CN117123919A - Automatic welding control method and system for welding robot - Google Patents
Automatic welding control method and system for welding robot Download PDFInfo
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- CN117123919A CN117123919A CN202311274697.7A CN202311274697A CN117123919A CN 117123919 A CN117123919 A CN 117123919A CN 202311274697 A CN202311274697 A CN 202311274697A CN 117123919 A CN117123919 A CN 117123919A
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- 238000003466 welding Methods 0.000 title claims abstract description 358
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000004364 calculation method Methods 0.000 claims abstract description 38
- 238000012545 processing Methods 0.000 claims description 7
- 238000009210 therapy by ultrasound Methods 0.000 claims description 7
- 238000000137 annealing Methods 0.000 claims description 4
- 238000005496 tempering Methods 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 claims description 3
- 238000010191 image analysis Methods 0.000 claims description 2
- 238000010438 heat treatment Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012549 training Methods 0.000 description 3
- 230000004075 alteration Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000000527 sonication Methods 0.000 description 1
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Classifications
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
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- Optics & Photonics (AREA)
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- Mechanical Engineering (AREA)
- Robotics (AREA)
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Abstract
The application discloses an automatic welding control method and system of a welding robot, and belongs to the technical field of welding; according to the automatic welding path, acquiring a high-definition image of a position to be welded of a welding workpiece, and analyzing and calculating to obtain welding gap width information and included angle information along the automatic welding path; collecting welding information of a welding robot and a welding workpiece, and constructing an automatic welding control information calculation model according to the welding information of the welding workpiece and the welding robot; calculating automatic welding control information by using an automatic welding control information calculation model according to the automatic welding path, the welding gap width information and the included angle information; and welding the welding workpiece by using the welding robot according to the automatic welding path and the automatic welding control information.
Description
Technical Field
The application relates to the technical field of welding, in particular to an automatic welding control method and system of a welding robot.
Background
Welding robots are widely used in the machine-building industry including automobile manufacturing, and are generally constructed on the basis of general-purpose industrial robots after a welding tool is mounted thereon; the welding robots widely used at present are all joint robots basically; the mechanical interface of the last shaft of the articulated robot, usually a connecting flange, can be used for connecting different tools or end effectors (welding guns); however, at present, the welding robot is mainly controlled or dragged by programming for teaching;
at present, the traditional industrial robots are also upgraded to intelligent robots and matched with corresponding sensing systems, however, the intelligent robots are complex in structure, high in cost, low in efficiency and unsatisfactory in welding control effect by means of fusion control of various sensors.
Disclosure of Invention
The application provides the automatic welding control method and the system for the welding robot, which solve the technical problems of high automatic welding cost, low efficiency and unsatisfactory control of the welding robot in the prior art and improve the automatic welding quality.
The application provides an automatic welding control method of a welding robot, which comprises the steps of collecting images of welding workpieces, analyzing and calculating the collected images of the welding workpieces, and planning an automatic welding path; according to the automatic welding path, acquiring a high-definition image of a position to be welded of a welding workpiece, and analyzing and calculating to obtain welding gap width information and included angle information along the automatic welding path; collecting welding information of a welding robot and a welding workpiece, and constructing an automatic welding control information calculation model according to the welding information of the welding workpiece and the welding robot; calculating automatic welding control information by using an automatic welding control information calculation model according to the automatic welding path, the welding gap width information and the included angle information; and welding the welding workpiece by using the welding robot according to the automatic welding path and the automatic welding control information.
In an exemplary embodiment, the method for calculating the automatic welding control information according to the automatic welding path, the welding gap width information and the included angle information by using an automatic welding control information calculation model comprises the following steps:
dividing the automatic welding path into a plurality of working sections according to the welding gap width information and the included angle information; calculating the lengths corresponding to the working sections and the average welding gap width;
and calculating the automatic welding control information corresponding to the working sections by using an automatic welding control information calculation model according to the lengths corresponding to the working sections and the average welding gap width.
The application further provides a system applying the automatic welding control method of the welding robot, which comprises an image acquisition end, a welding control end and a welding control end, wherein the image acquisition end is used for acquiring images of welding workpieces; the control center is used for image analysis and calculation; the control terminal is interacted with the control center and is used for welding by the welding robot; the welding robot is used for performing welding; the welding tool is used for positioning and clamping a welding workpiece; and a welding gun, which is installed on the welding robot, for performing welding.
In an exemplary embodiment, the automated welding control system of the welding robot further comprises an ultrasonic processing end; the ultrasonic treatment end comprises an ultrasonic transducer which is electrically connected with an ultrasonic generator. The ultrasonic transducer can also be arranged on a manipulator which is additionally arranged, and when in welding, the manipulator is used for driving the ultrasonic transducer to contact with a welding workpiece, ultrasonic treatment is carried out on the welding workpiece, and the ultrasonic waves are conducted to the welding seam position through the welding workpiece, so that the uniformity and the structural forming of the welding seam are facilitated;
in an exemplary embodiment, the automated welding control system of the welding robot further comprises a heat treatment end comprising a cold air gun and a hot air gun; and cooling annealing, heating tempering and preheating before welding are provided for welding of the welding seam, so that the welding quality is improved.
In another aspect, the application provides the use of the system described above in manufacturing and welding applications.
The technical scheme provided by the application has at least the following technical effects or advantages:
the application provides an automatic welding control method and system of a welding robot, which are characterized in that an image of a welding workpiece is acquired, the acquired image of the welding workpiece is analyzed and calculated, and an automatic welding path is planned; according to the automatic welding path, acquiring a high-definition image of a position to be welded of a welding workpiece, and analyzing and calculating to obtain welding gap width information and included angle information along the automatic welding path; collecting welding information of a welding robot and a welding workpiece, and constructing an automatic welding control information calculation model according to the welding information of the welding workpiece and the welding robot; calculating automatic welding control information by using an automatic welding control information calculation model according to the automatic welding path, the welding gap width information and the included angle information; and welding the welding workpiece by using the welding robot according to the automatic welding path and the automatic welding control information.
Drawings
FIG. 1 is a block diagram of an automated welding control system of a welding robot according to an embodiment of the application;
FIG. 2 is a schematic flow diagram of an automated welding control method for a welding robot according to an embodiment of the application;
FIG. 3 is a schematic diagram of an automated weld path division in accordance with an embodiment of the present application;
Detailed Description
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
Referring to fig. 1-3, an automated welding control system 100 of a welding robot includes an image acquisition end 101 for acquiring an image of a welding workpiece; in an exemplary embodiment, the image capturing end 101 is specifically an industrial camera 1011, and the industrial camera 101 is mounted on the welding robot 104, or may be separately mounted on another manipulator,
the control center 102, specifically, a server, may be an independent physical server, or may be a server cluster or a distributed system formed by a plurality of physical servers, or may be a cloud server that provides cloud services, a cloud database, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDNs, and basic cloud computing services such as big data and an artificial intelligent platform;
the control terminal 103, specifically a controller of the welding robot 104, interacts with the control center 102 and is used for welding by the welding robot 104;
a welding robot 104, in particular a multi-axis welding robot;
a welding tool 105 for positioning and clamping the welding workpiece 10;
the welding gun 1041, specifically a laser welding gun 1041, is installed on the welding robot 104 and is used for performing welding, and the laser welding gun 1041 is connected with a laser generator 1042;
the embodiment of the application provides an automatic welding control method of a welding robot, which comprises the following steps: s1, acquiring an image of a welding workpiece 10, analyzing and calculating the acquired image of the welding workpiece 10, and planning an automatic welding path P;
s2, acquiring a high-definition image of a position to be welded of a welding workpiece 10 according to the automatic welding path P, and analyzing and calculating to obtain welding gap width information and included angle information along the automatic welding path P;
s3, acquiring welding information of the welding robot 104 and the welding workpiece 10, and constructing an automatic welding control information calculation model according to the welding information of the welding workpiece 10 and the welding robot 104; according to the automatic welding path P, the welding gap width information and the included angle information, an automatic welding control information calculation model is utilized to calculate and obtain automatic welding control information;
s4, welding the welding workpiece 10 by using the welding robot 14 according to the automatic welding path P and the automatic welding control information;
in an exemplary embodiment, in the step S1, the industrial camera in the image capturing end 101 is used to scan the welding workpiece 10 on the welding tool 105, and collect the image data of the welding position of the welding workpiece 10; the image data is transmitted to the control terminal 103, the control terminal 103 performs data interaction with the control center 102, and the control center 102 performs image recognition and calculation according to the collected image data of the welding position of the welding workpiece 10 to construct an automatic welding path P;
in the step S2, the control terminal 103 acquires an automatic welding path P, controls the industrial camera to acquire a high-definition image of a position to be welded of the welding workpiece 10 along the automatic welding path P, and transmits the high-definition image to the control center 102, and the control center 102 performs image recognition and calculation to acquire welding gap width information and included angle information along the automatic welding path P;
in the step S3, the method for collecting the welding information of the welding robot 104 and the welding workpiece 10 and constructing the automatic welding control information calculation model according to the welding information of the welding workpiece 10 and the welding robot 104 includes the following steps:
the control center 102 collects the welding information of the welding robot 104 and the welding workpiece 10 by using the control terminal 103, or collects the welding information related to the welding robot 104 and the welding workpiece 10 by using the internet technology,
the control center 102 constructs an automated welding control information calculation model, and performs training according to the acquired welding information of the welding robot 104 and the welding workpiece 10, thereby obtaining an automated welding control information calculation model after training.
In order to improve the welding effect in the welding process, when the welding robot 104 welds the welding workpiece 10, ultrasonic treatment is adopted to treat the position to be welded of the welding workpiece; in an exemplary embodiment, the automated welding control system 100 of the welding robot further includes a sonication end 107; the ultrasonic treatment end 107 includes an ultrasonic transducer 1071, and the ultrasonic transducer 1071 is electrically connected to an ultrasonic generator 1072. The ultrasonic transducer 1051 can also be arranged on another manipulator, and when welding, the manipulator is used for driving the ultrasonic transducer 1071 to contact the welding workpiece 10, ultrasonic treatment is carried out on the welding workpiece 10, and the ultrasonic waves are conducted to the welding seam position through the welding workpiece, so that the uniformity and the structural forming of the welding seam are facilitated; in an exemplary embodiment, the automated welding control information calculation model:
wherein B is the width of a welding gap, L is the welding length, and θ is the welding included angle; v is an automatic welding speed, f (B, L, theta) is an automatic welding speed calculation function, w is an automatic welding power, and g (B, L, theta) is an automatic welding power calculation function; wp is the ultrasonic processing power; h (B, L, θ) is an ultrasonic processing power calculation function; t ultrasonic treatment time; and calculating a function of the ultrasonic processing time of m (B, L, theta).
Specifically, the automated welding control information calculation model is as follows:
wherein x11, x12, x13; x21, x22, x23; x31, x32, x33; x41, x42, x43 are parameters; it should be noted that the above parameters may be obtained by training;
in an exemplary embodiment, when B is greater than or equal to B0, L is greater than or equal to L0, or θ <180 °, where B0 is a preset weld gap width, L0 is a preset weld length, and θ is a weld angle; when welding is performed by the welding robot 104, the welding gun 1041 of the welding robot 104 swings; the swinging direction of the welding gun 106 is perpendicular to the automatic welding path P; cloud computing by control center 102 builds a control parameter calculation model of the weld gun 106 swing of welding robot 104, in an exemplary embodiment, the control parameters of the weld gun swing of welding robot 104:
wherein delta is swing amplitude, epsilon is swing frequency; ψ (B, L, θ) is a wobble amplitude calculation function; phi (B, L, θ) is a wobble frequency calculation function; calculating a swing amplitude delta and a swing frequency epsilon according to the welding gap width B, the welding length L and the welding included angle theta;
in an exemplary embodiment, to improve efficiency and fine control, the automatic welding path is divided into a plurality of working segments according to the welding gap width information and the included angle information; and calculating the lengths and average welding of the working sectionsThe width of the joint gap; calculating the automatic welding control information corresponding to the working sections by using an automatic welding control information calculation model according to the lengths corresponding to the working sections and the average welding gap width; in particular, in an exemplary embodiment, taking as an example that the welding positions of the two welding workpieces 10 are in the plane rectangular coordinate system XY, the automatic welding path P is set up such that, divided into P1, P2. Segments of Pn; and calculates the average welding gap width Bi corresponding to the Pi segment, the length Li of the Pi segment and the welding included angle theta i The method comprises the steps of carrying out a first treatment on the surface of the According to the length Li, average welding gap width Bi and welding angle theta corresponding to Pi segment i And determining Li-section automatic welding control information by using the automatic welding control information calculation model.
In an exemplary embodiment, the method for dividing the automatic welding path into a plurality of working segments according to the welding gap width information and the included angle information comprises the following steps: constructing a welding gap width curve according to the welding gap width information, and dividing an automatic welding path P into P1, P2.
In order to improve the care effect after welding, after the welding robot 104 performs welding, the welded weld is heat-treated; the automated welding control system 100 of the welding robot further includes a heat treatment end 108, the heat treatment end 108 including a cold air gun 1081 and a hot air gun 1082;
in an exemplary embodiment, a method of heat treating a welded seam includes: moving along an automatic welding path P, carrying out cold air annealing and hot air tempering on the welded weld, specifically carrying out cold air annealing and hot air tempering on the welded weld by utilizing a cold air gun and a hot air gun, wherein the cold air gun and the hot air gun are arranged on a welding robot, carrying out heat treatment on the Pi-1 section after the welding robot carries out welding, and the cold air gun and the hot air gun can also be arranged on another mechanical arm.
In an exemplary embodiment, the pi+1 section is preheated by a heat gun while welding the Pi section, improving the welding effect.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
The foregoing is only a preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art should be able to apply equivalents and modifications according to the technical scheme and the concept of the present application within the scope of the present application.
Claims (10)
1. An automatic welding control method of a welding robot is characterized in that,
collecting an image of a welding workpiece, analyzing and calculating the collected image of the welding workpiece, and planning an automatic welding path;
according to the automatic welding path, acquiring a high-definition image of a position to be welded of a welding workpiece, and analyzing and calculating to obtain welding gap width information and included angle information along the automatic welding path;
collecting welding information of a welding robot and a welding workpiece, and constructing an automatic welding control information calculation model according to the welding information of the welding robot and the welding workpiece;
calculating automatic welding control information by using an automatic welding control information calculation model according to the automatic welding path, the welding gap width information and the included angle information;
and welding the welding workpiece by using the welding robot according to the automatic welding path and the automatic welding control information.
2. The automated welding control method of a welding robot of claim 1, wherein,
according to the automatic welding path, the welding gap width information and the included angle information, the automatic welding control information calculation model is utilized to calculate the automatic welding control information by the method:
dividing the automatic welding path into a plurality of working sections according to the welding gap width information and the included angle information; calculating the lengths corresponding to the working sections and the average welding gap width;
and calculating the automatic welding control information corresponding to the working sections by using an automatic welding control information calculation model according to the lengths corresponding to the working sections and the average welding gap width.
3. The automated welding control method of a welding robot according to claim 1, wherein the welding position of the welding workpiece is treated with ultrasonic waves while the welding robot is welding the welding workpiece.
4. The automated welding control method of a welding robot of claim 3,
the automated welding control information calculation model:
wherein B is the width of a welding gap, L is the welding length, and θ is the welding included angle; v is an automatic welding speed, f (B, L, theta) is an automatic welding speed calculation function, w is an automatic welding power, and g (B, L, theta) is an automatic welding power calculation function; wp is the ultrasonic processing power; h (B, L, θ) is an ultrasonic processing power calculation function; t ultrasonic treatment time; and calculating a function of the ultrasonic processing time of m (B, L, theta).
5. The automated welding control method of a welding robot of claim 4, wherein,
the automated welding control information calculation model:
wherein x11, x12, x13; x21, x22, x23; x31, x32, x33; x41, x42, x43 are parameters.
6. The automated welding control method of a welding robot of claim 5,
when B is more than or equal to B0, L is more than or equal to L0 or theta is less than 180 degrees, wherein B0 is the preset welding gap width, L0 is the preset welding length, and theta is the welding included angle; when a welding robot is used for welding, a welding gun of the welding robot swings; and the swinging direction of the welding gun is perpendicular to the automatic welding path.
7. The automated welding control method of a welding robot of claim 6, wherein,
welding robot's welder swing control parameters:
wherein B is the width of a welding gap, L is the welding length, and θ is the welding included angle; delta is the amplitude of the wobble,
ψ (B, L, θ) is a wobble amplitude calculation function; ε is the wobble frequency and Φ (B, L, θ) is the wobble frequency calculation function.
8. The automated welding control method of a welding robot of claim 1, wherein,
when the welding robot performs welding, heat treating the welded seam; the method for heat treating welded seams includes: and moving along an automatic welding path, and carrying out cold air annealing and hot air tempering on the welded weld joint.
9. A system for applying the automated welding control method of the welding robot of any of claims 1-8, comprising:
the image acquisition end is used for acquiring an image of the welded workpiece;
the control center is used for image analysis and calculation;
the control terminal is interacted with the control center and is used for welding by the welding robot;
the welding robot is used for performing welding;
and a welding gun, which is installed on the welding robot, for performing welding.
10. Use of the system according to claim 9 in manufacturing and welding operations.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311274697.7A CN117123919A (en) | 2023-09-28 | 2023-09-28 | Automatic welding control method and system for welding robot |
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| CN202311274697.7A CN117123919A (en) | 2023-09-28 | 2023-09-28 | Automatic welding control method and system for welding robot |
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