CN112917038A - Control method for automatic welding - Google Patents
Control method for automatic welding Download PDFInfo
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- CN112917038A CN112917038A CN202110128617.1A CN202110128617A CN112917038A CN 112917038 A CN112917038 A CN 112917038A CN 202110128617 A CN202110128617 A CN 202110128617A CN 112917038 A CN112917038 A CN 112917038A
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- 238000003466 welding Methods 0.000 title claims abstract description 165
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000012545 processing Methods 0.000 claims abstract description 49
- 238000012937 correction Methods 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003062 neural network model Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a control method of automatic welding, which obtains three-dimensional structure information of a workpiece to be processed by combining a robot with a three-dimensional scanner, thereby obtaining the position to be welded of the workpiece and the processing attitude of the robot, namely the spatial three-dimensional position of a welding line to be processed of the workpiece, further guiding the robot to move to the welding line position of the workpiece according to the obtained position to be welded, planning different working paths for the robot based on different working modes of a welding line scanning module, thereby correcting the working paths of the robot, simultaneously leading the robot to better complete the welding work, needing no teaching and off-line programming and needing no related knowledge of the robot, leading a worker to complete the welding work of the welding line of the workpiece by loading and unloading, being simple and feasible, effectively realizing accurate positioning of the welding line and improving the welding quality, meanwhile, the working efficiency of automatic welding processing is further improved.
Description
Technical Field
The invention relates to the technical field of intelligent manufacturing, in particular to a control method for automatic welding.
Background
The welding work has high technical requirements on personnel, severe working environment, strong light, radiation, smoke dust and the like, and the health of the personnel is damaged. In the field of batch processing, robot welding is introduced to replace manual work, the current automatic welding technology is used for welding a preset position based on machine programming, and a small-range welding seam tracking and welding can be realized by matching a welding seam tracking system with a specific jig. In the related art, the automatic welding technology can realize basic automatic welding, but because the three-dimensional scanner is far away from the workpiece, the three-dimensional scanner is difficult to accurately position, and the identified deviation is possibly large, and the prior art adopts a time-consuming teaching or off-line programming welding method.
Disclosure of Invention
The invention aims to solve one of the problems in the prior related art at least to a certain extent, and therefore, the invention provides an automatic welding control method which is simple and feasible and can effectively realize accurate positioning of a welding line, thereby improving the welding quality and further improving the working efficiency of automatic welding processing.
The above purpose is realized by the following technical scheme:
a control method for automatic welding comprises a three-dimensional scanning module, a welding seam scanning module and a data processing module, wherein the three-dimensional scanning module scans an external workpiece and feeds back scanned information to the data processing module, the welding seam scanning module is arranged on an external robot to scan a welding seam and feed back the scanned information to the data processing module, the data processing module processes received information, and the identification method for the welding seam comprises the following steps:
starting the three-dimensional scanning module to scan the workpiece to obtain three-dimensional information of the workpiece, and feeding back the information obtained by scanning to the data processing module;
processing the received data to generate welding information of the current workpiece, and transmitting the generated welding instruction to the robot;
the robot moves to the position of the welding line corresponding to the workpiece according to the welding information and the working mode of the welding line scanning module;
starting the welding seam scanning module to scan the welding seam so as to obtain welding seam position data, and feeding back information obtained by scanning to the data processing module;
and the data processing module corrects the working path of the robot according to the received welding seam position data, and meanwhile, the robot performs welding work on the workpiece according to the issued welding information.
In some embodiments, the step of the robot moving to the weld location of the workpiece according to the welding information and the operation mode of the weld scanning module comprises:
judging whether the current working mode of the welding seam scanning module is an online correction mode or not;
if so, planning the starting point of the working path of the robot to the advanced position of the starting point of the welding seam;
if not, planning the starting point of the working path of the robot to the end point position of the welding seam.
In some embodiments, the step after planning the working path starting point of the robot to the advanced position of the weld starting point comprises:
starting the welding seam scanning module to scan along the welding seam;
and the robot executes welding work according to the received welding information and guides the robot to carry out online correction according to the welding seam data scanned by the welding seam scanning module.
In some embodiments, the step after planning the working path starting point of the robot to the weld end point position comprises:
starting the welding seam scanner to scan along the welding seam;
scanning the position of the starting point of the welding seam and recording the position data of the welding seam;
and the robot executes welding work from the position of the starting point of the welding seam to the position of the end point of the welding seam according to the recorded position data of the welding seam and the received welding information.
In some embodiments, the step of processing the obtained data to generate the current welding information of the workpiece specifically includes:
acquiring three-dimensional structure information of the workpiece according to the three-dimensional information of the workpiece;
analyzing the acquired three-dimensional structure information to acquire the current position to be welded of the workpiece;
and automatically generating the current welding information of the workpiece according to the obtained position to be welded of the workpiece and the three-dimensional structure information of the workpiece.
In some embodiments, when the number of the three-dimensional scanners is multiple, the step of scanning the workpiece by the three-dimensional scanner to obtain the three-dimensional information of the workpiece specifically includes:
and the three-dimensional scanners scan the workpiece to acquire the three-dimensional information of the workpiece under the current view angles of the three-dimensional scanners.
In some embodiments, the step of acquiring three-dimensional information of the workpiece at a current view angle of the plurality of three-dimensional scanners further comprises:
acquiring three-dimensional information of the workpieces under the current view angles of the three-dimensional scanners;
feeding back the acquired three-dimensional information of the workpieces to the data processor;
and splicing and processing the received data through the data processor to obtain complete three-dimensional structural information of the workpiece.
Compared with the prior art, the invention at least comprises the following beneficial effects:
1. the control method for automatic welding is simple and feasible, and can effectively realize accurate positioning of the welding line, thereby improving the welding quality and further improving the working efficiency of automatic welding processing.
Drawings
Fig. 1 is a schematic flow chart of a control method of automatic welding according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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 obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of the claims of the present invention.
The first embodiment is as follows:
as shown in fig. 1, this embodiment provides a control method for automatic welding, in which a robot is combined with a three-dimensional scanner to obtain three-dimensional structure information of a workpiece to be processed, so as to obtain a position to be welded of the workpiece and a processing attitude of the robot, that is, a spatial three-dimensional position of a weld to be processed of the workpiece, and further guide the robot to move to a position of the weld of the workpiece according to the obtained position to be welded, and plan different working paths for the robot based on different working modes of a weld scanning module, so as to correct the working paths of the robot, and simultaneously enable the robot to better complete welding work, so that teaching is not required, off-line programming is not required, no relevant knowledge about the robot is required, and a worker can complete welding work of the weld of the workpiece only by loading and unloading, and the method is simple and feasible, and can effectively achieve accurate positioning of the weld, thereby welding quality has been promoted, still further improved automatic weld processing's work efficiency simultaneously.
In this embodiment, the weld joint recognition system includes a three-dimensional scanning module, a weld joint scanning module, and a data processing module, wherein the weld joint scanning module is disposed on an arm of an external robot, the three-dimensional scanning module scans an external workpiece and feeds back information obtained by scanning to the data processing module, the data processing module processes received information to generate instruction information, and at the same time, the data processing module sends the generated instruction information to the external robot, the external robot moves to a weld joint position of the workpiece according to the received instruction information, the weld joint scanning module scans the weld joint and feeds back information obtained by scanning to the data processing module, the data processing module processes the received information to determine whether to correct a working path of the robot, meanwhile, the robot performs welding operation on the workpiece according to the issued welding information, so that welding requirements of welding seams of various workpieces can be met, the welding seam scanning module works in a short distance, the problem that a three-dimensional scanner cannot be accurately positioned due to the fact that the three-dimensional scanner is far away from the workpiece can be avoided, and in the welding process, the working path of the robot is corrected at any time due to the change of the actual width of the welding seam, naturally, the robot further comprises a training module and an acquisition module, wherein the acquisition module is used for acquiring a plane image target identification scheme, the training module trains the plane image target identification scheme acquired by the acquisition module to construct a deep neural network model, and in addition, the three-dimensional scanning module is preferably made of the three-dimensional scanner or the laser scanner, but not limited to the scanner, and other types of scanners can be selected according to actual requirements, so that the welding seam identification system firstly detects the position of the welding seam, the three-dimensional scanning module is used for scanning a workpiece to obtain three-dimensional structure information of the workpiece, processing is carried out according to the three-dimensional structure information of the workpiece to obtain side line information of the workpiece, then correlation processing is carried out on welding line position information in an image of the workpiece and the side line information of the workpiece, welding line information needing to be welded of the workpiece is obtained according to a processing result, welding line identification and welding line position positioning can be completed, and further the robot can complete welding work on the workpiece.
In this embodiment, the control method for automatic welding specifically includes the following steps:
step S101, starting the three-dimensional scanning module to scan the workpiece to obtain the three-dimensional information of the workpiece, and feeding back the information obtained by scanning to the data processing module.
In this embodiment, a workpiece to be machined is fixed on a feeding station in a proper posture to complete feeding, the workpiece is scanned by a three-dimensional scanner to obtain three-dimensional information of the workpiece, and preferably, when the number of the three-dimensional scanners is multiple, the multiple three-dimensional scanners scan the workpiece to obtain three-dimensional information of the workpiece at current viewing angles of the multiple three-dimensional scanners, and the three-dimensional information of the respective viewing angles is fed back to the data processing module.
Step S102, processing the received data to generate welding information of the current workpiece, and transmitting the generated welding instruction to the robot.
In this embodiment, the data processing module acquires three-dimensional structure information of a workpiece according to the three-dimensional information of the workpiece, analyzes and processes the acquired three-dimensional structure information to acquire a to-be-welded position of the current workpiece, automatically generates welding information of the current workpiece according to the acquired to-be-welded position of the workpiece and the three-dimensional structure information of the workpiece, and sends the generated welding information to the robot, where the welding information includes the to-be-welded position of the workpiece, a processing posture of the robot, and other related information in this embodiment.
In this embodiment, when the number of the three-dimensional scanners is multiple, the multiple three-dimensional scanners feed back three-dimensional information of respective viewing angles to the data processing module, and the data processing module splices and processes the received data to obtain complete three-dimensional structure information of the workpiece, so as to obtain the three-dimensional structure information of the workpiece to be processed in real time, and then the data processing module performs analysis processing according to the three-dimensional structure information of the workpiece to be processed to obtain the position to be welded of the current workpiece.
And S103, moving the robot to the position of the welding line corresponding to the workpiece according to the welding information and the working mode of the welding line scanning module.
And step S104, starting the welding seam scanning module to scan the welding seam to obtain the welding seam position data, and feeding back the information obtained by scanning to the data processing module.
And S105, correcting the working path of the robot by the data processing module according to the received welding seam position data, and meanwhile, welding the workpiece by the robot according to the issued welding information.
In this embodiment, whether the current working mode of the weld scanning module is an online correction mode is determined;
if so, planning the starting point of the working path of the robot to the advanced position of the starting point of the welding seam, starting the welding seam scanning module to scan along the welding seam, executing welding work by the robot according to the received welding information, and guiding the robot to perform online correction according to the welding seam data scanned by the welding seam scanning module;
if not, planning the starting point of the working path of the robot to the end point position of the welding seam, starting the welding seam scanner to scan along the welding seam until the starting point position of the welding seam is scanned and the position data of the welding seam is recorded, and executing welding work from the starting point position of the welding seam to the end point position of the welding seam by the robot according to the recorded position data of the welding seam and the received welding information.
In the embodiment, the welding information of the current workpiece is automatically generated according to the obtained position to be welded of the workpiece and the three-dimensional structure information of the workpiece, the generated welding information is issued to the robot, the robot executes the received welding information to complete the welding work of the workpiece, so that the robot is not required to be programmed manually, and the cross operation of small-batch, large-batch and different-model workpieces is supported, so that the welding speed is greatly increased, the dependence on programming technicians and welding workers is reduced, and then the robot performs the welding work on the workpiece according to the issued welding information.
What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (7)
1. A control method for automatic welding is characterized by comprising a three-dimensional scanning module, a welding seam scanning module and a data processing module, wherein the three-dimensional scanning module scans an external workpiece and feeds back scanned information to the data processing module, the welding seam scanning module is arranged on an external robot to scan a welding seam and feed back the scanned information to the data processing module, the data processing module processes the received information, and the identification method for the welding seam comprises the following steps:
starting the three-dimensional scanning module to scan the workpiece to obtain three-dimensional information of the workpiece, and feeding back the information obtained by scanning to the data processing module;
processing the received data to generate welding information of the current workpiece, and transmitting the generated welding instruction to the robot;
the robot moves to the position of the welding line corresponding to the workpiece according to the welding information and the working mode of the welding line scanning module;
starting the welding seam scanning module to scan the welding seam so as to obtain welding seam position data, and feeding back information obtained by scanning to the data processing module;
and the data processing module corrects the working path of the robot according to the received welding seam position data, and meanwhile, the robot performs welding work on the workpiece according to the issued welding information.
2. The method of claim 1, wherein the step of moving the robot to the position of the weld on the workpiece according to the welding information and the operation mode of the weld scanning module comprises:
judging whether the current working mode of the welding seam scanning module is an online correction mode or not;
if so, planning the starting point of the working path of the robot to the advanced position of the starting point of the welding seam;
if not, planning the starting point of the working path of the robot to the end point position of the welding seam.
3. The method of claim 2, wherein the step of planning the start point of the working path of the robot to the advanced position of the start point of the weld seam comprises:
starting the welding seam scanning module to scan along the welding seam;
and the robot executes welding work according to the received welding information, and guides the robot to carry out online correction on a working path according to the welding seam data scanned by the welding seam scanning module.
4. The method of claim 2, wherein the step of planning the starting point of the working path of the robot to the end position of the weld seam comprises:
starting the welding seam scanner to scan along the welding seam;
scanning the position of the starting point of the welding seam and recording the position data of the welding seam;
and the robot executes welding work from the position of the starting point of the welding seam to the position of the end point of the welding seam according to the recorded position data of the welding seam and the received welding information.
5. The method of claim 1, wherein the step of processing the obtained data to generate the current welding information of the workpiece comprises:
acquiring three-dimensional structure information of the workpiece according to the three-dimensional information of the workpiece;
analyzing the acquired three-dimensional structure information to acquire the current position to be welded of the workpiece;
and automatically generating the current welding information of the workpiece according to the obtained position to be welded of the workpiece and the three-dimensional structure information of the workpiece.
6. The automatic welding control method according to any one of claims 1 to 5, wherein when the number of the three-dimensional scanners is plural, the step of scanning the workpiece by the three-dimensional scanner to obtain the three-dimensional information of the workpiece specifically includes:
and the three-dimensional scanners scan the workpiece to acquire the three-dimensional information of the workpiece under the current view angles of the three-dimensional scanners.
7. The method according to claim 6, wherein the step of acquiring three-dimensional information of the workpieces from a plurality of current views of the three-dimensional scanner further comprises:
acquiring three-dimensional information of the workpieces under the current view angles of the three-dimensional scanners;
feeding back the acquired three-dimensional information of the workpieces to the data processing module;
and splicing and processing the received data through the data processing module to obtain complete three-dimensional structural information of the workpiece.
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| CN202110128617.1A CN112917038A (en) | 2021-01-29 | 2021-01-29 | Control method for automatic welding |
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| CN202110128617.1A CN112917038A (en) | 2021-01-29 | 2021-01-29 | Control method for automatic welding |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113441861A (en) * | 2021-07-30 | 2021-09-28 | 四川兴事发门窗有限责任公司 | Multi-station robot lock box welding device |
| CN113787245A (en) * | 2021-09-29 | 2021-12-14 | 珠海格力电器股份有限公司 | Robot intelligent welding program generation method and system |
| CN113878314A (en) * | 2021-11-03 | 2022-01-04 | 安徽明豪汽车科技有限公司 | Automatic production process for welding reinforcing plate auxiliary frame assembly based on intelligent positioning |
| CN115351448A (en) * | 2022-08-10 | 2022-11-18 | 北斗启明（北京）节能科技服务有限公司 | Novel visual automatic welding technology |
| CN117644327A (en) * | 2023-12-13 | 2024-03-05 | 齐齐哈尔和平重工集团有限公司 | Automatic welding system |
| CN118002977A (en) * | 2024-04-08 | 2024-05-10 | 山东省青腾机械科技有限公司 | Tower foot secondary welding seam method of robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113441861A (en) * | 2021-07-30 | 2021-09-28 | 四川兴事发门窗有限责任公司 | Multi-station robot lock box welding device |
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| CN113878314A (en) * | 2021-11-03 | 2022-01-04 | 安徽明豪汽车科技有限公司 | Automatic production process for welding reinforcing plate auxiliary frame assembly based on intelligent positioning |
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| CN118002977A (en) * | 2024-04-08 | 2024-05-10 | 山东省青腾机械科技有限公司 | Tower foot secondary welding seam method of robot |
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Application publication date: 20210608 |