CN111266762A - Multi-robot-based cooperative welding method and system - Google Patents
Multi-robot-based cooperative welding method and system Download PDFInfo
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- CN111266762A CN111266762A CN201811482038.1A CN201811482038A CN111266762A CN 111266762 A CN111266762 A CN 111266762A CN 201811482038 A CN201811482038 A CN 201811482038A CN 111266762 A CN111266762 A CN 111266762A
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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
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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
- B23K37/0252—Steering means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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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
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Abstract
The invention relates to the field of welding, in particular to a method, a system, a device, a platform and a storage medium for collaborative welding based on multiple robots. Acquiring data information of an object to be welded; performing cooperative welding on the welding object through a plurality of robots according to the welding object data information; and generating a welding object with the welding completed. The robot can carry, turn and weld workpieces (welding objects) in the same station area, and the robots in the same station can work in a mutually matched mode, namely the robots work in a coordinated mode, so that the requirements of punctuality, synchronization and coordination are met. In addition, the invention can improve the efficiency and the precision of the welding process and simultaneously ensure that the robot can be suitable for welding with complex tracks.
Description
Technical Field
The invention relates to the field of welding, in particular to a method, a system, a device, a platform and a storage medium for collaborative welding based on multiple robots.
Background
Welding is a work with harsh working environment, high working strength, high requirement on working proficiency and potential harm to operators.
At present, the welding track is generated through manual teaching, time and labor are wasted, and the welding precision is not high. And the robot is limited by the limited working space of the robot, and the robot is difficult to realize the large-area complex-track welding of complex workpieces. Particularly, the updating cycle of various industrial products is gradually shortened at present, and the production mode of small batch and multiple varieties is becoming the design target of many production enterprises. The single robot is difficult to meet the requirements of the existing production process, and the problems of low efficiency, low precision and difficulty in meeting the welding requirements of complex workpieces due to the fact that welding tracks are generated through manual teaching are solved.
Disclosure of Invention
Aiming at the defects that the efficiency of generating a welding track through manual teaching is low, the precision is not high, and the welding of complex workpieces is difficult to meet, the invention provides a method, a system, a device, a platform and a storage medium for the collaborative welding based on a plurality of robots, the efficiency and the precision of a welding process can be improved through the collaborative cooperation among a plurality of welding robots, and the robots can be suitable for the welding of complex tracks.
The invention is realized by the following technical scheme:
acquiring data information of an object to be welded;
performing cooperative welding on the welding object through a plurality of robots according to the welding object data information;
and generating a welding object with the welding completed.
Further, before the step of obtaining the data information of the object to be welded, the method further comprises the steps of: the welding object is pretreated.
Further, the number of the robots is at least four;
the number of the robots at least comprises four, and at least two robots are used for positioning the welding objects. For example, the two ends of a workpiece (i.e., a welding object) are positioned by at least two robots, and then the two robots in the middle perform a cooperative welding operation.
Further, the step of performing cooperative welding on the welding object by the plurality of robots according to the welding object data information further includes the steps of:
acquiring weld data information of a welding object;
carrying out welding seam positioning on a welding object through an industrial camera and laser;
confirming the coordinate position of the welding seam in real time according to the welding seam positioning data;
guiding the robot to adjust the position and the posture of the welding gun in real time through the coordinate position of the welding seam;
and performing cooperative welding on the welding object.
Further, the step of guiding the robot to adjust the position and the posture of the welding gun in real time through the coordinate position of the welding seam comprises the following steps:
acquiring data information of the coordinate position of a welding seam and state data information of the environment where the welding seam is located;
calculating a collision-free path of the guide robot according to the corresponding data information;
further, in the step of calculating and obtaining the collision-free path of the guiding robot according to the corresponding data information, a specific calculation formula is as follows:
wherein R is any positive definite symmetric matrix; j. the design is a square*(x (t)) is the optimal solution; u (x (t), U (t)) is a positive definite function, x (t) is a system state variable, U (t) is a system control input, and x (t) is a positive definite function0Is the initial state of the system and satisfies x (t)0)＝x0α is a discount factor and satisfies α e (0, 1)]U (x, U) is an effect function.
Further, after the step of generating the welding object with the welding completed, the method further comprises the steps of:
and coating and inspecting the welded object.
In order to achieve the above object, the present invention further provides a multi-robot based cooperative welding system, comprising:
the device comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring data information of an object to be welded;
the welding unit is used for carrying out cooperative welding on the welding objects through a plurality of robots according to the data information of the welding objects;
and a generating unit for generating a welding object after welding.
Further, the system further comprises:
the pretreatment module is used for pretreating a welding object;
the coating and quality inspection module is used for coating and inspecting the welded object;
accordingly, the welding unit comprises:
the first acquisition module is used for acquiring welding seam data information of a welding object;
the positioning module is used for carrying out welding seam positioning on a welding object through an industrial camera and laser;
the confirmation module is used for confirming the coordinate position of the welding seam in real time according to the welding seam positioning data;
the adjusting module is used for guiding the robot to adjust the position and the posture of the welding gun in real time through the coordinate position of the welding seam;
and the welding module is used for carrying out cooperative welding on the welding object.
Further, the adjusting module further comprises:
the second acquisition module is used for acquiring the data information of the coordinate position of the welding seam and the state data information of the environment where the welding seam is located;
and the calculation module is used for calculating and obtaining a collision-free path of the guide robot according to the corresponding data information.
In order to achieve the above object, the present invention further provides a cooperative welding apparatus based on multiple robots, wherein the apparatus comprises at least four robots;
the robot is provided with at least two positioning devices for positioning the welding objects;
the robot is provided with at least two welding robots for welding a welding object in real time;
the method is based on the multi-robot cooperative welding device and is realized through the steps of the multi-robot cooperative welding method.
In order to achieve the above object, the present invention further provides a cooperative welding platform based on multiple robots, including:
the system comprises a processor, a memory and a control program based on a plurality of robots cooperating with a welding platform;
wherein the platform control program is executed on the processor, the multi-robot based collaborative welding platform control program is stored in the memory, and the multi-robot based collaborative welding platform control program implements the multi-robot based collaborative welding method steps.
In order to achieve the above object, the present invention further provides a computer readable storage medium, where the computer readable storage medium stores a control program based on a plurality of robot-collaborative welding platforms, and the control program based on the plurality of robot-collaborative welding platforms implements a plurality of robot-collaborative welding method steps.
Compared with the prior art, the invention has the following beneficial effects:
the invention discloses a cooperative welding method based on a plurality of robots
Acquiring data information of an object to be welded;
performing cooperative welding on the welding object through a plurality of robots according to the welding object data information;
and generating a welding object with the welding completed.
And correspondingly the system unit:
the device comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring data information of an object to be welded;
the welding unit is used for carrying out cooperative welding on the welding objects through a plurality of robots according to the data information of the welding objects;
and a generating unit for generating a welding object after welding.
The robot can carry, turn and weld workpieces (welding objects) in the same station area, and the robots in the same station can work in a mutually matched mode, namely the robots work in a coordinated mode, so that the requirements of punctuality, synchronization and coordination are met. In addition, the invention can improve the efficiency and the precision of the welding process and simultaneously ensure that the robot can be suitable for welding with complex tracks.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a multi-robot cooperative welding method architecture according to the present invention;
FIG. 2 is a schematic diagram of an overall structure of a welding process flow based on a multi-robot cooperative welding method according to the present invention;
FIG. 3 is a schematic structural flow chart of a multi-robot cooperative welding method according to a first preferred embodiment of the present invention;
FIG. 4 is a schematic diagram of an adaptive dynamic programming algorithm of an artificial neural network based on a multi-robot cooperative welding method according to the present invention;
FIG. 5 is a schematic view of a flow chart of an adaptive dynamic programming algorithm based on a multi-robot cooperative welding method according to the present invention;
FIG. 6 is a schematic diagram of a multi-robot based cooperative welding system architecture according to the present invention;
FIG. 7 is a block diagram of a multi-robot based cooperative welding system according to the present invention;
FIG. 8 is a schematic view of an embodiment of a multi-robot cooperative welding apparatus according to the present invention;
FIG. 9 is a schematic diagram of a multi-robot based cooperative welding platform architecture according to the present invention;
FIG. 10 is a block diagram of a computer-readable storage medium according to an embodiment of the present invention;
description of reference numerals:
1-a first robot; 2-a second robot; 3-a third robot; 4-a fourth robot;
the objects, features and advantages of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
For better understanding of the objects, aspects and advantages of the present invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings, and other advantages and capabilities of the present invention will become apparent to those skilled in the art from the description.
The invention is capable of other and different embodiments and its several details are capable of modification in various other respects, all without departing from the spirit and scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Secondly, the technical solutions in the embodiments can be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not be within the protection scope of the present invention.
Preferably, the multi-robot-based cooperative welding method is applied to one or more terminals or servers. The terminal is a device capable of automatically performing numerical calculation and/or information processing according to a preset or stored instruction, and the hardware includes, but is not limited to, a microprocessor, an Application Specific Integrated Circuit (ASIC), a Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), an embedded device, and the like.
The terminal can be a desktop computer, a notebook, a palm computer, a cloud server and other computing equipment. The terminal can be in man-machine interaction with a client in a keyboard mode, a mouse mode, a remote controller mode, a touch panel mode or a voice control device mode.
The invention provides a method, a system, a device, a platform and a storage medium based on multi-robot cooperative welding, which are used for realizing cooperative welding data based on multiple robots.
Fig. 1 is a flowchart of a multi-robot based cooperative welding method according to an embodiment of the present invention.
In this embodiment, the method based on the multi-robot cooperative welding may be applied to a terminal with a display function or a fixed terminal, and the terminal is not limited to a personal computer, a smart phone, a tablet computer, a desktop or all-in-one machine with a camera, and the like.
The multi-robot-based cooperative welding method can also be applied to a hardware environment consisting of a terminal and a server connected with the terminal through a network. Networks include, but are not limited to: a wide area network, a metropolitan area network, or a local area network. The multi-robot cooperative welding method based on the embodiment of the invention can be executed by a server, a terminal or both.
For example, for a terminal that needs to perform multi-robot based cooperative welding, the multi-robot based cooperative welding function provided by the method of the present invention may be directly integrated on the terminal, or a client for implementing the method of the present invention may be installed. For another example, the method provided by the present invention may also be operated on a device such as a server in the form of a Software Development Kit (SDK), an interface based on the cooperative welding function of multiple robots is provided in the form of an SDK, and a terminal or other devices may implement the cooperative welding function based on multiple robots through the provided interface.
As shown in fig. 1, the present invention provides a multi-robot based cooperative welding method, which specifically includes the following steps, and the sequence of the steps in the flowchart can be changed and some steps can be omitted according to different requirements.
Acquiring data information of an object to be welded;
performing cooperative welding on the welding object through a plurality of robots according to the welding object data information;
and generating a welding object with the welding completed.
Specifically, before the step of obtaining data information of the object to be welded, the method further comprises the steps of: the welding object is pretreated. That is, as shown in fig. 2, before the step of obtaining data information of an object to be welded, the object to be welded needs to be subjected to relevant material pre-processing, namely, production preparation in general.
Preferably, the number of the robots is at least four;
the number of the robots at least comprises four, and at least two robots are used for positioning the welding objects. For example, the two ends of a workpiece (i.e., a welding object) are positioned by at least two robots, and then the two robots in the middle perform a cooperative welding operation.
Specifically, in the step of performing cooperative welding on the welding object by a plurality of robots according to the welding object data information as shown in fig. 3, the method further includes the following steps:
acquiring weld data information of a welding object;
carrying out welding seam positioning on a welding object through an industrial camera and laser;
confirming the coordinate position of the welding seam in real time according to the welding seam positioning data;
guiding the robot to adjust the position and the posture of the welding gun in real time through the coordinate position of the welding seam;
and performing cooperative welding on the welding object.
That is, in the embodiment of the present invention, a non-contact welding track generation manner is adopted. The welding seam is positioned through an industrial camera and laser, the welding seam coordinate is calculated in real time, and the robot is guided to adjust the position and the posture of the welding gun in time and move forward all the time according to the most appropriate track.
In addition, on the occasion of multi-robot welding, the real-time planning of the welding track is realized, and the multi-robot motion interference avoidance, anti-collision and other higher-level track planning are facilitated.
For the multi-robot cooperative welding system of the present invention, it is necessary to ensure not only that the multi-robot system does not conflict with any obstacles in the environment, but also that a given position is maintained between each robot, especially when considering that the robots directly have a high overlap of working spaces, the path planning is more complicated and varied compared to the single-robot system.
Furthermore, in order to improve the welding precision, the welding level of a complex welding process, such as a three-dimensional arbitrary curve welding process, is improved. The invention is also applicable to a complex welding track generation method using a robot based on vision and laser guidance.
Preferably, the step of guiding the robot to adjust the position and the posture of the welding gun in real time through the coordinate position of the welding seam comprises the following steps:
acquiring data information of the coordinate position of a welding seam and state data information of the environment where the welding seam is located;
calculating a collision-free path of the guide robot according to the corresponding data information;
in the embodiment of the present invention, specifically, in the step of calculating and obtaining the collision-free path of the guiding robot according to the corresponding data information, a specific calculation formula is as follows:
wherein R is any positive definite symmetric matrix; j. the design is a square*(x (t)) is the optimal solution; u (x (t), U (t)) is a positive definite function, x (t) is a system state variable, U (t) is a system control input, and x (t) is a positive definite function0Is the initial state of the system and satisfies x (t)0)＝x0α is a discount factor and satisfies α e (0, 1)]U (x, U) is an effect function.
That is to say, under the condition that multiple robots overlap in a large range in a working space, the calculation amount of the collaborative path planning of each robot is very large, the optimal solution is difficult to obtain by adopting the traditional space optimization control, and the real-time calculation is difficult to realize.
Therefore, the invention provides an optimization method which adopts a self-adaptive dynamic programming method to realize approximate optimization. The method is characterized in that a robot cooperative track control algorithm with an autonomous learning capability is designed. The robot can calculate the state information of the environment in real time according to the feedback information in a given environment; and designing an autonomous regulation control algorithm to quickly calculate the collision-free approximate optimal path. For each state of the system, an evaluation function, namely a cost function, is given, and specifically:
wherein x (t) is a system state variable, u (t) is a system control input, x0Is the initial state of the system and satisfies x (t)0)＝x0α is a discount factor and satisfies α e (0, 1)]U (x (t), U (t)) is a positive definite function, called the effect function;
accordingly, the calculation formula for the effector function is generally chosen as:
U(x(t),u(t))＝x(t)TQx(t)+u(t)TRu(t) (3)
wherein Q and R are arbitrary positive definite symmetric matrixes;
according to the Berman dynamic programming theory, the optimal solution J*(x (t)) should satisfy the following equation:
wherein, U (x, U) is an effect function, and x (t +1) is a state variable which satisfies the system model:
x(t+1)＝f(x(t))+g(x(t))u(t) (5)
the optimal trajectory control can be obtained from the above formula, and the calculation formula specifically is as follows:
in the embodiment of the invention, an artificial neural network is adopted to solve the dimension disaster problem existing in the dynamic programming theory.
Specifically, as shown in fig. 4, in the algorithm, an action network (action network) and an evaluation network (criterion network) are respectively implemented by two multi-layer neural networks with hidden layers. The action network is used for providing a control strategy u (x (t)) for the control system, and the evaluation network is used for evaluating the control strategy generated by the action network in real time by generating a cost function J (x (t)). Is a systemThe final goal of the system control is to make the cost function tend to be minimized by feedback adjustment of the weights of the two neural networks, i.e. the optimal cost function J*(x(t),u(t))。
Preferably, in the evaluation network, J (x (t), u (t)) is represented by the neural network as J (x (t)) Wcσ(Ycx (t)), where σ (x) is a neural network activation function, WcIs the output layer weight, YcIs the hidden layer weight. The goal of the feedback adjustment is to make the cost function J (x (t)) satisfy the bellman equation:
J(x(t))＝U(x(t),u(t))+αJ(x(t+1)) (6)
the evaluation error is as follows:
and inputting the final output result into an action network for updating the control strategy.
In the action network, u (t) is represented by a neural network as u (x (t) ═ Waσ(Yax (t)), corresponding WcWeight from hidden layer to output layer, YcIs the weight from the input layer to the hidden layer. The feedback adjustment objective is to make the output of the action network satisfy the following equation:
obtaining the action error:
and finally, obtaining an optimized control strategy, and substituting the optimized control strategy into the evaluation network for next iteration. In both networks, the adjustment of the respective weights may utilize a classical gradient descent method.
For the evaluation network, the network weight update based on the gradient descent algorithm can be expressed as:
wherein, the coefficient p represents the updating times of the weight value, η is the learning rate, EcTo evaluate the error. The weight update of the action network is similar to the evaluation network weight update.
Through the adjustment and iteration of the weights between the action network and the evaluation network, the output of the final evaluation network reaches the minimum value, namely an optimal cost function J*(x (t), u (t)), and the action network converges to the optimal control strategy u*(x(t))。
In the embodiment of the present invention, as shown in fig. 5, the overall flow of the algorithm (i.e., the adaptive dynamic programming algorithm) includes initialization and iteration.
Specifically, the initialization includes: arbitrarily selecting an initial state vector x0Selecting an approximation error epsilon of the neural network, and giving an initial control strategy u0(x (t)) given a maximum number of iterations imaxAnd setting the iteration index to be i-0.
The iteration steps are as follows:
step one, i is made to be i +1, and the ith iteration cost function J is constructed by utilizing a neural networki(x (t), u (t)), and adjusting the weight of the neural network through a gradient descent algorithm to enable the cost function to meet the following conditions:
Ji(x(t))＝U(x(t),u(t))+αJi(x(t+1)) (12)
substituting the obtained cost function into an action network, and adjusting a network weight to obtain a control strategy of the ith iteration:
step three, if | Ji(x(t))-Ji-1(x (t)) | < ε, go to step five; otherwise, executing step four.
Step four, if i is less than imaxReturning to the first step; otherwise, executing stepAnd sixthly, performing the step.
Step five, achieving an optimal control strategy u*(x(t))＝ui(x (t)), the algorithm is ended.
Step six, in imaxAnd (5) ending the algorithm if the optimal control strategy is not achieved within the times.
In an embodiment of the present invention, after the step of generating the welding object with the welding completed, the method further includes the steps of:
and coating and inspecting the welded object. That is, after the welding object is finished, the coating and the finished product quality inspection are performed according to the corresponding data information.
As shown in fig. 6, the present invention also provides a multi-robot based cooperative welding system, comprising:
the device comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring data information of an object to be welded;
the welding unit is used for carrying out cooperative welding on the welding objects through a plurality of robots according to the data information of the welding objects;
and a generating unit for generating a welding object after welding.
The details are set forth above and will not be described herein;
preferably, as shown in fig. 7, the system further comprises:
the pretreatment module is used for pretreating a welding object;
the coating and quality inspection module is used for coating and inspecting the welded object;
accordingly, the welding unit comprises:
the first acquisition module is used for acquiring welding seam data information of a welding object;
the positioning module is used for carrying out welding seam positioning on a welding object through an industrial camera and laser;
the confirmation module is used for confirming the coordinate position of the welding seam in real time according to the welding seam positioning data;
the adjusting module is used for guiding the robot to adjust the position and the posture of the welding gun in real time through the coordinate position of the welding seam;
and the welding module is used for carrying out cooperative welding on the welding object.
Further, the adjusting module further comprises:
the second acquisition module is used for acquiring the data information of the coordinate position of the welding seam and the state data information of the environment where the welding seam is located;
and the calculation module is used for calculating and obtaining a collision-free path of the guide robot according to the corresponding data information.
The details are set forth above and will not be described herein;
the invention also provides a cooperative welding device based on a plurality of robots, which comprises at least four robots;
the robot is provided with at least two positioning devices for positioning the welding objects;
the robot is provided with at least two welding robots for welding a welding object in real time;
the method is based on the multi-robot cooperative welding device and is realized through the steps of the multi-robot cooperative welding method. For example:
acquiring data information of an object to be welded;
performing cooperative welding on the welding object through a plurality of robots according to the welding object data information;
and generating a welding object with the welding completed.
The specific details of the steps have been set forth above and are not described herein again;
in the embodiment of the present invention, as shown in fig. 8, four robots are taken as an example, specifically, a first robot 1, a second robot 2, a third robot 3, and a fourth robot 4, wherein the first robot 1 and the second robot 2 are distributed on the left and right sides of a welding object and are responsible for clamping and flipping a workpiece. The third robot 3 and the fourth robot 4 are positioned in the middle of a welding object and are responsible for real-time follow-up of the actions of the two clamping robots to realize real-time welding of complex three-dimensional welding seams.
The welding mode is particularly suitable for the welding task of the complex-track welding seam of the large-scale component. That is, after the welding object is pretreated by related materials, the two ends of the workpiece are clamped and positioned by the first robot 1 and the second robot 2, then the cooperative welding operation is performed by the middle third robot 3 and the fourth robot 4, and finally the welding object is coated and finished product quality inspection is performed after the welding is finished.
As shown in fig. 9, the present invention further provides a multi-robot based cooperative welding platform, including:
the system comprises a processor, a memory and a control program based on a plurality of robots cooperating with a welding platform;
wherein the platform control program is executed on the processor, the multi-robot based collaborative welding platform control program is stored in the memory, and the multi-robot based collaborative welding platform control program implements the multi-robot based collaborative welding method steps. For example:
acquiring data information of an object to be welded;
performing cooperative welding on the welding object through a plurality of robots according to the welding object data information;
and generating a welding object with the welding completed.
The specific details of the steps have been set forth above and are not described herein again;
in an embodiment of the present invention, the built-in processor based on the multiple robot cooperative welding platforms may be composed of an integrated circuit, for example, a single packaged integrated circuit, or may be composed of a plurality of integrated circuits packaged with the same function or different functions, and include one or more Central Processing Units (CPUs), a microprocessor, a digital Processing chip, a graphics processor, and a combination of various control chips. The processor accesses each component by using various interfaces and line connections, executes or executes programs or units stored in the memory, and calls data stored in the memory to execute various functions of the multiple robots in cooperation with welding and process the data;
the memory is used for storing program codes and various data, is installed in the multi-robot-based cooperative welding platform and realizes high-speed and automatic access of the program or the data in the operation process.
The Memory includes a Read-Only Memory (ROM),
random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (Electrically-Erasable Programmable Read-Only Memory (EEPROM)), Compact Disc Read-Only Memory (CD-ROM) or other optical Disc storage, magnetic disk storage, tape storage, or any other medium readable by a computer that can be used to carry or store data.
As shown in fig. 10, the present invention further provides a computer readable storage medium, where the computer readable storage medium stores a control program based on a plurality of robot-collaborative welding platforms, and the control program based on the plurality of robot-collaborative welding platforms implements a plurality of robot-collaborative welding-method steps. For example:
acquiring data information of an object to be welded;
performing cooperative welding on the welding object through a plurality of robots according to the welding object data information;
and generating a welding object with the welding completed.
The specific details of the steps have been set forth above and are not described herein again;
in describing embodiments of the present invention, it should be noted that any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and that the scope of the preferred embodiments of the present invention includes additional implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processing module-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
The steps, systems, devices, platforms and storage media of the invention are also suitable for handling, turning and welding workpieces arranged in the same station area by a plurality of robots. The details of the steps have been set forth above and will not be described herein.
The steps, the system, the device, the platform and the storage medium of the invention can calculate the welding seam coordinate in real time through a robot complex welding track generation method based on vision and laser guidance, guide the robot to adjust the position and the posture of the welding gun in time and always advance according to the most appropriate track. The method has the advantages of high speed, high precision, easy realization of complex welding seam welding and the like. Compared with a welding mode through manual teaching or offline programming, the welding track generation mode realizes intellectualization and flexibility.
For the traditional welding process, the single robot has limited working space and cannot be suitable for complex welding tasks. The invention uses multiple robots to work cooperatively, realizes the transportation, turnover and welding of workpieces, and can be suitable for the real-time welding of complex three-dimensional welding seams.
That is to say, the universal multi-robot cooperation technology of the multi-robot operation collision and interference avoidance technology based on vision, laser guidance and self-adaptive dynamic programming is suitable for the real-time welding task of the complex three-dimensional welding seam of the large-scale component, and can realize high-efficiency and high-precision welding operation.
In general, the conveying, overturning and welding of workpieces (namely welding objects) in the same station area can be realized, and the robots in the same station can realize the mutual cooperation work, namely the cooperation of multiple robots, so that the requirements of punctuality, synchronization and coordination are met. In addition, the invention can improve the efficiency and the precision of the welding process and simultaneously ensure that the robot can be suitable for welding with complex tracks.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (13)
1. The cooperative welding method based on multiple robots is characterized by specifically comprising the following steps of:
acquiring data information of an object to be welded;
performing cooperative welding on the welding object through a plurality of robots according to the welding object data information;
and generating a welding object with the welding completed.
2. The multi-robot based cooperative welding method according to claim 1, wherein the step of obtaining data information of the objects to be welded further comprises the steps of: the welding object is pretreated.
3. The multi-robot based collaborative welding method according to claim 1, wherein the number of the plurality of robots is at least four;
the number of the robots at least comprises four, and at least two robots are used for positioning the welding objects.
4. The multi-robot based cooperative welding method according to claim 1, wherein the step of performing cooperative welding on the welding object by the plurality of robots based on the welding object data information further comprises the steps of:
acquiring weld data information of a welding object;
carrying out welding seam positioning on a welding object through an industrial camera and laser;
confirming the coordinate position of the welding seam in real time according to the welding seam positioning data;
guiding the robot to adjust the position and the posture of the welding gun in real time through the coordinate position of the welding seam;
and performing cooperative welding on the welding object.
5. The multi-robot collaborative welding method according to claim 4, wherein the step of guiding the robot to adjust the position and the posture of the welding gun in real time through the coordinate position of the welding seam comprises the following steps:
acquiring data information of the coordinate position of a welding seam and state data information of the environment where the welding seam is located;
and calculating to obtain a collision-free path of the guiding robot according to the corresponding data information.
6. The multi-robot cooperative welding method according to claim 5, wherein in the step of calculating the collision-free path of the guiding robot according to the corresponding data information, the specific calculation formula is as follows:
wherein R is any positive definite symmetric matrix; j. the design is a square*(x (t)) is the optimal solution; u (x (t), U (t)) is a positive definite function, x (t) is a system state variable, U (t) is a system control input, and x (t) is a positive definite function0Is the initial state of the system and satisfies x (t)0)＝x0α is a discount factor and satisfies α e (0, 1)]U (x, U) is an effect function.
7. The multi-robot based cooperative welding method according to claim 1, wherein after the step of generating the welding object with the welding completed, the method further comprises the steps of:
and coating and inspecting the welded object.
8. A multi-robot based collaborative welding system, comprising:
the device comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring data information of an object to be welded;
the welding unit is used for carrying out cooperative welding on the welding objects through a plurality of robots according to the data information of the welding objects;
and a generating unit for generating a welding object after welding.
9. The multi-robot based collaborative welding system according to claim 7, further comprising:
the pretreatment module is used for pretreating a welding object;
the coating and quality inspection module is used for coating and inspecting the welded object;
accordingly, the welding unit comprises:
the first acquisition module is used for acquiring welding seam data information of a welding object;
the positioning module is used for carrying out welding seam positioning on a welding object through an industrial camera and laser;
the confirmation module is used for confirming the coordinate position of the welding seam in real time according to the welding seam positioning data;
the adjusting module is used for guiding the robot to adjust the position and the posture of the welding gun in real time through the coordinate position of the welding seam;
and the welding module is used for carrying out cooperative welding on the welding object.
10. The multi-robot based collaborative welding system according to claim 9, wherein the adjustment module further comprises:
the second acquisition module is used for acquiring the data information of the coordinate position of the welding seam and the state data information of the environment where the welding seam is located;
and the calculation module is used for calculating and obtaining a collision-free path of the guide robot according to the corresponding data information.
11. A multi-robot based cooperative welding device is characterized by comprising at least four robots;
the robot is provided with at least two positioning devices for positioning the welding objects;
the robot is provided with at least two welding robots for welding a welding object in real time;
the multi-robot based cooperative welding device realizes the multi-robot based cooperative welding method steps of any one of claims 1 to 7.
12. A welding platform based on multiple robots in coordination, comprising:
the system comprises a processor, a memory and a control program based on a plurality of robots cooperating with a welding platform;
wherein the platform control program is executed on the processor, the plurality of robot-based collaborative welding platform control program is stored in the memory, and the plurality of robot-based collaborative welding platform control program implements the plurality of robot-based collaborative welding method steps of any of claims 1 to 7.
13. A computer-readable storage medium, wherein the computer-readable storage medium stores a control program for controlling a plurality of robot-based cooperative welding platforms, and the control program for controlling the plurality of robot-based cooperative welding platforms implements the plurality of robot-based cooperative welding method steps according to any one of claims 1 to 7.
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