CN102699489B - Method and system allowing robot to be self-adaptive to width of groove weld - Google Patents

Abstract

The invention discloses a method for realizing the self-adaptation of the robot to the width of the beveled weld, which is realized through the following steps: S1. Obtain the movement parameters of the end of the welding torch moving into the weld from the initial position; S2. Obtain the movement parameters of the end of the welding torch according to The moving parameter is moved from the position of the head end of the weld seam to the offset value on both sides of the head end of the weld seam, and the center coordinates of the head end of the weld seam and the swing amplitude of the welding torch are obtained according to the offset value; S3. Obtaining the end of the welding torch according to the moving The offset value that swings toward both sides of the weld when the parameter moves into the end of the weld, and the center coordinate of the end of the weld and the swing of the welding torch are obtained according to the offset; S4. The first end of the weld and the The weld seam center and swing amplitude information at the end generates the welding operation program of the robot, and the welding operation is performed according to the operation program. Therefore, the welding efficiency and welding quality of the robot can be effectively improved.

Description

Method and system for realizing self-adaptation of robot to width of beveled weld

technical field

The invention relates to the technical field of robot automatic welding, in particular to a method and system for realizing the self-adaptation of a robot to the width of a grooved weld.

Background technique

In the structure of construction machinery, there are many welds where the two plates are joined. Due to processing deformation and assembly errors, the weld width of the butt joint of the two plates changes linearly. Today's arc welding robots usually use the method of setting welding parameters in sections for the welding of two-plate splicing welds. The welding parameters usually include voltage, wire feeding speed, welding speed, pendulum length and swing amplitude, etc. However, this method of segmentally setting welding parameters for welding has two disadvantages: 1. It is necessary to find the weld width once every 300 mm or so (of course, it can be adjusted appropriately according to the actual situation), which reduces the welding capacity of the robot. Efficiency; 2. Since this welding method can only take one parameter for each section, only one point on each section of the weld is strictly accurate, and the other parts are approximate values. Therefore, when the assembly error is large and the segment distance is long, the setting of welding parameters is unreasonable and the welding effect is not good.

Therefore, it is necessary to provide an improved method and system for realizing the self-adaptation of the robot to the width of the grooved weld to solve the above problems.

Contents of the invention

The purpose of the present invention is to provide a method for realizing the self-adaptation of the robot to the width of the groove weld,

It can make the robot automatically adapt to the width change in the whole weld by only detecting the beginning and end of the weld between two plates to be welded, which can not only improve the welding efficiency of the robot, but also reduce the error. The welding effect is better.

Corresponding to the method, the present invention also provides a system for realizing the self-adaptation of the robot to the width of the grooved weld.

In order to achieve one of the purposes of the above invention, a method for realizing the self-adaptation of the robot to the width of the grooved weld provided by the present invention includes the following steps:

S1. Obtain the movement parameters of the end of the welding torch moving into the weld from the initial position, specifically: S11. Obtain the initial height value from the initial position of the end of the welding torch of the robot to the top surface of the plate to be welded; S12. Drive the robot and move it along the end of the welding torch When the actual height value moved in the thickness direction of the welding plate is greater than or equal to the sum of the initial height value in step S11 and half the thickness value of the plate to be welded, record the movement of the welding torch into the weld and its movement parameters;

S2. Obtain the offset value from the position where the end of the welding torch moves into the head end of the weld seam according to the moving parameters to both sides of the head end of the weld seam, and obtain the center coordinates of the head end of the weld seam and the swing amplitude of the welding seam according to the offset value;

S3. Acquire the offset value of the end of the welding torch when it moves into the end of the weld according to the movement parameters, and obtain the center coordinate of the end of the weld and the swing of the welding torch according to the offset value;

S4. Generate a welding operation program of the robot according to the weld seam center and swing information at the beginning and end of the weld obtained in steps S2 and S3, and perform welding operations according to the operation program.

As a further improvement of the present invention, the S12 step is specifically:

First, set the predetermined distance that the welding torch moves toward the weld along the width direction of the weld each time;

Then, drive the welding torch to move the predetermined distance and then move along the thickness direction of the plate to be welded, and record the actual height value of the welding torch moving along the thickness direction of the plate to be welded;

Finally, judge whether the actual height value is greater than or equal to the sum of the initial height value obtained in step S11 and half the thickness value of the plate to be welded; if not, continue to move a predetermined distance to measure the actual height value; if so, record the welding torch to move into In the weld and its movement parameters.

As a further improvement of the present invention, after recording the moving parameters, the step S12 also includes: obtaining the difference between the moving parameter value and the preset theoretical value of the welding torch moving into the weld seam so that the welding torch moves into the weld seam. The start and end move smoothly into the weld.

As a further improvement of the present invention, the welding operation program mainly obtains the welding trajectory of the welding torch according to the center line between the starting point and the end of the weld and the line between the ends of the swing on both sides.

In order to realize another object of the invention of the present invention, the present invention provides a kind of system that realizes the self-adaptation of robot to the width of groove weld, including following modules:

The welding seam position detection module is used to obtain the movement parameters of the end of the welding torch moving into the weld from the initial position; The initial height value of the top surface of the plate; the actual height value obtained by the welding seam position acquisition unit, used to drive the robot and move along the thickness direction of the plate to be welded at the end of the welding torch is greater than or equal to the initial height value obtained by the plate location unit and the height of the plate to be welded When the sum of half of the thickness value is recorded, the welding torch moves into the weld and its movement parameters are recorded;

The weld seam head center and width detection module is used to obtain the offset value from the position where the end of the welding torch moves into the weld seam head according to the moving parameters to the two sides of the weld seam head, and obtain the center of the weld seam head according to the offset value Coordinates and torch swing;

The welding seam end center and width detection module is used to obtain the offset value of the welding gun end swinging toward the two sides of the welding seam when the welding torch end is at the welding seam end, and obtain the center coordinate of the welding seam end and the swing amplitude of the welding seam according to the offset value;

The running program generation module is used to generate the welding running program of the robot according to the obtained welding seam center and swing information at the beginning and end of the welding seam, and perform the welding operation according to the running program.

As a further improvement of the present invention, the weld position acquisition unit is specifically used for:

First, set the predetermined distance that the welding torch moves toward the weld along the width direction of the weld each time;

Then, drive the welding torch to move the predetermined distance and then move along the thickness direction of the plate to be welded, and record the actual height value of the welding torch moving along the thickness direction of the plate to be welded;

Finally, judge whether the actual height value is greater than or equal to the sum of the initial height value and half the thickness value of the plate to be welded; if not, continue to move the predetermined distance to measure the actual height value; if so, record that the welding gun moves into the weld seam and its moving parameters.

As a further improvement of the present invention, the welding seam position obtaining unit is also used to: obtain the difference between the moving parameter value and the preset theoretical value of the welding torch moving into the welding seam so that the welding torch moves into the welding seam. The start and end of the weld move smoothly into the weld.

As a further improvement of the present invention, the welding operation program mainly obtains the welding trajectory of the welding torch according to the center line between the starting point and the end of the weld and the line between the ends of the swing on both sides.

As a further improvement of the present invention, the step S1 further includes initializing parameters of the surfacing welding, wherein the parameters of the surfacing welding include welding bead process parameters and model characteristic parameters. the

Compared with the prior art, the present invention only detects the first and last ends of the weld between two plates to be welded once, and generates the robot's position information according to the obtained weld center and swing information of the first and last ends of the weld. Welding operation program, so that the robot can automatically adapt to the change of the width of the weld in the whole weld, which can not only improve the welding efficiency of the robot, but also reduce the error and ensure the welding quality.

Description of drawings

Fig. 1 is the working flowchart of the method for realizing the self-adaptation of the width of the grooved weld by the robot in one embodiment of the present invention;

Fig. 2 is the concrete flowchart of S1 step among Fig. 1;

Fig. 3 is a schematic diagram of specific implementation corresponding to step S11 in Fig. 2;

Fig. 4 is the specific implementation schematic diagram corresponding to step S12 in Fig. 2;

Fig. 5 is a concrete implementation schematic diagram corresponding to steps S2 and S3 in Fig. 2;

Fig. 6 is a schematic diagram of the functional modules of the system for realizing the self-adaptation of the robot to the width of the grooved weld in an embodiment of the present invention.

Detailed ways

The present invention will be described in detail below in conjunction with specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, method, or functional changes made by those skilled in the art according to these embodiments are included in the protection scope of the present invention.

Please refer to Fig. 1 and shown in Fig. 5, in a specific embodiment of the present invention, the present invention realizes the method for the self-adaptation of robot to band bevel weld width, comprises the following steps:

S1. Obtain the movement parameters of the end of the welding torch moving from the initial position into the weld;

S2. Obtain the offset value from the position P4 of the end of the welding torch moving into the head end of the weld seam to P5 and P6 on both sides of the head end of the weld seam according to the moving parameters, and obtain the center coordinates of the head end of the weld seam and the swing amplitude of the welding seam according to the offset value ; where the center coordinate position of the weld head is mainly obtained by dividing the difference between the offset values of P5 and P6 at the end of the welding torch toward the head of the weld by 2, and the width of the head of the weld is The sum of the offset values of the P5 and P6 offsets on both sides, and the swing of the welding torch is obtained by dividing the sum of the offset values of the P5 and P6 offsets at the end of the welding torch towards the beginning of the weld by 2;

S3. Acquire the offset value of the end of the welding torch when it moves into the end of the weld P7 according to the moving parameters, and swing toward P8 and P9 on both sides of the weld, and obtain the center coordinates of the end of the weld and the swing of the welding torch according to the offset value; The central coordinate position of the end of the welding seam is mainly obtained by dividing the difference between the offset value of the end of the welding torch toward P8 and P9 on both sides of the end of the welding seam by 2, and the width of the end of the welding seam is P8 from the end of the welding torch toward the ends of the welding seam , the sum of the offset values of the P9 offset, and the swing of the welding torch is obtained by dividing the sum of the offset values of the P8 and P9 offsets at the end of the welding torch towards the end of the weld seam by 2;

S4. Generate a welding operation program of the robot according to the weld seam center and swing information at the beginning and end of the weld obtained in steps S2 and S3, and perform welding operations according to the operation program. The welding operation program is mainly to obtain the welding trajectory of the welding gun according to the connection line of the center coordinates of the beginning and end of the weld and the end points of the swing on both sides, that is, the connection lines between P5 and P8 and P6 and P9.

As shown in Fig. 2 to Fig. 4, the specific steps for obtaining the moving parameters in the S1 step are:

S11. Obtain the initial height value from the initial position of the welding torch end of the robot to the top surface of the plate to be welded; the initial height value is mainly obtained by the following method: first, drive the robot to make the welding torch end move from the initial point of the welding torch end to a preset speed at a predetermined speed. The fixed auxiliary point P1 moves; secondly, the end of the driving welding gun continues to move from the auxiliary point P1 towards the top surface of the plate to be welded at a speed less than the predetermined speed; then, the end of the driving welding torch touches the top surface of the plate to be welded at a speed greater than Return to the initial position at the predetermined speed; finally, record the distance from the initial point of the welding torch end to the top surface of the plate to be welded and set it as the initial height value h0.

S12. Drive the robot and when the actual height value of the end of the welding torch moving along the thickness direction of the sheet to be welded is greater than or equal to the sum of the initial height h0 in step S1 and half the thickness of the sheet to be welded, record the movement of the welding torch into the weld and its Move parameters. The specific implementation of the step S12 is as follows: firstly, set the predetermined distance a that the welding torch moves along the width direction of the weld seam each time; then, drive the welding torch to move the predetermined distance a and then move along the thickness direction of the plate to be welded, Simultaneously record the actual height value hn of the welding torch moving along the thickness direction of the plate to be welded; finally, judge whether the actual height value hn is greater than or equal to the sum of the initial height h0 obtained in the S11 step and half the thickness value of the plate to be welded; if not , then continue to move the predetermined distance to measure the actual height value hn; if so, record the movement of the welding torch into the weld and its movement parameters.

The step S12 further includes after recording the moving parameters: obtaining the difference between the moving parameter value and the preset theoretical value of the welding torch moving into the weld, so that the welding torch can move smoothly into the welding seam at the starting point and the end of the welding seam. in the seam.

Correspondingly, as shown in FIG. 6 , in a specific embodiment of the present invention, a system that applies the above-mentioned method to realize the self-adaptation of the robot to the width of the grooved weld seam includes the following modules:

The welding seam position detection module is used to obtain the movement parameters of the end of the welding torch moving into the welding seam from the initial position;

The weld seam head center and width detection module is used to obtain the offset value from the position where the end of the welding torch moves into the weld seam head according to the moving parameters to the two sides of the weld seam head, and obtain the center of the weld seam head according to the offset value Coordinates and torch swing;

The weld end center and width detection module is used to obtain the offset value of the end of the welding torch when it moves into the end of the weld according to the moving parameters and swings toward the two sides of the weld, and obtain the center coordinates of the end of the weld and the welding torch according to the offset value swing;

The running program generation module is used to generate the welding running program of the robot according to the obtained welding seam center and swing information at the beginning and end of the welding seam, and perform the welding operation according to the running program. The welding operation program is mainly to obtain the welding trajectory of the welding torch according to the center line between the start point and the end of the weld and the line between the end points of the swing on both sides.

Wherein, the weld position detection module specifically includes:

Plate locating unit, used to obtain the initial height value from the initial position of the welding torch end of the robot to the top surface of the plate to be welded;

When the actual height value of the welding seam position acquisition unit, used to drive the robot and move along the thickness direction of the plate to be welded at the end of the welding torch is greater than or equal to the sum of the initial height value obtained by the plate positioning unit and half the thickness of the plate to be welded, record The movement of the welding torch into the weld and its movement parameters.

The welding seam position acquisition unit is specifically used for: first, setting the predetermined distance that the welding torch moves toward the welding seam along the width direction of the welding seam each time; then, driving the welding torch to move the predetermined distance and then moving along the thickness direction of the plate to be welded , and record the actual height value of the welding gun moving along the thickness direction of the plate to be welded; finally, judge whether the actual height value is greater than or equal to the sum of the initial height value and half the thickness value of the plate to be welded; if not, continue to move Measure the actual height value at a predetermined distance; if so, record the movement of the welding torch into the weld and its movement parameters. The welding seam position obtaining unit is also used for: obtaining the difference between the moving parameter value and the preset theoretical value of the welding torch moving into the welding seam so that the welding torch is at the starting point and the end of the welding seam after recording the movement parameters. Moves smoothly into the weld.

Because the system applies the method described above, the technical features specifically described in the above method must also be embodied and covered in this system, and the applicant will not repeat them here.

In summary, the present invention only detects the first and last ends of the weld between two plates to be welded once, and generates the welding operation of the robot according to the obtained weld center and swing information of the first and last welds. Program, so that the robot can automatically adapt to the change of the width of the weld in the whole weld, which can not only improve the welding efficiency of the robot, but also reduce the error and ensure the welding quality.

The device implementations described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in a place. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without creative effort.

It should be understood that although this description is described according to implementation modes, not each implementation mode only contains an independent technical solution, and this description in the description is only for clarity, and those skilled in the art should take the description as a whole, and each The technical solutions in the embodiments can also be properly combined to form other embodiments that can be understood by those skilled in the art.

The series of detailed descriptions listed above are only specific descriptions for feasible implementations of the present invention, and they are not intended to limit the protection scope of the present invention. Any equivalent implementation or implementation that does not depart from the technical spirit of the present invention All changes should be included within the protection scope of the present invention.

Claims (8)

1. realize the adaptive method of robot to band groove weld width, it is characterized in that, the method comprises the steps:

S1, obtain welding gun end and move into moving parameter in weld seam from initial position, be specially: S11, obtain the elemental height value of welding gun end initial position to sheet material end face to be welded of robot; S12, driven machine people when welding gun end is more than or equal to the half one-tenth-value thickness 1/10 sum of the elemental height value of S11 step and sheet material to be welded along the actual height value of sheet metal thickness direction movement to be welded, record welding gun moves in weld seam and moving parameter;

S2, acquisition welding gun end move into the deviant of position to the weld seam head end both sides of weld seam head end according to described moving parameter, and obtain the centre coordinate of weld seam head end and the amplitude of oscillation of welding gun according to this deviant;

The deviant of rolling to each side towards weld seam when S3, acquisition welding gun end move into weld seam end according to described moving parameter, and obtain the centre coordinate of weld seam end and the amplitude of oscillation of welding gun according to this deviant;

S4, the weld seam head end obtained according to S2, S3 step and the Weld pipe mill of end and amplitude of oscillation information generate the welding working procedure of robot, and carry out welding operation according to described working procedure.

2. method according to claim 1, is characterized in that: described S12 step is specially:

First, the preset distance of welding gun at every turn along weld width direction towards bead direction movement is set;

Then, move along sheet metal thickness direction to be welded again after driving welding gun to move described preset distance, record the actual height value of welding gun along sheet metal thickness direction movement to be welded simultaneously;

Finally, judge whether described actual height value is more than or equal to the elemental height value of S11 step acquisition and the half one-tenth-value thickness 1/10 sum of sheet material to be welded; If not, then continue mobile preset distance and carry out the measurement of actual height value; If so, then recording welding gun moves in weld seam and moving parameter.

3. method according to claim 2, is characterized in that: described S12 step also comprises after record move parameter: obtain difference between theoretical value that described moving parameter value and the welding gun that presets move into weld seam and move into smoothly in weld seam in the starting point of weld seam and end to make welding gun.

4. method according to claim 1, is characterized in that: described welding working procedure is mainly according to the line of the starting point of weld seam and the line of centres of end and both sides amplitude of oscillation terminal to obtain the welding track of welding gun.

5. realize the adaptive system of robot to band groove weld width, it is characterized in that, this system comprises as lower module:

Detecting Welding Seam module, to move into moving parameter in weld seam from initial position for obtaining welding gun end; Described Detecting Welding Seam module specifically comprises: sheet material seeks bit location, elemental height value for the welding gun end initial position Zhi sheet material end face to be welded that obtain robot; Position while welding acquiring unit, for driven machine people and welding gun end along the actual height value of sheet metal thickness direction movement to be welded be more than or equal to sheet material seek the half one-tenth-value thickness 1/10 sum of elemental height value that bit location obtains and sheet material to be welded time, record welding gun moves in weld seam and moving parameter;

Weld seam head end center and width detection module, to move into the deviant of position to the weld seam head end both sides of weld seam head end according to described moving parameter for obtaining welding gun end, and obtain the centre coordinate of weld seam head end and the amplitude of oscillation of welding gun according to this deviant;

Weld seam distal center and width detection module, for obtaining the deviant of rolling to each side towards weld seam when welding gun end moves into weld seam end according to described moving parameter, and obtain the centre coordinate of weld seam end and the amplitude of oscillation of welding gun according to this deviant;

Working procedure generation module, for generating the welding working procedure of robot according to the weld seam head end obtained and the Weld pipe mill of end and amplitude of oscillation information, and carry out welding operation according to described working procedure.

6. system according to claim 5, is characterized in that: described position while welding acquiring unit specifically for:

First, the preset distance of welding gun at every turn along weld width direction towards bead direction movement is set;

Then, move along sheet metal thickness direction to be welded again after driving welding gun to move described preset distance, record the actual height value of welding gun along sheet metal thickness direction movement to be welded simultaneously;

Finally, judge whether described actual height value is more than or equal to the half one-tenth-value thickness 1/10 sum of described elemental height value and sheet material to be welded; If not, then continue mobile preset distance and carry out the measurement of actual height value; If so, then recording welding gun moves in weld seam and moving parameter.

7. system according to claim 6, is characterized in that: described position while welding acquiring unit after record move parameter also for: obtain difference between theoretical value that described moving parameter value and the welding gun that presets move into weld seam and move into smoothly in weld seam in the starting point of weld seam and end to make welding gun.

8. system according to claim 5, is characterized in that: described welding working procedure is mainly according to the line of the starting point of weld seam and the line of centres of end and both sides amplitude of oscillation terminal to obtain the welding track of welding gun.