CN112171121A - Weld joint characteristic node design technology for robot welding - Google Patents
Weld joint characteristic node design technology for robot welding Download PDFInfo
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- CN112171121A CN112171121A CN202011055968.6A CN202011055968A CN112171121A CN 112171121 A CN112171121 A CN 112171121A CN 202011055968 A CN202011055968 A CN 202011055968A CN 112171121 A CN112171121 A CN 112171121A
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B25J11/005—Manipulators for mechanical processing tasks
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Abstract
The invention provides a welding line characteristic node design technology for robot welding, and relates to the field of robot welding. The welding line characteristic node design technology for robot welding comprises node parameterization design, node scanning path design, node welding path design and process package generation matching, wherein the node parameterization design is a set of a group of welding lines and structural relations of the welding lines, the node scanning path design is used for obtaining the actual coordinate size of a welding line area or a peripheral structure and eliminating shadows caused by component positioning errors or structural manufacturing errors, each welding line parameter is calculated according to data of the node scanning path design, and the process package generation matching summarizes the node parameterization design, the node scanning path design and the node welding path design and generates a model. The invention relates to a quick and effective method and a way for solving the problem of welding of nonstandard components and small-batch components.
Description
Technical Field
The invention relates to the technical field of welding robots, in particular to a welding seam characteristic node design technology for robot welding.
Background
Although robot welding is widely applied in various industries, even automatic welding is partially realized, the applied surface and point are narrow, and the robot welding is only suitable for realizing special robot welding for specific components under specific working environment, but the robot welding is far insufficient for actual requirements in enterprise welding scenes, and is popularized. The pain points for realizing robot welding mainly focus on the following aspects:
1. mature welding workstations are generally foreign brands, the enterprise introduction cost is too high, and the selectable scope is small; 2. at present, welding workstations at home and abroad can only solve the problem of welding of some components in batches and in standard, are special for special machines, have poor product adaptability and are not easy to popularize; 3. the robot welding technology is not intelligent enough, the limiting conditions are more, and the work efficiency cannot meet the requirements of a factory; 4. the robot has too much auxiliary work before welding, and increases the work of off-line modeling, off-line simulation, on-line relocation and recalculation; 5. the automatic matching of robot welding process parameters and welding gun attitude control is complex; 6. the welding adaptability to non-standard components and small-batch workpieces is poor, and even the robot welding is difficult to realize.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a welding seam characteristic node design technology for robot welding, which is a quick and effective method and way for solving the welding of non-standard components and small-batch components.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: the welding line characteristic node design technology for robot welding comprises node parameterization design, node scanning path design, node welding path design and process package generation matching, wherein the node parameterization design is a set of a group of welding lines and a structural relation of the welding lines, the node scanning path design is used for obtaining the actual coordinate size of a welding line area or a peripheral structure and eliminating shadows caused by component positioning errors or structural manufacturing errors, the 6 sizes of XYZABC are commonly used for expression and control, the node welding path design is that parameters of each welding line are calculated according to data of the node scanning path design, and the process package generation matching summarizes the node parameterization design, the node scanning path design and the node welding path design and generates a model for welding a system of the same type;
the node parametric design comprises information of part positions, the size of a welding line attachment part, welding process parameters, welding line parameters, welding optimization and a parameter position schematic diagram, wherein the information of the part positions is used for limiting the topological relation of a sub-part on a main part, the size of the welding line attachment part is the size of the sub-part and the size of a father part, the welding process parameters comprise the material of a welding parent metal, a welding method, the diameter of a welding wire, the type of gas, the model of a welding machine and welding leg parameters, the parameters of the welding line define the own individualized parameter values of each welding line, the welding line optimization can choose or leave the required welding line according to the actual welding requirement, and the parameter position schematic diagram is a three-dimensional model matched with a welding node;
the node scanning path design comprises a scanning point forming path and parameters of scanning points, the scanning point forming path forms a welding path in a point set and is formed by combining the scanning points and auxiliary points, and the parameters of the scanning points comprise a target pose XYZABC, additional axis position parameters, a scanning point taking mode and a motion mode.
Preferably, the path of the node welding path design is optimally designed based on the welding process, namely the sequence of each welding line, and the shortest idle stroke of the welding gun in the welding process.
Preferably, the model generated by the process package generation and matching can modify parameters according to actual conditions.
Preferably, there is a curve in the information of the part position, and an appropriate encryption point can be provided to control the shape and position relationship.
Preferably, the dimensions of the weld joint attachment part include the plate thickness, height, contour, overbeld hole, free end shape of the sub-part, the plate thickness of the parent part, height, width and angle of the connecting plate.
Preferably, the parameters of the weld seam include weld leg size, joint type, groove type, penetration type, groove parameter and weld seam form, the groove parameter can be divided into V type, K type and X type, and the boundary size is represented by groove thickness, angle, gap and reserved root.
Preferably, the process kit generation matching can automatically match welding parameters, swing arc parameters, arc tracking parameters, operation control, transition control and correction parameters.
(III) advantageous effects
The invention provides a welding seam characteristic node design technology for robot welding. The method has the following beneficial effects:
1. the invention relates to a quick and effective method and a way for solving the problem of welding of non-standard components and small-batch components.
2. According to the invention, after the process packet is generated, the same component is welded, the process packet or similar components can be directly called, and the welding processing can be carried out by modifying related parameters, so that the welding efficiency can be improved.
Drawings
FIG. 1 is a schematic diagram of the design process of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
Example (b):
as shown in fig. 1, an embodiment of the present invention provides a weld feature node design technique for robot welding, including node parameterization design, node scan path design, node welding path design and process package generation matching, the node parametric design is a set of welding seams and structural relations thereof, the node scan path design is used for obtaining actual coordinate sizes of a welding seam area or a peripheral structure, is used for eliminating the shadow caused by the positioning error of the components or the manufacturing error of the structure, is expressed and controlled by the 6 dimensions of XYZABC, the node welding path design is to calculate the parameters of each welding line according to the data of the node scanning path design, and the process package generation matching collects the node parameterization design, the node scanning path design and the node welding path design and generates a model for welding a system of the same type.
1. Node parameterization design
The parametric design of the target object in various engineering software is a very widely applied and highly efficient technical way. The method realizes deep abstraction of the target object according to the parameterization requirement of the target object, summarizes and extracts the attribute of the target object according to the hierarchy and the category.
The main component element of the welding seam node is a welding seam; a weld joint is a collection of a set of welds and their structural relationships. The number of welds and the form of the welds on the component are different, and the relationship and complexity are different due to the different shapes and sizes of the parts on the component. For example, a simple steel structural member consists of a main part H-shaped steel and a plurality of stiffened plate parts, wherein each stiffened plate part can form 4 vertical fillet welds and 2 flat fillet welds with a web plate and wing plates on two sides of the main part H-shaped steel. If the topological relation is not associated in groups, the robot controls each welding line to weld respectively, the efficiency is very low, and the welding continuity is lacked.
Therefore, firstly, according to the used frequency and structural characteristics, the grouped welding seams are classified according to the structural size relationship, various welding seam nodes are abstracted, and an easily distinguished name is defined for each node.
Secondly the following main parameters are also present:
1. and the basic positioning data of the part position relation is used for limiting the topological relation of the sub-part on the main part. Providing proper encryption points for parts with curvature or special requirements to control the shape and the position relation;
2. defining the size parameter of the structure attached with the welding seam; including child part sizes and parent part sizes, such as: the thickness, height, contour, over-welding hole, free end shape and the like of the sub-part, the thickness of the plate of the father part, the height and width of the connecting plate, the angle and the like;
3. welding the quoted technological parameters and the default welding leg size;
4. the weld defines parameters. Each weld has its own individualized parameter values, such as: parameters such as weld leg size, joint type, groove type, penetration type, groove parameter, weld form and the like; groove parameters can be divided into V type, K type, X type and the like, and boundary dimensions are expressed by groove thickness, angle, gap and root. The weld may be a general fillet weld or a penetration or semi-penetration groove weld. The welding line forms include a continuous welding line and an intermittent welding line, and the length and the gap of the intermittent welding line are controlled by parameters. The coordinate size of the welding line is obtained by automatically calculating the topological relation of the part and the father part thereof;
5. and selecting a range of welding seams. Selecting and rejecting required welding seams according to the requirement of the node form;
6. and (5) a parameter position schematic diagram. In order to facilitate the use of the nodes by the user, each node should be provided with a schematic diagram corresponding to the location of the parameter.
2. Node scan path design
After the welding seam node parameters are designed, the position size of a laser scanning point and the posture of a laser can be automatically generated according to a set calculation rule. The laser used for accurate measurement is generally installed on the welding gun, and TCP coordinate values of the laser can be calibrated in a correlated mode or in a single mode.
The pose of the scanning laser point is usually expressed and controlled by 6 dimensions of XYZABC, and is suitable for being executed by a robot. The space requirements of a composite tool composed of a laser, a welding gun and the like need to be fully considered when the points are regularly designed, the anti-collision requirements of the tool and peripheral structures at different poses are ensured, and the tool can conveniently enter and exit to reach the position of a welding line for scanning.
The node scanning path is used for obtaining the actual coordinate size of the welding seam area or the peripheral structure and eliminating the influence caused by the positioning error of the component or the manufacturing error of the structure. The real numerical value obtained after the node scanning is also a key point value required by the node welding path calculation.
During planning of the node scanning path, the target position and the transition point of the collision prevention structure design are considered, and the control and the reset of the limit posture of the robot are considered, so that the robot is comfortable and smooth in posture when scanning motion is performed.
The scanning path of a node is formed by combining a series of scanning points and auxiliary points, and is a continuous list of a group of actions. Mainly comprises a scanning position point, a switching command of a laser, a transition point, a safety return point, a zero return point and the like.
One scanning position point comprises a target pose XYZABC, additional axis position parameters, a scanning point-taking mode and a motion mode. The scanning point-taking mode usually comprises an inner corner point, an outer corner point, a middle point and the like, a specially designed point-taking calculation algorithm can be carried out according to the performance of laser, and automatic switching is carried out according to selection of a line during operation.
The scanning position point table monitoring interface generally comprises theoretical and actual measurement target position parameter values, so that the scanning effectiveness can be conveniently compared and judged after the scanning is finished, and a program can also automatically judge whether the scanning value is abnormal or determine whether to rescan. The monitoring interface is designed with some necessary common functions for operating the robot so as to avoid exception handling of some scanning actions. Besides the presentation of visual data, the monitoring interface also has instant graphical display so as to conveniently judge the validity of the data in time.
3. Nodal weld path design
After the welding seam node is scanned, calculating the real coordinate value, the welding gun posture, the welding leg size, the welding seam type, the groove size, the welding process package selection and the like of each welding seam according to the actual key point value obtained by scanning and the parameters defined by the welding seam node; the fillet welding can be continuously welded to form a continuous welding seam as much as possible, and the welding of the vertical welding seam is preferably performed by the flat welding seam.
A nodal weld path is a list consisting of a series of weld location points and auxiliary points. The location point instruction of each row mainly comprises: the position point instruction identifier, the pose value XYZABC of the welding gun, the position of the additional shaft, the size of the welding leg, the type of the welding line, the name of a process package, the name of a process item, groove information, other motion control parameters and the like.
The location point instruction identifier generally includes: the START point START, END point END, middle straight point MID, middle arc MID, MOVE, safe point POS, ZERO point ZERO, etc. may define the add command by itself.
The weld types are generally: fillet welds and butt welds.
A group of welding nodes can be combined into a contour with any shape by straight line segments and circular arc segments. To simplify the operation, it is possible to control whether the welding path is mirrored or not by some parameters.
When planning a welding path, necessary auxiliary points are needed to be added for controlling the in-and-out attitude of the welding gun and the welding transition of welding seams at different positions.
The planning of the welding path has strong intelligence, the optimal starting and ending position can be automatically determined according to the directions of different welding nodes and the actual position of the robot, surrounding components are automatically avoided, the adaptive process kit parameters are automatically matched, the limitation of different robot stations is automatically adapted, and a welding program file is automatically generated.
4. Automatic matching of welding process packages
After the welding path planning is completed, a welding program file is automatically generated, and when the welding program file is created, welding item parameters adaptive to the current plate thickness or the size of a welding leg are automatically matched according to parameters in a welding process package (or a welding process expert library) defined by a user, so as to control the welding characteristic parameter values of each welding line on each layer.
The welding process package is designed according to the material, welding method, welding wire diameter, gas category and welding machine model of the welding parent metal; a package consists of a plurality of weld groups, a group consisting of a plurality of items. The welding process item is the minimum component unit in the process packet and is the composition basis of all welding process designs.
The welding process parameters automatically matched with the welding path planning are all from welding process items. The welding process parameters mainly comprise: welding parameters (file number, current, voltage), swing arc parameters (file number, type, frequency, amplitude), arc tracking parameters, operational control (speed, attitude boundary), transition control (start and end internal angles, smooth transition length), correction parameters, and the like.
When each section of welding line calculates an execution program, the size, the material and the position of a required welding leg of the welding line are extracted firstly, a matched preferential welding item is searched in a process packet, and an offset value, a transition value, an actually used current and voltage value and the like for controlling the path size are obtained. The actual path of each layer and each path can be automatically calculated for the welding lines of multiple layers and multiple paths according to the mode
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The welding line characteristic node design technology for robot welding is characterized by comprising a node parameterization design, a node scanning path design, a node welding path design and a process package generation matching, wherein the node parameterization design is a set of a group of welding lines and a structural relation of the welding lines, the node scanning path design is used for obtaining the actual coordinate size of a welding line area or a peripheral structure and eliminating shadows caused by component positioning errors or structural manufacturing errors, the 6 sizes of XYZABC are commonly used for expression and control, the node welding path design is that parameters of each welding line are calculated according to data of the node scanning path design, and the process package generation matching summarizes the node parameterization design, the node scanning path design and the node welding path design and generates a model for welding a system of the same type;
the node parametric design comprises information of part positions, the size of a welding line attachment part, welding process parameters, welding line parameters, welding optimization and a parameter position schematic diagram, wherein the information of the part positions is used for limiting the topological relation of a sub-part on a main part, the size of the welding line attachment part is the size of the sub-part and the size of a father part, the welding process parameters comprise the material of a welding parent metal, a welding method, the diameter of a welding wire, the type of gas, the model of a welding machine and welding leg parameters, the parameters of the welding line define the own individualized parameter values of each welding line, the welding line optimization can choose or leave the required welding line according to the actual welding requirement, and the parameter position schematic diagram is a three-dimensional model matched with a welding node;
the node scanning path design comprises a scanning point forming path and parameters of scanning points, the scanning point forming path forms a welding path in a point set and is formed by combining the scanning points and auxiliary points, and the parameters of the scanning points comprise a target pose XYZABC, additional axis position parameters, a scanning point taking mode and a motion mode.
2. The weld feature node design technique for robotic welding of claim 1, wherein: the path designed by the node welding path is optimally designed based on a welding process, namely the sequence of each welding line and the shortest idle stroke of a welding gun in the welding process.
3. The weld feature node design technique for robotic welding of claim 1, wherein: the model generated by the process package generation and matching can modify parameters according to actual conditions.
4. The weld feature node design technique for robotic welding of claim 1, wherein: the information of the part position has a curve, and an appropriate encryption point can be provided to control the shape and the position relation.
5. The weld feature node design technique for robotic welding of claim 1, wherein: the sizes of the welding seam attachment part comprise the plate thickness, the height, the profile, the over-welding hole and the free end shape of the sub-part, the plate thickness of the father part, the height, the width and the angle of the connecting plate.
6. The weld feature node design technique for robotic welding of claim 1, wherein: the parameters of the welding seam include weld leg size, joint type, groove type, penetration type, groove parameter and welding seam form, the groove parameter can be divided into V type, K type and X type, and the boundary size is expressed by groove thickness, angle, gap and reserved root.
7. The weld feature node design technique for robotic welding of claim 1, wherein: the process pack generation matching can automatically match welding parameters, swing arc parameters, arc tracking parameters, operation control, transition control and correction parameters.
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