CN110450170A - The planing method of welding robot and its swinging track - Google Patents
The planing method of welding robot and its swinging track Download PDFInfo
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- CN110450170A CN110450170A CN201910848840.6A CN201910848840A CN110450170A CN 110450170 A CN110450170 A CN 110450170A CN 201910848840 A CN201910848840 A CN 201910848840A CN 110450170 A CN110450170 A CN 110450170A
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
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Abstract
This application discloses the planing method of a kind of welding robot and its swinging track, which comprises determining that first position coordinate and first posture coordinate of multiple first tracing points under workpiece coordinate system on weld seam；Determine position coordinates of corresponding second tracing point of the first tracing point in the case where swinging coordinate system, wherein multiple corresponding second tracing points of first tracing point form the triangle deviating track positioned at YOZ plane in the case where swinging coordinate system；Position coordinates of second tracing point in the case where swinging coordinate system are converted into the second position coordinate under workpiece coordinate system；It is superimposed the first position coordinate of the first tracing point and the second position coordinate of corresponding second tracing point, position coordinates of the interpolated point corresponding with the first tracing point under workpiece coordinate system are obtained, position coordinates of the interpolated point corresponding with the first tracing point under workpiece coordinate system are obtained；The swinging track after planning is determined according to interpolated point.The planing method of swinging track provided herein calculates simple.
Description
Technical field
This application involves Technology of Welding Robot fields, more particularly to the rule of a kind of welding robot and its swinging track
The method of drawing.
Background technique
The swing welding (referred to as pendulum weldering) of welding robot is while welding gun is advanced along bead direction longitudinally with certain
The welding manner that rule is swung.It improves weld strength and welding efficiency, is used widely in automatic welding technique,
With engineering significance.
The inventors of the present application found that the planing method of welding robot swinging track calculates complexity at present, and it is difficult to protect
Card welding robot reaches expected speed and expected period in swinging welding process.
Summary of the invention
The application is mainly solving the technical problems that provide the planing method of a kind of welding robot and its swinging track, energy
Enough simplified calculation methods.
In order to solve the above technical problems, the technical solution that the application uses is: providing a kind of welding robot swing
The planing method of track, the planing method of the swinging track comprise determining that multiple first tracing points are in workpiece coordinate on weld seam
First position coordinate and the first posture coordinate under system；Determine that multiple corresponding second tracing points of first tracing point exist
Swing the position coordinates under coordinate system, wherein the relatively described weldering of multiple corresponding second tracing points of first tracing point
There are offset increments for seam, and multiple corresponding second tracing points of first tracing point are formed under the swing coordinate system
Positioned at the triangle deviating track of YOZ plane, the vertex of the triangle deviating track and the origin weight for swinging coordinate system
It closes, it is parallel with the swing Y-axis of coordinate system with the opposite side in the vertex；By second tracing point in the swing coordinate
Position coordinates under system are converted to the second position coordinate under the workpiece coordinate system；It is superimposed the described of first tracing point
The second position coordinate of first position coordinate and corresponding second tracing point obtains corresponding with first tracing point
Position coordinates of the interpolated point under the workpiece coordinate system, obtain interpolated point corresponding with first tracing point in the work
Position coordinates under part coordinate system, wherein the posture coordinate of the interpolated point is the first posture coordinate；According to the interpolation
The position coordinates and posture coordinate of point determine the swinging track after planning；Wherein, the swing coordinate system is tool coordinates system,
Origin is the endpoint of welding gun, and X-direction is the direction of advance of the welding gun, the swaying direction that Y direction is the welding gun, Z axis
Direction is the pipette tips direction of the welding gun；Or, the swing coordinate system is tool path coordinate system, origin is the welding gun
Endpoint, X-direction be the weld seam tangential direction, Y direction by the tool path coordinate system X-direction and the work
The Z-direction multiplication cross for having coordinate system determines that Z-direction is true by the X-direction and Y direction multiplication cross of the tool path coordinate system
It is fixed.
In order to solve the above technical problems, another technical solution that the application uses is: providing a kind of welding robot, wrap
Processor, memory and telecommunication circuit are included, the processor is respectively coupled to the memory and the telecommunication circuit, described
Processor controls the step in itself and the memory, the telecommunication circuit realization above method at work.
In order to solve the above technical problems, another technical solution that the application uses is: providing a kind of with store function
Device, be stored with program data, described program data can be performed to realize the step in the above method.
The beneficial effect of the application is: the planing method of the application welding robot swinging track is by the pendulum of welding robot
Dynamic rail mark is split, and seam track and deviating track are split as, compared with prior art without using each turning point as showing
Terminal is taught, is calculated simply, in addition, multiple second tracing points form the triangle offset positioned at YOZ plane in the case where swinging coordinate system
Track, the vertex of the triangle deviating track are overlapped with the origin for swinging coordinate system, the side opposite with vertex and swing coordinate system
Y-axis it is parallel, the space triangular pendular motion of welding robot may be implemented.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.Wherein:
Fig. 1 is the flow diagram of one embodiment of planing method of the application welding robot swinging track；
Fig. 2 is the schematic diagram of tool coordinates system；
Fig. 3 is the schematic diagram of tool path coordinate system；
Fig. 4 is deviating track schematic diagram of the application welding robot in the case where swinging coordinate system；
Fig. 5 is swinging track schematic diagram of the application welding robot under workpiece coordinate system；
Fig. 6 is swinging track schematic diagram of the application welding robot in an application scenarios under workpiece coordinate system；
Fig. 7 is swinging track schematic diagram of the application welding robot in another application scene under workpiece coordinate system；
Fig. 8 is the structural schematic diagram of one embodiment of the application welding robot；
Fig. 9 is the structural schematic diagram for one embodiment of device that the application has store function.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, rather than whole embodiments.Based on this
Embodiment in application, those of ordinary skill in the art are obtained every other under the premise of not making creative labor
Embodiment shall fall in the protection scope of this application.
Refering to fig. 1, Fig. 1 is the process signal of one embodiment of planing method of the application welding robot swinging track
Figure.The executing subject of the planing method of swinging track is welding robot in the application, which includes:
S110: determine that first position coordinate and first posture of multiple first tracing points under workpiece coordinate system are sat on weld seam
Mark.
Weld seam is the fixed connection place of two welded workpieces, and welding robot is in the process for welding two welded workpieces
In advance along weld seam extending direction and opposite weld seam carries out longitudinal oscillation.Workpiece coordinate system is affixed to the Descartes on workpiece
Coordinate system is set by designer, and in different application scenarios, designer can set different workpiece coordinate systems.
Multiple first tracing points are located on weld seam, do not deviate for weld seam, and multiple first tracing points form complete with weld seam
The seam track of coincidence.
Wherein during carrying out teaching, the pose for the welding starting point that welding robot is inputted according to operator is welded
The pose and welding duration/speed of welding for connecing terminal, determine pose of multiple first tracing points under workpiece coordinate on weld seam,
The pose includes the first position coordinate and the first posture coordinate of multiple first tracing points.Wherein welding starting point and terminal are respectively positioned on
On weld seam, when welding a length of seam track welding duration, i.e. expectation welding robot goes to weldering along weld seam from welding starting point
The duration of terminal is connect, speed of welding is linear velocity when desired welding robot is walked along seam track.
S120: determining position coordinates of corresponding second tracing point of multiple first tracing points in the case where swinging coordinate system,
Wherein, corresponding second tracing point of multiple first tracing points with respect to weld seam there are offset increment, and multiple first tracing points
Corresponding second tracing point forms the triangle deviating track positioned at YOZ plane, triangle offset in the case where swinging coordinate system
The vertex of track is overlapped with the origin for swinging coordinate system, parallel with the Y-axis of coordinate system is swung with the opposite side in vertex.
There are offset increments with respect to for weld seam for second tracing point, between multiple first tracing points and multiple second tracing points
With one-to-one relationship, multiple second tracing points form deviating track of the welding robot in the case where swinging coordinate system.
Wherein swinging coordinate system can be tool coordinates system or tool path coordinate system, as shown in Fig. 2, tool coordinates system
Origin is the endpoint of the welding gun of welding robot, as tool center point (TCP, Tool center point), X-direction
Direction of advance, Y direction for welding gun are the swaying direction of welding gun, and Z-direction is the pipette tips direction of welding gun.
Alternatively, swinging coordinate system can also be tool path coordinate system, as shown in figure 3, identical with tool coordinates system be,
The origin of tool path coordinate system is also the endpoint of the welding gun of welding robot, unlike tool coordinates system, X-direction
For the tangential direction of weld seam A, Y direction is true by the X-direction of tool path coordinate system and the Z-direction multiplication cross of tool coordinates system
Fixed, Z-direction is determined by the X-direction and Y direction multiplication cross of tool path coordinate system.
Wherein it is worth noting that, tool coordinates system is suitable for any application scenarios, and tool path coordinate system is when weldering
The tangential direction of seam A can not be applicable in when parallel with the Z-direction of tool coordinates system.
During welding robot welding, welding gun will do it rotation, and (in rotary course, pipette tips direction is not
Become), at this time if being selected as tool coordinates system for coordinate system is swung, swinging coordinate system can rotate around its Z axis, that is, lead to X-axis
Direction and Y direction change, and then position coordinates of multiple second tracing points in the case where swinging coordinate is caused to change, most
The deviating track of welding robot is caused to change eventually.And when due to welding gun rotation, the Z-direction of tool coordinates system will not
Change, and since tool path coordinate system is only related to the Z-direction of tool coordinates system, if being not desired to the inclined of welding robot
It moves track to change with the rotation of welding gun, then can will swing coordinate system and be selected as tool path coordinate system.
S130: position coordinates of second tracing point in the case where swinging coordinate system are converted into the second under workpiece coordinate system
Set coordinate.
It, can be by position of second tracing point in the case where swinging coordinate system due to that can be converted mutually between two coordinate systems
It sets coordinate and is converted to the second position coordinate under workpiece coordinate system.
S140: first position coordinate and the second position coordinate of corresponding second tracing point of the first tracing point of superposition and obtain
To position coordinates of the interpolated point corresponding with the first tracing point under workpiece coordinate system, wherein the posture coordinate of interpolated point is the
One posture coordinate.
There is one-to-one relationship between first tracing point, the second tracing point and interpolated point.
S150: the swinging track after planning is determined according to the position coordinates of interpolated point and posture coordinate.
Welding robot forms swinging track according to welding starting point, welding end point and interpolated point, is determining swinging track
Afterwards, welding robot is welded according to the swinging track.Position coordinates of the interpolated point under workpiece coordinate system are the first track
The first position coordinate of point is superimposed the second position coordinate of corresponding second tracing point, the i.e. final swinging track of welding robot
It is superimposed deviating track for seam track, to compared with prior art, during teaching, be not necessarily to each turning point (also referred to as
Cusp) it is used as teaching terminal, it calculates simply, and can guarantee appearance when the welding that the calculating duration of swinging track and user input
Together, it and then can guarantee swing period, simultaneously because can guarantee that seam track is constant, therefore can guarantee the weldering of swinging track
It is identical as the speed of welding that user inputs to connect speed.
Simultaneously in the present embodiment, as shown in figure 4, multiple second tracing points formed in the case where swinging coordinate positioned at YOZ put down
The triangle deviating track 10 in face, the vertex of the triangle deviating track 10 are overlapped with the origin for swinging coordinate system, and with the top
The opposite side of point is parallel with the Y-axis of coordinate system is swung, therefore as shown in figure 5, triangle offset rail is superimposed on seam track
The swinging track 20 formed after mark 10 is space triangular track, that is to say, that welding robot may be implemented in present embodiment
Space triangular pendular motion.
Wherein, in the present embodiment, the position coordinates premultiplication workpiece coordinate by the second tracing point in the case where swinging coordinate system
It is to obtain second position coordinate of second tracing point under workpiece coordinate system with respect to the transition matrix for swinging coordinate system.Specifically
Ground, if position coordinates of second tracing point in the case where swinging coordinate system are P, position of second tracing point under workpiece coordinate system is sat
Mark Q=M*P, wherein M is the opposite transition matrix for swinging coordinate system of workpiece coordinate system, and transition matrix M can be by robot
Forward kinematics solution acquires.
Therefore, if first position coordinate of multiple first tracing points under workpiece coordinate system is R on weld seam, with the first rail
Position coordinates of the corresponding interpolated point of mark point under workpiece coordinate system are S=R+Q=R+M*P.
Wherein, in the present embodiment, step S120 is specifically included:
S121: welding duration duration, swing period T, wobble amplitude A, opening angle θ, the first residence time are obtained
t1, the second residence time t2And third residence time t3。
Opening angle θ is opening angle of the triangle deviating track in swinging coordinate system in YOZ plane, as shown in Figure 4.
In an application scenarios, before planned trajectory, robot directly receives the welding duration of user's input
Duration, in another application scene, the pose of the welding starting point that robot is inputted according to user, welding end point pose with
And speed of welding and calculate welding duration duration.
S122: multiple first tracing point respective interpolation time points are calculated.
The interpolation time point is the time point of the first tracing point in the whole welding process.Multiple first tracing points are respective
Interpolation time point, the first tracing point corresponding interpolation time point was smaller between 0~duration, showed that the first tracing point is got over
Close to welding starting point.
S123: the time point in each comfortable wobble cycle of multiple first tracing points is calculated according to following formula one.
(time/cycle) * of formula one: t=time-round cycle, wherein t is multiple first tracing points each comfortable one
Time point in a wobble cycle, time are multiple first tracing points respective interpolation time point, and round is to be rounded letter downwards
Number, cycle are the duration of a wobble cycle, cycle=T+t1+t2+t3。
Swinging track carries out repeating variation according to the smallest repetitive unit, which is that a swing follows
Ring.Corresponding with swinging track, the deviating track that multiple second tracing points are formed is also to be repeated according to the smallest repetitive unit
Variation, wherein the offset rail that duration, start time point and multiple second tracing points of the smallest repetitive unit of swinging track are formed
The duration of the smallest repetitive unit of mark, start time point correspond to identical.
In this application, when welding robot carries out space triangular pendular motion, the smallest in deviating track repeats list
In member, welding robot will do it 3 stops: deviateing the not ipsilateral each stop of weld seam once, stop is primary in welded joints,
In, it is respectively t deviateing the not ipsilateral residence time of weld seam1And t2, residence time is t in welded joints3, therefore in offset rail
In the smallest repetitive unit of mark, residence time is t to welding robot in total1+t2+t3, therefore deviating track is the smallest heavy
The when a length of T+t of multiple unit1+t2+t3, which is also the duration of the smallest repetitive unit of swinging track.
S124: using the time point in each comfortable wobble cycle of multiple first tracing points as independent variable, with direct proportion
Function or SIN function calculate corresponding second tracing point of multiple first tracing points in the case where swinging coordinate system along the offset of Y-axis
Increment and offset increment along Z axis.
Corresponding second tracing point is calculated by independent variable of the time point t in each comfortable wobble cycle of the first tracing point
The offset increment along Y-axis and the offset increment along Z axis in the case where swinging coordinate system, i.e., by each comfortable swing of the first tracing point
Time point t in circulation brings direct proportion function into or SIN function calculates corresponding second tracing point of first tracing point and putting
Along the offset increment of Y-axis and along the offset increment of Z axis under moving coordinate system.
Wherein when calculating offset increment with direct proportion function, the swinging track of final welding robot linearly becomes
Change, then in the welding process, the acceleration of welding robot is larger at turning point, is easy the service life of butt welding machine device people at this time
It has an impact.And SIN function changes gently at wave crest and trough, therefore when calculating offset using SIN function, finally
Acceleration slows down at the turning point of welding robot in the welding process, reduces the abrasion of welding robot in the welding process,
It prolongs its service life.
S125: position coordinates of corresponding second tracing point of multiple first tracing points in the case where swinging coordinate system are determined.
Specifically, position coordinates P=[0 Y of corresponding second tracing point of multiple first tracing points in the case where swinging coordinate system
Z]T, wherein Y be corresponding second tracing point of the first tracing point in the case where swinging coordinate system along the offset increment of Y-axis, Z is the first rail
Corresponding second tracing point of mark point is in the case where swinging coordinate system along the offset increment of Z axis.Therefore interpolation corresponding with the first tracing point
Position coordinates of the point under workpiece coordinate system are S=R+Q=R+M* [0 Y Z]T。
In an application scenarios, multiple corresponding second tracks of first tracing point are calculated with following direct proportion function
Point is in the case where swinging coordinate system along the offset increment of Y-axis and the offset increment of Z axis:
Formula two:
Formula three:
Wherein, Y is that corresponding second tracing point of multiple first tracing points increases in the case where swinging coordinate system along the offset of Y-axis
Amount, Z is for corresponding second tracing point of multiple first tracing points in the case where swinging coordinate along the offset increment of Z axis, m1=T/3, m2
=m1+t1,m3=m2+ T/3, m4=m3+t2, m5=m4+T/3。
In the application scenarios, as the first residence time t1, the second residence time t2And third residence time t3It is zero
When, finally formed swinging track is as shown in Figure 5.When being not zero, welding robot stops in the welding process, this
When finally formed swinging track it is as shown in Figure 6.
In another application scene, multiple corresponding second tracks of first tracing point are calculated with following SIN function
The point offset increment along Y-axis and offset increment along Z axis in the case where swinging coordinate system:
Formula four:
Formula five:
Wherein, Y be multiple corresponding second tracing points of first tracing point under the swing coordinate system along Y-axis
Offset increment, Z be multiple corresponding second tracing points of first tracing point under the swing coordinate along the inclined of Z axis
Move increment, m1=T/3, m2=m1+t1,m3=m2+ T/3, m4=m3+t2, m5=m4+T/3。
The final swinging track of welding robot is as shown in Figure 7 at this time.
Simultaneously from the discussion above it can also be seen that welding robot can return on weld seam at the end of each wobble cycle,
Usually for the requirement of technique, welding robot requires it to return on weld seam after welding, that is, requiring welding duration is pendulum
The integral multiple of the duration cycle of dynamic circulation, but in an application scenarios, when user does not directly input welding duration, such as
The pose for the welding starting point that welding robot is inputted according to user, the pose of welding end point and speed of welding and calculate welding
When duration, which may not be the integral multiple of the duration cycle of wobble cycle, then at the end of welding, soldering apparatus
Weld seam may be deviated, the effect of anticipation is not achieved.Therefore in order to solve this problem, guarantee when swinging track terminates,
Welding robot can be moved to just on weld seam, the method in present embodiment further include:
S160: the difference of duration and round (duration/cycle) * cycle are calculated, and difference is denoted as
mini_cycle。
S170: judging whether mini_cycle is 0, if mini_cycle is 0, distinguishes according to formula two and formula three
Determine corresponding second tracing point of multiple first tracing points in the case where swinging coordinate system along Y-axis and along the offset increment of Z axis,
Alternatively, determining multiple corresponding second tracing points of first tracing point in the case where swinging coordinate system according to formula four and formula five
Along Y-axis and along the offset increment of Z axis, (duration-mini_cycle) otherwise is greater than at least partly to interpolation time point
First tracing point reduces swing period and wobble amplitude, with calculate corresponding second tracing point in the case where swinging coordinate system along Y-axis with
And the offset increment of Z axis.
Specifically, round is downward bracket function, and round (duration/cycle) * cycle is entire welding process
In all complete wobble cycles total duration.If mini_cycle is 0, illustrate that welding duration duration is wobble cycle
The integral multiple of duration cycle, then welding robot will necessarily return on weld seam at the end of welding, so according to formula two and
Formula three determines corresponding second tracing point of multiple first tracing points in the case where swinging coordinate system along Y-axis and along Z axis respectively
Offset increment, alternatively, determining that multiple corresponding second tracing points of first tracing point exist according to formula four and formula five
It swings under coordinate system along Y-axis and along the offset increment of Z axis.
If mini_cycle is not 0, illustrating last wobble cycle not is a complete wobble cycle, is deposited at this time
A possibility that welding robot does not return on weld seam at the end, therefore we need to make in the last one wobble cycle
Welding robot returns on weld seam, i.e., so that welding robot is carried out " zero is swung " in the last one wobble cycle, wherein returning
The zero when a length of mini_cycle swung, start time point is (duration-mini_cycle), i.e., is less than when interpolation time point
(duration-mini_cycle) when, welding robot is put according to formula two and three, or according to formula four and five are normal
Dynamic, when being greater than (duration-mini_cycle) at interpolation time point, welding robot carries out zero swing, i.e., to interpolation when
Between at least partly first tracing point of the point greater than (duration-mini_cycle) reduce swing period and wobble amplitude, in terms of
Corresponding second tracing point is calculated in the case where swinging coordinate system along Y-axis and the offset increment of Z axis.
In an application scenarios, at least partly first rail of (duration-mini_cycle) is greater than to interpolation time point
Mark point reduces swing period and wobble amplitude, to calculate corresponding second tracing point in the case where swinging coordinate system along Y-axis and Z axis
The step of offset increment, comprising:
It is greater than first tracing point of (duration-mini_cycle) to interpolation time point, according to mini_cycle/
The scale smaller swing period and wobble amplitude of cycle, with calculate corresponding second tracing point in the case where swinging coordinate system along Y-axis with
And the offset increment of Z axis.
Specifically, according to following formula six and seven calculate corresponding second tracing point in the case where swinging coordinate system along Y-axis with
And the offset increment along Z axis, or according to formula eight and nine calculate corresponding second tracing point in the case where swinging coordinate system along Y-axis with
And the offset increment along Z axis.
Formula six:
Formula seven:
Formula eight:
Formula nine:
Wherein, mini_
Cycle=duration-round (duration/cycle) * cycle,
From the above, it is seen that can guarantee that welding robot is last in welding by the method in present embodiment
It returns on weld seam, reaches expected swinging track.
It is the structural schematic diagram of one embodiment of the application welding robot refering to Fig. 8, Fig. 8.Welding robot 200 includes
Processor 210, memory 220 and telecommunication circuit 230, processor 210 are respectively coupled to memory 220 and telecommunication circuit 230,
Processor 210 controls the planing method that itself and memory 220, telecommunication circuit 230 realize above-mentioned swinging track at work
In step, detailed planing method can be found in above embodiment, and details are not described herein.
It is the structural schematic diagram for one embodiment of device that the application has store function refering to Fig. 9, Fig. 9.With storage
The device 300 of function is stored with program data 310, and program data 310 can be performed the planning to realize above-mentioned swinging track
Step in method, detailed planing method can be found in above embodiment, and details are not described herein.
To sum up, the planing method of the application welding robot swinging track carries out the swinging track of welding robot
It splits, is split as seam track and deviating track, compared with prior art it is not necessary that each turning point to be used as to teaching terminal, calculating
Simply, in addition, multiple second tracing points form the triangle deviating track positioned at YOZ plane, the triangle in the case where swinging coordinate system
The vertex of shape deviating track is overlapped with the origin for swinging coordinate system, parallel with the Y-axis of coordinate system is swung with the opposite side in vertex, can
To realize the space triangular pendular motion of welding robot.
The foregoing is merely presently filed embodiments, are not intended to limit the scope of the patents of the application, all to utilize this
Equivalent structure or equivalent flow shift made by application specification and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field similarly includes in the scope of patent protection of the application.
Claims (10)
1. a kind of planing method of welding robot swinging track, which is characterized in that the described method includes:
Determine first position coordinate and first posture coordinate of multiple first tracing points under workpiece coordinate system on weld seam；
Determine position coordinates of multiple corresponding second tracing points of first tracing point in the case where swinging coordinate system, wherein
The relatively described weld seam of multiple corresponding second tracing points of first tracing point is there are offset increment, and multiple described first
Corresponding second tracing point of tracing point forms the triangle deviating track for being located at YOZ plane under the swing coordinate system,
The vertex of the triangle deviating track is overlapped with the origin for swinging coordinate system, the side opposite with the vertex and the pendulum
The Y-axis of moving coordinate system is parallel；
Position coordinates of second tracing point under the swing coordinate system are converted to the under the workpiece coordinate system
Two position coordinates；
It is superimposed the first position coordinate of first tracing point and the second position of corresponding second tracing point
Coordinate obtains position coordinates of the interpolated point corresponding with first tracing point under the workpiece coordinate system, obtain with it is described
Position coordinates of the corresponding interpolated point of first tracing point under the workpiece coordinate system, wherein the posture coordinate of the interpolated point
For the first posture coordinate；
The swinging track after planning is determined according to the position coordinates of the interpolated point and posture coordinate；
Wherein, the swing coordinate system is tool coordinates system, and origin is the endpoint of welding gun, and X-direction is before the welding gun
Into direction, the swaying direction that Y direction is the welding gun, Z-direction is the pipette tips direction of the welding gun；Or, the swing is sat
Mark system is tool path coordinate system, and origin is the endpoint of the welding gun, and X-direction is the tangential direction of the weld seam, Y-axis side
Determine that Z-direction is by institute to by the X-direction of the tool path coordinate system and the Z-direction multiplication cross of the tool coordinates system
The X-direction and Y direction multiplication cross for stating tool path coordinate system determine.
2. planing method according to claim 1, which is characterized in that multiple first tracing points of determination are respectively right
Position coordinates of the second tracing point answered in the case where swinging coordinate system, comprising:
Obtain welding duration duration, swing period T, wobble amplitude A, opening angle θ, the first residence time t1, second stop
Time t2And third residence time t3；
Calculate multiple first tracing point respective interpolation time points；
The time point in each comfortable wobble cycle of multiple first tracing points is calculated according to following formula one:
(time/cycle) * of formula one: t=time-round cycle, wherein t is multiple first tracing points each comfortable one
Time point in a wobble cycle, time are multiple first tracing point respective interpolation time points, and round is to be rounded downwards
Function, cycle are the duration of a wobble cycle, cycle=T+t1+t2+t3；
Using the time point in multiple each comfortable wobble cycles of first tracing point as independent variable, with direct proportion function or
SIN function calculates multiple corresponding second tracing points of first tracing point under the swing coordinate system along Y-axis
Offset increment and offset increment along Z axis；
Determine position coordinates of corresponding second tracing point of multiple first tracing points under the swing coordinate system.
3. planing method according to claim 2, which is characterized in that described with multiple first tracing points each comfortable one
Time point in a wobble cycle is independent variable, calculates multiple corresponding institutes of first tracing point with direct proportion function
State the second tracing point offset increment along Y-axis and the step of the offset increment along Z axis under the swing coordinate system, comprising:
Corresponding second tracing point of multiple first tracing points is calculated according to following formula two to sit in the swing
Along the offset increment of Y-axis under mark system, and according to following formula three to calculate multiple first tracing points corresponding described
Second tracing point is under the swing coordinate system along the offset increment of Z axis:
Formula two:
Formula three:
Wherein, Y be multiple corresponding second tracing points of first tracing point under the swing coordinate system along the inclined of Y-axis
Increment is moved, Z is that offset of multiple corresponding second tracing points of first tracing point under the swing coordinate along Z axis increases
Amount, m1=T/3, m2=m1+t1,m3=m2+ T/3, m4=m3+t2, m5=m4+T/3。
4. planing method according to claim 2, which is characterized in that described with multiple first tracing points each comfortable one
Time point in a wobble cycle is independent variable, and it is corresponding described to calculate multiple first tracing points with SIN function
Second tracing point offset increment along Y-axis and the step of the offset increment along Z axis under the swing coordinate system, comprising:
Corresponding second tracing point of multiple first tracing points is calculated according to following formula four to sit in the swing
Along the offset increment of Y-axis under mark system, and according to following formula five to calculate multiple first tracing points corresponding described
Second tracing point is under the swing coordinate system along the offset increment of Z axis:
Formula four:
Formula five:
Wherein, Y be multiple corresponding second tracing points of first tracing point under the swing coordinate system along the inclined of Y-axis
Increment is moved, Z is that offset of multiple corresponding second tracing points of first tracing point under the swing coordinate along Z axis increases
Amount, m1=T/3, m2=m1+t1,m3=m2+ T/3, m4=m3+t2, m5=m4+T/3。
5. planing method according to claim 3 or 4, which is characterized in that the method also includes:
The difference of duration and round (duration/cycle) * cycle are calculated, and the difference is denoted as mini_
cycle；
Judge whether mini_cycle is 0, if mini_cycle is 0, is determined respectively according to the formula two and formula three
Multiple corresponding second tracing points of first tracing point are under the swing coordinate system along Y-axis and along the offset of Z axis
Increment, alternatively, determining multiple corresponding second tracing points of first tracing point according to the formula four and formula five
Along Y-axis and along the offset increment of Z axis under the swing coordinate system, (duration- otherwise is greater than to interpolation time point
Mini_cycle at least partly the first tracing point) reduces the swing period and the wobble amplitude, to calculate corresponding the
Two tracing points are under the swing coordinate system along Y-axis and along the offset increment of Z axis.
6. planing method according to claim 5, which is characterized in that described to be greater than (duration- to interpolation time point
Mini_cycle at least partly the first tracing point) reduces the swing period and the wobble amplitude, to calculate corresponding the
Two tracing points under the swing coordinate system along Y-axis and along the offset increment of Z axis the step of, comprising:
It is greater than first tracing point of (duration-mini_cycle) to interpolation time point, according to mini_cycle/cycle's
Swing period described in scale smaller and the wobble amplitude, to calculate corresponding second tracing point in the swing coordinate system lower edge
Y-axis and offset increment along Z axis.
7. planing method according to claim 3 or 4, which is characterized in that the first residence time t1, the second residence time t2
And third residence time t3It is equal, it is zero or is not zero.
8. planing method according to claim 1, which is characterized in that described to sit second tracing point in the swing
Position coordinates under mark system are converted to the second position coordinate under the workpiece coordinate system, comprising:
By second tracing point relatively described pendulum of workpiece coordinate system described in the position coordinates premultiplication under the swing coordinate system
The transition matrix of moving coordinate system and obtain the second position coordinate of second tracing point under the workpiece coordinate system.
9. a kind of welding robot, which is characterized in that including processor, memory and telecommunication circuit, the processor difference
Couple the memory and the telecommunication circuit, the processor controls itself and the memory, described at work
Telecommunication circuit is realized such as the step in any one of claim 1-8 the method.
10. a kind of device with store function, which is characterized in that be stored with program data, described program data can be held
Row is to realize such as the step in any one of claim 1-8 the method.
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