摘要
弧焊机器人焊接空间搭接焊缝时,对于焊枪姿态的示教往往占据了大量的示教时间。为此,提出一种焊枪姿态的简便示教方法。该方法采用根据几何约束计算焊接时焊枪姿态的思路完成焊枪姿态的示教。先以任意焊枪姿态对焊缝进行位置示教,然后根据焊缝的切向矢量和焊接工艺要求的焊枪角度计算出焊接时的焊枪姿态。对于三维曲线焊缝,只有当局部焊接平面与基坐标系的Oyz平面不垂直时,需要进行简单的焊枪姿态示教,示教时只须调整机器人绕工具坐标系一个轴转动的角度即可完成。使用该方法可以显著地减少示教难度和示教时间,提高姿态示教的精度。详细介绍焊枪姿态的描述方法、焊接方向角的计算方法和焊枪姿态的调整方法等关键技术。使用搭接曲线焊缝进行试验验证,证明了该方法的可行性。
Teaching the orientations of a welding torch tends to occupy a great deal of time when arc welding robot welds spatial welding seam with lap joint.Therefore,a simple and convenient method of teaching is proposed.To teach the orientations of welding torch,the idea that the geometric constraints of the torch are used to automatically calculate the orientations of a torch is adopted.The position teaching is performed with arbitrary welding torch orientations.The torch orientations during welding are calculated according to the tangential vector of seam and the angles of torch required by welding process.For 3D curve seam,the simple teaching of torch orientations is needed only at the time when the local welding plane is not perpendicular to the Oyz plane of the robot base frame.And this kind of teaching can just be done by adjusting the robot＇s angle of rotation around one axis.This method can dramatically cut down the time and the difficulty of teaching,and enhance the accuracy of the orientation teaching.The key techniques,such as the description of the orientations of a welding torch,the calculation of the welding orientation angles and the adjustmemt of the orientations of a welding torch,are presented.The test results on a curve seam with lap joint show the feasibility of this method.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2010年第8期73-77,共5页
Journal of Mechanical Engineering
基金
上海高校选拔培养优秀青年教师科研专项基金(slg-07021)
上海市教委重点学科建设(J50503)资助项目
关键词
弧焊机器人
焊枪姿态
简便示教方法
焊接方向角
Arc welding robot Orientations of welding torch Simple and convenient method of teaching Welding orientation angle
