CN112643170A - Arc pressure welding seam tracking method, robot control cabinet and storage medium - Google Patents
Arc pressure welding seam tracking method, robot control cabinet and storage medium Download PDFInfo
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- CN112643170A CN112643170A CN202011609953.XA CN202011609953A CN112643170A CN 112643170 A CN112643170 A CN 112643170A CN 202011609953 A CN202011609953 A CN 202011609953A CN 112643170 A CN112643170 A CN 112643170A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
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Abstract
The application discloses a method for tracking arc pressure welding seam, a robot control cabinet and a storage medium, wherein the method comprises the following steps: acquiring a first current value and a second current value of a welding machine corresponding to the welding robot in the same welding stage in two welding periods; calculating a current difference value between the first current value and the second current value; and compensating the planned track of the welding robot according to the current difference. The method provided by the application can ensure the accuracy of the position of the welding line in the welding process.
Description
Technical Field
The application relates to the technical field of robots, in particular to an arc pressure welding seam tracking method, a robot control cabinet and a storage medium.
Background
With the continuous development of scientific technology, in the manufacturing field, the application of welding technology is more and more extensive, the welding intelligent technology level is higher and higher, and the automation and the intelligence of welding realized by adopting a welding robot are inevitably the development trend in the future.
The inventor of this application discovers, at present in welding robot's welding process, welding heat input can arouse the work piece to warp, leads to actual welding seam and demonstration welding seam to take place the skew to influence welding quality.
Disclosure of Invention
The technical problem mainly solved by the application is to provide an arc-voltage welding seam tracking method, a robot control cabinet and a storage medium, and the accuracy of the welding position of a welding robot in the welding process can be ensured.
In order to solve the technical problem, the application adopts a technical scheme that: a method of arc pressure weld tracking is provided, the method comprising: acquiring a first current value and a second current value of a welding machine corresponding to the welding robot in the same welding stage in two welding periods; calculating a current difference value between the first current value and the second current value; and compensating the planned track of the welding robot according to the current difference value.
In order to solve the above technical problem, another technical solution adopted by the present application is: there is provided a robot control cabinet, comprising a processor and a memory, wherein the processor is coupled to the memory, the memory stores program data, and the processor implements the steps of the method by executing the program data in the memory.
In order to solve the above technical problem, another technical solution adopted by the present application is: there is provided a computer storage medium having stored thereon a computer program executable by a processor to perform the steps of the above method.
The beneficial effect of this application is: the method and the device judge whether the actual welding position deviates from the taught welding position according to the first current value and the second current value of the same welding stage in the front welding period and the back welding period, and further compensate the planning track of the welding robot according to the current difference value of the first current value and the second current value, whether the groove on the workpiece to be welded is a symmetrical groove or not, and whether the taught welding position during fillet weld welding is required to be in the central line position or not, so that the accuracy of the actual welding position in the welding process can be guaranteed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:
FIG. 1 is a schematic flow diagram of one embodiment of a method of arc pressure weld tracking;
FIG. 2 is a schematic diagram of a simple structure of a workpiece to be welded;
FIG. 3 is a schematic view of the welding robot corresponding to the swing trajectory of FIG. 2;
FIG. 4 is a schematic structural diagram of an embodiment of a robot control cabinet according to the present application;
FIG. 5 is a schematic structural diagram of an embodiment of a computer-readable storage medium according to the present application.
Detailed Description
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 a part of the embodiments of the present application, and not all 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 application.
The method for tracking the arc-pressure welding seam is executed by a robot control cabinet, the robot control cabinet is in communication connection with a welding robot and a welding machine in advance and is used for controlling the movement of the welding robot, the robot control cabinet is a control party for controlling the welding robot, meanwhile, the welding robot is also in communication connection with the welding machine, and the welding machine is used for controlling the welding robot to weld in the movement process of the welding robot.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of the arc-pressure weld tracking method of the present application, which includes:
s110: and acquiring a first current value and a second current value of the welding machine corresponding to the welding robot in the same welding stage in two welding cycles.
Specifically, the welder corresponding to the welding robot refers to a welder that establishes a communication connection with the welding robot in advance.
The application scenario of the arc-pressing weld joint tracking method is as follows: the workpiece to be welded needs to be beveled or fillet welded (fillet weld can be understood as a special case of beveling), and the welding robot performs swing welding in the welding process (a welding gun arranged at the tail end of the welding robot swings longitudinally at a certain rule while moving along the direction of the weld), and in the welding process, the welding gun swings between b and c by taking a as a center in the bevel in the welding process in combination with fig. 2 and 3.
Meanwhile, the current of the welding machine is inversely proportional to the arc length of the welding robot in the welding process: the shorter the arc length, the larger the current value, and when the arc length is kept constant, the current of the welding machine is also kept constant, that is, the current change condition of the welding machine can reflect the change condition of the arc length. Meanwhile, the arc length is related to the distance of the welding gun of the welding robot from the surface of the workpiece to be welded: the further the torch is from the surface of the workpiece to be welded, the longer the arc length.
Meanwhile, the first current value and the second current value respectively represent the current change conditions of the same welding stage in two welding periods.
For convenience of explanation, two welding cycles are defined as a first welding cycle and a second welding cycle. It will be appreciated that the first welding cycle and the second welding cycle are of equal duration.
The same welding phase of the two welding cycles refers to the same time period of the first welding cycle and the second welding cycle, for example, assuming that the duration of the welding cycle is 30 ms, the 11 th ms to 20 th ms phase in the first welding cycle and the 11 th ms to 20 th ms phase in the second welding cycle belong to the same welding phase, and the whole time period of the first welding cycle (i.e., the 1 st ms to 30 th ms) and the whole time period of the second welding cycle also belong to the same welding phase, and the time point of the 15 th ms in the first welding cycle and the time point of the 15 th ms in the second welding cycle also belong to the same welding phase.
The two welding cycles in step S110 may be two adjacent welding cycles, or two welding cycles with a certain welding cycle in between. For example, the welding process of the welding robot is divided into 10 welding cycles, and the 10 welding cycles are numbered from 1 according to the chronological order, so that the two welding cycles in step S110 may be the 3 rd welding cycle and the 2 nd welding cycle, or may be the 6 th welding cycle and the 2 nd welding cycle.
The step S110 may be executed according to a preset time interval during the welding process, for example, the step S110 is executed every 1 minute, where the step S includes obtaining a first current value of a certain welding stage of the welding machine in a current cycle and a second current value of the same welding stage in another welding cycle before the first current value of the welding machine in the current cycle and a second current value of the same welding stage in the previous welding cycle when a trigger instruction input by a user is received. In summary, when step S110 is executed, the present application is not limited.
In an application scenario, the welding cycle includes a plurality of welding phases that are sequentially arranged in time sequence and have equal duration, for example, the welding cycle includes four welding phases, or eight welding phases, where step S110 includes: and when the welding stage is finished, acquiring a first current value of the welding machine in the welding stage and a second current value of the welding machine in the same welding stage in the last welding period. Specifically, when each welding stage is finished, a first current value of the welding machine corresponding to the welding stage and a second current value of the welding machine at the same stage in the previous welding cycle are obtained. That is, the two welding cycles in step S110 are two adjacent welding cycles at this time.
In order to improve the processing speed of obtaining the current value, in the application scenario, when each welding stage is finished, the current value of the welding machine corresponding to the welding stage is calculated and stored, so that the current value can be directly read when the current value needs to be obtained subsequently, and the method is convenient and fast. Of course, in other application scenarios, the calculation may be performed only when the data is acquired, which is not limited herein.
For ease of understanding, reference is made to fig. 2 and 3, which are described herein in connection with specific examples:
firstly, three welding cycles shown in fig. 3 are respectively represented by i, ii and iii, and each welding cycle is divided into four welding stages, wherein the duration of each welding stage is equal, wherein four welding stages in the welding cycle i are respectively represented by 1, 2, 3 and 4, and four welding stages in the welding cycle ii are respectively represented by 1 ', 2', 3 'and 4'.
Calculating and saving the current value of the welding machine in the welding stage 1 when the welding stage 1 in the welding cycle I is finished, calculating and saving the current value of the welding machine in the welding stage 2 when the welding stage 2 in the welding cycle I is finished, calculating and saving the current value of the welding machine in the welding stage 3 when the welding stage 3 in the welding cycle I is finished, and calculating and saving the current value of the welding machine in the welding stage 4 when the welding stage 4 in the welding cycle I is finished.
When the welding stage 1 ' in the welding period ii is finished, the current value of the welding machine in the welding stage 1 ' is calculated and stored, and the current value of the welding machine in the welding stage 1 is read, so that the current value of the welding machine in the welding stage 1 and the current value of the welding machine in the welding stage 1 ' are obtained, that is, the first current value and the second current value are obtained, and so on in the subsequent welding stages, and details are not described.
In an application scenario, step S110 specifically includes: respectively collecting a plurality of current values in the same welding stage of two welding periods; the current values corresponding to the same welding period are added to obtain a first current value and a second current value.
Specifically, the current values respectively collected in the same welding phase of two welding cycles according to a certain rule, for example, the current values are collected once according to a preset time interval (for example, 5 milliseconds, etc.), so as to obtain a plurality of current values of one welding phase of one welding cycle.
For ease of understanding, reference is again made to fig. 2 and 3 in connection with the specific examples:
collecting current values according to a preset time interval in a welding stage 1 in a welding period I to finally obtain 24 current values, then adding the 24 current values to obtain the current value of the welding machine in the welding stage 1, and the like in the subsequent stage.
In other application scenarios, after obtaining a plurality of current values of one welding stage, a maximum value, a minimum value, an average value, or the like of the plurality of current values may be used as the current value of the welding machine in the welding stage, or the current value of the welding machine in one welding stage may be integrated without collecting the plurality of current values, so as to obtain the current value corresponding to the welding stage. In summary, how to calculate the current value of the welding machine corresponding to one welding stage is not limited in the present application, as long as the first current value and the second current value are calculated in the same manner.
In an application scenario, after obtaining a plurality of current values of a welding stage, to avoid the influence of noise signals on the calculation process, before adding the plurality of current values, filtering the plurality of current values, that is, adding the plurality of current values after filtering, so as to obtain a current value of the welding machine corresponding to the welding stage. For example, in the application scenarios of fig. 2 and fig. 3, after 24 current values are collected in the welding stage 1, the 24 current values are filtered and added to obtain the current value of the welding machine in the welding stage 1.
Wherein the filtering process includes at least one of a median filtering process and a mean filtering process. That is, the filtering process may include only the median filtering process or only the mean filtering process, or may include both the median filtering process and the mean filtering process. When the median filtering processing and the mean filtering processing are included at the same time, the median filtering processing may be performed first, and then the mean filtering processing may be performed.
The specific process of how to obtain the first current value and the second current value is described above, and the steps after step S110 are described below with reference to fig. 2.
S120: and calculating a current difference value between the first current value and the second current value.
Specifically, the first current value and the second current value are directly subtracted to obtain a current difference value, wherein the positive and negative of the current difference value are related to the deviation direction of the actual welding seam relative to the teaching welding seam.
S130: and compensating the planned track of the welding robot according to the current difference.
Specifically, it can be understood that, if the actual weld position and the taught weld position do not deviate during the welding process, the change of the arc length and thus the current of the welding machine are completely consistent in the same welding stage of the two welding cycles before and after, and therefore the first current value and the second current value in the same welding stage of the two welding cycles should be equal, and if the first current value is different from the second current value, it indicates that the actual weld deviates from the taught weld, so the robot can compensate the planned trajectory of the welding according to the current difference.
It will be appreciated that when the first current value is equal to the second current value, i.e. the current difference is zero, there is no need to compensate for the planned trajectory of the welding robot.
In an application scenario, step S130 specifically includes: multiplying the current difference value by a preset conversion coefficient to obtain a distance difference value; and adjusting the coordinates of the interpolation points according to the distance difference, thereby realizing the compensation of the planned track of the welding robot. Specifically, the preset conversion coefficient is preset by a designer, and after the distance difference is obtained, the coordinates of the interpolation points corresponding to the track to be operated next are adjusted, so that the actual welding seam position coincides with the teaching position, and the subsequent welding quality is ensured. For example, when it is found that the actual weld position deviates 5 mm rightward from the teaching weld position based on the distance difference, the coordinates of the interpolation point corresponding to the trajectory to be traveled next are adjusted 5 mm leftward.
For ease of understanding, reference is again made to fig. 2 and 3 in connection with the specific examples:
after the welding stage 1 'is finished, a first current value of the welding stage 1 and a second current value of the welding stage 1' are obtained, then a current difference value is obtained by subtracting the first current value from the second current value, then the current difference value is multiplied by a preset conversion coefficient to obtain a distance difference value, and finally the coordinates of interpolation points corresponding to the track to be operated next are adjusted according to the distance difference value, so that the position of an actual welding seam can be subjected to tracking compensation adjustment once every quarter period, the tracking accuracy is greatly improved, and the subsequent welding quality can be ensured.
In an application scenario, step S130 further includes: and judging whether the current difference is larger than the difference threshold value, if so, executing the step S130, and if not, not executing the step S130.
Specifically, when the current difference is not greater than the difference threshold, it is indicated that although the actual weld has a deviation relative to the taught weld, the deviation degree is not large, and the welding quality is not greatly affected. Wherein the difference threshold value can be preset by a designer.
Of course, in other application scenarios, step S130 may be directly executed after step S120.
In the embodiment, whether the actual welding position deviates from the taught welding position or not is judged according to the first current value and the second current value in the same welding stage in the two welding periods, and the planned track of the welding robot is further compensated according to the current difference value of the first current value and the second current value, so that the accuracy of the actual welding position in the welding process can be ensured regardless of whether the groove on the workpiece to be welded is a symmetrical groove or not and whether the taught welding position during fillet welding is always in the central line position or not.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an embodiment of the robot control cabinet of the present application, the robot control cabinet 200 includes a processor 210 and a memory 220, the processor 210 is coupled to the memory 220, program data is stored in the memory 220, and the processor 210 implements steps in any one of the above methods by executing the program data in the memory 220, wherein detailed steps can be referred to the above embodiment and are not described herein again.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an embodiment of a computer-readable storage medium according to the present application. The computer-readable storage medium 300 stores a computer program 310, the computer program 310 being executable by a processor to implement the steps of any of the methods described above.
The computer-readable storage medium 300 may be a device that can store the computer program 310, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, or may be a server that stores the computer program 310, and the server can send the stored computer program 310 to another device for movement, or can move the stored computer program 310 by itself.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (10)
1. A method of arc pressure weld tracking, the method comprising:
acquiring a first current value and a second current value of a welding machine corresponding to the welding robot in the same welding stage in two welding periods;
calculating a current difference value between the first current value and the second current value;
and compensating the planned track of the welding robot according to the current difference value.
2. The method of claim 1, wherein the step of obtaining the first current value and the second current value of the welding machine corresponding to the welding robot in the same welding stage in two welding cycles comprises:
and acquiring the first current value and the second current value of the welding machine at the same welding stage in two adjacent welding cycles.
3. The method of claim 2, wherein the welding cycle comprises a plurality of welding phases arranged sequentially in time sequence and of equal duration;
the step of obtaining the first current value and the second current value of the welding machine corresponding to the welding robot in the same welding stage in two welding cycles comprises the following steps:
and when the welding stage is finished, acquiring the first current value of the welding machine in the welding stage and the second current value of the welding machine in the same welding stage in the last welding period.
4. The method of claim 1, wherein the step of obtaining the first current value and the second current value of the welding machine corresponding to the welding robot in the same welding stage in two welding cycles comprises:
respectively collecting a plurality of current values in the same welding stage of the two welding periods;
and adding a plurality of current values corresponding to the same welding period respectively to obtain the first current value and the second current value.
5. The method of claim 4, wherein said step of adding a plurality of said current values corresponding to a same said welding cycle to obtain said first current value and said second current value comprises:
and respectively filtering and adding the current values to obtain the first current value and the second current value.
6. The method of claim 5, wherein the filtering process comprises at least one of a median filtering process and a mean filtering process.
7. The method of claim 1, wherein the step of compensating the planned trajectory of the welding robot based on the current difference comprises:
multiplying the current difference value by a preset conversion coefficient to obtain a distance difference value;
and adjusting the coordinates of the interpolation points according to the distance difference, thereby realizing the compensation of the planned track of the welding robot.
8. The method of claim 1, further comprising, prior to the step of compensating the planned trajectory of the welding robot based on the current difference:
judging whether the current difference is larger than a difference threshold value;
and if so, executing the step of compensating the planned trajectory of the welding robot according to the current difference value.
9. A robot control cabinet comprising a processor coupled to a memory, the memory having program data stored therein, and a memory, the processor implementing the steps of the method according to any of claims 1-8 by executing the program data in the memory.
10. A computer storage medium, characterized in that the computer storage medium stores a computer program executable by a processor to implement the steps in the method according to any one of claims 1-8.
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