CN115338574A - Method and device for welding intermediate assembly welding seam based on analog simulation software - Google Patents
Method and device for welding intermediate assembly welding seam based on analog simulation software Download PDFInfo
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Abstract
The invention discloses a method and a device for welding intermediate assembly welding seams based on analog simulation software, wherein the method comprises the steps of obtaining a constructed intermediate assembly model, carrying out structural analysis on the intermediate assembly model to obtain all welding seams in the intermediate assembly model, and obtaining the welding seam position corresponding to each welding seam; setting welding seam types, classifying all welding seams based on the positions of the welding seams to obtain the welding seam type corresponding to each welding seam, and automatically acquiring a robot welding track corresponding to the welding seam type according to the welding seam type; setting the robot posture of the welding robot based on the welding track, the welding seam position and the welding seam type of the robot; so that the welding robot can weld each vertical fillet weld on the welding track of the robot based on the posture of the robot. Compared with the prior art, the technical scheme of the invention realizes the automatic welding operation of the robot by finishing the welding track planning of the centering and assembling welding line, and improves the efficiency and the quality of the welding operation.
Description
Technical Field
The invention relates to the technical field of shipbuilding intelligent manufacturing, in particular to a method and a device for welding a middle assembly welding seam based on analog simulation software.
Background
In the process of sectional construction in the current ship industry, automatic equipment with higher application integration level is realized in working procedures of blanking, plate splicing, longitudinal rib assembling, longitudinal rib welding and the like, and the construction efficiency is greatly improved; however, in the process of welding the rib plates of the middle assembly, because the structure of the middle assembly is relatively complex, multidimensional welding seams exist among members, the welding operation of the vertical fillet welding seams of the rib plates and the bottom plate is basically in a stage of mainly using a semi-automatic welding trolley for manual welding as an auxiliary, the welding quality is greatly related to the technical level of welding operators, the formation of the welding seams is relatively poor and unstable, the welding quality of the middle assembly is difficult to ensure, a large amount of unnecessary post-welding seam polishing processing work is often needed, a large amount of polishing operators are needed, the labor intensity of the operators is high, the working environment is poor, the efficiency is low, and the requirements of the current enterprise for realizing high-quality development and the automatic, digital and intelligent manufacturing are inconsistent, and a large difference exists.
At present, straight sections are mainly arranged on a plane section production line for manufacturing, manual welding operation is still mainly used for rib plate welding stations, the good welding quality is directly related to the technical level of welders, and a large amount of repairing work is often needed due to the poor stability of manual operation; therefore, how to utilize the robot technology to realize intelligent welding so as to improve the welding quality and efficiency is an important problem to be considered by each ship enterprise.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the welding method and the welding device for the intermediate assembly welding seam based on the analog simulation software are provided, and the welding operation efficiency and quality are improved.
In order to solve the technical problem, the invention provides a welding method for a middle assembly weld seam based on analog simulation software, which comprises the following steps:
acquiring a constructed intermediate assembly model, performing structural analysis on the intermediate assembly model to obtain all welding seams in the intermediate assembly model, and acquiring the welding seam position corresponding to each welding seam;
setting weld joint types, classifying all weld joints based on the weld joint positions to obtain the weld joint type corresponding to each weld joint, and automatically acquiring a robot welding track corresponding to the weld joint type according to the weld joint type;
setting the robot posture of the welding robot based on the welding track of the robot, the welding seam position and the welding seam type; so that the welding robot welds each fillet weld on the robot welding track based on the robot posture.
In a possible implementation manner, performing structural analysis on the intermediate assembly model to obtain all welding seams in the intermediate assembly model specifically includes:
performing structural analysis on the middle assembly model to obtain part types in the middle assembly model, and counting the number of parts corresponding to each part type, wherein the part types comprise a bottom plate, longitudinal and transverse partition plates and longitudinal ribs;
and calculating and obtaining all welding seams in the intermediate assembly component model based on the part types and the part numbers, wherein all welding seams comprise intermediate assembly vertical fillet welding seams and intermediate assembly flat fillet welding seams.
In a possible implementation manner, setting weld types, classifying all welds based on the weld positions, and obtaining the weld type corresponding to each weld, specifically including:
setting a middle assembly fillet weld type, wherein the middle assembly fillet weld type comprises a first quadrant fillet weld, a second quadrant fillet weld, a third quadrant fillet weld and a fourth quadrant fillet weld;
and judging a quadrant region where each intermediate assembly fillet weld is located based on the acquired weld position corresponding to each intermediate assembly fillet weld, classifying each intermediate assembly fillet weld based on the quadrant region, and obtaining the type of the intermediate assembly fillet weld corresponding to each intermediate assembly fillet weld.
In a possible implementation manner, setting a weld type, classifying all welds based on the weld positions to obtain a weld type corresponding to each weld, further comprising:
setting a middle assembly flat fillet weld type, wherein the middle assembly flat fillet weld type comprises a first quadrant horizontal fillet weld, a first quadrant vertical fillet weld, a second quadrant horizontal fillet weld, a second quadrant vertical fillet weld, a third quadrant horizontal fillet weld, a third quadrant vertical fillet weld, a fourth quadrant horizontal fillet weld and a fourth quadrant vertical fillet weld;
based on the acquired welding seam position corresponding to each intermediate assembly flat fillet welding seam, judging a quadrant region where the intermediate assembly flat fillet welding seam is located, and meanwhile judging that the intermediate assembly flat fillet welding seam is in a horizontal and vertical placement state;
and classifying each intermediate assembly flat fillet weld based on the quadrant region and the horizontal and vertical placement state to obtain the type of the intermediate assembly flat fillet weld corresponding to each intermediate assembly flat fillet weld.
In a possible implementation manner, automatically acquiring a welding track of a robot corresponding to the weld type according to the weld type, specifically including:
setting corresponding welding seam track parameters for each welding seam type, wherein the welding seam track parameters comprise welding gun angular postures and welding gun track lines;
and acquiring corresponding welding seam track parameters based on the welding seam type, and automatically generating a robot welding track corresponding to the welding seam type based on the welding seam track parameters.
In a possible implementation manner, before the welding robot performs welding on each welding seam on the welding trajectory of the robot based on the robot pose, the method further includes:
and setting a robot welding position searching mode so that the robot searches for each welding line based on the robot welding position searching mode and moves to the position of the starting point of each welding line.
In a possible implementation manner, obtaining the constructed middle assembly component model specifically includes:
and acquiring intermediate assembly model data based on a plain text file generated by shipbuilding modeling software, and inputting the intermediate assembly model data into analog simulation software to obtain an intermediate assembly model.
In a possible implementation manner, after obtaining the constructed middle assembly component model, the method further includes:
acquiring the actual position direction of a ship, judging whether the position direction of the intermediate assembly module model is the same as the actual position direction, and if not, setting the position direction as the actual position direction;
and acquiring a first coordinate system of shipbuilding modeling software, judging whether a second coordinate system of the middle assembly component model is the same as the first coordinate system, and if not, converting the first coordinate system into the second coordinate system.
The invention also provides a welding device for the intermediate assembly welding seam based on the simulation software, which comprises the following components: the robot welding track acquisition module is used for acquiring a welding track of a robot;
the assembly welding line acquisition module is used for acquiring a constructed assembly model, performing structural analysis on the assembly model to obtain all welding lines in the assembly model, and acquiring the welding line position corresponding to each welding line;
the robot welding track acquisition module is used for setting welding seam types, classifying all welding seams based on the welding seam positions to obtain the welding seam type corresponding to each welding seam, and automatically acquiring the robot welding track corresponding to the welding seam type according to the welding seam type;
the welding seam welding module is used for carrying out robot posture setting on the welding robot based on the welding track of the robot, the welding seam position and the welding seam type; so that the welding robot performs welding on each welding seam on the welding track of the robot based on the robot posture.
In a possible implementation manner, the intermediate assembly weld obtaining module is configured to perform structural analysis on the intermediate assembly model to obtain all welds in the intermediate assembly model, and specifically includes:
performing structural analysis on the middle assembly model to obtain part types in the middle assembly model, and counting the number of parts corresponding to each part type, wherein the part types comprise a bottom plate, longitudinal and transverse partition plates and longitudinal ribs;
and calculating and obtaining all welding seams in the intermediate assembly component model based on the part types and the part numbers, wherein all welding seams comprise intermediate assembly vertical fillet welding seams and intermediate assembly flat fillet welding seams.
In a possible implementation manner, the robot welding track obtaining module is configured to set a weld type, classify all welds based on the weld positions, and obtain a weld type corresponding to each weld, and specifically includes:
setting a middle assembly fillet weld type, wherein the middle assembly fillet weld type comprises a first quadrant fillet weld, a second quadrant fillet weld, a third quadrant fillet weld and a fourth quadrant fillet weld;
and judging a quadrant region where each intermediate assembly fillet weld is located based on the acquired weld position corresponding to each intermediate assembly fillet weld, classifying each intermediate assembly fillet weld based on the quadrant region, and obtaining the type of the intermediate assembly fillet weld corresponding to each intermediate assembly fillet weld.
In a possible implementation manner, the robot welding track obtaining module is configured to set a weld type, classify all welds based on the weld positions, and obtain a weld type corresponding to each weld, and further includes:
setting a middle assembly flat fillet weld type, wherein the middle assembly flat fillet weld type comprises a first quadrant horizontal fillet weld, a first quadrant vertical fillet weld, a second quadrant horizontal fillet weld, a second quadrant vertical fillet weld, a third quadrant horizontal fillet weld, a third quadrant vertical fillet weld, a fourth quadrant horizontal fillet weld and a fourth quadrant vertical fillet weld;
based on the acquired welding seam position corresponding to each intermediate assembly flat fillet welding seam, judging a quadrant region where the intermediate assembly flat fillet welding seam is located, and meanwhile judging that the intermediate assembly flat fillet welding seam is in a horizontal and vertical placement state;
and classifying each intermediate assembly flat fillet weld based on the quadrant region and the horizontal and vertical placement state to obtain the type of the intermediate assembly flat fillet weld corresponding to each intermediate assembly flat fillet weld.
In a possible implementation manner, the robot welding track obtaining module is configured to automatically obtain a robot welding track corresponding to the weld type according to the weld type, and specifically includes:
setting corresponding welding seam track parameters for each welding seam type, wherein the welding seam track parameters comprise welding gun angular postures and welding gun track lines;
and acquiring corresponding welding seam track parameters based on the welding seam type, and automatically generating a robot welding track corresponding to the welding seam type based on the welding seam track parameters.
In a possible implementation manner, the weld seam welding module is configured to, before the welding robot performs welding on each weld seam on the robot welding track based on the robot pose, further include:
and setting a robot welding position searching mode so that the robot searches for each welding line based on the robot welding position searching mode and moves to the position of the starting point of each welding line.
In a possible implementation manner, the assembly weld obtaining module is configured to obtain a constructed assembly component model, and specifically includes:
and acquiring intermediate assembly model data based on a plain text file generated by shipbuilding modeling software, and inputting the intermediate assembly model data into analog simulation software to obtain an intermediate assembly model.
In a possible implementation manner, the assembly weld obtaining module, after obtaining the constructed assembly component model, is further configured to:
acquiring the actual position direction of a ship, judging whether the position direction of the middle assembly component model is the same as the actual position direction, and if not, setting the position direction as the actual position direction;
and acquiring a first coordinate system of shipbuilding modeling software, judging whether a second coordinate system of the middle assembly component model is the same as the first coordinate system, and if not, converting the first coordinate system into the second coordinate system.
The invention also provides a terminal device, which comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to realize the method for welding the assembly weld seam based on the simulation software.
The invention also provides a computer-readable storage medium which comprises a stored computer program, wherein when the computer program runs, a device where the computer-readable storage medium is located is controlled to execute the method for welding the assembly welding seam based on the simulation software.
Compared with the prior art, the method and the device for welding the intermediate assembly weld joint based on the analog simulation software have the following beneficial effects that:
performing structural analysis on the intermediate assembly model by acquiring the constructed intermediate assembly model to obtain all welding seams in the intermediate assembly model and acquiring the welding seam position corresponding to each welding seam; setting weld seam types, classifying all weld seams based on the weld seam positions to obtain the weld seam type corresponding to each weld seam, and automatically acquiring a robot welding track corresponding to the weld seam type according to the weld seam type; setting the robot posture of the welding robot based on the welding track, the welding seam position and the welding seam type of the robot; so that the welding robot can weld each vertical fillet weld on the welding track of the robot based on the posture of the robot. Compared with the prior art, the technical scheme of the invention realizes the automatic welding operation of the robot by finishing the welding track planning of the centering and assembling welding line, and improves the efficiency and the quality of the welding operation.
Drawings
FIG. 1 is a schematic flow chart diagram illustrating an embodiment of a method for welding a welding seam in a medium-assembling manner based on simulation software according to the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of a welding device for a medium-assembly weld joint based on simulation software according to the present invention;
FIG. 3 is a schematic diagram of the model position orientation setting of an embodiment provided by the invention;
FIG. 4 is a schematic diagram of a coordinate system configuration according to an embodiment of the present invention;
FIG. 5 is an interface schematic diagram of a weld curve planning module according to an embodiment of the present invention;
FIG. 6 is a schematic illustration of a medium set fillet weld of the type provided by one embodiment of the present invention;
FIG. 7 is a schematic illustration of a medium makeup flat fillet weld of the type according to an embodiment of the present invention;
FIG. 8 is a parameter configuration interface diagram 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 present application, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
Example 1
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a method for welding a welding seam in a medium-assembling manner based on simulation software, as shown in fig. 1, the method includes steps 101 to 103, which are specifically as follows:
step 101: and acquiring the constructed assembly module, performing structural analysis on the assembly module to obtain all welding seams in the assembly module, and acquiring the welding seam position corresponding to each welding seam.
In one embodiment, the method comprises the steps of obtaining intermediate assembly model data based on a plain text file generated by shipbuilding modeling software, and inputting the intermediate assembly model data into analog simulation software to obtain an intermediate assembly model.
Specifically, an XML file generated by shipbuilding modeling software such as SPD is imported into robotsutio simulation software, the simulation software acquires the intermediate assembly model data from the XML file, and the intermediate assembly model is established based on the acquired intermediate assembly model data.
In one embodiment, the imported intermediate assembly model data is an actual position direction in the ship modeling process and may not be consistent with a field actual position direction, so that the intermediate assembly model generated in the simulation software is also adjusted in position direction to be consistent with the field actual position direction.
Specifically, the actual position direction of the ship is obtained, whether the position direction of the intermediate assembly module model is the same as the actual position direction or not is judged, and if not, the position direction is set as the actual position direction.
As an illustration of this embodiment: as shown in fig. 3, fig. 3 is a schematic diagram illustrating the model position direction setting according to an embodiment of the present invention, after the intermediate assembly model is selected, an angle value 180 is input at a Y-axis position 41 in the "direction" of the "set position" parameter interface 4, and at this time, the intermediate assembly model rotates 180 degrees around the Y-axis, it should be noted that the input angle value is related to the position of the imported intermediate assembly model data, including but not limited to 180 degrees, and when the imported intermediate assembly model data is vertical, the rotation angle is 90 degrees. Meanwhile, the setting of the rotation angle includes but is not limited to Y-axis, X-axis and Z-axis, and is determined according to the position of the small assembly component on the ship and the position of actual production placement.
In one embodiment, since the coordinates used in the simulation software are not consistent with the coordinates used in the shipbuilding modeling software, and after the position direction of the intermediate assembly model is rotated to be consistent with the actual position direction of the production site through the above steps, the coordinates used in the intermediate assembly model and the simulation software are not consistent, so that the coordinates need to be uniformly set.
Specifically, a first coordinate system of shipbuilding modeling software is obtained, whether a second coordinate system of the middle assembly component model is the same as the first coordinate system or not is judged, and if not, the first coordinate system is converted into the second coordinate system.
As an illustration of this embodiment: as shown in fig. 4, fig. 4 is a schematic diagram of setting a coordinate system according to an embodiment of the present invention, in a virtual simulation scene built in robotsutio simulation software, in a range of a gantry of a middle-set welding robot, that is, in a range in which the middle-set robot can be welded, a point is selected on a surface of a base plate of a model base plane of a middle-set assembly as a new origin of coordinates, after an origin of coordinates O point is selected on the base plate of the model base plane of the middle-set assembly, corresponding coordinate values are displayed at positions of X-axis 51 and Y-axis 52 corresponding to a position of a "set local origin" parameter interface 5", angle values of positions 53 and 54 in a direction of the" set local origin "parameter interface 5" are all modified to 0, at this time, the second coordinate system is moved to an O point designated on the base plate of the middle-set assembly, after positioning of the local coordinate O point is completed, the "set position" parameter interface 4 is re-adjusted and taken out, values of the X-axis 42 and Y-axis 43 at the "position are modified to 0, and at this time, a group 2 completes calibration of a second coordinate system in a virtual environment.
In one embodiment, because the welding work of the longitudinal frame and the inner member is completed in the previous process, the process mainly solves the problem of fillet welding between the assembled longitudinal and transverse partition plates, namely the welding of the vertical fillet welding between the assembled longitudinal and transverse partition plates and the welding of the flat fillet welding between the assembled longitudinal and transverse partition plates and the bottom plate.
In one embodiment, structural analysis is performed on the intermediate assembly model to obtain part types in the intermediate assembly model, and the number of parts corresponding to each part type is counted, wherein the part types include a bottom plate, longitudinal and transverse partition plates and a longitudinal bone.
Specifically, during structural analysis, the part type is judged mainly by identifying the part name or the component name of each part and based on the part name or the component name, that is, the part type is judged by identifying the part code; for example, a module with DK is determined to be of the deck type, IB is the inner bottom plate, BS is the outer bottom plate, FR is the common longitudinal plate, etc. In the assembly welding stage, the longitudinal and transverse partition plates and the longitudinal ribs are mainly welded, so that the structural analysis is mainly carried out on the longitudinal and transverse partition plates, the bottom plate and the longitudinal ribs.
As an illustration of this embodiment: taking an assembly component in a section of a 8500-ton series bulk cargo ship 204 as an example for explanation, when structural analysis is carried out, structural analysis is selected from a 'planning weld curve' module, and after structural analysis is carried out by simulation software, the number of various types of weld joints is obtained, wherein the number of bottom plates is 5, the number of small assembly longitudinal and transverse partition plates is 142, the number of longitudinal ribs is 105, and different colors are adopted for distinguishing, at the moment, the structural automatic analysis of a middle assembly component model is completed, the types and the number of parts of the middle assembly component model are determined, and preparation is made for next step of weld joint calculation.
In one embodiment, all welding seams in the intermediate assembly component model are calculated and obtained based on the types and the number of the parts, wherein the all welding seams include intermediate assembly vertical fillet welding seams and intermediate assembly flat fillet welding seams, the intermediate assembly vertical fillet welding seams are welding seams between the intermediate assembly vertical and horizontal partition plates and the intermediate assembly vertical and horizontal partition plates, and the intermediate assembly flat fillet welding seams are welding seams between the bottom plate and the intermediate assembly vertical and horizontal partition plates.
Preferably, all welding seams in the assembly model are assembled in the calculation, the spatial coordinate positions of the welding seams are calculated, the welding seam calculation is carried out in a mutual searching mode among parts, parts which do not participate in subsequent welding seam calculation are screened out through the part number and the part type consistency, namely parts which do not need to be welded are screened out, and all welding seams obtained after calculation are displayed in a straight line mode.
As an illustration in this implementation: when calculating the weld joint in the simulation software, only the weld joint needing to be welded is hooked and selected for calculation, as shown in fig. 5, fig. 5 is an interface schematic diagram of a weld joint planning curve module according to an embodiment provided by the invention, when the erection fillet weld joint calculation is performed, the MicroPanel x MicroPanel is hooked and selected on the right side of the calculated weld joint 63 of the 'weld joint planning curve' module, and the erection fillet weld joint calculation is started; when the assembly flat fillet weld calculation is performed, floor x Micropanel is selected in the calculation weld 63 of the planning weld curve module, and the assembly flat fillet weld calculation is performed. The MicroPanel x MicroPanel is a welding seam between the middle assembling vertical and horizontal partition plate and the Floor x MicroPanel is a welding seam between the bottom plate and the middle assembling vertical and horizontal partition plate.
Step 102: setting welding seam types, classifying all welding seams based on the welding seam positions to obtain the welding seam type corresponding to each welding seam, and automatically acquiring the welding track of the robot corresponding to the welding seam type according to the welding seam type.
In one embodiment, after coordinates in analog simulation software are clear, four azimuth type vertical fillet welds are formed between the vertical partition plate and the transverse partition plate.
Specifically, a middle assembly fillet weld type is set, as shown in fig. 6, fig. 6 is a schematic diagram of the middle assembly fillet weld type according to an embodiment of the present invention, where the middle assembly fillet weld type includes a first quadrant fillet weld V1, a second quadrant fillet weld V2, a third quadrant fillet weld V3, and a fourth quadrant fillet weld V4. And judging a quadrant region where each intermediate assembly fillet weld is located based on the acquired weld position corresponding to each intermediate assembly fillet weld, classifying each intermediate assembly fillet weld based on the quadrant region, and obtaining the type of the intermediate assembly fillet weld corresponding to each intermediate assembly fillet weld.
In one embodiment, the horizontal weld path planning module 8 forms 8-plane horizontal fillet welds in four quadrants formed by the intersection of the diaphragm plates 22 and the longitudinal diaphragm plates
Specifically, a medium assembly flat fillet weld type is set, as shown in fig. 7, and fig. 7 is a schematic diagram of the medium assembly flat fillet weld type according to an embodiment of the present invention; the middle assembly flat fillet weld type comprises a first quadrant horizontal fillet weld L1, a first quadrant vertical fillet weld L5, a second quadrant horizontal fillet weld L4, a second quadrant vertical fillet weld L6, a third quadrant horizontal fillet weld L3, a third quadrant vertical fillet weld L8, a fourth quadrant horizontal fillet weld L2 and a fourth quadrant vertical fillet weld L7; judging a quadrant region where each assembly flat fillet weld is located based on the acquired weld joint position corresponding to each assembly flat fillet weld, and simultaneously judging that each assembly flat fillet weld is in a horizontal and vertical placement state; and classifying each intermediate assembly flat fillet weld based on the quadrant region and the horizontal and vertical placement state to obtain the type of the intermediate assembly flat fillet weld corresponding to each intermediate assembly flat fillet weld.
In one embodiment, corresponding welding seam track parameters are set for each welding seam type, wherein the welding seam track parameters comprise a welding gun angle posture and a welding gun track line; and acquiring corresponding welding seam track parameters based on the welding seam type, and automatically generating a robot welding track corresponding to the welding seam type based on the welding seam track parameters.
Specifically, the welding seam track parameters are planned according to the structure of the intermediate assembly component and the welding requirements, and fixed welding track parameters are formed for the intermediate assembly horizontal welding seam of the same type and the intermediate assembly fillet welding seam of the same type.
As an example in this embodiment, for the intermediate assembly fillet weld, an 85000-ton series bulk carrier segmented intermediate assembly is taken as an example for explanation, after a first fillet weld is selected, the fillet weld is distributed in a fourth quadrant according to the weld, a second quadrant fillet weld V2 in the fourth quadrant is correspondingly selected, at this time, a robot welding track is automatically generated, the above steps are repeated, other intermediate assembly fillet welds are sequentially selected, and corresponding welding robot welding tracks are respectively generated.
As an example in this embodiment, for the intermediate assembly flat fillet, an assembly component in a 1900TUE series box ship segment is taken as an example to describe, after a first intermediate assembly flat fillet is selected, it is determined that the intermediate assembly flat fillet is distributed in a first quadrant horizontal fillet, so that a "first quadrant horizontal fillet L1" is selected in a "horizontal weld path" planning module, at this time, a weld path is automatically generated, the above steps are repeated, a second horizontal fillet is selected, and a corresponding weld path is generated.
Step 103: setting the robot posture of the welding robot based on the welding track of the robot, the welding seam position and the welding seam type; so that the welding robot welds each fillet weld on the robot welding track based on the robot pose.
In one embodiment, a robot welding locating mode is set, so that the robot locates each welding line based on the robot welding locating mode and moves to the position of the starting point of each welding line. The robot welding locating mode mainly comprises two modes, namely laser locating and welding wire locating; the two modes can realize the position finding of the robot during welding. Preferably, the invention adopts a laser position finding mode.
In one embodiment, after the robot welding locating mode is set, robot locating parameters are further set, wherein the robot locating parameters comprise a safe distance from a bottom plate of an assembly component in the locating process, an angle between a welding gun starting point and the bottom plate and an included angle between a welding gun end point and the horizontal plane, and the robot locating parameters are determined according to field tests.
In one embodiment, after the weld path is planned, the robot attitude needs to be set according to the structural characteristics of the intermediate assembly and the structural characteristics near the distribution position of the fillet weld, and the robot attitude parameters can be analyzed in advance according to the characteristics of the intermediate assembly fillet weld and set as fixed parameters for storage.
In an embodiment, a "parameter configuration" module 9 is called in simulation software, as shown in fig. 8, fig. 8 is a schematic view of a parameter configuration interface according to an embodiment of the present invention; the standard six-axis robot corresponds to six robot attitude parameters, which are respectively marked as Cfg1, cfg2, cfg3, cfg4, cfg5 and Cfg6. And selecting proper robot attitude parameters, respectively finishing the robot attitude setting configuration of the first welding line, and repeating the steps until the robot attitude setting of all the welding lines is finished.
In one embodiment, after the welding paths corresponding to all the welding seams in the intermediate assembly model are planned, the simulation software "planning welding seam curve" module 6 is used for generating a welding program, so that the welding programs of all the welding seams can be generated simultaneously in batches, and the welding program of one welding seam can be generated independently, so that the welding robot is controlled to weld the welding seams based on the welding program.
In conclusion, the built simulation of the welding actual scene of the built robot is carried out through the simulation software, so that the welding simulation can be carried out quickly, the method is visual and clear, the welding seam track planning of the built robot can be guaranteed under the condition of robot welding, the built welding seam in robot intelligent welding is realized, the welding method is simple, the condition that the existing built assembly can only adopt a manual welding mode is changed, and the welding operation efficiency and quality are improved.
Example 2
Referring to fig. 2, fig. 2 is a schematic structural diagram of an embodiment of a welding apparatus for a welding line assembly based on simulation software, as shown in fig. 2, the apparatus includes a welding line assembly acquisition module 201, a robot welding track acquisition module 202, and a welding line welding module 203, which are specifically as follows:
the intermediate assembly weld acquiring module 201 is configured to acquire a constructed intermediate assembly model, perform structural analysis on the intermediate assembly model, obtain all welds in the intermediate assembly model, and acquire a weld position corresponding to each weld.
The robot welding track obtaining module 202 is configured to set weld types, classify all the welds based on the weld positions, obtain a weld type corresponding to each weld, and automatically obtain a robot welding track corresponding to the weld type according to the weld type.
The welding seam welding module 203 is used for setting the robot posture of the welding robot based on the welding track of the robot, the welding seam position and the welding seam type; so that the welding robot performs welding on each welding seam on the welding track of the robot based on the robot posture.
In an embodiment, the assembly welding seam obtaining module 201 is configured to perform structural analysis on the assembly model to obtain all welding seams in the assembly model, and specifically includes: performing structural analysis on the middle assembly model to obtain part types in the middle assembly model, and counting the number of parts corresponding to each part type, wherein the part types comprise a bottom plate, longitudinal and transverse partition plates and longitudinal ribs; and calculating and obtaining all welding seams in the intermediate assembly component model based on the part types and the part numbers, wherein all welding seams comprise intermediate assembly vertical fillet welding seams and intermediate assembly flat fillet welding seams.
In an embodiment, the robot welding track obtaining module 202 is configured to set a weld type, classify all welds based on the weld position, and obtain a weld type corresponding to each weld, and specifically includes: setting a middle assembly fillet weld type, wherein the middle assembly fillet weld type comprises a first quadrant fillet weld, a second quadrant fillet weld, a third quadrant fillet weld and a fourth quadrant fillet weld; and judging a quadrant region where each intermediate assembly fillet weld is located based on the acquired weld position corresponding to each intermediate assembly fillet weld, classifying each intermediate assembly fillet weld based on the quadrant region, and obtaining the type of the intermediate assembly fillet weld corresponding to each intermediate assembly fillet weld.
In an embodiment, the robot welding track obtaining module 202 is configured to set a weld type, classify all welds based on the weld positions, and obtain a weld type corresponding to each weld, and further includes: setting a middle assembly flat fillet weld type, wherein the middle assembly flat fillet weld type comprises a first quadrant horizontal fillet weld, a first quadrant vertical fillet weld, a second quadrant horizontal fillet weld, a second quadrant vertical fillet weld, a third quadrant horizontal fillet weld, a third quadrant vertical fillet weld, a fourth quadrant horizontal fillet weld and a fourth quadrant vertical fillet weld; judging a quadrant region where each assembly flat fillet weld is located based on the acquired weld joint position corresponding to each assembly flat fillet weld, and simultaneously judging that each assembly flat fillet weld is in a horizontal and vertical placement state; and classifying each intermediate assembly flat fillet weld based on the quadrant region and the horizontal and vertical placement state to obtain the type of the intermediate assembly flat fillet weld corresponding to each intermediate assembly flat fillet weld.
In an embodiment, the robot welding track obtaining module 202 is configured to automatically obtain, according to the weld type, a robot welding track corresponding to the weld type, and specifically includes: setting corresponding welding seam track parameters for each welding seam type, wherein the welding seam track parameters comprise welding gun angular postures and welding gun track lines; and acquiring corresponding welding seam track parameters based on the welding seam type, and automatically generating a robot welding track corresponding to the welding seam type based on the welding seam track parameters.
In an embodiment, the weld seam welding module 203 is configured to, before the welding robot performs welding on each weld seam on the welding trajectory of the robot based on the robot pose, further include: and setting a robot welding position searching mode so that the robot searches for each welding line based on the robot welding position searching mode and moves to the position of the starting point of each welding line.
In an embodiment, the assembly weld obtaining module 201 is configured to obtain a constructed assembly component model, and specifically includes: and acquiring intermediate assembly model data based on a plain text file generated by shipbuilding modeling software, and inputting the intermediate assembly model data into analog simulation software to obtain an intermediate assembly model.
In an embodiment, the assembly weld obtaining module 201 is configured to, after obtaining the constructed assembly weld model, further include: acquiring the actual position direction of a ship, judging whether the position direction of the intermediate assembly module model is the same as the actual position direction, and if not, setting the position direction as the actual position direction; and acquiring a first coordinate system of shipbuilding modeling software, judging whether a second coordinate system of the middle assembly component model is the same as the first coordinate system, and if not, converting the first coordinate system into the second coordinate system.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
It should be noted that the above embodiment of the assembly welding device of the simulation software is merely illustrative, wherein the modules described as separate components may or may not be physically separate, and the components displayed as the modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
On the basis of the above embodiment of the method for welding the assembly weld seam of the simulation software, another embodiment of the present invention provides an assembly weld seam welding terminal device of the simulation software, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the assembly weld seam welding method of the simulation software according to any embodiment of the present invention is implemented.
Illustratively, the computer program may be partitioned in this embodiment into one or more modules that are stored in the memory and executed by the processor to implement the invention. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, which are used for describing the execution process of the computer program in the assembly weld welding terminal device of the simulation software.
The assembly welding seam welding terminal device of the simulation software can be a desktop computer, a notebook computer, a palm computer, a cloud server and other computing devices. The assembly weld welding terminal equipment of the simulation software can comprise, but is not limited to, a processor and a memory.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc., and the processor is a control center of the assembly weld terminal device of the simulation software, and various interfaces and lines are used to connect various parts of the assembly weld terminal device of the whole simulation software.
The memory can be used for storing the computer program and/or the module, and the processor realizes various functions of the assembly welding terminal equipment of the simulation software by running or executing the computer program and/or the module stored in the memory and calling the data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to the use of the mobile phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
On the basis of the embodiment of the assembly welding seam welding method of the simulation software, another embodiment of the present invention provides a storage medium, where the storage medium includes a stored computer program, and when the computer program runs, the apparatus on which the storage medium is located is controlled to execute the assembly welding seam welding method of the simulation software according to any embodiment of the present invention.
In this embodiment, the storage medium is a computer-readable storage medium, and the computer program includes computer program code, which may be in source code form, object code form, executable file or some intermediate form, and so on. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U.S. disk, removable hard disk, magnetic diskette, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signal, telecommunications signal, and software distribution medium, etc. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
In summary, according to the method and the device for welding the intermediate assembly welding seam based on the analog simulation software, the constructed intermediate assembly model is obtained, the structure of the intermediate assembly model is analyzed, all welding seams in the intermediate assembly model are obtained, and the welding seam position corresponding to each welding seam is obtained; setting weld seam types, classifying all weld seams based on the weld seam positions to obtain the weld seam type corresponding to each weld seam, and automatically acquiring a robot welding track corresponding to the weld seam type according to the weld seam type; setting the robot posture of the welding robot based on the welding track, the welding seam position and the welding seam type of the robot; so that the welding robot can weld each vertical fillet weld on the welding track of the robot based on the posture of the robot. Compared with the prior art, the technical scheme of the invention realizes the automatic welding operation of the robot by finishing the welding track planning of the centering and assembling welding line, and improves the efficiency and the quality of the welding operation.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (11)
1. A welding method for a middle assembly welding seam based on simulation software is characterized by comprising the following steps:
acquiring a constructed intermediate assembly model, performing structural analysis on the intermediate assembly model to obtain all welding seams in the intermediate assembly model, and acquiring the welding seam position corresponding to each welding seam;
setting weld joint types, classifying all weld joints based on the weld joint positions to obtain the weld joint type corresponding to each weld joint, and automatically acquiring a robot welding track corresponding to the weld joint type according to the weld joint type;
performing robot posture setting on the welding robot based on the welding track of the robot, the welding seam position and the welding seam type; so that the welding robot welds each fillet weld on the robot welding track based on the robot posture.
2. The method for welding the intermediate assembly welding seam based on the simulation software according to claim 1, wherein the structural analysis of the intermediate assembly model is performed to obtain all welding seams in the intermediate assembly model, and specifically comprises:
performing structural analysis on the middle assembly model to obtain part types in the middle assembly model, and counting the number of parts corresponding to each part type, wherein the part types comprise a bottom plate, longitudinal and transverse partition plates and longitudinal ribs;
and calculating and obtaining all welding seams in the intermediate assembly component model based on the part types and the part numbers, wherein all welding seams comprise intermediate assembly vertical fillet welding seams and intermediate assembly flat fillet welding seams.
3. The method for welding the intermediate-assembling welding line based on the simulation software as claimed in claim 2, wherein the welding line type is set, all the welding lines are classified based on the welding line position, and the welding line type corresponding to each welding line is obtained, which specifically comprises:
setting a middle assembly fillet weld type, wherein the middle assembly fillet weld type comprises a first quadrant fillet weld, a second quadrant fillet weld, a third quadrant fillet weld and a fourth quadrant fillet weld;
and judging a quadrant region where each intermediate assembly fillet weld is located based on the acquired weld position corresponding to each intermediate assembly fillet weld, classifying each intermediate assembly fillet weld based on the quadrant region, and obtaining the type of the intermediate assembly fillet weld corresponding to each intermediate assembly fillet weld.
4. The method for welding the intermediate-assembling welding line based on the simulation software as claimed in claim 2, wherein the welding line type is set, all the welding lines are classified based on the welding line position, and the welding line type corresponding to each welding line is obtained, and the method further comprises the following steps:
setting a middle assembly flat fillet weld type, wherein the middle assembly flat fillet weld type comprises a first quadrant horizontal fillet weld, a first quadrant vertical fillet weld, a second quadrant horizontal fillet weld, a second quadrant vertical fillet weld, a third quadrant horizontal fillet weld, a third quadrant vertical fillet weld, a fourth quadrant horizontal fillet weld and a fourth quadrant vertical fillet weld;
based on the acquired welding seam position corresponding to each intermediate assembly flat fillet welding seam, judging a quadrant region where the intermediate assembly flat fillet welding seam is located, and meanwhile judging that the intermediate assembly flat fillet welding seam is in a horizontal and vertical placement state;
and classifying each intermediate assembly flat fillet weld based on the quadrant region and the horizontal and vertical placement state to obtain the type of the intermediate assembly flat fillet weld corresponding to each intermediate assembly flat fillet weld.
5. The method for welding the intermediate-assemblage welding seam based on the simulation software as claimed in claim 1, wherein the step of automatically obtaining the welding track of the robot corresponding to the welding seam type according to the welding seam type comprises the following specific steps:
setting corresponding welding seam track parameters for each welding seam type, wherein the welding seam track parameters comprise welding gun angular postures and welding gun track lines;
and acquiring corresponding welding seam track parameters based on the welding seam type, and automatically generating a robot welding track corresponding to the welding seam type based on the welding seam track parameters.
6. The method for welding the intermediate assembly welding seam based on the simulation software as claimed in claim 1, wherein the welding robot performs welding on each welding seam on the welding track of the robot based on the robot posture, and further comprising:
and setting a robot welding position searching mode so that the robot searches for each welding line based on the robot welding position searching mode and moves to the position of the starting point of each welding line.
7. The method for welding the intermediate assembly welding seam based on the simulation software as claimed in claim 1, wherein the obtaining of the constructed intermediate assembly model specifically comprises:
and acquiring intermediate assembly model data based on a plain text file generated by shipbuilding modeling software, and inputting the intermediate assembly model data into analog simulation software to obtain an intermediate assembly model.
8. The method for welding the intermediate assembly welding seam based on the simulation software as claimed in claim 1, wherein after obtaining the constructed intermediate assembly model, the method further comprises:
acquiring the actual position direction of a ship, judging whether the position direction of the intermediate assembly module model is the same as the actual position direction, and if not, setting the position direction as the actual position direction;
and acquiring a first coordinate system of shipbuilding modeling software, judging whether a second coordinate system of the middle assembly component model is the same as the first coordinate system, and if not, converting the first coordinate system into the second coordinate system.
9. The utility model provides a well assemblage welding seam welding set based on simulation software which characterized in that includes: the robot welding track acquisition module is used for acquiring a welding track of a robot;
the assembly welding line acquisition module is used for acquiring a constructed assembly model, performing structural analysis on the assembly model to obtain all welding lines in the assembly model, and acquiring the welding line position corresponding to each welding line;
the robot welding track acquisition module is used for setting welding seam types, classifying all welding seams based on the welding seam positions to obtain the welding seam type corresponding to each welding seam, and automatically acquiring the robot welding track corresponding to the welding seam type according to the welding seam type;
the welding seam welding module is used for carrying out robot posture setting on the welding robot based on the welding track of the robot, the welding seam position and the welding seam type; so that the welding robot performs welding on each welding seam on the welding track of the robot based on the robot posture.
10. A terminal device comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the method of welding a neutral weld based on simulation software according to any one of claims 1 to 8 when executing the computer program.
11. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed, controls an apparatus on which the computer-readable storage medium is located to perform the method for welding a median weld based on simulation software according to any one of claims 1 to 8.
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