CN111360785A - Robot-based welding method and device, industrial robot and storage medium - Google Patents
Robot-based welding method and device, industrial robot and storage medium Download PDFInfo
- Publication number
- CN111360785A CN111360785A CN202010114463.6A CN202010114463A CN111360785A CN 111360785 A CN111360785 A CN 111360785A CN 202010114463 A CN202010114463 A CN 202010114463A CN 111360785 A CN111360785 A CN 111360785A
- Authority
- CN
- China
- Prior art keywords
- welding
- robot
- target
- program
- weld
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/20—Software design
- G06F8/22—Procedural
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/30—Creation or generation of source code
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/04—Manufacturing
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Abstract
The invention discloses a welding method based on a robot, which is characterized in that a preset robot teaching tool is called to teach each welding node of a target welding line; generating a cyclic welding program of the target welding seam according to each welding node; and executing a welding operation according to the cyclic welding program to weld the target welding seam. In addition, the invention also provides a welding device based on the robot, an industrial robot and a computer readable storage medium, the invention realizes the welding of the plane welding seam based on the use of the industrial robot, avoids the problem that the welding quality is difficult to control by welding in a manual mode, and in addition, the invention performs the rapid, accurate and high-quality welding of the plane welding seam based on the industrial robot, thereby ensuring the integral welding speed to a great extent and reducing the cost required by the integral welding.
Description
Technical Field
The invention belongs to the technical field of industrial robots, and particularly relates to a welding method and device based on a robot, an industrial robot and a computer readable storage medium.
Background
In recent times, welding for long welding seams on a plane usually requires higher welding levels and welding experience, so that currently, welding for long welding seams on a plane is performed manually based on a worker with unique experience.
However, it is difficult to accurately control the final welding quality by manually welding, the overall welding speed cannot be guaranteed, and the required labor cost is high. Therefore, how to operate the industrial robot and realize the rapid, accurate and high-quality welding of the planar long welding line with lower working cost is a technical problem to be solved urgently in the industry.
Disclosure of Invention
The invention mainly aims to provide a welding method and device based on a robot, an industrial robot and a computer readable storage medium, and aims to solve the technical problem of how to operate the industrial robot to realize rapid, accurate and high-quality welding of a plane long welding seam with lower working cost.
In order to achieve the above object, the present invention provides a robot-based welding method, comprising the steps of:
calling a preset robot teaching tool to teach each welding node of the target welding line;
generating a cyclic welding program of the target welding seam according to each welding node;
and executing a welding operation according to the cyclic welding program to weld the target welding seam.
Preferably, the welding node comprises: a welding start point and a welding end point,
the step of calling a preset robot teaching tool to teach each welding node of the target welding seam comprises the following steps:
and calling the robot teaching tool to teach the welding starting point and the welding ending point when the robot performs welding operation on the target welding line.
Preferably, before the step of the cyclic welding program for generating the target weld according to each welding node, the method further includes:
obtaining welding parameters for performing a welding operation on the target weld, wherein the welding parameters include: welding step length and welding pendulum width;
the step of generating the cyclic welding program of the target weld according to each welding node includes:
and generating a cyclic welding program of the target welding line according to the welding parameters and the welding nodes.
Preferably, the step of generating the cyclic welding program of the target weld according to the welding parameters and the welding nodes includes:
detecting node coordinates of each welding node;
calculating the welding step coordinate of the target welding line according to the node coordinate and the welding step;
and substituting the welding step coordinate and the welding pendulum width into a preset circulation statement to generate the circulation welding program, wherein the preset circulation statement is a calculation statement used for marking a welding path.
Preferably, the step of performing a welding operation according to the cyclic welding program to weld the target weld includes:
detecting a welding path marked by the preset circulating statement in the circulating welding program;
and according to the welding path, circularly performing the welding operation by taking the end point of the previous welding in the welding operation process as the starting point of the current welding so as to weld the target welding seam.
Preferably, after the step of cyclically performing the welding operation to weld the target weld, the method further includes:
and stopping executing the welding operation according to the packaged welding ending instruction in the circulating welding program.
Preferably, after the step of cyclically performing the welding operation to weld the target weld, the method further includes:
and when the detected end point of the current welding is the welding end point in the welding nodes, automatically stopping executing the welding operation.
In order to achieve the above object, the present invention also provides a robot-based welding apparatus including:
the teaching module is used for calling a preset robot teaching tool to teach each welding node of the target welding line;
the generating module is used for generating a cyclic welding program of the target welding seam according to each welding node;
and the execution module is used for executing welding operation according to the cyclic welding program so as to weld the target welding seam.
Further, to achieve the above object, the present invention also provides an industrial robot comprising: a memory, a processor, and a robot-based welding program stored on the memory and executable on the processor, the robot-based welding program when executed by the processor implementing the steps of the robot-based welding method as described above.
Furthermore, to achieve the above object, the present invention also provides a computer readable storage medium having stored thereon a robot based welding program, which when executed by a processor, implements the steps of the robot based welding method as described above.
The invention provides a robot-based welding method, a robot-based welding device, an industrial robot and a computer-readable storage medium, wherein each welding node of a target welding line is taught by calling a preset robot teaching tool; generating a cyclic welding program of the target welding seam according to each welding node; and executing a welding operation according to the cyclic welding program to weld the target welding seam.
The invention realizes the welding of the plane welding seam based on the industrial robot, avoids the problem that the welding quality is difficult to control by manual welding, and in addition, the invention carries out fast, accurate and high-quality welding of the plane welding seam based on the industrial robot, thereby greatly ensuring the integral welding speed and reducing the cost required by the integral welding.
Drawings
Fig. 1 is a schematic structural diagram of a terminal device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram of one embodiment of a robot-based welding method of the present invention;
FIG. 3 is a schematic flow chart diagram of another embodiment of a robot-based welding method of the present invention;
FIG. 4 is a flowchart illustrating the detailed steps of an embodiment of the robot-based welding method of the present invention;
FIG. 5 is a flowchart illustrating a detailed process of step S30 in an embodiment of the robot-based welding method of the present invention;
FIG. 6 is a schematic diagram of an application scenario in an embodiment of the robot-based welding method of the present invention;
FIG. 7 is a schematic view of a welding path in an embodiment of the robot-based welding method of the present invention;
fig. 8 is a functional block diagram of the robot-based welding apparatus of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: calling a preset robot teaching tool to teach each welding node of the target welding line; generating a cyclic welding program of the target welding seam according to each welding node; and executing a welding operation according to the cyclic welding program to weld the target welding seam.
In recent times, welding for long welding seams on a plane usually requires higher welding levels and welding experience, so that currently, welding for long welding seams on a plane is performed manually based on a worker with unique experience.
However, it is difficult to accurately control the final welding quality by manually welding, the overall welding speed cannot be guaranteed, and the required labor cost is high. Therefore, how to operate the industrial robot and realize the rapid, accurate and high-quality welding of the planar long welding line with lower working cost is a technical problem to be solved urgently in the industry.
The robot-based welding method provided by the invention comprises the steps of teaching each welding node of a target welding line by calling a preset robot teaching tool; generating a cyclic welding program of the target welding seam according to each welding node; and executing a welding operation according to the cyclic welding program to weld the target welding seam.
The welding method and the welding device have the advantages that the welding of the plane welding line based on the industrial robot is realized, the problem that the welding quality is difficult to control in a manual mode is solved, in addition, the welding method and the welding device are used for welding the plane welding line based on the industrial robot quickly, accurately and high in quality, the integral welding speed is greatly guaranteed, and the cost required by integral welding is reduced.
As shown in fig. 1, fig. 1 is a schematic structural diagram of a terminal device in a hardware operating environment according to an embodiment of the present invention.
The terminal device in the embodiment of the present invention may be a terminal device such as an industrial robot having a virtualization platform mounted thereon or a server (e.g., an X86 server) for controlling an industrial robot.
As shown in fig. 1, the terminal device may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 does not constitute a limitation of the terminal device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is one type of computer storage medium, may include an operating system, a network communication module, a user interface module, and a robot-based welding program.
In the terminal device shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and processor 1001 may be configured to invoke a robot-based welding program stored in memory 1005 and perform the following operations:
calling a preset robot teaching tool to teach each welding node of the target welding line;
generating a cyclic welding program of the target welding seam according to each welding node;
and executing a welding operation according to the cyclic welding program to weld the target welding seam.
Further, the welding node comprises: a welding start point and a welding end point,
the step of calling a preset robot teaching tool to teach each welding node of the target welding seam comprises the following steps:
and calling the robot teaching tool to teach the welding starting point and the welding ending point when the robot performs welding operation on the target welding line.
Further, before the step of the cyclic welding procedure of generating the target weld according to each welding node, the method further includes:
obtaining welding parameters for performing a welding operation on the target weld, wherein the welding parameters include: welding step length and welding pendulum width;
the step of generating the cyclic welding program of the target weld according to each welding node includes:
and generating a cyclic welding program of the target welding line according to the welding parameters and the welding nodes.
Further, the step of generating a cyclic welding program of the target weld according to the welding parameters and the welding nodes includes:
detecting node coordinates of each welding node;
calculating the welding step coordinate of the target welding line according to the node coordinate and the welding step;
and substituting the welding step coordinate and the welding pendulum width into a preset circulation statement to generate the circulation welding program, wherein the preset circulation statement is a calculation statement used for marking a welding path.
Further, the step of performing a welding operation according to the cyclical welding program to weld the target weld includes:
detecting a welding path marked by the preset circulating statement in the circulating welding program;
and according to the welding path, circularly performing the welding operation by taking the end point of the previous welding in the welding operation process as the starting point of the current welding so as to weld the target welding seam.
Further, after the step of cyclically performing the welding operation to weld the target weld, the method further includes:
and stopping executing the welding operation according to the packaged welding ending instruction in the circulating welding program.
Further, after the step of cyclically performing the welding operation to weld the target weld, the method further includes:
and when the detected end point of the current welding is the welding end point in the welding nodes, automatically stopping executing the welding operation.
Based on the hardware structure, the invention provides various embodiments of the welding method based on the robot.
Referring to fig. 2, fig. 2 is a schematic flow chart of an embodiment of a robot-based welding method according to the present invention, in the embodiment, the robot-based welding method according to the present invention includes:
and step S10, calling a preset robot teaching tool to teach each welding node of the target welding line.
In this embodiment, based on calling preset robot teaching instrument, for current industrial robot carries out welding operation's target welding seam, teach each welding node.
It should be noted that, in this embodiment, the preset robot teaching tool may be any tool, such as a teaching pen, etc., that is commercially available for teaching an industrial robot to perform a specific industrial operation, and it should be understood that the robot teaching tool specifically invoked is not specifically limited based on the welding method of the robot in the present invention.
Further, as an embodiment, step S10 may include:
and step S11, calling the robot teaching tool to teach the welding starting point and the welding ending point when the robot performs the welding operation on the target welding line.
It should be noted that, in this embodiment, the robot-based welding method of the present invention is based on calling a preset robot teaching tool to teach each welding node of a target weld of a current industrial robot performing a welding operation, including but not limited to a welding start point and a welding end point, it should be understood that, based on teaching requirements of different industrial robots, it is of course possible to teach the target weld of the welding operation for the industrial robot different from the number or type of the welding nodes mentioned above, and the number, type, and the like of the welding nodes that need to be taught for the industrial robot are not limited in the robot-based welding method of the present invention.
Specifically, for example, based on calling any teaching tool for teaching a current industrial robot to perform a welding operation, a process of performing a welding operation on a long weld on a plane for the current industrial robot is taught, a welding start point at which the current industrial robot starts to weld for the long weld on the plane is taught, and a welding end point at which the current industrial robot finishes welding for the long weld on the plane is identified.
And step S20, generating a cyclic welding program of the target welding seam according to each welding node.
In this embodiment, based on calling preset robot teaching instrument, for the target welding seam that current industrial robot carries out welding operation, after teaching each welding node, according to each welding node of teaching and each welding parameter of predefine basis when current industrial robot carries out welding operation to this target welding seam, carry out the circulation welding procedure that welding operation was carried out to the target welding seam for current industrial robot.
Further, referring to fig. 3, as an embodiment, before step S20, the robot-based welding method of the present invention may further include:
step S40, obtaining welding parameters for performing a welding operation on the target weld, wherein the welding parameters include: the welding step length and the welding pendulum width.
It should be noted that, in this embodiment, while teaching each welding node for a target weld seam of a current industrial robot for a welding operation based on calling a preset robot teaching tool, based on a requirement of the current industrial robot for the welding operation on the target weld seam, predefined welding parameters according to which the current industrial robot performs the welding operation on the target weld seam may be input by a worker, where the welding parameters include but are not limited to: welding step length and welding swing width, it should be understood that, based on the requirement of different industrial robots to perform welding operation on the target weld, other welding parameters different from the welding step length and welding swing width input by the worker in this embodiment may be predefined, and the welding method based on robots in the present invention is not limited to the number and type of the defined welding parameters.
Specifically, for example, welding parameters, namely a welding step and a welding pendulum width, input by a worker and used for predefining the welding operation of the current industrial robot on the target welding seam are acquired, based on the welding step in the welding parameters, a preset robot teaching tool is combined based on calling, the target welding seam for the current industrial robot to perform the welding operation is obtained, various taught welding nodes, namely a welding starting point at which the current industrial robot starts to perform welding on the long welding seam on the plane and a welding ending point at which the current industrial robot performs welding completion on the long welding seam on the plane are identified, and a cyclic welding program for performing the welding operation on the long welding seam on the plane is obtained for the current industrial robot.
Further, as an embodiment, step S20 may include:
and step A, generating a cyclic welding program of the target welding line according to the welding parameters and the welding nodes.
Further, referring to fig. 4, as an embodiment, step a may include:
step A1, detecting the node coordinates of each welding node;
step A2, calculating the welding step coordinates of the target welding line according to the node coordinates and the welding step;
and step A3, substituting the welding step size coordinate and the welding swing width into a preset cycle statement to generate the cycle welding program.
Specifically, for example, in the application scenario as shown in fig. 6, after teaching a welding start point Pstart at which the current industrial robot starts welding for a long weld on the plane and identifying a welding end point Pend at which the current industrial robot finishes welding for the long weld on the plane based on calling a preset robot teaching tool, and acquiring a welding step w _ length and a welding pendulum width w _ width, which are defined in advance by a worker and are used when the current industrial robot performs a welding operation for the target weld, coordinates of the taught welding start point Pstart and the welding end point Pend are detected as (x1, y1, z1) and (x2, y2, z2), respectively.
Firstly, calculating the number N of cycles in the tree-shaped swinging cycle welding process of the long welding seam on the plane by the current industrial robot according to the coordinates (x1, y1, Z1) and (x2, y2, Z2) of the welding starting point Pstart and the welding ending point Pend and the welding step length w _ length, namely calculating according to the formula (x2-x1)/w _ length; (N ∈ Z).
After the number N of times of circulation in the process of carrying out tree-shaped swing circulation welding on the welding seam on the plane by the current industrial robot is calculated, the welding step size coordinate Sp of the long welding seam on the welding plane in a single circulation is further calculated, namely Sp is [ (x2-x1)/N, (y2-y1)/N, (z2-z1)/N ] when the long welding seam on the plane is carried out tree-shaped swing circulation welding by the current industrial robot.
And after calculating the welding step size coordinate Sp of the long welding seam on the single-cycle welding plane when the current industrial robot performs the tree-shaped swing cycle welding on the long welding seam on the plane, substituting the obtained welding swing width w _ width predefined by a worker during the welding operation into a preset cycle statement by referring to the welding step size coordinate Sp, and calculating each welding coordinate P _ A, P _ B, P _ C of the long welding seam on the single-cycle welding plane when the current industrial robot performs the tree-shaped swing cycle welding on the long welding seam on the plane.
It should be noted that, in this embodiment, the preset loop statement is a calculation statement for identifying a welding path of a single-loop welding when the industrial robot performs the tree-shaped swing loop welding on the target weld, and may specifically be in a language structure as follows:
i＝0；i<＝N；i++；
P_A＝[i*(x2-x1)/N+w_length,w_width,(z2-z1)/N]；
P_B＝[i*(x2-x1)/N+w_length,-w_width,(z2-z1)/N]；
P_C＝[i*(x2-x1)/N+w_length,(y2-y1)/N,(z2-z1)/N]；
it should be understood that, based on the requirement of different industrial robots to perform welding operation on the target weld, it is of course possible to use other calculation statements different from the language structure shown above as the preset loop statements in the robot-based welding method of the present invention, and the robot-based welding method of the present invention does not limit the specific language format and the like of the preset loop statements.
And step S30, executing welding operation according to the circulation welding program to weld the target welding seam.
In this embodiment, according to each taught welding node and each welding parameter defined in advance when the current industrial robot performs welding operation on the target welding seam, after the cyclic welding program for performing welding operation on the target welding seam is generated for the current industrial robot, the current industrial robot executes the cyclic welding program to perform welding operation, and performs welding on the target welding seam.
Further, referring to fig. 5, as an embodiment, the step S30 includes:
step S31, detecting a welding path marked by the preset circulation statement in the circulation welding program;
and step S32, circularly executing the welding operation by taking the end point of the previous welding in the welding operation process as the starting point of the current welding according to the welding path so as to weld the target welding seam.
Specifically, for example, in the application scenario shown in fig. 6, when the number N of cycles in the process of performing tree-shaped weaving cycle welding on the long weld bead on the plane by the current industrial robot is calculated according to the coordinates (x1, y1, z1) and (x2, y2, z2) of the obtained welding start point Pstart and welding end point Pend and the welding step w _ length, and when the long weld bead on the plane by the current industrial robot is further calculated, the welding step coordinate Sp of the long weld bead on the single-cycle welding plane is calculated, with reference to the welding step coordinate Sp, and when the long weld bead on the plane by the current industrial robot is tree-shaped weaving cycle welded, after each welding coordinate P _ A, P _ B, P _ C of the long weld bead on the single-cycle welding plane is calculated, the current industrial robot performs the generated cycle welding program, detecting a calculation statement which is packaged in the cyclic welding program and is used for identifying a welding path when the plane welding seam is welded, so as to identify the welding path when the current industrial robot carries out tree-shaped swing cyclic welding on the long welding seam on the plane as shown in fig. 7;
according to the welding path identified by the detection when the long welding seam on the plane is subjected to tree-shaped swinging circulation welding, the current industrial robot circularly performs the welding operation to perform the tree-shaped swinging circulation welding on the long welding seam on the plane by taking the end point P _ C of the previous circulation welding as the starting point Pstart of the current welding in the process of performing the tree-shaped swinging circulation welding operation according to the circulation sequence (the circulation welding sequence path has the coordinates of Pstart-P _ A-P _ B-Pstart-P _ C in sequence until P _ C is equal to Pend).
In the embodiment, each welding node is taught for a target welding seam of the current industrial robot for welding operation based on calling a preset robot teaching tool; based on the requirement of the current industrial robot for welding operation on the target welding seam, the preset welding parameters according to which the current industrial robot performs welding operation on the target welding seam can be input by a worker; according to each taught welding node and each welding parameter which is defined in advance and is used for welding the target welding line by the current industrial robot, a cyclic welding program for welding the target welding line is generated for the current industrial robot; currently, industrial robots execute the cyclic welding program to perform welding operations, and perform tree-shaped swing cyclic welding on target weld joints.
The welding method and the welding device have the advantages that the welding of the plane welding line based on the industrial robot is realized, the problem that the welding quality is difficult to control in a manual mode is solved, in addition, the welding method and the welding device are used for welding the plane welding line based on the industrial robot quickly, accurately and high in quality, the integral welding speed is greatly guaranteed, and the cost required by integral welding is reduced.
Further, based on the above embodiment, a further embodiment of the robot-based welding method according to the present invention is provided, and in this embodiment, after step S30, the robot-based welding method according to the present invention may further include:
and step S50, stopping executing the welding operation according to the end welding instruction of the package in the circulation welding program.
It should be noted that, in this embodiment, based on the requirement of the industrial robot to perform the cyclic welding operation on the target weld, the worker may previously define, in the cyclic welding program executed by the industrial robot, a welding ending instruction for instructing the industrial robot to end executing the cyclic welding operation.
Specifically, for example, when the end welding instruction which is packaged in advance by the staff and used for instructing the industrial robot to terminate the execution of the circular welding operation is detected in the circular welding program during the process that the industrial robot executes the generated circular welding program so as to sequentially and circularly perform the welding operation to perform the tree-shaped swing circular welding on the long weld joint on the plane according to the welding path which is detected and identified when the industrial robot performs the tree-shaped swing circular welding on the long weld joint on the plane, the industrial robot immediately ends at the current moment and continues to perform the tree-shaped swing circular welding on the long weld joint on the plane.
Further, as an embodiment, after the step S30, the robot-based welding method of the present invention may further include:
and step S60, when the end point of the current welding is detected to be the welding end point in the welding nodes, automatically stopping executing the welding operation.
Specifically, for example, in the process that the current industrial robot executes the generated cyclic welding program to sequentially and cyclically execute the welding operation to execute the tree-shaped weaving cyclic welding on the long weld joint on the plane according to the welding path detected and recognized when the long weld joint on the plane is subjected to the tree-shaped weaving cyclic welding, the coordinate of the end point P _ C of the current cyclic welding is detected, and when the coordinate of the welding end point Pend which is based on the identification of the completion of the welding of the current industrial robot and taught by calling the preset robot teaching tool is the same, the current industrial robot immediately automatically ends at the current moment to continue to execute the tree-shaped weaving cyclic welding on the long weld joint on the plane.
In this embodiment, the industrial robot may stop performing the welding operation according to the welding path identified by the detection, in the process of performing the welding operation on the target weld seam by performing the welding operation in a circulating manner, according to the welding ending instruction encapsulated in the generated circulating welding program; or automatically stopping executing the welding operation when the detected end point of the current welding is the welding end point in the welding nodes taught in advance. The welding operation can be automatically defined and terminated by the industrial robot according to the working personnel, or the welding operation can be automatically terminated, and the flexibility of welding the plane welding seam by the industrial robot is improved.
In addition, referring to fig. 8, fig. 8 is a functional module schematic diagram of the welding device based on the robot according to the present invention, and in an embodiment of the present invention, a welding device based on the robot is further provided, including:
the teaching module is used for calling a preset robot teaching tool to teach each welding node of the target welding line;
the generating module is used for generating a cyclic welding program of the target welding seam according to each welding node;
and the execution module is used for executing welding operation according to the cyclic welding program so as to weld the target welding seam.
Optionally, a teaching module, comprising:
and the teaching unit is used for calling the robot teaching tool and teaching the welding starting point and the welding ending point when the robot performs welding operation on the target welding seam.
Optionally, the robot-based welding device further comprises:
an obtaining module configured to obtain welding parameters for performing a welding operation on the target weld, wherein the welding parameters include: the welding step length and the welding pendulum width.
Optionally, the generating module is further configured to generate a cyclic welding program of the target weld according to the welding parameters and each welding node.
Optionally, the generating module includes:
the first detection unit is used for detecting the node coordinates of each welding node;
the calculation unit is used for calculating the welding step coordinate of the target welding line according to the node coordinate and the welding step;
and the generating unit is used for substituting the welding step coordinate and the welding swing width into a preset circulation statement to generate the circulation welding program, wherein the preset circulation statement is a calculation statement used for marking a welding path.
Optionally, the execution module includes:
the second detection unit is used for detecting the welding path marked by the preset circulation statement in the circulation welding program;
and the welding unit is used for circularly executing the welding operation by taking the end point of the previous welding in the welding operation process as the starting point of the current welding according to the welding path so as to weld the target welding seam.
Optionally, the robot-based welding device further comprises:
and the first termination module is used for stopping executing the welding operation according to the welding finishing instruction of the package in the circulating welding program.
Optionally, the robot-based welding device further comprises:
and the second termination module is used for automatically stopping executing the welding operation when the detected end point of the current welding is the welding termination point in the welding nodes.
The steps implemented by the functional modules of the robot-based welding device may refer to the embodiments of the robot-based welding method of the present invention, and are not described herein again.
Furthermore, an embodiment of the present invention further provides an industrial robot, including: a memory, a processor, and a robot-based welding program stored on the memory and executable on the processor, the robot-based welding program when executed by the processor implementing the steps of the robot-based welding method as described above.
The specific implementation of the industrial robot of the present invention may refer to the above embodiments of the robot-based welding method, and will not be described herein again.
In addition, the invention also provides a computer readable storage medium.
The computer readable storage medium of the present invention has stored thereon a robot-based welding program that is processed
The machine when executed performs the steps of a robot-based welding method as described above.
The method implemented when the robot-based welding program running on the processor is executed may refer to various embodiments of the robot-based welding method of the present invention, and details thereof are not repeated herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A robot-based welding method, characterized in that the robot-based welding method comprises the steps of:
calling a preset robot teaching tool to teach each welding node of the target welding line;
generating a cyclic welding program of the target welding seam according to each welding node;
and executing a welding operation according to the cyclic welding program to weld the target welding seam.
2. The robot-based welding method of claim 1, wherein the welding node comprises: a welding start point and a welding end point,
the step of calling a preset robot teaching tool to teach each welding node of the target welding seam comprises the following steps:
and calling the robot teaching tool to teach the welding starting point and the welding ending point when the robot performs welding operation on the target welding line.
3. The robot-based welding method of claim 1, further comprising, prior to the step of generating the cyclical welding program of the target weld from each of the welding nodes:
obtaining welding parameters for performing a welding operation on the target weld, wherein the welding parameters include: welding step length and welding pendulum width;
the step of generating the cyclic welding program of the target weld according to each welding node includes:
and generating a cyclic welding program of the target welding line according to the welding parameters and the welding nodes.
4. The robot-based welding method of claim 3, wherein said step of generating a cyclical welding program of the target weld based on the welding parameters and the welding nodes comprises:
detecting node coordinates of each welding node;
calculating the welding step coordinate of the target welding line according to the node coordinate and the welding step;
and substituting the welding step coordinate and the welding pendulum width into a preset circulation statement to generate the circulation welding program, wherein the preset circulation statement is a calculation statement used for marking a welding path.
5. The robot-based welding method of claim 4, wherein the step of performing a welding operation to weld the target weld in accordance with the cyclical welding procedure comprises:
detecting a welding path marked by the preset circulating statement in the circulating welding program;
and according to the welding path, circularly performing the welding operation by taking the end point of the previous welding in the welding operation process as the starting point of the current welding so as to weld the target welding seam.
6. The robot-based welding method of claim 5, further comprising, after the step of cyclically performing a welding operation to weld the target weld:
and stopping executing the welding operation according to the packaged welding ending instruction in the circulating welding program.
7. The robot-based welding method of claim 5, further comprising, after the step of cyclically performing a welding operation to weld the target weld:
and when the detected end point of the current welding is the welding end point in the welding nodes, automatically stopping executing the welding operation.
8. A robot-based welding device, comprising:
the teaching module is used for calling a preset robot teaching tool to teach each welding node of the target welding line;
the generating module is used for generating a cyclic welding program of the target welding seam according to each welding node;
and the execution module is used for executing welding operation according to the cyclic welding program so as to weld the target welding seam.
9. An industrial robot, characterized in that it comprises: memory, a processor and a robot-based welding program stored on the memory and executable on the processor, the robot-based welding program when executed by the processor implementing the steps of the robot-based welding method of any of claims 1 to 7.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a robot based welding program, which when executed by a processor implements the steps of the robot based welding method according to any of the claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010114463.6A CN111360785A (en) | 2020-02-25 | 2020-02-25 | Robot-based welding method and device, industrial robot and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010114463.6A CN111360785A (en) | 2020-02-25 | 2020-02-25 | Robot-based welding method and device, industrial robot and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111360785A true CN111360785A (en) | 2020-07-03 |
Family
ID=71200506
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010114463.6A Pending CN111360785A (en) | 2020-02-25 | 2020-02-25 | Robot-based welding method and device, industrial robot and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111360785A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113618267A (en) * | 2021-10-08 | 2021-11-09 | 季华实验室 | Robot automatic welding control method and device, electronic equipment and storage medium |
| CN113778417A (en) * | 2021-11-11 | 2021-12-10 | 深圳市越疆科技有限公司 | Welding script generation method and device based on graphical programming |
| CN114851170A (en) * | 2022-05-19 | 2022-08-05 | 法奥意威(苏州)机器人系统有限公司 | Segment join operation control method and device, computer equipment and storage medium |
| CN116168031B (en) * | 2023-04-25 | 2023-08-29 | 中建科技集团有限公司 | Welding code generation method based on three-dimensional image, welding system and related equipment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0628375A1 (en) * | 1993-05-21 | 1994-12-14 | Toyota Jidosha Kabushiki Kaisha | Laser welding method |
| CN104801876A (en) * | 2015-04-28 | 2015-07-29 | 上海气焊机厂有限公司 | Horizontal welding method |
| CN105855672A (en) * | 2016-05-30 | 2016-08-17 | 科德数控股份有限公司 | Space arc interpolation welding method based on teaching robot |
| CN107755937A (en) * | 2017-08-31 | 2018-03-06 | 中建钢构有限公司 | Luffing swings welding method, apparatus and welding robot |
| CN110666321A (en) * | 2019-11-14 | 2020-01-10 | 上汽通用五菱汽车股份有限公司 | Welding method, automatic welding device, and storage medium |
| CN111014878A (en) * | 2019-12-24 | 2020-04-17 | 上海智殷自动化科技有限公司 | Tree-shaped special swing welding method |
-
2020
- 2020-02-25 CN CN202010114463.6A patent/CN111360785A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0628375A1 (en) * | 1993-05-21 | 1994-12-14 | Toyota Jidosha Kabushiki Kaisha | Laser welding method |
| CN104801876A (en) * | 2015-04-28 | 2015-07-29 | 上海气焊机厂有限公司 | Horizontal welding method |
| CN105855672A (en) * | 2016-05-30 | 2016-08-17 | 科德数控股份有限公司 | Space arc interpolation welding method based on teaching robot |
| CN107755937A (en) * | 2017-08-31 | 2018-03-06 | 中建钢构有限公司 | Luffing swings welding method, apparatus and welding robot |
| CN110666321A (en) * | 2019-11-14 | 2020-01-10 | 上汽通用五菱汽车股份有限公司 | Welding method, automatic welding device, and storage medium |
| CN111014878A (en) * | 2019-12-24 | 2020-04-17 | 上海智殷自动化科技有限公司 | Tree-shaped special swing welding method |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113618267A (en) * | 2021-10-08 | 2021-11-09 | 季华实验室 | Robot automatic welding control method and device, electronic equipment and storage medium |
| CN113618267B (en) * | 2021-10-08 | 2021-12-14 | 季华实验室 | Robot automatic welding control method and device, electronic equipment and storage medium |
| CN113778417A (en) * | 2021-11-11 | 2021-12-10 | 深圳市越疆科技有限公司 | Welding script generation method and device based on graphical programming |
| CN114851170A (en) * | 2022-05-19 | 2022-08-05 | 法奥意威(苏州)机器人系统有限公司 | Segment join operation control method and device, computer equipment and storage medium |
| CN116168031B (en) * | 2023-04-25 | 2023-08-29 | 中建科技集团有限公司 | Welding code generation method based on three-dimensional image, welding system and related equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111360785A (en) | Robot-based welding method and device, industrial robot and storage medium | |
| CN106326104B (en) | Terminal control testing method and device | |
| CN107656872B (en) | Software testing method, device, equipment and computer storage medium | |
| CN110673842A (en) | Visual programming method and system, storage medium and equipment | |
| CN107450899B (en) | Method and device for generating terminal control script | |
| CN109492301B (en) | Software and hardware switching method and system | |
| US11648674B2 (en) | System and method for robotic bin picking using advanced scanning techniques | |
| CN110795141B (en) | Training task submitting method, device, equipment and medium | |
| Rahimi et al. | An industrial robotics application with cloud computing and high-speed networking | |
| CN108628729B (en) | Software testing method and software testing client | |
| CN108038241A (en) | Integrated WEB visual workflows method, apparatus, readable storage medium storing program for executing and system | |
| US10471592B2 (en) | Programming method of a robot arm | |
| CN110879556A (en) | Multi-robot cooperative control method and device in multi-robot local area network | |
| CN110543429B (en) | Test case debugging method, device and storage medium | |
| WO2018202173A1 (en) | Method and system for database testing | |
| CN113626003A (en) | Cloud robot solution system | |
| CN110232013B (en) | Test method, test device, controller and medium | |
| CN111240658B (en) | Console implementation method and terminal based on Unity engine | |
| CN116991118A (en) | Control method of dispensing machine, dispensing machine and computer readable storage medium | |
| CN110704252B (en) | Automatic testing device and testing method based on cloud dynamic management | |
| CN105677331A (en) | Task execution method and device | |
| WO2023142061A1 (en) | Workflow generation method, device and system, medium, and program product | |
| CN111078518B (en) | Data acquisition method, terminal device and computer readable storage medium | |
| WO2023142079A1 (en) | Workflow creation method and system, medium and program product | |
| CN112346787A (en) | Non-standard equipment test system, method and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200703 |