| CN108582071A (en) * | 2018-04-26 | 2018-09-28 | 华中科技大学 | A kind of method of industrial robot programming route diagnosis and speed-optimization |
| CN109226937A (en) * | 2018-11-14 | 2019-01-18 | 南京工程学院 | Curve welding off-line programing method is mutually passed through in a kind of industrial robot space |
| CN109483096A (en) * | 2017-09-12 | 2019-03-19 | 发那科株式会社 | The programmed method of welding robot programmer and welding robot |
-
2020
- 2020-05-18 CN CN202010421533.2A patent/CN111702380A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100762362B1 (en) * | 2006-09-29 | 2007-10-02 | 삼성중공업 주식회사 | Method control and apparatus welding robot |
| CN105034000A (en) * | 2015-07-13 | 2015-11-11 | 浙江大学 | Industrial robot imaging control system based on CAD import |
| CN106425181A (en) * | 2016-10-24 | 2017-02-22 | 南京工业大学 | Curve weld joint welding technology based on line structured light |
| CN106773739A (en) * | 2017-02-28 | 2017-05-31 | 山东大学 | Method for planning track of robot based on hereditary chaotic optimization algorithm |
| CN106914896A (en) * | 2017-03-27 | 2017-07-04 | 刘程秀 | A kind of construction method of robot off-line programming |
| CN106896778A (en) * | 2017-04-07 | 2017-06-27 | 湘潭大学 | A kind of robot end's method for planning track based on Generating NC Tool file |
| CN109483096A (en) * | 2017-09-12 | 2019-03-19 | 发那科株式会社 | The programmed method of welding robot programmer and welding robot |
| CN108582071A (en) * | 2018-04-26 | 2018-09-28 | 华中科技大学 | A kind of method of industrial robot programming route diagnosis and speed-optimization |
| CN109226937A (en) * | 2018-11-14 | 2019-01-18 | 南京工程学院 | Curve welding off-line programing method is mutually passed through in a kind of industrial robot space |
Non-Patent Citations (2)
| Title |
|---|
| 张泽南等: "基于SolidWorks的自动焊缝标注的二次开发", 《软件工程》 * |
| 潘俊浩等: "一种基于Unity3d的工业机器人示教系统设计方法", 《组合机床与自动化加工技术》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112496582A (en) * | 2020-11-23 | 2021-03-16 | 博迈科海洋工程股份有限公司 | Ocean engineering complex node multi-robot welding cooperative control method |
| CN117400267A (en) * | 2023-12-12 | 2024-01-16 | 上海船舶工艺研究所(中国船舶集团有限公司第十一研究所) | Robot welding path generation method, apparatus, computer device and storage medium |
| CN117400267B (en) * | 2023-12-12 | 2024-03-29 | 上海船舶工艺研究所(中国船舶集团有限公司第十一研究所) | Robot welding path generation method, apparatus, computer device and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111230869B (en) | Complex space curve weld joint movement track and welding process collaborative planning method | |
| CN106671079B (en) | A kind of welding robot motion control method for realizing positioner collaboration | |
| CN106583974B (en) | One kind quickly seeks a welding system and welding method without programming structure part laser | |
| DK2285537T3 (en) | Device and method for computer-assisted generation of a manipulatorbane | |
| US20160059413A1 (en) | Teaching system, robot system, and teaching method | |
| CN104858537B (en) | Control the method and device of robotic cutting workpiece grooves | |
| CN110370298B (en) | Automatic planning method for welding robot track | |
| Bolmsjö et al. | Robotic arc welding–trends and developments for higher autonomy | |
| CN104827479A (en) | Pipeline insertion intersecting line track planning method orientated to laser machining robot | |
| CN103692433A (en) | Model decoupling three-arm-lever five-freedom-degree translation welding robot and decoupling method thereof | |
| CN108994418A (en) | A kind of pipe-pipe intersection robot motion's method for planning track | |
| CN111702380A (en) | Welding process control method of welding robot | |
| CN109676603A (en) | A kind of flexibility hyper-redundant robot control method | |
| Gui | Simulation design of welding robot workstation based on RobotStudio | |
| Shahabi et al. | Path planning methodology for multi-layer welding of intersecting pipes considering collision avoidance | |
| CN116921950A (en) | Robot automatic welding system based on virtual weld definition | |
| CN115673614A (en) | Circular tube intersecting line weld joint forming and welding method, system and storage medium | |
| CN115423656A (en) | Robot collaborative operation visual simulation teaching system and method | |
| CN110465950B (en) | Welding robot and swing track planning method thereof | |
| Haihua et al. | Cooperative motion planning of dual industrial robots via offline programming | |
| CN110450170A (en) | The planing method of welding robot and its swinging track | |
| TSAI et al. | Mathematical model for robotic arc-welding off-line programming system | |
| Bahani et al. | Welding Complex Mechanical Parts: Case Study Using a Multi-Robot System | |
| CN104842046A (en) | Control method for submerged-arc welding platform for intersection-line seam of thick-wall large-size cylindrical weld element | |
| Zhang et al. | Process Simulation and Optimization of Arc Welding Robot Workstation Based on Digital Twin. Machines 2023, 11, 53 |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200925 |