CN111922567B - Welding control method and device, computer readable storage medium and welding system - Google Patents
Welding control method and device, computer readable storage medium and welding system Download PDFInfo
- Publication number
- CN111922567B CN111922567B CN202010814127.2A CN202010814127A CN111922567B CN 111922567 B CN111922567 B CN 111922567B CN 202010814127 A CN202010814127 A CN 202010814127A CN 111922567 B CN111922567 B CN 111922567B
- Authority
- CN
- China
- Prior art keywords
- welding
- angle
- attitude
- robot
- current
- 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.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application provides a welding control method, a welding control device, a computer-readable storage medium and a welding system. The method comprises the following steps: determining the current angle of the welding robot on the pipeline to be welded; acquiring a welding starting angle and a welding end angle of a welding task; controlling the welding robot to move from the current angle to the welding starting angle under the condition that the current angle is not equal to the welding starting angle; and controlling the welding robot to start welding from the welding starting angle until the welding end point stops. The method can realize welding automation, does not need to manually adjust the welding robot to move to the welding starting position, improves the welding efficiency, simplifies the operation process, and reduces the requirement on the welding specialty of operators.
Description
Technical Field
The application relates to the field of automation control, in particular to a welding control method, a welding control device, a computer readable storage medium, a processor and a welding system.
Background
The automatic degree of current pipeline automatic welding robot is than lower, when pipeline automatic welding robot is not at welded initial position, needs the position of artifical adjustment pipeline automatic welding robot for it removes initial position, consequently, pipeline automatic welding robot among the prior art can't realize automatic beginning to remove initial position from the current position, but needs artifical adjustment, has increased the equipment operation degree of difficulty and has reduced welded efficiency.
The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.
Disclosure of Invention
The application mainly aims to provide a welding control method, a welding control device, a computer readable storage medium, a processor and a welding system, so as to solve the problem that welding efficiency is low due to the fact that a welding robot needs to be manually adjusted to move to a welding starting position in the prior art.
According to an aspect of an embodiment of the present invention, a method of controlling welding, includes: determining the current angle of the welding robot on the pipeline to be welded; acquiring a welding starting angle and a welding end angle of a welding task; controlling the welding robot to move from the current angle to the welding start angle if the current angle is not equal to the welding start angle; and controlling the welding robot to start welding from the welding starting angle until the welding end point stops.
Optionally, determining a current angle of the welding robot on the pipe to be welded comprises: acquiring a first attitude angle and a second attitude angle of the welding robot, wherein the first attitude angle is an angle formed by an X axis of an attitude sensor, the second attitude angle is an angle formed by a Y axis of the attitude sensor, the first attitude angle and the second attitude angle are detected by the attitude sensor, and the attitude sensor is installed on the welding robot; and determining the current angle according to the first attitude angle and the second attitude angle.
Optionally, determining the current angle according to the first attitude angle and the second attitude angle includes: when the first attitude angle is larger than 0, alpha is 90-y, wherein alpha is the current angle, and y is the second attitude angle; in the case where the first attitude angle is less than 0, α ═ 90 ° -y.
Optionally, in a case where the current angle is not equal to the welding start angle, controlling the welding robot to move from the current angle to the welding start angle includes: determining whether an angle difference, which is an absolute value of a difference between the current angle and the welding start angle, is greater than a first predetermined value; controlling the welding robot to move to an intermediate angle at a first crawling speed in a case where the angle difference is greater than the first predetermined value, an absolute value of a difference between the intermediate angle and the welding start angle being equal to the first predetermined value; and controlling the welding robot to move to the welding starting angle at a second crawling speed, wherein the first crawling speed is greater than the second crawling speed.
Optionally, in a case that the current angle is not equal to the welding start angle, controlling the welding robot to move from the current angle to the welding start angle, further comprising: and controlling the welding robot to move to the welding starting angle at the second crawling speed under the condition that the angle difference value is smaller than or equal to the first preset value.
Optionally, a direction in which the welding robot moves from the current angle to the welding start angle is a first direction, and a direction in which the welding robot moves from the welding start angle to the welding end point is a second direction, the first direction being opposite to the second direction.
According to another aspect of the embodiments of the present invention, there is also provided a welding control apparatus, including: the determining unit is used for determining the current angle of the welding robot on the pipeline to be welded; the acquisition unit is used for acquiring a welding start angle and a welding end angle of a welding task; a first control unit for controlling the welding robot to move from the current angle to the welding start angle if the current angle is not equal to the welding start angle; and the second control unit is used for controlling the welding robot to start welding from the welding starting angle until the welding end point stops.
According to still another aspect of an embodiment of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program executes any one of the control methods.
According to still another aspect of the embodiments of the present invention, there is further provided a processor, where the processor is configured to execute a program, where the program executes any one of the control methods when running.
According to another aspect of the embodiments of the present invention, there is also provided a welding system, including a welding robot, and further including a control device for welding, which is in communication connection with the welding robot, and is configured to execute any one of the control methods.
In the embodiment of the invention, firstly, the current angle of the welding robot on the pipeline to be welded needs to be determined, then, the welding starting angle and the welding end point angle of the welding task are obtained, whether the current angle is equal to the welding starting angle or not is judged, when the current angle is not equal to the welding starting angle, the welding robot is controlled to move from the current angle to the welding starting angle, then the welding robot is controlled to start welding from the welding starting angle, and the welding is stopped until the welding robot is welded to the welding end point.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
FIG. 1 shows a flow diagram of a control method of welding according to an embodiment of the present application;
FIG. 2 illustrates a schematic diagram of a control apparatus for welding according to an embodiment of the present application;
fig. 3 is a schematic diagram showing angular information of all positions of the welding robot acquired by the attitude sensor.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As described in the background art, in the prior art, the welding efficiency is low due to the manual adjustment of the movement of the welding robot to the welding start position, and in order to solve the above problems, in an exemplary embodiment of the present application, a welding control method, apparatus, computer-readable storage medium, processor, and welding system are provided.
According to an embodiment of the present application, a method of controlling welding is provided. Fig. 1 is a flowchart of a control method of welding according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
step S101, determining the current angle of a welding robot on a pipeline to be welded;
step S102, acquiring a welding starting angle and a welding end angle of a welding task;
step S103, controlling the welding robot to move from the current angle to the welding starting angle under the condition that the current angle is not equal to the welding starting angle;
and step S104, controlling the welding robot to start welding from the welding starting angle until the welding end point stops.
In the method, firstly, the current angle of the welding robot on the pipeline to be welded needs to be determined, then the welding starting angle and the welding end angle of the welding task are obtained, whether the current angle is equal to the welding starting angle or not is judged, when the current angle is not equal to the welding starting angle, the welding robot is controlled to move from the current angle to the welding starting angle, then the welding robot is controlled to start welding from the welding starting angle, and the welding is stopped until the welding robot welds the welding end point.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
In one embodiment of the present application, determining a current angle of a welding robot on a pipe to be welded includes: acquiring a first attitude angle and a second attitude angle of the welding robot, wherein the first attitude angle is an angle formed with an X-axis of an attitude sensor, the second attitude angle is an angle formed with a Y-axis of the attitude sensor, the first attitude angle and the second attitude angle are detected by the attitude sensor, the attitude sensor is mounted on the welding robot, the X-axis of the attitude sensor is parallel to an axis of the welding pipe, and the Y-axis of the attitude sensor is in a vertical direction; and determining the current angle according to the first attitude angle and the second attitude angle. Adopt attitude sensor can acquire welding robot's first attitude angle and second attitude angle, and the current angle of welding robot on treating the welded pipe just can be confirmed to rethread first attitude angle and second attitude angle.
In another embodiment of the present application, determining the current angle according to the first attitude angle and the second attitude angle includes: when the first attitude angle is greater than 0, α is 90 ° -y, where α is the current angle and y is the second attitude angle, and when the first attitude angle is less than 0, α is- (90 ° -y). By converting when the first attitude angle is larger than 0 or smaller than 0, the current angle of the welding robot on the pipeline to be welded can be obtained more accurately. In practical applications, the first attitude angle may be an attitude angle on an X-axis acquired by the attitude sensor, and the second attitude angle may be an attitude angle on a Y-axis acquired by the attitude sensor.
In another embodiment of the present application, in a case where the current angle is not equal to the welding start angle, controlling the welding robot to move from the current angle to the welding start angle includes: determining whether an angle difference, which is an absolute value of a difference between the current angle and the welding start angle, is greater than a first predetermined value, controlling the welding robot to move to an intermediate angle at a first crawling speed in the case that the angle difference is greater than the first predetermined value, the absolute value of a difference between the intermediate angle and the welding start angle being equal to the first predetermined value, and controlling the welding robot to move to the welding start angle at a second crawling speed, the first crawling speed being greater than the second crawling speed. Thus, the angle difference can be obtained, the crawling speed of the welding robot is controlled according to whether the angle difference is larger than a first preset value, for example, the first preset value can be 30 degrees, when the angle difference is 50 degrees, the welding robot is controlled to move to a position where the angle difference is 30 degrees, when the angle difference is equal to the first preset value, linear deceleration is started, the welding starting angle is approached with the highest precision, and therefore the welding robot can be controlled to move to the welding starting angle more efficiently and accurately.
The first predetermined value is not limited to the above-mentioned case, and may be another first predetermined value, for example, 45 ° or 60 °, or another first predetermined value, and a person skilled in the art may set an appropriate first predetermined value according to actual circumstances. The angular difference is not limited to the above-mentioned case, but may be other angular differences, and in practical cases, the angular difference may be different, for example, the angular difference may be 70 ° or 100 °, and the angular difference may be different in different cases.
It should be noted that, assuming that the creep speed is V, the current angle is α, the welding start angle is β, and the coefficient when the first creep speed and the second creep speed are converted is n, V ═ abs (α - β)/n, the first creep speed may be 5m/s, may be 10m/s, and may be another first creep speed, and a person skilled in the art may calculate the first creep speed according to actual conditions, and the second creep speed may be 1m/s, may be 3m/s, may be another second creep speed, and a person skilled in the art may calculate the second creep speed according to actual conditions.
Specifically, in another embodiment of the present application, in a case where the current angle is not equal to the welding start angle, the controlling the welding robot to move from the current angle to the welding start angle further includes: and controlling the welding robot to move to the welding starting angle at the second crawling speed under the condition that the angle difference is smaller than or equal to the first preset value. Just so can be when the angular difference is less than or equal to first predetermined value, control welding robot moves to the originated angle of welding from current angle with second crawl speed for the highest precision of robot is close to the originated angle of welding, just so can control welding robot more accurately and move to the originated angle of welding.
In still another embodiment of the present invention, a direction in which the welding robot moves from the current angle to the welding start angle is a first direction, a direction in which the welding robot moves from the welding start angle to the welding end point is a second direction, and the first direction is opposite to the second direction. For example, the welding robot moves clockwise from the current angle to the welding start angle, and when the welding robot reaches the welding start angle, welding is performed counterclockwise from the welding start angle until the welding end point is reached, or the welding robot moves counterclockwise from the current angle to the welding start angle, and when the welding robot reaches the welding start angle, welding is performed clockwise from the welding start angle until the welding end point is reached, thereby further improving the welding efficiency.
The embodiment of the present application further provides a control device for welding, and it should be noted that the control device for welding according to the embodiment of the present application may be used to execute the control method for welding according to the embodiment of the present application. The following describes a control device for welding according to an embodiment of the present application.
Fig. 2 is a schematic diagram of a control apparatus for welding according to an embodiment of the present application. As shown in fig. 2, the apparatus includes:
a determination unit 10 for determining a current angle of the welding robot on the pipe to be welded;
the acquiring unit 20 is used for acquiring a welding start angle and a welding end angle of a welding task;
a first control unit 30 for controlling the welding robot to move from the current angle to the welding start angle if the current angle is not equal to the welding start angle;
and a second control unit 40 for controlling the welding robot to start welding from the welding start angle until the welding end angle is stopped.
Among the foretell device, the determination unit confirms the current angle of welding robot on treating the welded pipe, the acquisition unit acquires the welding initial angle and the welding terminal angle of welding task, first the control unit judges whether current angle equals with the welding initial angle, when current angle and the welding initial angle inequality, just control the welding robot and remove, remove to the welding initial angle from current angle, second the control unit control welding robot begins the welding from the welding initial angle, just stop welding until the welding robot welds the welding terminal, the device can realize welding automation, do not need the manual work to adjust the welding robot and remove to the welding initial position, the efficiency of welding has been promoted, and the process of operation has been simplified, the requirement to operating personnel welding specialty has been reduced.
In one embodiment of the present application, the determination unit includes an acquisition module configured to acquire a first attitude angle and a second attitude angle of the welding robot, wherein the first attitude angle is an angle formed with an X-axis of an attitude sensor, the second attitude angle is an angle formed with a Y-axis of the attitude sensor, the first attitude angle and the second attitude angle are detected by the attitude sensor, the attitude sensor is mounted on the welding robot, the X-axis of the attitude sensor is parallel to an axis of the welding pipe, the Y-axis of the attitude sensor is in a vertical direction, and a first determination module configured to determine the current angle based on the first attitude angle and the second attitude angle. Adopt attitude sensor can acquire welding robot's first attitude angle and second attitude angle, and the current angle of welding robot on treating the welded pipe just can be confirmed to rethread first attitude angle and second attitude angle.
In another embodiment of the present application, the first determining module is further configured to, in a case where the first attitude angle is greater than 0, α ═ 90 ° -y, where α is the current angle and y is the second attitude angle, and in a case where the first attitude angle is less than 0, α ═ - (90 ° -y). By converting when the first attitude angle is greater than 0 or less than 0, the current angle of the welding robot on the pipeline to be welded can be obtained more accurately. In practical applications, the first attitude angle may be an attitude angle on an X-axis acquired by the attitude sensor, and the second attitude angle may be an attitude angle on a Y-axis acquired by the attitude sensor.
In still another embodiment of the present application, the first control unit includes a second determination module for determining whether an angle difference value, which is an absolute value of a difference between the current angle and the welding start angle, is greater than a first predetermined value, a first control module for controlling the welding robot to move to an intermediate angle at a first crawling speed in a case where the angle difference value is greater than the first predetermined value, the absolute value of the difference between the intermediate angle and the welding start angle being equal to the first predetermined value, and a second control module for controlling the welding robot to move to the welding start angle at a second crawling speed, the first crawling speed being greater than the second crawling speed. Thus, the angle difference can be obtained, the crawling speed of the welding robot is controlled according to whether the angle difference is larger than a first preset value or not, for example, the first preset value can be 30 degrees, when the angle difference is 50 degrees, the welding robot is controlled to move to a position where the angle difference is 30 degrees, when the angle difference is equal to the first preset value, linear deceleration is started, the welding starting angle is approached with the highest precision, and therefore the welding robot can be controlled to move to the welding starting angle more efficiently and accurately.
The first predetermined value is not limited to the above-mentioned case, and may be another first predetermined value, for example, 45 ° or 60 °, or another first predetermined value, and a person skilled in the art may set an appropriate first predetermined value according to actual circumstances. The angular difference is not limited to the above-mentioned case, but may be other angular differences, and in practical cases, the angular difference may be different, for example, the angular difference may be 70 ° or 100 °, and the angular difference may be different values in different cases.
It should be noted that, assuming that the creep speed is V, the current angle is α, the welding start angle is β, and the coefficient when the first creep speed and the second creep speed are converted is n, V ═ abs (α - β)/n, the first creep speed may be 5m/s, may be 10m/s, and may be another first creep speed, and a person skilled in the art may calculate the first creep speed according to actual conditions, and the second creep speed may be 1m/s, may be 3m/s, may be another second creep speed, and a person skilled in the art may calculate the second creep speed according to actual conditions.
Specifically, in another embodiment of the present application, the first control unit further includes a third control module, and the third control module is configured to control the welding robot to move to the welding start angle at the second crawling speed when the angle difference is smaller than or equal to the first predetermined value, so that when the angle difference is smaller than or equal to the first predetermined value, the welding robot is controlled to move to the welding start angle from the current angle at the second crawling speed, so that the highest accuracy of the robot is close to the welding start angle, and thus the welding robot is controlled to move to the welding start angle more accurately.
In still another embodiment of the present invention, a direction in which the welding robot moves from the current angle to the welding start angle is a first direction, a direction in which the welding robot moves from the welding start angle to the welding end point is a second direction, and the first direction is opposite to the second direction. For example, the welding robot moves clockwise from the current angle to the welding start angle, and when the welding robot reaches the welding start angle, welding is performed counterclockwise from the welding start angle until reaching the welding end point, or the welding robot moves counterclockwise from the current angle to the welding start angle, and when the welding robot reaches the welding start angle, welding is performed clockwise from the welding start angle until reaching the welding end point, thereby further improving the welding efficiency.
According to an embodiment of the present application, there is also provided a welding system including a welding robot, and further including a control device for welding communicatively connected to the welding robot, the control device for welding being configured to perform any one of the above control methods.
The welding system is provided with the welding control device which is used for executing any one of the control methods, so that the determining unit determines the current angle of the welding robot on a pipeline to be welded, the acquiring unit acquires the welding starting angle and the welding ending angle of a welding task, the first control unit judges whether the current angle is equal to the welding starting angle or not, when the current angle is not equal to the welding starting angle, the welding robot is controlled to move from the current angle to the welding starting angle, the second control unit controls the welding robot to start welding from the welding starting angle, and the welding is stopped until the welding robot welds the welding ending angle, the system can realize welding automation, the welding robot does not need to be adjusted manually to move to the welding starting position, the welding efficiency is improved, and the operation process is simplified, the requirement on the welding specialty of operators is reduced.
In the system, the multi-layer and multi-channel welding system can be adopted, multi-layer and multi-channel angle automatic positioning welding can be realized, and the automation degree of the system is further improved.
In order to make the technical solutions of the present application more clearly understood by those skilled in the art, the technical solutions and effects of the present application will be described below with reference to specific embodiments.
Examples
Acquiring angle information of the welding robot at all positions by adopting an attitude sensor, and determining the current angle of the welding robot on a pipeline to be welded, wherein the angle at all positions can be regarded as 0-180 degrees and-180-0 degrees;
the angle information of the welding robot at the whole position is shown in fig. 3, because-180 degrees and 180 degrees are the same point, the angle of minus 180 degrees is abandoned, and the next clockwise angle of minus 179.98 in the minimum precision range is jumped to 180 degrees;
determining the current angle according to the first attitude angle and the second attitude angle by the attitude angle in the X-axis direction and the attitude angle in the Y-axis direction;
when the first attitude angle is greater than 0, α ═ 90 ° -Y where α is the current angle and Y is the second attitude angle, and when the first attitude angle is less than 0, α ═ 90 ° -Y where the first attitude angle is the attitude angle in the X-axis direction obtained by the attitude sensor and the second attitude angle is the attitude angle in the Y-axis direction obtained by the attitude sensor;
setting a welding starting angle and a welding end angle, wherein the welding starting angle is assumed to be 2 degrees, and the welding end angle is assumed to be-178 degrees. (cannot be set to-180 when setting the angle because it does not have-180 °);
starting welding, wherein the welding robot can rotate clockwise to automatically find a welding initial angle position no matter where the welding robot is located, and if the welding robot is placed at a position of 120 degrees, the welding robot can walk clockwise, and the current angle of the welding robot can approach from 120 degrees to 2 degrees;
when the absolute value of the difference between the current angle and the welding start angle is less than 30 °, the welding robot starts to start linear deceleration to approach the welding start angle with the highest accuracy. Assuming that the speed of the welding robot is V, the current angle is alpha, the initial welding angle is beta, and the speed conversion coefficient is n, then V is abs (alpha-beta)/n;
starting welding from the position after the welding robot reaches the initial welding angle, wherein the welding direction is opposite to the direction for searching the initial welding angle and the robot walks anticlockwise;
the welding process is carried out at a welding speed set according to the technological parameters;
assuming that the welding end angle is θ, the current angle is α, the angle difference is Δ δ, and the allowable angle error is m. If abs (delta) is less than or equal to M, stopping the welding robot to complete angle positioning welding;
if the multilayer multichannel system is matched, the next welding can automatically set the initial angle to be 2 degrees, the welding end point angle to be-178 degrees, the welding robot can anticlockwise walk to the welding initial angle after starting, and after the welding initial angle is reached, the welding robot can clockwise weld until the welding is stopped and the welding robot stops at-178 degrees. And the next welding is still repeated in this way, so that the manual operation is reduced, and the welding efficiency is improved until the multi-layer and multi-pass welding is completed.
The scheme can realize welding automation, does not need manpower to adjust the welding robot to move to a welding starting position, improves welding efficiency, simplifies the operation process, and reduces the requirement on the welding specialty of an operator.
The welding control device comprises a processor and a memory, wherein the determining unit, the acquiring unit, the first control unit, the second control unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more, and the welding robot is automatically adjusted to move to the welding starting position by adjusting the kernel parameters, so that the welding efficiency is improved.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a storage medium having a program stored thereon, the program implementing the control method of welding described above when executed by a processor.
The embodiment of the invention provides a processor, which is used for running a program, wherein the program executes the control method of the welding when running.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein when the processor executes the program, at least the following steps are realized:
step S101, determining the current angle of a welding robot on a pipeline to be welded;
step S102, acquiring a welding starting angle and a welding end angle of a welding task;
step S103, controlling the welding robot to move from the current angle to the welding starting angle under the condition that the current angle is not equal to the welding starting angle;
and step S104, controlling the welding robot to start welding from the welding starting angle until the welding end point stops.
The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program of initializing at least the following method steps when executed on a data processing device:
step S101, determining the current angle of a welding robot on a pipeline to be welded;
step S102, acquiring a welding starting angle and a welding end angle of a welding task;
step S103, controlling the welding robot to move from the current angle to the welding starting angle under the condition that the current angle is not equal to the welding starting angle;
and step S104, controlling the welding robot to start welding from the welding starting angle until the welding end point stops.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. 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 and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the above methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:
1) the utility model provides a control method of welding, at first, need confirm the welding robot at the current angle of waiting to weld on the pipeline, afterwards, acquire welding task's welding initial angle and welding end point angle again, judge whether current angle equals with welding initial angle, when current angle and welding initial angle inequality, just control welding robot and remove, remove to welding initial angle from current angle, control welding robot starts welding from welding initial angle again, just stop welding until welding robot welds the welding end point, the method can realize welding automation, do not need the manual work to adjust welding robot and remove to welding initial position, welding efficiency has been promoted, and the process of operation has been simplified, the requirement to operating personnel welding specialty has been reduced.
2) The utility model provides a welded controlling means, confirm the current angle of welding robot on treating welding pipeline is confirmed to the unit, obtain the welding initial angle and the welding terminal point angle that the unit acquireed the welding task, first control unit judges whether current angle equals with the welding initial angle, when current angle and the inequality of welding initial angle, just control the welding robot and remove, remove to the welding initial angle from current angle, second control unit control welding robot starts the welding from the welding initial angle, just stop welding until the welding robot welds the welding terminal point, the device can realize welding automation, do not need the manual work to adjust the welding robot and remove to the welding initial position, the efficiency of welding has been promoted, and the process of operation has been simplified, the requirement to operating personnel welding specialty has been reduced.
3) The welding system is provided with the welding control device which is used for executing any one of the control methods, so that the determining unit determines the current angle of the welding robot on a pipeline to be welded, the acquiring unit acquires the welding starting angle and the welding ending angle of a welding task, the first control unit judges whether the current angle is equal to the welding starting angle or not, when the current angle is not equal to the welding starting angle, the welding robot is controlled to move from the current angle to the welding starting angle, the second control unit controls the welding robot to start welding from the welding starting angle, and the welding is stopped until the welding robot welds the welding ending angle, the system can realize welding automation, the welding robot does not need to be manually adjusted to move to the welding starting position, and the welding efficiency is improved, and the operation process is simplified, and the requirement on the welding specialty of operators is reduced.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (9)
1. A method of controlling welding, comprising:
determining the current angle of the welding robot on the pipeline to be welded;
acquiring a welding starting angle and a welding end angle of a welding task;
controlling the welding robot to move from the current angle to the welding start angle if the current angle is not equal to the welding start angle;
controlling the welding robot to start welding from the welding starting angle until the welding end point stops;
controlling the welding robot to move from the current angle to the welding start angle if the current angle is not equal to the welding start angle, comprising:
determining whether an angle difference, which is an absolute value of a difference between the current angle and the welding start angle, is greater than a first predetermined value;
controlling the welding robot to move to an intermediate angle at a first crawling speed in a case where the angle difference is greater than the first predetermined value, an absolute value of a difference between the intermediate angle and the welding start angle being equal to the first predetermined value;
and controlling the welding robot to move to the welding starting angle at a second crawling speed, wherein the first crawling speed is greater than the second crawling speed.
2. The control method of claim 1, wherein determining the current angle of the welding robot on the pipe to be welded comprises:
acquiring a first attitude angle and a second attitude angle of the welding robot, wherein the first attitude angle is an angle formed by an X axis of an attitude sensor, the second attitude angle is an angle formed by a Y axis of the attitude sensor, the first attitude angle and the second attitude angle are detected by the attitude sensor, and the attitude sensor is installed on the welding robot;
and determining the current angle according to the first attitude angle and the second attitude angle.
3. The control method according to claim 2, wherein determining the current angle from the first attitude angle and the second attitude angle includes:
in the case that the first attitude angle is greater than 0, α =90 ° -y, where α is the current angle and y is the second attitude angle;
in the case where the first attitude angle is less than 0, α = - (90 ° -y).
4. The control method according to claim 1, wherein controlling the welding robot to move from the current angle to the welding start angle in a case where the current angle is not equal to the welding start angle, further comprises:
and controlling the welding robot to move to the welding starting angle at the second crawling speed under the condition that the angle difference value is smaller than or equal to the first preset value.
5. The control method according to any one of claims 1 to 4, wherein a direction in which the welding robot moves from the current angle to the welding start angle is a first direction, a direction in which the welding robot moves from the welding start angle to the welding end point is a second direction, and the first direction is opposite to the second direction.
6. A welding control device, comprising:
the determining unit is used for determining the current angle of the welding robot on the pipeline to be welded;
the acquisition unit is used for acquiring a welding start angle and a welding end angle of a welding task;
a first control unit for controlling the welding robot to move from the current angle to the welding start angle if the current angle is not equal to the welding start angle;
a second control unit for controlling the welding robot to start welding from the welding start angle until the welding end point stops;
the first control unit comprises a second determination module, a first control module and a second control module;
the second determination module is used for determining whether an angle difference value is larger than a first preset value, wherein the angle difference value is an absolute value of a difference value between the current angle and the welding starting angle;
the first control module is used for controlling the welding robot to move to an intermediate angle at a first crawling speed under the condition that the angle difference value is larger than the first preset value, and the absolute value of the difference value between the intermediate angle and the welding starting angle is equal to the first preset value;
the second control module is used for controlling the welding robot to move to the welding starting angle at a second crawling speed, and the first crawling speed is greater than the second crawling speed.
7. A computer-readable storage medium characterized in that the storage medium includes a stored program, wherein the program executes the control method of any one of claims 1 to 5.
8. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to execute the control method according to any one of claims 1 to 5 when running.
9. A welding system comprising a welding robot, characterized by further comprising a control device for welding communicatively connected to said welding robot, said control device for welding being adapted to perform the control method of any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010814127.2A CN111922567B (en) | 2020-08-13 | 2020-08-13 | Welding control method and device, computer readable storage medium and welding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010814127.2A CN111922567B (en) | 2020-08-13 | 2020-08-13 | Welding control method and device, computer readable storage medium and welding system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111922567A CN111922567A (en) | 2020-11-13 |
| CN111922567B true CN111922567B (en) | 2022-06-21 |
Family
ID=73311772
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010814127.2A Active CN111922567B (en) | 2020-08-13 | 2020-08-13 | Welding control method and device, computer readable storage medium and welding system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111922567B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112621049B (en) * | 2020-12-31 | 2022-10-14 | 北京博清科技有限公司 | Welding control method, welding control device, and computer-readable storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103273164A (en) * | 2012-12-28 | 2013-09-04 | 长春大正博凯汽车设备有限公司 | Arc welding system and arc welding method thereof |
| CN103433925A (en) * | 2013-07-31 | 2013-12-11 | 北京配天大富精密机械有限公司 | Method for returning robot to starting point, robot running method, robot and robot control device |
| CN104708239A (en) * | 2015-02-12 | 2015-06-17 | 南京航空航天大学 | Large-scale marine pipeline initial point recognition and location method and system based on CCD |
| CN104729455A (en) * | 2014-12-04 | 2015-06-24 | 北京航空航天大学 | Pipeline flexible welding and assembling robot posture calculation method based on measurement data |
| CN109397298A (en) * | 2018-12-18 | 2019-03-01 | 南京工程学院 | A kind of parallel robot initial position scaling method |
| CN110779554A (en) * | 2019-12-05 | 2020-02-11 | 上海钛米机器人科技有限公司 | Mechanical arm, and calibration system and method based on initial pose of IMU |
| CN111360835A (en) * | 2020-04-02 | 2020-07-03 | 邵阳学院 | Automatic welding control method for welding mechanical arm |
| CN111369110A (en) * | 2020-02-25 | 2020-07-03 | 北京博清科技有限公司 | Welding task execution method, device, equipment and storage medium |
| CN111451673A (en) * | 2020-03-31 | 2020-07-28 | 北京博清科技有限公司 | Method and device for searching initial position of welding seam and welding system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9221175B2 (en) * | 2013-03-28 | 2015-12-29 | Denso Wave Incorporated | Method of generating path of multiaxial robot and control apparatus for the multiaxial robot |
-
2020
- 2020-08-13 CN CN202010814127.2A patent/CN111922567B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103273164A (en) * | 2012-12-28 | 2013-09-04 | 长春大正博凯汽车设备有限公司 | Arc welding system and arc welding method thereof |
| CN103433925A (en) * | 2013-07-31 | 2013-12-11 | 北京配天大富精密机械有限公司 | Method for returning robot to starting point, robot running method, robot and robot control device |
| CN104729455A (en) * | 2014-12-04 | 2015-06-24 | 北京航空航天大学 | Pipeline flexible welding and assembling robot posture calculation method based on measurement data |
| CN104708239A (en) * | 2015-02-12 | 2015-06-17 | 南京航空航天大学 | Large-scale marine pipeline initial point recognition and location method and system based on CCD |
| CN109397298A (en) * | 2018-12-18 | 2019-03-01 | 南京工程学院 | A kind of parallel robot initial position scaling method |
| CN110779554A (en) * | 2019-12-05 | 2020-02-11 | 上海钛米机器人科技有限公司 | Mechanical arm, and calibration system and method based on initial pose of IMU |
| CN111369110A (en) * | 2020-02-25 | 2020-07-03 | 北京博清科技有限公司 | Welding task execution method, device, equipment and storage medium |
| CN111451673A (en) * | 2020-03-31 | 2020-07-28 | 北京博清科技有限公司 | Method and device for searching initial position of welding seam and welding system |
| CN111360835A (en) * | 2020-04-02 | 2020-07-03 | 邵阳学院 | Automatic welding control method for welding mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111922567A (en) | 2020-11-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111922567B (en) | Welding control method and device, computer readable storage medium and welding system | |
| CN109116847B (en) | Path scheduling method and device, background server and storage medium | |
| CN111376271B (en) | Method and device for controlling welding robot, welding robot and storage medium | |
| CN110704121B (en) | Operation retry method, system and computer device | |
| JP7285208B2 (en) | Processing equipment error correction method and system | |
| CN112692469A (en) | Welding control method, control device, processor and welding system | |
| US20160209833A1 (en) | Manufacturing machine and method of operation with a function self-check | |
| CN114407009A (en) | Automobile door cover adjusting method and system, electronic equipment and readable storage medium | |
| CN114852868A (en) | Control method, controller and device for crane boom and crane | |
| CN105676790A (en) | Laser processing control method and laser processing control device | |
| CN109564417A (en) | The interpolating method and relevant device of Spline Path | |
| CN110650815B (en) | Method and control unit for controlling a joining station | |
| CN114545862A (en) | Clamp operation point location determination method, device, equipment and storage medium | |
| US20220179425A1 (en) | Method for automatic avoidance of obstacles by mobile apparatus and autonomous mobile apparatus applying method | |
| CN104570921A (en) | Numerical controller temporarily stopping for a program call and numerical control method thereof | |
| CN110968045A (en) | Speed control method and device for moving target and readable storage medium | |
| CN112621049B (en) | Welding control method, welding control device, and computer-readable storage medium | |
| CN101499764B (en) | Monitoring system and method for stepping motor | |
| EP3786098A1 (en) | Method for determining a degraded guide rail condition in an elevator system, computer program product, and elevator system | |
| CN112461346A (en) | Robot load detection method and device, robot and readable storage medium | |
| CN107741731B (en) | Error processing method caused by S-curve calculation precision | |
| CN111680559B (en) | Method, system, device and storage medium for rapidly synchronizing sensor signal names | |
| CN116795042B (en) | Method for detecting path of numerical control system and application | |
| CN116767504A (en) | Unmanned equipment parking pose adjusting method and device | |
| CN116400641A (en) | Cam processing precision compensation method, system, equipment 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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |