可调整焊枪姿态直线摆弧路径算法研究

Research on the Algorithm of Linear Swing Arc Path with Adjustable Welding Torch Attitude

为解决弧焊机器人每进行一次焊枪姿态调整均需要重新示教增加编程时间致使工作效率低的难题,提出一种可调整焊枪工作角与行走角的直线摆弧路径算法,以实现一次示教后便可进行不同焊枪姿态调整。该算法首先通过输入示教点与焊枪工作角计算焊接平面,在焊接平面上得到摆弧路径生成所需位置点信息,然后对焊枪加入焊枪行走角得到机器人焊接过程姿态值,最后由机器人位姿信息以及焊枪摆动幅值、摆动周期、机器人末端位移线速度等参数调用直线摆弧路径生成算法得到路径上各插补点位姿信息。仿真实验结果表明,采用可调整焊枪姿态的直线摆弧路径算法可快速改变焊枪姿态,缩短焊接工艺调整时间提高焊接效率。

In order to solve the problem that the attitude adjustment of arc welding robot needs to be retaught to increase programming time and result in low work efficiency,a linear swing arc path algorithm which can adjust the working angle and walking angle of the welding torch is proposed,so that different welding torch attitude can be adjusted after one teaching.The algorithm firstly calculates the welding plane by inputting the teaching point and the working angle of the welding torch,and obtains the required position information of the swing arc path on the welding plane.Then the walking angle of the torch is added to the torch to obtain the attitude value of the robot during the welding process.Finally from the robot pose information and welding torch swing amplitude,swing period,displacement of robot terminal linear velocity parameters such as call straight swing arc path generation algorithm for path each interpolation point pose information.The simulation experiment results show that the linear swing arc path algorithm with adjustable torch attitude can quickly change the torch attitude,shorten the welding process adjustment time,improve the welding efficiency.