CN102672306A - Method and system for automatic robot welding based on multilayer and multi-pass welding of curved surfaces - Google Patents
Method and system for automatic robot welding based on multilayer and multi-pass welding of curved surfaces Download PDFInfo
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Abstract
The invention discloses a method and system for automatic robot welding based on multilayer and multi-pass welding of curved surfaces. The method comprises the following steps of: S1, extracting a surfacing parameter of a welding pass from a database; S2, extracting and processing a welding-pass characteristic curve according to the surfacing parameter so as to determine welding path information needed in welding; S3, calculating posture information of a welding gun according to the welding path information; and S4, automatically generating a robot operating program according to the welding path information and the posture information of the welding gun, and carrying out welding operation according to the operating program. According to the invention, a specific computation model and an arrangement strategy are established according to the relevant parameters of the current welding pass needing to carry out multilayer and multi-pass welding so as to calculate the whole movement locus and the welding-gun posture needed by welding accurately, and the operating program of a robot controller is automatically generated for carrying out corresponding welding action, so that the welding quality is guaranteed and the working efficiency of welding of a robot is greatly increased.
Description
Technical field
The present invention relates to industrial welding technology, more particularly to a kind of method and system of the robot automatic welding based on curved surface multi-pass welding.
Background technology
At present, in some industrial productions, special thick plates typically fetch the quality for improving welding, such as the hydraulic turbine, because it has tens stator compositions, by way of multi-pass welding using multi-pass welding（Also referred to as stator built-up welding）To complete the welding of stator.
Stator built-up welding is actually groove fillet weld seam of the thickness between curved surface and curved surface up to more than 80--100mm, the characteristics of multi-pass welding is that weld seam is not straight weld, but space curve, and length of curve constantly shortens with the rise of layer, stator overlay-operation is generally completed using manual build up welding or artificial progress robot on-line teaching.
However, conventional manual build up welding or robot on-line teaching, its welding quality depend on the technical merit of operating personnel, quality can not be ensured.Wherein, manual build up welding difficulty is larger, particularly the welding of transition face, to pile up the curved surface of a rounding off again between the overlaying surface and supporting surface of groove heap postwelding, even more extremely difficult.And artificial teaching takes the robot working time, efficiency is very low, the on-line teaching method typically used, before preceding road weld seam is by weldering, lower road seam track can not be programmed in theory, as built " castles in the air ".At present, although some companies of robot release multi-pass welding software kit, but have limitation, such as welding bead, welding track point, layer quantity are all limited, the welding seam calculating of length can not be carried out becoming, and manually program the time for also needing cost more, and then cause operating efficiency low.
The content of the invention
It is an object of the invention to provide a kind of method of the robot automatic welding based on curved surface multi-pass welding, it passes through the relevant parameter according to the welding bead for being currently needed for carrying out multi-layer multi-pass welding, set up specific computation model and layout strategy, to calculate total movement track and posture of welding torch needed for accurate welding, and the corresponding welding action of operation program progress of robot controller is automatically generated, so as to realize high-quality, the efficient multilayer multiple tracks built-up welding welding based on the automatic off-line programing of robot.
Corresponding to methods described, the present invention also provides a kind of system of the robot automatic welding based on curved surface multi-pass welding.
One of for achieving the above object, a kind of method for robot automatic welding based on curved surface multi-pass welding that the present invention is provided comprises the following steps：
S1, the built-up welding parameter from database extraction welding bead；
S2, according to the built-up welding parameter extraction and weld bead feature curve is handled, with the path of welding information of welding needed for determining；
S3, the attitude information according to path of welding information calculating welding gun；
S4, according to the attitude information of the path of welding information and welding gun robot operation program is automatically generated, and be subjected to according to the operation program.
As a further improvement on the present invention, the step S1 also includes initializing built-up welding parameter, wherein, the built-up welding parameter includes welding bead technological parameter and aspect of model parameter.
As a further improvement on the present invention, " extracting and handle weld bead feature curve " step in the step S2 is specially：
Create the reference datum of welding bead；
The weld signature section of welding bead is created, and extracts the weld bead feature curve；
Welding bead indicatrix is cut to realize the smooth of curve；
Generate the track of transition region welding bead.
As a further improvement on the present invention, the path of welding information includes position, pass sequence and the welding bead number of plies of each pad.
As a further improvement on the present invention, the step S3 is specifically included：
Obtain the discrete point on current path of welding；
Set up the instrument hand coordinate system based on the discrete point；
The attitude information of the welding gun on each discrete point position is calculated, wherein, the attitude information includes arc-height, welding wire and the supporting surface angulation of welding wire.
To realize another goal of the invention of the present invention, the invention provides a kind of system of the robot automatic welding based on curved surface multi-pass welding, it includes following module：
Built-up welding parameter acquisition module, the built-up welding parameter for extracting welding bead from database；
Weld bead feature curve is extracted with processing module, for according to the built-up welding parameter extraction and handling weld bead feature curve, with the path of welding information of welding needed for determining；
Attitude information computing module, the attitude information for calculating welding gun according to the path of welding information；
Program Generating automatically generates robot operation program with performing module, according to the attitude information of the path of welding information and welding gun, and is subjected to according to the operation program.
As a further improvement on the present invention, the built-up welding parameter acquisition module is additionally operable to initialize built-up welding parameter, wherein, the built-up welding parameter includes welding bead technological parameter and aspect of model parameter.
As a further improvement on the present invention, the weld bead feature curve extracts with " extracting in processing module and handling weld bead feature curve " especially by following operation to realize：
Create the reference datum of welding bead；
The weld signature section of welding bead is created, and extracts the weld bead feature curve；
Welding bead indicatrix is cut to realize the smooth of curve；
Generate the track of transition region welding bead.
As a further improvement on the present invention, the path of welding information includes position, pass sequence and the welding bead number of plies of each pad.
As a further improvement on the present invention, the attitude information computing module specifically for：
Obtain the discrete point on current path of welding；
Set up the instrument hand coordinate system based on the discrete point；
The attitude information of the welding gun on each discrete point position is calculated, wherein, the attitude information includes arc-height, welding wire and the supporting surface angulation of welding wire.
Compared with prior art, the present invention passes through the relevant parameter according to the welding bead for being currently needed for carrying out multi-layer multi-pass welding, set up specific computation model and layout strategy, to calculate total movement track and posture of welding torch needed for accurate welding, and the corresponding welding action of operation program progress of robot controller is automatically generated, so as to ensure that the quality of welding and greatly improve the operating efficiency of welding procedure.
Brief description of the drawings
Fig. 1 is the workflow diagram of the method for the robot automatic welding based on curved surface multi-pass welding in an embodiment of the present invention；
Fig. 2 is the plan at a certain visual angle of guide vanes of water turbine in the present invention；
Instrument hand coordinate system sets up principle in an embodiment of the present invention that Fig. 3 is represented；
Fig. 4 is the schematic cross-section of the guide vanes of water turbine in A-A directions in Fig. 2；
Fig. 5 is the partial enlarged drawing at C positions in Fig. 4, and shows welding parameter in an embodiment of the present invention；
Fig. 6 is the high-level schematic functional block diagram of the system of the robot automatic welding based on curved surface multi-pass welding in an embodiment of the present invention.
Embodiment
Below with reference to embodiment shown in the drawings, the present invention will be described in detail.But these embodiments are not intended to limit the present invention, structure that one of ordinary skill in the art is made according to these embodiments, method or conversion functionally are all contained in protection scope of the present invention.
Technical scheme is described the specific embodiment for applying to stator built-up welding on the hydraulic turbine below, certainly, the technology of the present invention not merely can be applied to the welding procedure of guide vanes of water turbine, the multi-layer multi-pass welding that can also be applied between other industrial production mean cambers and curved surface.
It is well-known, the energy of current is converted into rotating mechanical energy to drive the hydraulic mechanical equipment of generator by the hydraulic turbine as a kind of, it is often made up of tens stators, and in order to ensure that stator and turbine proper complete seamless welding truly, then it must just take the multi-pass welding connection technology of comparative maturity in industry.
It please join shown in Fig. 1, it is of the invention based on curved surface multi-pass welding（Also referred to as built-up welding is welded）Robot automatic welding be computer graphics techniques, robot technology, multi-pass welding technology, the new technology of Robot calibration technology cross integration.In the embodiment of the invention, this method comprises the following steps：
S1, the built-up welding parameter from database extraction welding bead；In this step, realizing is needed to need to carry out built-up welding parameter by technical staff calculates according to the relevant parameter of stator on the current hydraulic turbine, and the built-up welding parameter of these acquisitions is input among database.
Specifically, in step sl, initialized firstly the need of to built-up welding parameter, wherein, preferably, the built-up welding parameter includes welding bead technological parameter and aspect of model parameter, and welding bead technological parameter specifically includes the depth of welding bead, angle etc. of dehiscing, and these parameters can be measured by simple instrument；And aspect of model parameter movement velocity of welding wire etc. when specifically including welding.Relevant parameter is extracted after the completion of built-up welding parameter initialization in database in order to the progress of subsequent step.
S2, according to the built-up welding parameter extraction and weld bead feature curve is handled, with the path of welding information of welding needed for determining；Preferably, welding bead number of plies of required completion the etc. when sequencing and multilayer of pass weld are welded when position of the path of welding information including each pad, multi-pass welding.
Wherein it is preferred to, " extracting and handle weld bead feature curve " step in step S2 is specially：
Create the reference datum of welding bead；
The weld signature section of welding bead is created, and extracts the weld bead feature curve；
Welding bead indicatrix is cut to realize the smooth of curve；Wherein, due to reasons such as stator surface modelings, it can make when weld bead feature curve is extracted, there is the rough phenomenon of lines, this will influence the accuracy of subsequent soldering processes, because the present invention is higher to the accuracy requirement of welding, so needing to cut unnecessary lines to ensure that curve is smooth-out.
Generate the track of transition region welding bead：This is the demand of product structure, it is necessary to do one section of welding region between supporting surface and overlaying surface（Transition region welding bead）, the formation of transition region is discussed in greater detail below.In the present embodiment, it is preferable that the step is specifically included：
Welding bead database data is extracted first, and further according to weld bead feature curve, the transition region track needed for generation is biased by welding bead track（According to imaginary line）.
Illustrate the method for building up of BASE coordinate systems in the present invention with reference to Fig. 2.It is also to realize that curved surface multi-pass welding is able to successful key technology, coordinate system definition should be easy to operation, while requiring accurate for the definition of the coordinate system of curved face product.
Specifically, BASE coordinate systems are initially set up, the X-axis and Y direction of coordinate system are as shown in Fig. 2 the direction of Z axis is outside perpendicular to paper, and origin is located at the bottom of guide vane 10, and guide vane is included positioned at the YP faces and YS faces of X-axis both sides.
Obtain the transition matrix that BASE coordinates are tied to reference datum coordinate system：
T1 = 
；
Trajectory calculation is carried out based on current sketch coordinate system, the transition matrix that reference plane coordinate is tied to sketch coordinate system is obtained after the completion of calculating：
Calculation process is summarized：
1) according to the stator characteristic information matching algorithm parameter interface such as welding condition and bevel angle；
2) emphasis solves the fuzzy Fusion of multiple welding bead boundary during algorithm is realized, the technical problem such as accurate built-up welding filling in layer space；
3) wherein the discrete processes of welding bead track mainly using etc. action algorithm, while add minimum step again in the algorithm, the control threshold value such as curvature；
T2= 
；
The Computing Principle of such transition matrix is known technology well-known to those skilled in the art, therefore applicant will not be repeated here.
S3, the attitude information according to path of welding information calculating welding gun；In the present embodiment, because of the no open spaces in the front, back, left, right, up, down of the stator of each hydraulic turbine, and small hydraulic turbine space is narrower and small, is particularly disadvantageous for the motion of six articulated robots.So realizing that reasonable avoidance is also a key technology of the invention by adjusting the posture of robotic gun in welding process.
Preferably, in the present embodiment, the step S3 is specifically included：
Obtain the discrete point on current path of welding；
Set up the instrument hand coordinate system based on the discrete point；
The attitude information of the welding gun on each discrete point position is calculated, wherein, the attitude information includes the angle risen alleged by arc-height, welding wire and supporting surface of welding wire.
In the present invention, tool instrument hand coordinate systems are first set up before posture of welding torch is calculated, method for building up is as follows：
As shown in figure 3, A points are current path of welding point, B points are next path of welding point,
The normal vector of plane where curved welding seam, vector
Direction can pass through
Obtain.It is if defining welding gun corner, then in normal vector
AC and AD angle is in the perpendicular of place
, so in figure
As corner is
Posture of welding torch of the welding gun at A points（A points are welding gun end, and C points are welding gun afterbody, and the position of C points can be any, because only demand obtains unit vector in this direction）That is, the Tool coordinate systems at A points（Tool coordinates system）X-direction be
.As long as the Y direction of Tool coordinate systems can be defined arbitrarily under conditions of satisfaction is vertical with X-direction in theory, but the direction that current path of welding point is typically pointed to next path of welding point is defined as the Y direction of Tool coordinate systems, i.e.,For the Y direction of Tool coordinate systems, the Z-direction of Tool coordinate systems is so assured that by right-hand rule again.Then, it can just be determined completely in the Tool coordinate systems of current pad.
BecauseAs long as, it is known that so obtaining.For convenience, it might as well defineIt is vectorial for unit, then
=1, therefore, and because
Unit vector on direction can use
Obtain, so
, therefore
。
After the completion of posture of welding torch is calculated under sketch coordinate system, by coordinate value a little and the Eulerian angles right side multiply T2*T1, so as to obtain based on weld information all under BASE coordinate systems.
Weld information includes：
1) coordinate value of each welding discrete point under BASE coordinate systems（x,y,z）；
2) attitude value of the robotic gun at each discrete point, is embodied as Eulerian angles（a,b,c）；Eulerian angles are an angles being continually changing, wherein, a represents the angle that welding gun rotates about the z axis, and b represents the angle that welding gun rotates around Y-axis, and c represents the angle that welding gun rotates around X-axis.The posture of mentioned welding gun is, in order to ensure in welding process again, collision can be prevented effectively between welding gun and stator；
3) starting the arc arc extinguishing information of each point；
4) outside axis information at each point（E1,E2,E3……）；
S4, according to the attitude information of the path of welding information and welding gun robot operation program is automatically generated, and be subjected to according to the operation program.Preferably, it may include following steps in the step：
Extract welding point data base；
Add welding procedure；
Show critical data information；
Robot operation program generation；
Robot operation program performs and completes welding；
Join shown in Fig. 5, in the present invention, the welding to stator includes the welding to groove area and transition region, wherein, the setting of some basic parameters includes：Welding wire plays thickness A of angle a, the width B of groove area welding bead and welding bead that arc-height h, welding gun and supporting surface are formed etc..Usual client, which simply enters these parameters, just can pass through set up computation model, specific layout strategy, calculates total movement track and posture of welding torch, and by the program format of robot controller, automatic output device people track motor program, is truly realized seamless connection.
Join shown in Fig. 6, it is of the invention based on curved surface multi-pass welding corresponding to above-mentioned method in the specific embodiment of the invention（Also referred to as built-up welding is welded）Robot robot welding system 100, including following module：
Built-up welding parameter acquisition module 101, the built-up welding parameter for extracting welding bead from database；In this module, realizing is needed to need to carry out built-up welding parameter by technical staff calculates according to the relevant parameter of stator on the current hydraulic turbine, and the built-up welding parameter of these acquisitions is input among database.
Specifically, it is necessary first to which built-up welding parameter is initialized, wherein, preferably, the built-up welding parameter includes welding bead technological parameter and aspect of model parameter, and welding bead technological parameter specifically includes the depth of welding bead, angle etc. of dehiscing, and these parameters can be measured by simple instrument；And aspect of model parameter movement velocity of welding wire etc. when specifically including welding.Relevant parameter is extracted after the completion of built-up welding parameter initialization in database in order to the progress of subsequent step.
Weld bead feature curve is extracted and processing module（102a、102b）, for according to the built-up welding parameter extraction and handling weld bead feature curve, with the path of welding information of welding needed for determining；Preferably, welding bead number of plies of required completion the etc. when sequencing and multilayer of pass weld are welded when position of the path of welding information including each pad, multi-pass welding.
Wherein it is preferred to, the operation " extracted in this module and handle weld bead feature curve " is specially：
Create the reference datum of welding bead；
The weld signature section of welding bead is created, and extracts the weld bead feature curve；
Welding bead indicatrix is cut to realize the smooth of curve；Wherein, because the reasons such as stator surface modeling can make when weld bead feature curve is extracted, there is the rough phenomenon of lines unavoidably, this will influence the accuracy of subsequent soldering processes, because the present invention is higher to the accuracy requirement of welding, so needing to cut unnecessary lines to ensure that curve is smooth-out.
Generate the track of transition region welding bead：This is the demand of product structure, it is necessary to do one section of welding region between supporting surface and overlaying surface（Transition region welding bead）, the formation of transition region is discussed in greater detail below.In the present embodiment, it is preferable that the step is specifically included：
Welding bead database data is extracted first, and further according to weld bead feature curve, the transition region track needed for generation is biased by welding bead track（According to imaginary line）.
Attitude information computing module 103, the attitude information for calculating welding gun according to the path of welding information；In the present embodiment, because of the no open spaces in the front, back, left, right, up, down of the stator of each hydraulic turbine, and small hydraulic turbine space is narrower and small, is particularly disadvantageous for the motion of six articulated robots.So realizing that reasonable avoidance is also a key technology of the invention by adjusting the posture of robotic gun in welding process.
Preferably, in the present embodiment, the attitude information computing module 103 specifically for：
Obtain the discrete point on current path of welding；
Set up the instrument hand coordinate system based on the discrete point；
The attitude information of the welding gun on each discrete point position is calculated, wherein, the attitude information includes the angle risen alleged by arc-height, welding wire and supporting surface of welding wire.
In the present invention, tool instrument hand coordinate systems are first set up before posture of welding torch is calculated, method for building up is as follows：
As shown in figure 3, A points are current path of welding point, B points are next path of welding point,
The normal vector of plane where curved welding seam, vector
Direction can pass throughObtain.It is if defining welding gun corner
, then in normal vectorAC and AD angle is in the perpendicular of place
, so in figure
As corner is
Posture of welding torch of the welding gun at A points（A points are welding gun end, and C points are welding gun afterbody, and the position of C points can be any, because only demand obtains unit vector in this direction）That is, the Tool coordinate systems at A points（Tool coordinates system）X-direction be.As long as the Y direction of Tool coordinate systems can be defined arbitrarily under conditions of satisfaction is vertical with X-direction in theory, but the direction that current path of welding point is typically pointed to next path of welding point is defined as the Y direction of Tool coordinate systems, i.e.,
For the Y direction of Tool coordinate systems, the Z-direction of Tool coordinate systems is so assured that by right-hand rule again.Then, it can just be determined completely in the Tool coordinate systems of current pad.
BecauseAs long as, it is known that so obtaining
.For convenience, it might as well define
It is vectorial for unit, then
=1, therefore
, and becauseUnit vector on direction can use
Obtain, so
, therefore
。
After the completion of posture of welding torch is calculated under sketch coordinate system, by coordinate value a little and the Eulerian angles right side multiply T2*T1, so as to obtain based on weld information all under BASE coordinate systems.
Weld information includes：
Coordinate value of each welding discrete point under BASE coordinate systems（x,y,z）；
Attitude value of the robotic gun at each discrete point, is embodied as Eulerian angles（a,b,c）；The posture of mentioned welding gun is, in order to ensure in welding process again, collision can be prevented effectively between welding gun and stator；
The starting the arc arc extinguishing information of each point；
Outside axis information at each point（E1,E2,E3……）；
Program Generating automatically generates robot operation program with performing module 104, for the attitude information according to the path of welding information and welding gun, and is subjected to according to the operation program.Preferably, the module can complete concrete function by following steps：
Extract welding point data base；
Add welding procedure；
Show critical data information；
Robot operation program generation；
Robot operation program performs and completes welding；
Join shown in Fig. 5, in the present invention, the welding to stator includes the welding to groove area and transition region, wherein, the setting of some basic parameters includes：Welding wire plays thickness A of angle a, the width B of groove area welding bead and welding bead that arc-height h, welding gun and supporting surface are formed etc..Usual client, which simply enters these parameters, just can pass through set up computation model, specific layout strategy, calculates total movement track and posture of welding torch, and by the program format of robot controller, automatic output device people track motor program, is truly realized seamless connection.
By technical scheme, conventional on-line teaching, or its welding quality of manual build up welding can be improved depending on the technical merit of operating personnel, so that the problem of quality can not be ensured.And artificial teaching takes the robot working time, efficiency is very low, particularly thick plate structure welding typically uses multi-pass welding, the thick plates automaticity of current China is low, robot welding can improve welding efficiency and welding quality, it is future developing trend, and the path planning of multi-pass welding is the key technology for realizing robot thick plates, because current robot automtion level is scarcely out of swaddling-clothes, general many methods using online pilot teaching, before preceding road weld seam is by weldering, lower road seam track can not be programmed in theory, because being " castles in the air ".And online pilot teaching is carried out to multi-pass welding seam, it is extremely inefficient.At present, although some companies of robot release multi-pass welding software kit, but have limitation, such as welding bead, welding track point, layer quantity are all limited, and the weld seam particularly changed on curved surface can not realize the realization of its track at all.
Therefore we use and use specific method on part 3D models, obtain its section line, then the technological requirement according to built-up welding, the space tracking in lower road is calculated by some ad hoc approach, the space tracking in road under layout policy calculation, so that system realizes sets itself pass sequence, the welding bead number of plies, and welding parameter, the robot working time so both saved, saved artificial programming time, it is ensured that track is correct.
Device embodiments described above are only schematical, the wherein described unit illustrated as separating component can be or may not be physically separate, the part shown as unit can be or may not be physical location, you can with positioned at a place.Some or all of module therein can be selected to realize the purpose of present embodiment scheme according to the actual needs.Those of ordinary skill in the art are without creative efforts, you can to understand and implement.
It should be understood that, although the present specification is described in terms of embodiments, but not each embodiment is only comprising an independent technical scheme, this narrating mode of specification is only for clarity, the skilled in the art should refer to the specification as a whole, technical scheme in each embodiment may also be suitably combined to form that other embodiments which can be understood by those skilled in the art.
The a series of detailed description of those listed above illustrating only for the feasibility embodiment of the present invention; they simultaneously are not used to limit the scope of the invention, and all equivalent implementations made without departing from skill spirit of the present invention or change should be included in the scope of the protection.
Claims (10)
1. a kind of method of the robot automatic welding based on curved surface multi-pass welding, it is characterised in that this method comprises the following steps：
S1, the built-up welding parameter from database extraction welding bead；
S2, according to the built-up welding parameter extraction and weld bead feature curve is handled, with the path of welding information of welding needed for determining；
S3, the attitude information according to path of welding information calculating welding gun；
S4, according to the attitude information of the path of welding information and welding gun robot operation program is automatically generated, and be subjected to according to the operation program.
2. according to the method described in claim 1, it is characterised in that the step S1 also includes initializing built-up welding parameter, wherein, the built-up welding parameter includes welding bead technological parameter and aspect of model parameter.
3. according to the method described in claim 1, it is characterised in that " extracting and handle weld bead feature curve " step in the step S2 is specially：
Create the reference datum of welding bead；
The weld signature section of welding bead is created, and extracts the weld bead feature curve；
Welding bead indicatrix is cut to realize the smooth of curve；
Generate the track of transition region welding bead.
4. the method according to claim 1 or 3, it is characterised in that the path of welding information includes position, pass sequence and the welding bead number of plies of each pad.
5. according to the method described in claim 1, it is characterised in that the step S3 is specifically included：
Obtain the discrete point on current path of welding；
Set up the instrument hand coordinate system based on the discrete point；
The attitude information of the welding gun on each discrete point position is calculated, wherein, the attitude information includes arc-height, welding wire and the supporting surface angulation of welding wire.
6. a kind of system of the robot automatic welding based on curved surface multi-pass welding, it is characterised in that the system includes following module：
Built-up welding parameter acquisition module, the built-up welding parameter for extracting welding bead from database；
Weld bead feature curve is extracted with processing module, for according to the built-up welding parameter extraction and handling weld bead feature curve, with the path of welding information of welding needed for determining；
Attitude information computing module, the attitude information for calculating welding gun according to the path of welding information；
Program Generating automatically generates robot operation program with performing module, according to the attitude information of the path of welding information and welding gun, and is subjected to according to the operation program.
7. system according to claim 6, it is characterised in that the built-up welding parameter acquisition module is additionally operable to initialize built-up welding parameter, wherein, the built-up welding parameter includes welding bead technological parameter and aspect of model parameter.
8. system according to claim 6, it is characterised in that the weld bead feature curve extracts with " extracting in processing module and handling weld bead feature curve " especially by following operation to realize：
Create the reference datum of welding bead；
The weld signature section of welding bead is created, and extracts the weld bead feature curve；
Welding bead indicatrix is cut to realize the smooth of curve；
Generate the track of transition region welding bead.
9. the system according to claim 6 or 8, it is characterised in that the path of welding information includes position, pass sequence and the welding bead number of plies of each pad.
10. system according to claim 6, it is characterised in that the attitude information computing module specifically for：
Obtain the discrete point on current path of welding；
Set up the instrument hand coordinate system based on the discrete point；
The attitude information of the welding gun on each discrete point position is calculated, wherein, the attitude information includes arc-height, welding wire and the supporting surface angulation of welding wire.
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| CN104607835A (en) * | 2014-12-15 | 2015-05-13 | 广西科技大学 | Method for planning welding path of welding robot |
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