CN117161642A - Mobile welding robot configuration design method and device based on complex track - Google Patents

Mobile welding robot configuration design method and device based on complex track Download PDF

Info

Publication number
CN117161642A
CN117161642A CN202310879696.9A CN202310879696A CN117161642A CN 117161642 A CN117161642 A CN 117161642A CN 202310879696 A CN202310879696 A CN 202310879696A CN 117161642 A CN117161642 A CN 117161642A
Authority
CN
China
Prior art keywords
welding robot
mobile welding
configuration design
workpiece
welded
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310879696.9A
Other languages
Chinese (zh)
Inventor
薛龙
黄继强
姚舒晏
邹勇
陈晓明
曹莹瑜
朱新华
梁亚军
车平
黄军芬
李冀清
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Institute of Petrochemical Technology
China Railway Baoji Bridge Group Co Ltd
Shanghai Mechanized Construction Group Co Ltd
Original Assignee
Beijing Institute of Petrochemical Technology
China Railway Baoji Bridge Group Co Ltd
Shanghai Mechanized Construction Group Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Institute of Petrochemical Technology, China Railway Baoji Bridge Group Co Ltd, Shanghai Mechanized Construction Group Co Ltd filed Critical Beijing Institute of Petrochemical Technology
Priority to CN202310879696.9A priority Critical patent/CN117161642A/en
Publication of CN117161642A publication Critical patent/CN117161642A/en
Pending legal-status Critical Current

Links

Landscapes

  • Manipulator (AREA)

Abstract

The application relates to a method and a device for designing a mobile welding robot configuration based on a complex track, which belong to the technical field of welding robots. Meanwhile, the technical scheme of the application provides theoretical support for the design of the mobile welding robot, provides reference and reference for the configuration design in the field of the mobile welding robot, and improves the design level and efficiency of the mobile welding robot industry.

Description

Mobile welding robot configuration design method and device based on complex track
Technical Field
The application relates to the technical field of welding robots, in particular to a method and a device for designing a configuration of a mobile welding robot based on a complex track.
Background
The welding robot is utilized to improve the welding automation rate, so that the automation process of the welding industry can be improved. In the automotive manufacturing industry, the welding automation rate has exceeded 70%; in the fields of bridge construction, rail transit, petroleum exploration, nuclear power, ocean engineering and the like, the automation rate of welding in site construction is less than 5%. The reason that the welding automation rate can not be further improved is that the conventional industrial robot is not movable and limited in welding range due to the constraint of the complex space welding seam structure of the workpiece and the site construction condition, and the requirement of site construction welding can not be met.
The mobile welding robot has the advantages of flexible movement, strong adaptability and the like, and in the related technology, the mobile welding robot is generally adopted to solve the problem of automatic welding operation under the complex working condition environment. However, the conventional wheeled and rail type mobile welding robot is affected by load, and the size of the robot cannot be designed to be small enough, so that automatic welding of a welding line in a narrow space is difficult to realize; the flexible profiling mobile welding robot can make up for the defect, solves the problem of automatic welding in a narrow space, but the scheme has larger friction resistance in the application and operation process, and the abrasion of a transmission chain is faster, so that the flexible profiling mobile welding robot is difficult to be applied to practical engineering.
Therefore, the mobile welding robot configuration in the prior art is only suitable for a single occasion, and is difficult to realize large-scale multi-occasion application.
Disclosure of Invention
In view of the above, the present application aims to provide a method and a device for designing a mobile welding robot configuration based on a complex track, so as to solve the problem that the existing mobile welding robot configuration is only suitable for a single occasion and is difficult to realize large-scale multi-occasion application.
In order to achieve the above purpose, the application adopts the following technical scheme:
in one aspect, a method for designing a configuration of a mobile welding robot based on a complex track is applied to a workpiece to be welded with a continuous curved surface, and the method comprises the following steps:
acquiring surface flatness information of a workpiece to be welded and the surface curvature radius of the workpiece;
and determining the configuration design function of the mobile welding robot according to the surface flatness information of the workpiece to be welded and the surface curvature radius of the workpiece based on the preset configuration design function of the mobile welding robot.
Optionally, the determining the configuration design function of the mobile welding robot according to the surface flatness information of the workpiece to be welded and the curvature radius of the surface of the workpiece based on the configuration design function of the preset mobile welding robot includes:
and if the surface flatness information of the workpiece to be welded is the first flatness and the surface curvature radius of the workpiece is larger than or equal to the critical curvature radius value of the large wheel and the small wheel of the mobile welding robot, determining that the configuration design scheme of the mobile welding robot is a configuration design scheme of the wheel type mobile welding robot, and the configuration design function of the mobile welding robot is a configuration design function of the wheel type mobile welding robot.
Optionally, the determining the configuration design function of the mobile welding robot according to the surface flatness information of the workpiece to be welded and the curvature radius of the surface of the workpiece based on the configuration design function of the preset mobile welding robot includes:
and if the surface flatness information of the workpiece to be welded is the second flatness and the surface curvature radius of the workpiece is larger than or equal to the critical curvature radius value of the small wheel-micro wheel of the mobile welding robot, determining that the configuration design scheme of the mobile welding robot is a track type mobile welding robot configuration design scheme, and the configuration design function of the mobile welding robot is a track type mobile welding robot configuration design function.
Optionally, the determining the configuration design function of the mobile welding robot according to the surface flatness information of the workpiece to be welded and the curvature radius of the surface of the workpiece based on the configuration design function of the preset mobile welding robot includes:
if the surface flatness information of the workpiece to be welded is the third flatness, and the surface curvature radius of the workpiece is smaller than the critical curvature radius value of the small wheel-micro wheel of the mobile welding robot or tends to 0, determining that the configuration design scheme of the mobile welding robot is a flexible profiling mobile welding robot configuration design scheme, and the configuration design function of the mobile welding robot is a flexible profiling mobile welding robot configuration design function.
Optionally, the preset mobile welding robot configuration design function includes:
wherein k represents different structural codes of the mobile welding robot, X and Y represent distances in X-axis and Y-axis directions of a two-dimensional Cartesian coordinate system respectively, R represents the radius of a mobile wheel of the mobile welding robot, l represents the distance between the centers of front and rear wheels of the mobile welding robot, h represents the distance between a chassis of the mobile welding robot and the surface of a workpiece to be welded, and DeltaR represents a constant distance between a track and the surface of the workpiece to be welded.
Optionally, if the surface flatness information of the workpiece to be welded is the first flatness, k=1; when k=1, and,determining that the configuration design scheme of the mobile welding robot is the configuration design scheme of the wheel type mobile welding robot, and determining that the configuration design function of the mobile welding robot is G (1); wherein Rmin 1 Representing the critical radius of curvature value of the mobile welding robot large wheel-small wheel.
Optionally, if the surface flatness information of the workpiece to be welded is the second flatness, k=2; when k=2, and,determining that the configuration design scheme of the mobile welding robot is the configuration design scheme of the track type mobile welding robot, and determining that the configuration design function of the mobile welding robot is G (2); wherein Rmin 2 The critical radius of curvature value of the mobile welding robot small wheel-micro-element wheel is represented.
Optionally, if the surface flatness information of the workpiece to be welded is the third flatness, k=3; when k=3, and,or->The mobile welding robot configuration design scheme is determined to be the flexible profiling mobile welding robot configuration design scheme, and the mobile welding robot configuration design function is G (3).
In yet another aspect, a mobile welding robot configuration design apparatus based on a complex trajectory, applied to a workpiece to be welded of a continuous curved surface, comprises:
the acquisition module is used for acquiring surface flatness information of the workpiece to be welded and the surface curvature radius of the workpiece;
the design determining module is used for determining the configuration design function of the mobile welding robot according to the surface flatness information of the workpiece to be welded and the surface curvature radius of the workpiece based on the configuration design function of the preset mobile welding robot.
In yet another aspect, a mobile welding robot configuration design apparatus based on a complex trajectory includes a processor and a memory, the processor coupled to the memory:
the processor is used for calling and executing the program stored in the memory;
the memory is used for storing the program, and the program is at least used for executing the mobile welding robot configuration design method based on the complex track.
According to the method and the device for designing the configuration of the mobile welding robot based on the complex track, which are provided by the embodiment of the application, the body configuration representation modes of the mobile welding robot without guide rails, the track type and the flexible profiling type are unified, and the configuration design functions of the mobile welding robot are created in advance, so that when the surface flatness information of the workpiece to be welded is different, different configuration design functions are selected by combining the surface curvature radius of the workpiece, and different configuration design schemes are obtained, so that the large-scale multi-occasion application of the configuration of the mobile welding robot is realized. Meanwhile, the technical scheme of the application provides theoretical support for the design of the mobile welding robot, provides reference and reference for the configuration design in the field of the mobile welding robot, and improves the design level and efficiency of the mobile welding robot industry.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a configuration design method of a mobile welding robot based on a complex track according to an embodiment of the present application;
fig. 2 is a schematic diagram of a configuration design method of a mobile welding robot large wheel-small wheel-micro-wheel evolution design idea provided by the embodiment of the application;
fig. 3 is a schematic view of a wheeled mobile welding robot according to an embodiment of the present application;
fig. 4 is a schematic diagram of a track-type mobile welding robot according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a mobile welding robot in a flexible and simulated form according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a configuration design device of a mobile welding robot based on a complex track according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a mobile welding robot configuration design device based on a complex track according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, based on the examples herein, which are within the scope of the application as defined by the claims, will be within the scope of the application as defined by the claims.
The mobile welding robot has the advantages of flexible movement, strong adaptability and the like, and in the related technology, the mobile welding robot is generally adopted to solve the problem of automatic welding operation under the complex working condition environment. However, the conventional wheeled and rail type mobile welding robot is affected by load, and the size of the robot cannot be designed to be small enough, so that automatic welding of a welding line in a narrow space is difficult to realize; the flexible profiling mobile welding robot can make up for the defect, solves the problem of automatic welding in a narrow space, but the scheme has larger friction resistance in the application and operation process, and the abrasion of a transmission chain is faster, so that the flexible profiling mobile welding robot is difficult to be applied to practical engineering.
Therefore, the mobile welding robot configuration in the prior art is only suitable for a single occasion, and is difficult to realize large-scale multi-occasion application.
Based on the configuration design method and device of the mobile welding robot based on the complex track.
Fig. 1 is a schematic flow chart of a configuration design method of a mobile welding robot based on a complex track provided in an embodiment of the present application, referring to fig. 1, the method provided in the embodiment is applied to workpieces to be welded with continuous curved surfaces, and the method may include the following steps:
step S1: acquiring surface flatness information of a workpiece to be welded and the surface curvature radius of the workpiece;
step S2: and determining the configuration design function of the mobile welding robot according to the surface flatness information of the workpiece to be welded and the surface curvature radius of the workpiece based on the preset configuration design function of the mobile welding robot.
Specifically, when welding a workpiece to be welded with a continuous curved surface, the configuration design function of the mobile welding robot is determined by applying the configuration design method of the mobile welding robot based on the complex track.
Fig. 2 is a schematic diagram of a configuration design method of a mobile welding robot large wheel-small wheel-micro-wheel evolution design idea, and referring to fig. 2, the technical scheme provided by the application provides a configuration design idea and a configuration design function of the mobile welding robot large wheel-small wheel-micro-wheel, unifies a body configuration representation mode of a guide rail-free, rail-type and flexible profiling mobile welding robot, provides theoretical support for the design of the mobile welding robot, provides reference and reference for the configuration design in the field of the mobile welding robot, and improves the design level and efficiency of the mobile welding robot industry. Specifically, when the radius of curvature of the surface of the workpiece to be welded is larger, the design scheme of the non-guide wheel type mobile welding robot configuration can be optimized, the wheel type radius gradually decreases along with the decrease of the radius of curvature of the surface of the workpiece, the design scheme of the rail type small wheel type mobile welding robot configuration can be selected, and finally the design scheme of the rail type small wheel type mobile welding robot configuration is changed into a micro-element wheel type trolley, namely the design scheme of the flexible imitation type mobile welding robot configuration is selected. Optionally, determining the configuration design function of the mobile welding robot according to the surface flatness information of the workpiece to be welded and the surface curvature radius of the workpiece based on the configuration design function of the preset mobile welding robot includes:
and if the surface flatness information of the workpiece to be welded is the first flatness and the curvature radius of the workpiece surface is larger than or equal to the critical curvature radius value of the large wheel and the small wheel of the mobile welding robot, determining that the configuration design scheme of the mobile welding robot is a wheel type mobile welding robot configuration design scheme, and the configuration design function of the mobile welding robot is a wheel type mobile welding robot configuration design function.
The first flatness may be smoother, and may specifically be a surface suitable for rolling of wheels of the wheeled robot.
Optionally, determining the configuration design function of the mobile welding robot according to the surface flatness information of the workpiece to be welded and the surface curvature radius of the workpiece based on the configuration design function of the preset mobile welding robot includes:
and if the surface flatness information of the workpiece to be welded is the second flatness and the curvature radius of the workpiece surface is larger than or equal to the critical curvature radius value of the small wheel-micro wheel of the mobile welding robot, determining that the configuration design scheme of the mobile welding robot is a track type mobile welding robot configuration design scheme, and the configuration design function of the mobile welding robot is a track type mobile welding robot configuration design function.
The second flatness may be coarser, and may specifically be unsuitable for rolling of the wheel with obvious irregularities, i.e. coarser.
Optionally, determining the configuration design function of the mobile welding robot according to the surface flatness information of the workpiece to be welded and the surface curvature radius of the workpiece based on the configuration design function of the preset mobile welding robot includes:
if the surface flatness information of the workpiece to be welded is the third flatness, and the curvature radius of the surface of the workpiece is smaller than the critical curvature radius value of the small wheel-micro wheel of the mobile welding robot or tends to 0, determining that the configuration design scheme of the mobile welding robot is a flexible profiling mobile welding robot configuration design scheme, and the configuration design function of the mobile welding robot is a flexible profiling mobile welding robot configuration design function.
The third flatness can be complex in workpiece shape, and particularly when the number of arc sections of the workpiece surface with continuously changing curvature is large, the number of straight line sections is small, so that the workpiece shape can be considered complex, and the situation that the wheel type and rail type mobile welding robot cannot enter exists.
Optionally, the preset mobile welding robot configuration design function includes:
wherein k represents different structural codes of the mobile welding robot, X and Y represent distances in X-axis and Y-axis directions of a two-dimensional Cartesian coordinate system respectively, R represents the radius of a mobile wheel of the mobile welding robot, l represents the distance between the centers of front and rear wheels of the mobile welding robot, h represents the distance between a chassis of the mobile welding robot and the surface of a workpiece to be welded, and DeltaR represents a constant distance between a track and the surface of the workpiece to be welded.
Optionally, if the surface flatness information of the workpiece to be welded is the first flatness, k=1; when k=1, and,determining that the configuration design scheme of the mobile welding robot is the configuration design scheme of the wheel type mobile welding robot, and determining that the configuration design function of the mobile welding robot is G (1); wherein Rmin 1 Representing the critical radius of curvature value of the mobile welding robot large wheel-small wheel.
Fig. 3 is a schematic diagram of a wheeled mobile welding robot according to an embodiment of the present application, when k=1, if the curvature radius of the curved surface of the workpiece satisfies:
in this case, the configuration design of the mobile welding robot is preferably a design scheme of a non-rail wheel type mobile welding robot, rmin 1 The critical curvature radius value of the big wheel-small wheel of the mobile welding robot is represented, and the configuration design function of the mobile welding robot is G (1).
Alternatively, if the surface flatness information of the workpiece to be welded is the second flatness, k=2; when k=2, and,determining that the configuration design scheme of the mobile welding robot is the configuration design scheme of the track type mobile welding robot, and determining that the configuration design function of the mobile welding robot is G (2); wherein Rmin 2 The critical radius of curvature value of the mobile welding robot small wheel-micro-element wheel is represented.
Fig. 4 is a schematic diagram of a track-type mobile welding robot according to an embodiment of the present application, when k=2, if the curvature radius of the curved surface of the workpiece satisfies:
in this case, the configuration design of the mobile welding robot is preferably a track type mobile welding robot configuration design scheme, rmin 2 The critical curvature radius value of the small wheel-micro wheel of the mobile welding robot is represented, and the configuration design function of the mobile welding robot is G (2).
Optionally, if the surface flatness information of the workpiece to be welded is the third flatness, k=3; when k=3, and,or->Determining the configuration design scheme of the mobile welding robot to be flexible simulated form movementDynamic welding robot configuration design, the dynamic welding robot configuration design function is G (3).
Fig. 5 is a schematic diagram of a flexible simulated mobile welding robot according to an embodiment of the present application, when k=3, if the curvature radius of the curved surface of the workpiece is smaller, that is, if a small space exists, the configuration design of the mobile welding robot is preferably a flexible contoured mobile welding robot configuration design, which adopts a serial driving mode of a plurality of micro-wheel-type trolleys, at this time,
or->
That is, the theoretical value of the curvature radius of the curved surface of the workpiece is smaller than the critical curvature radius value of the small wheel-micro wheel of the mobile welding robot or approaches to 0, and the configuration design function of the mobile welding robot is G (3).
According to the method and the device for designing the configuration of the mobile welding robot based on the complex track, which are provided by the embodiment of the application, the body configuration representation modes of the mobile welding robot without guide rails, the track type and the flexible profiling type are unified, and the configuration design functions of the mobile welding robot are created in advance, so that when the surface flatness information of the workpiece to be welded is different, different configuration design functions are selected by combining the surface curvature radius of the workpiece, and different configuration design schemes are obtained, so that the large-scale multi-occasion application of the configuration of the mobile welding robot is realized. Meanwhile, the technical scheme of the application provides theoretical support for the design of the mobile welding robot, provides reference and reference for the configuration design in the field of the mobile welding robot, and improves the design level and efficiency of the mobile welding robot industry.
The application solves the problem that the conventional mobile welding robot cannot enter a narrow space to finish the neck clamping task of the automatic welding task of the complex special-shaped curved surface, creates a mobile welding robot body configuration design system, improves the design efficiency, and improves the welding quality and the welding efficiency in the field of automatic welding.
Based on a general inventive concept, the embodiment of the application also provides a mobile welding robot configuration design device based on a complex track.
Fig. 6 is a schematic structural diagram of a configuration design device of a mobile welding robot based on a complex track according to an embodiment of the present application, and referring to fig. 6, the device of the present application is applied to workpieces to be welded with continuous curved surfaces, and the device includes:
an acquisition module 61 for acquiring surface flatness information of a workpiece to be welded and a workpiece surface curvature radius;
the design determining module 62 is configured to determine a design function of the mobile welding robot according to the surface flatness information of the workpiece to be welded and the surface curvature radius of the workpiece based on the design function of the preset mobile welding robot.
Optionally, the design determining module 62 is specifically configured to determine that the configuration design of the mobile welding robot is a configuration design of a wheel type mobile welding robot if the surface flatness information of the workpiece to be welded is a first flatness and the surface curvature radius of the workpiece is greater than or equal to the critical curvature radius value of the large wheel-small wheel of the mobile welding robot, and the configuration design function of the mobile welding robot is a configuration design function of the wheel type mobile welding robot.
Optionally, the design determining module 62 is specifically configured to determine that the configuration design scheme of the mobile welding robot is a configuration design scheme of a track type mobile welding robot if the surface flatness information of the workpiece to be welded is a second flatness and the surface curvature radius of the workpiece is greater than or equal to the critical curvature radius value of the small wheel-micro wheel of the mobile welding robot, and the configuration design function of the mobile welding robot is a configuration design function of the track type mobile welding robot.
Optionally, the design determining module 62 is specifically configured to determine that the configuration design scheme of the mobile welding robot is a flexible profiling mobile welding robot configuration design scheme if the surface flatness information of the workpiece to be welded is the third flatness and the surface curvature radius of the workpiece is smaller than the critical curvature radius value of the small wheel-micro wheel of the mobile welding robot or tends to be 0, and the configuration design function of the mobile welding robot is a flexible profiling mobile welding robot configuration design function.
Optionally, the preset mobile welding robot configuration design function includes:
wherein k represents different structural codes of the mobile welding robot, X and Y represent distances in X-axis and Y-axis directions of a two-dimensional Cartesian coordinate system respectively, R represents the radius of a mobile wheel of the mobile welding robot, l represents the distance between the centers of front and rear wheels of the mobile welding robot, h represents the distance between a chassis of the mobile welding robot and the surface of a workpiece to be welded, and DeltaR represents a constant distance between a track and the surface of the workpiece to be welded.
Optionally, the design determining module 62 is specifically configured to, if the surface flatness information of the workpiece to be welded is the first flatness, k=1; when k=1, and,determining that the configuration design scheme of the mobile welding robot is the configuration design scheme of the wheel type mobile welding robot, and determining that the configuration design function of the mobile welding robot is G (1); wherein Rmin 1 Representing the critical radius of curvature value of the mobile welding robot large wheel-small wheel.
Optionally, the design determining module 62 is specifically configured to, if the surface flatness information of the workpiece to be welded is the second flatness, k=2; when k=2, and,determining that the configuration design scheme of the mobile welding robot is the configuration design scheme of the track type mobile welding robot, and determining that the configuration design function of the mobile welding robot is G (2); wherein Rmin 2 And the critical curvature radius value of the small wheel micro-element wheel of the mobile welding robot is represented.
Optionally, the design determining module 62 is specifically configured to, if the surface flatness information of the workpiece to be welded is a third flatness,k=3; when k=3, and,or->The mobile welding robot configuration design scheme is determined to be the flexible profiling mobile welding robot configuration design scheme, and the mobile welding robot configuration design function is G (3).
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
The mobile welding robot configuration design device based on the complex track provided by the embodiment of the application unifies the body configuration representation modes of the mobile welding robot without guide rails, the track type and the flexible profiling type, and by creating the mobile welding robot configuration design function in advance, when the surface flatness information of the workpiece to be welded is different, different configuration design functions are selected by combining the surface curvature radius of the workpiece, so that different configuration design schemes are obtained, and the large-scale multi-occasion application of the mobile welding robot configuration is realized. Meanwhile, the technical scheme of the application provides theoretical support for the design of the mobile welding robot, provides reference and reference for the configuration design in the field of the mobile welding robot, and improves the design level and efficiency of the mobile welding robot industry.
Based on one general inventive concept, the embodiment of the application also provides a mobile welding robot configuration design device based on a complex track.
Fig. 7 is a schematic structural diagram of a mobile welding robot configuration design device based on a complex track according to an embodiment of the present application, and referring to fig. 7, the device of this embodiment includes a processor 71 and a memory 72, where the processor 71 is connected to the memory 72. Wherein the processor 71 is for calling and executing a program stored in the memory 72; the memory 72 is used for storing a program for executing at least the mobile welding robot configuration designing method based on the complex trajectory in the above embodiment.
The specific implementation manner of the mobile welding robot configuration design device based on the complex track provided by the embodiment of the present application may refer to the implementation manner of the mobile welding robot configuration design method based on the complex track in any embodiment, and will not be described herein.
It is to be understood that the same or similar parts in the above embodiments may be referred to each other, and that in some embodiments, the same or similar parts in other embodiments may be referred to.
It should be noted that in the description of the present application, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present application, unless otherwise indicated, the meaning of "plurality" means at least two.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims (10)

1. A method for designing a configuration of a mobile welding robot based on a complex track, which is characterized by being applied to a workpiece to be welded with a continuous curved surface, the method comprising:
acquiring surface flatness information of a workpiece to be welded and the surface curvature radius of the workpiece;
and determining the configuration design function of the mobile welding robot according to the surface flatness information of the workpiece to be welded and the surface curvature radius of the workpiece based on the preset configuration design function of the mobile welding robot.
2. The method of claim 1, wherein determining the mobile welding robot configuration design function based on the surface flatness information of the workpiece to be welded and the workpiece surface radius of curvature based on the preset mobile welding robot configuration design function comprises:
and if the surface flatness information of the workpiece to be welded is the first flatness and the surface curvature radius of the workpiece is larger than or equal to the critical curvature radius value of the large wheel and the small wheel of the mobile welding robot, determining that the configuration design scheme of the mobile welding robot is a configuration design scheme of the wheel type mobile welding robot, and the configuration design function of the mobile welding robot is a configuration design function of the wheel type mobile welding robot.
3. The method of claim 1, wherein determining the mobile welding robot configuration design function based on the surface flatness information of the workpiece to be welded and the workpiece surface radius of curvature based on the preset mobile welding robot configuration design function comprises:
and if the surface flatness information of the workpiece to be welded is the second flatness and the surface curvature radius of the workpiece is larger than or equal to the critical curvature radius value of the small wheel-micro wheel of the mobile welding robot, determining that the configuration design scheme of the mobile welding robot is a track type mobile welding robot configuration design scheme, and the configuration design function of the mobile welding robot is a track type mobile welding robot configuration design function.
4. The method of claim 1, wherein determining the mobile welding robot configuration design function based on the surface flatness information of the workpiece to be welded and the workpiece surface radius of curvature based on the preset mobile welding robot configuration design function comprises:
and if the surface flatness information of the workpiece to be welded is the third flatness, and the surface curvature radius of the workpiece is smaller than the critical curvature radius value of the small wheel-micro wheel of the mobile welding robot or approaches to 0, determining that the configuration design scheme of the mobile welding robot is a flexible profiling mobile welding robot configuration design scheme, and the configuration design function of the mobile welding robot is a flexible profiling mobile welding robot configuration design function.
5. The method of claim 1, wherein the preset mobile welding robot configuration design function comprises:
wherein k represents different structural codes of the mobile welding robot, X and Y represent distances in X-axis and Y-axis directions of a two-dimensional Cartesian coordinate system respectively, R represents the radius of a mobile wheel of the mobile welding robot, l represents the distance between the centers of front and rear wheels of the mobile welding robot, h represents the distance between a chassis of the mobile welding robot and the surface of a workpiece to be welded, and DeltaR represents a constant distance between a track and the surface of the workpiece to be welded.
6. The method of claim 5, wherein if the surface flatness information of the workpiece to be welded is a first flatness, k = 1; when k=1, and,determining that the configuration design scheme of the mobile welding robot is the configuration design scheme of the wheel type mobile welding robot, and determining that the configuration design function of the mobile welding robot is G (1); wherein Rmin 1 Representing the critical radius of curvature value of the mobile welding robot large wheel-small wheel.
7. The method according to claim 5, wherein if the surface flatness information of the workpiece to be welded is a second flatness, k=2; when k=2, and,determining that the configuration design scheme of the mobile welding robot is the configuration design scheme of the track type mobile welding robot, and determining that the configuration design function of the mobile welding robot is G (2); wherein Rmin 2 The critical radius of curvature value of the mobile welding robot small wheel-micro-element wheel is represented.
8. The method according to claim 5, wherein if the surface flatness information of the workpiece to be welded is a third flatness, k=3; when k=3, and,or->The mobile welding robot configuration design scheme is determined to be the flexible profiling mobile welding robot configuration design scheme, and the mobile welding robot configuration design function is G (3).
9. A mobile welding robot configuration design device based on a complex trajectory, characterized in that it is applied to workpieces to be welded of continuous curved surfaces, said device comprising:
the acquisition module is used for acquiring surface flatness information of the workpiece to be welded and the surface curvature radius of the workpiece;
the design determining module is used for determining the configuration design function of the mobile welding robot according to the surface flatness information of the workpiece to be welded and the surface curvature radius of the workpiece based on the configuration design function of the preset mobile welding robot.
10. A mobile welding robot configuration design device based on a complex track, which is characterized by comprising a processor and a memory, wherein the processor is connected with the memory:
the processor is used for calling and executing the program stored in the memory;
the memory is used for storing the program, and the program is at least used for executing the mobile welding robot configuration design method based on the complex track as set forth in any one of claims 1-8.
CN202310879696.9A 2023-07-18 2023-07-18 Mobile welding robot configuration design method and device based on complex track Pending CN117161642A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310879696.9A CN117161642A (en) 2023-07-18 2023-07-18 Mobile welding robot configuration design method and device based on complex track

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310879696.9A CN117161642A (en) 2023-07-18 2023-07-18 Mobile welding robot configuration design method and device based on complex track

Publications (1)

Publication Number Publication Date
CN117161642A true CN117161642A (en) 2023-12-05

Family

ID=88930664

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310879696.9A Pending CN117161642A (en) 2023-07-18 2023-07-18 Mobile welding robot configuration design method and device based on complex track

Country Status (1)

Country Link
CN (1) CN117161642A (en)

Similar Documents

Publication Publication Date Title
CN111026133B (en) Path planning method, vehicle and computer readable medium
CN106557844B (en) Path planning method for welding robot
Kim et al. Practical motion planning for car-parking control in narrow environment
Nakamura et al. Design of steering mechanism and control of nonholonomic trailer systems
CN111897341A (en) Parking path planning method, parking path planning device and computer-readable storage medium
CN113184423B (en) Control method of automatic guided vehicle, automatic guided vehicle and cargo handling system
Jiang et al. A shortest path based path planning algorithm for nonholonomic mobile robots
US20210053220A1 (en) Motion planning for robots to optimize velocity while maintaining limits on acceleration and jerk
Fraichard et al. Smooth path planning for cars
CN105081524A (en) Cooperative control method for track online dynamic programming and weld pass tracking in welding process
CN117161642A (en) Mobile welding robot configuration design method and device based on complex track
CN114348678B (en) Control method and device for material transfer automatic driving vehicle and electronic equipment
CN1288601C (en) Method for conducting path planning based on three-dimensional scatter point set data of free camber
KR20240004432A (en) Automatic path tracking of power machinery
Choi et al. Gross motion characteristics of articulated mobile robots with pure rolling capability on smooth uneven surfaces
Zhang et al. Optimal motion planning of all position autonomous mobile welding robot system for fillet seams
CN112130556B (en) Robot automatic stacking and loading control system and method
CN113650011A (en) Method and device for planning splicing path of mechanical arm
Tubaileh Layout of flexible manufacturing systems based on kinematic constraints of the autonomous material handling system
Leu et al. Long-horizon motion planning via sampling and segmented trajectory optimization
CN116011209A (en) 8-shaped expansion corrugated pipe profiling mobile welding robot life prediction method
JPH09201784A (en) Teaching device for robot
Guo et al. Global trajectory generation for nonholonomic robots in dynamic environments
CN117001235A (en) Mobile welding robot for complex working conditions
Qiu et al. A strategy of wave gait for a walking machine traversing a rough planar terrain

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination