CN115383256A - Automatic welding method, device and system - Google Patents
Automatic welding method, device and system Download PDFInfo
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- CN115383256A CN115383256A CN202211212881.4A CN202211212881A CN115383256A CN 115383256 A CN115383256 A CN 115383256A CN 202211212881 A CN202211212881 A CN 202211212881A CN 115383256 A CN115383256 A CN 115383256A
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- 238000003466 welding Methods 0.000 title claims abstract description 354
- 238000000034 method Methods 0.000 title claims abstract description 78
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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
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
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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
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
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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
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
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Abstract
The invention provides an automatic welding method, a device and a system, comprising the following steps: performing initial positioning on a workpiece to be welded based on a 3D camera, and determining an initial positioning position of the workpiece to be welded in a real welding scene; acquiring weld joint information of a to-be-welded workpiece model in the welding digital twin scene, planning a weld joint processing path and generating a to-be-welded workpiece drawing; collecting characteristic points of a real welding seam of the workpiece to be welded and characteristic points of a welding seam in a drawing of the workpiece to be welded, and determining a mapping relation between a real position of the welding seam of the workpiece to be welded and the welding seam of the drawing of the workpiece to be welded; based on the mapping relation, mapping the characteristic points of the welding seams in the drawing of the workpiece to be welded to obtain the real welding seams of the workpiece to be welded; and controlling the welding robot to move to the starting point of the real welding seam, and welding the real welding seam.
Description
Technical Field
The invention relates to the field of automatic welding, in particular to an automatic welding method, device and system.
Background
When one or more workpieces need to be welded, the workpieces to be welded can be placed on a machine tool, a curve of the workpieces where the surfaces intersect can form a gap (the gap can be regarded as a weld seam to be welded), and then, based on the welding equipment, the welding process can be carried out on the workpieces.
In the prior art, when welding a welding seam, a manual robot is generally required to shoot, lines are drawn in an image manually, the welding seam is extracted according to the drawn lines in the image, a free moving path is taught again, the robot reaches the position near the welding seam, and then the robot is controlled to weld.
Disclosure of Invention
The invention provides an automatic welding method, device and system, which aim to solve the problem of low working efficiency and accuracy caused by manual teaching.
According to a first aspect of the present invention, there is provided an automatic welding method comprising:
performing initial positioning on a workpiece to be welded based on a 3D camera, and determining an initial positioning position of the workpiece to be welded in a real welding scene;
acquiring weld joint information of a to-be-welded workpiece model in the welding digital twin scene, planning a weld joint processing path, and generating a to-be-welded workpiece drawing; the welding digital twin scene is characterized as a virtual scene matched with a real welding scene;
acquiring a characteristic point of a real welding seam of the workpiece to be welded and a characteristic point of a welding seam in a drawing of the workpiece to be welded, determining a mapping relation between a real position of the welding seam of the workpiece to be welded and the welding seam of the drawing of the workpiece to be welded according to a relation between the characteristic point of the real welding seam and the characteristic point of the welding seam in the drawing of the workpiece to be welded, and mapping the characteristic point of the welding seam in the drawing of the workpiece to be welded onto the workpiece to be welded based on the mapping relation to obtain the real welding seam of the workpiece to be welded;
and controlling the welding robot to move to the starting point of the real welding seam, and welding the real welding seam.
Optionally, the initially positioning the workpiece to be welded based on the 3D camera, and determining the initially positioned position of the workpiece to be welded in the real welding scene includes:
controlling the 3D camera to collect a 3D point cloud image of the workpiece to be welded to obtain the position of the workpiece under a camera coordinate system;
and converting the workpiece position to a machine tool coordinate system by using a conversion matrix calibrated in advance to obtain the initial positioning position.
Optionally, the obtaining of the weld information of the to-be-welded workpiece model in the welding digital twin scene, and planning a weld processing path to generate a to-be-welded workpiece drawing include:
acquiring the position of a welding seam of the to-be-welded workpiece model and welding process parameters;
planning a first welding seam processing path based on the welding seam information; the first welding seam processing path comprises a welding seam welding path, a welding seam locating path and an idle moving path between the welding seams;
planning an optimized second welding seam processing path based on collision detection and automatic path planning, and determining the second welding seam processing path as the welding seam processing path; the second weld process path is characterized as a collision-free weld process path.
Optionally, the controlling the welding robot to move to the starting point of the real weld, and welding the real weld includes:
calculating processing welding technological parameters based on the welding technological parameters and a technological parameter library;
welding the real welding seam based on the processing welding technological parameters;
and the process parameter library is used for optimizing the welding process parameters based on the real welding seam so as to obtain the processing welding process parameters.
Optionally, the welding process parameters include: welding parameters, arc starting parameters, arc stopping parameters and swing parameters;
wherein the welding parameters include a direct current welding mode, a pulse welding mode, a welding current, a welding voltage, and a welding speed;
the arcing parameters comprise arcing time, arcing voltage, arcing current and slow rising time;
the arc-closing parameters comprise arc-closing time, arc-closing voltage, arc-closing current and slow-falling time;
the swing parameters include a swing type, a swing frequency, a swing amplitude, a swing angle, and a dwell time.
Optionally, the welding process parameters include: a corner parameter; the corner parameters include welding current, welding voltage, welding speed, corner front distance, and corner back distance.
Optionally, the method further includes, before obtaining the weld information of the to-be-welded workpiece model in the welding digital twin scene, planning a weld processing path, and generating a drawing of the to-be-welded workpiece:
and moving the model of the workpiece to be welded to an initial positioning position in the welding digital twin scene.
Optionally, after controlling the welding robot to move to the starting point of the real weld, the method further includes:
controlling a seam finder to collect a characteristic point of an nth real weld seam of the workpiece to be welded and a characteristic point of the nth weld seam in the drawing of the workpiece to be welded on the basis of the drawing of the workpiece to be welded so as to determine the nth real weld seam of the workpiece to be welded; wherein n is a positive integer;
and controlling a welding robot to move to the starting point of the nth real welding seam, and welding the nth real welding seam.
Optionally, after controlling the welding robot to move to the starting point of the nth real weld, welding the nth real weld further includes:
performing initial positioning on the ith workpiece to be welded based on a 3D camera, and determining the initial positioning position of the ith workpiece to be welded in a real welding scene; wherein i is a positive integer;
and acquiring the weld joint information of the ith workpiece to be welded model in the welding digital twin scene, planning a weld joint processing path and generating an ith workpiece to be welded drawing.
According to a second aspect of the present invention, there is provided an automatic welding apparatus comprising: the system comprises a primary positioning module, a drawing generation module, a position searching module and a welding module;
the initial positioning module is used for initially positioning a workpiece to be welded based on a 3D camera and determining an initial positioning position of the workpiece to be welded in a real welding scene;
the drawing generation module is used for acquiring the weld joint information of the to-be-welded workpiece model in the welding digital twin scene, planning a weld joint processing path and generating a to-be-welded workpiece drawing; the welding digital twin scene is characterized as a virtual scene matched with a real welding scene;
the locating module is used for acquiring the characteristic points of the real welding seam of the workpiece to be welded and the characteristic points of the welding seam in the drawing of the workpiece to be welded, and determining the mapping relation between the real position of the welding seam of the workpiece to be welded and the welding seam of the drawing of the workpiece to be welded according to the relation between the characteristic points of the real welding seam and the characteristic points of the welding seam in the drawing of the workpiece to be welded; mapping the characteristic points of the welding seams in the drawing of the workpiece to be welded to the workpiece to be welded based on the mapping relation to obtain the real welding seams of the workpiece to be welded;
and the welding module is used for controlling the welding robot to move to the starting point of the real welding seam and welding the real welding seam.
According to a third aspect of the present invention, there is provided an automatic welding system comprising: the device comprises a 3D camera, a welding digital twin software module, a seam finder, a welding robot and a welding numerical control device; the welding numerical control device is electrically connected with the 3D camera, the welding digital twin software module, the seam finder and the welding robot, respectively, and is configured to perform the method of the first aspect and the optional aspects thereof.
According to a fourth aspect of the present invention, there is provided an electronic device, comprising a memory and a processor,
the memory is used for storing codes;
the processor is configured to execute the code in the memory to implement the first aspect and the optional method.
According to a fifth aspect of the present invention, there is provided a storage medium having stored thereon a program which, when executed by a processor, carries out the first aspect and optionally the method described herein.
According to the automatic welding method, the 3D camera is used for initially positioning the workpiece to be welded, the drawing of the workpiece to be welded is generated based on the digital twin scene of welding, finally, the characteristic point of the welding line in the drawing is mapped onto the workpiece to be welded, the real welding line of the workpiece to be welded is obtained, the automation of welding is realized, manual teaching is not needed for photographing the workpiece to be welded, the line is drawn in the image, and the idle moving path is taught; in addition, the real welding line of the workpiece to be welded is determined by collecting the characteristic points of the real welding line of the workpiece to be welded, even if the placing position of the workpiece to be welded is changed, the welding can be carried out based on a drawing, the situation that when the placing position of the workpiece is changed, a track taught manually cannot be used and is required to be re-taught is avoided, and the welding efficiency is reduced; furthermore, when a plurality of workpieces to be welded need to be welded, the positioning and welding device can continuously position and weld the workpieces to be welded, and avoids the need of positioning before welding each workpiece through manual teaching.
In the preferred embodiment, the welding process parameters are recalculated for the real welding seam through the integration of the welding process parameters and the process parameter library, so that the welding effect and the welding accuracy are further ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a first schematic flow chart of an automatic welding method according to an embodiment of the present invention;
FIG. 2 is a second schematic flow chart of an automatic welding method according to an embodiment of the present invention;
FIG. 3 is a third schematic flow chart of an automatic welding method according to an embodiment of the present invention;
FIG. 4 is a fourth schematic flow chart of an automated welding method according to an embodiment of the present invention;
FIG. 5 is a fifth flowchart illustrating an automatic welding method according to an embodiment of the present invention;
FIG. 6 is a sixth schematic flow chart of an automated welding method according to an embodiment of the present invention;
FIG. 7 is a schematic view of an automatic welding apparatus according to an embodiment of the present invention;
fig. 8 is a schematic diagram of an electronic device according to an embodiment of the 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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Referring to fig. 1, the present invention provides an automatic welding method, including:
s1: performing initial positioning on a workpiece to be welded based on a 3D camera, and determining an initial positioning position of the workpiece to be welded in a real welding scene;
s2: acquiring weld joint information of a to-be-welded workpiece model in the welding digital twin scene, planning a weld joint processing path, and generating a to-be-welded workpiece drawing; the welding digital twin scene is characterized as a virtual scene matched with a real welding scene;
s3: collecting the characteristic points of the real welding seam of the workpiece to be welded and the characteristic points of the welding seam in the drawing of the workpiece to be welded, and determining the mapping relation between the real position of the workpiece to be welded and the drawing of the workpiece to be welded according to the relation between the characteristic points of the real welding seam and the characteristic points of the welding seam in the drawing of the workpiece to be welded; based on the mapping relation, mapping the characteristic points of the welding seams in the drawing of the workpiece to be welded to obtain the real welding seams of the workpiece to be welded;
s4: and controlling the welding robot to move to the starting point of the real welding seam, and welding the real welding seam.
Regarding the welding digital twin scene, in a preferred embodiment, a digital twin scene of the current welding scene is generated based on real parameters of part or all of the physical devices in the welding scene and a model of the workpiece to be welded; and the model of the workpiece to be welded is a model of solid equipment in a welding scene.
In a specific embodiment, the model of the workpiece to be welded may be a CAD model drawn by CAD software, where the size and design of the drawn model are consistent with those of the physical device, in one example, one or more models of the workpiece to be welded that are adapted to the welding scene may be selected according to information such as a physical model and a brand of the physical device, for example, if the welding scene is composed of a turing TKB1210 model robot, a migmite model welding gun, and a P-type 500kg positioner, the corresponding model of the workpiece to be welded is selected to generate the virtual scene.
In the scheme, a workpiece to be welded is initially positioned through a 3D camera, a drawing of the workpiece to be welded is generated based on a welding digital twin scene, and finally, characteristic points of a weld joint in the drawing are mapped onto the workpiece to be welded to obtain a real weld joint of the workpiece to be welded, so that the automation of welding is realized, the workpiece to be welded does not need to be photographed and scribed in an image through manual teaching, and a lost motion path is taught; in addition, the invention also determines the real welding seam of the workpiece to be welded by collecting the characteristic points of the real welding seam of the workpiece to be welded, so that the welding can be carried out based on a drawing even if the placing position of the workpiece to be welded is changed, thereby avoiding that the manually taught track cannot be used and needs to be re-taught when the placing position of the workpiece is changed, and reducing the welding efficiency.
Referring to fig. 2, step S1 includes:
s11: controlling the 3D camera to collect a 3D point cloud image of the workpiece to be welded to obtain the position of the workpiece under a camera coordinate system;
s12: and converting the position of the workpiece to a machine tool coordinate system by using a conversion matrix calibrated in advance to obtain the initial positioning position.
Wherein the workpiece position is understood to be: the coordinates of the target workpiece at one or more points in the coordinate system, for example, for an H-shaped workpiece, an L-shaped workpiece, a plate workpiece, etc., the coordinates of the target workpiece at the vertex in the specified coordinate system can be used as the workpiece position information; in another example, coordinates of all points of the target object in the coordinate system may be used as the object position information.
In the specific embodiment, when the 3D point cloud image is obtained, the point cloud data of the background part is removed, the accurate point cloud data of the workpiece to be welded is obtained, the influence of the background part on initial positioning is avoided, the interference of a large number of backgrounds in a complex scene shot by a camera is eliminated, the position information of the workpiece to be welded in an appointed coordinate system can be obtained more accurately subsequently, the subsequent data processing amount is effectively saved, and the processing efficiency is improved.
In other embodiments, before generating the drawing of the workpiece to be welded, the method further includes:
and moving the model of the workpiece to be welded to the initial positioning position in the welding digital twin scene.
Wherein the transformation matrix is characterizable as a matrix that transforms coordinates in the camera coordinate system into coordinates in the machine coordinate system.
With respect to the transformation matrix, in a specific embodiment, the welding head is mounted to a welding gun, which is connected to a robot arm (i.e., the welding robot) via a flange plate, the robot arm being connected to the base and capable of moving relative to the base;
under the first relative pose and the second relative pose, the following formula is obtained,
T Base End2 *T End2 Camera2 *T Camera2 Object ＝T Base End1 *T End1 Camera1 *T Camera1 Object ；
after item shifting:
T Base End1 -1 *T Base End2 *T End2 Camera2＝ T End1 Camera1 *T Camera1 Object *T Camera2 Object -1 ；
finding T End2 Camera2 、T End1 Camera1 The relationship between;
T Base End1 to the attitude of the robot arm with respect to the base in the first relative position (i.e., first relative attitude), T End1 Camera1 To a posture of the 3D camera with respect to the robot arm in a first relative position (i.e., a first relative posture), T Camera1 Object To specify a pose of the marker with respect to the 3D camera at the first relative position (i.e., a first relative pose);
T Base End2 to a pose of the robot arm relative to the base at the second relative position (i.e., a second relative position), T End2 Camera2 To the pose of the 3D camera with respect to the robotic arm at the second relative position (i.e., second relative pose), T Camera2 Object Is a pose of the specified marker relative to the 3D camera at a second relative position (i.e., a second relative pose);
under the third relative pose and the fourth relative pose, the following formula is obtained,
T End Base2 *T Base2 Camera2 *T Camera2 Object ＝T End Base1 *T Base1 Camera1 *T Camera1 Object ；
after item shifting:
T End Base1 -1 *T End Base2 *T Base2 Camera2 ＝T Base1 Camera1 *T Camera1 Object *T Camera2 Object -1；
finding T Base2 Camera2 、T Base1 Camera1 The relationship between;
T End Base1 to the attitude of the base relative to the robot arm in the first relative position (i.e., the third relative attitude), T Base1 Camera1 To a pose of the 3D camera with respect to the base in the first relative position (i.e., a third relative pose), T Camera1 Object Is the pose of the specified marker with respect to the 3D camera in the first relative position (i.e., the third relative pose);
T End Base2 to the pose of the base with respect to the robot arm at the second relative position (i.e., the fourth relative pose), T Base2 Camera2 To a pose of the 3D camera with respect to the base at the second relative position (i.e., a fourth relative pose), T Camera2 Object Is the pose of the specified marker relative to the 3D camera at the second relative position (i.e., a fourth relative pose);
the transformation matrix is T End2 Camera2 *T End1 Camera *T Base2 Camera2 *T Base1 Camera1 。
In the above scheme, the accessible conversion matrix will be with through the conversion matrix work piece position conversion to lathe coordinate system obtains the initial position, no matter how the position of work piece changes, can both realize the accurate location of work piece, and can be corresponding to the welding seam information in waiting to weld the work piece drawing, need not artifical teaching and shoot the location.
Referring to fig. 3, step S2 includes:
s21: acquiring the welding seam position and the welding process parameters of the workpiece model to be welded;
s222: planning a first welding seam processing path based on the welding seam information; the first welding seam processing path comprises a welding seam welding path, a welding seam locating path and a free movement path between the welding seam and the welding seam;
s23: planning an optimized second welding seam processing path based on collision detection and automatic path planning, and determining the second welding seam processing path as the welding seam processing path; the second weld path is characterized as a collision-free weld path.
With respect to the welding process parameters, in a preferred implementation, the welding process parameters include: welding parameters, arc starting parameters, arc stopping parameters and swing parameters;
wherein the welding parameters include a direct current welding mode, a pulse welding mode, a welding current, a welding voltage, and a welding speed;
the arcing parameters comprise arcing time, arcing voltage, arcing current and slow rising time;
the arc-closing parameters comprise arc-closing time, arc-closing voltage, arc-closing current and slow-falling time;
the swing parameters include a swing type, a swing frequency, a swing amplitude, a swing angle, and a dwell time.
In other preferred embodiments, the welding process parameters include: a corner parameter; the corner parameters include welding current, welding voltage, welding speed, corner front distance, and corner back distance.
In the scheme, by utilizing the digital twin scene, a collision-free welding plan can be automatically generated, the motion track of the mechanical arm (namely, a welding robot) can be automatically generated, and time and labor are avoided during manual teaching.
Referring to fig. 4, step S4 includes:
s41: calculating processing welding technological parameters based on the welding technological parameters and a technological parameter library;
s42: and welding the real welding seam based on the processing welding technological parameters.
And the process parameter library is used for optimizing the welding process parameters based on the real welding seam so as to obtain the processing welding process parameters.
In the scheme, the welding process parameters are recalculated according to the real welding seam through the integration of the welding process parameters and the process parameter library, so that the welding effect and the welding accuracy are further ensured.
Referring to fig. 5, step S4 further includes:
s43: controlling a seam finder to collect a characteristic point of an nth real weld seam of the workpiece to be welded and a characteristic point of the nth weld seam in the drawing of the workpiece to be welded based on the drawing of the workpiece to be welded so as to determine the nth real weld seam of the workpiece to be welded; wherein n is a positive integer;
s44: and controlling a welding robot to move to the starting point of the nth real welding seam, and welding the nth real welding seam.
Referring to fig. 6, step S5 further includes:
s45: performing initial positioning on the ith workpiece to be welded based on a 3D camera, and determining the initial positioning position of the ith workpiece to be welded in a real welding scene; wherein i is a positive integer;
s46: and acquiring the weld joint information of the ith workpiece model to be welded in the welding digital twin scene, planning a weld joint processing path and generating an ith workpiece drawing to be welded.
In the scheme, when a plurality of workpieces to be welded need to be welded, the positioning and welding device can continuously position and weld the plurality of workpieces to be welded, and avoids the need of positioning before welding each workpiece by manual teaching.
Referring to fig. 7, an automatic welding apparatus 6 is provided, which includes: the system comprises a primary positioning module 601, a drawing generation module 602, a locating module 603 and a welding module 604.
The initial positioning module 601 is configured to perform initial positioning on a workpiece to be welded based on a 3D camera, and determine an initial positioning position of the workpiece to be welded in a real welding scene.
As a specific implementation manner, the primary positioning module includes an acquisition unit and a conversion unit:
the acquisition unit is used for controlling the 3D camera to acquire a 3D point cloud image of the workpiece to be welded so as to obtain the position of the workpiece under a camera coordinate system;
the conversion unit is used for converting the workpiece position to a machine tool coordinate system by using a conversion matrix calibrated in advance to obtain the initial positioning position.
The drawing generation module 602 is configured to obtain weld information of a to-be-welded workpiece model in the welding digital twin scene, plan a weld processing path, and generate a to-be-welded workpiece drawing; the welding digital twin scene is characterized as a virtual scene that matches a real welding scene.
As a specific implementation manner, the drawing generation module includes: the device comprises an acquisition unit, a path planning unit and a path optimization unit;
the acquisition unit is used for acquiring the welding seam position and the welding process parameters of the workpiece model to be welded;
the path planning unit is used for planning a first welding seam processing path based on the welding seam information; the first welding seam processing path comprises a welding seam welding path, a welding seam locating path and a free movement path between the welding seam and the welding seam;
the path optimization unit is used for planning an optimized second welding seam processing path based on collision detection and automatic path planning, and determining the second welding seam processing path as the welding seam processing path; the second weld path is characterized as a collision-free weld path.
The locating module 603 is configured to collect feature points of a real weld of the to-be-welded workpiece and feature points of welds in a drawing of the to-be-welded workpiece, determine a mapping relationship between a real position of the weld of the to-be-welded workpiece and the welds in the drawing of the to-be-welded workpiece according to a relationship between the feature points of the real weld and the feature points of the welds in the drawing of the to-be-welded workpiece, map the feature points of the welds in the drawing of the to-be-welded workpiece onto the to-be-welded workpiece based on the mapping relationship, and obtain the real weld of the to-be-welded workpiece
The welding module 604 is configured to control the welding robot to move to the starting point of the real weld seam, so as to weld the real weld seam.
As a specific embodiment, the welding module comprises a processing parameter determining unit and a welding unit;
the processing parameter determining unit is used for calculating processing welding process parameters based on the welding process parameters and a process parameter library;
and the welding unit is used for welding the real welding seam based on the processing and welding technological parameters.
The present invention also provides an automatic welding system, comprising: the device comprises a 3D camera, a welding digital twin software module, a seam finder, a welding robot and a welding numerical control device; the welding numerical control device is electrically connected with the 3D camera, the welding digital twin software module, the seam finder and the welding robot respectively, and is configured to perform the method of the first aspect and the optional aspects thereof.
Referring to fig. 8, an electronic device 7 is provided, which includes:
a processor 701; and (c) a second step of,
a memory 702 for storing executable instructions of the processor;
wherein the processor 701 is configured to perform the above-mentioned method via execution of the executable instructions.
The processor 701 is capable of communicating with the memory 702 via the bus 703.
Embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the above-mentioned method.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.
Claims (13)
1. An automatic welding method, comprising:
performing initial positioning on a workpiece to be welded based on a 3D camera, and determining an initial positioning position of the workpiece to be welded in a real welding scene;
acquiring weld joint information of a to-be-welded workpiece model in the welding digital twin scene, planning a weld joint processing path and generating a to-be-welded workpiece drawing; the welding digital twin scene is characterized as a virtual scene matched with a real welding scene;
collecting the characteristic points of the real welding seam of the workpiece to be welded and the characteristic points of the welding seam in the drawing of the workpiece to be welded, and determining the mapping relation between the real position of the welding seam of the workpiece to be welded and the welding seam of the drawing of the workpiece to be welded according to the relation between the characteristic points of the real welding seam and the characteristic points of the welding seam in the drawing of the workpiece to be welded; based on the mapping relation, mapping the characteristic points of the welding seams in the drawing of the workpiece to be welded to obtain the real welding seams of the workpiece to be welded;
and controlling the welding robot to move to the starting point of the real welding seam, and welding the real welding seam.
2. The automatic welding method of claim 1, wherein the initially positioning the workpiece to be welded based on the 3D camera and determining the initially positioned position of the workpiece to be welded in the live welding scene comprises:
controlling the 3D camera to acquire a 3D point cloud image of the workpiece to be welded to obtain the position of the workpiece under a camera coordinate system;
and converting the workpiece position to a machine tool coordinate system by using a conversion matrix calibrated in advance to obtain the initial positioning position.
3. The automatic welding method according to claim 1, wherein the obtaining of the weld information of the model of the workpiece to be welded in the welding digital twin scene and the planning of the weld processing path, and the generating of the drawing of the workpiece to be welded comprise:
acquiring the position of a welding seam of the to-be-welded workpiece model and welding process parameters;
planning a first welding seam processing path based on the welding seam information; the first welding seam processing path comprises a welding seam welding path, a welding seam locating path and an idle moving path between the welding seams;
planning an optimized second welding seam processing path based on collision detection and automatic path planning, and determining the second welding seam processing path as the welding seam processing path; the second weld process path is characterized as a collision-free weld process path.
4. The automatic welding method according to claim 3, wherein the controlling of the welding robot to move to the start point of the real weld, the welding of the real weld including:
calculating processing welding technological parameters based on the welding technological parameters and a technological parameter library;
based on the processing welding technological parameters, welding the real welding seam;
and the process parameter library is used for optimizing the welding process parameters based on the real welding seam so as to obtain the processing welding process parameters.
5. The automated welding method of claim 3, wherein the welding process parameters comprise: welding parameters, arc starting parameters, arc stopping parameters and swing parameters;
wherein the welding parameters comprise a direct current welding mode, a pulse welding mode, a welding current, a welding voltage and a welding speed;
the arcing parameters comprise arcing time, arcing voltage, arcing current and slow rising time;
the arc-receiving parameters comprise arc-receiving time, arc-receiving voltage, arc-receiving current and slow-falling time;
the swing parameters include a swing type, a swing frequency, a swing amplitude, a swing angle, and a dwell time.
6. The automated welding method of claim 3, wherein the welding process parameters comprise: a corner parameter; the corner parameters include welding current, welding voltage, welding speed, corner front distance, and corner back distance.
7. The automatic welding method according to claim 1, wherein before obtaining the weld information of the model of the workpiece to be welded in the welding digital twin scene and planning the weld processing path and generating the drawing of the workpiece to be welded, the method further comprises:
and moving the model of the workpiece to be welded to an initial positioning position in the welding digital twin scene.
8. The automatic welding method according to claim 1, wherein after controlling the welding robot to move to the start point of the real weld, welding the real weld further comprises:
controlling a seam finder to collect a characteristic point of an nth real weld seam of the workpiece to be welded and a characteristic point of the nth weld seam in the drawing of the workpiece to be welded on the basis of the drawing of the workpiece to be welded so as to determine the nth real weld seam of the workpiece to be welded; wherein n is a positive integer;
and controlling a welding robot to move to the starting point of the nth real welding seam, and welding the nth real welding seam.
9. The automatic welding method according to claim 8, wherein the method further comprises, after controlling the welding robot to move to the start point of the nth real weld, welding the nth real weld:
performing initial positioning on the ith workpiece to be welded based on a 3D camera, and determining the initial positioning position of the ith workpiece to be welded in a real welding scene; wherein i is a positive integer;
and acquiring the weld joint information of the ith workpiece model to be welded in the welding digital twin scene, planning a weld joint processing path and generating an ith workpiece drawing to be welded.
10. An automatic welding device, comprising: the device comprises a primary positioning module, a drawing generation module, a position searching module and a welding module;
the initial positioning module is used for initially positioning a workpiece to be welded based on a 3D camera and determining an initial positioning position of the workpiece to be welded in a real welding scene;
the drawing generation module is used for acquiring the weld joint information of the to-be-welded workpiece model in the welding digital twin scene, planning a weld joint processing path and generating a to-be-welded workpiece drawing; the welding digital twin scene is characterized as a virtual scene matched with a real welding scene;
the locating module is used for acquiring a characteristic point of a real welding seam of the workpiece to be welded and a characteristic point of a welding seam in a drawing of the workpiece to be welded, and determining a mapping relation between a real position of the welding seam of the workpiece to be welded and the welding seam of the drawing of the workpiece to be welded according to a relation between the characteristic point of the real welding seam and the characteristic point of the welding seam in the drawing of the workpiece to be welded; mapping the characteristic points of the welding seams in the drawing of the workpiece to be welded to the workpiece to be welded based on the mapping relation to obtain the real welding seams of the workpiece to be welded;
and the welding module is used for controlling the welding robot to move to the starting point of the real welding seam and welding the real welding seam.
11. An automated welding system, comprising: the device comprises a 3D camera, a welding digital twin software module, a seam finder, a welding robot and a welding numerical control device; the welding numerical control device is electrically connected with the 3D camera, the welding digital twin software module, the seam finder and the welding robot respectively, and is used for executing the method of any one of claims 1 to 9.
12. An electronic device, comprising a memory and a processor,
the memory is used for storing codes;
the processor configured to execute code in the memory to implement the method of any one of claims 1 to 9.
13. A storage medium having a program stored thereon, the program being characterized in that it implements the method of any one of claims 1 to 9 when executed by a processor.
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