CN108890666B - Robot welding seam tracking method and system - Google Patents
Robot welding seam tracking method and system Download PDFInfo
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- CN108890666B CN108890666B CN201811115988.0A CN201811115988A CN108890666B CN 108890666 B CN108890666 B CN 108890666B CN 201811115988 A CN201811115988 A CN 201811115988A CN 108890666 B CN108890666 B CN 108890666B
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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
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Abstract
The invention discloses a robot welding seam tracking method and a system, wherein the method comprises the following steps: acquiring attribute information of at least two workpieces to be welded; establishing a welding workpiece model according to the attribute information and determining a welded part between at least two workpieces; the robot drives the welding wire to sequentially contact at least two workpieces for point taking through a welding gun on the robot arm, and the obtained points of the at least two workpieces are input into a welding workpiece model; the welding workpiece model generates a three-dimensional welding seam comprising a space track of a welded part and a welding starting and ending point according to the input points of at least two workpieces; and the robot controls a welding gun on the mechanical arm to weld according to the generated space track of the welded part and the three-dimensional welding seam of the welding starting and ending point. In the embodiment of the invention, the welding seam information is determined by taking points from different positions of the welding gun on the workpiece, and the accurate welding control can be achieved when the welding seam is welded.
Description
Technical Field
The invention relates to the technical field of robot welding tracking, in particular to a robot welding seam tracking method and system.
Background
In current welding robot, all teach earlier before the welding basically, let the robot walk a fixed orbit at every turn, this kind of mode has a benefit, it is high exactly to repeat the precision, the movement track need not be revised, however, the defect that this kind of welding mode exists is that can not random change welding path, not nimble in the time of the welding, when repeated positioning accuracy is not high, need teach again, high and work efficiency is low like this, can not satisfy current welding requirement.
With the development and application of the technology, in order to meet the real-time monitoring of the robot on the welding seam and the real-time adjustment of the welding path during welding, an optical light sensing technology such as a visual tracking system or a laser positioning system is often additionally arranged on the welding robot to meet the requirements of modern industry on the welding tracking and adjustment of the welding robot.
However, in the process of welding tracking and adjusting the welding robot through the form of the optical sensing technology, a large amount of strong light and smoke are often generated in the welding process of the welding robot, and at the moment, the tracking accuracy of the optical sensing technology on the welding of the robot is greatly reduced; therefore, tracking and adjusting of welding by optical technology has gradually failed to meet the future technical requirements on welding accuracy of robots, and another tracking and adjusting technology in the welding process needs to be found to meet the future technical requirements on accurate welding.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a robot welding seam tracking method and system.
In order to solve the above technical problems, embodiments of the present invention provide a robot welding seam tracking method,
the method comprises the following steps:
acquiring attribute information of at least two workpieces to be welded;
establishing a welding workpiece model according to the attribute information and determining a welded part between the at least two workpieces;
the robot drives a welding wire to sequentially contact the at least two workpieces for point taking through a welding gun on the robot arm, and the obtained points of the at least two workpieces are input into the welding workpiece model;
the welding workpiece model generates a three-dimensional welding seam comprising a space track of a welded part and a welding starting and ending point according to the input points of the at least two workpieces;
and the robot controls a welding gun on the mechanical arm to weld according to the generated space track of the welded part and the three-dimensional welding seam of the welding starting and ending point.
Optionally, the property information includes geometric characteristics of the at least two workpieces, a number of existing welds between the at least two workpieces, dimensional information of the at least two workpieces, a primary weld face of each workpiece between the at least two workpieces, and a side weld face of each workpiece between the at least two workpieces.
Optionally, the establishing a welding workpiece model and determining a welded part between the at least two workpieces according to the attribute information includes:
sequentially establishing mathematical geometric models of the at least two workpieces according to the geometric characteristics of the at least two workpieces;
establishing a welding workpiece model according to the number of welding seams existing between at least two workpieces, the size information of the at least two workpieces and the mathematical geometric model of the at least two workpieces;
and determining a welded part between the at least two workpieces according to the welding workpiece model.
Optionally, the robot drives the welding wire through the welder on the robot arm and contacts in proper order two at least work pieces get the point, include:
the robot drives a welding wire to sequentially contact the main welding surface of each of the at least two workpieces through a welding gun on the robot arm to take a point;
the robot drives a welding wire to sequentially contact the side welding surfaces of the workpieces of the at least two workpieces through a welding gun on the robot arm;
the robot drives the welding wire to contact different positions on the main welding surface of each workpiece for at least 3 times through a welding gun on the robot arm to take points; the robot drives the welding wire to contact different positions on the side welding surface of each workpiece at least for 1 time through a welding gun on the robot arm to pick points.
Optionally, the welding workpiece model generates a three-dimensional weld including a spatial trajectory of a welded part and a welding start/end point according to the input points of the at least two workpieces, and includes:
the welding workpiece model respectively calculates a space equation of each welding surface of the three-dimensional geometric model of the at least two workpieces according to the input points of the at least two workpieces;
and generating a three-dimensional welding seam comprising a space track of the welded part and a welding starting and ending point according to the space equation of each welding surface of the at least two workpieces.
Optionally, the robot controls the welding gun on the mechanical arm to weld according to the generated space track of the welded part and the three-dimensional weld of the welding start and end point, including:
and the robot controls a welding gun on the mechanical arm to weld in real time according to the generated space track of the welded part and the three-dimensional welding seam of the welding starting and ending point.
Optionally, the controlling the welding gun on the mechanical arm in real time to weld includes:
before welding, performing point taking on the at least two workpieces in real time, and generating a real-time welding seam path according to the point taking on the at least two workpieces in real time;
and adjusting a welding gun on the robot arm in real time according to the real-time welding seam path to weld.
Optionally, the method further includes:
when the next product in the same batch of products is welded and the sizes or the fixed positioning of at least two workpieces of the next product have deviation, the three-dimensional welding seam comprising the space track of the welded part and the welding starting and ending point is regenerated by sequentially taking points of the at least two workpieces.
Optionally, the method further includes:
and when products of different models and different batches are welded, the established welding workpiece model is directly called for welding.
In addition, the embodiment of the invention also provides a robot welding seam tracking system, which comprises a welding workpiece, a robot, a welding gun, a robot controller, a welding wire, a wire feeder and a data three-dimensional modeling welding subsystem; wherein
The wire feeder conveys welding wire on the wire reel to the welding gun on a robot arm of the robot; the data three-dimensional modeling welding subsystem is connected with the welding gun through a three-dimensional data signal wire, connected with the robot controller through a signal control wire and connected with a welding workpiece through the data signal wire; the robot is connected with the robot controller through the signal control line;
the robotic welding seam tracking system is configured for: performing the robotic weld tracking method of any of the above.
In the embodiment of the invention, after confirming the attribute information of the welded workpiece, establishing a welded workpiece model, roughly determining the welded position, and taking a point on the workpiece by a welding gun on a robot arm of a robot to generate a three-dimensional welding seam of the welded part and the welded length; the points are continuously taken in the welding process, so that three-dimensional welding seams of the welded part and the welded length can be generated in real time, and the real-time adjustment of the robot on the welding gun is controlled, so that the welding position deviation is small, and the welding effect is good.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow diagram of a robotic welding seam tracking method in an embodiment of the present invention;
FIG. 2 is a schematic flow diagram of a robotic weld tracking method in another embodiment of the present invention;
fig. 3 is a schematic structural component diagram of a robot welding seam tracking system in an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The at least two workpieces may comprise a plurality of workpieces in embodiments of the present invention, which are specifically described in embodiments of the present invention using a first workpiece and a second workpiece.
Example (b):
referring to fig. 1, fig. 1 is a schematic flow chart illustrating a method for tracking a welding seam of a robot in an embodiment of the present invention.
As shown in fig. 1, a robotic welding seam tracking method, the method comprising:
s11: acquiring attribute information of at least two workpieces to be welded;
in a specific implementation of the invention, the attribute information includes geometric characteristics of the at least two workpieces, a number of welds present between the at least two workpieces, dimensional information of the at least two workpieces, a primary weld face of each workpiece between the at least two workpieces, and a side weld face of each workpiece between the at least two workpieces.
Specifically, before welding, attribute information of the workpieces placed on the welding table is acquired, and in general, the workpieces placed on the welding table include at least two workpieces, so that a first workpiece and a second workpiece are used for distinguishing, wherein the attribute information includes geometric features of the first workpiece and the second workpiece which are preset in advance, namely geometric shapes of the first workpiece and the second workpiece; the number of welds required, i.e., the number of welds present, between the first and second workpieces; the contact angle between the first workpiece and the second workpiece is 90 degrees if the contact is vertical contact, or 180 degrees or 0 degrees if the contact is superimposed contact; information such as size information of the first workpiece and the second workpiece; the main welding surface and the side welding surface of the first workpiece, and the main welding surface and the side welding surface of the second workpiece; all the above information is set before welding, and the attribute information is sized in a data three-dimensional modeling welding subsystem.
S12: establishing a welding workpiece model according to the attribute information and determining a welded part between the at least two workpieces;
in a specific implementation process of the present invention, the establishing a welding workpiece model and determining a welded portion between the at least two workpieces according to the attribute information includes: sequentially establishing mathematical geometric models of the at least two workpieces according to the geometric characteristics of the at least two workpieces; establishing a welding workpiece model according to the number of welding seams existing between at least two workpieces, the size information of the at least two workpieces and the mathematical geometric model of the at least two workpieces; and determining a welded part between the at least two workpieces according to the welding workpiece model.
Specifically, in the above step, at least two tools are usedThe first workpiece and the second workpiece are used for distinguishing in the embodiment of the invention; constructing a mathematical geometric model of the first workpiece according to the geometric features of the first workpiece through the geometric features of the first workpiece and the second workpiece contained in the attribute information; constructing a mathematical geometric model of the second workpiece according to the geometric features of the second workpiece; wherein the mathematical geometry model is a mathematical expression (formula) representing the geometric characteristics, for example, when the geometric characteristics of the first workpiece or the second workpiece are spherical, the constructed mathematical geometry model is (x-a)2+(y-b)2+(z-c)2R; wherein R is a constant
Is the radius of the sphere, (a, b, c) is the center of the sphere, and (x, y, z) is the coordinate point on the sphere.
After obtaining the mathematical geometric models of the first and second workpieces, constructing a welded workpiece model in the data three-dimensional modeling welding subsystem according to the known number of welds existing between the first and second workpieces, dimensional information between the first and second workpieces, the mathematical geometric model of the first workpiece, and the mathematical geometric model of the second workpiece, the welded workpiece model being a three-dimensional model; the welded portion between the first workpiece and the second workpiece can be determined based on the welded workpiece model.
S13: the robot drives a welding wire to sequentially contact the at least two workpieces for point taking through a welding gun on the robot arm, and the obtained points of the at least two workpieces are input into the welding workpiece model;
in the specific implementation process of the invention, the robot drives the welding wire to sequentially contact the at least two workpieces for point taking through the welding gun on the robot arm, and the point taking method comprises the following steps: the robot drives a welding wire to sequentially contact the main welding surface of each of the at least two workpieces through a welding gun on the robot arm to take a point; the robot drives a welding wire to sequentially contact the side welding surfaces of the workpieces of the at least two workpieces through a welding gun on the robot arm; the robot drives the welding wire to contact different positions on the main welding surface of each workpiece for at least 3 times through a welding gun on the robot arm to take points; the robot drives the welding wire to contact different positions on the side welding surface of each workpiece at least for 1 time through a welding gun on the robot arm to pick points.
In particular, the welding wire is a wire that can transmit an electrical signal, and in a particular implementation, the workpiece is placed on a welding station, the workpiece on the welding table is connected with the data three-dimensional modeling welding subsystem through an electric signal line, the data three-dimensional modeling welding subsystem is connected with the wire feeder through a three-dimensional data signal line, when the welding wire is contacted with the workpiece through a welding gun, the whole signal line is communicated, the electric signal of the contact point of the welding wire and the workpiece can be obtained, the electric signal of the contact point is transmitted back to the data three-dimensional modeling welding subsystem, the process of acquiring the electric signal of one contact point (point taking) can be completed, wherein the point taking of the main welding surface on the first workpiece and the second workpiece needs to be not less than 3 times, the point taking of the side welding surface needs to be not less than 1 time, and the position of the point taking at each time is different on the welding surface; for example, after determining the data geometric model of the first workpiece, a three-dimensional planar model of the first workpiece can be calculated from at least three points.
S14: the welding workpiece model generates a three-dimensional welding seam comprising a space track of a welded part and a welding starting and ending point according to the input points of the at least two workpieces;
in a specific implementation process of the present invention, the welding workpiece model generates a three-dimensional weld including a spatial trajectory of a welded portion and a welding start/end point according to the input points of the at least two workpieces, including: the welding workpiece model respectively calculates three-dimensional models of at least two workpieces according to the input points of the at least two workpieces; and generating a three-dimensional welding seam comprising a space track of a welded part and a welding starting and ending point in the welding workpiece model according to the contact surfaces of the three-dimensional models of the at least two workpieces.
Specifically, after the point is taken from the workpiece, the electric signal information of the obtained point is transmitted to the data three-dimensional modeling welding subsystem through a welding wire, a three-dimensional data signal line and the like, and a welding workpiece model in the data three-dimensional modeling welding subsystem respectively calculates three-dimensional models of the first workpiece and the second workpiece according to the points of the first workpiece and the second workpiece input in the data three-dimensional modeling welding subsystem; generating a three-dimensional weld joint comprising a space track of a welded part and a welding starting and ending point according to the length of the contact surface in the three-dimensional models of the first workpiece and the second workpiece in the welding workpiece model obtained through calculation; specifically, the welding start/end point is calculated according to the point of the side welding surface.
S15: and the robot controls a welding gun on the mechanical arm to weld according to the generated space track of the welded part and the three-dimensional welding seam of the welding starting and ending point.
In a specific implementation process of the present invention, the robot controls a welding gun on the robot arm to weld according to the generated spatial trajectory of the welded portion and the three-dimensional weld of the welding start and end point, including: and the robot controls a welding gun on the mechanical arm to weld in real time according to the generated three-dimensional welding seam comprising the space track of the welded part and the welding starting and ending point.
Further, the real-time control of the welding gun on the mechanical arm for welding includes: before welding, performing point taking on the at least two workpieces in real time, and generating a real-time welding seam path according to the point taking on the at least two workpieces in real time; and adjusting a welding gun on the robot arm in real time according to the real-time welding seam path to weld.
Specifically, the welding gun on the mechanical arm of the robot is controlled by the robot controller in real time to weld, wherein the robot controller controls the motion of the mechanical arm of the robot in real time according to a space track of a welded part and a three-dimensional welding seam of a welding starting and ending point to drive the welding gun on the mechanical arm to weld.
Specifically, during welding, before the welding gun is contacted with a welding seam each time for welding, corresponding point taking is carried out on the main welding surfaces and the side welding surfaces of the first workpiece and the second workpiece, namely electric signal communication is carried out, and electric signals of the positions of the main welding surfaces and the side welding surfaces of the first workpiece and the second workpiece contacted by the welding gun are obtained; the electric signal of the point is transmitted to a data three-dimensional modeling welding subsystem, a real-time three-dimensional model of a first workpiece and a real-time three-dimensional model of a second workpiece are obtained in a welding workpiece model of the data three-dimensional modeling welding subsystem, and then a real-time space track of a welded part and a three-dimensional welding seam of a welding starting and ending point are produced; therefore, the position of the welding gun is adjusted by controlling the mechanical arm of the robot in real time to adjust welding in real time (under the general condition, micro adjustment is carried out).
In the embodiment of the invention, after confirming the attribute information of the welded workpiece, establishing a welded workpiece model, roughly determining the welded position, and taking a point on the workpiece by a welding gun on a robot arm of a robot to generate a three-dimensional welding seam of the welded part and the welded length; the points are continuously taken in the welding process, so that three-dimensional welding seams of the welded part and the welded length can be generated in real time, and the real-time adjustment of the robot on the welding gun is controlled, so that the welding position deviation is small, and the welding effect is good.
Example (b):
referring to fig. 2, fig. 2 is a schematic flow chart illustrating a method for tracking a welding seam by a robot according to another embodiment of the present invention.
As shown in fig. 2, a robotic welding seam tracking method, the method comprising:
s21: acquiring attribute information of at least two workpieces to be welded;
s22: establishing a welding workpiece model according to the attribute information and determining a welded part between the at least two workpieces;
s23: the robot drives a welding wire to sequentially contact the at least two workpieces for point taking through a welding gun on the robot arm, and the obtained points of the at least two workpieces are input into the welding workpiece model;
s24: the welding workpiece model generates a three-dimensional welding seam comprising a space track of a welded part and a welding starting and ending point according to the input points of the at least two workpieces;
s25: the robot controls a welding gun on the mechanical arm to weld according to the generated space track of the welded part and the three-dimensional welding seam of the welding starting and ending point;
in the implementation of the present invention, the specific implementation manners of S21-S25 may refer to the specific implementation manners in the above embodiments, and are not described herein again.
S26: when the next product in the same batch of products is welded and the sizes or the fixed positioning of at least two workpieces of the next product have deviation, a three-dimensional welding seam comprising a space track of a welded part and a welding starting and ending point is regenerated by sequentially taking points from the at least two workpieces;
in the specific implementation process of the invention, in the specific welding process, common welding is in a batch form, the welding of the same type generally has a certain quantity, the sizes of the first workpiece and the second workpiece and the fixed positions on the welding table are required to be determined again for each product welding (each welding), whether deviation exists between the first workpiece and the last product is judged, and if not, the welded part and the three-dimensional welding seam with the welded length in the model of the last product are directly called; if the deviation exists, the current first workpiece and the second workpiece to be welded need to be subjected to point taking, and a three-dimensional welding seam of a welded part and a welded length needs to be regenerated.
S27: and when products of different models and different batches are welded, the established welding workpiece model is directly called for welding.
In the specific implementation process of the invention, in the specific embodiment, in the welding process, different workpiece models and different batches of welding workpiece products may be welded on the same welding table, and all of them can directly call the already established welding workpiece model to continue the welding work.
In the embodiment of the invention, after confirming the attribute information of the welded workpiece, establishing a welded workpiece model, roughly determining the welded position, and taking a point on the workpiece by a welding gun on a robot arm of a robot to generate a three-dimensional welding seam of the welded part and the welded length; the points are continuously taken in the welding process, so that three-dimensional welding seams of the welded part and the welded length can be generated in real time, and the real-time adjustment of the robot on the welding gun is controlled, so that the welding position deviation is small, and the welding effect is good.
Example (b):
referring to fig. 3, fig. 3 is a schematic structural component diagram of a robot welding seam tracking system in an embodiment of the present invention.
As shown in fig. 3, a robot welding seam tracking system includes a welding workpiece (1,2), a robot 3, a welding gun 13, a robot controller 5, a wire reel 7, a wire feeder 6, and a data three-dimensional modeling welding subsystem 9; wherein
The wire feeder 6 delivers the welding wire 4 on the wire reel 7 to the welding gun 13 on the robot arm of the robot 3; the data three-dimensional modeling welding subsystem 9 is connected with the welding gun 13 through a three-dimensional data signal line 8, connected with the robot controller 5 through a signal control line 10 and connected with welding workpieces (1,2) through a data signal line 12; the welding workpieces (1,2) are both placed on a welding table (not shown in fig. 3); the robot 3 is connected with the robot controller 5 through the signal control line 11; the welding workpieces (1,2) comprise a first workpiece 1 and a second workpiece 2; the robotic welding seam tracking system is configured for: performing the robotic weld tracking method of any of the above embodiments.
In the embodiment of the invention shown in fig. 3, the data three-dimensional modeling welding subsystem 9 is connected with the welding gun 13 through the three-dimensional data signal line 8, and is connected with the wire feeder 6 through the data three-dimensional modeling welding subsystem through the three-dimensional data signal line, and then is connected with the welding gun 13 through the welding wire 4.
In the embodiment of the invention, after confirming the attribute information of the welded workpiece, establishing a welded workpiece model, roughly determining the welded position, and taking a point on the workpiece by a welding gun on a robot arm of a robot to generate a three-dimensional welding seam of the welded part and the welded length; the points are continuously taken in the welding process, so that three-dimensional welding seams of the welded part and the welded length can be generated in real time, and the real-time adjustment of the robot on the welding gun is controlled, so that the welding position deviation is small, and the welding effect is good.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.
In addition, the method and the system for tracking the welding seam of the robot provided by the embodiment of the invention are described in detail, a specific example is adopted herein to explain the principle and the implementation of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (8)
1. A robotic weld seam tracking method, the method comprising:
acquiring attribute information of at least two workpieces to be welded;
establishing a welding workpiece model according to the attribute information and determining a welded part between the at least two workpieces;
the robot drives a welding wire to sequentially contact the at least two workpieces for point taking through a welding gun on the robot arm, and the obtained points of the at least two workpieces are input into the welding workpiece model;
the welding workpiece model generates a three-dimensional welding seam comprising a space track of a welded part and a welding starting and ending point according to the input points of the at least two workpieces;
the robot controls a welding gun on the robot arm to weld according to the generated space track of the welded part and the three-dimensional welding seam of the welding starting and ending point;
the robot drives the welding wire through the welder on the robot arm and contacts in proper order two at least work pieces get a little, include:
the robot drives a welding wire to sequentially contact the main welding surface of each of the at least two workpieces through a welding gun on the robot arm to take a point;
the robot drives a welding wire to sequentially contact the side welding surfaces of the workpieces of the at least two workpieces through a welding gun on the robot arm;
the robot drives the welding wire to contact different positions on the main welding surface of each workpiece for at least 3 times through a welding gun on the robot arm to take points; the robot drives the welding wire to contact different positions on the side welding surface of each workpiece at least for 1 time through a welding gun on the robot arm to pick points;
the welding workpiece model generates a three-dimensional welding seam comprising a space track of a welded part and a welding starting and ending point according to the input points of the at least two workpieces, and comprises the following steps:
the welding workpiece model respectively calculates a space equation of each welding surface of the three-dimensional geometric model of the at least two workpieces according to the input points of the at least two workpieces;
and generating a three-dimensional welding seam comprising a space track of the welded part and a welding starting and ending point according to the space equation of each welding surface of the at least two workpieces.
2. The robotic weld tracking method according to claim 1, wherein the attribute information includes geometric characteristics of the at least two workpieces, a number of existing welds between the at least two workpieces, dimensional information of the at least two workpieces, a primary weld face of each workpiece between the at least two workpieces, and a side weld face of each workpiece between the at least two workpieces.
3. The robotic weld tracking method of claim 2, wherein the establishing a welded workpiece model and determining a welded location between the at least two workpieces based on the attribute information comprises:
sequentially establishing mathematical geometric models of the at least two workpieces according to the geometric characteristics of the at least two workpieces;
establishing a welding workpiece model according to the number of welding seams existing between at least two workpieces, the size information of the at least two workpieces and the mathematical geometric model of the at least two workpieces;
and determining a welded part between the at least two workpieces according to the welding workpiece model.
4. The robot welding seam tracking method according to claim 1, wherein the robot controls a welding gun on the robot arm to perform welding according to the three-dimensional seam generating the spatial trajectory of the welded part and the welding start and end point, and the method comprises the following steps:
and the robot controls a welding gun on the robot arm to weld in real time according to the generated space track of the welded part and the three-dimensional welding seam of the welding starting and ending point.
5. The robotic welding seam tracking method of claim 4 wherein the real-time controlling of the welding gun on the robotic arm to weld comprises:
before welding, performing point taking on the at least two workpieces in real time, and generating a real-time welding seam path according to the point taking on the at least two workpieces in real time;
and adjusting a welding gun on the robot arm in real time according to the real-time welding seam path to weld.
6. The robotic weld tracking method according to claim 1, further comprising:
when the next product in the same batch of products is welded and the sizes or the fixed positioning of at least two workpieces of the next product have deviation, the three-dimensional welding seam comprising the space track of the welded part and the welding starting and ending point is regenerated by sequentially taking points of the at least two workpieces.
7. The robotic weld tracking method according to claim 1, further comprising:
and when products of different models and different batches are welded, the established welding workpiece model is directly called for welding.
8. A robot welding seam tracking system is characterized by comprising a welding workpiece, a robot, a welding gun, a robot controller, a welding wire, a wire feeder and a data three-dimensional modeling welding subsystem; wherein
The wire feeder conveys welding wire on a welding wire disc to the welding gun on a robot arm of the robot; the data three-dimensional modeling welding subsystem is connected with the welding gun through a three-dimensional data signal wire, connected with the robot controller through a signal control wire and connected with a welding workpiece through the data signal wire; the robot is connected with the robot controller through the signal control line;
the robotic welding seam tracking system is configured for: performing the robotic welding seam tracking method of any of claims 1-7.
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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 |
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| CN104384765B (en) * | 2014-10-14 | 2016-04-27 | 江苏湃锐自动化科技有限公司 | Based on the automatic soldering method of threedimensional model and machine vision |
| CN105171742B (en) * | 2015-07-20 | 2016-06-22 | 南京工业大学 | 3D printing and welding method using multi-degree-of-freedom robot |
| CN108481323B (en) * | 2018-03-14 | 2021-04-27 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Augmented reality-based robot motion trajectory automatic programming system and method |
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