CN115909881A - Welding robot simulation teaching system - Google Patents

Abstract

The invention discloses a welding robot simulation teaching system, which comprises: a cabinet body; a welding robot mounted on the cabinet; a welding gun connected to the welding robot; the clamp is connected with the cabinet body and used for fixing an object to be welded; the demonstrator is arranged on the cabinet body, is connected with the welding robot and is used for setting the simulation welding parameters of the robot by personnel so that the welding robot can complete virtual welding action on the object to be welded according to the simulation welding parameters of the robot, thereby completing the simulation welding operation on the object to be welded; and the processing terminal is used for displaying the virtual welding process when the welding robot performs virtual welding. It adopts true industrial robot demonstrator and true welding robot, combines entity 3D industrial robot virtual simulation model, realizes man-machine real-time interaction, realizes immersive practice teaching's purpose, greatly improves the teaching, instructs the effect in fact.

Description

Welding robot simulation teaching system

Technical Field

The invention relates to the field of virtual teaching, in particular to a welding robot simulation teaching system.

Background

Various types of industrial robots have been widely applied to the fields such as welding, in order to achieve good welding quality, system training needs to be carried out on operators, at present, practical operation needs to be carried out on the industrial robots for teaching and training of the operators, but a large number of industrial robots need to be purchased in this mode, and real materials need to be adopted for implementing operation, so that the cost is too high, one industrial robot cannot be operated by a hand, and meanwhile, when practical operation is carried out on the industrial robot, because the operators are still in an unskilled stage of operation, safety accidents easily occur, and the robots are easily damaged, so that the training effect of welding operators is poor.

Disclosure of Invention

In order to solve the technical problems, the invention provides a welding robot simulation teaching system which adopts a real industrial robot demonstrator and a real welding robot, combines a real 3D industrial robot virtual simulation model, realizes real-time human-computer interaction, realizes the purpose of immersive practice teaching, and greatly improves the teaching and practical training effects.

In order to realize the purpose, the invention provides the following technical scheme:

the invention provides a welding robot simulation teaching system, which comprises:

a cabinet body;

a welding robot mounted on the cabinet;

a welding gun connected to the welding robot;

the fixture is connected with the cabinet body and used for fixing an object to be welded;

the demonstrator is arranged on the cabinet body, is connected with the welding robot and is used for setting the simulation welding parameters of the robot by personnel so that the welding robot can complete virtual welding action on the object to be welded according to the simulation welding parameters of the robot, thereby completing the simulation welding operation on the object to be welded;

and the processing terminal is used for displaying the virtual welding process when the welding robot performs virtual welding.

The invention integrates the industrial robot, virtual simulation, machine intelligence and digital twin technology, and establishes a simulation teaching practical training system which integrates the traditional industrial robot teaching and the advanced virtual simulation. Real industrial robot demonstrator and real welding robot are specifically adopted to it, combine entity 3D industrial robot virtual simulation model, realize man-machine real-time interaction to reach real teaching, real compiling, emulation welding, real and false immersive real teaching effect of industrial robot that combines, greatly improve the teaching, instruct the effect in fact.

Drawings

FIG. 1 is an overall structure diagram of a welding robot simulation teaching system according to the present invention;

FIG. 2 is a schematic structural diagram of a processing terminal according to the present invention;

FIG. 3 is a display interface diagram of information of an object to be welded according to the present invention;

FIG. 4 is a display interface diagram of welding process parameters corresponding to the welding object information in the present invention;

FIG. 5a is a display interface diagram of a welding process display module according to the present invention;

FIG. 5b is a schematic view of the welding process display module of the present invention;

FIG. 5c is a schematic diagram of the vertical and horizontal tilt angles of the present invention;

FIG. 6a is a schematic diagram of a result evaluation module according to the present invention;

FIG. 6b is a diagram of a display interface of the score display module of the present invention;

FIG. 6c is another display interface diagram of the achievement display module of the present invention;

FIG. 6d is a diagram of a display interface of the X-ray inspection module of the present invention;

FIG. 6e is a diagram of a display interface of a report generation module according to the present invention;

FIG. 7 is a display interface diagram of the specialized training module of the present invention;

FIG. 8a is a diagram of a display interface of a welding graffiti module in accordance with the present invention;

FIG. 8b is a diagram of another display interface for the welding graffiti module of the present invention;

FIG. 9 is a diagram of a display interface of a welding task management module according to the present invention;

FIG. 10 is a diagram of a display interface of a result analysis module according to the present invention;

FIG. 11 is a diagram illustrating the architecture of an applet module according to the present invention;

FIG. 12 is a display interface diagram of a workpiece viewing module according to the present invention;

FIG. 13 is a display interface diagram of a carbon emissions statistics module of the present invention.

FIG. 14 is a display interface diagram of the consumable statistics module of the present invention.

Detailed Description

For the convenience of understanding, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1:

as shown in fig. 1, the present embodiment provides a welding robot simulation teaching system, which can be used for CO ₂ The simulation teaching of gas shielded arc welding, it is specific, welding robot simulation teaching system includes:

a cabinet body 1;

the welding robot 2 is installed on the cabinet body 1, and the welding robot 2 is a real robot and comprises six industrial robots; preferably, the welding gun 3 is detachably mounted on the cabinet body 1 in a clamping, buckling, threaded connection and other manners, and the types of the welding robots 2 are various;

the welding gun 3 is connected with the welding robot 2, and the welding gun 3 can be a real welding gun or a simulated welding gun and can comprise a real or simulated welding wire; preferably, the welding gun 3 is detachably connected with the welding robot 2 in a clamping, buckling, threaded connection and other modes, and the types of the welding gun 3 are various;

the clamp 4 is connected with the cabinet body 1 and used for fixing an object to be welded; the object to be welded is a real component which can be a real plate-shaped, tubular or rod-shaped object structure;

the demonstrator 5 is arranged on the cabinet body 1, is connected with the welding robot 2, and is used for personnel to set the simulated welding parameters of the robot, so that the welding robot 2 completes virtual welding action on the object to be welded according to the simulated welding parameters of the robot, thereby completing the simulated welding operation for the object to be welded; specifically, the demonstrator 5 is a real teaching device capable of controlling the movement of the real welding robot 2, and the robot simulates one or more welding parameters including welding direction, welding mode, power mode, dry elongation, arc starting working angle, arc starting advancing angle, arc starting current, arc starting residence time, welding process working angle, welding process advancing angle, welding current, welding voltage, welding speed, swing frequency, swing type, left swing amplitude, right swing amplitude, initial direction, middle residence time, left residence time, right residence time, arc ending working angle, arc ending advancing angle, arc ending time, arc ending current and arc ending voltage;

and the processing terminal 6 is installed on the cabinet body 1 and used for synchronously displaying the virtual welding process when the welding robot 2 performs virtual welding.

Specifically, as shown in fig. 2, the processing terminal 6 includes:

a display 61;

a training course selection module 62, as shown in fig. 3-4, connected to the display 61, and storing information of the object to be welded and welding process parameters corresponding to the information of the object to be welded, wherein a person sets the robot welding simulation parameters on the teach pendant 5 according to the selected information of the object to be welded and the welding process parameters corresponding to the information of the object to be welded;

wherein the object to be welded includes: the welding method comprises the following steps of (1) forming a plate (such as a low-carbon steel practice plate), a joint (such as a low-carbon steel V-groove butt joint, a low-carbon steel I-groove butt joint, a low-carbon steel riding type tube plate angle butt joint, a low-carbon steel T-shaped joint, a lap joint and the like), and the like, wherein the information of an object to be welded comprises: material, specification, joint type etc., welding process parameters include: one or more of the number of welding layers (i.e., "weld layers"), polarity, welding current, welding voltage, welding speed, etc.;

a welding process display module 63, as shown in fig. 5a, connected to the display 61, for synchronously generating one or more of a virtual image of the welding robot 2, a virtual image of the object to be welded 100, a virtual weld seam image 200, and a virtual weld puddle image when the welding robot 2 completes a virtual welding action on the object to be welded according to the simulated welding parameters of the robot, and displaying the virtual image on the display 61;

a collision prompt module 64 for generating prompt information when the welding torch 3 is in contact with an object to be welded and/or the end of the welding wire of the welding torch 3 is in contact with the object to be welded, the prompt information including a voice alarm signal (such as "the welding torch collides with the workpiece", "the welding wire collides with the workpiece", etc.), an image alarm signal (the image alarm signal may be dynamic, such as a semitransparent red ghost image on the virtual image of the welding robot 2, or static, such as a character information with an alarm symbol generated around the virtual image of the welding robot 2, such as "danger of collision |"), etc.;

and a result evaluation module 65 connected to the display 61 for evaluating the simulated welding process of the person after the welding robot 2 completes the simulated welding and displaying the evaluation result on the display 61.

Therefore, the welding robot simulation teaching system in the embodiment is provided with the real welding robot, the real welding gun, the demonstrator and the real component, different component types and welding process parameters are selected through the processing terminal, and a user further sets the parameters of the welding robot according to the selected type of an object to be welded, so that simulation teaching training of a plurality of welding processes such as flat welding, horizontal welding, vertical welding and 45-degree inclination can be performed.

Example 2:

the present embodiment is different from embodiment 1 only in that, as shown in fig. 5b, the welding process display module 63 includes:

a zoom module 631 (i.e., a "zoom-view" icon in fig. 5 a) for performing a zoom operation on the image information displayed on the display 61;

a shift module 632 (i.e., the "shift focus" icon in fig. 5 a) for performing a pan/flip operation on the image information displayed on the display 61; therefore, a user can perform zooming, translation, overturning and the like on the welding process image by clicking the corresponding module icon, and visually observe the posture of the welding robot 2 from different positions and angles and simulate the change conditions of a welding seam and a molten pool in the welding process;

a welding gun parameter display module 633 for displaying the welding gun parameter change of the welding gun 3 during the simulated welding process on the display 61, wherein the welding gun parameter includes one or more of the current vertical inclination (as shown in fig. 5c, the vertical inclination is an included angle between the end of the welding gun 3 and the X axis), the current horizontal inclination (as shown in fig. 5c, the horizontal inclination is an included angle between the end of the welding gun 3 and the Y axis), the dry elongation, the weld straightness, the walking speed, and the like;

a welding current and voltage display module 634 for synchronously displaying the current and voltage changes of the welding robot 2, i.e., "welding current (i.e.," a "icon)", "welding voltage (i.e.," V "icon)" and the like, in a simulation manner on the display 61 when the welding robot 2 performs a simulation welding operation;

the simulation positioning module 635 is used for displaying a positioning point on the virtual image of the object to be welded, and the demonstrator 5 can control the action of the welding robot 2 to drive the welding gun 3 to align with the positioning point so as to complete the simulation positioning of the welding robot;

a zero calibration module 636, connected to the welding robot 2, for simulating and completing the zero calibration of the welding robot 2;

the welding layer number display module 637 is used for displaying a welding line image after the simulated welding of each layer is finished according to the welding layer number; if the user clicks the 'first layer' (the number of welding layers can be set in welding process parameters), a welding seam effect image after the first layer simulation welding is finished is displayed, and the like;

a welding gun motion track display module 638 (i.e. a "motion track" icon) for displaying the motion track of the welding gun 3;

the temperature field display module 639 (i.e. the "temperature field" icon) is configured to synchronously generate a virtual temperature change image on the virtual image of the object to be welded when the welding robot 2 performs the simulated welding, and if the "temperature field" icon is clicked, the welding robot 2 performs the simulated welding, i.e. synchronously displays the change of the temperature field during the welding process on the virtual image of the object to be welded, if the temperatures of different positions are represented by different colors, if the temperature of the welding wire of the welding gun 3 in contact with the object to be welded is the highest, the temperature is represented by red, and if the temperature of the area of the object to be welded where the weld is not formed is lower, the temperature is represented by blue, and the like.

As shown in fig. 6a-6e, the result evaluation module 65 includes:

a score display module 651 (i.e., "practical training score") for displaying a virtual weld image, the name of the object to be welded 100 (i.e., "operation item") and a virtual image thereof, a simulated welding operation result (which may be embodied in a score form, such as "individual capability 79.5"), a simulated welding completion time (i.e., "time spent"), a simulated weld quality (i.e., "weld quality"), and one or more of changes of welding parameters during the simulated completion of each welding layer (i.e., "backing weld", "fill weld", and "cover weld"), such as displaying the change trends of "vertical inclination", "horizontal inclination", "dry elongation", "weld straightness", and "walking speed" in the form of a graph and a radar chart;

for example, when the 'backing weld' is selected, only the images of the virtual object to be welded 100 and the virtual weld joint 200 of the bottom layer are displayed on the right side of the interface, and when the 'filling weld' is selected, only the images of the virtual object to be welded 100 and the virtual weld joint 200 of the bottom layer are displayed on the model, and meanwhile, the radar scoring chart of the 'vertical inclination angle, horizontal inclination angle, dry elongation, walking speed and weld joint straightness' can be displayed by pulling down the scroll bar on the right side of the virtual image;

an X-ray inspection module 652 (i.e., "X-ray inspection") for generating a simulated X-ray inspection image of the virtual weld, and displaying the defect type and/or the defect number, such as undercut 0, crack 9, slag inclusion 30, unfused 0, air holes 435, etc., according to the simulated X-ray inspection image;

a report generation module 653 (i.e., "training report") for generating a training report and displaying the training report on the display 61, wherein the training report includes the result of the simulated welding operation, the simulated welding parameters, the defect type and the defect number obtained from the simulated X-ray detection image, and the like;

a playback module 654 for playing back the simulated welding process.

From this, accessible welding process show module carries out directly perceived, detailed show to the overall process of simulated welding in this embodiment for the trainee obtains the welding situation border similar with real welding, and the result evaluation module is appraised from a plurality of different angles, index to the simulated welding effect simultaneously, makes the trainee fully know the effect of simulated welding training, and makes corresponding improvement to this.

Example 3:

the present embodiment differs from embodiment 1 or 2 only in that, as shown in fig. 2 and 7, the processing terminal 6 further includes:

a special training module 66, which stores welding track types (such as straight track, arc track, full circle track, continuous arc track, straight swing track, arc swing track, etc.) and teaching methods corresponding to the welding track types, and according to different welding track types and teaching methods corresponding to the welding track types, a person sets welding simulation parameters corresponding to the welding track types through the demonstrator 5, so that the welding robot 2 completes virtual welding actions on the object to be welded according to the welding simulation parameters corresponding to the welding track types, thereby completing simulated welding operations for the object to be welded;

an offline programming module 67, which is connected to the demonstrator 5, and is used for performing offline programming management on welding robot models and peripheral devices of different models, and the demonstrator 5 generates corresponding simulation operation instructions (for example, controls the movement of a welding robot and a positioner) according to the offline programming management result; in this embodiment, the offline programming module 67 may be implemented by an InteRobot robot offline programming software, and the offline programming management includes operating (such as creating, editing, storing, importing, previewing, deleting, and the like) the types of the welding robot models and the robot parameters corresponding to each welding robot model;

a welding graffiti module 68, which prestores a plurality of virtual welding patterns (such as geometric patterns shown in fig. 8a or texts shown in fig. 8 b), and the user sets simulated welding parameters of the welding robot 2 through the demonstrator 5 according to the selected virtual welding patterns, so that the welding robot 2 completes simulated welding according to the simulated welding parameters to form the selected virtual welding patterns;

a welding task management module 69 for a simulated welding task (as shown in fig. 9) that has been/is to be issued by a user (e.g., a teacher) and from which trainees perform simulated welding training or qualification, the simulated welding task including: the training and the checking are different in that the former does not limit time, and the latter limits time;

a result analysis module 70 for displaying trainee information, information of welding simulation operation performed by the trainee, and a result of the simulation welding operation corresponding to the information of welding simulation operation (as shown in fig. 10), wherein the trainee information includes: the method comprises the following steps that the name and the class of a trainee are obtained, the welding simulation operation information comprises the name (such as a 10mm low-carbon steel V-groove butt joint BW) of an object to be welded, which is subjected to welding simulation training by the trainee, the welding simulation training times (such as 7 times) aiming at the object to be welded and the like, and the simulation welding operation result comprises the quality of a simulation welding seam (such as a I-level welding seam, a II-level welding seam, a III-level welding seam and an IV-level welding seam), the variation score of a simulation welding parameter (such as a horizontal inclination angle 12 and a vertical inclination angle 6 which are displayed through a radar chart) and the internal quality score (including an undercut, a crack, slag inclusion and the like) and the external quality score (including the weld reinforcement, the height difference of the welding seam, the width difference of the welding seam, the concavity and convexity of the back, the angular deformation, the weld penetration, the size of a welding foot, the convexity of the welding seam and the like) corresponding to the defect type displayed according to a simulation X-ray detection image;

the simulated welding parameter variation score, the internal score and the external score can be the average value of the welding simulation training times;

and a historical score display module 71, which is connected with the result analysis module 70 and is used for acquiring and displaying the optimal score in the simulated welding operation result of the trainees.

Example 4:

the present embodiment differs from any one of embodiments 1 to 3 only in that, in the present embodiment, the welding robot simulation teaching system further includes: an applet module, which may be built in an intelligent mobile terminal, such as a smart phone, a tablet computer, and the like, specifically, as shown in fig. 11 to 12, the applet module includes:

a workpiece checking module 71, which is used for the trainee to upload the picture of the real object workpiece which is welded;

an X-ray inspection result display module 72, configured to perform X-ray inspection (for example, perform X-ray inspection by using an image recognition technology) on the uploaded welded workpiece, and generate and display an X-ray inspection result, where the X-ray inspection result includes an X-ray inspection picture and X-ray inspection data;

a training information display module 73 for displaying information of simulated welding training and/or practical welding training completed by a trainee, wherein the simulated welding training information includes: training project names, welding positions, welding time, training results and the like; the actual welding training information comprises: training project names, welding positions, welding time, training results, pictures of welded object workpieces, X-ray flaw detection results and the like.

Therefore, the trainee can upload the result of the welding training of the real operation at any time through the small program module and quickly learn the training result, so that the improvement can be made in time and the learning efficiency can be improved.

Example 5:

the present embodiment differs from any one of embodiments 1 to 4 only in that, in the present embodiment, the welding robot simulation teaching system further includes: the background management module is used for managing trainee information, teacher information and training project course information;

the trainee information comprises a trainee name, a trainee type, an identity card number, a telephone number, facial image information, training scores, training time, training items and the like, and the teacher information comprises positions, a telephone number, user states (off-duty and on-duty), head portraits, personal profiles and the like; the training project course information comprises training courseware, training videos and the like; the management comprises the following steps: operations such as addition, deletion, modification, and the like;

and a carbon emission statistical module, as shown in fig. 13, configured to obtain a carbon emission variation value after the welding robot simulation teaching system is used according to usage information of the welding robot simulation teaching system, where the usage information includes a number of users, a duration of use, and the like, and thus, a trainee can visually obtain a carbon emission reduction effect after the welding robot simulation teaching system in the present application is used through the carbon emission statistical module, so as to enhance environmental awareness and respond to energy saving and emission reduction calls.

And a consumable statistics module, as shown in fig. 14, for counting consumables according to the welding machineAcquiring consumable change values after the welding robot simulation teaching system is used by welding material actual consumption use information of the human simulation teaching system; wherein the actual consumption and use information of the welding materials comprises the number of used plates, the number of welding rods and CO ₂ One or more of gas use quantity, argon gas use quantity, welding wire use quantity and the like, therefore, the trainee can visually acquire the actual consumption condition of consumables generated after using the welding robot simulation teaching system in the application through a consumable material counting module, so that the actual input cost is known, and the cost value is saved through dynamic display of the system.

To sum up, the application integrates industrial robot, virtual simulation, machine intelligence and digital twin technology, and establishes a simulation teaching practical training system integrating traditional industrial robot teaching and advanced virtual simulation.

It specifically adopts real industrial robot demonstrator and real welding robot, combine entity 3D industrial robot virtual simulation model, realize man-machine real-time interaction, make virtual simulation robot make according to instruction and programming with real robot complete integration's action and emulation welding action, accomplish the virtuality and reality combination, in order to reach real demonstration, real compiling, emulation welding, the real immersive industrial robot of virtuality and reality combination instructs the teaching effect in fact, it is expensive really to solve industrial robot, the danger coefficient is high, teaching difficult problems such as maintenance difficulty, realize the purpose of immersive practice teaching, greatly improve the teaching, instruct the effect in fact.

The technical features of the above embodiments 1 to 5 can be combined arbitrarily, and all the combined technical solutions belong to the protection scope of the present invention. And it will be evident to those skilled in the art that the embodiments of the present invention are not limited to the details of the foregoing illustrative embodiments, and that the embodiments of the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the embodiments being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it will be obvious that the term "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. Several units, modules or means recited in the system, device or terminal claims may also be implemented by one and the same unit, module or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the embodiments of the present invention and not for limiting, and although the embodiments of the present invention are described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the embodiments of the present invention without departing from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (17)

1. A welding robot simulation teaching system, comprising:

a cabinet body;

a welding robot mounted on the cabinet;

a welding gun connected to the welding robot;

the clamp is connected with the cabinet body and used for fixing an object to be welded;

the demonstrator is arranged on the cabinet body, is connected with the welding robot and is used for personnel to set simulation welding parameters of the robot, so that the welding robot completes virtual welding actions on the object to be welded according to the simulation welding parameters of the robot, and the simulation welding operation for the object to be welded is completed;

and the processing terminal is used for displaying a virtual welding process when the welding robot performs virtual welding.

2. The welding robot simulation teaching system of claim 1 wherein the processing terminal comprises:

a display;

the training course selection module is connected with the display and stores information of the object to be welded and welding process parameters corresponding to the information of the object to be welded, and the staff sets the robot welding simulation parameters on the demonstrator according to the selected information of the object to be welded and the welding process parameters corresponding to the information of the object to be welded;

and the welding process display module is connected with the display and is used for generating one or more of a virtual image of the welding robot, a virtual image of the object to be welded, a virtual weld seam image and a virtual weld pool image when the welding robot completes a virtual welding action on the object to be welded according to the simulated welding parameters of the robot and displaying the virtual image, the virtual weld seam image and the virtual weld pool image on the display.

3. The welding robot simulation teaching system of claim 2 wherein the welding process demonstration module comprises:

the welding gun parameter display module is used for displaying the welding gun parameter change of the welding gun in the process of carrying out simulated welding on the display;

and the welding gun motion trail display module is used for displaying the motion trail of the welding gun.

4. The welding robot simulation teaching system of claim 2 wherein the welding process demonstration module comprises:

and the welding layer number display module is used for displaying the welding seam image after each layer of simulated welding is finished according to the welding layer number.

5. The welding robot simulation teaching system of claim 2 wherein the welding process demonstration module comprises:

and the welding current and voltage display module is used for displaying the current and voltage changes of the welding robot in a simulation mode on the display when the welding robot performs the simulated welding action.

6. The welding robot simulation teaching system of claim 2 wherein the welding process demonstration module comprises:

and the simulation positioning module is used for displaying a positioning point on the virtual image of the object to be welded so as to control the action of the welding robot through the demonstrator and drive the welding gun to align to the positioning point to complete the simulation positioning of the welding robot.

7. The welding robot simulation teaching system of claim 2 wherein the welding process demonstration module comprises:

and the temperature field display module is used for synchronously generating a virtual temperature change image on the virtual image of the object to be welded when the welding robot performs simulated welding.

8. The welding robot simulation teaching system of claim 1 wherein the processing terminal comprises: and the collision prompting module is used for generating prompting information when the welding gun is in contact with the object to be welded and/or the end part of the welding wire of the welding gun is in contact with the object to be welded.

9. The welding robot simulation teaching system of claim 1 wherein the processing terminal comprises: and the result evaluation module is connected with the display and is used for evaluating the simulated welding process of personnel after the welding robot finishes simulated welding and displaying the evaluation result on the display.

10. The welding robot simulation teaching system of claim 9 wherein the result evaluation module comprises:

the score display module is used for displaying one or more of a virtual welding seam image, a virtual object name to be welded, a virtual image of the virtual object name, a simulated welding operation result, simulated welding completion time, simulated welding seam quality and simulated welding parameter change conditions in the process of simulating and completing each welding layer;

and the X-ray detection module is used for generating a simulation X-ray detection image of the virtual welding seam and displaying the defect type and/or the defect number according to the simulation X-ray detection image.

11. The welding robot simulation teaching system of claim 1 wherein the processing terminal comprises:

and a special training module for storing a welding track type and a teaching method corresponding to the welding track type, wherein a person sets a welding simulation parameter corresponding to the welding track type through the teaching device according to different welding track types and teaching methods corresponding to the welding track types, so that the welding robot completes a virtual welding action on the object to be welded according to the welding simulation parameter corresponding to the welding track type, and the simulated welding operation aiming at the object to be welded is completed.

12. The welding robot simulation teaching system of claim 1 wherein the processing terminal comprises:

and the offline programming module is connected with the demonstrator and is used for performing offline programming management on different models of welding robot models and peripheral equipment, and the demonstrator generates corresponding simulation operation instructions according to the offline programming management result.

13. The welding robot simulation teaching system of claim 1 wherein the processing terminal comprises:

and the welding doodling module prestores a plurality of virtual welding graphs, and a user sets the simulated welding parameters of the welding robot through the demonstrator according to the selected virtual welding graphs, so that the welding robot completes simulated welding according to the simulated welding parameters to form the selected virtual welding graphs.

14. The welding robot simulation teaching system of claim 1 wherein the processing terminal comprises:

and the result analysis module is used for displaying the trainee information, the welding simulation operation information completed by the trainee and a simulation welding operation result corresponding to the welding simulation operation information.

15. The welding robot simulation teaching system of claim 1 wherein the welding robot simulation teaching system further comprises: an applet module that may be built in the intelligent mobile terminal;

the applet module comprises:

the workpiece checking module is used for allowing a person to upload a picture of a welded real object workpiece;

the X-ray flaw detection result display module is used for carrying out X-ray flaw detection on the uploaded welded real object workpiece, and generating and displaying an X-ray flaw detection result;

and the training information display module is used for displaying the information of the simulated welding training and/or the practical welding training completed by the trainee.

16. The welding robot simulation teaching system of claim 1 wherein the welding robot simulation teaching system further comprises:

and the carbon emission statistical module is used for acquiring a carbon emission change value after the welding robot simulation teaching system is used according to the use information of the welding robot simulation teaching system.

17. The welding robot simulation teaching system of claim 1 wherein the welding robot simulation teaching system further comprises: and the consumable material counting module is used for acquiring and using the consumable material change value behind the welding robot simulation teaching system according to the welding material actual consumption use information of the welding robot simulation teaching system.

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