CN112317981B - Multilayer and multi-channel welding method based on industrial welding robot - Google Patents
Multilayer and multi-channel welding method based on industrial welding robot Download PDFInfo
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- CN112317981B CN112317981B CN202011146176.XA CN202011146176A CN112317981B CN 112317981 B CN112317981 B CN 112317981B CN 202011146176 A CN202011146176 A CN 202011146176A CN 112317981 B CN112317981 B CN 112317981B
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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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
Abstract
The invention discloses a multilayer and multichannel welding method based on an industrial welding robot, which comprises the steps of obtaining welding seam information; calculating a Cartesian coordinate system of a linear welding seam, calculating a Cartesian coordinate system of a curve welding seam, setting left and right offset and height offset for each welding path of the linear welding seam and the curve welding seam in a multilayer multi-path welding process system, transmitting each piece of programmed welding path information to an industrial welding robot by the multilayer multi-path welding process system, and welding each welding path of the linear welding seam and the curve welding seam by the industrial welding robot. The method can realize that the industrial welding robot performs welding on all welding paths by only one-time programming, and greatly improves the programming efficiency, saves the labor time cost, and reduces the use difficulty and threshold of multilayer multi-path welding compared with the prior art that the next welding path is performed after the offset is calculated and counted after one welding path is completed.
Description
Technical Field
The invention relates to the technical field of welding methods of industrial welding robots, in particular to a multilayer and multi-channel welding method based on an industrial welding robot.
Background
In the welding of the industrial welding robot applied to the medium plate workpiece, when the condition that the welding seam is wide is met, a multilayer welding mode for the same welding seam often appears, the multilayer welding comprises multilayer single-pass welding and multilayer multi-pass welding, as shown in fig. 1, a diagram a is the multilayer single-pass welding, and a diagram b is the multilayer multi-pass welding. The existing industrial welding robot is used for teaching and programming repeatedly by manpower when multi-layer and multi-channel welding is carried out, the position and the welding parameters of the next path are required to be programmed after each path is welded, the automation degree is low, and the manual operation time is long.
Disclosure of Invention
The invention provides a multilayer and multi-pass welding method based on an industrial welding robot, which aims to solve the problems that the industrial welding robot in the prior art is manually used for repeated teaching and programming when aiming at multilayer and multi-pass welding, the position and the welding parameters of the next path are required to be programmed after each path is welded, the automation degree is low, and the manual operation time is long.
The technical scheme adopted by the invention is as follows: a multilayer multi-channel welding method based on an industrial welding robot comprises the following steps:
step 1: acquiring weld information, wherein the weld information comprises a linear weld and a curved weld;
step 2: calculating a Cartesian coordinate system of a straight line AB where the straight line welding seam is located;
and step 3: setting left and right offset in the Y-axis direction for each welding path of a linear welding seam in a multilayer multi-pass welding process system;
and 4, step 4: setting a height offset in a Z-axis direction for each welding path of a linear welding seam in a multilayer multi-pass welding process system;
and 5: calculating a Cartesian coordinate system of the curve welding seam;
step 6: setting left and right offset in the Y-axis direction for each welding path of a curved welding seam in a multilayer multi-pass welding process system;
and 7: setting a height offset for each welding path of a curve welding seam in a Z-axis direction in a multilayer multi-pass welding process system;
and 8, transmitting the programmed information of each welding path to an industrial welding robot by the multilayer multi-path welding process system, and welding each welding path of the linear welding line and the curved welding line by the industrial welding robot.
Preferably, the method for calculating the cartesian coordinate system of the straight line AB of the straight line weld in step 2 includes:
step 2.1 calculating the direction vector of the straight line AB where the straight line weld joint is located
Taking direction vector
An X-axis as a cartesian coordinate system;
step 2.2: randomly taking two points B, C on the curve weld joint, and calculating to obtain
Step 2.3: by
Two vectors are cross-multiplied to obtain a plane normal vector
Taking direction vector
Z-axis as cartesian coordinate system;
step 2.4: will be provided with
And
cross multiplication to obtain vector
Taking direction vector
As the Y-axis of a cartesian coordinate system.
Preferably, the method for calculating the cartesian coordinate system of the curvilinear seam in the step 5 includes:
and taking the tangential direction of the point on the curve welding seam as the X axis of the point, wherein the Z axis direction of the point is consistent with the Z axis direction of the linear welding seam, and determining the Y axis according to the X axis and the Z axis of the point.
The invention has the beneficial effects that: the method can realize that the industrial welding robot performs welding on all welding paths by only one-time programming, and greatly improves the programming efficiency, saves the labor time cost, and reduces the use difficulty and threshold of multilayer multi-path welding compared with the prior art that the next welding path is performed after the offset is calculated and counted after one welding path is completed.
Drawings
FIG. 1 is a schematic structural diagram of a) and b) of multi-layer single welding and multi-pass welding disclosed by the invention;
FIG. 2 is a schematic structural view of a linear weld joint disclosed in the present invention before welding;
FIG. 3 is a schematic view of a weld path after application of straight and curved welds in accordance with the present disclosure;
fig. 4 is a schematic structural diagram of a linear weld seam after welding.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail below with reference to the accompanying drawings, but embodiments of the present invention are not limited thereto.
Example 1:
a multilayer multi-pass welding method based on an industrial welding robot is disclosed, as shown in figure 2, a welding plate I1 and a welding plate II 2 form a V-shaped included angle, and a linear welding seam 3 is formed. During the welding process, curved welds (not shown) will occur in addition to straight welds 3.
The invention can carry out multilayer and multi-pass welding on the straight welding seam and can carry out multilayer and multi-pass welding on the curved welding seam. For illustration, a straight weld and a curved weld are shown in fig. 3, where AB in fig. 3 is the straight weld and BDC is the curved weld. In the application of multilayer multi-pass welding, the core is to find the path after the previous welding path is completed, and the offset is divided into the offset in height and the offset in left and right. The offset is obtained as follows:
And 2, calculating a Cartesian coordinate system of the linear welding line AB.
Step 2.1, calculating the direction vector of the linear weld joint AB
Taking direction vector
As the X-axis of the cartesian coordinate system (below point a in fig. 3).
2.2, randomly taking two points such as B and C on the curve weld joint, and calculatingTo obtain
Step 2.3, two non-parallel straight lines can determine a plane consisting of
Two vectors are cross-multiplied to obtain a plane normal vector
(out of the plane of the paper) taking the direction vector
As the Z-axis of a cartesian coordinate system.
Step 2.4, mixing
And
cross multiplication to obtain vector
(direction AA' in the figure), taking the direction vector
As Y-axis of the cartesian coordinate system, up to this point, the reference coordinate system of the straight weld AB is determined.
And 4, setting a height offset, namely the offset in the positive direction of the Z axis, for each welding path of the linear welding line in the multilayer multi-pass welding process system, and superposing the high-speed offset on the basis of the left and right offsets of the linear welding line to obtain the offset path after the welding of the linear welding line is finished.
And 5, calculating a Cartesian coordinate system of the curve welding seam.
And 5.1, taking the tangential direction of the point on the curved welding seam as the X axis of the point due to the fact that the reference coordinate systems of all points on the curved welding seam are different, enabling the Z axis direction of the point to be consistent with the Z axis direction of the linear welding seam, and determining the Y axis according to the X axis and the Z axis of the point.
Step 6, setting left and right offsets for each welding path of a curve welding seam in a multilayer multi-pass welding process system, namely adding delta Y to the positive and negative directions of a Y axis; at this time, the positions of the point D after the deviation are D 'and D', and the positions of the point C after the deviation are C 'and C'.
Step 7, setting a height offset for each welding path of a curve welding seam in a multilayer multi-pass welding process system; the offset in the positive direction of the Z axis; at this time, the offset path of the curve weld seam after welding is completed is obtained.
And 8, transmitting the programmed information of each welding path to the industrial welding robot by the multilayer multi-path welding process system to weld each welding path of the linear welding line and the curve welding line.
It is to be noted that when the left-right offset amount and the height offset amount are provided for the straight line weld and the curved line weld, the offset amounts are not necessarily equal.
The schematic view of the linear seam welding after completion is shown in fig. 4.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (1)
1. A multilayer multi-channel welding method based on an industrial welding robot is characterized by comprising the following steps:
step 1: acquiring weld information, wherein the weld information comprises a linear weld and a curved weld;
step 2: calculating a Cartesian coordinate system of a straight line AB where the straight line welding seam is located;
and step 3: setting left and right offset in the Y-axis direction for each welding path of a linear welding seam in a multilayer multi-pass welding process system;
and 4, step 4: setting a height offset in a Z-axis direction for each welding path of a linear welding seam in a multilayer multi-pass welding process system;
and 5: calculating a Cartesian coordinate system of the curve welding seam;
step 6: setting left and right offset in the Y-axis direction for each welding path of a curved welding seam in a multilayer multi-pass welding process system;
and 7: setting a height offset for each welding path of a curve welding seam in a Z-axis direction in a multilayer multi-pass welding process system;
step 8, the multi-layer multi-channel welding process system transmits the programmed information of each welding path to an industrial welding robot, and the industrial welding robot performs welding on each welding path of the linear welding line and the curve welding line;
the method for calculating the Cartesian coordinate system of the straight line AB of the straight line welding seam in the step 2 comprises the following steps:
step 2.1 calculating the direction vector of the straight line AB where the straight line weld joint is located
Taking direction vector
An X-axis as a cartesian coordinate system;
step 2.2: randomly taking two points B, C on the curve weld joint, and calculating to obtain
Step 2.3: by
Two vectors are cross-multiplied to obtain a plane normal vector
Taking direction vector
Z-axis as cartesian coordinate system;
step 2.4: will be provided with
And
cross multiplication to obtain vector
Taking direction vector
Y-axis as a cartesian coordinate system;
the method for calculating the Cartesian coordinate system of the curve welding seam in the step 5 comprises the following steps:
and taking the tangential direction of the point on the curve welding seam as the X axis of the point, wherein the Z axis direction of the point is consistent with the Z axis direction of the linear welding seam, and determining the Y axis according to the X axis and the Z axis of the point.
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| CN108817614A (en) * | 2018-06-11 | 2018-11-16 | 华南理工大学 | A kind of arc welding robot weld joint tracking attitude adjusting method |
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