一种基于三角迂回的激光焊接折角速度算法
A triangular detour based speed planning strategy for laser welding at sharp corners
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摘要: 针对折角处的激光焊接速度难以保持恒定而导致焊缝不均匀的问题，提出一种基于三角迂回的速度规划算法.焊枪移动到折角处后不直接作折角加减速运动，而是停止焊接的同时继续前行作一个三角型的迂回运动，待迂回到折角处再以原来速度重启焊接过程.实际的激光焊接轨迹可实现恒定速率运动以保证焊缝的均匀性，而三角迂回运动则采用S形速度曲线以降低对焊接平台的柔性冲击.该速度规划算法对于各种折角大小具有普适性.仿真和试验结果验证了所提方法的有效性.Abstract: The laser welding seam at the sharp corner tends to be uneven due to the necessarily varying speed profile. To solve this problem, we propose a triangular detour based speed planning strategy for laser welding. When the laser welding torch comes to the corner, the laser is powered off while the torch keeps moving along a triangle with the S-shaped speed profile to eliminate the possible impact to the welding platform. When the torch comes back to the corner, the laser is powered back on while the torch moves at the original welding speed. Consequently, the welding speed is kept constant to guarantee the even welding seam. This speed planning strategy is applicable to various break angles at the corner. The feasibility and effectiveness of the proposed strategy are verified by both simulation and experiment results.
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Keywords:
- laser welding /
- speed planning /
- S-shaped speed profile /
- triangular detour
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