Complex welding part unit dividing method and device and readable storage medium
Technical Field
The invention relates to the technical field of welding planning, in particular to a complex welding part unit dividing method and device and a readable storage medium.
Background
The current welding planning method adopts the method that the welding sequence of each part is judged by the artificial experience of a process engineer, and the process planning is carried out on the product; the method is simple and easy to implement and is not easy to make mistakes for simple welding parts; however, for complex welding products, the method for planning the combination of different parts is thousands of, if the units of various parts can be divided according to a certain rule to form a few unit combinations, and then the unit groups are planned for welding, the time is greatly saved, and the planning efficiency is improved; meanwhile, the problem of excessive manual experience division can be solved.
Because the number of assembled parts is large, the space complexity is high and the assembled parts have a hierarchical relationship, the existing unit division method is mainly applied to hierarchical division in the assembly field, the welding complexity is gradually increased nowadays, and a unit division method is also needed; the original unit division method mainly comprises a clustering division method, a process information division method, a graph theory division method, an empirical example reasoning method and the like; the clustering method has good application effect but poor pertinence; the graph theory is simple and easy to understand, but is not easy to convert into computer language; because the information of different products is different, the method of process information and empirical reasoning is difficult to be applied to the analysis of other products; the existing unit division methods are only suitable for the assembly field and are not suitable for the welding field; the original method depending on manual experience cannot reasonably divide parts, so that the efficiency of welding planning is low; different parts have different characteristics and different information, and cannot be well applied to different products.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for partitioning a complex weldment unit, and a readable storage medium, so as to solve the technical problem of low welding planning efficiency in the prior art.
In one aspect, the invention provides a complex weldment unit dividing method, which comprises the following steps:
acquiring the quality, the volume, the length of welding seams, the connection quantity, the similarity and the inclusion of the welding parts, and acquiring a fuzzy scale matrix corresponding to a characteristic layer by taking the quality, the volume, the length of the welding seams, the connection quantity, the similarity and the inclusion of the welding parts as the characteristic layer;
acquiring a weight corresponding to the characteristic layer according to the fuzzy scale matrix corresponding to the characteristic layer, and determining the weight of each welding part relative to the basic part according to the weight corresponding to the characteristic layer and the weight corresponding to the quality, the volume, the length of a welding seam, the number of connections, the similarity and the inclusiveness of the basic part;
and determining the number of the welding units, and obtaining the dividing result of the welding part units according to the number of the welding units and the weight of each welding part relative to the base part.
Further, acquiring fuzzy scale values of the parameter characteristics of the ith welding part compared with the parameter characteristics of the jth welding part
By passing
Forming a fuzzy scale matrix corresponding to the characteristic layer; wherein the content of the first and second substances,
P
i mis a parameter characteristic of the i-th weld, P
i mAnd the parameter characteristics of the jth welding part are any one of quality, volume, welding seam length, connection quantity, similarity and inclusion.
Further, acquiring a weight corresponding to the feature layer according to the fuzzy scale matrix corresponding to the feature layer, specifically including acquiring a fuzzy complementary consistent matrix corresponding to the target layer according to the fuzzy scale matrix corresponding to the target layer, and acquiring a weight corresponding to the feature layer according to the corresponding fuzzy complementary consistent matrix.
Further, acquiring a fuzzy complementary consistent matrix corresponding to the characteristic layer according to the fuzzy scale matrix corresponding to the characteristic layer, specifically comprising,
obtaining the element r of the ith row and the jth column in the fuzzy consistent matrix
ijBy the element r
ijForming a fuzzy complementary consistent matrix corresponding to the characteristic layer, wherein,
r
i、r
jthe sum of each element in the ith and jth rows in the fuzzy scale matrix corresponding to the characteristic layer is respectively.
Further, according to the corresponding fuzzy complementary consistent matrix, obtaining a weight corresponding to the feature layer, specifically including, by a formula
Obtaining the weight corresponding to the characteristic layer, omegaiAnd n represents the order of the fuzzy judgment matrix R, and alpha is (n-1)/2.
And further, determining the weight of each welding part relative to the base part according to the weight corresponding to the characteristic layer and the weight corresponding to the quality, the volume, the length of the welding line, the connection number, the similarity and the inclusion of the base part, and specifically, multiplying the weight corresponding to the characteristic layer by the weight corresponding to the base part and the weight corresponding to the quality, the volume, the length of the welding line, the connection number, the similarity and the inclusion of the base part to determine the weight of each welding part relative to the base part.
Further, determining the number of welding units, in particular by inequality
Determining the number of welding units NPN is the number of welded parts, NSIs a special welding unit.
And further, obtaining the dividing result of the welding part units according to the number of the welding units and the weight of each welding part relative to the base part, specifically comprising determining the welding units according to the number of the welding units and the weight of each welding part relative to the base part, determining the edge weight between the welding parts according to the weight corresponding to the characteristic layer and the fuzzy consistent matrix, and obtaining the dividing result of the welding part units according to the welding units and the edge weight between the welding parts.
On the other hand, the invention also provides a complex weldment unit partitioning device, which comprises a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the complex weldment unit partitioning method according to any one of the above technical solutions is realized.
In another aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, wherein the computer program is executed by a processor to implement the complex weldment unit partitioning method according to any one of the above technical solutions.
Compared with the prior art, the invention has the beneficial effects that: acquiring the quality, the volume, the length of the welding seam, the connection quantity, the similarity and the inclusion of the welding part, and acquiring a fuzzy scale matrix corresponding to a characteristic layer by taking the quality, the volume, the length of the welding seam, the connection quantity, the similarity and the inclusion of the welding part as the characteristic layer; acquiring a weight corresponding to the characteristic layer according to the fuzzy scale matrix corresponding to the characteristic layer, and determining the weight of each welding part relative to the basic part according to the weight corresponding to the characteristic layer and the weight corresponding to the quality, the volume, the length of a welding seam, the number of connections, the similarity and the inclusiveness of the basic part; determining the number of welding units, and obtaining the dividing result of the welding part units according to the number of the welding units and the weight of each welding part relative to the base part; the division result of the welding part units is obtained quickly, and the welding planning efficiency is improved.
Drawings
Fig. 1 is a schematic flow chart of a complex weldment unit dividing method according to embodiment 1 of the present invention;
FIG. 2 is a hierarchical model of a target layer, a feature layer, and a part layer according to embodiment 1 of the present invention;
FIG. 3 is a schematic diagram illustrating directed weights between weldments according to embodiment 1 of the present invention;
FIG. 4 is a weight diagram of the base member according to embodiment 1 of the present invention;
fig. 5 is a traversal diagram according to embodiment 1 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
The invention provides a complex weldment unit dividing method, which has a flow schematic diagram, and as shown in figure 1, the method comprises the following steps:
s1, acquiring the quality, the volume, the welding seam length, the connection quantity, the similarity and the inclusion of the welding parts, and acquiring a fuzzy scale matrix corresponding to a characteristic layer by taking the quality, the volume, the welding seam length, the connection quantity, the similarity and the inclusion of the welding parts as the characteristic layer;
s2, obtaining weights corresponding to the feature layers according to the fuzzy scale matrixes corresponding to the feature layers, and determining the weights of the welding parts relative to the basic parts according to the weights corresponding to the feature layers and the weights corresponding to the quality, the volume, the length of welding seams, the number of connections, the similarity and the inclusiveness of the basic parts;
and S3, determining the number of welding units, and obtaining the dividing result of the welding part units according to the number of the welding units and the weight of each welding part relative to the base part.
In specific implementation, a hierarchical model of a target layer, a feature layer and a part layer is established, as shown in fig. 2, a first layer is the target layer, a second layer is the feature layer, a third layer is the part (welding part) layer, and the mass (w), the volume (v), the connection quantity (c) of each part (welding part), the length (l) of a welding seam connected between the welding parts, the similarity(s) and the spatial inclusion relationship (inclusiveness, represented by i) between the parts are obtained in advance; the target layer refers to a basic part, in the process of welding a plurality of parts, a welding part is usually selected as a central welding part and is placed at a more important position, a welding robot or a craftsman welds around the central welding part, and other welding parts are welded together until the welding parts are welded into a whole; in the welding unit, a welding part left by removing the welding unit basic part is called as a sub-part of the welding unit, wherein the welding unit consists of the welding unit basic part and the welding unit sub-part;
the connection quantity refers to the quantity of one part (welding part) and other parts which have direct mutual connection relation; the space inclusion relationship refers to whether one part is in the space of the other part, if so, the space inclusion relationship is 1, otherwise, the space inclusion relationship is 0; similarity can be calculated from the mass w, the area a and the centroid b and the euclidean distance,
wherein, wiIndicates a weld part PiMass of (d), wmaxIndicates a weld part PiAnd PjMaximum value of mass;
preferably, the fuzzy scale matrix corresponding to the feature layer is obtained, specifically including,
obtaining fuzzy scale value of parameter characteristic of the ith welding piece compared with parameter characteristic of the jth welding piece
By passing
Forming a fuzzy scale matrix corresponding to the characteristic layer; wherein the content of the first and second substances,
P
i mis a parameter characteristic of the i-th weld, P
i mThe parameter characteristic (also called as m characteristic) of the jth welding part is any one of mass, volume, welding seam length, connection quantity, similarity and inclusiveness;
preferably, the method includes acquiring a weight corresponding to the feature layer according to a fuzzy scale matrix corresponding to the feature layer, and specifically includes acquiring a fuzzy complementary consistent matrix corresponding to a target layer according to a fuzzy scale matrix corresponding to the target layer, and acquiring a weight corresponding to the feature layer according to the corresponding fuzzy complementary consistent matrix;
preferably, the fuzzy complementary consistent matrix corresponding to the feature layer is obtained according to the fuzzy scale matrix corresponding to the feature layer, and specifically includes,
obtaining the element r of the ith row and the jth column in the fuzzy consistent matrixijBy the element rijForming corresponding fuzzy mutual of characteristic layer
And (c) complementing the consensus matrix, wherein,
r
i、r
jrespectively the sum of each element in the ith and the j row in the fuzzy scale matrix corresponding to the characteristic layer;
according to rijA fuzzy complementary consistent matrix R can be obtained
Wherein n represents the R order of the fuzzy judgment matrix;
preferably, the obtaining of the weight corresponding to the feature layer according to the corresponding fuzzy complementary consistent matrix specifically includes obtaining the weight corresponding to the feature layer through a formula
Obtaining the weight corresponding to the characteristic layer, omegaiA weight corresponding to the characteristic layer of the ith welding part is represented by n, the order of a fuzzy judgment matrix R is represented by alpha which is (n-1)/2;
preferably, the weight of each welding part relative to the base part is determined according to the weight corresponding to the feature layer and the weight corresponding to the mass, the volume, the length of the welding line, the number of connections, the similarity and the inclusion of the base part, and specifically, the method comprises the step of multiplying the weight corresponding to the feature layer by the weight corresponding to the mass, the volume, the length of the welding line, the number of connections, the similarity and the inclusion of the base part to determine the weight of each welding part relative to the base part.
In specific implementation, the weight corresponding to the feature layer of the welding part is multiplied by the weight corresponding to the feature target layer (the weight corresponding to the mass, the volume, the length of the welding line, the connection quantity, the similarity and the inclusion of the basic part) to obtain the weight Q of each welding part relative to the basic parti=ωi*ωmWherein Q isiThe weight of each welding part relative to the basic part; omegamRepresenting the weight of the characteristic target layer;
preferably, the number of welding units is determined, including, in particular, by inequality
Determining the number of welding units NPN is the number of welded parts, NSIs a special welding unit;
the special welding unit is a welding part which can generate great deformation to influence the welding between the following welding units and the overall quality if the special welding unit has larger mass and longer and dense welding seam length when being welded on another part in the welding process;
preferably, the dividing result of the welding part units is obtained according to the number of the welding units and the weight of each welding part relative to the base part, and the method specifically comprises the steps of determining the welding units according to the number of the welding units and the weight of each welding part relative to the base part, determining the edge weight between the welding parts according to the weight corresponding to the characteristic layer and the fuzzy consistent matrix, and obtaining the dividing result of the welding part units according to the welding units and the edge weight between the welding parts;
the weight of each welding part relative to the basic part is divided by using a minimum spanning tree algorithm by using a directed weight graph relation mode and taking the welding basic part as a starting point, wherein the direction of an arrow is taken as that the basic part points to the sub-parts, for example, fig. 3 is a directed weight schematic diagram between the welding parts, the representation forms are 'welding parts (nodes) and weights (edges)', P1, P2 and P3 nodes represent different welding parts, and the edges connected with the nodes represent the weight between the two units; if W12> W13, the fact that P2 has higher probability than P3 and is divided into the same welding unit with P1 at the same time is shown, and the edge weight between the welding parts is determined according to the weight corresponding to the characteristic layer and the fuzzy consistent matrix;
the calculation formula is as follows,
w、ωv、ωl、ωc、ωiand ωsThe corresponding weight r in the feature layerw ij、rv ij、rl ij、rc ij、ri ijAnd rs ij、rw ijRespectively representing the features of the part in the ith row and the j column of elements in the fuzzy consistent matrix;
dividing welding units by using a minimum spanning tree algorithm, wherein the direction of an arrow is taken as a basic part and points to a sub-part to obtain a unit division scheme; for example, if the part P9 and the base pieces P5, P6 have a connection relationship, W59 is smaller than W69, the part P9 and the base piece P6 belong to the same welding unit;
in specific implementation, interference detection is carried out on the unit dividing structure, wherein when any one of the welding parts is assembled along any direction of a coordinate system, the contact condition of the welding part and the rest welding parts is expressed in a matrix form, and the matrix form is called as an interference matrix;
during welding, a welding unit performs welding processing with another unit along the direction of a coordinate system (x, y, z), and an interference matrix I based on the coordinate system can be established, wherein the interference checking direction is six directions of +/-x, +/-y and +/-z; in a welded assembly of n welded units U ═ { U1, U2, … …, Un }, the orthogonal interference matrix of the assembly in the direction k (k ═ x, -x, y, -y, z, -z) is IyAs will be shown below, the following,
in the above formula, IijyIndicating the interference with part j when part i is assembled in direction y, a value of 1 indicating interference and a value of 0 indicating no interference.
Example 2
The embodiment of the invention provides a complex welding part unit dividing method, taking an auxiliary frame with a frame type closed structure as an example, and the part code information of a frame is shown in a table 1;
TABLE 1
Substituting various index parameters of welding parts
Performing standardization treatment, and substituting the result
The comparison indexes of each characteristic parameter of each welding part are obtained, the quality characteristics are taken as an example, the fuzzy judgment matrix of the quality characteristics is shown in a table 2,
TABLE 2
According to the fuzzy judgment matrix of different characteristics of each welding piece, the weight of each welding piece to the characteristics is obtained, as shown in table 3,
TABLE 3
The 16 welded parts are used as the welded part layer of the hierarchical structure to be evaluated, and the relative weight of each characteristic of the basic part in the auxiliary frame is shown in table 4,
TABLE 4
The weight of the basic parts is P from small to large16、P13、P10、P1、P7、P11、P15、P2、P8、P9、P12、P5、P4、P6、P3And P14A weight map of the base member, as shown in FIG. 4; the subframe containing a welded part which can be formed as a special welding unit and is a support, N S1, the number of available welding units is; therefore P is12、P5、P4、P6、P3And P14Is a basic piece;
traversing by using a minimum spanning tree method according to the weight value by taking the basic element as a starting point, and traversing a schematic diagram, wherein a gray representation is taken as the basic element as shown in FIG. 5; welding the welding units in a certain order, i.e. U1(P4、P1)→U2(P3、P2、P16)→U3(P5、P7、P8、P10)→U4(P6、P9、P11)→U5(P14、P13、P15)→U6(P12),
By means of the interference matrix it is possible to,
learn U1And U2Has an interference value of 1, U in xyz2And U3Has an interference value of 1, U in xyz3And U4Interference value on xy of 1, U4And U5Has an interference value of 1, U in y5And U6The interference value in xyz of (1) is found to be no interference phenomenon, i.e. the weld division is reasonable.
Example 3
The embodiment of the invention provides a complex weldment unit partitioning method, which comprises a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the complex weldment unit partitioning method is realized according to any one of the above embodiments.
Example 4
The embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the complex weldment unit partitioning method according to any one of the above embodiments.
The invention discloses a complex welding part unit dividing method, a complex welding part unit dividing device and a readable storage medium, wherein the quality, the volume, the length of a welding seam, the connection quantity, the similarity and the inclusion of a welding part are obtained, and the quality, the volume, the length of the welding seam, the connection quantity, the similarity and the inclusion of the welding part are used as a characteristic layer, so that a fuzzy scale matrix corresponding to the characteristic layer is obtained; acquiring a weight corresponding to the characteristic layer according to the fuzzy scale matrix corresponding to the characteristic layer, and determining the weight of each welding part relative to the basic part according to the weight corresponding to the characteristic layer and the weight corresponding to the quality, the volume, the length of a welding seam, the number of connections, the similarity and the inclusiveness of the basic part; determining the number of welding units, and obtaining the dividing result of the welding part units according to the number of the welding units and the weight of each welding part relative to the base part; by reasonably dividing the welding pieces, the dividing result of the welding piece unit is quickly obtained, and the welding planning efficiency is improved; the welding part unit dividing scheme has universality.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.