CN114985868B - Swing arc welding method and welding robot - Google Patents

Swing arc welding method and welding robot Download PDF

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Publication number
CN114985868B
CN114985868B CN202210852872.5A CN202210852872A CN114985868B CN 114985868 B CN114985868 B CN 114985868B CN 202210852872 A CN202210852872 A CN 202210852872A CN 114985868 B CN114985868 B CN 114985868B
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swing arc
coordinate system
welding
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path
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CN114985868A (en
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邓璨宇
迟浩强
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Chengdu Kanop Robot Technology Co ltd
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Chengdu Kanop Robot Technology Co ltd
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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
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Robotics (AREA)
  • Numerical Control (AREA)
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Abstract

The invention discloses a swing arc welding method and a welding robot, wherein the method comprises the following steps: obtaining swing arc parameters, wherein the swing arc parameters comprise swing arc types, swing arc frequencies and swing arc amplitudes; generating a swing arc coordinate system, wherein the X-axis direction of the swing arc coordinate system is a teaching track direction, the Z-axis direction of the swing arc coordinate system is a 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 of the swing arc coordinate system; calculating the point position of a welding gun under the swing arc coordinate system for swing arc welding; transferring the point position coordinates of swing arc welding to a world coordinate system; and controlling the welding gun to move through point position coordinates in a world coordinate system to perform swing arc welding. The invention realizes complex swing arc welding on the welding robot, adapts to the welding requirements of various different working conditions through various types of swing arc welding, and improves the welding quality.

Description

Swing arc welding method and welding robot
Technical Field
The present invention relates to a method for performing swing arc welding by a welding robot and a welding robot capable of performing swing arc welding.
Background
The welding robot arc swinging function is a method for improving welding strength by increasing the size of a welding line by enabling a welding gun to swing left and right in a specific angle period in the welding direction during welding. The existing welding robot is abnormal and complicated in setting the swing arc welding, low in efficiency, few in swing arc welding types and not applicable to some 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:
Obtaining swing arc parameters, wherein the swing arc parameters comprise swing arc types, swing arc frequencies and swing arc amplitudes;
Generating a swing arc coordinate system, wherein the X-axis direction of the swing arc coordinate system is a teaching track direction, the Z-axis direction of the swing arc coordinate system is a 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 of the swing arc coordinate system;
calculating the point position of a welding gun under the swing arc coordinate system for swing arc welding;
Transferring the point position coordinates of swing arc welding to a world coordinate system;
And controlling the welding gun to move through point position coordinates in a world coordinate system to perform swing arc welding.
As an improvement, the method for generating the swing arc coordinate system comprises the following steps:
Obtaining a point position P2 where a current interpolation period of the welding robot is located and a point position P1 where a previous interpolation period is located;
calculating the X-axis direction of an arc swinging coordinate system according to the pose of the point position P1 and the point position P2 in the world coordinate system;
Carrying out cross multiplication on the X-axis direction of the swing arc coordinate system and the Z-axis direction of the point position P2 in the world coordinate system to obtain the Y-axis direction of the swing arc coordinate system;
And carrying out 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 under the swing arc coordinate system for swing arc welding 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 welding gun moves in each interpolation period to form a point location of swing arc welding, and the distance that the welding gun needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each interpolation period in each path is calculated;
And calculating the coordinate of the next point in the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the last point and the distance that the welding gun needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each insertion period until each point of each path is calculated.
As another further improvement, calculating a point of welding gun under a swing arc coordinate system for swing arc welding when the equilateral triangle swing arc is performed includes:
Calculating the speed V of a welding gun when performing swing arc welding according to the frequency A and the amplitude F of an equilateral triangle swing arc and the moving speed MoveSpeed of a welding robot along a welding line, wherein the amplitude F is the side length of the equilateral triangle;
The welding shape of the equilateral triangle swing arc in one swing arc welding period is planned into four welding paths;
and respectively calculating coordinates of each point in each path in a swing arc coordinate system, wherein the coordinates comprise:
the path I is half of the bottom side of the equilateral triangle, and the distance that the welding gun needs to move in the positive direction of the Y axis of the swing arc coordinate system from the origin in the path I is F/2; the distance disDiff =t×v that the welding gun needs to move in each interpolation period 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 = disDiff; except the initial point, calculating the coordinate of the next point according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; total amount of motion disI = disI + disDiff in path I, repeatedly calculating point coordinates in path I until disI =f/2;
The path II is the hypotenuse of an equilateral triangle, and the distance from the end point of the path I to the X axis of the swing arc coordinate system of the welding gun in the path II is F; the distance disDiff =t×v that the welding gun needs to move in each interpolation period T, the distance that the welding gun moves in the X-axis direction of the swing arc coordinate system is disX = disDiff ×sin60 °, and the distance that the welding gun moves in the Y-axis direction of the swing arc coordinate system is disY = -disDiff ×cos60 °; calculating the coordinate of the next point in the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each insertion period; total amount of motion disII = disII + disDiff in path II, the point coordinates in path II are repeatedly calculated until disII =f.
The path III is the other hypotenuse of the equilateral triangle, and the distance that the welding gun in the path III needs to move 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 disDiff =t×v that the welding gun needs to move in each interpolation period T, the distance disX = -disDiff ×sin60 ° that the welding gun moves in the X-axis direction of the swing arc coordinate system, and the distance disY = -disDiff ×cos60 ° that the welding gun moves in the Y-axis direction of the swing arc coordinate system; calculating the coordinate of the next point in the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each insertion period; total amount of motion disIII = disIII + disDiff in path III, the point coordinates in path II are repeatedly calculated until dissIII =f.
The path IV is the bottom side of an equilateral triangle, and the distance 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; the distance disDiff =t×v that the welding gun needs to move in each interpolation period T, the distance that the welding gun moves in the X-axis direction of the swing arc coordinate system is 0, the distance that the welding gun moves in the Y-axis direction of the swing arc coordinate system is disY = disDiff, and the coordinate of the next point in the swing arc coordinate system is calculated according to the coordinate of the swing arc coordinate system of the last point and the distance that the welding gun needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each interpolation period; total amount of motion disIV = disIV + disDiff in path IV, repeatedly calculating point coordinates in path IV until disIV =f;
the path II, path III, path IV are repeated until the welding robot moves to the end point.
As an improvement, calculating the point position of the welding gun under the swing arc coordinate system for swing arc welding when the crescent swing arc is performed comprises:
Calculating the speed V of the welding gun when welding the swing arc according to the frequency A, the amplitude F and the welding robot moving speed MoveSpeed along the welding line of the crescent swing arc; the amplitude F is the radius of an arc;
the welding shape semicircle arc of the crescent swing arc in one swing arc welding period is planned into three welding paths;
and respectively calculating coordinates of each point in each path in a swing arc coordinate system, wherein the coordinates comprise:
The path I is the radius of an arc, and the distance from the origin to the positive direction of the Y-axis of the swing arc coordinate system of the welding gun in the path I is F; the distance disDiff =t×v that the welding gun needs to move in each interpolation period 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 = disDiff; except the initial point, calculating the coordinate of the next point according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; total amount of motion disI = disI + disDiff in path I, repeatedly calculating point coordinates in path I until dissI =f;
The welding gun in the path II starts from the end point of the path I to the distance F pi required to move in the Y-axis positive direction of the swing arc coordinate system; the distance disDiff =t×v that the welding gun needs to move in each interpolation period T, the distance disX =f×sin (disDiff/F) that the welding gun moves in the X-axis direction of the swing arc coordinate system, and the distance disY = -f×cos (disDiff/F) that the welding gun moves in the Y-axis direction of the swing arc coordinate system; calculating the coordinate of the next point in the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each insertion period; total amount of motion disII = disII + disDiff in path II, repeatedly calculating point coordinates in path II until disII =fpi;
The path III is a semicircular arc from the Y-axis negative direction to the Y-axis positive direction of the swing arc coordinate system, and the distance that the welding gun in the path III needs to move from the end point of the path II to the Y-axis positive direction of the swing arc coordinate system is F pi; the distance disDiff =t×v that the welding gun needs to move in each interpolation period T, the distance disX = -f×sin (disDiff/F) that the welding gun moves in the X-axis direction of the swing arc coordinate system, and the distance disY =f×cos (disDiff/F) that the welding gun moves in the Y-axis direction of the swing arc coordinate system; calculating the coordinate of the next point in the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each insertion period; total amount of motion disIII = disIII + disDiff in path III, repeatedly calculating point coordinates in path II until dissIII =fpi;
The paths II and III are repeated until the welding robot moves to the end point.
As an improvement, calculating the point position of the welding gun under the swing arc coordinate system for swing arc welding when performing the Z-shaped swing arc comprises:
calculating the speed V of a welding gun during swing arc welding according to the frequency A and the amplitude F of a Z-shaped swing arc and the welding robot moving speed MoveSpeed along a welding line, wherein the amplitude F is the distance between the positive and negative vertexes of the Z-shaped swing arc in the Y-axis;
the welding shape straight line segment of the Z-shaped swing arc in one swing arc welding period is planned into three welding paths;
and respectively calculating coordinates of each point in each path in a swing arc coordinate system, wherein the coordinates comprise:
The path I is half of a straight line segment, and the distance that the welding gun needs to move from the origin to the positive direction of the Y axis of the swing arc coordinate system in the path I is F/2; the distance disDiff =t×v that the welding gun needs to move in each interpolation period 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 = disDiff; except the initial point, calculating the coordinate of the next point according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; total amount of motion disI = disI + disDiff in path I, repeatedly calculating point coordinates in path I until disI =f/2;
the path II is a straight line segment, and the distance that the welding gun in the path II 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 =t×v that the welding gun needs to move in each interpolation period 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 = -disDiff; calculating the coordinate of the next point in the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each insertion period; total amount of motion disII = disII + disDiff in path II, repeatedly calculating point coordinates in path II until disII =f;
The path III is a straight line segment, and the distance from the end point of the path II to the positive direction of the Y axis of the swing arc coordinate system of the welding gun in the path III to be moved is F; the distance disDiff =t×v that the welding gun needs to move in each interpolation period 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 = disDiff; calculating the coordinate of the next point in the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each insertion period; total amount of motion disIII = disIII + disDiff in path III, repeatedly calculating point coordinates in path III until disIII =f;
The paths II and III are repeated until the welding robot moves to the end point.
As an improvement, calculating the point position of the welding gun under the swing arc coordinate system for swing arc welding when the arc swing is performed comprises:
Calculating the speed V of a welding gun when performing swing arc welding according to the frequency A and the amplitude F of the arc swing and the moving speed MoveSpeed of the welding robot along the welding line, wherein the amplitude F is the radius of a circle;
the arc swing arc is divided into a welding path by a welding shape compass in a swing arc welding period;
and respectively calculating coordinates of each point in each path in a swing arc coordinate system, wherein the coordinates comprise:
The path I is a circle starting from the origin to the positive direction of the X axis and the Y axis, and the distance from the origin to the origin of the welding gun in the path I is 2F pi; the distance disDiff =t×v that the welding gun needs to move in each interpolation period T, the distance disX =f×sin (disDiff/F) that the welding gun moves in the X-axis direction of the swing arc coordinate system, and the distance disY =f-f×cos (disDiff/F) that the welding gun moves in the Y-axis direction of the swing arc coordinate system; calculating the coordinate of the next point in the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each insertion period; total amount of motion disI = disI + disDiff in path I, repeatedly calculating point coordinates in path I until disI =2fpi;
path I is repeated until the welding robot moves to the end point.
As an improvement, the swing arc parameter further comprises a time T1 for the welding gun to stay at the positive direction vertex of the swing arc on the Y-axis of the swing arc coordinate system and a time T2 for the welding gun to stay at the negative direction vertex.
As an improvement, abrupt swing arcs or/and gradual swing arcs are formed by changing swing arc amplitudes.
The invention also provides a welding robot, which can realize the swing arc welding method when the welding robot performs 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 different 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 for calculating a swing arc coordinate system.
FIG. 3 is a flow chart for calculating points in a swing arc cycle.
Fig. 4 is a swing arc welding shape of an equilateral triangle swing arc under a swing arc coordinate system in one swing arc welding cycle.
Fig. 5 is a schematic diagram of an equilateral triangle swing arc.
Fig. 6 is a swing arc welding shape of an equilateral crescent swing arc under a swing arc coordinate system during one swing arc welding cycle.
FIG. 7 is a schematic diagram of a crescent swing arc.
Fig. 8 is a swing arc welding shape of a Z-swing arc under a swing arc coordinate system in one swing arc welding cycle.
Fig. 9 is a schematic diagram of a zig-zag swing arc.
Fig. 10 is a swing arc welding shape of a circular arc swing arc under a swing arc coordinate system in one swing arc welding cycle.
Fig. 11 is a schematic diagram of a circular arc swing.
FIG. 12 is a schematic illustration of a abrupt swing arc.
Fig. 13 is a schematic diagram of a gradual swing arc.
Detailed Description
In order to make the technical scheme of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the following specific embodiments.
Example 1
As shown in fig. 1, the present invention provides a swing arc welding method, comprising:
s1, obtaining swing arc parameters, wherein the swing arc parameters comprise swing arc types, swing arc frequencies and swing arc amplitudes.
S2, generating a 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 W 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 under the swing arc coordinate system for swing arc welding.
S4, transferring the point position coordinates of the swing arc welding to a world coordinate system. Transferring points in a known coordinate system to another known coordinate system is prior art, and the calculation process is not described in detail in the present invention.
And S5, controlling the welding gun to move through point position coordinates in a world coordinate system to perform swing arc welding.
Example 2
As shown in fig. 2, with embodiment 1, a method of generating a swing arc coordinate system includes:
s21, a point position P2 where the current interpolation period of the welding robot is located and a point position P1 where the previous interpolation period is located are obtained. Because the X-axis direction of the swing arc coordinate system is the teaching track direction of the welding robot, the points P1 and P2 are also positioned on the X-axis of the swing arc coordinate system.
Pose information in the world coordinate system, for example, of the point position P1 is:
the pose information of the point position P2 in the world coordinate system is as follows:
Wherein Nx, ny and Nz are unit vector values in the X direction of the point position posture respectively;
ox, oy, oz are unit vector values in the Y direction of the point position posture respectively;
ax, ay, az are unit vector values in the Z direction of the point position posture respectively;
px, py, pz are the spatial coordinates of the point locations, respectively.
S22, calculating the X-axis direction of an arc swinging coordinate system according to the pose of the point position P1 and the point position P2 in the world coordinate system;
according to pose information of the point position P1 and the point position P2 under a world coordinate system, an X-axis direction Wn of an arc swinging coordinate system is obtained;
Wn＝Px1-Px2)/disP；
Wn＝(Py1-Py2)/disP；
Wn＝(Pz1-Pz2)/disP；
disP is the distance between P1 and P2.
S23, carrying out cross multiplication on the X-axis direction of the swing arc coordinate system and the Z-axis direction of the point position P2 in the world coordinate system to obtain the Y-axis direction of the swing arc coordinate system;
And Wo=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, carrying out 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 position P2 as an 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 under the swing arc coordinate system for swing arc welding includes:
S31, 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 swing arc parameters include: swing arc types, such as equilateral triangle swing arc, crescent swing arc, Z-shaped swing arc, circular arc swing arc, and the like; the frequency of the swing arc, namely the number of times of complete swing arc in one second; the amplitude can be the side length, the radius, the distance between the positive and negative vertexes of the Y axis and the like according to different swing arc types, and the principle of selection is convenient calculation. In addition, in order to prevent the molten iron from being completely fused with the workpiece and generating undercut phenomenon, the swing arc parameters also comprise the stay time T1 of the welding gun at the positive direction vertex of the swing arc in the Y-axis of the swing arc coordinate system and the stay time T2 of the welding gun at the negative direction vertex.
Among the swing arc types, the above-mentioned various swing arc types can also be formed into abrupt swing arcs by changing the swing arc amplitude as shown in fig. 12 or/and gradual swing arcs as shown in fig. 13.
S32, the welding gun moves in each interpolation period to form a point location of swing arc welding, and the distance that the welding gun needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each interpolation period in each path is calculated; the interpolation period is an interval time between the calculation of the point by the welding robot and the transmission of the point to the servo mechanism, and there is a certain delay between the calculation of the point by the welding robot and the execution of the welding by the actual movement of the welding gun. In short, the calculation module of the welding robot calculates the coordinates of one point location and then 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 coordinates of the next point position to the servo mechanism, and the servo mechanism drives the welding gun to move to the coordinates again for welding, and so on until all the point positions are calculated and welded.
S33, calculating the coordinates of the next point under the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the last point and the distance that the welding gun needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each insertion period until each point of each path is calculated. The coordinates of the next point can be easily calculated by the coordinates of the previous point and the moving direction and distance of the welding gun in the interpolation period, and the calculation process is not repeated in the embodiment.
Example 4
As shown in fig. 4 and 5, based on example 3, example 4 is a specific point location calculation method in performing equilateral triangle swing arc welding, including:
S311, calculating the speed V of the welding gun when performing swing arc welding according to the frequency A and the amplitude F of the equilateral triangle swing arc and the moving speed MoveSpeed of the welding robot along the welding line, wherein the amplitude F is the side length of the equilateral triangle;
from the frequency a, the time tcycle=1/a for one cycle of the equilateral triangle swing arc can be obtained. From MoveSpeed/v= MoveSpeed ×tcycle/(f×3), it is possible to obtain
V＝MoveSpeed/(MoveSpeed*Tcycle/(F*3))。
S312, the welding shape of the equilateral triangle swing arc in one swing arc welding period is planned into four welding paths; for an equilateral triangle, its path plan is to divide it into three paths, each path being one side of the equilateral triangle. However, since the welding gun starts from the origin, the first cycle also includes the path I from the origin to the first vertex, and the rest of the cycles are the vertex-to-vertex paths II to IV.
S313, respectively calculating coordinates of each point in each path in a swing arc coordinate system, wherein the coordinates comprise:
S3131, a path I is a half of the bottom edge of an equilateral triangle, namely a line segment OA, and the distance that a welding gun needs to move in the positive direction of the Y axis of the swing arc coordinate system from the origin in the path I is F/2; the distance disDiff =t×v that the welding gun needs to move in each interpolation period 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 = disDiff; except the initial point, calculating the coordinate of the next point according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; total amount of motion disI = disI + disDiff in path I, the point coordinates in path I are repeatedly calculated until disI =f/2.
S3132, a path II is a hypotenuse of an equilateral triangle, namely a line segment AB, and the distance that a welding gun in the path II needs to move from the end point of the path I to the X axis of a swing arc coordinate system is F; the distance disDiff =t×v that the welding gun needs to move in each interpolation period T, the distance that the welding gun moves in the X-axis direction of the swing arc coordinate system is disX = disDiff ×sin60 °, and the distance that the welding gun moves in the Y-axis direction of the swing arc coordinate system is disY = -disDiff ×cos60 °; calculating the coordinate of the next point in the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each insertion period; total amount of motion disII = disII + disDiff in path II, the point coordinates in path II are repeatedly calculated until disII =f.
S3133, path III is the other hypotenuse of the equilateral triangle, namely line segment BC, and the distance that the welding gun in path III needs to move from the end point of path II to the negative direction of the Y axis of the swing arc coordinate system is F; the distance disDiff =t×v that the welding gun needs to move in each interpolation period T, the distance disX = -disDiff ×sin60 ° that the welding gun moves in the X-axis direction of the swing arc coordinate system, and the distance disY = -disDiff ×cos60 ° that the welding gun moves in the Y-axis direction of the swing arc coordinate system; calculating the coordinate of the next point in the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each insertion period; total amount of motion disIII = disIII + disDiff in path III, the point coordinates in path II are repeatedly calculated until dissIII =f.
S3134, a path IV is a line segment CA which is the base of an equilateral triangle, and the distance that a welding gun in the path IV 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 is F; the distance disDiff =t×v that the welding gun needs to move in each interpolation period T, the distance that the welding gun moves in the X-axis direction of the swing arc coordinate system is 0, the distance that the welding gun moves in the Y-axis direction of the swing arc coordinate system is disY = disDiff, and the coordinate of the next point in the swing arc coordinate system is calculated according to the coordinate of the swing arc coordinate system of the last point and the distance that the welding gun needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each interpolation period; total amount of motion disIV = disIV + disDiff in path IV, repeatedly calculating point coordinates in path IV until disIV =f;
s314 repeats path II, path III, path IV until the welding robot moves to the end point.
The vertical welding is characterized in that other swing arcs are adopted during welding due to the gravity action of molten iron, and welding seams are easy to bulge and undercut. The problem of equilateral triangle pendulum arc solves is the welding of medium plate in the vertical direction, avoids easily flowing down, and the penetration is shallower problem, improves welding quality.
Example 5
As shown in fig. 6 and 7, based on example 3, example 5 is a specific point location calculation method in the case of performing the crescent swing arc welding, which includes:
s321, calculating the speed V of the welding gun when welding the swing arc according to the frequency A, the amplitude F and the welding robot moving speed MoveSpeed along the welding line of the crescent swing arc; the amplitude F is the radius of the circular arc.
The time tcycle=1/a of one period of the crescent swing arc running can be obtained according to the frequency a. From MoveSpeed/v= MoveSpeed Tcycle/(2f pi), it is possible to obtain
V＝MoveSpeed/(MoveSpeed*Tcycle/(2Fπ))。
S322, a welding shape semicircle arc of a crescent swing arc in one swing arc welding period is planned into three welding paths; for a semicircle, its path plan is a path that divides it into two semicircle's back and forth. However, since the welding gun starts from the origin, the first cycle also includes the path I from the origin to the first vertex, and the rest of the cycles are the vertex-to-vertex paths II to III.
S323 is used for respectively calculating coordinates of each point in each path in a swing arc coordinate system, and comprises the following steps:
S3231, wherein a path I is a radius of an arc, namely a line segment OA, and a distance that a welding gun in the path I needs to move from an origin to the positive direction of the Y axis of the swing arc coordinate system is F; the distance disDiff =t×v that the welding gun needs to move in each interpolation period 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 = disDiff; except the initial point, calculating the coordinate of the next point according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; total amount of motion disI = disI + disDiff in path I, repeatedly calculating point coordinates in path I until dissI =f;
S3232 path II is semicircular 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 a welding gun in the path II needs to move from the end point of the path I to the positive direction of the Y axis of the swing arc coordinate system is Fpi; the distance disDiff =t×v that the welding gun needs to move in each interpolation period T, the distance disX =f×sin (disDiff/F) that the welding gun moves in the X-axis direction of the swing arc coordinate system, and the distance disY = -f×cos (disDiff/F) that the welding gun moves in the Y-axis direction of the swing arc coordinate system; calculating the coordinate of the next point in the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each insertion period; total amount of motion disII = disII + disDiff in path II, repeatedly calculating point coordinates in path II until disII =fpi;
S3233 route III is semicircular arc which is semicircular arc BA from the Y-axis negative direction to the Y-axis positive direction of the swing arc coordinate system, and the distance that a welding gun in route III needs to move from the end point of route II to the Y-axis positive direction of the swing arc coordinate system is Fpi; the distance disDiff =t×v that the welding gun needs to move in each interpolation period T, the distance disX = -f×sin (disDiff/F) that the welding gun moves in the X-axis direction of the swing arc coordinate system, and the distance disY =f×cos (disDiff/F) that the welding gun moves in the Y-axis direction of the swing arc coordinate system; calculating the coordinate of the next point in the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each insertion period; total amount of motion disIII = disIII + disDiff in path III, repeatedly calculating point coordinates in path II until dissIII =fpi;
s324 repeats path II, path III until the welding robot moves to the end point.
When the welding test plate is welded with a large gap, the gap is too large, so that molten iron is easy to flow, and defects such as undercut and root weld flash are caused. The problem solved by the crescent swing arc is that the phenomena of easy flow, undercut and root weld flash of molten iron can be avoided when large-gap welding is performed, and the welding quality of backing welding is improved.
Example 6
As shown in fig. 8 and 9, based on example 3, the specific point location calculation method in the case of performing the zigzag swing arc welding in example 6 includes:
S331, calculating the speed V of the welding gun during swing arc welding according to the frequency A of the Z-shaped swing arc, the amplitude F and the welding robot moving speed MoveSpeed along the welding line, wherein the amplitude F is the distance between the positive and negative vertexes of the Z-shaped in the Y-axis.
The time tcycle=1/a of one period of the crescent swing arc running can be obtained according to the frequency a. From MoveSpeed/v= MoveSpeed Tcycle/(2F), it is possible to obtain
V＝MoveSpeed/(MoveSpeed*Tcycle/(2F))。
S332, planning a welding shape straight line segment of the Z-shaped swing arc in one swing arc welding period into three welding paths; for straight line segments, the path planning is to divide the straight line segments into paths of two straight line segments back and forth. However, since the welding gun starts from the origin, the first cycle also includes the path I from the origin to the first vertex, and the rest of the cycles are the vertex-to-vertex paths II to III.
S333, calculating coordinates of each point in each path in a swing arc coordinate system respectively, wherein the coordinates comprise:
S3331 route I is half of straight line segment, namely line segment OA, and the distance that a welding gun needs to move from the origin to the positive direction of the Y axis of the swing arc coordinate system in route I is F/2; the distance disDiff =t×v that the welding gun needs to move in each interpolation period 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 = disDiff; except the initial point, calculating the coordinate of the next point according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each inserting period; total amount of motion disI = disI + disDiff in path I, repeatedly calculating point coordinates in path I until disI =f/2;
s3332 route II is straight line segment, namely line segment AB, the distance that the welding gun in route II needs to move from the end point of route I to the negative direction of Y axis of the swing arc coordinate system is F; the distance disDiff =t×v that the welding gun needs to move in each interpolation period 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 = -disDiff; calculating the coordinate of the next point in the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each insertion period; total amount of motion disII = disII + disDiff in path II, repeatedly calculating point coordinates in path II until disII =f;
S3333 route III is straight line segment, namely line segment BA, the distance that the welding gun in route III needs to move from the end point of route II to the positive direction of the Y axis of the swing arc coordinate system is F; the distance disDiff =t×v that the welding gun needs to move in each interpolation period 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 = disDiff; calculating the coordinate of the next point in the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each insertion period; total amount of motion disIII = disIII + disDiff in path III, repeatedly calculating point coordinates in path III until disIII =f;
s334 repeats path II, path III until the welding robot moves to the end point.
The Z-shaped swing arc is characterized in that the Z-shaped swing arc is continuously carried out along the welding direction, and the arc can stay on two sides of a welding seam so as to prevent undercut, and the joint of a molten pool is better.
Example 7
As shown in fig. 10 and 11, based on example 3, the specific point position calculation method in the case of performing arc swing welding in example 6 includes:
S341, calculating the speed V of a welding gun when performing 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 line, wherein the amplitude F is the radius of a circle;
S342, dividing a welding shape compass of the arc swing arc in a swing arc welding period into a welding path; since the circular pendulum draws a circle from the origin, there is one and only one path.
S343, respectively calculating coordinates of each point in each path in a swing arc coordinate system, including:
s3431 is a circle starting from the origin and pointing to the positive directions of the X axis and the Y axis, and the distance from the origin to the origin of the welding gun in the path I is 2F pi; the distance disDiff =t×v that the welding gun needs to move in each interpolation period T, the distance disX =f×sin (disDiff/F) that the welding gun moves in the X-axis direction of the swing arc coordinate system, and the distance disY =f-f×cos (disDiff/F) that the welding gun moves in the Y-axis direction of the swing arc coordinate system; calculating the coordinate of the next point in the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each insertion period; total amount of motion disI = disI + disDiff in path I, repeatedly calculating point coordinates in path I until disI =2fpi;
s344 repeats path I until the welding robot moves to the end point.
The arc swing arc welding features that the tail end of welding wire moves continuously in circle and moves forward continuously, so it is suitable for welding flat weld seam of thicker weldment.
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 foregoing is merely a preferred embodiment of the present invention, and it should be noted that the above-mentioned preferred embodiment should not be construed as limiting the invention, and the scope of the invention should be defined by the appended 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 such modifications and adaptations are intended to be comprehended within the scope of the invention.

Claims (5)

1. A swing arc welding method, comprising:
Obtaining swing arc parameters, wherein the swing arc parameters comprise swing arc types, swing arc frequencies and swing arc amplitudes;
Generating a swing arc coordinate system, wherein the X-axis direction of the swing arc coordinate system is a teaching track direction, the Z-axis direction of the swing arc coordinate system is a 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 of the swing arc coordinate system;
calculating the point position of a welding gun under the swing arc coordinate system for swing arc welding;
Transferring the point position coordinates of swing arc welding to a world coordinate system;
Controlling the welding gun to move through point position coordinates in a world coordinate system to perform swing arc welding;
the method for calculating the point position of the welding gun under the swing arc coordinate system for swing arc welding 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 welding gun moves in each interpolation period to form a point location of swing arc welding, and the distance that the welding gun needs to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each interpolation period in each path is calculated;
Calculating the coordinate of the next point under the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the last point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each interpolation period until each point of each path is calculated;
the swing arc is a triangular swing arc:
Calculating the point position of the welding gun under the swing arc coordinate system for swing arc welding when the equilateral triangle swing arc is performed comprises the following steps:
Calculating the speed V of a welding gun when performing swing arc welding according to the frequency A and the amplitude F of an equilateral triangle swing arc and the moving speed MoveSpeed of a welding robot along a welding line, wherein the amplitude F is the side length of the equilateral triangle;
The welding shape of the equilateral triangle swing arc in one swing arc welding period is planned into four welding paths;
The method for calculating the coordinates of each point in each path under the swing arc coordinate system comprises the following steps:
The path I is half of the bottom side of the equilateral triangle, and the distance that the welding gun needs to move in the positive direction of the Y axis of the swing arc coordinate system from the origin in the path I is F/2; the distance disDiff =t×v that the welding gun needs to move in each interpolation period 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 = disDiff; except the initial point, calculating the coordinate of the next point under the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each interpolation period; total amount of motion disI = disI + disDiff in path I, repeatedly calculating point coordinates in path I until disI =f/2;
The path II is the hypotenuse of an equilateral triangle, and the distance from the end point of the path I to the X axis of the swing arc coordinate system of the welding gun in the path II is F; the distance disDiff =t×v that the welding gun needs to move in each interpolation period T, the distance that the welding gun moves in the X-axis direction of the swing arc coordinate system is disX = disDiff ×sin60 °, and the distance that the welding gun moves in the Y-axis direction of the swing arc coordinate system is disY = -disDiff ×cos60 °; calculating the coordinate of the next point under the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each interpolation period; total amount of motion disII = disII + disDiff in path II, repeatedly calculating point coordinates in path II until disII =f;
The path III is the other hypotenuse of the equilateral triangle, and the distance that the welding gun in the path III needs to move 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 disDiff =t×v that the welding gun needs to move in each interpolation period T, the distance disX = -disDiff ×sin60 ° that the welding gun moves in the X-axis direction of the swing arc coordinate system, and the distance disY = -disDiff ×cos60 ° that the welding gun moves in the Y-axis direction of the swing arc coordinate system; calculating the coordinate of the next point under the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each interpolation period; total amount of motion disIII = disIII + disDiff in path III, repeatedly calculating point coordinates in path III until disIII =f;
The path IV is the bottom side of an equilateral triangle, and the distance 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; the distance disDiff =t×v that the welding gun needs to move in each interpolation period 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 = disDiff; calculating the coordinate of the next point under the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each interpolation period; total amount of motion disIV = disIV + disDiff in path IV, repeatedly calculating point coordinates in path IV until disIV =f;
repeating the path II, the path III and the path IV until the welding robot moves to the end point;
or, the swing arc is a crescent swing arc:
calculating the point position of the welding gun under the swing arc coordinate system for swing arc welding when the crescent swing arc is performed comprises the following steps:
Calculating the speed V of the welding gun when welding the swing arc according to the frequency A, the amplitude F and the welding robot moving speed MoveSpeed along the welding line of the crescent swing arc; the amplitude F is the radius of an arc;
a welding shape semicircular arc of the crescent swing arc in one swing arc welding period is planned into three welding paths;
The method for calculating the coordinates of each point in each path under the swing arc coordinate system comprises the following steps:
The path I is the radius of an arc, and the distance from the origin to the positive direction of the Y-axis of the swing arc coordinate system of the welding gun in the path I is F; the distance disDiff =t×v that the welding gun needs to move in each interpolation period 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 = disDiff; except the initial point, calculating the coordinate of the next point under the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each interpolation period; total amount of motion disI = disI + disDiff in path I, repeatedly calculating point coordinates in path I until disI =f;
The welding gun in the path II starts from the end point of the path I to the distance F pi required to move in the Y-axis positive direction of the swing arc coordinate system; the distance disDiff =t×v that the welding gun needs to move in each interpolation period T, the distance disX =f×sin (disDiff/F) that the welding gun moves in the X-axis direction of the swing arc coordinate system, and the distance disY = -f×cos (disDiff/F) that the welding gun moves in the Y-axis direction of the swing arc coordinate system; calculating the coordinate of the next point under the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each interpolation period; total amount of motion disII = disII + disDiff in path II, repeatedly calculating point coordinates in path II until disII =fpi;
The path III is a semicircular arc from the Y-axis negative direction to the Y-axis positive direction of the swing arc coordinate system, and the distance that the welding gun in the path III needs to move from the end point of the path II to the Y-axis positive direction of the swing arc coordinate system is F pi; the distance disDiff =t×v that the welding gun needs to move in each interpolation period T, the distance disX = -f×sin (disDiff/F) that the welding gun moves in the X-axis direction of the swing arc coordinate system, and the distance disY =f×cos (disDiff/F) that the welding gun moves in the Y-axis direction of the swing arc coordinate system; calculating the coordinate of the next point under the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each interpolation period; total amount of motion disIII = disIII + disDiff in path III, repeatedly calculating point coordinates in path III until disIII =fpi;
Repeating the path II and the path III until the welding robot moves to the end point;
or, the swing arc is a Z-shaped swing arc:
calculating the point position of the welding gun under the swing arc coordinate system for swing arc welding when the Z-shaped swing arc is performed comprises the following steps:
Calculating the speed V of a welding gun during swing arc welding according to the frequency A and the amplitude F of a Z-shaped swing arc and the welding robot moving speed MoveSpeed along a welding line, wherein the amplitude F is the distance between the positive and negative vertexes of the Z-shaped swing arc in the Y-axis;
the welding shape straight line segment of the Z-shaped swing arc in one swing arc welding period is planned into three welding paths;
The method for calculating the coordinates of each point in each path under the swing arc coordinate system comprises the following steps:
The path I is half of a straight line segment, and the distance that the welding gun needs to move from the origin to the positive direction of the Y axis of the swing arc coordinate system in the path I is F/2; the distance disDiff =t×v that the welding gun needs to move in each interpolation period 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 = disDiff; except the initial point, calculating the coordinate of the next point under the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each interpolation period; total amount of motion disI = disI + disDiff in path I, repeatedly calculating point coordinates in path I until disI =f/2;
The path II is a straight line segment, and the distance that the welding gun in the path II 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 =t×v that the welding gun needs to move in each interpolation period 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 = -disDiff; calculating the coordinate of the next point under the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each interpolation period; total amount of motion disII = disII + disDiff in path II, repeatedly calculating point coordinates in path II until disII =f;
The path III is a straight line segment, and the distance from the end point of the path II to the positive direction of the Y axis of the swing arc coordinate system of the welding gun in the path III to be moved is F; the distance disDiff =t×v that the welding gun needs to move in each interpolation period 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 = disDiff; calculating the coordinate of the next point under the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each interpolation period; total amount of motion disIII = disIII + disDiff in path III, repeatedly calculating point coordinates in path III until disIII =f;
Repeating the path II and the path III until the welding robot moves to the end point;
Or, the swing arc is an arc swing arc:
Calculating the point position of the welding gun under the swing arc coordinate system for swing arc welding when the arc swing is carried out comprises the following steps:
calculating the speed V of a welding gun when performing swing arc welding according to the frequency A and the amplitude F of the arc swing and the moving speed MoveSpeed of the welding robot along the welding line, wherein the amplitude F is the radius of a circle;
the arc swing arc is divided into a welding path by a welding shape compass in a swing arc welding period;
The method for calculating the coordinates of each point in each path under the swing arc coordinate system comprises the following steps:
The path I is a circle starting from the origin to the positive direction of the X axis and the Y axis, and the distance from the origin to the origin of the welding gun in the path I is 2F pi; the distance disDiff =t×v that the welding gun needs to move in each interpolation period T, the distance disX =f×sin (disDiff/F) that the welding gun moves in the X-axis direction of the swing arc coordinate system, and the distance disY =f-f×cos (disDiff/F) that the welding gun moves in the Y-axis direction of the swing arc coordinate system; calculating the coordinate of the next point under the swing arc coordinate system according to the coordinate of the swing arc coordinate system of the previous point and the distance of the welding gun to move in the X-axis direction and the Y-axis direction of the swing arc coordinate system in each interpolation period; total amount of motion disI = disI + disDiff in path I, repeatedly calculating point coordinates in path I until disI =2fpi;
path I is repeated until the welding robot moves to the end point.
2. The method of swing arc welding according to claim 1, wherein the method of generating a swing arc coordinate system comprises:
Obtaining a point position P2 where a current interpolation period of the welding robot is located and a point position P1 where a previous interpolation period is located;
Calculating the X-axis direction of an arc swinging coordinate system according to the pose of the point position P1 and the point position P2 in the world coordinate system;
Carrying out cross multiplication on the X-axis direction of the swing arc coordinate system and the Z-axis direction of the point position P2 in the world coordinate system to obtain the Y-axis direction of the swing arc coordinate system;
And carrying out 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. A method of swing arc welding according to claim 1, wherein: the swing arc parameters also comprise the stay time T1 of the welding gun at the positive direction vertex of the swing arc located on the Y-axis of the swing arc coordinate system and the stay time T2 of the welding gun at the negative direction vertex.
4. A method of swing arc welding according to claim 1, wherein: abrupt swing arcs or/and gradual swing arcs are formed by changing swing arc amplitudes.
5. A welding robot, wherein the welding robot is adapted to perform a swing arc welding method according to any one of claims 1-4.
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