焊缝位姿及焊枪位姿的模型

针对机器人弧焊条件下的特殊要求,建立了焊缝位姿和焊枪位姿模型,以坐标系的形式定量描述焊缝及焊枪的位置和方向,确定了能够准确且严格地描述焊缝的焊接位置和焊枪姿态的参数:焊缝倾角、焊缝转角及焊枪工作角和行走角,并给出了计算方法。上述参数不但计算简便,而且可以直接代表焊接位置和焊枪姿态对焊接质量的影响因素。模型对于焊接工艺的建模与仿真以及机器人焊接的建模与离线编程具有非常重要的意义。

MODELS OF WELD POSE AND WELDING GUN POSE

The models of weld pose and welding gun pose, in which the position and the orientation of weld and welding gun are described precisely and quantificationally by coordinates, were established for robot arc welding. Then, welding position and welding gun orientation are represented by weld slope, weld rotation, work angle and traveling angle. The methods of calculating those parameters are also carried out. The parameters are easy to calculate and could directly reflect the factor that welding position and welding gun orientation affect welding quality. It is very important to model weld pose and welding gun pose for welding process modeling, simulating and off-line programming for robot welding.