摘要
在弧焊机器人工艺应用场合,涉及到摆焊的振幅和角度参数往往不便量测,尤其是对圆弧轨迹。这些参数量测不仅加大了摆焊工艺应用的难度,也容易因测量的误差造成摆焊的精度损失。为减小摆焊的工艺应用难度,提高摆焊的工艺应用精度,提出了一种弧焊机器人对圆弧轨迹的摆焊方法。给出机器人空间圆弧轨迹的计算方法,确定圆弧的平面和半径;给出圆弧轨迹确定摆焊的两接触面方法,通过示教点位确定幅度和角度;进一步给出L型摆焊和Z型摆焊的计算方法,给出具体的实现步骤;最后结合仿真应用,给出具体实现的效果。该方法流程清晰,易于在控制器中实现该功能,操作方法简单,也易于在工程应用中实施。
In the application of arc welding robot technology,the amplitude and angle parameters of swing welding are often inconvenient to measure,especially for arc trajectory.The measurement of these parameters not only increase the difficulty of the application of swing welding process,but also cause the loss of precision of swing welding due to the measurement error.In order to reduce the difficulty of swing welding process application and improve the precision of swing welding process application,a swing welding method of arc trajectory by arc welding robot was proposed.Firstly,the calculation method of arc was introduced.Secondly,the method of determining the two contact surfaces of swing welding by arc trajectory was given.The amplitude and angle were determined by teaching points.Then,the calculation methods of L-type swing welding and Z-type swing welding were given.Finally,combined with simulation application,the specific implementation effect was given.The method has clear flow,easy to realize the function in the controller,simple operation method,and easy to be applied in engineering application.
作者
彭云春
曾钰
Peng Yunchun;Zeng Yu(Guangzhou Intelligent Equipment Research Institute Co.,Ltd.,Guangzhou 510530,China)
出处
《机电工程技术》
2021年第9期170-173,共4页
Mechanical & Electrical Engineering Technology
关键词
摆焊
圆弧
振幅
swing welding
arc
amplitude
