WO2021114692A1 - Welding control method and welding control system - Google Patents

Welding control method and welding control system Download PDF

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Publication number
WO2021114692A1
WO2021114692A1 PCT/CN2020/106399 CN2020106399W WO2021114692A1 WO 2021114692 A1 WO2021114692 A1 WO 2021114692A1 CN 2020106399 W CN2020106399 W CN 2020106399W WO 2021114692 A1 WO2021114692 A1 WO 2021114692A1
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Prior art keywords
welding
welding control
module
control
groove
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PCT/CN2020/106399
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French (fr)
Chinese (zh)
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刘曙
欧阳超
张耀林
陈振明
彭湃
常青
李龙海
唐楚发
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中建科工集团有限公司
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Priority to JP2020600248U priority Critical patent/JP3239759U/en
Publication of WO2021114692A1 publication Critical patent/WO2021114692A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • 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
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups

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  • the present invention relates to the field of welding technology, in particular to a welding control method and a welding control system.
  • the present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes an accurate, efficient, and automated welding control method.
  • the present invention also proposes an accurate, reliable and automated welding control system.
  • an embodiment of the present invention provides a welding control method, which includes:
  • the welding robot is controlled to weld the welding groove according to the welding control parameter and the welding control program.
  • a welding control method in an embodiment of the present invention obtains parameter information of a welding groove, then calls a welding control parameter corresponding to the parameter information according to the obtained parameter information and generates a welding control program, and finally passes the welding control parameter and
  • the welding control program controls the welding robot to weld the welding groove; solves the technical problems of low welding technology efficiency, poor weld formation quality, and poor applicability in the prior art, and provides an accurate, efficient, and automated welding control method .
  • the parameter information includes the starting point position information of the welding groove, the ending position information of the welding groove, and the characteristic inflection point of the welding groove.
  • the invoking the corresponding welding control parameter according to the parameter information and generating the welding control program specifically includes:
  • the welding control program is generated by combining the start-point position information, the end-point position information, the characteristic inflection point, and the positive and negative solution program of the welding robot.
  • the welding control parameters include welding voltage, wire feeding speed, and row data.
  • the welding control method further includes:
  • the welding control method further includes:
  • an embodiment of the present invention provides a welding control system, which includes:
  • the welding groove detection module is used to detect the welding groove to obtain parameter information, call corresponding welding control parameters according to the parameter information, and generate a welding control program;
  • a welding control module is connected to the welding groove detection module, and is used to receive the welding control parameter and the welding control program;
  • a welding movement module is connected to the welding control module, and the welding control module controls the movement of the welding movement module according to the welding control program;
  • the welding module is arranged on the welding movement module, and the welding control module controls the welding module to weld the welding groove according to the welding control parameter.
  • the welding control system further includes:
  • the temperature detection module is configured to detect the temperature information of the welding groove before welding, and send the temperature information to the welding control module.
  • the welding control system further includes:
  • a collision avoidance monitoring module the collision avoidance monitoring module is used to monitor the distance information between the welding movement module and the obstacle, and send the distance information to the welding control module.
  • the welding groove detection module includes a laser triangulation detection device and a detection acquisition processing module;
  • the laser triangulation detection device is respectively connected to the welding control module and the detection acquisition processing module, and the laser triangulation detection device is controlled by the welding control module and is used to detect the welding groove to obtain the parameter Information, and transmit the parameter information to the detection, acquisition and processing module;
  • the detection, acquisition and processing module is connected to the welding control module, and after the detection, acquisition and processing module calls the corresponding welding control parameters according to the parameter information and generates the welding control program, the welding control parameters are combined with the welding control parameters.
  • the welding control program is transmitted to the welding control module.
  • the welding control module includes an industrial computer, a motion control device, and a detection controller;
  • the detection controller controls the laser triangulation detection equipment to detect the welding groove to obtain the parameter information
  • the industrial computer is respectively connected with the motion control device, the detection controller, and the detection acquisition processing module, and is used to receive the welding control parameters and the welding control program transmitted by the detection acquisition processing module, and The welding module is controlled and monitored according to the welding control parameters, and the motion control device is controlled and monitored according to the welding control program.
  • the welding motion module includes a welding robot body, a welding robot moving guide rail, and a driver; the driver receives a control instruction from the motion control device and is used to control the welding robot The body moves on the moving rail of the welding robot.
  • Fig. 1 is a flowchart of a specific embodiment of a welding control method according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of another specific embodiment of a welding control method according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of another specific embodiment of a welding control method according to an embodiment of the present invention.
  • Fig. 4 is a block diagram of a specific embodiment of a welding control system according to an embodiment of the present invention.
  • the welding control method includes the following steps:
  • the parameter information of the welding groove includes the position information of the starting point of the welding groove, the position information of the ending point of the welding groove, and the characteristic inflection point of the welding groove.
  • the welding groove is detected by a welding groove detection module composed of a laser triangulation detection device and a detection acquisition and processing module.
  • the laser triangle detection device scans the welding groove to obtain the point cloud data of the welding groove. And obtain the coordinate information of each point cloud in the point cloud data.
  • the detection acquisition processing module After the coordinate information of the point cloud is transmitted to the detection acquisition processing module, the detection acquisition processing module performs slope analysis on the received coordinate information of each point cloud and then performs a straight line fitting method Extract the characteristic inflection point of the welding groove, where the sudden change of the slope is the characteristic inflection point of the welding groove.
  • the width and thickness of the welding groove can be obtained by analyzing the characteristic inflection point, and by comparing the point cloud of each frame
  • the height average value is calculated from the coordinate information, and the position information where the height changes suddenly is the starting point position information and the ending point position information of the welding groove, and the length of the welding groove can be obtained according to the starting point position information and the ending point position information.
  • the detection, acquisition and processing module obtains the corresponding welding groove type according to the size parameter information of the welding groove, and further calls the welding control parameter corresponding to the welding groove type from the welding process library, where: Welding control parameters include welding voltage, wire feed speed and row data.
  • Welding control parameters include welding voltage, wire feed speed and row data.
  • the welding control program is generated by combining the starting point position information, the ending point position information, the characteristic inflection point, and the positive and negative solution program of the welding robot.
  • the welding control module receives the aforementioned welding control parameters and welding control program, and the welding control module controls the welding robot to weld the welding groove according to the received welding control parameters and welding control program.
  • the welding control module includes an industrial computer, a motion control device, and a detection controller.
  • the welding robot includes a welding motion module and a welding module.
  • the welding motion module specifically includes a welding robot body, a welding robot moving guide rail and a driver, and a welding module. Including welding machines, wire feeders, gas cylinders and other devices.
  • the detection controller is used to control the above-mentioned laser triangulation detection equipment to perform the pre-welding detection work on the welding groove
  • the industrial computer is used to receive the welding control parameters and welding control program transmitted from the detection acquisition processing module, and then the welding control program It is transmitted to the motion control device, and the motion control device sends a control instruction to the driver according to the welding control program, and the driver controls the welding robot body to move on the welding robot moving rail according to the welding control instruction.
  • the welding modules including welding machines, wire feeders, gas cylinders, etc.
  • the control instruction of the welding work is carried out on the welding groove.
  • a welding control method in an embodiment of the present invention is based on the welding control method in Embodiment 1. Before welding the welding groove, the following steps are added:
  • S220 Determine whether the temperature information reaches a preset threshold
  • the welding control module controls the welding movement module and the welding module to weld the welding groove according to the welding control parameters and the welding control program.
  • the temperature information of the welding groove is acquired by providing a temperature sensor, and the acquired temperature information is sent to the welding control module to effectively detect the temperature information before welding. Through the temperature detection, the welding work can be avoided when the temperature information of the welding groove does not meet the preset temperature, and the problems of unqualified welding quality, waste of welding materials, and long welding time can be avoided.
  • a welding control method in an embodiment of the present invention is based on the welding control method in the second embodiment.
  • the following steps are added:
  • the distance information between the welding robot and the obstacle is obtained by providing an anti-collision sensor.
  • the anti-collision sensor is provided in the welding robot body mentioned above, and as the welding robot body moves on the welding robot moving rail Monitor the distance information between it and the obstacle, and send the distance information to the industrial computer.
  • the industrial computer judges whether it is less than the preset distance according to the received distance information, and then outputs the control signal to the motion control device to control the motion state of the welding robot body .
  • the anti-collision sensor is provided to detect the distance information between the welding robot body and the obstacle, so that the safety of real-time detection of the welding work during the welding process is improved.
  • a welding control method in the present invention obtains parameter information of the welding groove, and then calls the welding control parameter corresponding to the parameter information according to the obtained parameter information and generates the welding control Finally, the welding robot is controlled to perform welding work on the welding groove through the welding control parameters and welding control program; and by obtaining the temperature information of the welding groove before welding, it is determined whether to perform the welding work, and at the same time, by obtaining the welding work during welding.
  • the distance information between the robot and the obstacle determines whether to control the welding robot to continue working; it solves the technical problems of low welding technology efficiency, poor welding seam formation quality, poor applicability, and poor safety in the prior art, and provides an accurate and efficient, Safe and automated welding control method.
  • an embodiment of the present invention provides a welding control system, which includes:
  • the welding groove detection module is used to detect the welding groove to obtain parameter information, call the corresponding welding control parameters according to the parameter information and generate the welding control program;
  • Welding control module which is connected to the welding groove detection module to receive welding control parameters and welding control programs
  • Welding movement module the welding movement module is connected with the welding control module, and the welding control module controls the movement of the welding movement module according to the welding control program;
  • the welding module is arranged on the welding movement module, and the welding control module controls the welding module to weld the welding groove according to the welding control parameters.
  • the welding groove detection module includes a laser triangulation detection device and a detection acquisition processing module.
  • the laser triangulation detection device is controlled by the welding control module and is used to detect the welding groove to obtain parameter information and transmit the parameter information to The detection, acquisition and processing module.
  • the laser triangulation detection equipment scans the welding groove to obtain the point cloud data of the welding groove, and obtains the coordinate information of each point cloud in the point cloud data. After the coordinate information of the point cloud is transmitted to the detection acquisition processing module, the detection acquisition processing module The slope analysis of the received coordinate information of each point cloud is followed by a straight line fitting method to extract the characteristic inflection point of the welding groove.
  • the position where the slope changes abruptly is the characteristic inflection point of the welding groove, and the characteristic inflection point obtained by analysis is sufficient.
  • the width and thickness of the welding groove are obtained, and the height average value is obtained by obtaining the coordinate information of the point cloud of each frame.
  • the position information of the sudden change in height is the starting and ending position information of the welding groove.
  • the length of the welding groove can be obtained by the position information and the end position information.
  • the detection, acquisition and processing module obtains the corresponding welding groove type through the above-mentioned welding groove size parameter information, and further calls the welding control parameters corresponding to the welding groove type from the welding process library.
  • the welding control parameters include welding voltage and wire feeding. Speed and lane data.
  • the row data includes the height information of the weld bead, the thickness information of the weld bead, and the quantity information of the weld bead during welding.
  • the welding control program is generated by combining the starting point position information, the ending point position information, the characteristic inflection point, and the positive and negative solution program of the welding robot.
  • the welding control module includes a welding control module including an industrial computer, a motion control device, and a detection controller; wherein, the detection controller is connected to the laser triangulation detection equipment, and is used to control the laser triangulation detection equipment to detect the welding groove To obtain parameter information.
  • the industrial computer is respectively connected with the motion control device, the detection controller, and the detection acquisition and processing module, and is used to receive the welding control parameters and welding control programs transmitted from the detection acquisition and processing module, and control and monitor the welding module according to the welding control parameters.
  • the welding control program controls and monitors the motion control device.
  • the welding motion module includes a welding robot body, a welding robot moving rail and a driver; wherein the driver receives a control instruction from the motion control device to control the welding robot body to move on the welding robot moving rail.
  • the welding module includes a welding machine, a wire feeder, a gas cylinder and other devices.
  • the welding module (including a welding machine, a wire feeder, a gas cylinder, etc.) is arranged on the welding robot body, and follows the welding robot body in the welding The robot moves by moving on the guide rail, and receives the control instructions generated by the industrial computer according to the welding control parameters to perform welding work on the welding groove.
  • the welding control system further includes a temperature detection module, which is used to detect the temperature information of the welding groove before welding, and send the temperature information to the welding control module.
  • the temperature detection module can be realized by a temperature sensor, the temperature information of the welding groove is acquired by setting the temperature sensor, and the acquired temperature information is sent to the welding control module to effectively detect the temperature information before welding. Through the temperature detection, the welding work can be avoided when the temperature information of the welding groove does not meet the preset temperature, and the problems of unqualified welding quality, waste of welding materials, and long welding time can be avoided.
  • the welding control system further includes an anti-collision monitoring module, which is used to monitor the distance information between the welding movement module and the obstacle, and send the distance information to the welding control module.
  • the anti-collision monitoring module can be realized by an anti-collision sensor.
  • the distance information between the welding robot and the obstacle is acquired by the anti-collision sensor.
  • the anti-collision sensor is installed in the above-mentioned welding robot body. The movement of the robot on the moving rail monitors the distance information between it and the obstacle, and sends the distance information to the industrial computer.
  • the industrial computer judges whether it is less than the preset distance according to the received distance information, and then outputs the control signal to the motion control device for control The motion state of the welding robot body.
  • the anti-collision sensor is provided to detect the distance information between the welding robot body and the obstacle, so that the safety of real-time detection of the welding work during the welding process is improved.
  • a welding control system in an embodiment of the present invention acquires parameter information of welding grooves by setting a welding groove detection module, calls corresponding welding control parameters according to the parameter information, generates welding control programs, and transmits them to welding control Module, the welding control module controls the movement of the welding motion module according to the welding control program, and controls the welding module to weld the welding groove according to the welding control parameters; solves the problem of low welding technology efficiency and poor welding seam formation quality in the prior art , The technical problem of poor applicability provides an accurate, efficient, and automated welding control system.

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Abstract

A welding control method and a welding control system. The welding control method comprises acquiring parameter information of a welding groove; then, according to the acquired parameter information, calling welding control parameters that correspond to the parameter information and generating a welding control program; and finally, using the welding control parameters and the welding control program to control a welding robot to perform a welding operation on the welding groove.

Description

焊接控制方法及焊接控制系统Welding control method and welding control system 技术领域Technical field
本发明涉及焊接技术领域，尤其是涉及一种焊接控制方法及焊接控制系统。The present invention relates to the field of welding technology, in particular to a welding control method and a welding control system.
背景技术Background technique
随着工业的快速发展，焊接成型技术广泛应用于各个技术领域中。在建筑、船舶、工程机械等技术领域，大型焊接结构的需求越来越大，并且对焊接的质量和效率要求也越来越高。With the rapid development of industry, welding forming technology is widely used in various technical fields. In the technical fields of construction, shipbuilding, and engineering machinery, the demand for large-scale welded structures is increasing, and the requirements for welding quality and efficiency are also getting higher and higher.
但是，当前的焊接方式还普遍采用人工焊接或半自动化焊接的方式，而由于人工焊接或半自动化焊接方式存在焊接效率低下、焊缝成形质量无法保证并且在恶劣环境下很难顺利完成焊接工作。However, the current welding methods generally use manual welding or semi-automatic welding. However, due to the low welding efficiency of manual welding or semi-automatic welding, the quality of weld formation cannot be guaranteed, and it is difficult to successfully complete the welding work in harsh environments.
因此，如何解决上述人工焊接或半自动化焊接方式所存在的技术问题，成为本领域技术人员急需克服的难题。Therefore, how to solve the technical problems existing in the aforementioned manual welding or semi-automatic welding methods has become an urgent problem for those skilled in the art to overcome.
发明内容Summary of the invention
本发明旨在至少解决现有技术中存在的技术问题之一。为此，本发明提出一种精确高效的、自动化的焊接控制方法。The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes an accurate, efficient, and automated welding control method.
为此，本发明还提出了一种精确可靠的、自动化的焊接控制系统。For this reason, the present invention also proposes an accurate, reliable and automated welding control system.
第一方面，本发明的一个实施例提供了一种焊接控制方法，其包括：In the first aspect, an embodiment of the present invention provides a welding control method, which includes:
获取焊接坡口的参数信息；Obtain the parameter information of the welding groove;
根据所述参数信息调用对应的焊接控制参数并生成焊接控制程序；Call corresponding welding control parameters according to the parameter information and generate a welding control program;
根据所述焊接控制参数和所述焊接控制程序控制焊接机器人对所述焊接坡口进行焊接。The welding robot is controlled to weld the welding groove according to the welding control parameter and the welding control program.
本发明实施例的焊接控制方法至少具有如下有益效果：The welding control method of the embodiment of the present invention has at least the following beneficial effects:
本发明实施例中一种焊接控制方法，其通过获取焊接坡口的参数信息，再根据获取的参数信息调用对应于该参数信息的焊接控制参数并生成焊接控制程序，最后通过该焊接控制参数和焊接控制程序控制焊接机器人对焊接坡口进行焊接 工作；解决了现有技术中焊接技术效率低、焊缝形成质量差、适用性差的技术问题，提供了一种精确高效的、自动化的焊接控制方法。A welding control method in an embodiment of the present invention obtains parameter information of a welding groove, then calls a welding control parameter corresponding to the parameter information according to the obtained parameter information and generates a welding control program, and finally passes the welding control parameter and The welding control program controls the welding robot to weld the welding groove; solves the technical problems of low welding technology efficiency, poor weld formation quality, and poor applicability in the prior art, and provides an accurate, efficient, and automated welding control method .
根据本发明的另一些实施例的焊接控制方法，所述参数信息包括所述焊接坡口的起点位置信息、所述焊接坡口的终点位置信息和所述焊接坡口的特征拐点。According to the welding control method of other embodiments of the present invention, the parameter information includes the starting point position information of the welding groove, the ending position information of the welding groove, and the characteristic inflection point of the welding groove.
根据本发明的另一些实施例的焊接控制方法，所述根据所述参数信息调用对应的焊接控制参数并生成焊接控制程序具体包括：According to the welding control method of other embodiments of the present invention, the invoking the corresponding welding control parameter according to the parameter information and generating the welding control program specifically includes:
根据所述起点位置信息、所述终点位置信息和所述特征拐点获得对应的焊接坡口类型；Obtaining a corresponding welding groove type according to the starting point position information, the ending point position information, and the characteristic inflection point;
根据所述焊接坡口类型调用所述焊接控制参数；Calling the welding control parameter according to the welding groove type;
结合所述起点位置信息、所述终点位置信息、所述特征拐点和所述焊接机器人的正反解程序生成所述焊接控制程序。The welding control program is generated by combining the start-point position information, the end-point position information, the characteristic inflection point, and the positive and negative solution program of the welding robot.
根据本发明的另一些实施例的焊接控制方法，所述焊接控制参数包括焊接电压、送丝速度和排道数据。According to the welding control method of other embodiments of the present invention, the welding control parameters include welding voltage, wire feeding speed, and row data.
根据本发明的另一些实施例的焊接控制方法，所述焊接控制方法还包括：According to the welding control method of other embodiments of the present invention, the welding control method further includes:
进行焊接前，获取所述焊接坡口的温度信息；Before welding, obtain the temperature information of the welding groove;
判断所述温度信息是否达到预设阈值；Judging whether the temperature information reaches a preset threshold;
若是，则根据所述焊接控制参数控制焊接机器人对所述焊接坡口进行焊接；If yes, controlling the welding robot to weld the welding groove according to the welding control parameters;
否则，继续获取所述温度信息，直至所述温度信息满足所述预设阈值。Otherwise, continue to acquire the temperature information until the temperature information meets the preset threshold.
根据本发明的另一些实施例的焊接控制方法，所述焊接控制方法还包括：According to the welding control method of other embodiments of the present invention, the welding control method further includes:
在进行焊接时，监测所述焊接机器人与障碍物体的距离信息；When welding, monitor the distance information between the welding robot and the obstacle;
若所述距离信息小于预设距离时，控制所述焊接机器人停止；If the distance information is less than the preset distance, control the welding robot to stop;
否则继续根据所述焊接控制参数控制焊接机器人对所述焊接坡口进行焊接。Otherwise, continue to control the welding robot to weld the welding groove according to the welding control parameter.
第二方面，本发明的一个实施例提供了一种焊接控制系统，其包括：In the second aspect, an embodiment of the present invention provides a welding control system, which includes:
焊接坡口检测模块，用于检测焊接坡口以获取参数信息，根据所述参数信息调用对应的焊接控制参数并生成焊接控制程序；The welding groove detection module is used to detect the welding groove to obtain parameter information, call corresponding welding control parameters according to the parameter information, and generate a welding control program;
焊接控制模块，所述焊接控制模块与所述焊接坡口检测模块连接，用于接收所述焊接控制参数和所述焊接控制程序；A welding control module, the welding control module is connected to the welding groove detection module, and is used to receive the welding control parameter and the welding control program;
焊接运动模块，所述焊接运动模块与所述焊接控制模块连接，所述焊接控制模块根据所述焊接控制程序控制所述焊接运动模块的运动；A welding movement module, the welding movement module is connected to the welding control module, and the welding control module controls the movement of the welding movement module according to the welding control program;
焊接模块，所述焊接模块设置于所述焊接运动模块上，所述焊接控制模块根据所述焊接控制参数控制所述焊接模块对所述焊接坡口进行焊接。The welding module is arranged on the welding movement module, and the welding control module controls the welding module to weld the welding groove according to the welding control parameter.
根据本发明的另一些实施例的焊接控制系统，所述焊接控制系统还包括：According to the welding control system of other embodiments of the present invention, the welding control system further includes:
温度检测模块，所述温度检测模块用于在进行焊接前，检测所述焊接坡口的温度信息，并将所述温度信息发送至所述焊接控制模块。The temperature detection module is configured to detect the temperature information of the welding groove before welding, and send the temperature information to the welding control module.
根据本发明的另一些实施例的焊接控制系统，所述焊接控制系统还包括：According to the welding control system of other embodiments of the present invention, the welding control system further includes:
防撞监测模块，所述防撞监测模块用于监测所述焊接运动模块与障碍物提的距离信息，并将所述距离信息发送至所述焊接控制模块。A collision avoidance monitoring module, the collision avoidance monitoring module is used to monitor the distance information between the welding movement module and the obstacle, and send the distance information to the welding control module.
根据本发明的另一些实施例的焊接控制系统，所述焊接坡口检测模块包括激光三角检测设备和检测采集处理模块；According to the welding control system of other embodiments of the present invention, the welding groove detection module includes a laser triangulation detection device and a detection acquisition processing module;
所述激光三角检测设备分别与所述焊接控制模块、所述检测采集处理模块连接，所述激光三角检测设备受所述焊接控制模块的控制，用于检测所述焊接坡口以获取所述参数信息，并将所述参数信息传输至所述检测采集处理模块；The laser triangulation detection device is respectively connected to the welding control module and the detection acquisition processing module, and the laser triangulation detection device is controlled by the welding control module and is used to detect the welding groove to obtain the parameter Information, and transmit the parameter information to the detection, acquisition and processing module;
所述检测采集处理模块与所述焊接控制模块连接，所述检测采集处理模块根据所述参数信息调用对应的所述焊接控制参数并生成所述焊接控制程序后，将所述焊接控制参数和所述焊接控制程序传输至所述焊接控制模块。The detection, acquisition and processing module is connected to the welding control module, and after the detection, acquisition and processing module calls the corresponding welding control parameters according to the parameter information and generates the welding control program, the welding control parameters are combined with the welding control parameters. The welding control program is transmitted to the welding control module.
根据本发明的另一些实施例的焊接控制系统，所述焊接控制模块包括工控机、运动控制装置和检测控制器；According to other embodiments of the welding control system of the present invention, the welding control module includes an industrial computer, a motion control device, and a detection controller;
所述检测控制器控制所述激光三角检测设备对所述焊接坡口进行检测，以获取所述参数信息；The detection controller controls the laser triangulation detection equipment to detect the welding groove to obtain the parameter information;
所述工控机分别与所述运动控制装置、所述检测控制器、所述检测采集处理模块连接，用于接收所述检测采集处理模块传输的所述焊接控制参数和所述焊接控制程序，并根据所述焊接控制参数对所述焊接模块进行控制和监测，根据所述焊接控制程序对所述运动控制装置进行控制和监测。The industrial computer is respectively connected with the motion control device, the detection controller, and the detection acquisition processing module, and is used to receive the welding control parameters and the welding control program transmitted by the detection acquisition processing module, and The welding module is controlled and monitored according to the welding control parameters, and the motion control device is controlled and monitored according to the welding control program.
根据本发明的另一些实施例的焊接控制系统，所述焊接运动模块包括焊接机器人本体、焊接机器人移动导轨和驱动器；所述驱动器接收所述运动控制装置的控制指令，用于控制所述焊接机器人本体在所述焊接机器人移动导轨上运动。According to other embodiments of the welding control system of the present invention, the welding motion module includes a welding robot body, a welding robot moving guide rail, and a driver; the driver receives a control instruction from the motion control device and is used to control the welding robot The body moves on the moving rail of the welding robot.
附图说明Description of the drawings
图1是本发明实施例一种焊接控制方法的一具体实施例流程图；Fig. 1 is a flowchart of a specific embodiment of a welding control method according to an embodiment of the present invention;
图2是本发明实施例一种焊接控制方法的另一具体实施例示意图；2 is a schematic diagram of another specific embodiment of a welding control method according to an embodiment of the present invention;
图3是本发明实施例一种焊接控制方法的又一具体实施例示意图；3 is a schematic diagram of another specific embodiment of a welding control method according to an embodiment of the present invention;
图4是本发明实施例一种焊接控制系统的一具体实施例模块框图。Fig. 4 is a block diagram of a specific embodiment of a welding control system according to an embodiment of the present invention.
具体实施方式Detailed ways
以下将结合实施例对本发明的构思及产生的技术效果进行清楚、完整地描述，以充分地理解本发明的目的、特征和效果。显然，所描述的实施例只是本发明的一部分实施例，而不是全部实施例，基于本发明的实施例，本领域的技术人员在不付出创造性劳动的前提下所获得的其他实施例，均属于本发明保护的范围。In the following, the concept of the present invention and the technical effects produced by it will be clearly and completely described in conjunction with the embodiments, so as to fully understand the purpose, features and effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative work belong to The scope of protection of the present invention.
在本发明实施例的描述中，如果涉及到“若干”，其含义是一个以上，如果涉及到“多个”，其含义是两个以上，如果涉及到“大于”、“小于”、“超过”，均应理解为不包括本数，如果涉及到“以上”、“以下”、“以内”，均应理解为包括本数。如果涉及到“第一”、“第二”、“第三”等，应当理解为用于区分技术特征，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量或者隐含指明所指示的技术特征的先后关系。In the description of the embodiments of the present invention, if it refers to "several", it means more than one, if it refers to "multiple", it means two or more, if it refers to "greater than", "less than", "more than ", should be understood as not including the number, if it involves "above", "below", and "within", it should be understood as including the number. If it involves “first”, “second”, “third”, etc., it should be understood as used to distinguish technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number or quantity of the indicated technical features. Implicitly indicate the precedence of the indicated technical features.
实施例一：Example one:
参照图1，在本发明实施例中，焊接控制方法包括以下步骤：1, in the embodiment of the present invention, the welding control method includes the following steps:
S100、获取焊接坡口的参数信息；S100. Obtain parameter information of the welding groove;
S200、根据参数信息调用对应的焊接控制参数；S200: Call the corresponding welding control parameter according to the parameter information;
S300、根据焊接控制参数控制焊接机器人对焊接坡口进行焊接。S300: Control the welding robot to weld the welding groove according to the welding control parameters.
本发明实施例步骤S100中，焊接坡口的参数信息包括焊接坡口的起点位置信息、焊接坡口的终点位置信息和焊接坡口的特征拐点。本发明实施例中，通过由激光三角检测设备和检测采集处理模块组成的焊接坡口检测模块对焊接坡口进行检测，其中，激光三角检测设备扫描焊接坡口得到焊接坡口的点云数据，并获得点云数据中各点云的坐标信息，将点云的坐标信息传输至检测采集处理模块后，检测采集处理模块将接收的各点云的坐标信息进行斜率分析后进行直线拟合的方式提取焊接坡口的特征拐点，其中，斜率变化突变的位置为焊接坡口的特征 拐点，通过分析得到的特征拐点即可得到焊接坡口的宽度和厚度，并通过对获取的各帧点云的坐标信息求取高度平均值，则高度发生突变的位置信息即为焊接坡口的起点位置信息和终点位置信息，根据起点位置信息和终点位置信息即可获得焊接坡口的长度。In step S100 of the embodiment of the present invention, the parameter information of the welding groove includes the position information of the starting point of the welding groove, the position information of the ending point of the welding groove, and the characteristic inflection point of the welding groove. In the embodiment of the present invention, the welding groove is detected by a welding groove detection module composed of a laser triangulation detection device and a detection acquisition and processing module. The laser triangle detection device scans the welding groove to obtain the point cloud data of the welding groove. And obtain the coordinate information of each point cloud in the point cloud data. After the coordinate information of the point cloud is transmitted to the detection acquisition processing module, the detection acquisition processing module performs slope analysis on the received coordinate information of each point cloud and then performs a straight line fitting method Extract the characteristic inflection point of the welding groove, where the sudden change of the slope is the characteristic inflection point of the welding groove. The width and thickness of the welding groove can be obtained by analyzing the characteristic inflection point, and by comparing the point cloud of each frame The height average value is calculated from the coordinate information, and the position information where the height changes suddenly is the starting point position information and the ending point position information of the welding groove, and the length of the welding groove can be obtained according to the starting point position information and the ending point position information.
本发明实施例的步骤S200中，检测采集处理模块通过上述焊接坡口的尺寸参数信息获得相应的焊接坡口类型，进一步从焊接工艺库中调用对应该焊接坡口类型的焊接控制参数，其中，焊接控制参数包括焊接电压、送丝速度和排道数据。并且，通过结合起点位置信息、终点位置信息、特征拐点以及焊接机器人的正反解程序，生成焊接控制程序。In step S200 of the embodiment of the present invention, the detection, acquisition and processing module obtains the corresponding welding groove type according to the size parameter information of the welding groove, and further calls the welding control parameter corresponding to the welding groove type from the welding process library, where: Welding control parameters include welding voltage, wire feed speed and row data. In addition, the welding control program is generated by combining the starting point position information, the ending point position information, the characteristic inflection point, and the positive and negative solution program of the welding robot.
本发明实施例的步骤S300中，通过焊接控制模块接收上述的焊接控制参数和焊接控制程序，焊接控制模块根据接收的焊接控制参数和焊接控制程序控制焊接机器人对焊接坡口进行焊接。本实施例中，焊接控制模块包括工控机、运动控制装置和检测控制器，焊接机器人包括焊接运动模块和焊接模块，其中，焊接运动模块具体包括焊接机器人本体、焊接机器人移动导轨和驱动器，焊接模块包括焊机、送丝机、气瓶等装置。具体的，检测控制器用于控制上述的激光三角检测设备对焊接坡口进行焊接前的检测工作，工控机用于接收检测采集处理模块传输来的焊接控制参数和焊接控制程序后，将焊接控制程序传输至运动控制装置，运动控制装置根据焊接控制程序发送控制指令至驱动器，驱动器根据焊接控制指令控制焊接机器人本体在焊接机器人移动导轨上运动。同时，焊接模块(包括焊机、送丝机、气瓶等装置)设置在焊接机器人本体上，跟随焊接机器人本体在焊接机器人移动导轨上的运动而运动，并分别接受工控机根据焊接控制参数生成的控制指令对焊接坡口进行焊接工作。In step S300 of the embodiment of the present invention, the welding control module receives the aforementioned welding control parameters and welding control program, and the welding control module controls the welding robot to weld the welding groove according to the received welding control parameters and welding control program. In this embodiment, the welding control module includes an industrial computer, a motion control device, and a detection controller. The welding robot includes a welding motion module and a welding module. The welding motion module specifically includes a welding robot body, a welding robot moving guide rail and a driver, and a welding module. Including welding machines, wire feeders, gas cylinders and other devices. Specifically, the detection controller is used to control the above-mentioned laser triangulation detection equipment to perform the pre-welding detection work on the welding groove, and the industrial computer is used to receive the welding control parameters and welding control program transmitted from the detection acquisition processing module, and then the welding control program It is transmitted to the motion control device, and the motion control device sends a control instruction to the driver according to the welding control program, and the driver controls the welding robot body to move on the welding robot moving rail according to the welding control instruction. At the same time, the welding modules (including welding machines, wire feeders, gas cylinders, etc.) are set on the welding robot body, and follow the movement of the welding robot body on the welding robot moving rails, and are generated by the industrial computer according to the welding control parameters. The control instruction of the welding work is carried out on the welding groove.
实施例二、Embodiment two
参照图2，本发明实施例中一种焊接控制方法，其基于实施例一中的焊接控制方法的基础上，在对焊接坡口进行焊接前，增加了步骤：2, a welding control method in an embodiment of the present invention is based on the welding control method in Embodiment 1. Before welding the welding groove, the following steps are added:
S210、获取焊接坡口的温度信息；S210. Obtain temperature information of the welding groove;
S220、判断该温度信息是否达到预设阈值；S220: Determine whether the temperature information reaches a preset threshold;
其中，若获取的温度信息未达到预设阈值时，则继续获取焊接坡口的温度信息，直至获取的温度信息达到预设阈值。Wherein, if the acquired temperature information does not reach the preset threshold, continue to acquire the temperature information of the welding groove until the acquired temperature information reaches the preset threshold.
若获取的温度信息达到预设阈值，则焊接控制模块根据焊接控制参数和焊接控制程序控制焊接运动模块和焊接模块对焊接坡口进行焊接。If the acquired temperature information reaches the preset threshold, the welding control module controls the welding movement module and the welding module to weld the welding groove according to the welding control parameters and the welding control program.
在一些实施例中，通过设置有温度传感器获取焊接坡口的温度信息，通过将获取的温度信息发送至焊接控制模块从而对焊接前的温度信息进行有效检测。通过温度检测，可使得当焊接坡口的温度信息不满足预设温度时不进行焊接工作，避免造成焊接质量不合格、浪费焊接材料、焊接耗时长的问题。In some embodiments, the temperature information of the welding groove is acquired by providing a temperature sensor, and the acquired temperature information is sent to the welding control module to effectively detect the temperature information before welding. Through the temperature detection, the welding work can be avoided when the temperature information of the welding groove does not meet the preset temperature, and the problems of unqualified welding quality, waste of welding materials, and long welding time can be avoided.
实施例三：Embodiment three:
参照图3，本发明实施例中一种焊接控制方法，其基于实施例二中的焊接控制方法的基础上，在对焊接坡口进行焊接时，增加了步骤：Referring to Fig. 3, a welding control method in an embodiment of the present invention is based on the welding control method in the second embodiment. When welding the welding groove, the following steps are added:
S400、监测焊接机器人与障碍物的距离信息；S400, monitor the distance information between the welding robot and the obstacle;
S410、判断距离信息是否小于预设距离；S410: Determine whether the distance information is less than a preset distance;
S510、若距离信息小于预设距离则停止焊接工作；S510: If the distance information is less than the preset distance, stop the welding work;
S520、若距离信息大于预设距离则继续根据焊接控制参数和焊接控制程序控制焊接机器人对焊接坡口进行焊接。S520: If the distance information is greater than the preset distance, continue to control the welding robot to weld the welding groove according to the welding control parameter and the welding control program.
在一些实施例中，通过设置有防碰撞传感器获取焊接机器人与障碍物体的距离信息，具体的，防碰撞传感器设置于上述的焊接机器人本体中，随着焊接机器人本体在焊接机器人移动导轨上的运动监测其与障碍物体的距离信息，并将距离信息发送至工控机中，工控机根据接收的距离信息判断其是否小于预设距离，从而输出控制信号至运动控制装置进而控制焊接机器人本体的运动状态。In some embodiments, the distance information between the welding robot and the obstacle is obtained by providing an anti-collision sensor. Specifically, the anti-collision sensor is provided in the welding robot body mentioned above, and as the welding robot body moves on the welding robot moving rail Monitor the distance information between it and the obstacle, and send the distance information to the industrial computer. The industrial computer judges whether it is less than the preset distance according to the received distance information, and then outputs the control signal to the motion control device to control the motion state of the welding robot body .
通过设置有防碰撞传感器检测焊接机器人本体与障碍物体的距离信息，使得在焊接过程中实时检测焊接工作的安全性得以提高。The anti-collision sensor is provided to detect the distance information between the welding robot body and the obstacle, so that the safety of real-time detection of the welding work during the welding process is improved.
综上所述，结合实施例一至实施例三，本发明中一种焊接控制方法通过获取焊接坡口的参数信息，再根据获取的参数信息调用对应于该参数信息的焊接控制参数并生成焊接控制程序，最后通过该焊接控制参数和焊接控制程序控制焊接机器人对焊接坡口进行焊接工作；并通过在进行焊接前获取焊接坡口的温度信息，决定是否进行焊接工作，同时在焊接时通过获取焊接机器人与障碍物体的距离信息，决定是否控制焊接机器人继续工作；解决了现有技术中焊接技术效率低、焊缝形成质量差、适用性差、安全性差的技术问题，提供了一种精确高效的、安全的、自动化的焊接控制方法。In summary, combined with Embodiment 1 to Embodiment 3, a welding control method in the present invention obtains parameter information of the welding groove, and then calls the welding control parameter corresponding to the parameter information according to the obtained parameter information and generates the welding control Finally, the welding robot is controlled to perform welding work on the welding groove through the welding control parameters and welding control program; and by obtaining the temperature information of the welding groove before welding, it is determined whether to perform the welding work, and at the same time, by obtaining the welding work during welding. The distance information between the robot and the obstacle determines whether to control the welding robot to continue working; it solves the technical problems of low welding technology efficiency, poor welding seam formation quality, poor applicability, and poor safety in the prior art, and provides an accurate and efficient, Safe and automated welding control method.
实施例四：Embodiment four:
参照图4，本发明实施例提供了一种焊接控制系统，其包括：4, an embodiment of the present invention provides a welding control system, which includes:
焊接坡口检测模块，用于检测焊接坡口以获取参数信息，根据参数信息调用对应的焊接控制参数并生成焊接控制程序；The welding groove detection module is used to detect the welding groove to obtain parameter information, call the corresponding welding control parameters according to the parameter information and generate the welding control program;
焊接控制模块，焊接控制模块与焊接坡口检测模块连接，用于接收焊接控制参数和焊接控制程序；Welding control module, which is connected to the welding groove detection module to receive welding control parameters and welding control programs;
焊接运动模块，焊接运动模块与焊接控制模块连接，焊接控制模块根据焊接控制程序控制焊接运动模块的运动；Welding movement module, the welding movement module is connected with the welding control module, and the welding control module controls the movement of the welding movement module according to the welding control program;
焊接模块，焊接模块设置于所述焊接运动模块上，焊接控制模块根据焊接控制参数控制焊接模块对焊接坡口进行焊接。The welding module is arranged on the welding movement module, and the welding control module controls the welding module to weld the welding groove according to the welding control parameters.
本发明实施例中，焊接坡口检测模块包括激光三角检测设备和检测采集处理模块，激光三角检测设备受焊接控制模块的控制，用于检测焊接坡口以获取参数信息，并将参数信息传输至所述检测采集处理模块。其中，激光三角检测设备扫描焊接坡口得到焊接坡口的点云数据，并获得点云数据中各点云的坐标信息，将点云的坐标信息传输至检测采集处理模块后，检测采集处理模块将接收的各点云的坐标信息进行斜率分析后进行直线拟合的方式提取焊接坡口的特征拐点，其中，斜率变化突变的位置为焊接坡口的特征拐点，通过分析得到的特征拐点即可得到焊接坡口的宽度和厚度，并通过对获取的各帧点云的坐标信息求取高度平均值，则高度发生突变的位置信息即为焊接坡口的起点位置信息和终点位置信息，根据起点位置信息和终点位置信息即可获得焊接坡口的长度。检测采集处理模块通过上述焊接坡口的尺寸参数信息获得相应的焊接坡口类型，进一步从焊接工艺库中调用对应该焊接坡口类型的焊接控制参数，其中，焊接控制参数包括焊接电压、送丝速度和排道数据。其中，排道数据为包括焊接时焊道的高度信息、焊道的厚度信息和焊道的数量信息等。另外，通过结合起点位置信息、终点位置信息、特征拐点以及焊接机器人的正反解程序，生成焊接控制程序。In the embodiment of the present invention, the welding groove detection module includes a laser triangulation detection device and a detection acquisition processing module. The laser triangulation detection device is controlled by the welding control module and is used to detect the welding groove to obtain parameter information and transmit the parameter information to The detection, acquisition and processing module. Among them, the laser triangulation detection equipment scans the welding groove to obtain the point cloud data of the welding groove, and obtains the coordinate information of each point cloud in the point cloud data. After the coordinate information of the point cloud is transmitted to the detection acquisition processing module, the detection acquisition processing module The slope analysis of the received coordinate information of each point cloud is followed by a straight line fitting method to extract the characteristic inflection point of the welding groove. The position where the slope changes abruptly is the characteristic inflection point of the welding groove, and the characteristic inflection point obtained by analysis is sufficient. The width and thickness of the welding groove are obtained, and the height average value is obtained by obtaining the coordinate information of the point cloud of each frame. The position information of the sudden change in height is the starting and ending position information of the welding groove. The length of the welding groove can be obtained by the position information and the end position information. The detection, acquisition and processing module obtains the corresponding welding groove type through the above-mentioned welding groove size parameter information, and further calls the welding control parameters corresponding to the welding groove type from the welding process library. The welding control parameters include welding voltage and wire feeding. Speed and lane data. Among them, the row data includes the height information of the weld bead, the thickness information of the weld bead, and the quantity information of the weld bead during welding. In addition, the welding control program is generated by combining the starting point position information, the ending point position information, the characteristic inflection point, and the positive and negative solution program of the welding robot.
本发明实施例中，焊接控制模块包括焊接控制模块包括工控机、运动控制装置和检测控制器；其中，检测控制器与激光三角检测设备连接，用于控制激光三角检测设备对焊接坡口进行检测以获取参数信息。工控机分别与运动控制装置、检测控制器、检测采集处理模块连接，用于接收检测采集处理模块传输来的焊接 控制参数和焊接控制程序，并根据焊接控制参数对焊接模块进行控制和监测，根据焊接控制程序对运动控制装置进行控制和监测。In the embodiment of the present invention, the welding control module includes a welding control module including an industrial computer, a motion control device, and a detection controller; wherein, the detection controller is connected to the laser triangulation detection equipment, and is used to control the laser triangulation detection equipment to detect the welding groove To obtain parameter information. The industrial computer is respectively connected with the motion control device, the detection controller, and the detection acquisition and processing module, and is used to receive the welding control parameters and welding control programs transmitted from the detection acquisition and processing module, and control and monitor the welding module according to the welding control parameters. The welding control program controls and monitors the motion control device.
本发明实施例中，焊接运动模块包括焊接机器人本体、焊接机器人移动导轨和驱动器；其中，驱动器接收运动控制装置的控制指令控制焊接机器人本体在焊接机器人移动导轨上运动。In the embodiment of the present invention, the welding motion module includes a welding robot body, a welding robot moving rail and a driver; wherein the driver receives a control instruction from the motion control device to control the welding robot body to move on the welding robot moving rail.
本发明实施例中，焊接模块包括焊机、送丝机、气瓶等装置，焊接模块(包括焊机、送丝机、气瓶等装置)设置在焊接机器人本体上，跟随焊接机器人本体在焊接机器人移动导轨上的运动而运动，并分别接受工控机根据焊接控制参数生成的控制指令对焊接坡口进行焊接工作。In the embodiment of the present invention, the welding module includes a welding machine, a wire feeder, a gas cylinder and other devices. The welding module (including a welding machine, a wire feeder, a gas cylinder, etc.) is arranged on the welding robot body, and follows the welding robot body in the welding The robot moves by moving on the guide rail, and receives the control instructions generated by the industrial computer according to the welding control parameters to perform welding work on the welding groove.
在一些实施例中，焊接控制系统还包括温度检测模块，温度检测模块用于在进行焊接前，检测焊接坡口的温度信息，并将温度信息发送至焊接控制模块。其中，温度检测模块可通过温度传感器实现，通过设置有温度传感器获取焊接坡口的温度信息，通过将获取的温度信息发送至焊接控制模块从而对焊接前的温度信息进行有效检测。通过温度检测，可使得当焊接坡口的温度信息不满足预设温度时不进行焊接工作，避免造成焊接质量不合格、浪费焊接材料、焊接耗时长的问题。In some embodiments, the welding control system further includes a temperature detection module, which is used to detect the temperature information of the welding groove before welding, and send the temperature information to the welding control module. Among them, the temperature detection module can be realized by a temperature sensor, the temperature information of the welding groove is acquired by setting the temperature sensor, and the acquired temperature information is sent to the welding control module to effectively detect the temperature information before welding. Through the temperature detection, the welding work can be avoided when the temperature information of the welding groove does not meet the preset temperature, and the problems of unqualified welding quality, waste of welding materials, and long welding time can be avoided.
在一些实施例中，焊接控制系统还包括防撞监测模块，防撞监测模块用于监测所述焊接运动模块与障碍物提的距离信息，并将所述距离信息发送至所述焊接控制模块。其中，防碰撞监测模块可由防碰撞传感器实现，通过设置有防碰撞传感器获取焊接机器人与障碍物体的距离信息，具体的，防碰撞传感器设置于上述的焊接机器人本体中，随着焊接机器人本体在焊接机器人移动导轨上的运动监测其与障碍物体的距离信息，并将距离信息发送至工控机中，工控机根据接收的距离信息判断其是否小于预设距离，从而输出控制信号至运动控制装置进而控制焊接机器人本体的运动状态。通过设置有防碰撞传感器检测焊接机器人本体与障碍物体的距离信息，使得在焊接过程中实时检测焊接工作的安全性得以提高。In some embodiments, the welding control system further includes an anti-collision monitoring module, which is used to monitor the distance information between the welding movement module and the obstacle, and send the distance information to the welding control module. Among them, the anti-collision monitoring module can be realized by an anti-collision sensor. The distance information between the welding robot and the obstacle is acquired by the anti-collision sensor. Specifically, the anti-collision sensor is installed in the above-mentioned welding robot body. The movement of the robot on the moving rail monitors the distance information between it and the obstacle, and sends the distance information to the industrial computer. The industrial computer judges whether it is less than the preset distance according to the received distance information, and then outputs the control signal to the motion control device for control The motion state of the welding robot body. The anti-collision sensor is provided to detect the distance information between the welding robot body and the obstacle, so that the safety of real-time detection of the welding work during the welding process is improved.
本发明实施例中的焊接控制系统实现的过程原理与实施例一至实施例三中所述的焊接控制方法实现的过程原理可相互参照对应。The process principle realized by the welding control system in the embodiment of the present invention and the process principle realized by the welding control method described in the first to third embodiments can be referred to and corresponded to each other.
综上，本发明实施例中一种焊接控制系统，其通过设置有焊接坡口检测模块获取焊接坡口的参数信息，根据参数信息调用对应的焊接控制参数并生成焊接控 制程序后传输至焊接控制模块，焊接控制模块根据焊接控制程序控制所述焊接运动模块的运动，根据焊接控制参数控制焊接模块对所述焊接坡口进行焊接；解决了现有技术中焊接技术效率低、焊缝形成质量差、适用性差的技术问题，提供了一种精确高效的、自动化的焊接控制系统。In summary, a welding control system in an embodiment of the present invention acquires parameter information of welding grooves by setting a welding groove detection module, calls corresponding welding control parameters according to the parameter information, generates welding control programs, and transmits them to welding control Module, the welding control module controls the movement of the welding motion module according to the welding control program, and controls the welding module to weld the welding groove according to the welding control parameters; solves the problem of low welding technology efficiency and poor welding seam formation quality in the prior art , The technical problem of poor applicability provides an accurate, efficient, and automated welding control system.
上面结合附图对本发明实施例作了详细说明，但是本发明不限于上述实施例，在所属技术领域普通技术人员所具备的知识范围内，还可以在不脱离本发明宗旨的前提下作出各种变化。此外，在不冲突的情况下，本发明的实施例及实施例中的特征可以相互组合。The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above-mentioned embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various modifications can be made without departing from the purpose of the present invention. Variety. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other if there is no conflict.

Claims (12)

  1. 一种焊接控制方法，其特征在于，包括：A welding control method is characterized in that it comprises:
    获取焊接坡口的参数信息；Obtain the parameter information of the welding groove;
    根据所述参数信息调用对应的焊接控制参数并生成焊接控制程序；Call corresponding welding control parameters according to the parameter information and generate a welding control program;
    根据所述焊接控制参数和所述焊接控制程序控制焊接机器人对所述焊接坡口进行焊接。The welding robot is controlled to weld the welding groove according to the welding control parameter and the welding control program.
  2. 根据权利要求1所述的焊接控制方法，其特征在于，所述参数信息包括所述焊接坡口的起点位置信息、所述焊接坡口的终点位置信息和所述焊接坡口的特征拐点。The welding control method according to claim 1, wherein the parameter information includes the starting point position information of the welding groove, the ending position information of the welding groove, and the characteristic inflection point of the welding groove.
  3. 根据权利要求2所述的焊接控制方法，其特征在于，所述根据所述参数信息调用对应的焊接控制参数并生成焊接控制程序具体包括：The welding control method according to claim 2, wherein the calling the corresponding welding control parameter according to the parameter information and generating the welding control program specifically comprises:
    根据所述起点位置信息、所述终点位置信息和所述特征拐点获得对应的焊接坡口类型；Obtaining a corresponding welding groove type according to the starting point position information, the ending point position information, and the characteristic inflection point;
    根据所述焊接坡口类型调用所述焊接控制参数；Calling the welding control parameter according to the welding groove type;
    结合所述起点位置信息、所述终点位置信息、所述特征拐点和所述焊接机器人的正反解程序生成所述焊接控制程序。The welding control program is generated by combining the start-point position information, the end-point position information, the characteristic inflection point, and the positive and negative solution program of the welding robot.
  4. 根据权利要求1至3任一项所述的焊接控制方法，其特征在于，所述焊接控制参数包括焊接电压、送丝速度和排道数据。The welding control method according to any one of claims 1 to 3, wherein the welding control parameters include welding voltage, wire feeding speed and row data.
  5. 根据权利要求1至3任一项所述的焊接控制方法，其特征在于，所述焊接控制方法还包括：The welding control method according to any one of claims 1 to 3, wherein the welding control method further comprises:
    进行焊接前，获取所述焊接坡口的温度信息；Before welding, obtain the temperature information of the welding groove;
    判断所述温度信息是否达到预设阈值；Judging whether the temperature information reaches a preset threshold;
    若是，则根据所述焊接控制参数控制焊接机器人对所述焊接坡口进行焊接；If yes, controlling the welding robot to weld the welding groove according to the welding control parameters;
    否则，继续获取所述温度信息，直至所述温度信息满足所述预设阈值。Otherwise, continue to acquire the temperature information until the temperature information meets the preset threshold.
  6. 根据权利要求5所述的焊接控制方法，其特征在于，所述焊接控制方法还包括：The welding control method according to claim 5, wherein the welding control method further comprises:
    在进行焊接时，监测所述焊接机器人与障碍物体的距离信息；When welding, monitor the distance information between the welding robot and the obstacle;
    若所述距离信息小于预设距离时，控制所述焊接机器人停止；If the distance information is less than the preset distance, control the welding robot to stop;
    否则继续根据所述焊接控制参数控制焊接机器人对所述焊接坡口进行焊接。Otherwise, continue to control the welding robot to weld the welding groove according to the welding control parameter.
  7. 一种焊接控制系统，其特征在于，包括：A welding control system is characterized in that it comprises:
    焊接坡口检测模块，用于检测焊接坡口以获取参数信息，根据所述参数信息调用对应的焊接控制参数并生成焊接控制程序；The welding groove detection module is used to detect the welding groove to obtain parameter information, call corresponding welding control parameters according to the parameter information, and generate a welding control program;
    焊接控制模块，所述焊接控制模块与所述焊接坡口检测模块连接，用于接收所述焊接控制参数和所述焊接控制程序；A welding control module, the welding control module is connected to the welding groove detection module, and is used to receive the welding control parameter and the welding control program;
    焊接运动模块，所述焊接运动模块与所述焊接控制模块连接，所述焊接控制模块根据所述焊接控制程序控制所述焊接运动模块的运动；A welding movement module, the welding movement module is connected to the welding control module, and the welding control module controls the movement of the welding movement module according to the welding control program;
    焊接模块，所述焊接模块设置于所述焊接运动模块上，所述焊接控制模块根据所述焊接控制参数控制所述焊接模块对所述焊接坡口进行焊接。The welding module is arranged on the welding movement module, and the welding control module controls the welding module to weld the welding groove according to the welding control parameter.
  8. 根据权利要求7所述的焊接控制系统，其特征在于，所述焊接控制系统还包括：The welding control system according to claim 7, wherein the welding control system further comprises:
    温度检测模块，所述温度检测模块用于在进行焊接前，检测所述焊接坡口的温度信息，并将所述温度信息发送至所述焊接控制模块。The temperature detection module is configured to detect the temperature information of the welding groove before welding, and send the temperature information to the welding control module.
  9. 根据权利要求7或8所述的焊接控制系统，其特征在于，所述焊接控制系统还包括：The welding control system according to claim 7 or 8, wherein the welding control system further comprises:
    防撞监测模块，所述防撞监测模块用于监测所述焊接运动模块与障碍物提的距离信息，并将所述距离信息发送至所述焊接控制模块。A collision avoidance monitoring module, the collision avoidance monitoring module is used to monitor the distance information between the welding movement module and the obstacle, and send the distance information to the welding control module.
  10. 根据权利要求9所述的焊接控制系统，其特征在于，所述焊接坡口检测模块包括激光三角检测设备和检测采集处理模块；The welding control system according to claim 9, wherein the welding groove detection module includes a laser triangulation detection device and a detection, acquisition and processing module;
    所述激光三角检测设备分别与所述焊接控制模块、所述检测采集处理模块连接，所述激光三角检测设备受所述焊接控制模块的控制，用于检测所述焊接坡口以获取所述参数信息，并将所述参数信息传输至所述检测采集处理模块；The laser triangulation detection device is respectively connected to the welding control module and the detection acquisition processing module, and the laser triangulation detection device is controlled by the welding control module and is used to detect the welding groove to obtain the parameter Information, and transmit the parameter information to the detection, acquisition and processing module;
    所述检测采集处理模块与所述焊接控制模块连接，所述检测采集处理模块根据所述参数信息调用对应的所述焊接控制参数并生成所述焊接控制程序后，将所述焊接控制参数和所述焊接控制程序传输至所述焊接控制模块。The detection, acquisition and processing module is connected to the welding control module, and after the detection, acquisition and processing module calls the corresponding welding control parameters according to the parameter information and generates the welding control program, the welding control parameters are combined with the welding control parameters. The welding control program is transmitted to the welding control module.
  11. 根据权利要求10所述的焊接控制系统，其特征在于，所述焊接控制模块包括工控机、运动控制装置和检测控制器；The welding control system according to claim 10, wherein the welding control module comprises an industrial computer, a motion control device and a detection controller;
    所述检测控制器控制所述激光三角检测设备对所述焊接坡口进行检测，以获取所述参数信息；The detection controller controls the laser triangulation detection equipment to detect the welding groove to obtain the parameter information;
    所述工控机分别与所述运动控制装置、所述检测控制器、所述检测采集处理模块连接，用于接收所述检测采集处理模块传输的所述焊接控制参数和所述焊接控制程序，并根据所述焊接控制参数对所述焊接模块进行控制和监测，根据所述焊接控制程序对所述运动控制装置进行控制和监测。The industrial computer is respectively connected with the motion control device, the detection controller, and the detection acquisition processing module, and is used to receive the welding control parameters and the welding control program transmitted by the detection acquisition processing module, and The welding module is controlled and monitored according to the welding control parameters, and the motion control device is controlled and monitored according to the welding control program.
  12. 根据权利要求11所述的焊接控制系统，其特征在于，所述焊接运动模块包括焊接机器人本体、焊接机器人移动导轨和驱动器；所述驱动器接收所述运动控制装置的控制指令，用于控制所述焊接机器人本体在所述焊接机器人移动导轨上运动。The welding control system according to claim 11, wherein the welding motion module comprises a welding robot body, a welding robot moving guide rail and a driver; the driver receives a control instruction from the motion control device and is used to control the The welding robot body moves on the welding robot moving rail.
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