CN108153707B - Arc welding robot linear swing welding method based on space transformation principle - Google Patents

Arc welding robot linear swing welding method based on space transformation principle Download PDF

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CN108153707B
CN108153707B CN201711452242.4A CN201711452242A CN108153707B CN 108153707 B CN108153707 B CN 108153707B CN 201711452242 A CN201711452242 A CN 201711452242A CN 108153707 B CN108153707 B CN 108153707B
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康存锋
王明凯
张硕
原浩钧
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Beijing University of Technology
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Abstract

The invention discloses an arc welding robot linear swing welding method based on a space transformation principle, which simplifies a three-dimensional space swing problem into a two-dimensional space to be solved by establishing a swing base plane, firstly solves a base swing point in the swing base plane through part of teaching parameters, and then solves a coordinate transformation matrix of the swing plane and the swing base plane by utilizing the teaching parameters. And mapping the basic swing point in the swing basic plane to the swing plane through a coordinate transformation matrix to obtain a final swing welding track. The method has the characteristics of multiple input parameters and high track operation speed.

Description

Arc welding robot linear swing welding method based on space transformation principle
Technical Field
The invention belongs to the technical field of arc welding operation, and particularly relates to a linear swing welding method of an arc welding robot based on a space transformation principle.
Background
The swing arc motion is a special motion form when arc welding operation is carried out, and wide welding seams or welding seams in space are welded by using a swing arc technology; the welding effect is better, and the technology is one of the important technologies for realizing welding automation. Currently, relatively few studies are made on the swing arc algorithm of the arc welding robot. The great waves of Harbin industry university put forward an arc swinging motion scheme based on a space vector position method, and basic space arc swinging motion can be realized; the bear flickering of the Chinese science and technology university provides a motion scheme based on a track superposition thought aiming at the problem; although the algorithms can complete the basic action of swing welding, the algorithms have the defects of few input parameters, simple swing track and large calculation amount.
Disclosure of Invention
The invention provides an arc welding robot linear swing welding method based on a space transformation principle, which can overcome the defects of the swing arc scheme, realize the input of various control parameters and finish the complicated linear track swing welding.
In order to achieve the purpose, the invention adopts the following technical scheme:
a linear swing welding method of an arc welding robot based on a space transformation principle comprises the following steps:
step 1, establishing a swing plane model
(1.1) first, a base plane is established so that a teaching path is formed
Figure GDA0002952012420000021
Coinciding with the X axis of the base plane, wherein XOY is the swinging base plane, and all swinging nodes are obtained on the base plane according to the swinging parameters;
(1.2) the XOY plane rotates for three times around the basic coordinate system and then translates to obtain a swinging plane, and the three times of rotation sequentially comprises the steps of rotating for a corresponding inclination angle gamma around the X axis of the basic coordinate system, then rotating for beta around the Y axis, and finally rotating for alpha around the Z axis;
(1.3) solving a rotation and translation matrix of the swinging plane, and assuming that the coordinates of two teaching points are P respectivelyA(xA,yA,zA) And PB(xB,yB,zB) Respectively solving alpha, beta and gamma, wherein gamma is the angle of the inclination angle, beta angle and
Figure GDA0002952012420000022
complementary to the angle formed by the Z axis, and if the length of the line segment AB is d, then:
Figure GDA0002952012420000023
suppose that
Figure GDA0002952012420000024
The included angle with the X axis is delta, and can be obtained according to the minimum angle theorem:
cosδ＝cosγ·cosα
wherein:
Figure GDA0002952012420000025
the following can be obtained in a simultaneous manner:
Figure GDA0002952012420000026
obtaining:
Figure GDA0002952012420000027
Figure GDA0002952012420000031
after solving (α, β, γ), a rotation matrix from the base plane to the wobble plane can be obtained, that is:
Figure GDA0002952012420000032
in modeling, assume that the condition is dxyNot equal to 0, when dxyWhen the welding direction is 0, that is, the welding is along the Z-axis of the robot coordinate system, the rotation matrix has two cases:
when Z isB>ZAThe method comprises the following steps:
Figure GDA0002952012420000033
when Z isB＜ZAThe method comprises the following steps:
Figure GDA0002952012420000034
from the above analysis, a homogeneous transformation matrix from the base plane XOY to the wobble plane can be obtained:
Figure GDA0002952012420000035
the swinging node can be calculated on the basis plane, and then each point is subjected to rotational translation to obtain a corresponding linear swinging point;
step 2, calculating a plane swing point
(2.1) first determine the single-swing periodic motion distance: the single-cycle movement distance is composed of a single-waveform periodic movement distance and three dwell time movement distances, and the three dwell times are respectively (T)1，T2，T3) The single waveform frequency can be set to f by the upper input, the welding speed of the upper transmission is v, and the single swing periodic motion distance is as follows:
Figure GDA0002952012420000041
(2) determining the positive cycle number N of the AB segment motion:
Figure GDA0002952012420000042
(3) the distance of the remaining segments is found:
LS＝d-L×N
(4) a recursion formula for solving the coordinates of 8 basic points in the period according to the swing parameters, and the upper input left-right front and rear angles are set as phiLAnd phiRThe one-quarter cycle travel distance of a single waveform is ZS＝v/4f，
(5) All the rocking points are calculated: let StepI represent the coordinates (x) to be calculated for this stepi,yi,zi)，LSThe distance remaining after obtaining the corresponding coordinates for StepI (I1.. 8), Step9 represents the calculation for looping into the last point, the coordinates of the last point are the coordinates of teaching point B, and 8 points in the periodThe coordinates of the base points are:
Figure GDA0002952012420000043
wherein i is 1,2,3.. n;
step 3, solving the space oscillation point
Assume a base point of pi(xi,yi,zi) The swinging point is Pi (X)i,Yi,Zi)，
Figure GDA0002952012420000051
For a 3 × 3 rotation matrix, the calculation formula of the spatial oscillation point is:
Figure GDA0002952012420000052
the arc welding robot linear swing welding method based on the space transformation principle simplifies the three-dimensional space swing problem into a two-dimensional space to be solved in a mode of establishing a swing base plane, firstly solves a basic swing point in the swing base plane through part of teaching parameters, and then solves a coordinate transformation matrix of the swing plane and the swing base plane by utilizing the teaching parameters. And mapping the basic swing point in the swing basic plane to the swing plane through a coordinate transformation matrix to obtain a final swing welding track. Through simulation verification, the algorithm has the advantages of multiple input parameters and high track operation speed, and is a straight line swing welding method with practical value.
Drawings
FIG. 1(a) is a schematic view of the welding swing parameter amplitude of the linear swing welding method of the arc welding robot of the present invention;
FIG. 1(b) is a schematic view of the welding swing parameter dwell time of the linear swing welding method of the arc welding robot of the present invention;
FIG. 1(c) is a schematic view of a welding swing parameter tilt angle for a linear swing welding method for an arc welding robot of the present invention;
FIG. 1(d) is a schematic view of the front and rear angles of the welding swing parameters of the arc welding robot linear swing welding method of the present invention;
FIG. 2 is a swing plane of the linear swing welding method of the arc welding robot of the present invention;
FIG. 3 shows a swing point calculation flow chart;
FIG. 4 is a flow chart of the present invention.
Detailed Description
The quality of the welding seam of the swing welding is greatly related to the welding swing parameters, and the teaching track and the setting of the swing parameters jointly determine the swing type and the track of the welding robot. The swing welding algorithm based on the space transformation principle can realize the setting of the following parameters:
(1) the wobble frequency.
(2) The swing type: the basic types of the wobble include sine wave wobble and triangular wave (sawtooth wave) wobble. By different setting combinations of other parameters, more complex trajectories can be achieved, such as L-shaped swings, trapezoidal swings, etc.
(3) Amplitude: i.e., the maximum distance from the center of the weld to the left and right during the swing welding, as shown in fig. 1 (a).
(4) Stopping time: the stop time refers to the time at which the swing arc stops at 1/4,2/4, 3/4 of each cycle, as shown in fig. 1 (b). Trapezoidal oscillation and other oscillation types can be achieved by setting the dwell time.
(5) Inclination angle: if the weld plane is defined as a plane perpendicular to the direction of the welding gun and coplanar with the weld, the inclination angle refers to the angle of the plane in which the swing lies with the weld plane, as shown in FIG. 1 (c). The swing surface of appointed swing welding can be set through the inclination angle, and complex swing forms such as L-shaped swing can be realized when the left and right inclination angles are different.
(6) Front and rear angles: refers to the angle of the swing direction to the direction perpendicular to the forward direction, as shown in fig. 1 (d). When the leading relief angle is not zero, the maximum distance of the swing from the center of the weld will be less than the value of the amplitude.
As shown in FIG. 4, the invention provides a linear swing welding method of an arc welding robot based on the space transformation principle, which comprises the following steps:
step 1, establishing a swing plane model
(1.1) first, a base plane is established so that a teaching path is formed
Figure GDA0002952012420000071
And coinciding with the X axis of the base plane, wherein XOY is the swinging base plane, and all swinging nodes are obtained on the base plane according to the swinging parameters.
(1.2) the XOY plane rotates for three times around the basic coordinate system and then translates to obtain a swinging plane, the three times of rotation are sequentially that the swinging plane rotates for the corresponding inclination angle gamma around the X axis of the basic coordinate system, then rotates for the beta around the Y axis, and finally rotates for the alpha around the Z axis, and the three times of rotation are performed around the fixed coordinate system. The transformation relationship between the swing plane and the base coordinate system is shown in fig. 2:
(1.3) the rotational-translational matrix of the oscillation plane is obtained, and the matrix can be obtained by obtaining the corresponding three rotation angles, as shown in FIG. 2. Suppose that the coordinates of two points to be taught are PA(xA,yA,zA) And PB(xB,yB,zB) And respectively solving alpha, beta and gamma. The angle γ is an angle of the tilt angle, and is input from the upper teaching box. Angle beta and
Figure GDA0002952012420000072
complementary to the angle formed by the Z axis, and if the length of the line segment AB is d, then:
Figure GDA0002952012420000073
suppose that
Figure GDA0002952012420000074
The included angle with the X axis is delta, and can be obtained according to the minimum angle theorem:
cosδ＝cosγ·cosα
wherein:
Figure GDA0002952012420000075
the following can be obtained in a simultaneous manner:
Figure GDA0002952012420000076
obtaining:
Figure GDA0002952012420000077
Figure GDA0002952012420000081
after solving (α, β, γ), a rotation matrix from the base plane to the wobble plane can be obtained:
Figure GDA0002952012420000082
in modeling, assume that the condition is dxyNot equal to 0, when dxyWhen the value is 0, the welding direction is along the Z-axis of the robot coordinate system. There are two cases of the rotation matrix at this time:
when Z isB>ZAThe method comprises the following steps:
Figure GDA0002952012420000083
when Z isB＜ZAThe method comprises the following steps:
Figure GDA0002952012420000084
from the above analysis, a homogeneous transformation matrix from the base plane XOY to the wobble plane can be obtained:
Figure GDA0002952012420000085
therefore, the swinging node can be calculated on the base plane, and then each point is subjected to rotational translation to obtain a corresponding linear swinging point.
Step 2, calculating a plane swing point
The complex space problem is simplified by building up a swinging base plane, the base plane swinging point is calculated as follows:
(2.1) first determine the single-swing periodic motion distance: the single-cycle movement distance is composed of a single-waveform periodic movement distance and three dwell time movement distances, and the three dwell times are respectively (T)1，T2，T3) The single waveform frequency can be set to f by the upper input, the welding speed of the upper transmission is v, and the single swing periodic motion distance is as follows:
Figure GDA0002952012420000091
(2) determining the positive cycle number N of the AB segment motion:
Figure GDA0002952012420000092
(3) the distance of the remaining segments is found:
LS＝d-L×N
(6) a recursion formula for solving the coordinates of 8 basic points in the period according to the swing parameters, and the upper input left-right front and rear angles are set as phiLAnd phiRThe one-quarter cycle travel distance of a single waveform is ZS＝v/4f，
(7) All the rocking points are calculated: let StepI represent the coordinates (x) to be calculated for this stepi,yi,zi)，LSFor the distance remaining after obtaining the corresponding coordinates for StepI (I ═ 1.. 8), Step9 represents the calculation that loops into the last point, where the coordinates of the last point are the coordinates of teaching point B, and the coordinates of all basic oscillation points, i.e. 8 basic points in the period, are found from fig. 3:
Figure GDA0002952012420000101
wherein i is 1,2,3.
Step 3, solving the space oscillation point
Assume a base point of pi(xi,yi,zi) The swinging point is Pi (X)i,Yi,Zi)，
Figure GDA0002952012420000102
For a 3 × 3 rotation matrix, the calculation formula of the spatial oscillation point is:
Figure GDA0002952012420000103
wherein z isiAnd ZiAre all 0
Method of the invention verification
Through verification, the test results of the single-section straight line and the spatial multi-section straight line swing track are all in accordance with expectations.
The linear swing welding algorithm of the arc welding robot is verified in a computer simulation environment; the verification result shows that the algorithm is practical and feasible, multiple swing parameters are supported, the swing point calculation speed is high, and the method can be used for solving relatively complex linear track swing welding.

Claims (1)

1. A linear swing welding method of an arc welding robot based on a space transformation principle is characterized by comprising the following steps:
step 1, establishing a swing plane model
(1.1) first, a base plane is established so that a teaching path is formed
Figure FDA0002952012410000011
Coincident with the X axis of the base plane, XOY is the swinging base plane, and the swinging place is obtained in the base plane according to the swinging parametersA node exists;
(1.2) the XOY plane rotates for three times around the basic coordinate system and then translates to obtain a swinging plane, and the three times of rotation sequentially comprises the steps of rotating for a corresponding inclination angle gamma around the X axis of the basic coordinate system, then rotating for beta around the Y axis, and finally rotating for alpha around the Z axis;
(1.3) solving a rotation and translation matrix of the swinging plane, and assuming that the coordinates of two teaching points are P respectivelyA(xA,yA,zA) And PB(xB,yB,zB) Respectively solving alpha, beta and gamma, wherein gamma is the angle of the inclination angle, beta angle and
Figure FDA0002952012410000012
complementary to the angle formed by the Z axis, and if the length of the line segment AB is d, then:
Figure FDA0002952012410000013
suppose that
Figure FDA0002952012410000014
The included angle with the X axis is delta, and can be obtained according to the minimum angle theorem:
cosδ＝cosγ·cosα
wherein:
Figure FDA0002952012410000015
the following can be obtained in a simultaneous manner:
Figure FDA0002952012410000016
obtaining:
Figure FDA0002952012410000017
Figure FDA0002952012410000018
after solving (α, β, γ), a rotation matrix from the base plane to the wobble plane can be obtained, that is:
Figure FDA0002952012410000021
in modeling, assume that the condition is dxyNot equal to 0, when dxyWhen the welding direction is 0, that is, the welding is along the Z-axis of the robot coordinate system, the rotation matrix has two cases:
when Z isB>ZAThe method comprises the following steps:
Figure FDA0002952012410000022
when Z isB＜ZAThe method comprises the following steps:
Figure FDA0002952012410000023
through the analysis of the above steps 1.1 to 1.3, a homogeneous transformation matrix from the base plane XOY to the wobble plane can be obtained:
Figure FDA0002952012410000024
the swinging node can be calculated on the basis plane, and then each point is subjected to rotational translation to obtain a corresponding linear swinging point;
step 2, calculating a plane swing point
(2.1) first determine the single-swing periodic motion distance: the single-cycle motion distance is composed of a single-waveform cycle motion distance and threeThe movement distance of each retention time is set as (T) for three retention times1，T2，T3) The single waveform frequency can be set to f by the upper input, the welding speed of the upper transmission is v, and the single swing periodic motion distance is as follows:
Figure FDA0002952012410000031
(2) determining the positive cycle number N of the AB segment motion:
Figure FDA0002952012410000032
(3) the distance of the remaining segments is found:
LS＝d-L×N
(4) a recursion formula for solving the coordinates of 8 basic points in the period according to the swing parameters, and the upper input left front and rear angles are set as phiLRight front rear angle of phiRThe one-quarter cycle travel distance of a single waveform is ZS＝v/4f，
(5) All the rocking points are calculated: let StepI represent the coordinates (x) to be calculated for this stepi,yi,zi)，LSFor the distance remaining after StepI (I ═ 1.. 8) obtains the corresponding coordinates, Step9 represents the calculation that loops into the last point, the coordinates of the last point are the coordinates of teaching point B, and the coordinates of 8 basic points in the cycle are:
Figure FDA0002952012410000033
Figure FDA0002952012410000034
Figure FDA0002952012410000035
Figure FDA0002952012410000036
wherein i is 1,2,3.. n;
step 3, solving the space oscillation point
Assume a base point of pi(xi,yi,zi) The swinging point is Pi (X)i,Yi,Zi)，
Figure FDA0002952012410000037
For a 3 × 3 rotation matrix, the calculation formula of the spatial oscillation point is:
Figure FDA0002952012410000041
wherein Zi and Zi are both 0.
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CN109773376B (en) * 2018-12-28 2020-10-16 南京埃斯顿机器人工程有限公司 Sine swing welding method of welding robot
CN109960847B (en) * 2018-12-28 2023-09-01 北京工业大学 Pendulum welding method based on space transformation principle
CN110450171B (en) * 2019-09-09 2020-12-08 北京配天技术有限公司 Welding robot and swing track planning method thereof
CN110465950B (en) * 2019-09-09 2021-01-19 北京配天技术有限公司 Welding robot and swing track planning method thereof
CN112008305B (en) * 2020-09-02 2021-12-28 南京埃斯顿自动化股份有限公司 Swing welding track planning method for welding robot

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