CN108890666A - A kind of robot welding welding seam tracking method and system - Google Patents
A kind of robot welding welding seam tracking method and system Download PDFInfo
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- CN108890666A CN108890666A CN201811115988.0A CN201811115988A CN108890666A CN 108890666 A CN108890666 A CN 108890666A CN 201811115988 A CN201811115988 A CN 201811115988A CN 108890666 A CN108890666 A CN 108890666A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The invention discloses a kind of robot welding welding seam tracking method and systems, wherein the method includes：Obtain the attribute information at least two workpiece that will be soldered；Welding workpiece model is established according to attribute information and determines the part to be welded between at least two workpiece；Robot drives welding wire successively to contact at least two workpiece and take a little by the welding gun on robotic arm, and by the point of at least two workpiece of acquirement and inputs in welding workpiece model；For welding workpiece model according to the point of at least two workpiece of input, generating includes the space tracking of part to be welded and the three-dimensional weld seam of welding starting terminating point；Robot is welded according to the welding gun on the three-dimensional weld seam control mechanical arm of the space tracking and welding starting terminating point that generate part to be welded.In embodiments of the present invention, the different location by welding gun on workpiece takes a little, determines weld information, when welding to weld seam, can reach precisely welding control.
Description
Technical field
The present invention relates to the technical field of robot welding tracking more particularly to a kind of robot welding welding seam tracking methods
And system.
Background technique
In existing welding robot, it is essentially all first to carry out teaching before welding, robot is allowed to walk every time
One fixation locus, this mode have a benefit, are exactly repeatable accuracy height, and motion profile does not need to correct, still, this weldering
The mode of connecing has a defect that change path of welding that can not be random, and welding when is inflexible, works as repetitive positioning accuracy
When not high, and teaching again is needed, such labor intensity is high and working efficiency is low, and it is impossible to meet existing welding requirements.
With the development of technology with application, in order to meet robot when welding to the real time monitoring and butt welding of weld seam
The real-time adjustment in path is connect, often installs the optics light sensation such as Visual Tracking System or laser orientation system additional on welding robot
Technology meets the welding tracking of modern industry butt welding machine device people and the requirement of adjustment.
But it is being welded during the welding tracking of butt welding machine device people and adjustment by way of optical sensing technology
During robot welding, a large amount of strong light and smog are often generated, at this point, optical sensing technology can be greatly reduced
Accuracy to the tracking of the welding of robot；Therefore, the tracking of welding and adjustment cannot have been expired gradually by optical technology
The following technical requirements to robot welding precision of foot need to find another tracking and adjustment skill in the welding process
Art, to meet following technical requirements precisely welded.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, and the present invention provides a kind of robot welding weld joint trackings
Method and system are taken a little by different location of the welding gun on workpiece, determine weld information, when being welded to weld seam, energy
Reach precisely welding control.
In order to solve the above-mentioned technical problem, the embodiment of the invention provides a kind of robot welding welding seam tracking method,
The method includes:
Obtain the attribute information at least two workpiece that will be soldered；
Welding workpiece model is established according to the attribute information and determines the soldered portion between at least two workpiece
Position；
Robot drives welding wire successively to contact at least two workpiece and take a little by the welding gun on robotic arm, and will
The point of at least two workpiece obtained simultaneously inputs in the welding workpiece model；
The welding workpiece model generates the sky including part to be welded according to the point of at least two workpiece of input
Between track and welding starting terminating point three-dimensional weld seam；
The robot originates the three-dimensional weld seam of terminating point according to the space tracking for generating part to be welded and welding
The welding gun controlled on the mechanical arm is welded.
Optionally, the attribute information includes the presence between the geometrical characteristic of at least two workpiece, at least two workpiece
Weld seam quantity, the main weldering junction and at least two of the dimension informations of at least two workpiece, each workpiece between at least two workpiece
The side welding surface of each workpiece between a workpiece.
Optionally, described that welding workpiece model is established according to the attribute information and is determined between at least two workpiece
Part to be welded, including：
According to the geometrical characteristic of at least two workpiece, the mathematics geometrical model of at least two workpiece is successively established；
According to the dimension information of existing weld seam quantity, at least two workpiece between at least two workpiece, at least two
The mathematics geometrical model of workpiece establishes welding workpiece model；
The part to be welded between at least two workpiece is determined according to the welding workpiece model.
Optionally, the robot by welding gun on robotic arm drive welding wire successively contact at least two workpiece into
Row takes a little, including：
The robot successively contacts each workpiece of at least two workpiece by the welding gun drive welding wire on robotic arm
Main weldering junction take a little；
The robot successively contacts each workpiece of at least two workpiece by the welding gun drive welding wire on robotic arm
Side welding surface；
Wherein, the robot drives different positions of the welding wire in the main weldering junction of each workpiece by the welding gun on robotic arm
It sets at least to contact 3 times and take a little；The robot drives welding wire in the side welding surface of each workpiece by the welding gun on robotic arm
On different location at least contact 1 time and take a little.
Optionally, for the welding workpiece model according to the point of at least two workpiece of input, generating includes being soldered
The space tracking at position and the three-dimensional weld seam of welding starting terminating point, including：
The welding workpiece model calculates separately the three-dimensional of at least two workpiece according to the point of at least two workpiece of input
The space equation of each welding surface of geometrical model；
According to the space equation of each welding surface of at least two workpiece, the space tracking including part to be welded is generated
With the three-dimensional weld seam of welding starting terminating point.
Optionally, the robot originates the three of terminating point according to the space tracking for generating part to be welded and welding
The welding gun that dimension weld seam controls on the mechanical arm is welded, including：
The robot originates the three-dimensional weld seam of terminating point according to the space tracking for generating part to be welded and welding,
Welding gun on mechanical arm described in real-time control is welded.
Optionally, the welding gun on mechanical arm described in the real-time control is welded, including：
Before welding, in real time at least two workpiece take a little, and according to taking in real time at least two workpiece
Point generates real-time weld seam path；
The welding gun on the robotic arm is adjusted in real time according to the real-time weld seam path to be welded.
Optionally, the method also includes：
When welding is with next product in a collection of product, the size of at least two workpiece of the next product or
Stationary positioned is there are when deviation, by the way that at least two workpiece are successively taken with the space rail a little regenerated including part to be welded
The three-dimensional weld seam of mark and welding starting terminating point.
Optionally, the method also includes：
When welding the product of different model different batches, calls directly established welding workpiece model and welded.
In addition, the embodiment of the invention also provides a kind of robot welding seam tracking system, the system comprises:Welding
Workpiece, robot, welding gun, robot controller, welding wire, wire-feed motor and data three-dimensional modeling weld subsystem；Wherein
Welding wire on the wire reel is sent to the welding gun on the robotic arm of the robot by the wire-feed motor；Institute
Data three-dimensional modeling welding subsystem is stated by connecting on three-dimensional data signal wire and the welding gun, passes through signal control line and institute
Robot controller connection is stated, is connect by the data signal line with welding workpiece；The robot passes through the signal control
Line processed is connect with the robot controller；
The robot welding seam tracking system is configured for：Execute it is any one of above-mentioned described in robot weldering
Welding seam tracking.
In embodiments of the present invention, after the attribute information of the soldered workpiece of confirmation, welding workpiece model is established, greatly
Cause to determine soldered position, be taken on workpiece a little by the welding gun on the robotic arm of robot, generate part to be welded and by
The three-dimensional weld seam of weld length；Constantly carry out taking in the welding process a little, so as to generate in real time part to be welded and by
The three-dimensional weld seam of weld length controls the real-time adjustment of robot Butt welding gun, so that the position deviation of welding is small, welding effect
It is good.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it is clear that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the flow diagram of the robot welding welding seam tracking method in the embodiment of the present invention；
Fig. 2 is the flow diagram of the robot welding welding seam tracking method in another embodiment of the present invention；
Fig. 3 is the structure composition schematic diagram of the robot welding seam tracking system in the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
At least two workpiece may include multiple workpiece in embodiments of the present invention, use first in embodiments of the present invention
Workpiece and second workpiece are specifically introduced.
Embodiment：
Referring to Fig. 1, Fig. 1 is the flow diagram of the robot welding welding seam tracking method in the embodiment of the present invention.
As shown in Figure 1, a kind of robot welding welding seam tracking method, the method includes:
S11：Obtain the attribute information at least two workpiece that will be soldered；
In specific implementation process of the present invention, the attribute information includes the geometrical characteristic of at least two workpiece, at least two
Each workpiece between the dimension information of existing weld seam quantity, at least two workpiece between a workpiece, at least two workpiece
The side welding surface of each workpiece between main weldering junction and at least two workpiece.
Specifically, before welding, the attribute information for the workpiece being placed on welding bench is obtained, under normal circumstances,
The workpiece being placed on welding bench is included at least two workpiece and is therefore distinguished using the first workpiece and second workpiece, wherein
Attribute information includes for the geometrical characteristic of the first workpiece and second workpiece that are set in advance in advance, i.e. the first workpiece and second workpiece
Geometry；Required weld seam quantity between first workpiece and second workpiece, i.e., existing weld seam quantity；First workpiece and
Contact angle between second workpiece, if contact is perpendicular contact, contact angle is 90 degree, if contact is the first workpiece
It is contacted with second workpiece superposing type, then contact angle is 180 degree or 0 degree；First workpiece and the dimension information of second workpiece etc.
Information；The main weldering junction and side welding surface of first workpiece, the main weldering junction and side welding surface of second workpiece；These above-mentioned information are equal
It sets before welding, and these attribute information sizes is modeled in welding subsystem in data three-dimensional.
S12：Welding workpiece model is established according to the attribute information and determines being welded between at least two workpiece
Socket part position；
It is described according to the attribute information establishes welding workpiece model and determines in specific implementation process of the present invention
Part to be welded between at least two workpiece, including：According to the geometrical characteristic of at least two workpiece, at least two are successively established
The mathematics geometrical model of workpiece；According to the existing weld seam quantity between at least two workpiece, the size of at least two workpiece letter
It ceases, the mathematics geometrical model of at least two workpiece establishes welding workpiece model；It is described extremely according to welding workpiece model determination
Part to be welded between few two workpiece.
Specifically, in above-mentioned steps, at least two workpiece use the first workpiece and the second work in embodiments of the present invention
Part distinguishes；By the geometrical characteristic of the first workpiece and second workpiece that include in attribute information, thus according to the first workpiece
Geometrical characteristic construct the mathematics geometrical model of the first workpiece；Second workpiece is constructed according to the geometrical characteristic of second workpiece
Mathematics geometrical model；Wherein mathematics geometrical model is the mathematic(al) representation (formula) for indicating the geometrical characteristic, such as when the first work
When the geometrical characteristic of part or second workpiece is spherical surface, the mathematics geometrical model of building is (x-a)2+(y-b)2+(z-c)2=R；Its
In, R is constantFor the radius of ball, (a, b, c) is the centre of sphere of ball, and (x, y, z) is the coordinate points on spherical surface.
After obtaining the mathematics geometrical model of the first workpiece and second workpiece, according to known first workpiece and the second work
The mathematics geometry mould of the dimension information between existing weld seam quantity, the first workpiece and second workpiece, the first workpiece between part
The mathematics geometrical model of type and second workpiece models welding subsystem in data three-dimensional and constructs welding workpiece model, the welding workpiece
Model is threedimensional model；The soldered portion between the first workpiece and second workpiece can have both been determined according to the welding workpiece model
Position.
S13：Robot drives welding wire successively to contact at least two workpiece and take a little by the welding gun on robotic arm,
And it by the point of at least two workpiece of acquirement and inputs in the welding workpiece model；
In specific implementation process of the present invention, the robot drives welding wire successively to contact institute by the welding gun on robotic arm
At least two workpiece are stated take a little, including：The robot is driven described in welding wire successively contacts by welding gun on robotic arm
The main weldering junction of each workpiece of at least two workpiece take a little；The robot by welding gun on robotic arm drive welding wire according to
The side welding surface of each workpiece of secondary contact at least two workpiece；Wherein, the robot passes through the welding gun band on robotic arm
Dynamic different location of the welding wire in the main weldering junction of each workpiece at least contacts 3 times and take a little；The robot passes through robotic arm
On welding gun drive different location of the welding wire on the side welding surface of each workpiece at least to contact 1 time take a little.
Specifically, welding wire be can transmission telecommunications number conducting wire, in the specific implementation process, work piece on welding bench,
For workpiece on welding bench by electrical signal line and data three-dimensional modeling welding subsystem, data three-dimensional modeling welding subsystem is logical
Three-dimensional data signal wire is crossed to connect with the wire-feed motor, when welding wire is contacted by welding gun and workpiece, entire signal line
Connection, can get the electric signal for the contact point that welding wire is contacted with workpiece, i.e., the electric signal transmission of the contact point be returned to number
According in three-dimensional modeling welding subsystem, the process (taking a little) that the electric signal an of contact point obtains can be completed, wherein first
The taking of main weldering junction on workpiece and on second workpiece a little is required to no less than 3 times and is a little required to be no less than with taking for side welding surface
1 time, and different location of the position on the welding surface a little is taken every time；Such as in the data geometry mould for determining the first workpiece
After type, the three-dimensional planar model of the first workpiece can be calculated by 1 points.
S14：For the welding workpiece model according to the point of at least two workpiece of input, generating includes part to be welded
Space tracking and welding starting terminating point three-dimensional weld seam；
In specific implementation process of the present invention, the welding workpiece model is according at least two workpiece of input
Point generates the three-dimensional weld seam of space tracking and welding starting terminating point including part to be welded, including：The welding workpiece mould
Type calculates separately the threedimensional model of at least two workpiece according to the point of at least two workpiece of input；According at least two work
The contact surface of the threedimensional model of part generates the space tracking including part to be welded and welds in the welding workpiece model
Always the three-dimensional weld seam of stop.
Specifically, being carried out after taking a little by above-mentioned to workpiece, the electrical signal information for the point that will acquire passes through welding wire
It is sent in data three-dimensional modeling welding subsystem with three-dimensional data signal wire etc., is modeled in welding subsystem in data three-dimensional
Welding workpiece model models the point of the first workpiece and second workpiece in welding subsystem in data three-dimensional according to input and calculates separately
The threedimensional model of first workpiece and second workpiece；According to connecing in the threedimensional model for calculating the first workpiece and second workpiece that obtain
Contacting surface length in welding workpiece model, generating includes the space tracking of part to be welded and the three-dimensional weldering for welding starting terminating point
Seam；With specific reference to taking a little for side welding surface, to calculate welding starting terminating point.
S15：The robot originates the three-dimensional of terminating point according to the space tracking for generating part to be welded and welding
The welding gun that weld seam controls on the mechanical arm is welded.
In specific implementation process of the present invention, the robot is according to the space tracking for generating part to be welded and weldering
The welding gun that the three-dimensional weld seam of stop always controls on the mechanical arm is picked up to be welded, including：The robot is according to
It generates the space tracking including part to be welded and welds the three-dimensional weld seam of starting terminating point, on mechanical arm described in real-time control
Welding gun is welded.
Further, the welding gun on mechanical arm described in the real-time control is welded, including：Before welding, right in real time
At least two workpiece take a little, and takes the real-time weld seam path of generation in real time according to at least two workpiece；According to
The welding gun that the real-time weld seam path is adjusted in real time on the robotic arm is welded.
Specifically, welded by the welding gun on the robot controller real-time control mechanical arm of robot, wherein
Robot controller is to be controlled in real time according to the three-dimensional weld seam of the space tracking and welding starting terminating point that generate part to be welded
The movement of the mechanical arm of robot processed and drive welding gun on mechanical arm to carry out welding.
Specifically, when welding, before welding gun is welded with bead contact each time, to the first workpiece
Main weldering junction and side welding surface progress with second workpiece takes a little accordingly, i.e. electric signal communication, gets welding gun contact first
The electric signal of the main weldering junction and side welding surface position of workpiece and second workpiece；Electric signal transmission to data three-dimensional a little will be taken to build
Die welding connects subsystem, obtains the first workpiece and second workpiece in real time in the welding workpiece model that data three-dimensional models welding subsystem
Real-time three-dimensional model, and then produce the space tracking of real-time part to be welded and the three-dimensional weld seam of welding starting terminating point；
(the ordinary circumstance bottom fine tuning of adjustment welding in real time is carried out to reach the position of the mechanical arm adjustment welding gun of real-time control machine people
It is whole).
In embodiments of the present invention, after the attribute information of the soldered workpiece of confirmation, welding workpiece model is established, greatly
Cause to determine soldered position, be taken on workpiece a little by the welding gun on the robotic arm of robot, generate part to be welded and by
The three-dimensional weld seam of weld length；Constantly carry out taking in the welding process a little, so as to generate in real time part to be welded and by
The three-dimensional weld seam of weld length controls the real-time adjustment of robot Butt welding gun, so that the position deviation of welding is small, welding effect
It is good.
Embodiment：
Referring to Fig. 2, Fig. 2 is the process signal of the robot welding welding seam tracking method in another embodiment of the present invention
Figure.
As shown in Fig. 2, a kind of robot welding welding seam tracking method, the method includes:
S21：Obtain the attribute information at least two workpiece that will be soldered；
S22：Welding workpiece model is established according to the attribute information and determines being welded between at least two workpiece
Socket part position；
S23：Robot drives welding wire successively to contact at least two workpiece and take a little by the welding gun on robotic arm,
And it by the point of at least two workpiece of acquirement and inputs in the welding workpiece model；
S24：For the welding workpiece model according to the point of at least two workpiece of input, generating includes part to be welded
Space tracking and welding starting terminating point three-dimensional weld seam；
S25：The robot originates the three-dimensional of terminating point according to the space tracking for generating part to be welded and welding
The welding gun that weld seam controls on the mechanical arm is welded；
In specific implementation process of the present invention, the specific embodiment of S21-S25 can consider and examine specific in above-described embodiment
Embodiment, details are not described herein.
S26：When next product in the same a collection of product of welding, the ruler of at least two workpiece of the next product
Very little or stationary positioned a little regenerates the sky including part to be welded by successively taking at least two workpiece there are when deviation
Between track and welding starting terminating point three-dimensional weld seam；
In specific implementation process of the present invention, in specific welding process, general welding is the form of batch, together
Generally there are certain quantity for the welding of one type, are required to redefine first to each Product jointing (welding each time)
The size and fixed position on welding bench of workpiece and second workpiece, judgement and a upper product whether there is deviation, if not
In the presence of then calling directly the part to be welded in one model and the three-dimensional weld seam of soldered length；Deviation if it exists, then
It needs that current soldered the first workpiece and second workpiece take a little, regenerates part to be welded and soldered length
Three-dimensional weld seam.
S27：When welding the product of different model different batches, calls directly established welding workpiece model and welded
It connects.
It, in a particular embodiment, during the welding process, can on the same welding bench in specific implementation process of the present invention
The welding workpiece product of different part model and different batches can be welded, these are all that can call directly to have built up
Welding workpiece model, continue welding.
In embodiments of the present invention, after the attribute information of the soldered workpiece of confirmation, welding workpiece model is established, greatly
Cause to determine soldered position, be taken on workpiece a little by the welding gun on the robotic arm of robot, generate part to be welded and by
The three-dimensional weld seam of weld length；Constantly carry out taking in the welding process a little, so as to generate in real time part to be welded and by
The three-dimensional weld seam of weld length controls the real-time adjustment of robot Butt welding gun, so that the position deviation of welding is small, welding effect
It is good.
Embodiment：
Referring to Fig. 3, Fig. 3 is the structure composition signal of the robot welding seam tracking system in the embodiment of the present invention
Figure.
As shown in figure 3, a kind of robot welding seam tracking system, the system comprises:Welding workpiece (1,2), machine
People 3, welding gun 13, robot controller 5, wire reel 7, wire-feed motor 6 and data three-dimensional modeling weld subsystem 9；Wherein
Welding wire 4 on the wire reel 7 is sent to the weldering on the robotic arm of the robot 3 by the wire-feed motor 6
Rifle 13；The data three-dimensional modeling welding subsystem 9 is connect by three-dimensional data signal wire 8 with the welding gun 13, and signal is passed through
Control line 10 is connect with the robot controller 5, is connected by the data signal line 12 with welding workpiece (1,2)；Welding
Workpiece (1,2) is both placed on welding bench (Fig. 3 is not shown)；The robot 3 passes through the signal control line 11 and the machine
Device people controller 5 connects；Welding workpiece (1,2) includes the first workpiece 1 and second workpiece 2；The robot welding weld joint tracking
System is configured for：Execute robot welding welding seam tracking method described in any one of above-described embodiment.
Fig. 3 in embodiments of the present invention, the data three-dimensional modeling welding subsystem 9 pass through three-dimensional data signal wire 8
Connect with the welding gun 13 is to model welding subsystem by data three-dimensional to be connected by three-dimensional data signal wire with wire-feed motor 6
It connects, then leads to welding wire 4 again and connect with welding gun 13.
In embodiments of the present invention, after the attribute information of the soldered workpiece of confirmation, welding workpiece model is established, greatly
Cause to determine soldered position, be taken on workpiece a little by the welding gun on the robotic arm of robot, generate part to be welded and by
The three-dimensional weld seam of weld length；Constantly carry out taking in the welding process a little, so as to generate in real time part to be welded and by
The three-dimensional weld seam of weld length controls the real-time adjustment of robot Butt welding gun, so that the position deviation of welding is small, welding effect
It is good.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium may include：Read-only memory (ROM, Read Only Memory), random access memory (RAM, Random
Access Memory), disk or CD etc..
In addition, being provided for the embodiments of the invention a kind of robot welding welding seam tracking method above and system carries out
It is discussed in detail, herein should be using a specific example illustrates the principle and implementation of the invention, above embodiments
Explanation be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art,
According to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion in this specification
Appearance should not be construed as limiting the invention.
Claims (10)
1. a kind of robot welding welding seam tracking method, which is characterized in that the method includes:
Obtain the attribute information at least two workpiece that will be soldered；
Welding workpiece model is established according to the attribute information and determines the part to be welded between at least two workpiece；
Robot drives welding wire successively to contact at least two workpiece and take a little by the welding gun on robotic arm, and will obtain
At least two workpiece point and input in the welding workpiece model；
The welding workpiece model generates the space rail including part to be welded according to the point of at least two workpiece of input
The three-dimensional weld seam of mark and welding starting terminating point；
The robot is controlled according to the three-dimensional weld seam of the space tracking for generating part to be welded and welding starting terminating point
Welding gun on the mechanical arm is welded.
2. robot welding welding seam tracking method according to claim 1, which is characterized in that the attribute information includes extremely
The dimension information of existing weld seam quantity, at least two workpiece between the geometrical characteristics of few two workpiece, at least two workpiece,
The side welding surface of each workpiece between the main weldering junction and at least two workpiece of each workpiece between at least two workpiece.
3. robot welding welding seam tracking method according to claim 2, which is characterized in that described to be believed according to the attribute
Breath establishes welding workpiece model and determines the part to be welded between at least two workpiece, including：
According to the geometrical characteristic of at least two workpiece, the mathematics geometrical model of at least two workpiece is successively established；
According to dimension information, at least two workpiece of existing weld seam quantity, at least two workpiece between at least two workpiece
Mathematics geometrical model establish welding workpiece model；
The part to be welded between at least two workpiece is determined according to the welding workpiece model.
4. robot welding welding seam tracking method according to claim 1, which is characterized in that the robot passes through machine
Welding gun on arm drives welding wire successively to contact at least two workpiece and take a little, including：
The robot successively contacts the master of each workpiece of at least two workpiece by the welding gun drive welding wire on robotic arm
Welding surface take a little；
The robot successively contacts the side of each workpiece of at least two workpiece by the welding gun drive welding wire on robotic arm
Welding surface；
Wherein, the robot drives different location of the welding wire in the main weldering junction of each workpiece extremely by the welding gun on robotic arm
It contacts 3 times and take a little less；The robot drives welding wire on the side welding surface of each workpiece by the welding gun on robotic arm
Different location at least contacts 1 time and take a little.
5. robot welding welding seam tracking method according to claim 4, which is characterized in that the welding workpiece model root
According to the point of at least two workpiece of input, generates the space tracking for including part to be welded and welding originates the three of terminating point
Weld seam is tieed up, including：
The welding workpiece model calculates separately the three-dimensional geometry of at least two workpiece according to the point of at least two workpiece of input
The space equation of each welding surface of model；
According to the space equation of each welding surface of at least two workpiece, the space tracking including part to be welded and weldering are generated
Pick up the three-dimensional weld seam of stop always.
6. robot welding welding seam tracking method according to claim 1, which is characterized in that the robot is according to
The three-dimensional weld seam of the space tracking and welding starting terminating point that generate part to be welded controls the progress of the welding gun on the mechanical arm
Welding, including：
The robot originates the three-dimensional weld seam of terminating point according to the space tracking for generating part to be welded and welding, in real time
The welding gun controlled on the mechanical arm is welded.
7. robot welding welding seam tracking method according to claim 6, which is characterized in that machine described in the real-time control
Welding gun on tool arm is welded, including：
Before welding, in real time at least two workpiece take a little, and take a life in real time according to at least two workpiece
At real-time weld seam path；
The welding gun on the robotic arm is adjusted in real time according to the real-time weld seam path to be welded.
8. robot welding welding seam tracking method according to claim 1, which is characterized in that the method also includes：
When next product in the same a collection of product of welding, the size or fixation of at least two workpiece of the next product
Positioning there are when deviation, by least two workpiece are successively taken a little regenerate space tracking including part to be welded and
The three-dimensional weld seam of welding starting terminating point.
9. robot welding welding seam tracking method according to claim 1, which is characterized in that the method also includes：
When welding the product of different model different batches, calls directly established welding workpiece model and welded.
10. a kind of robot welding seam tracking system, which is characterized in that the system comprises:Welding workpiece, robot, weldering
Rifle, robot controller, welding wire, wire-feed motor and data three-dimensional modeling weld subsystem；Wherein
Welding wire on the wire reel is sent to the welding gun on the robotic arm of the robot by the wire-feed motor；The number
It is connect by three-dimensional data signal wire with the welding gun according to three-dimensional modeling welding subsystem, passes through signal control line and the machine
The connection of people's controller, is connect by the data signal line with welding workpiece；The robot by the signal control line with
The robot controller connection；
The robot welding seam tracking system is configured for：Perform claim requires machine described in any one of 1-9
People's welded seam tracking.
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| CN110328432A (en) * | 2019-04-03 | 2019-10-15 | 广州文冲船厂有限责任公司 | For realizing the weld inspection method of D type hanging ring automatic welding |
| CN110465948A (en) * | 2019-09-09 | 2019-11-19 | 北京配天技术有限公司 | The planing method of welding robot and its swinging track |
| CN111590244A (en) * | 2020-05-08 | 2020-08-28 | 徐工集团工程机械股份有限公司科技分公司 | Workshop machine weld seam deviation real-time detection method and device based on cloud management and control |
| CN112238304A (en) * | 2019-07-18 | 2021-01-19 | 山东淄博环宇桥梁模板有限公司 | Method for automatically welding small-batch customized special-shaped bridge steel templates by mechanical arm based on image visual recognition of welding seams |
| CN114119611A (en) * | 2022-01-25 | 2022-03-01 | 季华实验室 | Weld parameter identification method and device, electronic equipment and storage medium |
| CN114274158A (en) * | 2021-12-31 | 2022-04-05 | 北京博清科技有限公司 | Control method and controller of crawling welding robot and welding system |
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