CN111858547A - Database design method applied to robot welding operation - Google Patents
Database design method applied to robot welding operation Download PDFInfo
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- CN111858547A CN111858547A CN202010614590.2A CN202010614590A CN111858547A CN 111858547 A CN111858547 A CN 111858547A CN 202010614590 A CN202010614590 A CN 202010614590A CN 111858547 A CN111858547 A CN 111858547A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/21—Design, administration or maintenance of databases
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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
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
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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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/124—Circuits or methods for feeding welding wire
- B23K9/125—Feeding of electrodes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/24—Querying
- G06F16/242—Query formulation
- G06F16/2433—Query languages
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/24—Querying
- G06F16/245—Query processing
- G06F16/2455—Query execution
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Abstract
The invention relates to a database design method applied to robot welding operation, which is characterized in that a laser sensor is used for identifying the type and the size of a welding seam to be welded, a standard data area of a database is inquired according to the obtained type and size to obtain corresponding welding process parameters, a robot executes a welding command according to the obtained parameters, and then actual welding data are stored in a historical data area in the database; the database design method can record welding data in real time, is convenient for a user to inquire actual welding parameters and welding tracks, compares the actual welding parameters and the welding tracks with the data in the standard data area, and can send alarm information in time when the data deviation of the actual welding parameters and the welding tracks exceeds a given threshold value, so that the welding accuracy of the robot is improved.
Description
Technical Field
The invention relates to the field of robot automatic welding, in particular to a database design method applied to robot welding operation.
Background
The automatic welding operation based on the industrial robot is not influenced by factors such as technical level, fatigue degree, physiological limit and the like, can ensure the consistency of welding quality, has the characteristics of high automation degree, good flexibility and the like, and is rapidly developed in the industrial field. The welding robot breaks through the defects of manual welding, improves the production efficiency, reduces the labor cost, and opens up a new production mode, so that the welding robot has greater and greater requirements in the field of industrial manufacturing automation.
However, in practical welding applications, due to reasons such as workpiece clamping, workpiece machining errors, workpiece deformation caused by heating during welding, and the like, actual positions of welding seams deviate during welding, welding process parameters may change, and welding quality is affected.
And each time the robot executes a welding command, many parameters such as current, voltage, wire feeding speed, robot motion parameters and the like exist, and the data amount is large and the data are not uniformly stored, so that the operation that people want to inquire a welding log after welding or compare the welding log with expected data is inconvenient.
Disclosure of Invention
The invention aims to provide a database design method applied to robot welding operation.
The technical scheme for realizing the purpose of the invention is as follows: a database design method applied to robot welding operation comprises the following steps:
identifying the type and size of a welding seam to be welded through a laser sensor;
inquiring a standard data area in a database according to the obtained type and size to obtain corresponding welding process parameters;
The robot executes a welding command according to the obtained parameters;
storing actual welding data into a historical data area in a database;
real-time comparison of actual welding data and standard data; and judging whether the difference value of the two exceeds a threshold value, if so, sending alarm information.
Further, the standard data area in the database comprises fields of a welding seam type, a welding seam size, a welding process standard parameter and a robot motion standard parameter.
Further, the weld size comprises weld width, weld length, weld thickness and groove angle; the standard parameters of the welding process comprise current, voltage and wire feeding speed; the standard parameters of the robot motion comprise amplitude, frequency and welding speed.
Furthermore, the standard data area sets the welding seam type and the welding seam size as a combined main key, and can inquire the corresponding welding process standard parameters according to the given main key information.
Further, the historical data area in the database comprises fields of a weld type, a weld size, a timestamp for performing welding, an operator ID, a welding procedure to be performed, actual parameters of a welding process, and actual parameters of robot movement.
Further, the weld size comprises weld width, weld length, weld thickness and groove angle; actual parameters of the welding process comprise current, voltage and wire feeding speed; the actual motion parameters of the robot comprise amplitude, frequency and welding speed.
Furthermore, the historical data area sets the welding seam type, the timestamp for executing welding and the operator ID as joint main keys, and can inquire the actual parameters of the corresponding welding process according to the given main key information.
Further, the robot stores the current welding data in a historical data area of the database each time the robot performs a welding operation.
Further, joint query is carried out on the standard data area and the historical data area according to the specific welding seam type and the welding seam size, SQL query statements are generated according to corresponding query conditions, query results of the database are obtained, and a result set is displayed and comprises welding process standard parameter data and actual parameter data.
Further, if the difference value between the actual welding data and the standard data exceeds the threshold value of the standard data by 5%, alarm information is sent out.
Compared with the prior art, the invention has the following remarkable advantages: the database design method can record the welding data in real time, is convenient for a user to inquire actual welding parameters and welding tracks, and can send alarm information in time when the data deviation between the actual welding parameters and the welding tracks is overlarge by comparing the actual welding parameters and the welding tracks with the data in the standard data area, so that the welding accuracy of the robot is improved.
Drawings
FIG. 1 is a flow chart of the overall implementation of the present invention;
Detailed Description
A database design method applied to robot welding operation comprises the following steps:
(1) identifying the type and size of a welding seam to be welded through a laser sensor;
(2) inquiring a standard data area in a database according to the obtained type and size to obtain corresponding welding process parameters;
(3) the robot executes a welding command according to the obtained parameters;
(4) storing actual welding data into a historical data area in a database;
(5) real-time comparison of actual welding data and standard data; and judging whether the difference value of the two exceeds a threshold value, if so, sending alarm information.
Further, the standard data area in the database includes fields such as a weld type, a weld size (a weld width, a weld length, a weld thickness, a groove angle), a welding process standard parameter (a current, a voltage, a wire feeding speed), a robot movement standard parameter (an amplitude, a frequency, a welding speed), and the like. The type and the size of the welding seam are set as combined main keys, and the information such as corresponding welding process standard parameters and the like can be inquired according to the given main key information.
Further, fields included in the historical data area in the database include a weld type, a weld size (a weld width, a weld length, a weld thickness, a groove angle), a timestamp for performing welding, an operator ID, a welding program to be performed, actual parameters of a welding process (current, voltage, wire feeding speed), actual parameters of robot movement (amplitude, frequency, welding speed), and the like. The welding seam type, the timestamp for executing welding and the operator ID are set as joint main keys, and the information such as actual parameters of the corresponding welding process can be inquired according to the given main key information. And when the robot finishes welding operation every time, storing the current welding data into a historical data area of the database.
Further, joint query is carried out on the standard data area and the historical data area according to the specific welding seam type and the welding seam size, SQL query statements are generated according to corresponding query conditions, query results of the database are obtained, and a result set is displayed and comprises welding process standard data and actual data.
Exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The description of the exemplary embodiments is for purposes of illustration only and is not intended to limit the invention, its application, or uses.
Examples
Fig. 1 is a flowchart of an overall database implementation applied to a robot welding operation. Taking the common welding of the V-shaped grooves of the medium plates in ship construction as an example, most of domestic shipyards still mainly use manual operation at present, the operation efficiency is low, the labor intensity of workers is high, and the sizes of welding seams of the same batch of workpieces are different due to the fact that the preorder processing technology of the V-shaped grooves of the medium plates is not standardized, and great difficulty is brought to robot automatic welding. By adopting the method of the invention, the welding problem of the plates can be effectively solved by matching with a robot welding system with a laser sensor. The specific implementation process is as follows:
(1) The operator powers up the robot and enters the operator ID in the robot controller. The robot controller automatically records the operator ID and the operation time in the database history data area.
(2) The robot scans the weld along an initially given path at a specified speed to obtain the weld type and weld size.
(3) And transmitting the welding seam type and the welding seam size data to a robot controller. The robot controller reads the standard data area of the database to obtain the standard process parameters corresponding to the welding line: current a1, voltage b1, wire feed speed c1, amplitude d1, frequency e1, welding speed f 1.
(4) The robot controller transmits these parameters to the welding power supply and the robot, which begins to perform the welding operation.
(5) In welding process, welding source gathers actual welding data in real time and transmits for robot controller, and it has to obtain actual welding parameter: current a2, voltage b2, wire feed speed c 2. The robot controller directly collects the data of the robot driver to obtain actual motion parameters: amplitude d2, frequency e2, welding speed f 2. The robot controller stores the above data in the database history data area.
(6) In the welding process, the robot controller compares the standard process data with the actual process data in real time, and if any data is found to be too large in difference and exceeds a set threshold value, alarm information is sent to a user. For example, if the set threshold is 5%, the standard welding current is 50A, and the actual welding current is 45A, the actual welding current is 10% smaller than the standard welding current, and exceeds the set threshold, then an alarm message can be sent to the user.
(7) If no alarm occurs in the welding process, but after welding is finished, the welding quality is detected, and welding defects are found, the historical data area of the database can be inquired through information such as the type of a welding seam, the welding time period and the ID of an operator, and after judgment, if the welding defects are caused by the welding process, the standard data area of the database can be further inquired according to the information such as the type of the welding seam, the size of the welding seam and the like, the standard process data can be modified, and the same problems in the next time can be avoided.
Claims (10)
1. A database design method applied to robot welding operation is characterized by comprising the following steps:
identifying the type and size of a welding seam to be welded through a laser sensor;
inquiring a standard data area in a database according to the obtained type and size to obtain corresponding welding process parameters;
the robot executes a welding command according to the obtained parameters;
storing actual welding data into a historical data area in a database;
real-time comparison of actual welding data and standard data; and judging whether the difference value of the two exceeds a threshold value, if so, sending alarm information.
2. The database design method applied to robot welding operation as recited in claim 1, characterized in that the standard data area in the database comprises fields of weld type, weld size, welding process standard parameters and robot movement standard parameters.
3. The database design method applied to robot welding operations according to claim 2, wherein the weld dimensions include weld width, weld length, weld thickness, groove angle; the standard parameters of the welding process comprise current, voltage and wire feeding speed; the standard parameters of the robot motion comprise amplitude, frequency and welding speed.
4. The database design method applied to the robot welding operation as recited in claim 2, wherein the standard data area sets the type of the welding seam and the size of the welding seam as a joint main key, and the corresponding standard parameters of the welding process can be inquired according to the given main key information.
5. The database design method applied to robot welding operation as recited in claim 1, characterized in that the historical data area in the database comprises fields of weld type, weld size, timestamp for performing welding, operator ID, welding procedure performed, actual parameters of welding process, actual parameters of robot movement.
6. The database design method applied to robot welding work according to claim 5, wherein the weld size includes weld width, weld length, weld thickness, groove angle; actual parameters of the welding process comprise current, voltage and wire feeding speed; the actual motion parameters of the robot comprise amplitude, frequency and welding speed.
7. The database design method applied to the robot welding operation as recited in claim 5, wherein the historical data area sets the type of the welding seam, the timestamp for performing the welding, and the operator ID as joint primary keys, and according to the given primary key information, the actual parameters of the corresponding welding process can be inquired.
8. The database design method applied to robot welding operation as recited in claim 5, characterized in that the robot stores the current welding data in the historical data area of the database each time the robot performs a welding operation.
9. The method of claim 2 or 5, wherein the standard data area and the historical data area are jointly queried according to the specific weld type and weld size, SQL query statements are generated according to corresponding query conditions, query results of the database are obtained, and a result set is displayed, wherein the result set comprises standard parameter data and actual parameter data of the welding process.
10. The database design method applied to robot welding operation as recited in claim 1, characterized in that if the difference between the actual welding data and the standard data exceeds the threshold value of the standard data by 5%, an alarm message is issued.
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| CN202010614590.2A CN111858547A (en) | 2020-06-30 | 2020-06-30 | Database design method applied to robot welding operation |
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| CN202010614590.2A CN111858547A (en) | 2020-06-30 | 2020-06-30 | Database design method applied to robot welding operation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113042940A (en) * | 2021-03-25 | 2021-06-29 | 中车青岛四方机车车辆股份有限公司 | Standardized programming method and system for welding robot |
| CN113732558A (en) * | 2021-09-06 | 2021-12-03 | 中车工业研究院有限公司 | Online detection method and device for typical quality problems of robot welding |
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| US20110198329A1 (en) * | 2010-02-12 | 2011-08-18 | Davidson Robert R | Weld bank data structures for welding applications |
| KR101542471B1 (en) * | 2014-07-29 | 2015-08-06 | 주식회사휴비스 | Welding monitoring devise |
| CN110524581A (en) * | 2019-09-16 | 2019-12-03 | 西安中科光电精密工程有限公司 | A kind of flexible welding robot system and its welding method |
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2020
- 2020-06-30 CN CN202010614590.2A patent/CN111858547A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110198329A1 (en) * | 2010-02-12 | 2011-08-18 | Davidson Robert R | Weld bank data structures for welding applications |
| KR101542471B1 (en) * | 2014-07-29 | 2015-08-06 | 주식회사휴비스 | Welding monitoring devise |
| CN110524581A (en) * | 2019-09-16 | 2019-12-03 | 西安中科光电精密工程有限公司 | A kind of flexible welding robot system and its welding method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113042940A (en) * | 2021-03-25 | 2021-06-29 | 中车青岛四方机车车辆股份有限公司 | Standardized programming method and system for welding robot |
| CN113732558A (en) * | 2021-09-06 | 2021-12-03 | 中车工业研究院有限公司 | Online detection method and device for typical quality problems of robot welding |
| CN113732558B (en) * | 2021-09-06 | 2022-11-11 | 中车工业研究院有限公司 | Online detection method and device for typical quality problems of robot welding |
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Address after: 222001 No. 18, Shenghu Road, Lianyungang, Nanjing, Jiangsu Applicant after: The 716th Research Institute of China Shipbuilding Corp. Applicant after: JIANGSU JARI TECHNOLOGY GROUP Co.,Ltd. Address before: 222001 No. 18, Shenghu Road, Lianyungang, Nanjing, Jiangsu Applicant before: 716TH RESEARCH INSTITUTE OF CHINA SHIPBUILDING INDUSTRY Corp. Applicant before: JIANGSU JARI TECHNOLOGY GROUP Co.,Ltd. |
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