CN113894800A - Regular grid welding method, device, terminal and storage medium based on multi-point teaching - Google Patents
Regular grid welding method, device, terminal and storage medium based on multi-point teaching Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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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
- B25J11/00—Manipulators not otherwise provided for
Abstract
The disclosure provides a regular grid welding method, a device, a terminal and a storage medium based on multi-point teaching. The method comprises the following steps: defining a plurality of teaching point positions, and constructing a rectangular four-side space point position according to the plurality of teaching point positions; calculating internal point positions of the four sides according to the space point positions of the four sides and the point positions corresponding to all the sides; defining a safety height, and obtaining the coordinate of the transition point in a tool coordinate system through the safety height according to a first preset mode; the teaching point positions, the four-side space point positions and the internal point positions are welding point positions, the welding point positions are point positions needing to be welded, and the transition points are used for enabling a welding gun to complete transition actions at all the welding point positions, so that a user only needs to teach a plurality of teaching point positions and set safety height to automatically generate a welding program.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a regular grid welding method, a device, a terminal and a storage medium based on multi-point teaching.
Background
With the application of industrial robots to various fields, particularly in the welding field, on one hand, the physical and mental health of workers is often harmed due to the fact that the welding work environment is severe, high temperature and high radiation, and the manual welding work efficiency is low, the welding quality is poor, and the requirements of the welding manufacturing industry on the welding quality which is higher and higher cannot be met, so that the robot automatic welding workstation gradually replaces manual welding.
In the prior art, for a mesh or grid workpiece, such as a 5 × 5 or 25-point mesh workpiece, a welding robot needs to teach at least 50 working points including transition points for welding, which greatly reduces programming speed and affects production efficiency.
Disclosure of Invention
The invention aims to provide a regular grid welding method, a device, a terminal and a storage medium based on multi-point teaching, aiming at solving the problems proposed in the background technology: in the prior art, a welding robot is used for welding mesh and grid workpieces, such as a 5 x 5 and 25 point mesh workpiece, at least 50 working point positions including transition points need to be taught, so that the programming speed is greatly reduced, and the production efficiency is influenced.
To achieve the above object, according to one aspect of the present disclosure, there is provided a regular grid welding method based on multi-point teaching, the method including:
defining a plurality of teaching point positions, and constructing a rectangular four-side space point position according to the plurality of teaching point positions;
according to the spatial point positions of the four sides, calculating internal point positions of the four sides according to the point positions corresponding to all sides;
defining a safety height, and obtaining the coordinate of the transition point in a tool coordinate system through the safety height according to a first preset mode;
the teaching point location, the four-side space point location and the internal point location are welding point locations, the welding point locations are the point locations needing welding, and the transition points are used for completing the transition action of the welding gun at each welding point location.
In a possible implementation manner, the first preset manner includes:
and taking the teaching point position, the quadrilateral space point position and the internal point position as corresponding points, and displacing the distance of the safety height from the corresponding point position along the vertical direction of the tool coordinate, thereby obtaining the position of the transition point in the tool coordinate system.
In a possible implementation manner, the defining a safety height by which the coordinates of the transition point in the tool coordinate system are obtained according to a first preset manner further includes:
obtaining the position of the transition point in the base coordinate system through a first algorithm according to the coordinate of the transition point in the coordinate system and the tool coordinate;
the known tool coordinates are:
the coordinates of the transition point in the tool coordinate system are:
the first algorithm is as follows: point (Point)base＝TranstoolPointtool (1)
Wherein PointbaseRepresenting PointtoolThe representation of this point in the base coordinate system, i.e. the position of the transition point in the base coordinate system, h denotes the safety height, r11、r12、r13、r21、r22、r23、r31、r32 and r33Representing the corresponding position element, tool, of the rotation matrixx,tooly,toolzRepresenting the tool coordinates 3 coordinate axis translation components.
In a possible implementation manner, the defining a plurality of teach point locations specifically includes:
when two teaching point positions are defined, firstly, the two teaching point positions are regarded as two vertexes on the diagonal line of the rectangle, and then the other two vertexes of the rectangle are constructed, so that four teaching point positions are formed.
In a possible implementation manner, the defining a plurality of teach point locations specifically includes:
and when the number of the defined teaching point positions is more than four, fitting the space plane by adopting a least square method, and then reconstructing the four teaching point positions.
In a possible implementation manner, when the welding gun passes through all welding points and transition points, the transition motion track is a portal motion track formed by straight lines.
In a possible implementation manner, when the welding gun passes through all welding points and transition points, the transition motion track moves in an arc track formed by two adjacent transition points and a middle point formed by the two adjacent transition points.
According to another aspect of the present disclosure, there is provided a regular grid welding apparatus based on multi-point teaching, the apparatus including:
the first execution unit is configured to define a plurality of teaching point positions and construct a rectangular quadrilateral space point position according to the teaching point positions; according to the spatial point positions of the four sides, calculating internal point positions of the four sides according to the point positions corresponding to all sides; defining a safety height, and obtaining the coordinate of the transition point in a tool coordinate system through the safety height according to a first preset mode;
a second execution unit configured to: welding at the welding point positions by taking the teaching point positions, the quadrilateral space point positions and the internal point positions as the welding point positions; and finishing the transition action at each welding point by taking the transition point as a reference.
According to another aspect of the embodiments of the present disclosure, there is provided a terminal, which includes a processor and a memory, wherein the memory stores at least one program code, and the at least one program code is loaded and executed by the processor to implement the method for regular grid welding based on multi-point teaching according to any of the above possible implementation manners.
According to another aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium having at least one program code stored therein, the at least one program code being loaded into and executed by a processor to implement the method for regular grid welding based on multi-point teaching according to any of the above-mentioned possible implementation manners.
According to another aspect of the embodiments of the present disclosure, there is provided a computer program product or a computer program, the computer program product or the computer program comprising computer program code, the computer program code being stored in a computer-readable storage medium, the computer program code being read by a processor of a computer device from the computer-readable storage medium, the computer program code being executed by the processor to cause the computer device to perform the operations performed in the above-mentioned multi-point teaching-based regular grid welding method.
One or more technical solutions in the embodiments of the present application have at least one or more of the following technical effects:
the embodiment of the invention provides a regular grid welding method based on multi-point teaching, which comprises the following steps: defining a plurality of teaching point positions, and constructing a rectangular four-side space point position according to the plurality of teaching point positions; according to the spatial point positions of the four sides, calculating internal point positions of the four sides according to the point positions corresponding to all sides; defining a safety height, and obtaining the coordinate of the transition point in a tool coordinate system through the safety height according to a first preset mode; the teaching point positions, the four-side space point positions and the internal point positions are welding point positions, the welding point positions are point positions needing to be welded, and the transition points are used for enabling a welding gun to complete transition actions at all the welding point positions, so that a user only needs to teach a plurality of teaching point positions and set a safety height, a welding program can be automatically generated.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
FIG. 1 is a flow chart of a method for regular grid welding based on multi-point teaching in accordance with an exemplary embodiment;
FIG. 2 is a schematic diagram of a welding point location of a regular grid welding method based on multi-point teaching according to an exemplary embodiment;
FIG. 3 is a schematic view of a gantry-type motion trajectory for a regular grid welding method based on multi-point teaching in accordance with an exemplary embodiment;
fig. 4 is a schematic diagram of a circular arc trajectory motion of a regular grid welding method based on multi-point teaching according to an exemplary embodiment.
Detailed Description
To make the objects, technical solutions and advantages of the present disclosure more apparent, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Fig. 1 is a flowchart of a regular grid welding method based on multi-point teaching according to an exemplary embodiment, as shown in fig. 1, the method includes the following steps:
in step S110, a plurality of teach points are defined, and a rectangular quadrilateral space point is constructed according to the plurality of teach points.
In step S120, the internal point locations of the four sides are calculated from the point locations corresponding to the four sides according to the spatial point locations of the four sides.
In step S130, a safety height is defined, and coordinates of the transition point in the tool coordinate system are obtained through the safety height according to a first preset mode.
The teaching point location, the four-side space point location and the internal point location are welding point locations, the welding point locations are the point locations needing welding, and the transition points are used for completing the transition action of the welding gun at each welding point location.
Specifically, several teaching point positions are input by a user and safety heights are set, wherein the user inputs the four teaching point positions corresponding to four vertexes of a rectangle, if the teaching point positions are less than four or more than four teaching point positions, the four teaching point positions can be reconstructed through an algorithm, then four side space points of the rectangle are constructed according to the teaching point positions input by the user, namely other points on four sides of the rectangle except the vertexes, then internal points of four sides are calculated according to the points corresponding to the sides, finally, coordinates of a transition point in a tool coordinate system are obtained through the safety heights according to a first preset mode, namely all welding point positions and transition point positions can be obtained through the teaching points input by the user and the set safety heights, compared with the prior art, programming efficiency is greatly improved, and the use difficulty of a robot is reduced, particularly, the processing efficiency of different grid welding parts of multiple batches is obviously improved.
In step S110, a plurality of teach points are defined, and a rectangular quadrilateral space point is constructed according to the plurality of teach points, for example, referring to fig. 2, a rectangular quadrilateral space point is constructed from four vertices labeled as 1, 2, 3 and 4 in fig. 2, wherein the quadrilateral space point is a hollow point in fig. 2.
For example, the spatial points on the straight line connecting two points, labeled 1 and 2, are:
wherein n is a row to be solved n belongs to [0, row ], and row represents a row;
for example, the spatial points on a straight line marked by two-point connections of 2 and 3:
wherein m is to-be-sought column n belongs to [0, column ], and column represents a column;
and the analogy is repeated, so that the construction of the four-side space point positions is completed.
In step S110, the internal points of the four sides are calculated from the corresponding points of each side according to the spatial points of the four sides in the same manner as above, where the internal points of the four sides are four solid points inside in fig. 2.
In a possible implementation, defining several teach point locations specifically includes:
when two teaching point positions are defined, firstly, the two teaching point positions are regarded as two vertexes on the diagonal line of the rectangle, and then the other two vertexes of the rectangle are constructed, so that four teaching point positions are formed.
For example, let two user-defined teach points be:
point1＝[x1,y1,z1]
point2＝[x2,y2,z2]
then the coordinates of the other two vertices of the construction rectangle are:
point3＝[x1,y2,z1]
point4＝[x2,y1,z1]
therefore, the four teaching point positions are automatically constructed when the user inputs the two teaching point positions.
In a possible implementation, defining several teach point locations specifically includes:
and when the number of the defined teaching point positions is more than four, fitting the space plane by adopting a least square method, and then reconstructing the four teaching point positions.
Specifically, first, the spatial plane equation is: z is ax + by + c, wherein a, b and c are control parameters of a space equation;
the teaching point position array is as follows: point _ list [ [ x0, y0, z0], [ x1, y1, z1], [ x2, y2, z2] … ];
and calculating the space plane coefficients a, b and c by using a least square method so as to reconstruct four vertexes in the multipoint.
For example, assume that the reconstruction points are required to be:
point＝[xi,yi,zi]
then after reconstruction:
pointrefactor＝[xi,yi,a*xi+b*yi+c]
therefore, no matter how many points are taught, four vertexes can be obtained at last:
point1＝[x1,y1,z1]
point2＝[x2,y2,z2]
point3＝[x3,y3,z3]
point4＝[x4,y4,z4]
therefore, when the user inputs more than four teaching point positions, the four teaching point positions are automatically constructed.
In a possible implementation, the first preset manner according to step S130 includes:
and taking the teaching point position, the quadrilateral space point position and the internal point position as corresponding points, and displacing the distance of the safety height from the corresponding points along the vertical direction of the tool coordinate, thereby obtaining the position of the transition point in the tool coordinate system.
Further, defining a safety height, and obtaining the coordinates of the transition point in the tool coordinate system through the safety height according to a first preset mode, wherein the method further comprises the following steps:
obtaining the position of the transition point in the base coordinate system through a first algorithm according to the coordinate of the transition point in the coordinate system and the tool coordinate;
the known tool coordinates are:
the coordinates of the transition point in the tool coordinate system are:
the first algorithm is: point (Point)base＝TranstoolPointtool (1)
Wherein PointbaseRepresenting PointtoolThe representation of this point in the base coordinate system, i.e. the position of the transition point in the base coordinate system, h denotes the safety height, r11、r12、r13、r21、r22、r23、r31、r32 and r33Representing the corresponding position element, tool, of the rotation matrixx,tooly,toolzRepresenting the tool coordinates 3 coordinate axis translation components.
Therefore, the positions of the transition point positions are automatically established through a plurality of teaching point positions and safety heights preset by a user.
In one embodiment, when the welding gun passes through all the welding points and the transition points, the transition motion trajectory is a portal motion trajectory composed of straight lines, specifically, refer to fig. 3, where solid is the welding point, hollow is the transition point, and a connecting line between the welding point and the corresponding transition point is a straight line, that is, the transition trajectory of the welding gun passing through two points is a straight line trajectory, and meanwhile, a connecting line between two adjacent transition points is a straight line, that is, the transition trajectory of the welding gun passing through two points is a straight line trajectory, that is, the welding gun passes through two adjacent welding points and the corresponding transition point to form the portal motion trajectory.
In one embodiment, referring to fig. 4, when the welding gun passes through all welding points and transition points, the transition motion locus moves along an arc locus formed by two adjacent transition points and a middle point formed by two adjacent transition points, for example,
the intermediate point formed by two adjacent transition points is:
Pointmid＝Pointready_(i+1)-Pointready_i
then, three points of the circle are:
Point1＝Pointi
Point2＝Point_mid
Point3＝Pointi+1
wherein PointmidRepresenting the middle Point of the arc, Pointready_iIndicating the current Point of readiness, Pointready_(i+1)The next preparation point is represented, from which the transition circle trajectory can be determined.
The present disclosure also provides a regular grid welding device based on multi-point teaching, including:
the first execution unit is configured to define a plurality of teaching point positions and construct a rectangular quadrilateral space point position according to the teaching point positions; calculating internal point positions of the four sides according to the space point positions of the four sides and the point positions corresponding to all the sides; defining a safety height, and obtaining the coordinate of the transition point in a tool coordinate system through the safety height according to a first preset mode;
a second execution unit configured to: welding on the welding point positions by taking the teaching point positions, the quadrilateral space point positions and the internal point positions as the welding point positions; and finishing the transition action at each welding point by taking the transition point as a reference.
In an exemplary embodiment, there is also provided a regular grid welding terminal based on multi-point teaching, which may be: a smart phone, a tablet, a notebook or a desktop computer, a terminal may also be referred to by other names as user equipment, a portable terminal, a laptop terminal, a desktop terminal, etc.
Generally, a terminal includes: a processor and a memory.
The processor may include one or more Processing cores, such as a 4-core processor, an 8-core processor, and the like, and the processor may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field Programmable Gate Array), PLA (Programmable Logic Array), and the like. The processor may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state.
The memory may include one or more computer-readable storage media, which may be non-transitory. The memory may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices.
In an exemplary embodiment, there is also provided a storage medium, such as a memory, comprising instructions executable by a processor of a terminal to perform the above-described method of regular grid welding based on multi-point teaching. Alternatively, the storage medium is a non-transitory computer-readable storage medium, which may be, for example, a ROM (Read-Only Memory), a RAM (Random Access Memory), a CD-ROM (Compact Disc Read-Only Memory), a magnetic tape, a floppy disk, an optical data storage device, and the like.
In an exemplary embodiment, there is also provided a computer program product including computer program code stored in a computer readable storage medium, the computer program code being read by a processor of a computer device from the computer readable storage medium, the computer program code being executed by the processor to cause the computer device to perform operations performed in the above-mentioned multi-point teaching based regular grid welding method
The invention is not described in detail, but is well known to those skilled in the art.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. A regular grid welding method based on multi-point teaching, the method comprising:
defining a plurality of teaching point positions, and constructing a rectangular four-side space point position according to the plurality of teaching point positions;
according to the spatial point positions of the four sides, calculating internal point positions of the four sides according to the point positions corresponding to all sides;
defining a safety height, and obtaining the coordinate of the transition point in a tool coordinate system through the safety height according to a first preset mode;
the teaching point location, the four-side space point location and the internal point location are welding point locations, the welding point locations are the point locations needing welding, and the transition points are used for completing the transition action of the welding gun at each welding point location.
2. The regular grid welding method based on the multi-point teaching as claimed in claim 1, wherein the first preset mode comprises:
and taking the teaching point position, the quadrilateral space point position and the internal point position as corresponding points, and displacing the distance of the safety height from the corresponding point position along the vertical direction of the tool coordinate, thereby obtaining the position of the transition point in the tool coordinate system.
3. The method for regular grid welding based on multi-point teaching as claimed in claim 2, wherein said defining a safety height from which the coordinates of the transition point in the tool coordinate system are derived according to a first preset mode further comprises:
obtaining the position of the transition point in the base coordinate system through a first algorithm according to the coordinate of the transition point in the coordinate system and the tool coordinate;
the known tool coordinates are:
the coordinates of the transition point in the tool coordinate system are:
the first algorithm is as follows: point (Point)base＝Transtool Pointtool (1)
Wherein PointbaseRepresenting PointtoolThe representation of this point in the base coordinate system, i.e. the position of the transition point in the base coordinate system, h denotes the safety height, r11、r12、r13、r21、r22、r23、r31、r32 and r33Representing the corresponding position element, tool, of the rotation matrixx,tooly,toolzPresentation toolCoordinates 3 coordinate axis translation components.
4. The regular grid welding method based on multi-point teaching as claimed in claim 1, wherein said defining a plurality of teaching point locations specifically comprises:
when two teaching point positions are defined, firstly, the two teaching point positions are regarded as two vertexes on the diagonal line of the rectangle, and then the other two vertexes of the rectangle are constructed, so that four teaching point positions are formed.
5. The regular grid welding method based on multi-point teaching as claimed in claim 1, wherein said defining a plurality of teaching point locations specifically comprises:
and when the number of the defined teaching point positions is more than four, fitting the space plane by adopting a least square method, and then reconstructing the four teaching point positions.
6. The method of claim 1, wherein the welding torch passes through all welding points and transition points, and the transition motion trajectory is a gate-shaped motion trajectory composed of straight lines.
7. The regular grid welding method based on the multi-point teaching as claimed in claim 1, wherein when the welding gun passes through all welding points and transition points, the transition motion track moves in an arc track formed by two adjacent transition points and a midpoint formed by the two adjacent transition points.
8. A regular grid welding apparatus based on multi-point teaching, the apparatus comprising:
the first execution unit is configured to define a plurality of teaching point positions and construct a rectangular quadrilateral space point position according to the teaching point positions; according to the spatial point positions of the four sides, calculating internal point positions of the four sides according to the point positions corresponding to all sides; defining a safety height, and obtaining the coordinate of the transition point in a tool coordinate system through the safety height according to a first preset mode;
a second execution unit configured to: welding at the welding point positions by taking the teaching point positions, the quadrilateral space point positions and the internal point positions as the welding point positions; and finishing the transition action at each welding point by taking the transition point as a reference.
9. A terminal, characterized in that it comprises a processor and a memory, in which at least one program code is stored, which is loaded and executed by the processor to implement a method for regular grid welding based on multipoint teaching according to any of claims 1-7.
10. A computer-readable storage medium having stored therein at least one program code, the at least one program code being loaded into and executed by a processor, for implementing a method for regular grid welding based on multi-point teaching as claimed in any one of claims 1 to 7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115319397A (en) * | 2022-10-17 | 2022-11-11 | 江苏拓米洛环境试验设备有限公司 | Positioning device and welding method |
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