CN117506932A - Track generation method and device for linear swing welding, storage medium and computer equipment - Google Patents

Track generation method and device for linear swing welding, storage medium and computer equipment Download PDF

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Publication number
CN117506932A
CN117506932A CN202311793316.6A CN202311793316A CN117506932A CN 117506932 A CN117506932 A CN 117506932A CN 202311793316 A CN202311793316 A CN 202311793316A CN 117506932 A CN117506932 A CN 117506932A
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Prior art keywords
swing welding
welding
coordinate
swing
track
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史晓立
杨帆
唐荣俊
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Jieka Robot Co ltd
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Jieka Robot Co ltd
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Priority to CN202311793316.6A priority Critical patent/CN117506932A/en
Publication of CN117506932A publication Critical patent/CN117506932A/en
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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
    • 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
    • B23K9/022—Welding by making use of electrode vibrations

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Numerical Control (AREA)

Abstract

The invention discloses a track generation method and device for straight line swing welding, a storage medium and computer equipment. Wherein the method comprises the following steps: acquiring a starting point coordinate of a starting point of the linear swing welding under a workpiece coordinate system, an end point coordinate of an end point of the linear swing welding under the workpiece coordinate system, a swing welding length and a target swing welding type, wherein the swing welding length is a distance of a welding gun moving along a welding direction in a swing welding period; determining a first reference coordinate of a reference point in a swing welding period under a workpiece coordinate system according to a starting point coordinate, an end point coordinate and a swing welding length; determining a first track coordinate of a target track point in a swing welding period under a workpiece coordinate system according to the target swing welding type and the first reference coordinate; and generating a track of the linear swing welding according to the starting point coordinates, the end point coordinates and the first track coordinates. The invention solves the technical problems of few swing welding types supported by the existing swing welding track generation method and great limitation in practical application.

Description

Track generation method and device for linear swing welding, storage medium and computer equipment
Technical Field
The invention relates to the field of robots, in particular to a track generation method, a track generation device, a storage medium and computer equipment for straight line swing welding.
Background
Pendulum welding refers to a method in which a welding gun periodically swings along the direction of a welding line to perform welding. When the weld is large or special welding process requirements are met, the welding must be performed using pendulum welding. The existing swing welding track generation method is complex in implementation process, complex in calculation, few in supportable swing welding types and quite limited.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the invention provides a method, a device, a storage medium and computer equipment for generating a straight line swing welding track, which at least solve the technical problems that the swing welding track generation method in the prior art has few swing welding types and great limitation in practical application.
According to an aspect of the embodiment of the present invention, there is provided a track generation method for straight line swing welding, including: acquiring a starting point coordinate of a starting point of the linear swing welding under a workpiece coordinate system, an end point coordinate of an end point of the linear swing welding under the workpiece coordinate system, a swing welding length and a target swing welding type, wherein the swing welding length is a distance of a welding gun moving along a welding direction in a swing welding period; determining a first reference coordinate of a reference point in a swing welding period under a workpiece coordinate system according to a starting point coordinate, an end point coordinate and a swing welding length; determining a first track coordinate of a target track point in a swing welding period under a workpiece coordinate system according to the target swing welding type and the first reference coordinate; and generating a track of the linear swing welding according to the starting point coordinates, the end point coordinates and the first track coordinates.
Optionally, determining the first track coordinate of the target track point in the swing welding period under the workpiece coordinate system according to the target swing welding type and the first reference coordinate includes: determining a target relative position relation corresponding to a target swing welding type, wherein the target relative position relation represents a position relation between a reference point and a target track point in a swing welding period; and determining the first track coordinate according to the relative position relation between the first reference coordinate and the target.
Optionally, determining the first track coordinate according to the first reference coordinate and the target relative position relation includes: establishing a reference coordinate system by taking a reference point as an origin, a welding direction as a Y-axis direction and a swinging direction of straight line swing welding as an X-axis direction; determining a transformation relation from a reference coordinate system to a workpiece coordinate system; determining a second track coordinate of the target track point under a reference coordinate system according to the relative position relation of the target; and converting the second track coordinate according to the transformation relation to obtain the first track coordinate.
Optionally, determining the target relative position relationship corresponding to the target swing welding type includes: acquiring a corresponding relation between a predetermined swing welding type and a relative position relation; and in the corresponding relation, determining the relative position relation corresponding to the swing welding type matched with the target swing welding type as the target relative position relation.
Optionally, the correspondence is determined by: acquiring a plurality of predetermined swing welding types and swing welding tracks of the swing welding types respectively; respectively determining inflection points in swing welding tracks of each of a plurality of swing welding types as experimental track points; respectively determining experimental reference points corresponding to experimental track points, wherein the experimental reference points are intersection points obtained by making vertical lines from the experimental track points to welding lines, and the welding lines are straight lines with starting points pointing to end points in swing welding tracks of a plurality of swing welding types; and respectively determining the position relationship between the experimental track point and the experimental reference point as a plurality of relative position relationships, wherein the plurality of relative position relationships are in one-to-one correspondence with the plurality of swing welding types.
Optionally, determining the first reference coordinate of the reference point in the swing welding period under the workpiece coordinate system according to the start point coordinate, the end point coordinate and the swing welding length includes: determining a vector of the start point coordinates to the end point coordinates; under the condition that the straight line swing welding comprises a plurality of swing welding periods, respectively determining the serial numbers of the swing welding periods; according to the serial numbers and the swing welding lengths of the swing welding periods, the distances between the reference points of the swing welding periods and the starting points are respectively determined; and determining the first reference coordinate according to the starting point coordinate, the distance between the reference points of the swing welding periods relative to the starting point and the vector of the starting point coordinate pointing to the end point coordinate.
Optionally, the method further comprises: and sending the track of the linear swing welding to a swing welding robot, wherein the swing welding robot performs welding according to the track of the linear swing welding.
According to another aspect of the embodiment of the present invention, there is also provided a track generating device for straight line swing welding, including: the system comprises an acquisition module, a welding control module and a welding control module, wherein the acquisition module is used for acquiring a starting point coordinate of a starting point of the linear swing welding under a workpiece coordinate system, an end point coordinate of an end point of the linear swing welding under the workpiece coordinate system, a swing welding length and a target swing welding type, wherein the swing welding length is a distance of a welding gun moving along a welding direction in a swing welding period; the first determining module is used for determining a first reference coordinate of a reference point in a swing welding period under a workpiece coordinate system according to the starting point coordinate, the end point coordinate and the swing welding length; the second determining module is used for determining a first track coordinate of the target track point in the swing welding period under the workpiece coordinate system according to the target swing welding type and the first reference coordinate; the generating module is used for generating a track of the linear swing welding according to the starting point coordinates, the end point coordinates and the first track coordinates.
According to still another aspect of the embodiment of the present invention, there is further provided a non-volatile storage medium, where the non-volatile storage medium includes a stored program, and when the program runs, the apparatus on which the non-volatile storage medium is controlled to execute the track generating method of any one of the above straight line swing welding.
According to still another aspect of the embodiment of the present invention, there is further provided a computer device, where the computer device includes a processor, and the processor is configured to execute a program, where the program executes the method for generating a trajectory of any one of the above straight line swing welding.
In the embodiment of the invention, the starting point coordinates of the starting point of the straight line swing welding under the workpiece coordinate system, the end point coordinates of the end point of the straight line swing welding under the workpiece coordinate system, the swing welding length and the target swing welding type are obtained, wherein the swing welding length is the distance of a welding gun moving along the welding direction in the swing welding period; determining a first reference coordinate of a reference point in a swing welding period under a workpiece coordinate system according to a starting point coordinate, an end point coordinate and a swing welding length; determining a first track coordinate of a target track point in a swing welding period under a workpiece coordinate system according to the target swing welding type and the first reference coordinate; according to the starting point coordinates, the end point coordinates and the first track coordinates, the track of the straight line swing welding is generated, and the purpose of generating the swing welding tracks conforming to different swing welding types according to preset swing welding types is achieved, so that the technical effect of supporting generation of swing welding tracks of various swing welding types is achieved, and the technical problems that the swing welding types supported by the existing swing welding track generation method are few and the practical application is very limited are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 shows a block diagram of the hardware architecture of a computer terminal for implementing a trajectory generation method for wire-swing welding;
fig. 2 is a flow chart of a track generation method of a linear swing welding according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of a trace of a zig-zag pendulum weld provided in accordance with an alternative embodiment of the present invention;
FIG. 4 is a schematic illustration of a trace of a triangular swing weld provided in accordance with an alternative embodiment of the present invention;
fig. 5 is a block diagram of a track generating device for wire swing welding according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, 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.
In accordance with an embodiment of the present invention, a method embodiment of trajectory generation for straight line swing welding is provided, it being noted that the steps illustrated in the flowchart of the figures may be performed in a computer system, such as a set of computer executable instructions, and, although a logical sequence is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in a different order than that illustrated herein.
The method embodiment provided in the first embodiment of the present application may be executed in a mobile terminal, a computer terminal or a similar computing device. Fig. 1 shows a hardware block diagram of a computer terminal for implementing a trajectory generation method of a wire-swing welding. As shown in fig. 1, the computer terminal 10 may include one or more (shown as 102a, 102b, … …,102 n) processors (which may include, but are not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data. In addition, the method may further include: a display, an input/output interface (I/O interface), a Universal Serial BUS (USB) port (which may be included as one of the ports of the BUS), a network interface, a power supply, and/or a camera. It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 1 is merely illustrative and is not intended to limit the configuration of the electronic device described above. For example, the computer terminal 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
It should be noted that the one or more processors and/or other data processing circuits described above may be referred to herein generally as "data processing circuits. The data processing circuit may be embodied in whole or in part in software, hardware, firmware, or any other combination. Furthermore, the data processing circuitry may be a single stand-alone processing module or incorporated, in whole or in part, into any of the other elements in the computer terminal 10. As referred to in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of the path of the variable resistor termination to interface).
The memory 104 may be used to store software programs and modules of application software, such as a program instruction/data storage device corresponding to the method for generating a trajectory of a straight line swing welding in the embodiment of the present invention, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby implementing the method for generating a trajectory of a straight line swing welding of an application program. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor, which may be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The display may be, for example, a touch screen type Liquid Crystal Display (LCD) that may enable a user to interact with a user interface of the computer terminal 10.
Fig. 2 is a flow chart of a method for generating a trajectory of a wire swing welding according to an embodiment of the present invention, as shown in fig. 2, the method includes the following steps:
Step S202, obtaining a starting point coordinate of a starting point of the straight line swing welding under a workpiece coordinate system, an end point coordinate of an end point of the straight line swing welding under the workpiece coordinate system, a swing welding length and a target swing welding type, wherein the swing welding length is a distance of a welding gun moving along a welding direction in a swing welding period.
The welding seam of the straight line swing welding is straight line, and when welding, the welding gun swings at two sides of the welding seam and moves along the direction of the welding seam, so that two ends of the welding seam are welded. In this step, the workpiece coordinate system may be a world coordinate system used when designing a workpiece or performing welding, and positioning may be performed mainly by the workpiece coordinate system during welding. The swing welding is periodically repeated swing, and the distance of the welding gun moving along the welding direction in one swing welding period is the swing welding length.
Step S204, determining a first reference coordinate of a reference point in a swing welding period under a workpiece coordinate system according to the starting point coordinate, the end point coordinate and the swing welding length.
In this step, when the welding track is generated, the coordinates of the reference point in each swing welding period under the workpiece coordinate system can be determined as the first reference coordinates according to the start point coordinates, the end point coordinates and the swing welding length. The reference point can be a point positioned on the welding line, and the track point is positioned based on the reference point conveniently. Thus, the reference point may be determined first, and then the track point may be located according to the reference point.
Step S206, determining a first track coordinate of the target track point in the swing welding period under the workpiece coordinate system according to the target swing welding type and the first reference coordinate.
In this step, since the swing welding tracks corresponding to different swing welding types are different, the first track coordinates of the track points corresponding to the target swing welding type under the workpiece coordinate system can be determined based on the coordinates of the reference points according to the target swing welding type.
Step S208, generating a track of the straight line swing welding according to the starting point coordinates, the end point coordinates and the first track coordinates.
In this step, the start point coordinate, the end point coordinate, and the first track coordinate may be sequentially connected to generate a track of the line swing welding.
Through the steps, the purpose of generating the swing welding tracks conforming to different swing welding types according to the preset swing welding types can be achieved, so that the technical effect of supporting generation of the swing welding tracks of various swing welding types is achieved, and the technical problems that the swing welding track generation method in the prior art is few in supported swing welding types and has great limitation in practical application are solved.
As an alternative embodiment, determining a first track coordinate of the target track point in the workpiece coordinate system in the swing welding period according to the target swing welding type and the first reference coordinate includes: determining a target relative position relation corresponding to a target swing welding type, wherein the target relative position relation represents a position relation between a reference point and a target track point in a swing welding period; and determining the first track coordinate according to the relative position relation between the first reference coordinate and the target.
Optionally, when generating the respective swing welding tracks of different swing welding types, the coordinates of the reference points may be calculated by the same method, but the positions of the different track points relative to the reference points may be set according to the different swing welding types, so that when generating the tracks of different swing welding types, the coordinates of the different target track points may be generated according to the coordinates of the same reference points. For example, in type a the locus point and the reference point are together on a straight line perpendicular to the direction of the weld, but in type B the locus point and the reference point are together on a straight line at an angle of 45 ° to the direction of the weld.
After the target swing welding type is determined, the relative position relation of the target corresponding to the target swing welding type can be determined, and then the first track coordinate of the track point is determined based on the first reference coordinate of the reference point and the relative position relation of the target.
As an alternative embodiment, determining the first track coordinate according to the first reference coordinate and the target relative position relation includes: establishing a reference coordinate system by taking a reference point as an origin, a welding direction as a Y-axis direction and a swinging direction of straight line swing welding as an X-axis direction; determining a transformation relation from a reference coordinate system to a workpiece coordinate system; determining a second track coordinate of the target track point under a reference coordinate system according to the relative position relation of the target; and converting the second track coordinate according to the transformation relation to obtain the first track coordinate.
Alternatively, for convenience of storage and calculation of coordinates of the track point based on the reference point, a reference coordinate system may be established with the reference point as an origin, and then the coordinates of the track point are determined to be second track coordinates under the reference coordinate system, and recorded as a relative positional relationship of the track point with respect to the reference point. A transformation relationship of the reference coordinate system to the object coordinate system may be determined, and then the first trajectory coordinate is obtained from the second trajectory coordinate of the trajectory point determined under the reference coordinate system and the transformation relationship of the reference coordinate system to the object coordinate system. Wherein the transformation relationship may be a change matrix.
As an alternative embodiment, determining the target relative positional relationship corresponding to the target swing welding type includes: acquiring a corresponding relation between a predetermined swing welding type and a relative position relation; and in the corresponding relation, determining the relative position relation corresponding to the swing welding type matched with the target swing welding type as the target relative position relation.
Alternatively, the correspondence between the plurality of swing welding types and the plurality of relative positional relationships may be predetermined, and then the plurality of swing welding types may be searched for a swing welding type identical to the target swing welding type, and the relative positional relationship corresponding to the swing welding type may be used as the target relative positional relationship.
As an alternative embodiment, the correspondence is determined by: acquiring a plurality of predetermined swing welding types and swing welding tracks of the swing welding types respectively; respectively determining inflection points in swing welding tracks of each of a plurality of swing welding types as experimental track points; respectively determining experimental reference points corresponding to experimental track points, wherein the experimental reference points are intersection points obtained by making vertical lines from the experimental track points to welding lines, and the welding lines are straight lines with starting points pointing to end points in swing welding tracks of a plurality of swing welding types; and respectively determining the position relationship between the experimental track point and the experimental reference point as a plurality of relative position relationships, wherein the plurality of relative position relationships are in one-to-one correspondence with the plurality of swing welding types.
Optionally, among the correspondence between the plurality of pendulum welding types and the plurality of relative positional relationships, a certain correspondence may be determined by: and obtaining a certain swing welding type and a swing welding track of the swing welding type, determining an inflection point in the track as an experimental track point, determining an experimental reference point corresponding to the experimental track point, for example, taking a perpendicular line connecting a starting point and a final point through the experimental track point, taking an intersection point of the connection between the starting point and the final point as the experimental reference point, and determining the position relationship between the experimental track point and the experimental reference point as the relative position relationship corresponding to the swing welding type.
As an alternative embodiment, determining a first reference coordinate of a reference point in a workpiece coordinate system in a swing welding period according to a start point coordinate, an end point coordinate and a swing welding length includes: determining a vector of the start point coordinates to the end point coordinates; under the condition that the straight line swing welding comprises a plurality of swing welding periods, respectively determining the serial numbers of the swing welding periods; according to the serial numbers and the swing welding lengths of the swing welding periods, the distances between the reference points of the swing welding periods and the starting points are respectively determined; and determining the first reference coordinate according to the starting point coordinate, the distance between the reference points of the swing welding periods relative to the starting point and the vector of the starting point coordinate pointing to the end point coordinate.
Optionally, the line from the starting point to the end point may be divided into lengths of the weld joints to be welded in the multiple swing welding periods according to a preset swing welding length, then coordinates of reference points in each swing welding period are determined, further distances between the reference points of the multiple swing welding periods and the starting point are determined, and then the first reference coordinates are determined according to the coordinates of the starting point, the distances between the reference points of the multiple swing welding periods and the starting point, and vectors of the coordinates of the starting point pointing to the coordinates of the end point.
As an alternative embodiment, further comprising: and sending the track of the linear swing welding to a swing welding robot, wherein the swing welding robot performs welding according to the track of the linear swing welding.
Alternatively, after the trajectory of the wire pendulum welding is generated, the trajectory may be sent to the pendulum welder robot, which may weld according to the trajectory of the wire pendulum welding.
As a specific example, the following steps may be used to generate a trajectory for a wire lap weld:
step one, determining the following parameters: starting point P of straight line swing welding s (x s ,y s ,z s ) And endpoint P e (x e ,y e ,z e ) Swing welding height h, swing welding density m (length of one cycle).
Step two, calculating a reference point on the linear welding lineCoordinates. Assuming that each period has an interpolation point, the interpolation point is set as P 1 ,P 2 ,P 3 ,P 4 ,…P n If there are two interpolation points, the interpolation point is set to P 11 ,P 12 ,P 21 ,P 22 ,…P n1 ,P n2 And so on. The first interpolation point passing through each period makes a perpendicular to the straight line weld, and the intersection point is called a reference point. Let the reference point on the weld be P' 1 ,P′ 2 ,P′ 3 ,P′ 4 ,…P′ n 。
Calculating length L and direction vector of straight line weldThe length and direction vector of the weld can be determined according to the coordinates of the first and last points of the straight line. Determining the position of a reference point according to the swing welding density m; the shape of the pendulum welding is fixed, so that the density m of each period is the same, and parameter adjustment is carried out on the density to ensure that the end of the pendulum welding is a complete period. Setting the nth period currently in swing welding, and according to the periodic principle, the interpolation point P of each period n Corresponding to a reference point P 'on the straight welding line' n The ratio of the distance of each reference point compared with the starting point to the total length of the welding line can be obtained by using the swing welding density m: k=n×m/L.
Calculating coordinates of the reference points;
and thirdly, establishing a pendulum welding relative coordinate system. Let world coordinate system be W 0 The direction from the start point to the end point is taken as the Y-axis directionThe Z axis of TCP is the Z axis of the relative coordinate system, set as +.>Establishing a relative coordinate system W at the corresponding reference point of each period 1 ,W 2 ,W 3 ,W 4 ,…W n . The X-axis direction of the relative coordinate system is the welding swing direction, which is set as +.>Is obtained by cross multiplication of the two: />
The coordinates of each reference point on the weld are used as the origin of the relative coordinate system, thereby obtaining n new coordinate systems. The homogeneous transformation matrix T from the relative coordinate system to the world coordinate system is:
and step four, calculating coordinates of the interpolation points under a relative coordinate system. Due to the fact that each period interpolation point is in the relative coordinate system W of the welding line n The coordinates below are the same, and only the relative coordinates of the first period need be required. The calculated relative coordinates are different for different types of pendulum welding due to different spatial geometries.
FIG. 3 is a schematic diagram of a trace of a Z-swing weld provided in accordance with an alternative embodiment of the present invention, taken as an example, at reference point P of each cycle n The relative coordinate system of the pendulum welding is established on' the pendulum welding height h can be used for calculating the relative coordinates of interpolation points, two interpolation points are arranged in one period of the Z shape, pn1 and Pn2 are set, and the relative coordinates are as follows: a1 = (h/2,0,0), a2= (-h/2, m/2, 0).
FIG. 4 is a schematic illustration of a triangular tack weld trajectory provided in accordance with an alternative embodiment of the present invention, if the tack weld shape is triangular, at a reference point P for each cycle n The method is characterized in that a pendulum welding relative coordinate system is established on' the pendulum welding relative coordinate system, a width d of a new parameter triangle needs to be introduced, three interpolation points are arranged in one period, and the three relative coordinates of the interpolation points can be calculated according to the pendulum welding height h, the pendulum welding density m and the triangle width d, wherein the three interpolation points are set to be Pn1, pn2 and Pn 3: b1 = (h/2,0,0), b2= (0, d, 0), b3= (-h/2, m, 0).
Step5, obtaining the world coordinate system W of the interpolation point 0 The coordinates below. Is provided withThe relative coordinates obtained by Step4 are (a, b, c), and each interpolation point P can be obtained in turn from the homogeneous transformation matrix T of Step3 n (x n ,y n ,z n ) Coordinates of (c): [ x ] n ,y n ,z n ,1] T ＝T[a,b,c,1] T 。
Taking Z-shaped swing welding as an example, obtaining an interpolation point P n (P n1 ,P n2 ) The coordinates of (a) are: [ x ] n1 ,y n1 ,z n1 ,1] T ＝T[h/2,0,0,1] T ，[x n2 ,y n2 ,z n2 ,1] T ＝T[-h/2,m/2,0,1] T 。
And splicing the interpolation points into a motion segment, and completing the planning of the straight line swing welding track. Taking only two shapes as examples, other pendulum welding shapes can be similarly calculated according to geometric methods according to different geometric types.
It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present invention is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present invention. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present invention.
From the above description of the embodiments, it will be clear to those skilled in the art that the method for generating a trajectory of a straight-line swing welding according to the above embodiments may be implemented by means of software plus a necessary general hardware platform, and of course may also be implemented by hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
According to an embodiment of the present invention, there is further provided a track generation device for performing the above track generation method for swing welding, and fig. 5 is a block diagram of a track generation device for swing welding according to an embodiment of the present invention, where, as shown in fig. 5, the track generation device for swing welding includes: the acquisition module 52, the first determination module 54, the second determination module 56, and the generation module 58 are described below as the trajectory generation device of the straight swing welding.
The obtaining module 52 is configured to obtain a start point coordinate of the start point of the line swing welding under the workpiece coordinate system and an end point coordinate of the end point of the line swing welding under the workpiece coordinate system, and a swing welding length and a target swing welding type, where the swing welding length is a distance that the welding gun moves along the welding direction in the swing welding period.
The first determining module 54 is connected to the obtaining module 52, and is configured to determine a first reference coordinate of the reference point in the workpiece coordinate system in the swing welding period according to the start point coordinate, the end point coordinate and the swing welding length.
The second determining module 56 is connected to the first determining module 54, and is configured to determine, according to the target swing welding type and the first reference coordinate, a first track coordinate of the target track point in the workpiece coordinate system in the swing welding period.
The generating module 58 is connected to the second determining module 56, and is configured to generate a trajectory of the line swing welding according to the start point coordinate, the end point coordinate, and the first trajectory coordinate.
Here, the above-mentioned obtaining module 52, the first determining module 54, the second determining module 56, and the generating module 58 correspond to steps S202 to S208 in the embodiment, and a plurality of modules are the same as examples and application scenarios implemented by the corresponding steps, but are not limited to those disclosed in the above-mentioned embodiment. It should be noted that the above-described module may be operated as a part of the apparatus in the computer terminal 10 provided in the embodiment.
Embodiments of the present invention may provide a computer device, optionally in this embodiment, the computer device may be located in at least one network device of a plurality of network devices of a computer network. The computer device includes a memory and a processor.
The memory may be used to store software programs and modules, such as program instructions/modules corresponding to the method and apparatus for generating a trajectory of a linear swing welding in the embodiments of the present invention, and the processor executes the software programs and modules stored in the memory, thereby executing various functional applications and data processing, that is, implementing the method for generating a trajectory of a linear swing welding. The memory may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include memory remotely located relative to the processor, which may be connected to the computer terminal via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The processor may call the information and the application program stored in the memory through the transmission device to perform the following steps: acquiring a starting point coordinate of a starting point of the linear swing welding under a workpiece coordinate system, an end point coordinate of an end point of the linear swing welding under the workpiece coordinate system, a swing welding length and a target swing welding type, wherein the swing welding length is a distance of a welding gun moving along a welding direction in a swing welding period; determining a first reference coordinate of a reference point in a swing welding period under a workpiece coordinate system according to a starting point coordinate, an end point coordinate and a swing welding length; determining a first track coordinate of a target track point in a swing welding period under a workpiece coordinate system according to the target swing welding type and the first reference coordinate; and generating a track of the linear swing welding according to the starting point coordinates, the end point coordinates and the first track coordinates.
Optionally, determining the first track coordinate of the target track point in the swing welding period under the workpiece coordinate system according to the target swing welding type and the first reference coordinate includes: determining a target relative position relation corresponding to a target swing welding type, wherein the target relative position relation represents a position relation between a reference point and a target track point in a swing welding period; and determining the first track coordinate according to the relative position relation between the first reference coordinate and the target.
Optionally, determining the first track coordinate according to the first reference coordinate and the target relative position relation includes: establishing a reference coordinate system by taking a reference point as an origin, a welding direction as a Y-axis direction and a swinging direction of straight line swing welding as an X-axis direction; determining a transformation relation from a reference coordinate system to a workpiece coordinate system; determining a second track coordinate of the target track point under a reference coordinate system according to the relative position relation of the target; and converting the second track coordinate according to the transformation relation to obtain the first track coordinate.
Optionally, determining the target relative position relationship corresponding to the target swing welding type includes: acquiring a corresponding relation between a predetermined swing welding type and a relative position relation; and in the corresponding relation, determining the relative position relation corresponding to the swing welding type matched with the target swing welding type as the target relative position relation.
Optionally, the correspondence is determined by: acquiring a plurality of predetermined swing welding types and swing welding tracks of the swing welding types respectively; respectively determining inflection points in swing welding tracks of each of a plurality of swing welding types as experimental track points; respectively determining experimental reference points corresponding to experimental track points, wherein the experimental reference points are intersection points obtained by making vertical lines from the experimental track points to welding lines, and the welding lines are straight lines with starting points pointing to end points in swing welding tracks of a plurality of swing welding types; and respectively determining the position relationship between the experimental track point and the experimental reference point as a plurality of relative position relationships, wherein the plurality of relative position relationships are in one-to-one correspondence with the plurality of swing welding types.
Optionally, determining the first reference coordinate of the reference point in the swing welding period under the workpiece coordinate system according to the start point coordinate, the end point coordinate and the swing welding length includes: determining a vector of the start point coordinates to the end point coordinates; under the condition that the straight line swing welding comprises a plurality of swing welding periods, respectively determining the serial numbers of the swing welding periods; according to the serial numbers and the swing welding lengths of the swing welding periods, the distances between the reference points of the swing welding periods and the starting points are respectively determined; and determining the first reference coordinate according to the starting point coordinate, the distance between the reference points of the swing welding periods relative to the starting point and the vector of the starting point coordinate pointing to the end point coordinate.
Optionally, the method further comprises: and sending the track of the linear swing welding to a swing welding robot, wherein the swing welding robot performs welding according to the track of the linear swing welding.
By adopting the embodiment of the invention, a scheme for generating the track of the straight line swing welding is provided. Acquiring a starting point coordinate of a starting point of the linear swing welding under a workpiece coordinate system, an end point coordinate of an end point of the linear swing welding under the workpiece coordinate system, a swing welding length and a target swing welding type, wherein the swing welding length is a distance of a welding gun moving along a welding direction in a swing welding period; determining a first reference coordinate of a reference point in a swing welding period under a workpiece coordinate system according to a starting point coordinate, an end point coordinate and a swing welding length; determining a first track coordinate of a target track point in a swing welding period under a workpiece coordinate system according to the target swing welding type and the first reference coordinate; according to the starting point coordinates, the end point coordinates and the first track coordinates, the track of the straight line swing welding is generated, and the purpose of generating the swing welding tracks conforming to different swing welding types according to preset swing welding types is achieved, so that the technical effect of supporting generation of swing welding tracks of various swing welding types is achieved, and the technical problems that the swing welding types supported by the existing swing welding track generation method are few and the practical application is very limited are solved.
Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be implemented by a program for instructing a terminal device to execute on associated hardware, the program may be stored in a non-volatile storage medium, and the storage medium may include: flash disk, read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), magnetic or optical disk, and the like.
Embodiments of the present invention also provide a nonvolatile storage medium. Alternatively, in the present embodiment, the above-described nonvolatile storage medium may be used to store the program code executed by the trajectory generation method of the straight swing welding provided in the above-described embodiment.
Alternatively, in this embodiment, the above-mentioned nonvolatile storage medium may be located in any one of the computer terminals in the computer terminal group in the computer network, or in any one of the mobile terminals in the mobile terminal group.
Optionally, in the present embodiment, the non-volatile storage medium is arranged to store program code for performing the steps of: acquiring a starting point coordinate of a starting point of the linear swing welding under a workpiece coordinate system, an end point coordinate of an end point of the linear swing welding under the workpiece coordinate system, a swing welding length and a target swing welding type, wherein the swing welding length is a distance of a welding gun moving along a welding direction in a swing welding period; determining a first reference coordinate of a reference point in a swing welding period under a workpiece coordinate system according to a starting point coordinate, an end point coordinate and a swing welding length; determining a first track coordinate of a target track point in a swing welding period under a workpiece coordinate system according to the target swing welding type and the first reference coordinate; and generating a track of the linear swing welding according to the starting point coordinates, the end point coordinates and the first track coordinates.
Optionally, determining the first track coordinate of the target track point in the swing welding period under the workpiece coordinate system according to the target swing welding type and the first reference coordinate includes: determining a target relative position relation corresponding to a target swing welding type, wherein the target relative position relation represents a position relation between a reference point and a target track point in a swing welding period; and determining the first track coordinate according to the relative position relation between the first reference coordinate and the target.
Optionally, determining the first track coordinate according to the first reference coordinate and the target relative position relation includes: establishing a reference coordinate system by taking a reference point as an origin, a welding direction as a Y-axis direction and a swinging direction of straight line swing welding as an X-axis direction; determining a transformation relation from a reference coordinate system to a workpiece coordinate system; determining a second track coordinate of the target track point under a reference coordinate system according to the relative position relation of the target; and converting the second track coordinate according to the transformation relation to obtain the first track coordinate.
Optionally, determining the target relative position relationship corresponding to the target swing welding type includes: acquiring a corresponding relation between a predetermined swing welding type and a relative position relation; and in the corresponding relation, determining the relative position relation corresponding to the swing welding type matched with the target swing welding type as the target relative position relation.
Optionally, the correspondence is determined by: acquiring a plurality of predetermined swing welding types and swing welding tracks of the swing welding types respectively; respectively determining inflection points in swing welding tracks of each of a plurality of swing welding types as experimental track points; respectively determining experimental reference points corresponding to experimental track points, wherein the experimental reference points are intersection points obtained by making vertical lines from the experimental track points to welding lines, and the welding lines are straight lines with starting points pointing to end points in swing welding tracks of a plurality of swing welding types; and respectively determining the position relationship between the experimental track point and the experimental reference point as a plurality of relative position relationships, wherein the plurality of relative position relationships are in one-to-one correspondence with the plurality of swing welding types.
Optionally, determining the first reference coordinate of the reference point in the swing welding period under the workpiece coordinate system according to the start point coordinate, the end point coordinate and the swing welding length includes: determining a vector of the start point coordinates to the end point coordinates; under the condition that the straight line swing welding comprises a plurality of swing welding periods, respectively determining the serial numbers of the swing welding periods; according to the serial numbers and the swing welding lengths of the swing welding periods, the distances between the reference points of the swing welding periods and the starting points are respectively determined; and determining the first reference coordinate according to the starting point coordinate, the distance between the reference points of the swing welding periods relative to the starting point and the vector of the starting point coordinate pointing to the end point coordinate.
Optionally, the method further comprises: and sending the track of the linear swing welding to a swing welding robot, wherein the swing welding robot performs welding according to the track of the linear swing welding.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a non-volatile storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-only memory (ROM), a random access memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.

Claims (10)

1. The track generation method for the straight line swing welding is characterized by comprising the following steps of:
acquiring a starting point coordinate of a starting point of the line swing welding under a workpiece coordinate system, an end point coordinate of an end point of the line swing welding under the workpiece coordinate system, a swing welding length and a target swing welding type, wherein the swing welding length is a distance of a welding gun moving along a welding direction in a swing welding period;
determining a first reference coordinate of a reference point in the swing welding period under the workpiece coordinate system according to the starting point coordinate, the end point coordinate and the swing welding length;
determining a first track coordinate of a target track point in the swing welding period under the workpiece coordinate system according to the target swing welding type and the first reference coordinate;
and generating the track of the straight line swing welding according to the starting point coordinate, the end point coordinate and the first track coordinate.
2. The method of claim 1, wherein determining a first trajectory coordinate of the target trajectory point in the workpiece coordinate system during the tack welding cycle based on the target tack welding type and the first reference coordinate comprises:
Determining a target relative position relation corresponding to the target swing welding type, wherein the target relative position relation represents the position relation between the reference point and the target track point in the swing welding period;
and determining the first track coordinate according to the relative position relation between the first reference coordinate and the target.
3. The method of claim 2, wherein said determining said first track coordinates from said first reference coordinates and said target relative positional relationship comprises:
establishing a reference coordinate system by taking the reference point as an original point, the welding direction as a Y-axis direction and the swinging direction of the straight line swing welding as an X-axis direction;
determining a transformation relationship of the reference coordinate system to the object coordinate system;
determining a second track coordinate of the target track point under the reference coordinate system according to the relative position relation of the target;
and according to the transformation relation, converting the second track coordinate to obtain the first track coordinate.
4. The method of claim 2, wherein the determining the target relative positional relationship corresponding to the target stitch type comprises:
Acquiring a corresponding relation between a predetermined swing welding type and a relative position relation;
and in the corresponding relation, determining the relative position relation corresponding to the swing welding type matched with the target swing welding type as the target relative position relation.
5. The method of claim 4, wherein the correspondence is determined by:
acquiring a plurality of predetermined swing welding types and swing welding tracks of the swing welding types respectively;
respectively determining inflection points in swing welding tracks of the swing welding types as experimental track points;
respectively determining experimental reference points corresponding to the experimental track points, wherein the experimental reference points are intersection points obtained by making perpendicular lines from the experimental track points to welding lines, and the welding lines are straight lines from starting points to end points in the swing welding tracks of the plurality of swing welding types;
and respectively determining the position relationship between the experimental track point and the experimental reference point as a plurality of relative position relationships, wherein the plurality of relative position relationships are in one-to-one correspondence with the plurality of pendulum welding types.
6. The method of claim 1, wherein determining a first reference coordinate of a reference point in the work piece coordinate system for the tack weld cycle based on the start point coordinate, the end point coordinate, and the tack weld length comprises:
Determining a vector in which the start point coordinates point to the end point coordinates;
under the condition that the straight line swing welding comprises a plurality of swing welding periods, respectively determining the serial numbers of the swing welding periods;
according to the serial numbers of the swing welding periods and the swing welding lengths, the distances between the reference points of the swing welding periods and the starting points are respectively determined;
and determining the first reference coordinate according to the starting point coordinate, the distance between the reference points of the swing welding periods and the starting point, and the vector of the starting point coordinate pointing to the end point coordinate.
7. The method according to any one of claims 1 to 6, further comprising:
and sending the track of the linear swing welding to a swing welding robot, wherein the swing welding robot performs welding according to the track of the linear swing welding.
8. A trajectory generation device for straight line swing welding, comprising:
the device comprises an acquisition module, a welding control module and a welding control module, wherein the acquisition module is used for acquiring a starting point coordinate of a starting point of the straight line swing welding under a workpiece coordinate system, an end point coordinate of an end point of the straight line swing welding under the workpiece coordinate system, a swing welding length and a target swing welding type, wherein the swing welding length is a distance of a welding gun moving along a welding direction in a swing welding period;
The first determining module is used for determining a first reference coordinate of a reference point in the swing welding period under the workpiece coordinate system according to the starting point coordinate, the end point coordinate and the swing welding length;
the second determining module is used for determining a first track coordinate of the target track point in the swing welding period under the workpiece coordinate system according to the target swing welding type and the first reference coordinate;
and the generation module is used for generating the track of the straight line swing welding according to the starting point coordinate, the end point coordinate and the first track coordinate.
9. A nonvolatile storage medium, characterized in that the nonvolatile storage medium includes a stored program, wherein the program, when run, controls a device in which the nonvolatile storage medium is located to execute the trajectory generation method of the straight swing welding according to any one of claims 1 to 7.
10. A computer device, comprising: a memory and a processor, wherein the memory is configured to store,
the memory stores a computer program;
the processor is configured to execute a computer program stored in the memory, and the computer program when executed causes the processor to execute the trajectory generation method of the straight line swing welding according to any one of claims 1 to 7.
CN202311793316.6A 2023-12-22 2023-12-22 Track generation method and device for linear swing welding, storage medium and computer equipment Pending CN117506932A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311793316.6A CN117506932A (en) 2023-12-22 2023-12-22 Track generation method and device for linear swing welding, storage medium and computer equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311793316.6A CN117506932A (en) 2023-12-22 2023-12-22 Track generation method and device for linear swing welding, storage medium and computer equipment

Publications (1)

Publication Number Publication Date
CN117506932A true CN117506932A (en) 2024-02-06

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