Sinusoidal pendulum welding method of welding robot

Abstract

The invention discloses a sinusoidal pendulum welding method of a welding robot. The sinusoidal pendulum welding method includes the steps: (1) the T<z> direction of a current tool coordinate system is determined according to a TCP point of the robot, the T<z> direction and the travelling direction of a current point of a welding joint track form a first plane, and a plane formed by a normal vector of the first plane and the travelling direction of the current point of the welding joint track is a pendular reference plane; (2) a plane formed by the pendular reference plane rotating around thetravelling direction of the current point of the welding joint track at the angle of theta 1 is a pendular plane X<w>O<w>Y<w>; (3) a dynamic pendular plane is set up; (4) a sinusoidal shape is determined and an pendular increment is calculated; (5) an increment in a base coordinate system is calculated; and (6) according to the pendular increment in the base coordinate system and a travelling track of a welding gun, a real-time changing sinusoidal welding track is obtained. The pendular reference plane is determined based on an interpolation point of the welding joint track, and then the pendular plane is determined through the rotating angle; and by determining the reasonable sinusoidal shape and setting a reasonable pendulum amplitude and pendulum frequency, the welding effect of the welding robot is improved.

Description

technical field [0001] The invention relates to a sinusoidal weaving welding method for a welding robot. Background technique [0002] The swing welding of the welding robot (referred to as swing welding) is a welding method in which the welding torch travels along the direction of the weld seam while swinging longitudinally in a certain order. It improves welding strength and welding efficiency, is widely used in automatic welding technology, and has practical engineering significance. In actual engineering, straight line welds, arc welds and parabolic welds are relatively common forms of welds. According to the shape of the weaving welding strip, it can be divided into sawtooth weaving welding, sinusoidal weaving welding, triangular weaving welding and circular weaving welding. Among them, sine weaving welding refers to a welding method in which the tip of the torch makes continuous sinusoidal motion along the welding direction and feeds continuously along the welding di...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a sinusoidal weaving welding method for a welding robot, which solves the problem that in the prior art, the oscillating plane is fixed during the welding process, and the complicated welding seam needs to be divided into multiple small welding seams, and multiple welding planes can be set. To meet the welding process requirements, the welding flexibility is low, and the welding effect is poor technical problems

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