CN115042181B - Multi-welding track generation method and system for intermediate assembly segmented robot - Google Patents
Multi-welding track generation method and system for intermediate assembly segmented robot Download PDFInfo
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- CN115042181B CN115042181B CN202210763287.8A CN202210763287A CN115042181B CN 115042181 B CN115042181 B CN 115042181B CN 202210763287 A CN202210763287 A CN 202210763287A CN 115042181 B CN115042181 B CN 115042181B
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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
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0258—Electric supply or control circuits therefor
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The invention discloses a multi-welding track generation method and a system for a middle-assembly segmented robot, wherein the method comprises the following steps: after the welding seam parameters of a plurality of segmented welding seams of the assembled segments are obtained, distributing welding tasks related to the welding seam parameters of the segmented welding seams to the robot; editing a welding sequence of the robot according to the plurality of section welding seams, wherein the welding sequence is an arrangement sequence of a plurality of hull welding seam units, and each hull welding seam unit comprises at least one section welding seam; and generating a welding track of the robot based on the position coordinates of each hull welding line unit in the welding sequence. The invention can divide the welding line into each unit, and edit the corresponding welding line track based on the coordinate of the welding line, thereby controlling the robot to weld according to the track and improving the welding precision.
Description
Technical Field
The invention relates to the technical field of welding of an assembly robot in a ship body, in particular to a multi-welding-track generation method and system of an assembly sectional robot.
Background
In the ship construction process, the ship body is subjected to preceding group assembly, small group assembly and middle group assembly step by step from plates, wherein the middle group assembly comprises a plurality of small group workpieces, each robot is respectively controlled to weld the small group workpieces, and then assembly welding seam welding is carried out according to a certain assembly sequence to form a middle group subsection.
In the assembly welding process, the welding seam is welded by adopting the mode, and the moving and welding operations of the robot are disordered, so that the welding precision is low, and the welding effect is poor.
Disclosure of Invention
The embodiment of the invention provides a multi-welding track generation method and system for a middle assembly segmented robot, which can solve the problem that in the middle assembly welding process, different welding tracks corresponding to different ship structures are not used, so that the welding effect is poor.
The first aspect of the embodiments of the present invention provides a method for generating multiple welding tracks of a central assembly and segmentation robot, where the method includes:
after the welding seam parameters of a plurality of segmented welding seams of the assembled segments are obtained, distributing welding tasks related to the welding seam parameters of the segmented welding seams to the robot;
editing a welding sequence of the robot according to the plurality of segment welding seams, wherein the welding sequence is an arrangement sequence of a plurality of hull welding seam units, and each hull welding seam unit comprises at least one segment welding seam;
and generating a welding track of the robot based on the position coordinates of each hull welding line unit in the welding sequence.
In one possible implementation manner of the first aspect, the generating a welding track of the robot based on the position coordinates of each hull weld unit in the welding sequence includes:
respectively generating a vertical fillet welding track and a horizontal fillet welding track by using the position coordinates of each hull welding line unit in the welding sequence to obtain a plurality of vertical fillet welding tracks and a plurality of horizontal fillet welding tracks;
and acquiring a moving track of the robot, and connecting the moving track, the plurality of vertical fillet welding tracks and the plurality of horizontal fillet welding tracks to obtain a welding track, wherein the moving track is the moving track of a welding gun at the tail end of the mechanical arm.
In a possible implementation manner of the first aspect, the generating step of the fillet welding track specifically includes:
acquiring the original point coordinates of the hull of the welding line unit of the hull;
searching a welding seam which is a vertical angle section in at least one section welding seam contained in the ship body welding seam unit in a clockwise direction from the original point coordinate as a starting point, and acquiring an interchange welding seam coordinate of the vertical angle section welding seam;
and connecting the overpass weld coordinates to form a vertical fillet welding track.
In a possible implementation manner of the first aspect, the step of generating the flat fillet welding track specifically includes:
acquiring a hull origin coordinate of the hull welding line unit;
searching for a welding seam which is a straight angle section in at least one section welding seam contained in the ship body welding seam unit in a clockwise direction from the origin coordinate as a starting point, and acquiring a straight angle welding seam coordinate of the welding seam of the straight angle section;
and connecting the flat fillet weld coordinates to form a flat fillet weld track.
In one possible implementation manner of the first aspect, the hull origin coordinate is a point within the bottom surface of the hull weld unit, which is the smallest distance from the origin coordinate of the intermediate assembly segment.
In a possible implementation manner of the first aspect, the compiling a welding sequence of the robot according to the plurality of segmented welds includes:
dividing the plurality of segmented welding seams into a plurality of hull welding seam units respectively, wherein each hull welding seam unit comprises at least one segmented welding seam;
and arranging a plurality of hull welding line units from the direction of an X axis or the direction of a Y axis to obtain a welding sequence, wherein the X axis and the Y axis are positioned in the bottom plane of the hull welding line units.
In one possible implementation manner of the first aspect, after the step of generating the welding trajectory of the robot based on the position coordinates of each hull weld unit in the welding sequence, the method further includes:
and controlling the robot to execute the welding task by utilizing the welding track planning.
In one possible implementation manner of the first aspect, the assigning the welding task of the weld parameters of the plurality of segmented welds to the robot includes:
determining a working area of the robot, and assigning welding tasks with respect to weld parameters of the plurality of segmented welds to the robot according to the working area.
In one possible implementation manner of the first aspect, the weld parameters include a weld number, a weld start point, a weld end point, a weld parameter, and a weld connecting plate parameter.
A second aspect of an embodiment of the present invention provides a multi-welding-track generation system for an intermediate-assemblage segmented robot, including:
the task allocation module is used for allocating welding tasks related to the welding seam parameters of the multiple segmental welding seams to the robot after the welding seam parameters of the multiple segmental welding seams of the medium-assembling segment are obtained;
the welding sequence editing module is used for editing a welding sequence of the robot according to the plurality of segmented welding seams, wherein the welding sequence is an arrangement sequence of a plurality of hull welding seam units, and each hull welding seam unit comprises at least one segmented welding seam;
and the welding track generation module is used for generating a welding track of the robot based on the position coordinates of each ship welding line unit in the welding sequence.
Compared with the prior art, the multi-welding track generation method and the multi-welding track generation system for the intermediate assembly segmented robot have the advantages that: according to the invention, the welding tasks of a plurality of segmented welding seams are distributed to the welding robot according to the welding seam parameters, the hull welding seams are divided into a plurality of hull welding seam units according to the distribution condition of the welding tasks of the plurality of segmented welding seams distributed to the welding robot, the welding sequence of the plurality of hull welding seam units is planned according to the space distribution of the plurality of hull welding seam units and the X axis and the Y axis, the vertical angle segmented welding seams are searched clockwise in the hull welding seam units from the coordinate origin of the hull welding seam units to form vertical fillet welding tracks, the flat angle segmented welding seams are searched clockwise in the hull welding seam units from the coordinate origin of the hull welding seam units to form flat fillet welding tracks, and the vertical fillet welding tracks and the flat fillet welding tracks are welded and connected. The sequential logic order of welding seams of the welding robot is formulated according to the spatial distribution of the welding seams, the position of the cabin lattice and the coordinate of the ship body where the welding seams are located is considered, the welding robot is controlled to weld after fillet welding is carried out in a vertical mode and then fillet welding is carried out in a horizontal mode.
Drawings
Fig. 1 is a flowchart illustrating steps of a multi-welding-track generation method for a central-assembly segmented robot according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a multi-welding track generation method for a central assembly and segmentation robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a multi-welding-track generation system of an intermediate assembly segmented robot according to an embodiment of the present invention.
Detailed Description
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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, in the process of assembling, assembling and welding, different welding tracks corresponding to different ship structures are not used, so that the welding effect is poor.
In order to solve the above problem, a method for generating multiple welding tracks of an intermediate segmented robot according to an embodiment of the present application will be described and explained in detail with reference to the following specific embodiments.
Referring to fig. 1, a flowchart illustrating steps of a multi-welding-track generation method for an intermediate assembly and segmentation robot according to an embodiment of the present invention is shown.
The method is suitable for a control system of the intermediate assembly subsection robot, wherein the intermediate assembly subsection robot is provided with a mechanical arm, a welding gun is arranged on the mechanical arm, and welding seams can be welded through the welding gun.
By way of example, the multi-welding track generation method for the intermediate assembly segmented robot may include:
s11, after the welding seam parameters of a plurality of segmented welding seams of the assembled segments are obtained, the welding tasks related to the welding seam parameters of the segmented welding seams are distributed to the robot.
The robot may be a mid-assembly segmented robot.
The welding seam parameters comprise welding seam numbers, welding seam starting points, welding seam terminal points, welding seam parameters and welding seam connecting plate parameters.
The welding task can contain welding seam parameters, and the assembling and segmenting robot can perform corresponding welding operation based on the parameters in the welding task after receiving the welding task.
Wherein, as an example, step S11 may comprise the following sub-steps:
s111, determining a working area of the robot, and distributing welding tasks related to the welding seam parameters of the segmented welding seams to the robot according to the working area.
The working area may be a working space of the robots during welding, and each robot has a suitable welding space in the working space.
In particular, the entire weldable space is composed of a plurality of welding spaces of robots, which are cross-covered with a working area between each other.
The intermediate assembly section and its control system may be placed throughout the weldable space and task distribution may be performed for a plurality of robots located within the intermediate assembly section space.
S12, editing a welding sequence of the robot according to the plurality of segmented welding seams, wherein the welding sequence is an arrangement sequence of a plurality of hull welding seam units, and each hull welding seam unit comprises at least one segmented welding seam.
Specifically, after the control system distributes the welding tasks of the multiple sectional welding seams to the robot, the control system is divided into multiple hull welding seam units according to the distribution condition of the multiple sectional welding seams distributed to the welding robot.
In an alternative embodiment, step S12 may comprise the following sub-steps:
s121, dividing the plurality of segmented welding seams into a plurality of ship body welding seam units respectively, wherein each ship body welding seam unit comprises at least one segmented welding seam.
And S122, arranging the ship body welding line units from the direction of an X axis or the direction of a Y axis to obtain a welding sequence.
Wherein the X-axis and the Y-axis are located in a bottom plane of the hull weld unit.
When a plurality of ship body welding line units are divided, the ship body welding line units can be divided preferentially from the X-axis direction and then divided from the Y-axis direction, ship body cabin lattices are taken as units to divide the ship body welding line units, one ship body cabin lattice is taken as one ship body welding line unit, at least 1 welding line or a plurality of welding lines can be arranged in one ship body welding line unit, the welding line crossing the ship body cabin lattices is counted as two welding lines, one section of welding line is arranged in each ship body welding line unit, and one welding line crosses a plurality of obstacles in one ship body welding line unit to be counted as one welding line.
And then arranging the plurality of hull welding line units to obtain a welding sequence. For example, there are 10 hull weld units, and the 10 hull weld units are ordered from left to right to obtain the welding sequence.
And S13, generating a welding track of the robot based on the position coordinates of each ship welding line unit in the welding sequence.
Because each ship body welding line unit comprises at least one sectional welding line, the robot needs to weld according to the sectional welding line, the position coordinates of the sectional welding line in the ship body welding line unit can be used for generating the welding track of the robot, and therefore the robot can be controlled to weld according to the welding track.
In one embodiment, step S13 may include the following sub-steps:
s131, respectively generating a vertical fillet welding track and a horizontal fillet welding track by using the position coordinates of each ship body welding line unit in the welding sequence to obtain a plurality of vertical fillet welding tracks and a plurality of horizontal fillet welding tracks.
The generation of the vertical fillet welding track specifically comprises the following steps:
and acquiring the origin coordinates of the hull welding line unit.
And searching for a welding seam which is a vertical angle section in at least one section welding seam contained in the ship body welding seam unit in a clockwise direction by taking the origin coordinate as a starting point, and acquiring the interchange welding seam coordinate of the welding seam of the vertical angle section.
And connecting the overpass weld coordinates to form a vertical fillet welding track.
The flat fillet welding track generation steps are as follows:
and acquiring the origin coordinates of the hull welding line unit.
And searching for a welding seam which is a straight angle section in at least one section welding seam contained in the ship body welding seam unit in a clockwise direction by taking the origin coordinate as a starting point, and acquiring the straight angle welding seam coordinate of the welding seam of the straight angle section.
And connecting the flat fillet weld coordinates to form a flat fillet weld track.
In one embodiment, the hull origin coordinate is a point within the bottom surface of the hull weld unit that is the smallest distance from the origin coordinate of the intermediate assembly segment.
S132, obtaining a moving track of the robot, and connecting the moving track, the plurality of vertical fillet welding tracks and the plurality of horizontal fillet welding tracks to obtain a welding track, wherein the moving track is a moving track of a welding gun at the tail end of the mechanical arm.
Taking the coordinate origin of a welding hull seam unit as a starting point, searching a to-be-welded vertical fillet weld according to the clockwise direction, identifying the coordinate positions of a plurality of to-be-welded vertical fillet welds, and planning the vertical fillet weld tracks of the to-be-welded vertical fillet welds of one welding seam unit;
and (3) searching for the to-be-welded flat fillet weld according to the clockwise direction by taking the coordinate origin of the weld joint unit as the starting point in the bottom plane of the ship body weld joint unit, identifying the coordinate positions of the plurality of to-be-welded flat fillet welds, and planning the flat fillet weld tracks of the plurality of to-be-welded flat fillet welds of one weld joint unit.
A coordinate system can be easily constructed on a ship body welding line unit, the coordinate positions of a plurality of flat fillet welds are sequentially identified, the welding tracks of the flat fillet welds are connected, a flat fillet welding track is formed, and attention is paid to: the connection between two fillet welds requires an increased trajectory of the welding gun at the end of the robot arm, which is also part of the fillet weld trajectory.
Drawing a welding track line between the starting point of the sectional weld and the end point of the sectional weld, wherein the line is a movement track of a welding wire extending out of the tail end of a welding gun, a movement track of a non-welding gun or a robot, and a welding track between the end point of a first weld and the starting point of a second weld, the control system obtains the size of a ship structure model between the end point of the first weld and the starting point of the second weld, and plans a welding track avoiding all ship structures, wherein the welding track is only the place where the welding wire passes and is not actually required to be welded.
In the welding track of one welding line, if there is an obstacle, the movement track of avoiding the obstacle is set according to the parameters of the obstacle.
In an embodiment, the method may further include:
and S14, controlling the robot to execute the welding task by utilizing the welding track planning.
In particular, the robot movement and welding may be controlled in accordance with the welding trajectory such that the robot performs the welding task in accordance with various parameters within the welding task.
Referring to fig. 2, a flowchart of a multi-welding track generation method of an intermediate assembly segmented robot according to an embodiment of the present invention is shown.
To facilitate understanding, the following will be specifically described by an example, which is not intended to limit the invention, and is illustrated in fig. 2:
s1: the control system acquires welding seam parameters of a plurality of sectional welding seams of the middle assembling section;
s2: the control system distributes welding tasks of a plurality of segmented welding seams to the welding robot;
s3: the control system is divided into a plurality of hull welding line units according to the distribution condition of a plurality of sectional welding lines distributed to the welding robot;
s4: the control system plans a welding sequence of the ship body welding line units according to the spatial distribution of the ship body welding line units and according to an X axis and a Y axis;
s5: in the hull welding line unit, starting from the coordinate origin of the hull welding line unit, clockwise searching for a vertical angle sectional welding line to form a vertical angle welding track;
s6: in the hull welding line unit, a straight angle segmented welding line is clockwise searched by starting from the coordinate origin of the hull welding line unit to form a straight angle welding track;
s7: the control system generates a welding track of a welding robot for welding a plurality of sectional welding seams.
In this embodiment, the embodiment of the present invention provides a method for generating multiple welding tracks of a robot with intermediate assembly and segmentation, which has the following beneficial effects: according to the invention, the welding tasks of a plurality of segmented welding seams are distributed to the welding robot according to the welding seam parameters, the hull welding seams are divided into a plurality of hull welding seam units according to the distribution condition of the welding tasks of the plurality of segmented welding seams distributed to the welding robot, the welding sequence of the plurality of hull welding seam units is planned according to the space distribution of the plurality of hull welding seam units and the X axis and the Y axis, the vertical angle segmented welding seams are searched clockwise in the hull welding seam units from the coordinate origin of the hull welding seam units to form vertical fillet welding tracks, the flat angle segmented welding seams are searched clockwise in the hull welding seam units from the coordinate origin of the hull welding seam units to form flat fillet welding tracks, and the vertical fillet welding tracks and the flat fillet welding tracks are welded and connected. The sequential logic order of welding seams of the welding robot is formulated according to the spatial distribution of the welding seams, the position of the cabin lattice and the coordinate of the ship body where the welding seams are located is considered, the welding robot is controlled to weld after fillet welding is carried out in a vertical mode and then fillet welding is carried out in a horizontal mode.
The embodiment of the present invention further provides a multi-welding-track generating system for an intermediate assembling and segmenting robot, and referring to fig. 3, a schematic structural diagram of the multi-welding-track generating system for the intermediate assembling and segmenting robot provided by the embodiment of the present invention is shown.
By way of example, the multi-welding track generation system of the intermediate assembling and segmenting robot may include:
the task allocation module 301 is configured to, after acquiring weld parameters of a plurality of segmented welds of the intermediate assembly segment, allocate a welding task related to the weld parameters of the plurality of segmented welds to the robot;
a welding sequence editing module 302, configured to edit a welding sequence of the robot according to the multiple segmental welds, where the welding sequence is an arrangement sequence of multiple hull weld units, and each hull weld unit includes at least one segmental weld;
a welding track generation module 303, configured to generate a welding track of the robot based on the position coordinates of each hull welding line unit in the welding sequence.
Optionally, the welding track generation module is further configured to:
respectively generating a vertical fillet welding track and a horizontal fillet welding track by using the position coordinates of each hull welding line unit in the welding sequence to obtain a plurality of vertical fillet welding tracks and a plurality of horizontal fillet welding tracks;
and obtaining a moving track of the robot, and connecting the moving track, the plurality of vertical fillet welding tracks and the plurality of flat fillet welding tracks to obtain a welding track, wherein the moving track is the moving track of a welding gun at the tail end of the mechanical arm.
Optionally, the generation step of the fillet welding track specifically includes:
acquiring a hull origin coordinate of the hull welding line unit;
searching a welding seam which is a vertical angle section in at least one section welding seam contained in the ship body welding seam unit in a clockwise direction from the origin coordinate as a starting point, and acquiring an interchange welding seam coordinate of the welding seam of the vertical angle section;
and connecting the overpass weld coordinates to form a vertical fillet welding track.
Optionally, the step of generating the flat fillet welding track specifically includes:
acquiring the original point coordinates of the hull of the welding line unit of the hull;
searching for a welding seam which is a straight angle section in at least one section welding seam contained in the ship body welding seam unit in a clockwise direction from the origin coordinate as a starting point, and acquiring a straight angle welding seam coordinate of the welding seam of the straight angle section;
and connecting the flat fillet weld coordinates to form a flat fillet weld track.
Optionally, the hull origin coordinate is a point in the bottom surface of the hull weld unit, which is the smallest distance from the origin coordinate of the intermediate assembly segment.
Optionally, the edit welding sequence module is further configured to:
dividing the plurality of segmented welding seams into a plurality of hull welding seam units respectively, wherein each hull welding seam unit comprises at least one segmented welding seam;
and arranging a plurality of hull welding line units from the direction of an X axis or the direction of a Y axis to obtain a welding sequence, wherein the X axis and the Y axis are positioned in the bottom plane of the hull welding line units.
Optionally, the system further comprises:
and the control module is used for controlling the robot to execute the welding task by utilizing the welding track planning.
Optionally, the task allocation module is further configured to:
determining a working area of the robot, and assigning welding tasks with respect to weld parameters of the plurality of segmented welds to the robot according to the working area.
Optionally, the weld parameters include a weld number, a weld start point, a weld end point, weld parameters, and weld joint plate parameters.
It can be clearly understood by those skilled in the art that, for convenience and brevity, the specific working process of the system described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
Further, an embodiment of the present application further provides an electronic device, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the program implementing the method for generating multiple welding trajectories for an assembled segmented robot as described in the embodiments above.
Further, the present application also provides a computer-readable storage medium storing computer-executable instructions for causing a computer to execute the multi-welding track generation method for the central group segmentation robot as described in the above embodiments.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (8)
1. A multi-welding track generation method for a middle-assembly segmented robot is characterized by comprising the following steps:
after the welding seam parameters of a plurality of segmented welding seams of the assembled segments are obtained, distributing welding tasks related to the welding seam parameters of the segmented welding seams to the robot;
editing a welding sequence of the robot according to the plurality of segment welding seams, wherein the welding sequence is an arrangement sequence of a plurality of hull welding seam units, and each hull welding seam unit comprises at least one segment welding seam;
generating a welding track of the robot based on the position coordinates of each hull weld unit in the welding sequence;
the generating of the welding track of the robot based on the position coordinates of each hull weld unit in the welding sequence comprises:
respectively generating a vertical fillet welding track and a horizontal fillet welding track by using the position coordinates of each ship welding line unit in the welding sequence to obtain a plurality of vertical fillet welding tracks and a plurality of horizontal fillet welding tracks;
acquiring a moving track of the robot, and connecting the moving track, the plurality of vertical fillet welding tracks and the plurality of horizontal fillet welding tracks to obtain a welding track, wherein the moving track is the moving track of a welding gun at the tail end of the mechanical arm;
the generation steps of the vertical fillet welding track are as follows:
acquiring the original point coordinates of the hull of the welding line unit of the hull;
searching a welding seam which is a vertical angle section in at least one section welding seam contained in the ship body welding seam unit in a clockwise direction from the origin coordinate as a starting point, and acquiring an interchange welding seam coordinate of the welding seam of the vertical angle section;
and connecting the overpass weld coordinates to form a vertical fillet welding track.
2. The method for generating multiple welding tracks of the intermediate assembling and segmenting robot according to claim 1, wherein the step of generating the flat fillet welding track specifically comprises the following steps:
acquiring a hull origin coordinate of the hull welding line unit;
searching for a welding seam which is a straight angle section in at least one section welding seam contained in the ship body welding seam unit in a clockwise direction from the origin coordinate as a starting point, and acquiring a straight angle welding seam coordinate of the welding seam of the straight angle section;
and connecting the flat fillet weld coordinates to form a flat fillet weld track.
3. The multi-welding-track generation method of the intermediate assembling section robot according to claim 1 or 2, wherein the hull origin coordinates are a point within the bottom surface of the hull weld unit, which is the smallest distance from the origin coordinates of the intermediate assembling section.
4. The method for generating a multi-welding track of an intermediate segmented robot according to claim 1, wherein the editing of the welding sequence of the robot according to the segmented welds comprises:
dividing the plurality of segmented welding seams into a plurality of hull welding seam units respectively, wherein each hull welding seam unit comprises at least one segmented welding seam;
and arranging a plurality of hull welding line units from the direction of an X axis or the direction of a Y axis to obtain a welding sequence, wherein the X axis and the Y axis are positioned in the bottom plane of the hull welding line units.
5. The multi-welding-track generation method of the intermediate assembling segmented robot as claimed in claim 1, wherein after said step of generating a welding track of the robot based on the position coordinates of each of said hull weld units in said welding sequence, said method further comprises:
and controlling the robot to execute the welding task by utilizing the welding track planning.
6. The method of generating a multi-welding trajectory for a neutral segmented robot according to claim 1, wherein said assigning welding tasks to robots regarding weld parameters of the plurality of segmented welds comprises:
determining a working area of the robot, and assigning welding tasks with respect to weld parameters of the plurality of segmented welds to the robot according to the working area.
7. The method of claim 1, wherein the weld parameters include weld number, weld start point, weld end point, and weld joint plate parameters.
8. A multi-welding-track generation system for a mid-assembly segmented robot, the system comprising:
the task allocation module is used for allocating welding tasks related to the welding seam parameters of the multiple segmental welding seams to the robot after the welding seam parameters of the multiple segmental welding seams of the medium-assembling segment are obtained;
the welding sequence editing module is used for editing a welding sequence of the robot according to the plurality of segmented welding seams, wherein the welding sequence is an arrangement sequence of a plurality of hull welding seam units, and each hull welding seam unit comprises at least one segmented welding seam;
a welding track generation module for generating a welding track of the robot based on the position coordinates of each hull welding line unit in the welding sequence;
the generate welding track module is further configured to:
respectively generating a vertical fillet welding track and a horizontal fillet welding track by using the position coordinates of each hull welding line unit in the welding sequence to obtain a plurality of vertical fillet welding tracks and a plurality of horizontal fillet welding tracks;
acquiring a moving track of the robot, and connecting the moving track, the plurality of vertical fillet welding tracks and the plurality of horizontal fillet welding tracks to obtain a welding track, wherein the moving track is the moving track of a welding gun at the tail end of the mechanical arm;
the generation steps of the vertical fillet welding track are as follows:
acquiring a hull origin coordinate of the hull welding line unit;
searching a welding seam which is a vertical angle section in at least one section welding seam contained in the ship body welding seam unit in a clockwise direction from the original point coordinate as a starting point, and acquiring an interchange welding seam coordinate of the vertical angle section welding seam;
and connecting the overpass weld coordinates to form a vertical fillet welding track.
Priority Applications (1)
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