CN110271005B - Medium plate robot welding track planning method, equipment and medium - Google Patents
Medium plate robot welding track planning method, equipment and medium Download PDFInfo
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- CN110271005B CN110271005B CN201910641841.3A CN201910641841A CN110271005B CN 110271005 B CN110271005 B CN 110271005B CN 201910641841 A CN201910641841 A CN 201910641841A CN 110271005 B CN110271005 B CN 110271005B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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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
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The invention provides a method, equipment and a medium for planning a welding track of a medium plate robot, wherein the method comprises the following steps: acquiring the elongation of a welding rod of the welding robot and welding process parameters; acquiring pose information and groove information of a starting point and a stopping point of a welding groove, and establishing a three-dimensional model based on a robot base coordinate system; calculating the pose of each welding in the multilayer multi-pass welding according to the pose information of the start and stop points and the groove information in the three-dimensional model; and the robot adopts multilayer multi-pass welding according to the pose of each welding and the corresponding welding process parameters. According to the invention, the posture of the welding gun and the posture of each welding line are calculated according to the posture information and the groove information of the teaching points, so that the robot is controlled to realize automatic welding, the defects of complicated teaching, large workload, expensive auxiliary equipment and the like in the prior art are overcome, and the automation of a welding operation system is realized.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a method, equipment and medium for planning a welding track of a medium plate robot.
Background
With the rapid development of the heavy industry field, the domestic requirements for welding medium and heavy plates are increasing, and a multilayer and multi-pass welding method is generally adopted during welding of the medium and heavy plates. Compared with the traditional manual welding, the labor intensity is high, the working environment is severe, and the trend of utilizing a robot to realize automatic welding is achieved.
However, the conventional robot welding adopts a manual teaching reproduction mode, and the mode has the defects of large workload, difficulty in teaching multiple layers and multiple paths of large welding seams and the like. In recent years, with the development of technologies such as machine vision, image processing, pattern recognition, and intelligent control, various sensors applied to robot welding have been proposed. The laser structure light sensor has the characteristics of simple structure, large information quantity, high precision and good stability, and becomes an ideal choice for the field of thick plate welding intelligent control. The basic principle of the laser sensor is to project strip laser onto a workpiece, collect laser stripe images reflected on the workpiece by using a CCD (charge coupled device), and finally obtain required groove characteristic information through a series of signal processing.
Disclosure of Invention
In view of the above drawbacks of the prior art, an object of the present invention is to provide a method, a device, and a medium for planning a welding trajectory of a robot for medium plates, which are used to solve the problem that the welding trajectory cannot be planned for medium plates without clamping positioning in the prior art.
In order to achieve the above and other related objects, the present invention provides, in a first aspect, a method for planning a welding trajectory of a robot for heavy and medium plates, the method being adapted to plan a welding trajectory in a structure in which a first welding surface and a second welding surface intersect and combine, the method including:
acquiring the elongation of a welding rod of the welding robot and welding process parameters;
acquiring pose information and groove information of a starting point and a stopping point of a welding groove, and establishing a three-dimensional model based on a robot base coordinate system;
calculating the pose of each welding in the multilayer multi-pass welding according to the pose information of the start and stop points and the groove information in the three-dimensional model;
and the robot adopts multilayer multi-pass welding according to the pose of each welding and the corresponding welding process parameters.
In a second aspect of the present application, there is provided an electronic device including:
one or more processors; and
a memory configured with program instructions;
the one or more processors execute the program instructions to enable the electronic equipment to execute the thick plate robot welding track planning method.
In a third aspect of the present application, there is provided a computer storage medium comprising:
the storage medium stores a program, wherein the program realizes the method for planning the welding track of the thick plate robot when being called and executed.
As described above, the method, the device and the medium for planning the welding track of the medium plate robot of the present invention have the following advantages:
according to the invention, the posture of the welding gun and the posture of each welding line are calculated according to the posture information and the groove information of the teaching points, so that the robot is controlled to realize automatic welding, the defects of complicated teaching, large workload, expensive auxiliary equipment and the like in the prior art are overcome, and the automation of a welding operation system is realized.
Drawings
FIG. 1 is a flowchart illustrating a method for planning a welding track of a robot for machining a medium plate according to the present invention;
FIG. 2 is a schematic view of a welding teaching point of a heavy and medium plate robot according to the present invention;
FIG. 3 is a schematic diagram of a welding track planning point position of a heavy and medium plate robot according to the present invention;
FIG. 4 is a schematic diagram showing the postures of the planning points of the welding track of the robot for medium and heavy plates according to the present invention;
FIG. 5 is a diagram showing the effect of planned multi-layer multi-pass actual welding of a medium plate robot provided by the invention;
fig. 6 shows a block diagram of an electronic device according to the present invention.
Detailed Description
The following description of the embodiments of the present application is provided for illustrative purposes, and other advantages and capabilities of the present application will become apparent to those skilled in the art from the present disclosure.
In the following description, reference is made to the accompanying drawings that describe several embodiments of the application. The following detailed description is not to be taken in a limiting sense, and the scope of embodiments of the present application is defined only by the claims of the issued patent. Spatially relative terms, such as "upper," "lower," "left," "right," "lower," "below," "lower," "above," "upper," and the like, may be used herein to facilitate describing one element or feature's relationship to another element or feature as illustrated in the figures.
Although the terms first, second, etc. may be used herein to describe various elements in some instances, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, the first preset threshold may be referred to as a second preset threshold, and similarly, the second preset threshold may be referred to as a first preset threshold, without departing from the scope of the various described embodiments. The first preset threshold and the preset threshold are both described as one threshold, but they are not the same preset threshold unless the context clearly indicates otherwise. Similar situations also include a first volume and a second volume.
Furthermore, as used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context indicates otherwise, it should be further understood that the terms "comprises" and "comprising" indicate the presence of the stated features, steps, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, steps, operations, elements, components, items, species, and/or groups. A; b; c; a and B; a and C; b and C; A. b and C "are only exceptions to this definition should be done when combinations of elements, functions, steps or operations are inherently mutually exclusive in some manner.
Referring to fig. 1, a flowchart of a method for planning a welding track of a heavy and medium plate robot according to the present invention is detailed as follows:
wherein the method is suitable for planning a welding track in a structure formed by intersecting and combining a first welding surface and a second welding surface (the structure meets the characteristics of a medium plate, and the thickness of the medium plate is 4.5 mm-25 mm), and comprises the following steps:
step S1, obtaining the elongation of the welding rod of the welding robot and the welding process parameters;
the method comprises the following steps of obtaining the elongation of a welding rod of the welding robot and respective welding technological parameters of a priming layer and a filling layer through pre-welding treatment; selecting respective welding process parameters of the priming layer and the filling layer according to the shape and the type of the groove; for example, the rod elongation L set when the welding wire rod elongation is adjusted to the calibration tool coordinate system before welding, thereby controlling the welding rod length; welding process parameters (welding current, welding voltage (usually using arc length), welding speed, power supply type polarity, groove form and the like) are selected according to the shape and the type of the groove, and the welding quality can be ensured by adaptively selecting the welding parameters.
Step S2, acquiring pose information and groove information of a start point and a stop point of a welding groove, and establishing a three-dimensional model based on a robot base coordinate system;
the method comprises the steps that the position and posture information of a weld groove starting point and a weld groove ending point is obtained through robot teaching, wherein the position and posture information comprises position information and posture information which correspond to the weld starting point and the weld ending point respectively; obtaining groove information (which can be input through the outside) according to the shape and the angle of the intersected welding surface, wherein the groove information comprises the angle and the thickness of a welding groove; and establishing a three-dimensional model of the weld groove relative to a robot base coordinate system according to the pose information and groove information of the start and stop points of the weld groove.
Specifically, a workpiece to be welded is placed in a machining range of a welding robot, the position of the welding seam relative to the robot can be obtained by enabling the tail end of a welding gun to contact the welding seam through a teaching robot, so that a three-dimensional model of a welding seam groove relative to a robot base coordinate system is established, and the robot walks to the corresponding position during welding.
Step S3, calculating the pose of each welding in the multilayer multi-pass welding according to the pose information of the start point and the stop point and the groove information in the three-dimensional model;
calculating a direction vector on an angle bisection plane of the groove, which is perpendicular to a start point and a stop point of the welding seam, in the three-dimensional model, and taking the direction vector as a gun lifting direction of the welding gun; taking the direction which is simultaneously vertical to the gun lifting direction of the welding gun and the direction of the start and stop point of the welding seam as the direction of the transverse deviation of each layer of welding bead; and calculating the width of a welding bead in the three-dimensional model according to the angle of the welding groove, and calculating the number of welding tracks of the layer and the pose information of the robot in each welding track by using the section shape of the coating amount of the welding bead.
And step S4, the robot adopts multilayer multi-pass welding according to the position and the corresponding welding process parameters of each pass of welding.
The robot receives the pose and welding process parameters of each of the multiple layers of multi-pass welding in a circulating mode, and welding of the medium and heavy plates is carried out.
Specifically, the one-layer welding can be composed of a plurality of welding beads, and if the groove angle is small, one deposited welding bead is one layer; the groove angle is larger, and two or more welding passes are deposited to form a layer of welding seam, namely, a plurality of welding passes; in the embodiment, the bottom layer of the welding seam is a priming layer and the filling layer is arranged from the priming layer to the top of the welding seam, wherein the groove is regular and the angle of the welding seam is large. And by adopting multilayer multi-pass welding, the welding seam of the back layer (pass) has the heat treatment effect on the welding seam of the front layer (pass), which is equivalent to carrying out one-time normalizing treatment on the welding seam of the front layer (pass), thereby improving the quality of the welding seam metal.
In the embodiment, the welding of the medium plate can be realized without clamping and positioning; the method is simple to operate, and only the start and stop points of the welding line need to be taught, and then the pose of each welding line in the multi-layer and multi-channel welding lines is calculated; the invention does not need other auxiliary sensing equipment, has low cost and is easy to realize the automation of the welding operation system.
Please refer to fig. 2, which is a schematic diagram of a welding teaching point of a medium plate robot according to the present invention, and is detailed as follows:
obtaining the position and the posture (x) of the robot at the welding seam initial point A through manual teachingA,yA,zAα, β, γ), position and attitude (x) of bead end point BB,yB,zBα, β, γ), the axis of the welding gun being positioned at the groove during teachingAn angular bisector.
In the embodiment, according to the pose of the bevel angle bisector obtained by teaching relative to the robot base coordinate system, the three-dimensional model of the groove relative to the robot base coordinate system is established by combining the input angle theta and the thickness H of the weld groove.
In one embodiment, the pose of each multi-layer and multi-pass welding robot is calculated according to the pose of the start point and the pose of the stop point and the groove information. Firstly, the attitude (alpha, beta, gamma) is converted into radian system (alpha) from angle1,β1,γ1) Then, the direction vector (n) of the axis of the welding gun is calculatedx,ny,nz)：
nx＝cos(α1)×sin(β1)×cos(γ1)+sin(α1)×sin(γ1)
ny＝cos(α1)×sin(β1)×sin(γ1)-sin(α1)×cos(γ1)
nz＝cos(α1)×cos(β1)
From the position coordinates of the two points A, B, the unit vector in the weld AB direction is calculated as (m)x,my,mz). Direction vector (w) of lane-to-lane offset in multi-layer multi-pass weld layerx,wy,wz) Comprises the following steps:
wx＝my×nz-mz×ny
wy＝mz×nx-mx×nz
wz＝mx×ny-my×nx
direction vector (h) of gun lifting between layers in multi-layer and multi-pass weldingx,hy,hz) Comprises the following steps:
hx＝wy×mz-wz×my
hy＝wz×mx-wx×mz
hz＝wx×my-wy×mx
in the example, where the layer height is hr, the width wr of the layer is:
the number of tracks Num of this layer is:
Num＝wr÷w
in this embodiment, the number of tracks to be welded on each layer is determined by calculating the number of tracks of the welding layer, so as to facilitate planning of a planned trajectory corresponding to pose information of a welding start point and an end point on each layer, positions of welding guns between the tracks are shown in fig. 3, postures of the welding guns are shown in fig. 4, and fig. 5 is a welding effect diagram for realizing automatic multi-layer and multi-track welding by aiming at a welding trajectory planning mode of a medium plate robot.
In one embodiment, the gun lifting height of the welding gun of the next layer is calculated according to the coating amount of the previous layer, and the pose information of each welding robot of each layer is calculated until the coating amount reaches the groove thickness. Specifically, verifying the welding process parameters to obtain the cross-sectional shape of the coating amount of one welding bead welded by the robot under the process parameters; the height of the section is h, the area is s, the section is equivalent to a rectangle, the width of the rectangle is h, and the length w is s/h; and accumulating the coating amount after the welding bead pose of one layer is calculated, and calculating the gun lifting height of the next layer until the pose of each welding robot of each layer is calculated, wherein the height of the coating amount is the groove thickness H.
In another embodiment, the pose information of each welding robot on each layer is calculated, and the starting points and the end points of all welding beads on an even layer or an odd layer are exchanged; because the welding robot inevitably leads to the coating amount of the welding starting point being larger than that of the arc extinguishing point in the actual welding process, and the problem of inconsistent welding surfaces caused by the accumulation of multiple layers of the coating amounts of the starting point and the arc extinguishing point can be effectively solved by circularly exchanging the positions of the starting point and the end point in an even layer or an odd layer.
Referring to fig. 6, an electronic device according to the present invention includes:
one or more processors 61; and
a memory 62 storing program instructions;
the one or more processors 61 execute the execution instructions to make the electronic device execute the method for planning the welding trajectory of the medium plate robot as described above.
The processor 61 is operatively coupled to memory and/or non-volatile storage. More specifically, the processor 61 may execute instructions stored in the memory and/or non-volatile storage device to perform operations in the computing device, such as generating and/or transmitting image data to an electronic display. As such, the processor may include one or more general purpose microprocessors, one or more application specific processors (ASICs), one or more field programmable logic arrays (FPGAs), or any combination thereof.
The application provides a computer storage medium, wherein the storage medium stores a program, and when the program runs, the equipment where the storage medium is located is controlled to execute the planning method for the welding track of the medium plate robot.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application.
In the embodiments provided herein, the computer-readable and writable storage medium may include Read-only memory (ROM), random-access memory (RAM), EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, flash memory, a usb disk, a removable hard disk, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer. Also, any connection is properly termed a computer-readable medium. For example, if the instructions are transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium.
In conclusion, the invention calculates the posture of the welding gun and the posture of each welding line according to the posture information and the groove information of the teaching points, thereby controlling the robot to realize automatic welding, overcoming the defects of complicated teaching, large workload, expensive auxiliary equipment and the like in the prior art and realizing the automation of a welding operation system. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (7)
1. A method for planning a welding track of a medium plate robot is suitable for planning the welding track in a structure in which a first welding surface and a second welding surface are intersected and combined, and is characterized by comprising the following steps:
acquiring the elongation of a welding rod of the welding robot and welding process parameters; the method comprises the following steps of obtaining the elongation of a welding rod of the welding robot and respective welding technological parameters of a priming layer and a filling layer through pre-welding treatment;
acquiring pose information and groove information of a starting point and a stopping point of a welding groove, and establishing a three-dimensional model based on a robot base coordinate system;
calculating the pose of each welding in the multilayer multi-pass welding according to the pose information of the start and stop points and the groove information in the three-dimensional model; acquiring position coordinates and poses of the welding robot corresponding to a welding seam starting point and an end point respectively, converting the poses corresponding to the welding seam starting point and the end point from an angle into a radian system, and calculating a direction vector of a welding gun axis; calculating a unit vector of the welding seam and a direction vector of deviation between inner channels and channels of the multi-layer and multi-channel welding seam according to the position coordinates of the starting point and the ending point of the welding seam; calculating a gun lifting direction vector between layers in the multilayer multi-pass welding by using a unit vector in the direction of the start and stop points of the welding seam and a direction vector of deviation between inner channels and inner channels of the multilayer multi-pass welding;
calculating a direction vector on an angle bisection plane of the groove, which is perpendicular to a start point and a stop point of the welding seam, in the three-dimensional model, and taking the direction vector as a gun lifting direction of the welding gun; taking the direction which is simultaneously vertical to the gun lifting direction of the welding gun and the direction of the start and stop point of the welding seam as the offset direction of each layer of welding bead;
and the robot adopts multilayer multi-pass welding according to the pose of each welding and the corresponding welding process parameters.
2. The method for planning the welding track of the medium plate robot according to claim 1, wherein the step of acquiring the pose information and the groove information of the start and stop points of the weld groove and establishing the three-dimensional model based on the robot base coordinate system comprises the following steps:
acquiring pose information of a start point and a stop point of a welding seam groove by using robot teaching, wherein the pose information comprises position information and posture information which respectively correspond to a welding seam start point and a welding seam end point;
obtaining groove information according to the shape and the angle of the intersected welding surface, wherein the groove information comprises the angle and the thickness of a welding groove;
and establishing a three-dimensional model of the weld groove relative to a robot base coordinate system according to the pose information and groove information of the start and stop points of the weld groove.
3. The method for planning the welding track of the heavy and medium plate robot according to claim 1, wherein the step of calculating the pose of each welding in the multi-layer multi-pass welding according to the pose information of the start point and the stop point and the groove information in the three-dimensional model further comprises the following steps:
and calculating the width of a welding bead in the three-dimensional model according to the angle of the welding groove, and calculating the number of welding tracks of the layer and the pose information of the robot in each welding track by using the section shape of the coating amount of the welding bead.
4. The method for planning the welding track of the medium plate robot according to claim 3, wherein the gun lifting height of the welding gun of the next layer is calculated according to the coating amount of the previous layer, and the pose information of each welding robot of each layer is calculated until the coating amount reaches the groove thickness.
5. The method for planning a welding trajectory of a heavy and medium plate robot according to claim 4, wherein start points and end points of all welding passes of even/odd layers are exchanged in pose information of each welding robot of each layer.
6. An electronic device, characterized in that the electronic device comprises:
one or more processors; and
a memory configured with program instructions;
the one or more processors executing the program instructions cause the electronic device to perform the method for planning a welding trajectory of a thick plate robot as claimed in any one of claims 1-5.
7. A storage medium storing a program, wherein the program when invoked for execution implements a method for planning a welding trajectory of a slab robot according to any one of claims 1 to 5.
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| CN108655537B (en) * | 2018-03-29 | 2020-10-16 | 武汉船用机械有限责任公司 | Robot automatic compensation welding method |
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2019
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