CN111331271B - Method for optimizing welding speed of corrugated plate welding robot - Google Patents

Method for optimizing welding speed of corrugated plate welding robot Download PDF

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CN111331271B
CN111331271B CN202010056792.XA CN202010056792A CN111331271B CN 111331271 B CN111331271 B CN 111331271B CN 202010056792 A CN202010056792 A CN 202010056792A CN 111331271 B CN111331271 B CN 111331271B
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welding
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CN111331271A (en
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洪波
林健
熊昊
向垂悦
秦子濠
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Xiangtan University
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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
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
    • 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
    • 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

Abstract

The invention discloses a method for optimizing the welding speed of a corrugated plate welding robot, which solves the problem that the welding speed in the prior art can not be reasonably refined according to a welding seam, and has the effects of adjusting the welding speed according to the welding seam track and improving the welding quality; the technical scheme is as follows: optimizing the speed in the section: adaptively segmenting variable inflection points or curve parts with complex shapes in a welding seam path, and adjusting the welding speed of a welding gun according to the optimal welding speed threshold of the current segment when the welding gun welds at different segments; optimizing the speed between the sections: according to the difference of the optimal welding speed between the sections, the acceleration is adjusted at the intersection of different welding speeds according to the difference value of the welding speeds, so that the speeds between the sections are smoothly intersected without speed jump points.

Description

Method for optimizing welding speed of corrugated plate welding robot
Technical Field
The invention relates to the field of numerical control automatic welding, in particular to a method for optimizing the welding speed of a corrugated plate welding robot.
Background
The corrugated plate is also called a contour plate, various corrugated products are formed by machining plates, and the strength of the corrugated plate can be improved by 10-30 times like plates with equal thickness. Therefore, in some occasions with strict requirements on the weight of products, such as aerospace, ships, containers, truck compartments, highway isolation plates and the like, the using amount of corrugated plates is greatly increased.
Corrugated plates have various types, and generally have various classification modes according to differences in plate type wave height, overlapping structure, material, shape and the like. According to the wave height, the wave height can be divided into a high wave plate (the wave height is more than or equal to 70mm), a medium wave plate (the wave height is more than or equal to 30mm and less than 70mm) and a low wave plate (the wave height is less than 30 mm); the substrate can be classified into a galvanized substrate, a hot-dip aluminum-zinc plate, a hot-dip galvanized aluminum plate and the like according to the material quality of the substrate; the corrugated plate is divided into rectangular, trapezoidal and circular arc corrugated plates and other specially-shaped corrugated plates according to the shapes.
During the welding of corrugated plates, the welding speed has a great influence on the welding quality. Too fast welding speed can cause insufficient temperature of a molten pool, and easily causes the defects of incomplete penetration, incomplete fusion, poor weld forming and the like. If the welding speed is too slow, the high temperature residence time increases, the width of the heat affected zone increases, the crystal grains of the welded joint become coarse, the mechanical properties decrease, and the amount of deformation increases. Therefore, the optimization of the welding speed has important significance for improving the welding quality.
The train speed curve optimization based on the human learning optimization algorithm researched by Caochon et al of the Kasco signal Limited company divides a line into n intervals to realize independent speed regulation of each interval, but is limited in that the interval division mode is not suitable for the welding field, and the speed between the intervals is linked with speed jump.
The disadvantage that the welding speed is lower than the given speed exists in the extension line pre-acceleration and deceleration control strategy, so that the weld penetration and the depth of the small hole both show a rising trend, the uniformity of the weld is influenced, and the welding quality is reduced.
For a low-power laser thermal-conduction welding speed planning strategy of Wubo, Wuli of Zhejiang university and a laser welding bevel speed algorithm based on triangular detour, a triangular detour and circumference detour speed control algorithm is proposed, and the method has the advantages that the problem of uneven welding seams caused by acceleration and deceleration at a bevel is solved to a certain extent, but the method is limited in that the speed before and after detour is not changed, only the speed direction is changed, the detour time is long, and the welding efficiency is reduced.
Based on the defects, in order to improve the welding quality through welding speed optimization, the invention designs the method for optimizing the welding speed of the corrugated plate welding robot, and the method can be used for adaptively segmenting the welding line, regulating the speed in the segment, smoothly connecting the speeds between the segments, shortening the speed regulation time, improving the welding quality and simultaneously improving the welding efficiency.
Disclosure of Invention
The invention provides a method for optimizing the welding speed of a corrugated plate welding robot, which solves the problems that the welding speed cannot be adjusted according to the specific shape of a corrugated plate during the welding of the corrugated plate, the welding quality is influenced by the sudden change of the speed at the corner, the welding efficiency is influenced by the adjustment time of the welding speed, and the like.
The technical scheme adopted by the invention aiming at the problems is as follows: firstly, setting a welding seam fitting minimum distance threshold value according to welding quality requirements, calling discrete points on the surface of a welding seam identified by a welding seam identification system by a central processing unit, fitting the discrete points by the central processing unit by using a least square method, halving the discrete points if a fitting result does not meet the minimum distance threshold value, fitting each halve, comparing the fitting result with the minimum distance threshold value, and outputting a welding seam track function X fitted by the discrete points on the surface of the welding seam in the set if the fitting result meets the minimum distance threshold valueiIf the minimum distance threshold value is not met, half-taking and fitting are continuously carried out until the minimum distance threshold value is met, the method can fit the best welding seam track according to the welding quality requirement, and the welding seam is divided into n sections of { S }1,S2,...,SnAnd each section has a best fit track, so that a foundation is provided for optimizing the speed in the section. And the welding seam segmentation is not mechanically divided into n segments, but is self-adaptive segmentation, so that the segmentation effect is improved.
According to the welding quality requirement and the corrugated plate welding process, n sections of welding seams { S }1,S2,...,SnSetting an optimal welding speed threshold value v for each sectioniFor each section of weld track curve function XiPerforming one-time derivation to obtain the ground speed function V of the corresponding welding seam subsectioniIf the instantaneous speed of more than or equal to 2 continuous discrete points falls outside the optimal speed threshold value, speed adjustment is needed to keep the welding gun at the optimal speed.
After the speed optimization in the section is completed, the speed optimization between the sections is carried out, and S is takeniLast discrete point G of segmentiAnd Si+1First discrete point G of segmenti+1Separately calculate XiAnd Xi+1The tangent equation at the two points takes the intersection O of the two tangents as the center of a circle and the radius R as the radius to make a circle, which is a roundabout track with roundabout arc speed, if v isi＝vi+1Then the welding gun moves at the maximum speed on the circuitous track; if v isi≠vi+1According to the permissionMaximum acceleration a ofmaxAccelerating to the maximum speed allowed, moving for a certain distance and then decelerating to vi+1The method realizes the smooth connection of the speeds between the sections, overcomes the defect that the welding speed is lower than the given speed in the extension line pre-deceleration control strategy, and also slows down the problem that the roundabout idle running time of the arc roundabout angular speed control strategy is long.
Drawings
FIG. 1 is a flow chart of a method for optimizing the welding speed of a corrugated plate welding robot
FIG. 2 is a flow chart of intra-segment velocity optimization
FIG. 3 is a flow chart of inter-segment velocity optimization
FIG. 4 is a schematic diagram of speed planning on a detour path based on a circular arc speed detour control strategy when optimal welding speeds of front and rear segments are equal
FIG. 5 is a schematic diagram of speed planning on a detour path based on a circular arc speed detour control strategy when the optimal welding speeds of the front and rear sections are unequal
FIG. 6 is a schematic diagram of speed planning on a detour path based on a circular arc speed detour control strategy for right-angle inflection points
FIG. 7 is a schematic diagram of speed planning on a detour path based on a circular arc speed detour control strategy for right-angle inflection points
Detailed description of the preferred embodiment
The invention provides a method for optimizing the welding speed of a corrugated plate welding robot, which solves the problems that the welding speed cannot be adjusted according to the specific shape of a corrugated plate during the welding of the corrugated plate, the welding quality is influenced by the sudden change of the speed at the corner, the welding efficiency is influenced by the adjustment time of the welding speed, and the like.
Example 1: referring to fig. 1, 2, 3 and 4, the technical solution adopted by the present invention to solve the above problems is as follows: firstly, setting a minimum distance threshold value of welding seam fitting according to welding quality requirements, calling discrete points (x (i), y (i)) on the surface of the welding seam identified by a welding seam identification system by a central processing unit, fitting the discrete points by the central processing unit by using a least square method, halving the discrete points if a fitting result does not meet the minimum distance threshold value L, fitting each halve independently, then comparing the fitting result with the minimum distance threshold value L, wherein the minimum threshold value is more than or equal to 0 and less than or equal to R,
R2＝(x-A)2+(y-B)2
x2+y2+ax+by+c＝0
in the formula:
a＝-2A,b＝-2B,c＝A2+B2-R2
Q(a,b,c)＝∑[x2(i)+y2(i)+ax(i)+by(i)+c]2
Figure RE-GDA0002495997080000051
Figure RE-GDA0002495997080000052
Figure RE-GDA0002495997080000053
by solving this system of equations, one can obtain
Figure RE-GDA0002495997080000054
Figure RE-GDA0002495997080000055
Figure RE-GDA0002495997080000056
Wherein
f(x,y)＝N∑x2(i)-∑x(i)∑x(i)
g(x,y)＝N∑x(i)y(i)-∑x(i)∑y(i)
h(x,y)＝N∑x2(i)-N∑x(i)∑y2(i)-∑[x2(i)+y2(i)]∑x(i)
k(x,y)＝N∑y2(i)-∑y(i)∑y(i)
l(x,y)＝N∑x2(i)y(i)+N∑y2(i)-∑[x2(i)+y2(i)]∑Y(i)
If the minimum distance threshold is met, outputting a welding seam track function Y fitted by discrete points on the surface of the welding seam in the setiIf the minimum distance threshold value is not met, half-taking and fitting are continuously carried out until the minimum distance threshold value is met, the method can fit the best welding seam track according to the welding quality requirement, and the welding seam is divided into n sections of { S }1,S2,...,SnAnd each section has a self-optimal fitting track, so that a foundation is provided for the speed optimization in the section, the welding seam section is not mechanically divided into n sections, but is self-adaptive, and the section effect is improved.
According to the welding quality requirement and the corrugated plate welding process, n sections of welding seams { S }1,S2,...,SnSetting an optimal welding speed threshold value v for each sectioniFor each section of welding seam track curve function YiPerforming one-time derivation to obtain the ground speed function V of the corresponding welding seam subsectioniIf the instantaneous speed of more than or equal to 2 continuous discrete points falls outside the optimal speed threshold value, speed adjustment is needed to keep the welding gun at the optimal speed.
Completing the speed optimization in the section, entering the speed optimization between the sections, and taking SiLast discrete point G of segmentiAnd Si+1First discrete point G of segmenti+1Separately calculate YiAnd Yi+1Tangent equation H at these two pointsiAnd Hi+1Taking the intersection O of the two tangent lines as the center of a circle and the radius R as the radius to make a circle, taking the minimum value allowed by the welding platform as R, wherein the circle is a circuitous track with circuitous circular arc speed, vi＝vi+1The welding torch is accelerated on the circuitous track with the maximum acceleration to the maximum speed allowed vmaxThe acceleration stage path is SAddingFrom the end of the detour trajectory SAddingIs decelerated to v at the maximum decelerationi+1Compared with running the entire detour rail at a constant speedGreatly shortened tracking and idle running time
Figure RE-GDA0002495997080000061
Figure RE-GDA0002495997080000062
v-v0＝at
The speed between the sections is smoothly connected, the defect that the welding speed is lower than the given speed in an extension line pre-deceleration control strategy is overcome, and the problem that the circuitous idle running time of an arc circuitous folding angular speed control strategy is long is solved.
Example 2: referring to fig. 1, 2, 3, 5, v is the optimum welding speed for the sequence, which is differenti≠vi+1According to the maximum acceleration a allowedmaxAccelerating to the maximum speed allowed, and moving to the end S of the roundabout trackReducingThen decelerated to v at maximum decelerationi+1And the welding speed is smoothly connected.
Example 3: referring to fig. 1, 2, 3 and 6, for different angles of weld seam break angles, the rapid change of the speed and direction can be realized by an arc detouring strategy through an intersegment speed optimization method, so that the advantage of the arc detouring strategy of changing the speed and the direction is maintained, and the adverse effect of the arc detouring strategy on the welding efficiency is weakened.
The above description is only a few specific embodiments of the present invention, and it is obvious that modifications or specific substitutions by anyone skilled in the art under the technical scheme of the present invention are included in the scope of the present invention defined by the claims.

Claims (1)

1. A method for optimizing the welding speed of a corrugated plate welding robot is characterized by comprising the following steps:
optimizing the speed in the step (1): and adaptively segmenting the variable inflection points or the curve parts with complex shapes in the welding seam path. According toThe linear law of the welding seam divides the welding seam into n sections of S1,S2,...,SnSetting a minimum distance threshold value for each section, fitting discrete points on the surface of a welding seam by using a least square method, taking half of the discrete points to fit again when the minimum distance threshold value is not met to obtain a fitting curve of the welding seam, obtaining a speed function of the welding seam curve for each section by once derivation of the fitting function of the welding seam curve, setting an optimal speed threshold value for each section, if instantaneous speeds of more than or equal to 2 continuous discrete points fall outside the optimal speed threshold value, carrying out speed regulation to keep a welding gun at the optimal speed, and adjusting the welding speed of the welding gun according to the optimal welding speed threshold value of the current section when the welding gun is used for welding at different sections;
and (2) optimizing the speed between sections: according to the difference of the optimal welding speed between the sections, the acceleration is adjusted at the intersection of different welding speeds according to the difference value of the welding speeds, so that the speeds between the sections are smoothly intersected without speed jump points.
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