CN115922132A - Multi-point tailor-welding method and system for rotary structural member and storage medium - Google Patents
Multi-point tailor-welding method and system for rotary structural member and storage medium Download PDFInfo
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Abstract
The invention discloses a multi-point tailor-welding method and system for a rotary structural member and a storage medium, and relates to the field of automatic welding. The method comprises the following steps: the digital twin system constructs the position relation between each physical device and a space environment in an automatic tailor-welding module for tailor-welding the rotating structural member and a model of each physical device under a global coordinate system taking the rotating structural member as a reference; constructing a digital twin scene according to the model, the motion logic and the position relation of each physical device; planning the motion track of each physical device in a digital twin scene according to the pose information of each physical device acquired in real time, and generating a corresponding execution program; and sending the execution program to a physical manufacturing system where the rotating structural member is located, so that the physical manufacturing system controls each physical device to perform multi-point tailor welding on the rotating structural member according to the motion track. The welding method and the welding device can compensate the positioning error in the welding process, and improve the welding efficiency and quality of the rotary structural member.
Description
Technical Field
The disclosure relates to the field of automatic welding, in particular to a multipoint tailor-welding method and system for a rotary structural member and a storage medium.
Background
At present, in the field of industrial welding automation, a motion track of robot automatic welding needs to be acquired through an off-line virtual simulation or on-site teaching method, and then the robot performs splice welding operations such as grabbing and welding according to the determined motion track.
On one hand, the method needs to perform off-line virtual simulation or on-site teaching on each tailor-welded part, if the tailor-welded part is modified, the off-line modeling virtual simulation or on-site teaching needs to be performed again, the universality is poor, and the time is very long; on the other hand, once the track of the method is determined and can not be changed, the requirement on the processing precision of each splicing piece is high, the positioning error of the splicing pieces such as casting and forging is large, and when the welding positions are large, the relative error is large, so that the processing precision of the whole part is influenced.
Disclosure of Invention
The technical problem to be solved by the present disclosure is to provide a method, a system and a storage medium for multi-spot tailor welding of a rotating structural member, which can improve the tailor welding efficiency and quality of the rotating structural member.
According to one aspect of the disclosure, a multipoint tailor-welding method for a rotary structural member is provided, which includes: the digital twin system is used for constructing the position relation between each physical device and a space environment in an automatic splicing and welding module for splicing and welding the rotating structural member and a model of each physical device under a global coordinate system taking the rotating structural member as a reference; constructing a digital twin scene according to the model, the motion logic and the position relation of each physical device; planning the motion track of each physical device in a digital twin scene according to the pose information of each physical device acquired in real time, and generating a corresponding execution program; and sending the execution program to a physical manufacturing system where the rotary structural member is located, so that the physical manufacturing system controls each physical device to perform multi-point tailor welding on the rotary structural member according to the motion track.
In some embodiments, the pose information comprises pose information of the weldment relative to the rotating structure, the method further comprising: the digital twinning system confirms the positioning error of the multi-point tailor-welding process according to the pose information of the weldment relative to the rotating structural member; and if the positioning error does not meet the requirement, planning the motion trail of each physical device in the digital twin scene again.
In some embodiments, the digital twinning system receives positioning errors of the multi-spot welding process sent by the physical manufacturing system; and if the positioning error does not meet the requirement, planning the motion trail of each physical device in the digital twin scene again.
In some embodiments, planning the motion trajectory of each physical device in the digital twin scene according to the pose information of each physical device acquired in real time includes: and planning the motion trail of each physical device in the digital twin scene according to the model of each physical device, the man-machine interaction data and the real-time acquired pose information of each physical device.
In some embodiments, the digital twinning system acquires the motion postures of the physical devices in real time and drives the synchronous motion of the physical devices in the digital twinning scene.
In some embodiments, the physical manufacturing system establishes a global coordinate system based on the rotating structural member, obtains the position relationship between each physical device in the automatic tailor-welding module and the space environment, and determines the pose information of the weldment relative to the rotating structural member; and sending the position relation and the pose information of the weldment relative to the rotating structural member to a digital twin system.
In some embodiments, determining pose information of the weldment relative to the rotating class of structural members comprises: determining pose information of the welding part relative to the grabbing robot through a visual guidance system; determining pose information of the rotating structural part relative to the grabbing robot through a pose detection system; and determining the pose information of the welding part relative to the rotating structural part according to the position of the visual guide system and the position of the pose detection system.
In some embodiments, the automatic tailor-welding module comprises a positioner located on the ground rail, a positioning tray for positioning the weldment, a grabbing robot, a welding robot and a welding gun, wherein the rotary structure is located on the positioner; the grabbing robot and the welding robot are respectively positioned on two sides of the positioner; the welding gun is arranged on the welding robot; the pose detection system is arranged on the grabbing robot; and the visual navigation system is arranged on the positioning tray.
According to another aspect of the present disclosure, there is also provided a digital twinning system for multi-spot welding of a rotating structural member, comprising: the digital modeling module is configured to construct a position relation between each physical device and a space environment and a model of each physical device in the automatic tailor-welding module for tailor-welding the rotary structural member under a global coordinate system taking the rotary structural member as a reference, and construct a digital twin scene according to the model, the motion logic and the position relation of each physical device; the trajectory planning module is configured to plan the motion trajectory of each physical device in a digital twin scene according to the pose information of each physical device acquired in real time and generate a corresponding execution program; and the virtual-real interaction module is configured to send the execution program to a physical manufacturing system where the rotating structural member is located, so that the physical manufacturing system controls each physical device to perform multi-point tailor welding on the rotating structural member according to the motion track.
In some embodiments, the pose information includes pose information of the weldment relative to the rotating structure, wherein the trajectory planning module is further configured to determine a positioning error of the multi-spot welding process according to the pose information of the weldment relative to the rotating structure, and to re-plan the motion trajectory of each physical device in the digital twinning scenario if the positioning error does not meet requirements.
In some embodiments, the virtual-real interaction module is configured to receive a positioning error of the multi-spot welding process sent by the physical manufacturing system; and the trajectory planning module is further configured to re-plan the motion trajectory of each physical device in the digital twin scene if the positioning error does not meet the requirement.
In some embodiments, the trajectory planning module is further configured to plan the motion trajectory of each physical device in the digital twin scene according to the model of each physical device, the human-computer interaction data, and the pose information of each physical device acquired in real time.
In some embodiments, the virtual-real interaction module is configured to acquire the motion postures of the physical devices in real time and drive the synchronous motion of the physical devices in the digital twin scene.
According to another aspect of the present disclosure, there is also provided a digital twinning system for multi-spot welding of a rotating structural member, comprising: a memory; and a processor coupled to the memory, the processor configured to perform the rotary type structure multi-spot welding method as described above based on instructions stored in the memory.
According to another aspect of the present disclosure, there is also provided a system for multi-spot welding of a rotating type structural member, comprising: the above-described digital twinning system; and a physical manufacturing system comprising: the automatic tailor-welding module is configured to perform multi-point tailor-welding on the rotary structural member according to an execution program which is generated by the digital twin system and contains the motion trail of each physical device; the online detection module is configured to establish a global coordinate system taking the rotary structural member as a reference, obtain the position relation between each physical device and a space environment in the automatic tailor-welding module, and determine the pose information of the weldment relative to the rotary structural member; the centralized control module is configured to send the position relation and the pose information of the weldment relative to the rotating structural member to the digital twin system and receive an execution program generated by the digital twin system.
In some embodiments, the global positioning system is configured to establish a global coordinate system based on the rotating structural member, and obtain a position relationship between each physical device in the automatic tailor-welding module and the spatial environment; a vision guidance system configured to determine pose information of the weldment relative to the grabbing robot; a pose detection system configured to determine pose information of the rotating type structure relative to the grabbing robot, wherein the pose information of the welding part relative to the rotating type structure is determined according to the position of the vision guide system and the position of the pose detection system.
In some embodiments, the automatic tailor-welding module comprises a positioner located on the ground rail, a positioning tray for positioning the weldment, a grabbing robot, a welding robot and a welding gun, wherein the rotary structure is located on the positioner; the grabbing robot and the welding robot are respectively positioned on two sides of the positioner; the welding gun is arranged on the welding robot; the pose detection system is arranged on the grabbing robot; and the visual navigation system is arranged on the positioning tray.
According to another aspect of the present disclosure, a non-transitory computer-readable storage medium is further provided, on which computer program instructions are stored, and the instructions, when executed by a processor, implement the multi-spot welding method for a rotating type structural member.
In the embodiment of the disclosure, a digital twin scene is constructed by using a digital twin system, the motion trail of each physical device is planned in the digital twin scene according to the pose information of each physical entity device in the multi-point tailor-welding process of the rotary structural member, an executive program containing the motion trail is sent to a physical manufacturing system, the physical manufacturing system performs multi-point tailor-welding on the rotary structural member, the positioning error in the tailor-welding process is compensated, and the tailor-welding efficiency and quality of the rotary structural member are improved.
Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.
The present disclosure may be more clearly understood from the following detailed description, taken with reference to the accompanying drawings, in which:
fig. 1 is a schematic flow diagram of some embodiments of a rotary type structural member multi-spot tailor welding method of the present disclosure;
fig. 2 is a schematic flow chart of another embodiment of a multi-spot tailor-welding method for a rotary structural member according to the present disclosure;
FIG. 3 is a schematic structural view of some embodiments of the digital twinning system for multi-spot welding of rotating type structural members of the present disclosure;
FIG. 4 is a schematic structural view of further embodiments of the disclosed digital twinning system for multi-spot tailor welding of rotating type structural members;
FIG. 5 is a schematic structural view of some embodiments of a system for multi-spot tailor welding of rotating type structural members according to the present disclosure; and
FIG. 6 is a schematic block diagram of some embodiments of a physical manufacturing system of the present disclosure.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
Fig. 1 is a schematic flow diagram of some embodiments of a multi-spot tailor welding method for a rotating structural member according to the present disclosure, which are performed by a digital twinning system.
In step 110, a model of each physical device and a positional relationship between each physical device and a spatial environment in an automatic tailor-welding module for tailor-welding a rotary structural member are constructed in a global coordinate system based on the rotary structural member.
In some embodiments, the digital twin system establishes data communication with the physical manufacturing system through the virtual-real interaction module to acquire the position relationship between each physical device and the spatial environment in the automatic tailor-welding module. The automatic welding module comprises a position changing machine, a positioning tray, a grabbing robot, a welding robot and a welding gun, wherein the position changing machine and the positioning tray are located on a ground rail, the rotating structural part is located on the position changing machine, the grabbing robot and the welding robot are located on two sides of the position changing machine respectively, the welding gun is installed on the welding robot, a pose detection system is installed on the grabbing robot, and a visual navigation system is installed on the positioning tray. The weld is, for example, a tool holder. The welding robot is used for welding a welding part to a rotary structural part by controlling the welding gun, and the grabbing robot is used for accurately positioning and grabbing the welding part.
In some embodiments, the digital twinning system builds a model of each physical device, which is a static model, for example, built in CAD software.
In step 120, a digital twin scene is constructed according to the model and the motion logic and the position relationship of each physical device.
In some embodiments, the motion logic is the maximum degree of motion of the respective physical device.
In step 130, according to the pose information of each physical device acquired in real time, the motion trajectory of each physical device is planned in the digital twin scene, and a corresponding execution program is generated.
In a digital twin scene, a dynamic model of each physical device can be generated according to the pose of each physical device. Virtual and real interaction in the splicing and welding process of the rotary structural member is realized by driving the simulation model to perform virtual synchronous motion through data.
In some embodiments, the virtual-real interaction module of the digital twin system uses a TCP/IP communication protocol to implement data transmission and reception with the physical manufacturing system, and implement real-time transmission and storage of data.
In some embodiments, the motion trajectory of each physical device is planned in the digital twin scene according to the model of each physical device, the human-computer interaction data and the real-time acquired pose information of each physical device. The man-machine interaction data comprises equipment information data, rotating structural member material information data, welding process data and the like.
In some embodiments, robot-based trajectory planning general software is selected for secondary development, a rotating structural member multi-point tailor-welding static model and a dynamic model are introduced into the software, driving data of the dynamic model is set as a variable interface to be connected with a digital twin system, and trajectory planning can be performed according to real-time data obtained by a virtual-real interaction module. And planning the motion trail of each physical device, namely planning the motion trail of the tailor welding execution device. The process can automatically perform anti-collision detection, accurately generate the optimal motion track of the robot, develop a dynamic model data interface, and drive a track planning module to generate the motion track of each physical device by real-time dynamic data of a physical manufacturing system.
In step 140, the execution program is sent to the physical manufacturing system where the rotating structural member is located, so that the physical manufacturing system controls each physical device to perform multi-spot welding on the rotating structural member according to the motion trajectory.
In some embodiments, the virtual-real interaction module communicates to the centralized control module of the physical manufacturing system via a communication protocol for servo control.
In the embodiment, a digital twin scene is constructed by using a digital twin system, the motion trail of each physical device is planned in the digital twin scene according to the pose information of each physical entity device in the multi-point welding process of the rotating structural member, an executive program containing the motion trail is sent to a physical manufacturing system, the physical manufacturing system performs multi-point welding on the rotating structural member, the positioning error in the welding process is compensated, and the welding efficiency and quality of the rotating structural member are improved.
Fig. 2 is a schematic flow chart of another embodiment of the multi-spot tailor-welding method for a rotary structural member according to the present disclosure.
In step 210, the physical manufacturing system establishes a global coordinate system based on the rotating structural member, obtains a position relationship between each physical device and a spatial environment in the automatic tailor-welding module, and determines pose information of the weldment relative to the rotating structural member.
In some embodiments, the rotating type structural part is installed on a positioner, the welding part is roughly positioned on a positioning disc, and the online detection module detects the rotating type structural part. For example, a plurality of groups of visual cameras are arranged around the physical manufacturing system to form a global positioning system, a global coordinate system based on a rotating structural member is established, and static spatial position information of the whole automatic tailor-welding module is acquired. A vision guide system consisting of binocular 3D cameras is arranged above the positioning tray to guide the grabbing robot to accurately grab the welding parts. And a data receiving sensor is arranged at the tail end of the robot, and a pose detection system is formed by means of a global positioning system. Determining the pose information of the welding part relative to the grabbing robot through a visual guidance system; determining the pose information of the rotating structural member relative to the grabbing robot through a pose detection system; and determining the pose information of the welding part relative to the rotating structural part according to the position of the visual guide system and the position of the pose detection system.
At step 220, the physical manufacturing system sends the positional relationship of the physical devices and the spatial environment and the pose information of the weldment relative to the rotating structure to the digital twinning system.
In some embodiments, a centralized control module of the physical manufacturing system is responsible for coordinated control between the physical manufacturing system and the digital twinning system. I.e. to enable the reception and transmission of data.
In step 230, a model of each physical device and a model of each physical device in the automatic tailor-welding module for tailor-welding the rotating structural member are constructed through the digital modeling module in the global coordinate system based on the rotating structural member.
In step 240, data communication of the digital twin system and the physical manufacturing system is established through the virtual-real interaction module, and the digital twin scene is constructed according to the motion logic of each device.
In step 250, the trajectory planning module virtually simulates the motion trajectory of each device to generate an execution program capable of driving each device to move. Namely, the motion trail is generated according to the motion posture of each device.
In step 260, the physical devices perform multi-point tailor welding on the rotating structural member according to the planned track, and meanwhile, the digital twin system acquires real-time data of joints of the devices in real time and drives the digital twin system to move synchronously.
In step 270, the positioning error of the multi-spot welding process is determined, whether the positioning error meets the requirement is judged, if the positioning error meets the requirement, step 280 is executed, otherwise, step 250 is continuously executed.
In some embodiments, the digital twinning system confirms the positioning error of the multi-spot tailor-welding process according to the pose information of the weldment relative to the rotating structural member.
In some embodiments, the digital twinning system receives positioning errors of the multi-spot welding process sent by the physical manufacturing system.
For example, before the grabbing robot grabs the welding part and after the grabbing robot coarsely positions the welding part to the rotating structural part according to the track, the physical manufacturing system respectively detects the welding position and orientation accuracy, transmits the detection data to the digital twin system for comparative analysis, and simultaneously the digital twin system acquires the position relation, namely the position and the shape of the welding part relative to the rotating structural part, and is used for planning the motion track of the welding robot.
In some embodiments, the digital twinning system confirms a first positioning error of the multi-spot welding process according to the pose information of the welding part relative to the rotating structural part, receives a second positioning error of the multi-spot welding process sent by the physical manufacturing system, and calculates the positioning error of the multi-spot welding process according to the weights of the first positioning error and the second positioning error.
In step 280, each physical device executes according to the original motion trajectory.
And if the positioning precision meets the design requirement, the physical equipment executes according to the original motion track.
And if the positioning accuracy does not meet the design requirement, the trajectory planning module performs virtual simulation planning on the motion trajectory in the digital twin scene again, and the physical equipment executes the motion trajectory according to the re-planned trajectory.
In step 290, it is determined whether all the welding work of the welded parts is completed, and if not, step 250 is executed, and if completed, step 2100 is executed.
At step 2100, the tailor weld job ends.
In the embodiment, the online detection module establishes a global coordinate system by taking the rotating structural member as a reference, and determines the pose information of the welding part relative to the grabbing robot through a visual guide system; the pose detection system is used for determining the pose information of the rotary structural member relative to the grabbing robot, so that the spatial pose of the tailor-welded part relative to the rotary structural member can be directly obtained, and the influence of installation errors and repeated motion errors of all equipment in a physical manufacturing system on the detection precision is avoided. In addition, the physical manufacturing system and the digital twin system feed back information mutually, so that the positioning error in the welding process can be compensated, and the welding efficiency and quality of the rotary structural member are improved.
Fig. 3 is a schematic structural diagram of some embodiments of the digital twinning system for multi-spot welding of rotating-type structural members according to the present disclosure, which includes a digital modeling module 310, a trajectory planning module 320, and a virtual-real interaction module 330.
The digital modeling module 310 is configured to construct a position relationship between each physical device and a space environment in the automatic tailor-welding module including the rotating structural member and a model of each physical device in a global coordinate system based on the rotating structural member, and construct a digital twin scene according to the model and motion logic of each physical device and the position relationship.
In some embodiments, digital modeling module 310 builds a static model in CAD software.
The trajectory planning module 320 is configured to plan a motion trajectory of each physical device in the digital twin scene according to the pose information of each physical device acquired in real time, and generate a corresponding execution program.
In some embodiments, the trajectory planning module 320 is further configured to plan the motion trajectory of each physical device in the digital twin scene according to the model of each physical device, the human-computer interaction data, and the pose information of each physical device acquired in real time, and transmit the motion trajectory to the centralized control module of the physical manufacturing system for servo control through the communication protocol. And selecting general software based on robot trajectory planning to carry out secondary development, importing the multi-point tailor-welding static model and the dynamic model of the rotary structural part into the software, setting the driving data of the dynamic model as a variable interface to be connected with a digital twin system, and planning the trajectory according to real-time data acquired by the virtual-real interaction module.
In some embodiments, the trajectory planning module 320 is further configured to confirm a positioning error of the multi-spot welding process according to the pose information of the weldment relative to the rotating structural member, and re-plan the motion trajectory of each physical device in the digital twin scene if the positioning error does not meet the requirement.
In some embodiments, the virtual-real interaction module 330 is configured to receive a positioning error of the multi-stitch welding process sent by the physical manufacturing system; and the trajectory planning module 320 is further configured to re-plan the motion trajectory of each physical device in the digital twin scene if the positioning error does not meet the requirement.
The virtual-real interaction module 330 is configured to send the execution program to the physical manufacturing system where the rotating type structural component is located, so that the physical manufacturing system controls each physical device to perform multi-point tailor welding on the rotating type structural component according to the motion track.
In some embodiments, the virtual-real interaction module 330 is configured to acquire the motion gestures of the physical devices in real time to drive the synchronous motion of the physical devices in the digital twin scene.
For example, the virtual-real interaction module 330 is responsible for establishing data communication between the digital twin system and the physical manufacturing system, receiving pose information of each physical device of the physical manufacturing system in real time, and driving the simulation model to perform virtual synchronous motion by the data to realize virtual-real interaction in the welding process of the rotating structural member.
In some embodiments, a TCP/IP communication protocol is adopted, and data sending and receiving programs are respectively developed at the digital twin system and the physical manufacturing system, so that real-time transmission and storage of data are realized.
In the embodiment, a digital twin scene is constructed through a digital twin system, the motion trail of each physical device is planned in the digital twin scene according to the pose information of each physical entity device in the multi-point tailor-welding process of the rotary structural member, the execution program containing the motion trail is sent to a physical manufacturing system, the physical manufacturing system performs multi-point tailor-welding on the rotary structural member, the positioning error in the tailor-welding process is compensated, and the tailor-welding efficiency and quality of the rotary structural member are improved.
Fig. 4 is a schematic structural diagram of another embodiment of the digital twinning system 400 for multi-spot welding of rotating structural members according to the present disclosure, and the digital twinning system 400 includes a memory 410 and a processor 420. Wherein: the memory 410 may be a magnetic disk, flash memory, or any other non-volatile storage medium. The memory 410 is used to store the instructions in the above embodiments. Coupled to memory 410, processor 420 may be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 420 is configured to execute instructions stored in memory.
In some embodiments, processor 420 is coupled to memory 410 by a BUS BUS 430. The digital twin system 400 may also be connected to an external storage device 450 through a storage interface 440 for the purpose of invoking external data, and may also be connected to a network or another computer system (not shown) through a network interface 460, which will not be described in detail herein.
In the embodiment, the data instructions are stored in the memory, and the instructions are processed by the processor, so that the welding efficiency and quality of the rotary structural member can be improved.
Fig. 5 is a schematic structural diagram of some embodiments of the system for multi-spot welding of rotating structural members according to the present disclosure, which includes the digital twin system 510 in the above embodiments, and further includes a physical manufacturing system 520, where the physical manufacturing system and the digital twin system establish data transmission and mutual control through a communication protocol and a PLC, and realize synchronous movement and mutual control of the physical manufacturing system and the digital twin system.
The physical manufacturing system 520 includes an automated tailor welding module 521, an online detection module 522, and a centralized control module 523.
The automatic tailor welding module 521 is configured to perform multi-spot tailor welding on the rotating structural member according to an execution program containing the motion trajectory of each physical device generated by the digital twin system.
The online detection module 522 is configured to establish a global coordinate system based on the rotating structural member, obtain the position relationship between each physical device and the spatial environment in the automatic tailor-welding module, and determine the pose information of the weldment relative to the rotating structural member.
The centralized control module 523 is configured to transmit the positional relationship and the pose information of the weldment with respect to the rotating-type structural member to the digital twin system, and receive the execution program generated by the digital twin system. The centralized control module 523 is responsible for linkage control between the physical manufacturing system and the digital twin system.
In some embodiments, as shown in fig. 6, the automatic tailor welding module 521 includes a positioner 1 located on a ground rail, a positioning tray 2 for positioning a weldment, a grasping robot 3, a welding robot 4, and a welding gun 5, and the online detection module 522 includes a global positioning system 6, a visual guidance system 7, and a pose detection system 8.
The rotary structural part is positioned on the positioner 1; the grabbing robot 34 and the welding robot 4 are respectively positioned on two sides of the positioner 1; the welding gun 5 is arranged on the welding robot 4; the pose detection system 8 is installed on the grabbing robot 3; and a visual navigation system 7 is mounted on the positioning tray 2.
The global positioning system 6 is composed of a plurality of groups of visual cameras arranged around the physical manufacturing system, and is configured to establish a global coordinate system based on the rotating structural member and acquire the position relationship between each physical device in the automatic tailor-welding module and the space environment. The vision guiding system 7 is installed above the positioning tray 2, selects a binocular 3D camera to form a local vision unit, and is configured to guide the grabbing robot 3 to accurately position and grab a welding piece and determine the pose information of the welding piece relative to the grabbing robot. The pose detection system 8 is provided with a data receiving sensor at the end of the grabbing robot 3, and the pose detection system is formed by the global positioning system 6 and is configured to determine the pose information of the rotating structural member relative to the grabbing robot, wherein the pose information of the welding member relative to the rotating structural member is determined according to the position of the vision guide system and the position of the pose detection system. For example, the instantaneous poses of the vision guide system, namely the instantaneous poses of the grabbing robot and the welding part, are detected in real time, and the pose information and the welding seam information of the welding part relative to the rotating structural part are calculated in real time by superposing the pose relationship of the welding part relative to the vision guide system.
The method can directly obtain the spatial pose of the tailor-welded part relative to the rotary structural part, thereby avoiding the influence of the installation error and the repeated motion error of each device in a physical manufacturing system on the detection precision.
In some embodiments, the online detection module 522 measures pose accuracy of the multi-point tailor-welding process of the rotary structural member in real time and feeds the pose accuracy back to the digital twin system, so that the digital twin system determines whether to re-plan a motion trajectory, compensates a positioning error of the tailor-welding process, and improves tailor-welding efficiency and quality of the rotary structural member.
In further embodiments, a computer-readable storage medium has stored thereon computer program instructions which, when executed by a processor, implement the steps of the method in the above-described embodiments. As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, apparatus, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Thus far, the present disclosure has been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the foregoing examples are for purposes of illustration only and are not intended to limit the scope of the present disclosure. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.
Claims (18)
1. A multipoint tailor-welding method for a rotary structural member comprises the following steps:
the digital twin system is used for constructing the position relation between each physical device and a space environment in an automatic tailor-welding module for tailor-welding the rotary structural member and a model of each physical device under a global coordinate system taking the rotary structural member as a reference;
constructing a digital twin scene according to the model and the motion logic of each physical device and the position relation;
planning the motion trail of each physical device in the digital twin scene according to the pose information of each physical device acquired in real time, and generating a corresponding execution program; and
and sending the execution program to a physical manufacturing system where the rotating structural member is located, so that the physical manufacturing system can control each physical device to perform multi-point tailor welding on the rotating structural member according to the motion track.
2. The rotary type structure multi-spot tailor welding method according to claim 1, wherein the pose information comprises pose information of a weldment relative to the rotary type structure, the method further comprising:
the digital twinning system confirms the positioning error of the multi-point tailor-welding process according to the pose information of the weldment relative to the rotating structural member; and
and if the positioning error does not meet the requirement, re-planning the motion trail of each physical device in the digital twin scene.
3. The multi-spot tailor welding method for rotary structural member according to claim 1, further comprising:
the digital twin system receives a positioning error of a multi-point tailor welding process sent by the physical manufacturing system; and
and if the positioning error does not meet the requirement, re-planning the motion trail of each physical device in the digital twin scene.
4. The multipoint tailor-welding method for the rotating structural member according to claim 1, wherein the planning of the motion trajectory of each physical device in the digital twin scene according to the pose information of each physical device acquired in real time includes:
and planning the motion trail of each physical device in the digital twin scene according to the model of each physical device, the man-machine interaction data and the real-time acquired pose information of each physical device.
5. The multi-spot tailor welding method for rotary structural member according to claim 1, further comprising:
and the digital twin system acquires the motion attitude of each physical device in real time and drives each physical device in the digital twin scene to move synchronously.
6. The multi-spot tailor-welding method for rotary structural members according to any one of claims 1 to 5,
the physical manufacturing system establishes a global coordinate system taking a rotary structural member as a reference, obtains the position relation between each physical device and a space environment in the automatic tailor-welding module, and determines the pose information of a welding member relative to the rotary structural member; and
and sending the position relation and the pose information of the weldment relative to the rotating structural member to the digital twin system.
7. The multi-spot tailor welding method for a rotating structural member according to claim 6, wherein determining pose information of a weldment with respect to the rotating structural member comprises:
determining pose information of the weldment relative to a grabbing robot through a visual guidance system;
determining pose information of the rotating structure relative to the grabbing robot through a pose detection system; and
and determining the pose information of the weldment relative to the rotating structural member according to the position of the visual guide system and the position of the pose detection system.
8. The multi-spot tailor-welding method for rotary structural members according to claim 7, wherein said automatic tailor-welding module comprises a position changing machine located on a ground rail, a positioning tray for positioning the weldment, a gripping robot, a welding robot and a welding gun,
the rotary structural part is positioned on the positioner;
the grabbing robot and the welding robot are respectively positioned on two sides of the positioner;
the welding gun is mounted on the welding robot;
the pose detection system is installed on the grabbing robot; and
the visual navigation system is mounted on the positioning tray.
9. A digital twinning system for multi-spot welding of rotating structural members, comprising:
the digital modeling module is configured to construct a position relation between each physical device and a space environment and a model of each physical device in the automatic tailor-welding module for tailor-welding the rotary structural member under a global coordinate system taking the rotary structural member as a reference, and construct a digital twin scene according to the model and motion logic of each physical device and the position relation;
the trajectory planning module is configured to plan the motion trajectory of each physical device in the digital twin scene according to the pose information of each physical device acquired in real time and generate a corresponding execution program; and
and the virtual-real interaction module is configured to send the execution program to a physical manufacturing system where the rotating structural member is located, so that the physical manufacturing system controls each physical device to perform multi-point tailor welding on the rotating structural member according to the motion track.
10. The digital twinning system of claim 9, wherein the pose information includes pose information of a weldment relative to the rotating-type structure, wherein,
the trajectory planning module is further configured to confirm a positioning error of a multi-point tailor-welding process according to the pose information of the weldment relative to the rotating structural member, and plan the motion trajectory of each physical device in the digital twin scene again if the positioning error does not meet the requirement.
11. The digital twinning system of claim 9, wherein,
the virtual-real interaction module is configured to receive a positioning error of a multi-point tailor welding process sent by the physical manufacturing system; and
the trajectory planning module is further configured to re-plan the motion trajectory of each physical device in the digital twin scene if the positioning error does not meet the requirement.
12. The digital twinning system of claim 9, wherein,
the trajectory planning module is further configured to plan a motion trajectory of each physical device in the digital twin scene according to the model of each physical device, the human-computer interaction data and the pose information of each physical device acquired in real time.
13. The digital twinning system of any of claims 9 to 12,
the virtual-real interaction module is configured to acquire the motion gestures of the physical devices in real time and drive the synchronous motion of the physical devices in the digital twin scene.
14. A digital twinning system for multi-spot welding of rotating structural members, comprising:
a memory; and
a processor coupled to the memory, the processor configured to perform the rotary type structure multi-spot welding method of any of claims 1 to 8 based on instructions stored in the memory.
15. A system for multi-spot tailor welding of rotating type structural members, comprising:
a digital twinning system as claimed in any one of claims 9 to 14; and
a physical manufacturing system, comprising:
the automatic tailor-welding module is configured to perform multi-point tailor-welding on the rotary structural part according to an execution program which is generated by the digital twin system and contains the motion trail of each physical device;
the online detection module is configured to establish a global coordinate system taking a rotary structural member as a reference, obtain the position relation between each physical device and a space environment in the automatic tailor-welding module, and determine the pose information of a welding member relative to the rotary structural member;
a centralized control module configured to send the positional relationship and pose information of the weldment relative to the rotating structural member to the digital twinning system, and receive an execution program generated by the digital twinning system.
16. The system of claim 15, wherein the online detection module comprises:
the global positioning system is configured to establish a global coordinate system based on the rotating structural member and acquire the position relation between each physical device in the automatic tailor-welding module and the space environment;
a vision guidance system configured to determine pose information of the weldment relative to a grabbing robot;
a pose detection system configured to determine pose information of the rotating structure relative to the grabbing robot, wherein the pose information of the weldment relative to the rotating structure is determined according to the position of the vision guidance system and the position of the pose detection system.
17. The system of claim 16, wherein,
the automatic tailor-welding module comprises a positioner positioned on the ground rail, a positioning tray for positioning a welding part, a grabbing robot, a welding robot and a welding gun,
the rotary structural part is positioned on the positioner;
the grabbing robot and the welding robot are respectively positioned on two sides of the positioner;
the welding gun is mounted on the welding robot;
the pose detection system is installed on the grabbing robot; and
the visual navigation system is mounted on the positioning tray.
18. A non-transitory computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method of multi-spot welding of rotating structural members according to any one of claims 1 to 8.
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| CN202211662507.4A CN115922132A (en) | 2022-12-23 | 2022-12-23 | Multi-point tailor-welding method and system for rotary structural member and storage medium |
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| CN202211662507.4A CN115922132A (en) | 2022-12-23 | 2022-12-23 | Multi-point tailor-welding method and system for rotary structural member and storage medium |
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