CN114985868A - Swing arc welding method and welding robot - Google Patents
Swing arc welding method and welding robot Download PDFInfo
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- CN114985868A CN114985868A CN202210852872.5A CN202210852872A CN114985868A CN 114985868 A CN114985868 A CN 114985868A CN 202210852872 A CN202210852872 A CN 202210852872A CN 114985868 A CN114985868 A CN 114985868A
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- 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
- B23K9/00—Arc welding or cutting
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- 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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/124—Circuits or methods for feeding welding wire
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The invention discloses a swing arc welding method and a welding robot, wherein the method comprises the following steps: acquiring swing arc parameters, wherein the swing arc parameters comprise a swing arc type, a swing arc frequency and a swing arc amplitude; generating a swing arc coordinate system, wherein the X-axis direction of the swing arc coordinate system is the teaching track direction, the Z-axis direction of the swing arc coordinate system is the Z-axis direction of a world coordinate system, and the Y-axis direction of the swing arc coordinate system is obtained by cross multiplication of the Z-axis direction and the X-axis direction; calculating the point position of the welding gun for swing arc welding under the swing arc coordinate system; transferring point location coordinates of the swing arc welding to a world coordinate system; and controlling the welding gun to move to carry out swing arc welding through point position coordinates in a world coordinate system. The invention realizes complex swing arc welding on the welding robot, adapts to the welding requirements of various working conditions through various types of swing arc welding, and improves the welding quality.
Description
Technical Field
The present invention relates to a method of swing arc welding using a welding robot and a welding robot capable of swing arc welding.
Background
The swing arc function of the welding robot is that a welding gun performs left-right swing welding on a welding direction at a specific angle period during welding, and the purpose is to increase the size of a welding seam to improve the welding strength. The existing welding robot is abnormally complicated in swing arc welding, low in efficiency, less in swing arc welding types and not suitable for special welding working conditions.
Disclosure of Invention
In view of the above, the present invention provides a swing arc welding method and a welding robot, which can realize swing arc welding by the welding robot.
In order to solve the technical problems, the technical scheme of the invention is to adopt a swing arc welding method, which comprises the following steps:
acquiring swing arc parameters, wherein the swing arc parameters comprise a swing arc type, a swing arc frequency and a swing arc amplitude;
generating a swing arc coordinate system, wherein the X-axis direction of the swing arc coordinate system is the teaching track direction, the Z-axis direction of the swing arc coordinate system is the Z-axis direction of a world coordinate system, and the Y-axis direction of the swing arc coordinate system is obtained by cross multiplication of the Z-axis direction and the X-axis direction;
calculating the point position of the welding gun for swing arc welding under the swing arc coordinate system;
transferring the point position coordinates of the swing arc welding to a world coordinate system;
and controlling the welding gun to move to carry out swing arc welding through point position coordinates in a world coordinate system.
As an improvement, the method for generating the swing arc coordinate system comprises the following steps:
obtaining a point position P2 where the current interpolation period of the welding robot is located and a point position P1 where the last interpolation period is located;
calculating the X-axis direction of the swing arc coordinate system according to the positions of the point P1 and the point P2 in the world coordinate system;
performing cross multiplication on the X-axis direction of the swing arc coordinate system and the Z-axis direction of the point P2 in a world coordinate system to obtain the Y-axis direction of the swing arc coordinate system;
and performing cross multiplication on the X-axis direction and the Y-axis direction of the swing arc coordinate system to obtain the Z-axis direction of the swing arc coordinate system.
As a further improvement, the method for calculating the point position of the welding gun for swing arc welding in the swing arc coordinate system comprises the following steps:
planning a swing arc welding shape in a swing arc welding period into a plurality of welding paths according to the swing arc parameters;
the movement of the welding gun in each interpolation period forms a swing arc welding point position, and the distance of the welding gun in each interpolation period in each path, which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system, is calculated;
and calculating the coordinates of the next point position in the swing arc coordinate system according to the coordinates of the swing arc coordinate system of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period until each point position of each path is calculated.
As another further improvement, when performing equilateral triangle swing arc, calculating the point position of the welding gun performing swing arc welding under the swing arc coordinate system comprises:
calculating the speed V of the welding gun during swing arc welding according to the frequency A and the amplitude F of the swing arc of the equilateral triangle and the moving speed MoveSpeed of the welding robot along the welding seam, wherein the amplitude F is the side length of the equilateral triangle;
planning the equilateral triangle in the welding shape of the equilateral triangle swing arc in a swing arc welding period into four welding paths;
respectively calculating the coordinates of each point position in each path in a swing arc coordinate system, and the method comprises the following steps:
the path I is a half of the bottom edge of the equilateral triangle, and the distance of the welding gun in the path I from the original point to the positive direction of the Y axis of the swing arc coordinate system is F/2; the distance (dis Diff) that the welding gun needs to move in each interpolation period T is T & ltV & gt, the distance that the welding gun moves in the X-axis direction of the swing arc coordinate system is 0, and the distance that the welding gun moves in the Y-axis direction of the swing arc coordinate system is disY & ltDISDiff & gt; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period except the initial point position; repeatedly calculating the point coordinates in the path I until the total motion amount disI in the path I is equal to DISI + DISDiff until the total motion amount disI in the path I is equal to F/2;
the path II is the bevel edge of the equilateral triangle, and the distance that the welding gun in the path II needs to move from the end point of the path I to the X axis of the swing arc coordinate system is F; the distance (dis Diff) that the welding gun needs to move in each interpolation period T is T, the distance (dis X) that the welding gun moves in the X-axis direction of the swing arc coordinate system is dis Diff sin60 degrees, and the distance (dis Y) that the welding gun moves in the Y-axis direction of the swing arc coordinate system is-dis Diff cos60 degrees; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; and repeatedly calculating the coordinates of the point position in the path II until the total motion amount disII in the path II is equal to disII + disDiff until the total motion amount disII in the path II is equal to F.
The path III is the other oblique side of the equilateral triangle, and the distance of the welding gun needing to move from the end point of the path II to the negative direction of the Y axis of the swing arc coordinate system in the path III is F; the distance (dis Diff) that the welding gun needs to move in each interpolation period T is T, the distance (dis X) that the welding gun moves in the X-axis direction of the swing arc coordinate system is-dis Diff sin60 degrees, and the distance (dis Y) that the welding gun moves in the Y-axis direction of the swing arc coordinate system is-dis Diff cos60 degrees; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; and repeatedly calculating the coordinates of the point position in the path II until the total motion amount disIII in the path III is equal to disIII + disDiff until the total motion amount disIII in the path II is equal to F.
The path IV is the bottom edge of the equilateral triangle, and the distance that the welding gun needs to move from the end point of the path III to the positive direction of the Y axis of the swing arc coordinate system in the path IV is F; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding guns needing to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each interpolation period T; repeatedly calculating the point coordinates in the path IV until the total motion amount disIV in the path IV is equal to DISIV + DISDiff;
and repeating the path II, the path III and the path IV until the welding robot moves to the end point.
As an improvement, when crescent swing arc is carried out, calculating the point position of a welding gun for swing arc welding under a swing arc coordinate system comprises the following steps:
calculating the speed V of the welding gun during swing arc welding according to the frequency A and the amplitude F of the crescent swing arc and the moving speed MoveSpeed of the welding robot along the welding seam; the amplitude F is the radius of the arc;
planning a welding shape semicircular arc of the crescent swing arc in a swing arc welding period into three welding paths;
respectively calculating the coordinates of each point position in each path in a swing arc coordinate system, and the method comprises the following steps:
the path I is the radius of a circular arc, and the distance of the welding gun in the path I, which needs to move from the original point to the positive direction of the Y axis of the swing arc coordinate system, is F; the distance (dis Diff) that the welding gun needs to move in each interpolation period T is T & ltV & gt, the distance that the welding gun moves in the X-axis direction of the swing arc coordinate system is 0, and the distance that the welding gun moves in the Y-axis direction of the swing arc coordinate system is disY & ltDISDiff & gt; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period except the initial point position; repeatedly calculating the point coordinates in the path I until the total motion amount disI in the path I is equal to disI + disDiff;
the path II is a semicircular arc from the positive direction of the Y axis of the swing arc coordinate system to the negative direction of the Y axis, and the distance required for the welding gun to move from the terminal point of the path I to the positive direction of the Y axis of the swing arc coordinate system in the path II is F pi; the distance required by the welding gun to move is disDiff (T) V in each interpolation period T, the distance required by the welding gun to move in the X-axis direction of the swing arc coordinate system is disX (F) sin (diff/F), and the distance required by the welding gun to move in the Y-axis direction of the swing arc coordinate system is disY (F) cos (dispef/F); calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; repeatedly calculating the point coordinates in the path II until the total motion amount disII in the path II is equal to DISII + DISDiff;
the path III is a semicircular arc from the negative direction of the Y axis of the swing arc coordinate system to the positive direction of the Y axis, and the distance that the welding gun needs to move from the terminal point of the path II to the positive direction of the Y axis of the swing arc coordinate system in the path III is F pi; the distance required by the welding gun to move is disDiff ═ T ═ V in each interpolation period T, the distance required by the welding gun to move in the X-axis direction of the swing arc coordinate system is disX ═ -F ═ sin (diff/F), and the distance required by the welding gun to move in the Y-axis direction of the swing arc coordinate system is disY ═ F cos (dispef/F); calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; repeatedly calculating the point coordinates in the path II until the total motion amount disIII in the path III is equal to disIII + disDiff;
and repeating the path II and the path III until the welding robot moves to the end point.
As an improvement, when Z-shaped swing arc is carried out, calculating the point position of the welding gun for swing arc welding under a swing arc coordinate system comprises the following steps:
calculating the speed V of the welding gun during swing arc welding according to the frequency A and the amplitude F of the Z-shaped swing arc and the moving speed MoveSpeed of the welding robot along the welding seam, wherein the amplitude F is the distance between the vertexes of the Z shape in the positive and negative directions of the Y axis;
planning a welding shape straight-line segment of the Z-shaped swing arc in a swing arc welding period into three welding paths;
respectively calculating the coordinates of each point position in each path in a swing arc coordinate system, and the method comprises the following steps:
the path I is a half of a straight line segment, and the distance of the welding gun in the path I from the original point to the positive direction of the Y axis of the swing arc coordinate system is F/2; the distance (dis Diff) that the welding gun needs to move in each interpolation period T is T & ltV & gt, the distance that the welding gun moves in the X-axis direction of the swing arc coordinate system is 0, and the distance that the welding gun moves in the Y-axis direction of the swing arc coordinate system is disY & ltDISDiff & gt; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period except the initial point position; repeatedly calculating the point coordinates in the path I until the total motion amount disI in the path I is equal to DISI + DISDiff until the total motion amount disI in the path I is equal to F/2;
the path II is a straight-line segment, and the distance of the welding gun in the path II, starting from the end point of the path I, needing to move in the negative direction of the Y axis of the swing arc coordinate system is F; the distance (dis Diff) that the welding gun needs to move in each interpolation period T is T & ltV & gt, the distance that the welding gun moves in the X-axis direction of the swing arc coordinate system is 0, and the distance that the welding gun moves in the Y-axis direction of the swing arc coordinate system is-dis Diff; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; repeatedly calculating the coordinates of the point in the path II until the total motion amount disII in the path II is equal to disII + disDiff;
the path III is a straight line segment, and the distance of the welding gun in the path III, which needs to move from the end point of the path II to the positive direction of the Y axis of the swing arc coordinate system, is F; the distance (DISDiff) that the welding gun needs to move in each interpolation period T is T, the distance that the welding gun moves in the X-axis direction of the swing arc coordinate system is 0, and the distance that the welding gun moves in the Y-axis direction of the swing arc coordinate system is DISY; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; repeatedly calculating the point coordinates in the path III until the total motion amount disIII in the path III is equal to DISIII + DISDiff;
and repeating the path II and the path III until the welding robot moves to the end point.
As an improvement, when arc swing is carried out, calculating the point position of a welding gun for swing arc welding under a swing arc coordinate system comprises the following steps:
calculating the speed V of the welding gun during swing arc welding according to the frequency A and the amplitude F of the circular arc swing arc and the moving speed MoveSpeed of the welding robot along the welding seam, wherein the amplitude F is the radius of the circle;
drawing a welding path by using a welding shape compasses of the arc swing arc in a swing arc welding period;
respectively calculating the coordinates of each point position in each path in a swing arc coordinate system, and the method comprises the following steps:
the path I is a circle starting from the original point to the positive directions of the X axis and the Y axis, and the distance from the welding gun starting from the original point and returning to the original point in the path I is 2 Fpi; the distance (dis Diff/F) that the welding torch needs to move in each interpolation period T is equal to T, the distance (dis X) that the welding torch moves in the X-axis direction of the swing arc coordinate system is equal to F sin (dis Diff/F), and the distance (dis Y) that the welding torch moves in the Y-axis direction of the swing arc coordinate system is equal to F-F cos (dis Diff/F); calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; repeatedly calculating the point coordinates in the path I until the total motion amount disI in the path I is 2 Fpi;
path I is repeated until the welding robot moves to the end point.
As an improvement, the swing arc parameters also comprise the time T1 of the welding gun staying at the positive direction vertex and the time T2 of the welding gun staying at the negative direction vertex when the swing arc is positioned at the positive direction vertex of the Y axis of the swing arc coordinate system.
As an improvement, the sudden change swing arc or/and the gradual change swing arc is formed by changing the swing arc amplitude.
The invention also provides a welding robot which can realize the swing arc welding method when welding.
The invention has the advantages that: the invention realizes complex swing arc welding on the welding robot, adapts to the welding requirements of various working conditions through various types of swing arc welding, and improves the welding quality.
Drawings
FIG. 1 is a flow chart of the present invention.
FIG. 2 is a flow chart of calculating a swing arc coordinate system.
FIG. 3 is a flow chart of point location calculation in the swing arc period.
Fig. 4 shows the welding shape of the swing arc of the equilateral triangle in a swing arc welding cycle under a swing arc coordinate system.
Fig. 5 is a schematic view of an equilateral triangular swing arc.
FIG. 6 shows the welding shape of the equilateral crescent swing arc in a swing arc welding cycle under a swing arc coordinate system.
Fig. 7 is a schematic view of a crescent swinging arc.
FIG. 8 shows the welding shape of the Z-shaped swing arc in a swing arc welding cycle under a swing arc coordinate system.
Fig. 9 is a schematic view of a zigzag swing arc.
FIG. 10 shows the welding shape of the arc in a swing arc coordinate system during a swing arc welding cycle.
Fig. 11 is a schematic view of circular arc swing.
Fig. 12 is a schematic view of an abrupt swing arc.
Fig. 13 is a schematic view of a gradual swing arc.
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present invention, the present invention will be further described in detail with reference to the following embodiments.
Example 1
As shown in fig. 1, the present invention provides a swing arc welding method, comprising:
s1, swing arc parameters are obtained, and the swing arc parameters comprise a swing arc type, a swing arc frequency and a swing arc amplitude.
S2 generates the swing arc coordinate system W.
The X-axis direction of the swing arc coordinate system W is the teaching track direction, the Z-axis direction of the swing arc coordinate system is the Z-axis direction of the world coordinate system, and the Y-axis direction of the swing arc coordinate system is obtained by cross multiplication of the Z-axis direction and the X-axis direction.
And S3 calculating the point position of the welding gun for swing arc welding under the swing arc coordinate system.
S4 transferring the point coordinates of the swing arc welding into a world coordinate system. It is prior art to transfer points in a known coordinate system to another known coordinate system, and the calculation process thereof is not described in detail in the present invention.
And S5 controlling the welding gun to move through the point position coordinates in the world coordinate system to carry out swing arc welding.
Example 2
As shown in fig. 2, with embodiment 1, the method of generating the swing arc coordinate system includes:
s21 obtains the point P2 where the current interpolation cycle of the welding robot is located and the point P1 where the last interpolation cycle is located. Since the direction of the X axis of the swing arc coordinate system is the teaching trajectory direction of the welding robot, the points P1 and P2 are also located on the X axis of the swing arc coordinate system.
For example, the pose information of the point P1 in the world coordinate system is:
the pose information of the point P2 in the world coordinate system is:
wherein Nx, Ny, Nz are unit vector values in the X direction of the point position posture respectively;
ox, Oy and Oz are unit vector values in the direction of the point position posture Y respectively;
ax, Ay and Az are unit vector values in the Z direction of the point position posture respectively;
px, Py and Pz are the space coordinates of the point location respectively.
S22, calculating the X-axis direction of the swing arc coordinate system according to the poses of the point P1 and the point P2 in the world coordinate system;
solving the X-axis direction Wn of the swing arc coordinate system according to the pose information of the point P1 and the point P2 in the world coordinate system;
Wn＝Px1-Px2)/disP；
Wn＝(Py1-Py2)/disP；
Wn＝(Pz1-Pz2)/disP；
the disP is the distance between P1 and P2.
S23, performing cross multiplication on the X-axis direction of the swing arc coordinate system and the Z-axis direction of the point P2 in the world coordinate system to obtain the Y-axis direction of the swing arc coordinate system;
wo is Wn Pa2 in the Y-axis direction of the swing arc coordinate system, wherein Wn is the X-axis direction of the swing arc coordinate system, and Pa2 is the unit vector value of the point P2 in the Z direction.
S24, performing cross multiplication on the X-axis direction and the Y-axis direction of the swing arc coordinate system to obtain the Z-axis direction of the swing arc coordinate system, wherein the swing arc coordinate system takes the point P2 as the origin. The swing arc coordinate system W is:
example 3
As shown in fig. 3, based on embodiment 1, the method for calculating the point position of the welding gun performing swing arc welding in the swing arc coordinate system includes:
s31, planning the welding shape of the swing arc in a swing arc welding period into a plurality of welding paths according to the swing arc parameters; the swing arc parameters include: swing arc types such as equilateral triangle swing arc, crescent swing arc, Z-shaped swing arc, arc swing arc and the like; the arc swinging frequency is the frequency of complete arc swinging in one second; the amplitude may be side length, radius, distance between positive and negative vertexes of Y axis, etc. according to different swing arc types, and the selection principle is convenient for calculation. In addition, in order to prevent the undercut phenomenon caused by incomplete fusion of molten iron and a workpiece, the swing arc parameters also comprise the stay time T1 of the welding gun at the positive direction peak and the stay time T2 of the negative direction peak of the swing arc positioned on the Y axis of the swing arc coordinate system.
In the types of the swing arc, the various types of the swing arc can also form an abrupt swing arc such as fig. 12 or/and a gradual swing arc such as fig. 13 by changing the swing arc amplitude.
S32, the movement of the welding gun in each interpolation period forms a swing arc welding point position, and the distance of the welding gun in each interpolation period in each path, which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system, is calculated; the interpolation period is an interval time between the point location calculated by the welding robot and the transmission of the point location to the servo mechanism, and the calculated point location of the welding robot is delayed by a certain delay from the actual movement of the welding torch to the welding execution. In brief, after calculating the coordinates of a point location, the calculation module of the welding robot sends the coordinates to the servo mechanism, and the servo mechanism drives the welding gun to move to the coordinates for welding. And the calculation module continues to calculate, then sends the calculated next point location coordinate to the servo mechanism, the servo mechanism drives the welding gun to move to the coordinate again for welding, and the like is carried out until all the point locations are calculated and welded.
S33, calculating the coordinates of the next point under the swing arc coordinate system according to the swing arc coordinate system coordinates of the previous point and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period until each point of each path is calculated. With the coordinates of the previous point location, and the moving direction and distance of the welding gun in the interpolation period, the coordinates of the next point location can be easily calculated, and the calculation process is not repeated in this embodiment.
Example 4
As shown in fig. 4 and 5, based on embodiment 3, embodiment 4 is a specific point position calculation method for performing equilateral triangle swing arc welding, including:
s311, calculating the speed V of the welding gun during swing arc welding according to the frequency A and the amplitude F of the swing arc of the equilateral triangle and the moving speed MoveSpeed of the welding robot along the welding seam, wherein the amplitude F is the side length of the equilateral triangle;
the time Tcycle of one cycle of the equilateral triangle swing arc can be obtained as 1/A according to the frequency A. According to the MoveSpeed/V ═ MoveSpeed Tcycle/(F ═ 3), it can be obtained
V＝MoveSpeed/(MoveSpeed*Tcycle/(F*3))。
S312, planning the equilateral triangle in the welding shape of the equilateral triangle swing arc in a swing arc welding period into four welding paths; for an equilateral triangle, the path is planned to be divided into three paths, each path being one side of the equilateral triangle. However, since the welding gun starts from the origin, the first period further includes a path I from the origin to the first vertex, and the rest periods are all from vertex to vertex, i.e., paths II to IV.
S313, respectively calculating the coordinates of each point position in each path in the swing arc coordinate system, wherein the method comprises the following steps:
s3131, a path I is a half of the bottom edge of the equilateral triangle, namely a line segment OA, and the distance of movement of the welding gun in the path I from the original point to the positive direction of the Y axis of the swing arc coordinate system is F/2; the distance (dis Diff) that the welding gun needs to move in each interpolation period T is T & ltV & gt, the distance that the welding gun moves in the X-axis direction of the swing arc coordinate system is 0, and the distance that the welding gun moves in the Y-axis direction of the swing arc coordinate system is disY & ltDISDiff & gt; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period except the initial point position; and repeatedly calculating the coordinates of the point position in the path I until the total motion amount disI in the path I is equal to DISI + DISDiff until the total motion amount disI in the path I is equal to F/2.
S3132, a path II is an oblique side of the equilateral triangle, namely a line segment AB, and a distance F for a welding gun in the path II to move from the end point of the path I to the X axis of the swing arc coordinate system is set; the distance (dis Diff) that the welding gun needs to move in each interpolation period T is T, the distance (dis X) that the welding gun moves in the X-axis direction of the swing arc coordinate system is dis Diff sin60 degrees, and the distance (dis Y) that the welding gun moves in the Y-axis direction of the swing arc coordinate system is-dis Diff cos60 degrees; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; and repeatedly calculating the coordinates of the point position in the path II until the total motion amount disII in the path II is equal to disII + disDiff until the total motion amount disII in the path II is equal to F.
S3133, a path III is the other oblique side of the equilateral triangle, namely a line segment BC, and the distance of movement of the welding gun in the path III from the end point of the path II to the negative direction of the Y axis of the swing arc coordinate system is F; the distance (dis Diff) that the welding gun needs to move in each interpolation period T is T, the distance (dis X) that the welding gun moves in the X-axis direction of the swing arc coordinate system is-dis Diff sin60 degrees, and the distance (dis Y) that the welding gun moves in the Y-axis direction of the swing arc coordinate system is-dis Diff cos60 degrees; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; and repeatedly calculating the coordinates of the point position in the path II until the total motion amount disIII in the path III is equal to disIII + disDiff until the total motion amount disIII in the path II is equal to F.
S3134 the path IV is the base of the equilateral triangle, namely line CA, and the distance that the welding gun needs to move from the end point of the path III to the positive direction of the Y axis of the swing arc coordinate system in the path IV is F; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding guns in the X-axis direction and the Y-axis direction in each inserting period; repeatedly calculating the coordinates of the point in the path IV until the total motion amount disIV in the path IV is equal to disIV + disDiff;
s314 repeats path II, path III, path IV until the welding robot moves to the end point.
The vertical upward welding adopts other swing arcs because of the gravity action of molten iron and the downward flow of a molten pool, and the welding seam is easy to bulge and produce undercut. The equilateral triangle swing arc solves the problem of welding a medium plate vertically upwards, avoids the problems of easy downflow and shallow fusion depth, and improves the welding quality.
Example 5
As shown in fig. 6 and 7, based on embodiment 3, embodiment 5 is a specific point position calculation method for performing crescent swing arc welding, including:
s321, calculating the speed V of the welding gun during swing arc welding according to the frequency A and the amplitude F of the crescent swing arc and the moving speed MoveSpeed of the welding robot along the welding seam; the amplitude F is the radius of the arc.
According to the frequency A, the time Tcycle of the crescent swing arc running for one cycle is 1/A. According to MoveSpeed/V (MoveSpeed) Tcycle/(2F pi), the method can obtain
V＝MoveSpeed/(MoveSpeed*Tcycle/(2Fπ))。
S322, planning a welding shape semicircular arc of the crescent swing arc in a swing arc welding period into three welding paths; for a semicircular arc, the path planning is to divide the semicircular arc into two semicircular arcs back and forth. However, since the welding gun starts from the origin, the first period further includes a path I from the origin to the first vertex, and the rest periods are all from vertex to vertex, i.e., paths II to III.
S323, respectively calculating the coordinates of each point position in each path in a swing arc coordinate system, including:
s3231, a path I is a radius of an arc, namely a line segment OA, and the distance of movement of the welding gun in the path I from the original point to the positive direction of the Y axis of the swing arc coordinate system is F; the distance (dis Diff) that the welding gun needs to move in each interpolation period T is T & ltV & gt, the distance that the welding gun moves in the X-axis direction of the swing arc coordinate system is 0, and the distance that the welding gun moves in the Y-axis direction of the swing arc coordinate system is disY & ltDISDiff & gt; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period except the initial point position; repeatedly calculating the point coordinates in the path I until the total motion amount disI in the path I is equal to disI + disDiff;
s3232, a path II is a semi-arc AB from the positive direction of the Y axis of the swing arc coordinate system to the negative direction of the Y axis, and the distance that the welding gun needs to move from the terminal point of the path I to the positive direction of the Y axis of the swing arc coordinate system in the path II is F pi; the distance (dis diff/F) that the welding torch needs to move in each interpolation period T is equal to T, the distance (dis X) that the welding torch moves in the X-axis direction of the swing arc coordinate system is equal to F sin (dis diff/F), and the distance (dis Y) that the welding torch moves in the Y-axis direction of the swing arc coordinate system is equal to F cos (dis diff/F); calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; repeatedly calculating the point coordinates in the path II until the total motion amount disII in the path II is equal to DISII + DISDiff;
s3233, a path III is a semi-arc BA which is a semi-arc from the negative direction of the Y axis of the swing arc coordinate system to the positive direction of the Y axis, and the distance that the welding gun needs to move from the terminal point of the path II to the positive direction of the Y axis of the swing arc coordinate system in the path III is F pi; the distance (dis Diff/F) that the welding torch needs to move in each interpolation period T is equal to T, the distance (dis X/F) that the welding torch moves in the X-axis direction of the swing arc coordinate system is equal to-F sin, and the distance (dis Y/F) that the welding torch moves in the Y-axis direction of the swing arc coordinate system is equal to F cos; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; repeatedly calculating the point coordinates in the path II until the total motion amount disIII in the path III is equal to disIII + disDiff;
s324 repeats path II, path III until the welding robot moves to the end point.
When the welding test plate has large-gap welding, the gap is too large, so that molten iron is easy to flow, and the defects of undercut, root welding beading and the like can be caused. The problem that crescent swing arc solved can be when big clearance welding, can avoid the molten iron easily to flow, undercut, the phenomenon of root weld beading, improves the welding quality of backing weld.
Example 6
As shown in fig. 8 and 9, based on embodiment 3, a specific point position calculation method in the case of performing the zigzag arc welding in embodiment 6 includes:
s331, calculating the speed V of the welding gun during swing arc welding according to the frequency A and the amplitude F of the Z-shaped swing arc and the moving speed MoveSpeed of the welding robot along the welding line, wherein the amplitude F is the distance between the vertexes of the Z shape in the positive and negative directions of the Y axis.
According to the frequency A, the time Tcycle of the crescent swing arc running for one cycle is 1/A. According to the MoveSpeed/V-MoveSpeed Tcycle/(2F), the method can obtain
V＝MoveSpeed/(MoveSpeed*Tcycle/(2F))。
S332, planning a welding shape straight-line segment of the Z-shaped swing arc in a swing arc welding period into three welding paths; for a straight line segment, the path plan divides it into a path going back and forth two straight line segments. However, since the welding gun starts from the origin, the first period further includes a path I from the origin to the first vertex, and the rest periods are all from vertex to vertex, i.e., paths II to III.
S333, respectively calculating the coordinates of each point position in each path in a swing arc coordinate system, including:
s3331, a path I is a half of a straight line segment OA, and the distance of the welding gun in the path I from the original point to the positive direction of the Y axis of the swing arc coordinate system is F/2; the distance (dis Diff) that the welding gun needs to move in each interpolation period T is T & ltV & gt, the distance that the welding gun moves in the X-axis direction of the swing arc coordinate system is 0, and the distance that the welding gun moves in the Y-axis direction of the swing arc coordinate system is disY & ltDISDiff & gt; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period except the initial point position; repeatedly calculating the point coordinates in the path I until the total motion amount disI in the path I is equal to DISI + DISDiff until the total motion amount disI in the path I is equal to F/2;
s3332, a path II is a straight line segment AB, and the distance of the welding gun in the path II, which starts from the end point of the path I and needs to move in the negative direction of the Y axis of the swing arc coordinate system, is F; the distance (dis Diff) that the welding gun needs to move in each interpolation period T is T & ltV & gt, the distance that the welding gun moves in the X-axis direction of the swing arc coordinate system is 0, and the distance that the welding gun moves in the Y-axis direction of the swing arc coordinate system is-dis Diff; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; repeatedly calculating the coordinates of the point in the path II until the total motion amount disII in the path II is equal to disII + disDiff;
s3333, a path III is a straight line segment BA, and the distance of the welding gun in the path III, which needs to move from the end point of the path II to the positive direction of the Y axis of the swing arc coordinate system, is F; the distance (dis Diff) that the welding gun needs to move in each interpolation period T is T & ltV & gt, the distance that the welding gun moves in the X-axis direction of the swing arc coordinate system is 0, and the distance that the welding gun moves in the Y-axis direction of the swing arc coordinate system is disY & ltDISDiff & gt; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; repeatedly calculating the point coordinates in the path III until the total motion amount disIII in the path III is equal to DISIII + DISDiff;
s334 repeats path II and path III until the welding robot moves to the end point.
The Z-shaped swinging arc is characterized in that the arc continuously swings in a Z shape along the welding direction, and the arc can stay at two sides of a welding seam to prevent undercutting and enable a molten pool to be better jointed.
Example 7
As shown in fig. 10 and 11, based on embodiment 3, a specific point position calculation method in arc swing arc welding in embodiment 6 includes:
s341, calculating the speed V of the welding gun during swing arc welding according to the frequency A and the amplitude F of the arc swing arc and the moving speed MoveSpeed of the welding robot along the welding seam, wherein the amplitude F is the radius of the circle;
s342, drawing a welding path by using a welding shape compass of the arc swing arc in a swing arc welding period; since the circular pendulum draws a circle from the origin, there is only one path.
S343, respectively calculating the coordinates of each point in each path in the swing arc coordinate system, including:
s3431, a path I is a circle from the original point to the positive directions of the X axis and the Y axis, and the distance from the welding gun to the original point in the path I is 2 Fpi; the distance (dis Diff/F) that the welding torch needs to move in each interpolation period T is equal to T, the distance (dis X) that the welding torch moves in the X-axis direction of the swing arc coordinate system is equal to F sin (dis Diff/F), and the distance (dis Y) that the welding torch moves in the Y-axis direction of the swing arc coordinate system is equal to F-F cos (dis Diff/F); calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; repeatedly calculating the coordinates of the point in the path I until the total motion amount disI equals to 2F pi;
s344 repeats the path I until the welding robot moves to the end point.
The arc swing arc welding features that the tail end of welding wire is made to move circularly and forwards continuously, and is suitable for welding flat seam of thick welded part.
In addition, the invention also provides a welding robot, and the swing arc welding method can be realized when the welding robot performs welding.
The above is only a preferred embodiment of the present invention, and it should be noted that the above preferred embodiment should not be considered as limiting the present invention, and the protection scope of the present invention should be subject to the scope defined by the claims. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the spirit and scope of the invention, and these modifications and adaptations should be considered within the scope of the invention.
Claims (10)
1. A swing arc welding method is characterized by comprising the following steps:
acquiring swing arc parameters, wherein the swing arc parameters comprise a swing arc type, a swing arc frequency and a swing arc amplitude;
generating a swing arc coordinate system, wherein the X-axis direction of the swing arc coordinate system is the teaching track direction, the Z-axis direction of the swing arc coordinate system is the Z-axis direction of a world coordinate system, and the Y-axis direction of the swing arc coordinate system is obtained by cross multiplication of the Z-axis direction and the X-axis direction;
calculating the point position of the welding gun for swing arc welding under the swing arc coordinate system;
transferring the point position coordinates of the swing arc welding to a world coordinate system;
and controlling the welding gun to move to carry out swing arc welding through point position coordinates in a world coordinate system.
2. A swing arc welding method according to claim 1, wherein said method of generating a swing arc coordinate system comprises:
obtaining a point position P2 where the current interpolation period of the welding robot is located and a point position P1 where the last interpolation period is located;
calculating the X-axis direction of the swing arc coordinate system according to the positions of the point P1 and the point P2 in the world coordinate system;
performing cross multiplication on the X-axis direction of the swing arc coordinate system and the Z-axis direction of the point P2 in a world coordinate system to obtain the Y-axis direction of the swing arc coordinate system;
and performing cross multiplication on the X-axis direction and the Y-axis direction of the swing arc coordinate system to obtain the Z-axis direction of the swing arc coordinate system.
3. The swing arc welding method according to claim 1, wherein the method for calculating the point position of the welding gun for swing arc welding in the swing arc coordinate system comprises the following steps:
planning a swing arc welding shape in a swing arc welding period into a plurality of welding paths according to the swing arc parameters;
the movement of the welding gun in each interpolation period forms a swing arc welding point position, and the distance of the welding gun in each interpolation period in each path, which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system, is calculated;
and calculating the coordinates of the next point position under the swing arc coordinate system according to the swing arc coordinate system coordinates of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period until each point position of each path is calculated.
4. The swing arc welding method according to claim 3, wherein calculating the point position of the welding gun for swing arc welding in the swing arc coordinate system when performing equilateral triangle swing arc comprises:
calculating the speed V of the welding gun during swing arc welding according to the frequency A and the amplitude F of the swing arc of the equilateral triangle and the moving speed MoveSpeed of the welding robot along the welding seam, wherein the amplitude F is the side length of the equilateral triangle;
planning the equilateral triangle in the welding shape of the equilateral triangle swing arc in a swing arc welding period into four welding paths;
respectively calculating the coordinates of each point position in each path in a swing arc coordinate system, and the method comprises the following steps:
the path I is a half of the bottom edge of the equilateral triangle, and the distance of the welding gun in the path I from the original point to the positive direction of the Y axis of the swing arc coordinate system is F/2; the distance (dis Diff) that the welding gun needs to move in each interpolation period T is T & ltV & gt, the distance that the welding gun moves in the X-axis direction of the swing arc coordinate system is 0, and the distance that the welding gun moves in the Y-axis direction of the swing arc coordinate system is disY & ltDISDiff & gt; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period except the initial point position; repeatedly calculating the point coordinates in the path I until the total motion amount disI in the path I is equal to DISI + DISDiff until the total motion amount disI in the path I is equal to F/2;
the path II is the hypotenuse of the equilateral triangle, and the distance of the welding gun in the path II which needs to move from the terminal point of the path I to the X axis of the swing arc coordinate system is F; the distance (dis Diff) that the welding gun needs to move in each interpolation period T is T, the distance (dis X) that the welding gun moves in the X-axis direction of the swing arc coordinate system is dis Diff sin60 degrees, and the distance (dis Y) that the welding gun moves in the Y-axis direction of the swing arc coordinate system is-dis Diff cos60 degrees; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period;
and repeatedly calculating the coordinates of the point position in the path II until the total motion amount disII in the path II is equal to disII + disDiff until the total motion amount disII in the path II is equal to F.
The path III is the other oblique side of the equilateral triangle, and the distance of movement of the welding gun in the path III from the end point of the path II to the negative direction of the Y axis of the swing arc coordinate system is F; the distance of the welding gun required to move in each interpolation period T is DISDiff (T) V, the distance of the welding gun moving in the X-axis direction of the swing arc coordinate system is DISX (DISDiff) sin60 degrees, and the distance of the welding gun moving in the Y-axis direction of the swing arc coordinate system is DISY (DISDiff) cos60 degrees; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; and repeatedly calculating the coordinates of the point position in the path II until the total motion amount disIII in the path III is equal to disIII + disDiff until the total motion amount disIII in the path II is equal to F.
The path IV is the bottom edge of the equilateral triangle, and the distance that the welding gun needs to move from the end point of the path III to the positive direction of the Y axis of the swing arc coordinate system in the path IV is F; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding guns in the X-axis direction and the Y-axis direction in each inserting period; repeatedly calculating the point coordinates in the path IV until the total motion amount disIV in the path IV is equal to DISIV + DISDiff;
and repeating the path II, the path III and the path IV until the welding robot moves to the end point.
5. The swing arc welding method according to claim 3, wherein calculating the point position of the welding gun for swing arc welding in the swing arc coordinate system during the crescent swing arc comprises:
calculating the speed V of the welding gun during swing arc welding according to the frequency A and the amplitude F of the crescent swing arc and the moving speed MoveSpeed of the welding robot along the welding seam; the amplitude F is the radius of the arc;
planning a welding shape semicircular arc of the crescent swing arc in a swing arc welding period into three welding paths;
respectively calculating the coordinates of each point position in each path in a swing arc coordinate system, and the method comprises the following steps:
the path I is the radius of the arc, and the distance of the welding gun in the path I, which needs to move from the original point to the positive direction of the Y axis of the swing arc coordinate system, is F; the distance (dis Diff) that the welding gun needs to move in each interpolation period T is T & ltV & gt, the distance that the welding gun moves in the X-axis direction of the swing arc coordinate system is 0, and the distance that the welding gun moves in the Y-axis direction of the swing arc coordinate system is disY & ltDISDiff & gt; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period except the initial point position; repeatedly calculating the coordinates of the point in the path I until dissI equals to F;
the path II is a semi-circular arc from the positive direction of the Y axis of the swing arc coordinate system to the negative direction of the Y axis, and the distance that the welding gun needs to move from the terminal point of the path I to the positive direction of the Y axis of the swing arc coordinate system in the path II is F pi; the distance (dis diff/F) that the welding torch needs to move in each interpolation period T is equal to T, the distance (dis X) that the welding torch moves in the X-axis direction of the swing arc coordinate system is equal to F sin (dis diff/F), and the distance (dis Y) that the welding torch moves in the Y-axis direction of the swing arc coordinate system is equal to F cos (dis diff/F); calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; repeatedly calculating the point coordinates in the path II until the total motion amount disII in the path II is equal to DISII + DISDiff;
the path III is a semicircular arc from the negative direction of the Y axis of the swing arc coordinate system to the positive direction of the Y axis, and the distance that the welding gun needs to move from the terminal point of the path II to the positive direction of the Y axis of the swing arc coordinate system in the path III is F pi; the distance (dis Diff/F) that the welding torch needs to move in each interpolation period T is equal to T, the distance (dis X/F) that the welding torch moves in the X-axis direction of the swing arc coordinate system is equal to-F sin, and the distance (dis Y/F) that the welding torch moves in the Y-axis direction of the swing arc coordinate system is equal to F cos; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; repeatedly calculating the coordinates of the point in the path II until the total motion amount disIII in the path III is equal to disIII + disDiff;
and repeating the path II and the path III until the welding robot moves to the end point.
6. Swing arc welding method according to claim 1, characterized in that: when Z-shaped swing arc is carried out, the point positions of the welding gun for swing arc welding under the swing arc coordinate system are calculated, and the point positions comprise:
calculating the speed V of the welding gun during swing arc welding according to the frequency A and the amplitude F of the Z-shaped swing arc and the moving speed MoveSpeed of the welding robot along the welding seam, wherein the amplitude F is the distance between the vertexes of the Z shape in the positive and negative directions of the Y axis;
planning a welding shape straight-line segment of the Z-shaped swing arc in a swing arc welding period into three welding paths;
respectively calculating the coordinates of each point position in each path in a swing arc coordinate system, and the method comprises the following steps:
the path I is a half of a straight line segment, and the distance of the welding gun in the path I from the original point to the positive direction of the Y axis of the swing arc coordinate system is F/2; the distance (DISDiff) that the welding gun needs to move in each interpolation period T is T, the distance that the welding gun moves in the X-axis direction of the swing arc coordinate system is 0, and the distance that the welding gun moves in the Y-axis direction of the swing arc coordinate system is DISY; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period except the initial point position; repeatedly calculating the point coordinates in the path I until the total motion amount disI in the path I is equal to DISI + DISDiff until the total motion amount disI in the path I is equal to F/2;
the path II is a straight-line segment, and the distance of the welding gun in the path II, which needs to move from the end point of the path I to the negative direction of the Y axis of the swing arc coordinate system, is F; the distance (DISDiff) that the welding gun needs to move in each interpolation period T is T, the distance that the welding gun moves in the X-axis direction of the swing arc coordinate system is 0, and the distance that the welding gun moves in the Y-axis direction of the swing arc coordinate system is DISY; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; repeatedly calculating the point coordinates in the path II until the total motion amount disII in the path II is equal to DISII + DISDiff;
the path III is a straight line segment, and the distance of the welding gun in the path III, which needs to move from the end point of the path II to the positive direction of the Y axis of the swing arc coordinate system, is F; the distance (dis Diff) that the welding gun needs to move in each interpolation period T is T & ltV & gt, the distance that the welding gun moves in the X-axis direction of the swing arc coordinate system is 0, and the distance that the welding gun moves in the Y-axis direction of the swing arc coordinate system is disY & ltDISDiff & gt; calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; repeatedly calculating the point coordinates in the path III until the total motion amount disIII in the path III is equal to DISIII + DISDiff;
and repeating the path II and the path III until the welding robot moves to the end point.
7. Swing arc welding method according to claim 1, characterized in that: when arc swing is carried out, the point positions of the welding gun for swing arc welding under the swing arc coordinate system are calculated, and the point positions comprise:
calculating the speed V of the welding gun during swing arc welding according to the frequency A and the amplitude F of the circular arc swing arc and the moving speed MoveSpeed of the welding robot along the welding seam, wherein the amplitude F is the radius of the circle;
drawing a welding path by using a welding shape compasses of the arc swing arc in a swing arc welding period;
respectively calculating the coordinates of each point position in each path in a swing arc coordinate system, wherein the method comprises the following steps:
the path I is a circle starting from the original point to the positive directions of the X axis and the Y axis, and the distance from the welding gun starting from the original point and returning to the original point in the path I is 2 Fpi; the distance required by the welding gun to move is disDiff (T) V in each interpolation period T, the distance required by the welding gun to move in the X-axis direction of the swing arc coordinate system is disX (F) sin (diff/F), and the distance required by the welding gun to move in the Y-axis direction of the swing arc coordinate system is disY (F) cos (dispef/F); calculating the coordinate of the next point position in the swing arc coordinate system according to the swing arc coordinate system coordinate of the previous point position and the distances of the welding gun which needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; repeatedly calculating the point coordinates in the path I until the total motion amount disI in the path I is 2 Fpi;
and repeating the path I until the welding robot moves to the end point.
8. Swing arc welding method according to claim 1, characterized in that: the swing arc parameters also comprise the time T1 of the welding gun staying at the positive direction vertex of the Y axis of the swing arc coordinate system and the time T2 of the welding gun staying at the negative direction vertex.
9. Swing arc welding method according to claim 1, characterized in that: and forming an abrupt swing arc or/and a gradual swing arc by changing the swing arc amplitude.
10. A welding robot, characterized in that the welding robot can realize the swing arc welding method of claims 1-9 when welding.
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| CN110465949A (en) * | 2019-09-09 | 2019-11-19 | 北京配天技术有限公司 | The planing method of welding robot and its swinging track |
| CN113894805A (en) * | 2021-09-27 | 2022-01-07 | 深圳市启玄科技有限公司 | Cooperative welding method, device, terminal and storage medium |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115453971A (en) * | 2022-09-23 | 2022-12-09 | 法奥意威(苏州)机器人系统有限公司 | Circular arc swinging path planning method and device and planning equipment |
| CN115453971B (en) * | 2022-09-23 | 2023-08-15 | 法奥意威(苏州)机器人系统有限公司 | Arc swing path planning method, device and planning equipment |
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