工业机器人在五星脚焊接加工中的轨迹规划

摘要

五星脚的焊接加工过程中,对焊枪的运动路径和姿态要求非常严格,使用传统的焊接方法,焊接质量不稳定,焊缝不尽美观,且效率低.基于工业机器人的关节结构和焊接加工过程中的工艺要求,建立相应几何模型,研究了五星脚焊缝相贯的曲线方程,及工业机器人在焊接过程中运动轨迹控制的插补算法,实现了机器人姿态和焊枪位置连续轨迹的规划和运动控制.实验结果表明,工业机器人焊接过程流畅没有停顿,运动轨迹和规划轨迹吻合度很高,可获得良好的焊缝质量.该研究对工业机器人在五星脚的焊接加工及同类零件焊接加工具有很好的应用参考价值.%The torch motion path and posture requirements are very strict in five-star foot welding.But welding quality is not stable,weld appearance,and low efficiency by using traditional welding methods.Based on requirements of industrial robot joint structure and welding processing,established corresponding geometrical models.The intersecting curve equation of the welded joint of the five star foot and interpolation algorithm for trajectory control of industrial robot in welding process are studied. Planning and motion control of robot posture and torch position continuous track is realized. Experimental results showed welding process of the industrial robot is smooth without stopping and track of motion and the track of the planning trajectory are very high, good weld quality could be obtained. This research has good application reference value for the welding process of industrial robot and the welding process of similar parts.