CN114683283B - Teaching-free welding method and device for welding robot - Google Patents
Teaching-free welding method and device for welding robot Download PDFInfo
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- CN114683283B CN114683283B CN202210298191.9A CN202210298191A CN114683283B CN 114683283 B CN114683283 B CN 114683283B CN 202210298191 A CN202210298191 A CN 202210298191A CN 114683283 B CN114683283 B CN 114683283B
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- 238000004590 computer program Methods 0.000 claims description 7
- 238000005493 welding type Methods 0.000 claims description 7
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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
- B25J9/16—Programme controls
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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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
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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Abstract
The invention provides a teaching-free welding method and a teaching-free welding device for a welding robot, wherein the teaching-free welding method for the welding robot comprises the following steps: acquiring a digital model of a workpiece; determining a first weld on the workpiece according to the digital model; matching a welding template library with a first welding seam, and determining a first welding template of the first welding seam; correcting the offset of the welding template relative to the first welding seam, and determining a second welding template of the first welding seam; and controlling the welding robot to perform a welding process according to the second welding template. The method can be automatically realized in each step, and the welding automation degree, the welding efficiency and the applicability of the welding robot adopting the method are further improved by setting a welding template library, matching the first welding seam with the most suitable first welding template from the welding template library, and correcting the first welding template to obtain a second welding template which is completely matched with the first welding seam for the subsequent welding process.
Description
Technical Field
The invention relates to the field of welding robots, in particular to a teaching-free welding method and a teaching-free welding device for a welding robot.
Background
At present, a welding robot mainly adopts two modes of manual teaching and off-line programming, wherein for the manual teaching, technicians need to manually operate the robot on site aiming at different workpieces to determine each welding position, and the defects of low efficiency, low automation degree, high working strength of the technicians, hard working environment and the like exist; for offline programming, the robot can be automatically realized to a certain extent by combining the imported workpiece three-dimensional model, but the robot cannot be normally welded when the actual welding seam position of the workpiece and the model are greatly different, and the application range is limited.
Disclosure of Invention
The invention solves the problems that: how to improve the welding automation degree, efficiency and applicability of the welding robot.
In order to solve the above problems, the present invention provides a teaching-free welding method for a welding robot, comprising:
Acquiring a digital model of a workpiece;
Determining a first weld on the workpiece according to the digital model;
Matching a welding template library with the first welding seam, and determining a first welding template of the first welding seam;
correcting the offset of the welding template relative to the first welding seam, and determining a second welding template of the first welding seam;
And controlling the welding robot to perform a welding process according to the second welding template.
Optionally, the acquiring the digital model of the workpiece includes:
And obtaining a design drawing of the workpiece or obtaining the digital model of the workpiece through a 3D scanning device.
Optionally, before the digital model of the workpiece is acquired, the welding robot teaching-free welding method further includes:
simulation analysis is carried out on a plurality of workpieces to obtain various welding seams;
and manufacturing a welding template of each type of welding seam, and constructing a welding template library related to the welding templates.
Optionally, the matching the welding template library with the first weld, and determining the first welding template of the first weld includes:
And matching the welding template library with the first welding seam, and determining the welding template which is most suitable for the first welding seam in the welding template library as the first welding template.
Optionally, the correcting the offset of the welding template relative to the first weld joint, and determining the second welding template of the first weld joint includes:
acquiring the offset of the first welding template relative to the first welding seam;
and correcting the first welding template according to the offset to obtain the second welding template.
Optionally, the controlling the welding robot to perform the welding process according to the second welding template includes:
planning a welding path of the welding robot according to the first welding seam;
and controlling the welding robot to perform the welding process according to the welding path and the second welding template.
Optionally, when the welding robot is provided with a plurality of welding robots, according to the second welding template, controlling the welding robot to perform a welding process is:
and planning the welding path of each welding robot according to the first welding seam.
Optionally, the controlling the welding robot to perform the welding process according to the second welding template includes:
determining an interference area of the welding gun and the workpiece at the first welding seam according to the first welding seam and the welding gun of the welding robot;
removing all the first welding seams located in the interference zone in the first welding seams, and planning the welding paths of the rest first welding seams; and/or dividing the first weld joints located in the interference zone from all the first weld joints into second weld joints, and planning the welding paths of all the first weld joints and all the second weld joints.
In order to solve the above problems, the present invention also provides a teaching-free welding device of a welding robot, comprising:
the acquisition unit is used for acquiring the digital model of the workpiece;
The computing and identifying unit is used for determining a first welding line on the workpiece according to the digital model; the first welding template is used for matching a welding template library with the first welding seam and determining the first welding template of the first welding seam; the second welding template is used for correcting the offset of the welding template relative to the first welding seam and determining the first welding seam; and the welding robot is used for controlling the welding robot to carry out the welding process according to the second welding template.
In order to solve the above problems, the present invention also provides a welding robot teaching-free welding device, which comprises a computer readable storage medium storing a computer program and a processor, wherein when the computer program is read and run by the processor, the teaching-free welding method of the welding robot is realized.
Compared with the prior art, the invention has the following beneficial effects: the method can be automatically realized in each step, and the welding robot can be used for improving the welding automation degree and the welding efficiency without manually determining each welding position by a technician on-site operation robot, i.e. without manual teaching. In addition, the method improves the applicability of the method by arranging the welding template library; the first welding seam is matched with the first welding template which is the most suitable from the welding template library, and the second welding template which is completely matched with the first welding seam is obtained by correcting the offset of the first welding template relative to the first welding seam, so that the welding process of the subsequent welding robot to the workpiece is used, the welding accuracy of the welding robot is improved, the method is further suitable for various workpieces which are different from the welding templates in the welding template library to a certain extent, and the welding automation degree, the welding efficiency and the application range (applicability) of the welding robot adopting the method are further improved. In addition, the method determines the first welding seam of the workpiece according to the digital model of the workpiece, improves the accuracy and the integrity of the identification and the extraction of the first welding seam and improves the convenience of matching the first welding seam with the first welding templates in the welding template library in the subsequent steps while improving the welding automation.
Drawings
FIG. 1 is a flow chart of a teaching-free welding method of a welding robot in an embodiment of the invention;
FIG. 2 is a partial flow chart of a welding robot teaching-free welding method in accordance with another embodiment of the present invention;
FIG. 3 is a sub-flowchart of step 600 in an embodiment of the present invention;
FIG. 4 is a sub-flowchart of step 700 in an embodiment of the present invention;
FIG. 5 is a sub-flowchart of step 710 in an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a welding robot teaching-free welding device according to an embodiment of the present invention.
Reference numerals illustrate:
10-an acquisition unit; 20-computing the identification unit.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein.
Referring to fig. 1, an embodiment of the present invention provides a teaching-free welding method for a welding robot, including the following steps:
step 300, obtaining a digital model of a workpiece;
step 400, determining a first welding line on a workpiece according to the digital model;
Step 500, matching a welding template library with a first welding seam, and determining a first welding template of the first welding seam;
step 600, correcting the offset of the first welding template relative to the first welding seam, and determining a second welding template of the first welding seam;
and 700, controlling the welding robot to perform a welding process according to the second welding template.
In this embodiment, the teaching-free welding method of the welding robot is applied to the welding robot or the corresponding welding device. Specifically, the method firstly obtains a digital model such as a design drawing of a workpiece to be subjected to a welding process through step 300 so as to accurately and completely reflect the information such as the shape and the structure of the workpiece. Then, through step 400, analysis is performed according to the digital model of the workpiece, and the weld seam to be welded (marked as the first weld seam) on the workpiece is identified and extracted, for example, the first weld seam on the workpiece is identified and extracted through a corresponding identification algorithm, so that the first weld seam on the workpiece can be accurately and completely obtained. Then, through step 500, the first weld obtained in step 400 is matched with all the welding templates in the welding template library, so as to obtain a welding template (marked as a first welding template) which is most suitable for the first weld in the welding template library; the welding template is a template which is manufactured according to a corresponding type of welding seam, has a welding seam form of the welding seam (used for matching with a first welding seam), is used for a welding process and a welding action parameter of the welding seam (used for a welding robot as corresponding input parameters), and the like. Then, since the first welding seam of the workpiece is not necessarily matched with the identical welding template in the welding template library, even though the first welding template optimally matched with the first welding seam may have a certain difference (position offset, etc.) with the first welding seam, the offset of the first welding template relative to the first welding seam is determined through step 600, that is, the actual offset of the corresponding type of welding seam in the first welding template and the first welding seam is determined, and the offset of the first welding template relative to the first welding seam is corrected, so as to obtain a second welding template completely matched with the first welding seam; for example, the welding process and welding action parameters (which include the positional parameters of the motion instructions, the process parameters in the logic instructions, etc.) in the first welding template are modified according to the respective offsets to obtain a second welding template that is tailored to the specific first weld. Finally, through step 700, the welding robot can be controlled to weld all the first welding seams on the workpiece according to the second welding templates corresponding to all the first welding seams on the workpiece, so as to accurately and efficiently weld all the first welding seams and complete the welding requirement of the workpiece.
Therefore, each step of the method can be automatically realized, a technician does not need to manually determine each welding position by a field operation robot, namely, manual teaching is not needed, and the welding automation degree and the welding efficiency of the welding robot adopting the method are improved. In addition, the method improves the applicability of the method by arranging the welding template library; the first welding seam is matched with the first welding template which is the most suitable from the welding template library, and the second welding template which is completely matched with the first welding seam is obtained by correcting the offset of the first welding template relative to the first welding seam, so that the welding process of the subsequent welding robot to the workpiece is used, the welding accuracy of the welding robot is improved, the method is further suitable for various workpieces which are different from the welding templates in the welding template library to a certain extent, and the welding automation degree, the welding efficiency and the application range (applicability) of the welding robot adopting the method are further improved. In addition, the method determines the first welding seam of the workpiece according to the digital model of the workpiece, improves the accuracy and the integrity of the identification and the extraction of the first welding seam and improves the convenience of matching the first welding seam with the first welding templates in the welding template library in the subsequent steps while improving the welding automation.
Optionally, the method further comprises storing the second welding template in a welding template library.
Optionally, step 300 includes:
and obtaining a design drawing of the workpiece or obtaining a digital model of the workpiece through a 3D scanning device.
Specifically, the digital model of the workpiece includes a design drawing, point cloud data (or a three-dimensional model obtained by reverse modeling according to the point cloud data), and the like. When the design drawing of the workpiece is provided, step 400 may be to determine the first weld of the workpiece directly according to the design drawing obtained in step 300; when the design drawing of the workpiece is not provided, the workpiece is changed relative to the design drawing, or a real-time three-dimensional model of the workpiece is required, the step 300 can acquire the digital model (point cloud data, etc.) of the workpiece in real time through the 3D scanning device. Thus, the shape, structure and other information of the workpiece are accurately and completely reflected, namely the welding seam information on the workpiece is accurately and completely reflected.
Optionally, before step 300, the teaching-free welding method of the welding robot further includes:
Step 100, performing simulation analysis on a plurality of workpieces to obtain various types of welding seams;
step 200, manufacturing a welding template of each type of welding seam, and constructing a welding template library related to the welding templates.
Specifically, in order to construct a welding template library with a large number of welding templates, firstly, through step 100, a plurality of workpieces are subjected to simulation analysis (for example, simulation analysis is performed through corresponding software) so as to obtain welding seams on all the workpieces, and the welding seams are classified according to the welding seam forms, so that a plurality of welding seams of different types are obtained; thereafter, a welding template is made for each type of weld, thereby constructing a welding template library of welding templates having multiple types of welds, via step 200. In some embodiments, in step 100, the design drawings of a large number of workpieces are directly analyzed, the weld joint forms and the welding action characteristics are summarized, and classification is performed according to the weld joint forms and the welding action characteristics, so as to obtain multiple types of weld joints; in step 200, an appropriate welding template is created for the welding motion characteristics of each type of weld, thereby constructing a welding template library of welding templates having multiple types of welds.
Optionally, the plurality of workpieces used for simulation analysis in step 100 are preferably of the same type as the workpieces to be welded. For example, when the method is used for a welding robot for welding a steel box girder plate unit of a bridge, the workpieces to be welded are the steel box girder plate unit, and a plurality of workpieces for simulation analysis are also the steel box girder plate unit. On one hand, because the types of welding seams on the workpieces of the same type are relatively close, a first welding template which is relatively close to a first welding seam on the workpiece to be welded can be obtained by constructing a welding template library by adopting the workpieces of the same type; on the other hand, the calculation amount of the simulation analysis can be reduced.
Optionally, step 500 includes:
and matching the welding template library with the first welding seam, and determining the welding template which is most suitable for the first welding seam in the welding template library as the first welding template.
Specifically, the first welding seam obtained in step 400 is matched with all welding templates in the welding template library to obtain a welding template (denoted as a first welding template) most suitable for the first welding seam in the welding template library, that is, the welding template closest to the first welding seam, such as a welding seam form, is screened out from the welding template library to serve as the first welding template, so that the first welding template can be finely tuned (or simply adjusted and modified) in the subsequent step to obtain the second welding template. In some embodiments, 3D vision is used for extracting weld information and judging the type of a weld, a corresponding three-dimensional coordinate system is established by combining a digital model of a workpiece, all first weld positions are divided into an X-direction two-quadrant, an X-direction three-four-quadrant, a Y-direction one-four-quadrant, a Y-direction two-three-quadrant and a Z-direction linear weld in each quadrant according to first weld positions, and in addition, an arc weld on a plane is added; the different types of first welds may be matched to different first weld templates.
Optionally, step 600 specifically includes the steps of:
step 610, obtaining an offset of the first welding template relative to the first welding seam;
And 620, correcting the first welding template according to the offset to obtain a second welding template.
Specifically, the offset of the first welding template relative to the first weld seam is obtained (determined) by means of, for example, identification techniques or mechanical positioning, via step 610; then, through step 620, the first welding template is modified according to the offset obtained in step 610, so as to obtain a welding template (denoted as a second welding template) which is completely adapted to the first welding seam after modification; for example, the welding action parameters (which include the positional parameters of the motion instructions, the process parameters in the logic instructions, etc.) in the first welding template are modified according to the respective offsets to obtain a second welding template that is tailored to the specific first weld.
Optionally, step 700 includes:
step 710, planning a welding path of the welding robot according to the first welding seam.
Specifically, after the second welding templates of all the first welds are obtained in step 600, in step 710, a welding path for all the first welds of the workpiece is planned, that is, the planned welding path needs to relate to all the first welds, so as to ensure that any one first weld cannot be missed during the welding process of the welding robot. In some embodiments, the first welding seams provided on the workpiece can be automatically analyzed through a planning algorithm, the welding sequence of each first welding seam is planned, and the like, so that a corresponding welding path is generated.
And 720, controlling the welding robot to perform a welding process according to the welding path and the second welding template.
Specifically, according to the planned welding path and the second welding templates corresponding to each first welding seam in the welding path, the welding robot is controlled to accurately perform the welding process of all the first welding seams according to the planned path, so that the welding requirements of workpieces are met, and the welding quality and efficiency are improved.
Optionally, each workpiece welding item is provided with a corresponding welding path and a second welding template library (consisting of the second welding templates of all the first welds on the workpiece) to form a welding process file for the workpiece, that is, each welding item ultimately forms a unique welding process file. In the actual production process, a welding process file library formed by welding process files of a plurality of workpieces can be constructed through accumulation of the welding process files; when the corresponding workpieces are welded, the type of the workpieces to be welded is determined by an identification technology or a manual confirmation method, and corresponding welding process files can be automatically matched from a welding process library so as to perform corresponding welding processes, and the welding efficiency is improved.
Optionally, when the welding robot is provided with a plurality of welding robots, step 710 is:
and planning a welding path of each welding robot according to the first welding seam.
For a welding device with at least two welding robots (e.g., a gantry type double welding robot), in order to improve the welding efficiency of the workpiece, a plurality of welding robots are needed to cooperate. Specifically, in step 710, according to the positions of all the first welding seams on the workpiece, the installation positions, the mechanical structures, and the like of all the welding robots, all the first welding seams are allocated to all the welding robots, that is, corresponding welding paths are planned for all the welding robots.
Optionally, step 710 includes the steps of:
and 711, determining an interference area between the welding gun and the workpiece at the first welding seam according to the first welding seam and the welding gun of the welding robot.
Specifically, in order to avoid interference between the welding gun of the welding robot and the workpiece at the corresponding first weld joint in the welding process, smooth progress of the welding process is ensured, before the welding process is performed, whether the welding gun of the corresponding welding robot interferes with the workpiece when welding at each first weld joint is analyzed through step 711, and an interference area and the first weld joint at the interference area are determined. For welding of a steel box girder plate unit of a bridge, an interference area can be considered to exist in an area with a certain distance on the side of each first welding seam welding gun, and whether the first welding seam welding process interferes with a workpiece can be judged by calculating the position relation between the path characteristic points of the first welding seams and the interference area; for example, a spatial discrete distribution algorithm is adopted to simplify a first welding seam and welding gun welding interference area model, when each interference area is analyzed, the position relation between the interference area and the first welding seam and the approximate position of the intersection point can be obtained only by calculating the inclusion relation between the interference area discrete point set and the first welding seam discrete point set, the algorithm can greatly reduce the calculation complexity of the interference relation among a plurality of welding seams, and for n welding seams and the interference areas thereof, the algorithm complexity is as follows: o (n 2); and the conventional space geometric algorithm calculates the interference relation of the welding seam, and the algorithm complexity is as follows: o (n.
Step 712, removing all first welding seams located in the interference zone, and planning welding paths related to the rest first welding seams; and/or dividing the first welding seams positioned in the interference zone of all the first welding seams into second welding seams, and planning welding paths of all the first welding seams and all the second welding seams.
Specifically, after determining the interference zone and the first weld at the interference zone, in step 712, the first weld located in the interference zone may be removed in all the first welds when the welding path is planned, and only the welding paths of all the welding robots with respect to the remaining first welds are planned; the first welding seams in the interference area of all the first welding seams are divided into a plurality of second welding seams, and welding paths of all the welding robots about all the first welding seams and all the second welding seams are planned; the first weld (the first weld for which the interference region problem cannot be solved by the division) partially located in the interference region can be removed, and the other first weld (the first weld for which the interference region problem can be solved by the division) is divided. Moreover, the welding paths of all the welding robots need to be planned according to the installation positions, the mechanical structures and the like of all the welding robots, so that the welding paths of all the welding robots are prevented from interfering with each other.
Alternatively, in the path planning, a plurality of welding robots may cooperatively weld the same first weld seam.
Another embodiment of the present invention provides a welding robot teaching-free welding apparatus, including:
An acquisition unit 10 for acquiring a digital model of a workpiece;
A calculation and identification unit 20 for determining a first weld on the workpiece according to the digital model; the first welding template is used for matching the welding template library with the first welding seam and determining the first welding template of the first welding seam; the second welding template is used for correcting the offset of the welding template relative to the first welding seam and determining the first welding seam; and the welding robot is used for controlling the welding robot to perform the welding process according to the second welding template.
In this embodiment, the welding robot teaching-free welding apparatus implements the above-mentioned welding robot teaching-free welding method by matching the structures of the acquisition unit 10 and the calculation and identification unit 20, so as to ensure that the welding robot teaching-free welding method can be smoothly and stably executed.
Still another embodiment of the present invention provides a welding robot teaching-free welding apparatus, including a computer readable storage medium storing a computer program and a processor, when the computer program is read and executed by the processor, the welding robot teaching-free welding method described above is implemented.
The technical solution of the embodiment of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or processor to perform all or part of the steps of the method of the embodiment of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk, etc.
By storing the computer program corresponding to the welding robot teaching-free welding method through the computer readable storage medium, the stability of the computer program corresponding to the welding robot teaching-free welding method when being read and run by the corresponding processor can be ensured. Therefore, the teaching-free welding method of the welding robot is executed, and the teaching-free welding method of the welding robot can be executed smoothly and stably.
Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the invention.
Claims (5)
1. A teaching-free welding method of a welding robot is characterized by comprising the following steps:
Acquiring a digital model of a workpiece;
Determining a first weld on the workpiece according to the digital model;
Matching a welding template library with the first welding seam, and determining a first welding template of the first welding seam;
correcting the offset of the welding template relative to the first welding seam, and determining a second welding template of the first welding seam;
controlling a welding robot to perform a welding process according to the second welding template;
before the digital model of the workpiece is obtained, the teaching-free welding method of the welding robot further comprises the following steps:
simulation analysis is carried out on a plurality of workpieces to obtain various welding seams;
making a welding template of each type of welding seam, and constructing a welding template library related to the welding templates;
The matching the welding template library with the first welding seam, and determining the first welding template of the first welding seam comprises:
matching the welding template library with the first welding seam, and determining the welding template which is most suitable for the first welding seam in the welding template library as the first welding template;
When welding robot is equipped with a plurality ofly, according to the second welding template, control welding robot carries out the welding process and includes:
determining an interference area of the welding gun and the workpiece at the first welding seam according to the first welding seam and the welding gun of the welding robot;
Removing the first welding seams located in the interference zone in all the first welding seams, and planning welding paths related to the rest first welding seams; or, dividing the first welding seams located in the interference area from all the first welding seams into second welding seams, and planning welding paths about the rest of the first welding seams and all the second welding seams; or removing part of the first welding seams located in the interference area in all the first welding seams, dividing the other part of the first welding seams located in the interference area in all the first welding seams into second welding seams, and planning welding paths about the rest of the first welding seams and all the second welding seams;
and controlling the welding robot to perform the welding process according to the welding path and the second welding template.
2. The welding robot teaching-free welding method of claim 1, wherein the obtaining a digital model of a workpiece comprises:
And obtaining a design drawing of the workpiece or obtaining the digital model of the workpiece through a 3D scanning device.
3. The welding robot teaching-free welding method of claim 1 or 2, wherein the correcting the offset of the welding template relative to the first weld joint, determining a second welding template for the first weld joint, comprises:
acquiring the offset of the first welding template relative to the first welding seam;
and correcting the first welding template according to the offset to obtain the second welding template.
4. A teaching-free welding device for a welding robot, comprising:
An acquisition unit (10) for acquiring a digital model of a workpiece after simulation analysis of a plurality of workpieces to obtain a plurality of types of welds, making a welding template of each type of the welds, and constructing a welding template library about the welding templates;
A calculation and identification unit (20) for determining a first weld on the workpiece according to the digital model; the first welding template is used for matching a welding template library with the first welding seam and determining the first welding template of the first welding seam; the second welding template is used for correcting the offset of the welding template relative to the first welding seam and determining the first welding seam; and the welding robot is used for controlling the welding process according to the second welding template;
Wherein the matching the welding template library with the first weld, determining a first welding template for the first weld comprises:
matching the welding template library with the first welding seam, and determining the welding template which is most suitable for the first welding seam in the welding template library as the first welding template;
When welding robot is equipped with a plurality ofly, according to the second welding template, control welding robot carries out the welding process and includes:
determining an interference area of the welding gun and the workpiece at the first welding seam according to the first welding seam and the welding gun of the welding robot;
Removing the first welding seams located in the interference zone in all the first welding seams, and planning welding paths related to the rest first welding seams; or, dividing the first welding seams located in the interference area from all the first welding seams into second welding seams, and planning welding paths about the rest of the first welding seams and all the second welding seams; or removing part of the first welding seams located in the interference area in all the first welding seams, dividing the other part of the first welding seams located in the interference area in all the first welding seams into second welding seams, and planning welding paths about the rest of the first welding seams and all the second welding seams;
and controlling the welding robot to perform the welding process according to the welding path and the second welding template.
5. A welding robot teaching-free welding apparatus comprising a computer readable storage medium storing a computer program and a processor, which when read and run by the processor, implements the welding robot teaching-free welding method of any of claims 1 to 3.
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