【摘要】：針對折角處的激光焊接速度難以保持恒定而導(dǎo)致焊縫不均勻的問題,提出一種基于三角迂回的速度規(guī)劃算法.焊槍移動到折角處后不直接作折角加減速運動,而是停止焊接的同時繼續(xù)前行作一個三角型的迂回運動,待迂回到折角處再以原來速度重啟焊接過程.實際的激光焊接軌跡可實現(xiàn)恒定速率運動以保證焊縫的均勻性,而三角迂回運動則采用S形速度曲線以降低對焊接平臺的柔性沖擊.該速度規(guī)劃算法對于各種折角大小具有普適性.仿真和試驗結(jié)果驗證了所提方法的有效性.
[Abstract]:Aiming at the problem that the laser welding speed at the corner is difficult to keep constant and the welding seam is not uniform, a speed planning algorithm based on triangulation is proposed. After the welding torch moves to the corner, it does not do the angle acceleration and deceleration movement directly, but stops welding and continues to make a triangle detour motion, and then restarts the welding process at the original speed. The actual laser welding track can achieve constant velocity motion to ensure the uniformity of weld seam, while the triangular tortuous motion adopts S-shape velocity curve to reduce the flexible impact on the welding platform. The speed planning algorithm is universal for various angle sizes. Simulation and experimental results show the effectiveness of the proposed method.
【作者單位】： 浙江大學(xué)電氣工程學(xué)院;
【分類號】：TG456.7
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本文編號：2204763