CN112440018B - Welding system and welding method - Google Patents
Welding system and welding method Download PDFInfo
- Publication number
- CN112440018B CN112440018B CN201910829956.5A CN201910829956A CN112440018B CN 112440018 B CN112440018 B CN 112440018B CN 201910829956 A CN201910829956 A CN 201910829956A CN 112440018 B CN112440018 B CN 112440018B
- Authority
- CN
- China
- Prior art keywords
- welding
- information
- weld
- workpiece
- welded
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000003466 welding Methods 0.000 title claims abstract description 474
- 238000000034 method Methods 0.000 title claims abstract description 53
- 238000012545 processing Methods 0.000 claims abstract description 65
- 230000008569 process Effects 0.000 claims abstract description 19
- 238000006073 displacement reaction Methods 0.000 claims description 20
- 239000003550 marker Substances 0.000 claims description 11
- 238000012937 correction Methods 0.000 claims description 10
- 238000003860 storage Methods 0.000 abstract description 6
- 230000000875 corresponding effect Effects 0.000 description 43
- 238000004891 communication Methods 0.000 description 12
- 238000004422 calculation algorithm Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005493 welding type Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 230000002596 correlated effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000010365 information processing Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005429 filling process Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- 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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- 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 for a procedure covered by only one of the other main groups of this subclass
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The application provides a welding system and a welding method, wherein the welding system carries a workpiece to be welded through a deflection module; acquiring weld information through a weld locating module; the angle of the deflection module is controlled and adjusted through the processing module, station information is generated, and the welding seam information is processed to generate welding seam corresponding information and welding seam path information; the welding robot welds the weld joint; generating a plurality of groups of weld joint association information through the information; processing a plurality of groups of welding seam related information to generate workpiece welding task information; therefore, when the welding system welds the workpieces, the welding parameters such as the welding process, the welding path and the like are synchronously stored, classified and associated storage is performed, and when the similar workpieces are welded subsequently, the welding parameters of the same type of workpieces can be directly called for welding, so that the welding operation steps are simplified, the welding quality is improved, and the skill level requirements of operators are reduced.
Description
Technical Field
The application relates to the technical field of welding equipment, in particular to a welding system and a welding method.
Background
At present, the robot welding mainly uses standard components and is applied to industries such as automobile manufacturing, household appliances and the like. However, with the gradual maturity of the robot welding technology in the automobile industry and the like, the current situations of severe industrial working environments, difficult work, unstable quality, such as engineering machinery, metallurgical equipment, steel structures, special ships and the like are more prominent, and particularly the welding field of medium and heavy plates also brings urgent demands for the robot welding. For example, the field of medium plates has the characteristics of single welding workpiece or small quantity, high accurate clamping difficulty, low groove state consistency, high filling quantity, and the problems of complicated teaching programming work, unstable welding quality, high requirement on the programming capability of an operator robot and the like when the teaching programming method of the traditional robot is adopted for welding.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present application is to provide a welding system and a welding method, which are used for solving the problems of complicated teaching programming work and unstable welding quality when the existing welding robot performs welding.
To achieve the above and other related objects, the present application provides a welding system comprising: the deflection module is used for bearing the workpiece to be welded; the welding seam locating module is used for acquiring welding seam information of the workpiece to be welded; the processing module is respectively connected with the deflection module and the welding seam locating module and is used for controlling and adjusting the angle of the deflection module and generating station information according to the angle of the deflection module; processing the welding seam information to generate welding seam corresponding information and welding seam path information; the welding robot is connected with the processing module and used for welding the welding seam of the workpiece to be welded according to the welding seam corresponding information and the welding seam path information; the information matching module is used for carrying out association matching on the welding seam information, the station information, the welding seam corresponding information and the welding seam path information so as to generate a plurality of groups of welding seam association information; and the welding seam related information processing module is used for processing a plurality of groups of welding seam related information to generate workpiece welding task information.
Optionally, the weld information includes at least one of: the number of welding seams, the position information of the welding seams and the size of the welding seams; the weld correspondence information includes at least one of: the type of the welding seam and the welding seam process; the weld path information includes: a marker bit sequence and a path pose sequence.
Optionally, the weld position information includes: weld starting point pose information and weld ending point pose information.
Optionally, the information matching module includes a weld information matching unit, configured to perform association matching on station information of the displacement module, the weld information, the weld corresponding information, and the weld path information of the displacement module when a weld of the workpiece to be welded presents a state to be welded on the displacement module, so as to generate a set of weld association information; and the welding robot welds the workpiece to be welded according to the weld joint related information.
Optionally, the information matching module further includes a workpiece information matching unit, configured to classify and process weld joint related information corresponding to each weld joint of the workpieces to be welded in the same class, so as to generate workpiece welding task information corresponding to the workpieces to be welded; generating a plurality of groups of workpiece welding task information corresponding to each workpiece to be welded according to the plurality of different types of workpieces to be welded; and the welding robot welds the workpiece to be welded according to the workpiece welding task information.
Optionally, the flag bit sequence includes at least one of: a welding serial number mark, a type mark, a welding completion mark, a total welding track number mark, a welded track number mark, a welding seam welding enabling mark and a welding seam tracking option mark of each welding seam; the path pose sequence comprises each weld sequence number and the pose of the tail end path point of each weld robot when the weld robot performs welding.
Optionally, the welding system further includes a weld tracking module connected with the processing module and the welding robot, and the weld tracking option mark is used for calling, so as to detect and acquire real-time welding state information of the welding robot on the weld of the workpiece to be welded, generate deviation correction control information and send the deviation correction control information to the welding robot.
Optionally, the welding system further comprises a display module for displaying at least one of the following information: the station information, the weld corresponding information, the weld path information, the real-time welding state information or the deviation correction control information.
Optionally, the welding robot comprises a multi-layer multi-pass welding unit for performing multi-layer multi-pass welding on the workpiece to be welded and/or an angle welding unit for performing angle welding on the workpiece to be welded.
The application also provides a welding method, which comprises the following steps: placing a workpiece to be welded on the deflection module; adjusting the angle of the deflection module, and generating station information according to the angle of the deflection module; acquiring welding seam information of the workpiece to be welded; processing the welding seam information and generating welding seam corresponding information and welding seam path information; welding the welding seam of the welding workpiece according to the welding seam corresponding information and the welding seam path information; performing association matching on the welding seam information, the station information, the welding seam corresponding information and the welding seam path information to generate a plurality of groups of welding seam association information; processing a plurality of groups of welding seam related information to generate workpiece welding task information; and finishing the welding of the workpieces to be welded of corresponding types according to the different workpiece welding task information.
Optionally, the weld information includes at least one of: the number of welding seams, the position information of the welding seams and the size of the welding seams; the weld correspondence information includes at least one of: the type of the welding seam and the welding seam process; the weld path information includes: a marker bit sequence and a path pose sequence.
Optionally, the welding method further includes the following steps: performing association matching on station information of the displacement module, the weld information, the weld corresponding information and the weld path information when a weld of the workpiece to be welded presents a state to be welded on the displacement module so as to generate a group of weld association information; and welding the workpiece to be welded according to the weld joint related information.
Optionally, the welding method further includes classifying the weld joint related information corresponding to each weld joint of the workpieces to be welded in the same category to generate workpiece welding task information corresponding to the workpieces to be welded; generating a plurality of groups of workpiece welding task information corresponding to each workpiece to be welded according to the workpieces to be welded of different types; and welding the workpiece to be welded according to the workpiece welding task information.
Optionally, the welding method further comprises detecting and acquiring real-time welding state information of the welding robot on the welding seam of the workpiece to be welded.
Optionally, the welding method further includes generating deviation rectifying control information according to the real-time welding state information, and sending the deviation rectifying control information to the welding robot.
The present application also provides an apparatus comprising: one or more processors; and one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the apparatus to perform one or more of the methods described above.
The application also provides one or more machine-readable media having instructions stored thereon that, when executed by one or more processors, cause an apparatus to perform one or more of the methods described above.
As described above, according to the welding system and the welding method provided by the application, the welding system bears the workpiece to be welded through the deflection module; acquiring welding seam information of the workpiece to be welded through a welding seam locating module; the angle of the deflection module is controlled and regulated through the processing module, station information is generated according to the angle of the deflection module, and the welding seam information is processed to generate welding seam corresponding information and welding seam path information; welding the welding seam of the workpiece to be welded by a welding robot; performing association matching on the welding seam information, the station information, the welding seam corresponding information and the welding seam path information through an information matching module to generate a plurality of groups of welding seam association information; processing a plurality of groups of welding seam related information to generate workpiece welding task information; therefore, when the welding system welds the workpieces, the welding system synchronously correlates welding parameters such as welding process, welding path and the like, classifies the correlated welding parameters according to different welding seams and different workpieces to be welded, and can directly call the welding parameters of the same type of workpieces or the same type of welding seams to weld when the same type of workpieces are welded subsequently, so that the welding operation steps are simplified, the welding quality is improved, and the skill level requirements of operators are reduced.
Drawings
FIG. 1 is a block diagram of a welding system according to an embodiment of the present application.
Fig. 2 is a block diagram of a welding system according to yet another embodiment of the present application.
Fig. 3 is a block diagram of a welding system according to another embodiment of the present application.
Fig. 4 is a schematic structural diagram of a welding system according to an embodiment of the application.
Fig. 5 is a flow chart of a welding method according to an embodiment of the application.
Fig. 6 is a schematic hardware structure of a terminal device according to an embodiment of the present application.
Fig. 7 is a schematic hardware structure of a terminal device according to another embodiment of the present application.
Description of element reference numerals
The welding device comprises a processing module 10, an information matching module 20, a welding seam information matching unit 21, a workpiece information matching unit 22, a welding robot 30, a deflection module 40, a workpiece 41 to be welded, a welding seam locating module 50, a welding seam tracking module 60, a welding power supply 70 and a display module 80
Detailed Description
Other advantages and effects of the present application will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present application with reference to specific examples. The application may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present application. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present application by way of illustration, and only the components related to the present application are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
1-4, to achieve the above and other related objects, the present application provides a welding system, comprising: a displacement module 40 for carrying a workpiece 41 to be welded; the weld locating module 50 is used for acquiring the weld information of the workpiece 41 to be welded; the processing module 10 is respectively connected with the deflection module 40 and the welding seam locating module 50, and is used for controlling and adjusting the angle of the deflection module 40 and generating station information according to the angle of the deflection module 40; processing the welding seam information to generate welding seam corresponding information and welding seam path information; the welding robot 30 is connected with the processing module 10 and is used for welding the welding seam of the workpiece 41 to be welded according to the welding seam corresponding information and the welding seam path information; the information matching module 20 is configured to perform association matching on the weld information, the station information, the weld correspondence information, and the weld path information to generate a plurality of sets of weld association information; and the welding seam related information processing module is used for processing a plurality of groups of welding seam related information to generate workpiece welding task information.
In certain embodiments, the weld information includes at least one of: the number of welding seams, the position information of the welding seams and the size of the welding seams; the weld correspondence information includes at least one of: the type of the welding seam and the welding seam process; the weld path information includes: a marker bit sequence and a path pose sequence.
It will be appreciated that the welding system of the present application further includes a storage module coupled to the processing module 10 and the information matching module 20 for storing various weld information, weld correspondence information, station information, weld association information, workpiece welding task information, etc.
In some embodiments, the workpiece 41 to be welded is placed on the displacement module 40, and in general, the displacement module 40 is subjected to angle adjustment so that the welding seam of the workpiece 41 to be welded on the displacement module 40 is placed in an optimal welding state, it can be understood that the optimal welding state can be that more welding seams are in a flat welding or ship welding posture, station information of the displacement module 40 under such angle condition is stored, meanwhile, a user can name and label the station information under such condition, and the naming can be used for distinguishing the workpiece types of the workpiece 41 to be welded, so that the subsequent associated matching and storage of the welding seam information, the welding seam corresponding information, the welding seam path information and the like under the condition of the station information can be performed.
In some embodiments, the information matching module 20 includes a weld information matching unit 21, configured to perform association matching on the station information, the weld correspondence information, and the weld path information of the displacement module 40 when the to-be-welded workpiece 41 presents the to-be-welded state on the displacement module 40, so as to generate a set of weld association information; the welding robot 30 performs welding on the workpiece 41 to be welded according to the weld joint related information.
In some embodiments, the information matching module 20 further includes a workpiece information matching unit 22, configured to classify the weld related information corresponding to each weld of the workpieces 41 to be welded in the same category to generate workpiece welding task information corresponding to the workpieces 41 to be welded; generating a plurality of groups of workpiece welding task information corresponding to each workpiece 41 to be welded according to the plurality of different types of workpieces 41 to be welded; the welding robot 30 welds the workpiece 41 to be welded according to the workpiece welding task information.
In some embodiments, the weld locating module 50 includes: the image collector is used for collecting welding line images of the workpiece 41 to be welded so as to obtain the welding line information of the workpiece 41 to be welded; or an inertial sensor for placing the start point and the end point of each weld at the welding posture and the preset speed information to obtain the weld information of the workpiece 41 to be welded. It will be appreciated that the weld locating module 50 may be a teach pendant, and that the operator may acquire the weld information by manual teaching.
In some embodiments, the image collector may be a binocular vision camera module, where when the binocular vision camera module obtains the weld information, an operator attaches a feature target to a start point and an end point of the weld, the processing module 10 triggers the binocular vision camera module to collect an image and returns a signal to the processing module 10, the processing module 10 invokes a preset image processing algorithm and a coordinate calibration algorithm to obtain a position of the target under a coordinate system of the welding robot 30, and combines manual input of the operator to set a pose of the start point and the end point, so as to form pose information required in path planning; it can be understood that when acquiring the weld information based on the inertial sensor, the hand-held sensor can be used to sequentially place the hand-held sensor at the start point and the end point of the weld in terms of welding gesture, and the gesture and the speed information of the inertial sensor are transmitted to the processing module 10, and the processing module 10 acquires the gesture information of each start point and each end point through an integration algorithm.
Thus, when welding the same kind of workpieces, after the welding of one workpiece is completed, station information, the number of welding seams, the type of welding seams, the information of welding seams under various welding seams, the information corresponding to the welding seams, the information of welding seam paths and the like of the workpieces can be obtained, the station information, the number of welding seams, the type of welding seams, the information of welding seams under various welding seams, the information corresponding to the welding seams, the information of welding seam paths and the like do not need to be acquired again when each workpiece is welded, the subsequent processing module 10 can directly call stored information related to the welding seams and send the information to the welding robot 30, and the welding robot 30 performs welding treatment on the workpieces according to the information or instructions sent by the processing module 10, so that the workload of manual teaching is reduced, or the workload of the welding seam locating module 50 is reduced, and the welding efficiency is improved; the weld seam locating module 50 is used for reducing the requirement on the workpiece clamping precision, and the fund investment on the high-precision tool clamp can be greatly saved.
It will be appreciated that the process of generating weld path information by the processing module 10 includes performing a path planning operation; in some embodiments, path planning includes, but is not limited to: and planning the welding sequence among the welding seams based on the manual configuration sequence of each welding seam, and planning the starting point and the end point of each welding seam of each layer in the multi-layer multi-channel welding seam with larger welding seam size, wherein the multi-layer multi-channel path planning is used for acquiring the starting point and the end point pose of each channel of each layer through offset calculation on the basis of the starting point and the end point pose information of the welding seam.
In some embodiments, the welding robot 30 includes at least a multi-layer multi-pass welding unit for multi-layer multi-pass welding the work piece 41 to be welded or an fillet welding unit for fillet welding the work piece 41 to be welded.
It will be appreciated that the welding robot 30 includes a storage subunit and various functional units therein, such as including, but not limited to, a main program unit, a multi-layered multi-pass welding unit, a fillet welding unit; in some embodiments, the seam tracking module 60 of the welding system may also be provided on the welding robot 30, and the welding robot 30 may make a call by receiving the information sent by the processing module 10. The information sent by the processing module 10 may be a flag bit sequence or a path pose sequence, which is not limited herein.
In some embodiments, the indexing module 40 may be a head-to-tail indexing module 40, not limited herein.
In some embodiments, the welding system further includes a seam tracking module 60 connected to the processing module 10 and the welding robot 30, and configured to detect and obtain real-time welding status information of the welding robot 30 on the welding seam of the workpiece 41 to be welded, generate deviation correction control information, and send the deviation correction control information to the welding robot for real-time deviation correction.
In certain embodiments, the flag bit sequence comprises at least one of: a welding serial number mark, a type mark, a welding completion mark, a total welding track number mark, a welded track number mark, a welding seam welding enabling mark and a welding seam tracking option mark of each welding seam; the path pose sequence comprises each weld sequence number and the pose of the tail end path point of each weld robot when the weld robot performs welding. It can be appreciated that the information matching module 20 can match and correspond the marker bit sequence and the path pose sequence of the same weld seam through the weld seam serial number.
It will be appreciated that in some embodiments, there may be a plurality of welds under one station information, and there may be a plurality of corresponding weld information, where each weld information may generate corresponding weld correspondence information and weld path information, in some embodiments, each weld may be labeled or named by the information matching module 20, and the weld information, the weld correspondence information, and the weld path information of each weld may be associated, matched, and stored, that is, when the type of the weld is determined, and the plurality of types of information such as the weld information, the weld correspondence information, and the weld path information of the weld may be adjusted.
In some embodiments, the weld tracking module 60 generates de-skew control information based on the real-time weld status information and transmits the de-skew control information to the welding robot 30.
Referring to fig. 4, it can be appreciated that the welding system of the present application includes a welding power source 70, and in some embodiments, the weld tracking module 60 can be one of an arc tracker and a laser tracker, wherein the arc tracker can be installed on a ground line between the robot and the welding power source 70, and the welding power source 70 current is collected and transmitted to the welding robot 30 for path deviation correction; the laser tracker can be installed on a welding gun of the welding robot 30, acquires welding line image information, and transmits the welding line image information to the welding robot 30 after processing so as to rectify a path of the welding robot 30.
It will be appreciated that after the weld is welded at one station, the shift module 40 may perform angle adjustment to add a new station to generate new station information, and obtain the weld information corresponding to the new station information to generate the weld corresponding information and the weld path information.
In some embodiments, the welding system further includes a display module 80 for displaying at least one of the following information: the station information, the weld corresponding information, the weld path information, the real-time welding state information or the deviation correction control information. The display module 80 may display weld information, namely: the number of welding seams, the position information of the welding seams and the size of the welding seams; the welding seam corresponding information, namely the welding seam type and the welding seam process type matched with the welding seam type, can be displayed, so that an operator or a user can observe and detect the welding seam conveniently.
In certain embodiments, the welding robot 30 includes a multi-layer multi-pass welding unit for multi-layer multi-pass welding the work piece 41 to be welded and/or a fillet welding unit for fillet welding the work piece 41 to be welded.
In some embodiments, the processing module 10 runs automated welding software and interfaces with the indexing module 40, the weld locating module 50, the welding robot 30, and the weld tracking module 60, and communicates information and instructions via a communication protocol.
It will be appreciated that, taking the work piece 41 to be welded as the guide Liang Gongjian of the medium plate to be welded as an example,
s1: clamping the guide Liang Gongjian of the medium plate to be welded on the single-shaft head-tail frame type deflection module 40, and ensuring that all welding seams of the guide beam are in the effective working space range of welding through deflection;
s2: adding a station 1 in a platform of the processing module 10, controlling the deflection module 40 through the platform of the processing module 10, enabling a welding seam of the guide Liang Zhengmian to be placed at a flat welding position, clicking a deflection information storage button of the processing module 10, and storing the current position of the deflection module 40 under the station 1;
s3: 4 welding seams are added under the station 1, the welding seam sizes are sequentially set corresponding to the 4 large-groove welding seams on the front surface of the guide beam, and arc tracking options are checked so as to start the welding seam tracking module 60 to track the welding seams during welding.
The weld joint size comprises a weld joint height and a groove angle, and the weld joint type and the process are automatically matched through the weld joint size; the welding process is preconfigured in the control system of the welding robot 30, and the codes of the corresponding bottoming and filling processes are selected only when the process is matched on the processing module 10; meanwhile, as each welding line of the guide beam is longer and the straightness is lower, arc tracking is additionally arranged, so that the welding is ensured not to deviate from the welding line.
S4: the tail end of the welding robot 30 is controlled to move to the starting point and the tail end of each welding seam through manual teaching of the welding robot 30, and a data transmission program of a control system of the welding robot 30 is sequentially operated to transmit the pose data to the processing module 10 according to the welding seam configuration sequence;
s5: the processing module 10 calls a multi-layer multi-channel algorithm to calculate the arc starting and arc receiving pose of each layer of each weld according to the weld size, the weld type and the starting and stopping point pose data, generates a marker sequence and a pose sequence, and three-dimensionally displays the marker sequence and the pose sequence on an interactive window of an upper automatic welding platform, namely a display module 80, wherein the marker sequence comprises a multi-layer multi-channel mark, an arc tracking option mark and a process number selection mark;
s6: confirming that the displayed welding path is suitable for the actual welding seam layout of the guide beam, and starting a main program to run at the end of the welding robot 30 to wait for a signal sent by the processing module 10; clicking a welding starting instruction on the processing module 10, and sending a marker bit sequence and a pose sequence to a welding robot 30 control system according to preset interaction logic;
s7: the main program of the welding robot 30 calls a multi-layer multi-channel welding unit pre-stored in a control system of the welding robot 30 according to the received multi-layer multi-channel zone bit sequence and operates, and the multi-layer multi-channel unit calls an arc tracking statement and a process number statement according to an arc tracking option mark and a process number selection mark;
s8: the multilayer multichannel unit further receives the pose sequence and places the pose sequence in an actual welding instruction, so that the robot can weld sequentially according to the path.
It can be understood that after the front welding of the guide beam is completed, the steps S2-S8 are repeated, and the welding of the front welding line and the rear welding line of the guide beam is sequentially completed until the welding of all the welding lines of the whole workpiece is completed.
In some embodiments, the displacement module 40 is controlled by a PLC and a servo drive, the angle of which is readable and controllable, and interacts with the industrial control system of the processing module 10 based on a network communication protocol.
Thus, based on the processing module 10 for welding configuration and path planning, the welding robot 30, the deflection module 40, the welding seam locating module 50, the welding seam tracking module 60, the display module 80 and the like are controlled in a centralized manner, and when aiming at different non-standard weldments, the configuration steps are concise and convenient, complex programming work is avoided, and the requirement on the skill level of workers is low; meanwhile, a path planning algorithm aiming at the characteristics of the weld joint of the medium plate can carry out multi-layer and multi-channel welding path planning according to a small number of teaching points, so that the teaching workload of workers is reduced, and the welding efficiency is improved; the welding system of the application uses the welding seam locating module 50, reduces the requirement on the workpiece clamping precision, and can greatly save the fund investment on the high-precision fixture; the deflection module 40 and the weld joint tracking module 60 can respectively reduce the complexity of the welding process and the consistency requirement of the incoming state of the weld joint, and effectively ensure the welding quality.
Referring to fig. 5, the present application further provides a welding method, which includes the following steps:
s10: placing the work piece 41 to be welded on the displacement module 40;
s20: adjusting the angle of the deflection module 40, and generating station information according to the angle of the deflection module 40;
s30: acquiring welding seam information of the workpiece 41 to be welded;
s40: processing the welding seam information and generating welding seam corresponding information and welding seam path information;
s50: welding the welding seam of the workpiece to be welded according to the welding seam corresponding information and the welding seam path information;
s60: performing association matching on the welding seam information, the station information, the welding seam corresponding information and the welding seam path information to generate a plurality of groups of welding seam association information;
s70: processing a plurality of groups of welding seam related information to generate workpiece welding task information;
s80: and completing the welding of the workpieces 41 to be welded of corresponding types according to different workpiece welding task information.
In certain embodiments, the weld information includes at least one of: the number of welding seams, the position information of the welding seams and the size of the welding seams; the weld correspondence information includes at least one of: the type of the welding seam and the welding seam process; the weld path information includes: a marker bit sequence and a path pose sequence.
In certain embodiments, the welding method further comprises the steps of: performing association matching on the station information, the weld correspondence information and the weld path information of the displacement module 40 when a weld of the workpiece 41 to be welded presents a state to be welded on the displacement module 40 so as to generate a group of weld association information; and welding the workpiece 41 to be welded according to the weld joint related information.
In some embodiments, the welding method further includes classifying the weld related information corresponding to each weld of the workpiece 41 to be welded in the same category to generate workpiece welding task information corresponding to the workpiece 41 to be welded; generating a plurality of groups of workpiece welding task information corresponding to each workpiece 41 to be welded according to a plurality of different types of workpieces 41 to be welded; and welding the workpiece 41 to be welded according to the workpiece welding task information.
In certain embodiments, the welding method further comprises detecting and acquiring real-time welding status information of the welding robot 30 on the weld of the work piece 41 to be welded.
In some embodiments, the welding method further comprises generating de-skew control information from the real-time welding status information and transmitting the de-skew control information to the welding robot 30.
The related embodiments, beneficial effects, etc. of the welding method provided by the present application can be seen in the related expressions of the welding system provided by the present application, and are not described herein.
The present application also provides an apparatus comprising: one or more processors; and one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the apparatus to perform one or more of the methods described above.
The application also provides one or more machine-readable media having instructions stored thereon that, when executed by one or more processors, cause an apparatus to perform one or more of the methods described above.
As described above, according to the welding system and the welding method provided by the application, the welding system carries the workpiece 41 to be welded through the deflection module 40; acquiring welding seam information of the workpiece 41 to be welded through a welding seam locating module 50; the angle of the deflection module 40 is controlled and regulated through the processing module 10, station information is generated according to the angle of the deflection module 40, and the welding seam information is processed to generate welding seam corresponding information and welding seam path information; welding the welding seam of the workpiece 41 to be welded by a welding robot 30; performing association matching on the weld information, the station information, the weld corresponding information and the weld path information through an information matching module 20 to generate a plurality of groups of weld association information; processing a plurality of groups of welding seam related information to generate workpiece welding task information; in this way, when the welding system welds the workpieces, the welding system synchronously correlates welding parameters such as welding process, welding path and the like, classifies the correlated welding parameters according to different welding seams and different workpieces 41 to be welded, and can directly call the welding parameters of the same type of workpieces or the same type of welding seams to weld when the same type of workpieces are welded subsequently, so that the welding operation steps are simplified, the welding quality is improved, and the skill level requirements of operators are reduced.
The embodiment of the application also provides a non-volatile readable storage medium, in which one or more modules (programs) are stored, where the one or more modules are applied to a device, and the device can execute instructions (instructions) of steps included in the data processing method in fig. 4 according to the embodiment of the application.
Fig. 6 is a schematic hardware structure of a terminal device according to an embodiment of the present application. As shown, the terminal device may include: an input device 1100, a first processor 1101, an output device 1102, a first memory 1103 and at least one communication bus 1104. The communication bus 1104 is used to enable communication connections between the elements. The first memory 1103 may comprise a high-speed RAM memory or may further comprise a non-volatile memory NVM, such as at least one magnetic disk memory, and various programs may be stored in the first memory 1103 for performing various processing functions and implementing the method steps of the present embodiment.
In some embodiments, the first processor 1101 may be implemented as, for example, a central processing unit (Central Processing Unit, abbreviated as CPU), an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a programmable logic device (PLC), a Field Programmable Gate Array (FPGA), a controller, a microcontroller, a microprocessor, or other electronic components, where the first processor 1101 is coupled to the input device 1100 and the output device 1102 through wired or wireless connections.
In some implementations, the input device 1100 may include a variety of input devices, and may include, for example, at least one of a user-oriented user interface, a device-oriented device interface, a programmable interface to software, a camera, and a sensor. In some embodiments, the device-oriented device interface may be a wired interface for data transmission between devices, or may be a hardware plug-in interface (e.g., USB interface, serial port, etc.) for data transmission between devices; in some implementations, the user-oriented user interface may be, for example, user-oriented control keys, a voice input device for receiving voice input, and a touch-sensitive device (e.g., a touch screen, a touch pad, etc. with touch-sensitive functionality) for a user to receive user touch input; in some embodiments, the programmable interface of the software may be, for example, an entry for a user to edit or modify a program, such as an input pin interface or an input interface of a chip; the output device 1102 may include a display, sound, or the like.
In this embodiment, the processor of the terminal device may include functions for executing each module of the speech recognition device in each device, and specific functions and technical effects may be referred to the above embodiments and are not described herein.
Fig. 7 is a schematic hardware structure of a terminal device according to an embodiment of the present application. Fig. 7 is a specific embodiment of the implementation of fig. 6. As shown, the terminal device of the present embodiment may include a second processor 1201 and a second memory 1202.
The second processor 1201 executes the computer program code stored in the second memory 1202 to implement the method described in fig. 5 in the above embodiment.
The second memory 1202 is configured to store various types of data to support operations at the terminal device. Examples of such data include instructions for any application or method operating on the terminal device, such as messages, pictures, video, etc. The second memory 1202 may include a random access memory (random access memory, simply RAM) and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.
Optionally, a second processor 1201 is provided in the processing assembly 1200. The terminal device may further include: a communication component 1203, a power component 1204, a multimedia component 1205, a voice component 1206, an input/output interface 1207, and/or a sensor component 1208. The components and the like specifically included in the terminal device are set according to actual requirements, which are not limited in this embodiment.
The processing component 1200 generally controls the overall operation of the terminal device. The processing assembly 1200 may include one or more second processors 1201 to execute instructions to perform all or part of the steps in the data processing methods described above. Further, the processing component 1200 may include one or more modules that facilitate interactions between the processing component 1200 and other components. For example, the processing component 1200 may include a multimedia module to facilitate interaction between the multimedia component 1205 and the processing component 1200.
The power supply component 1204 provides power to the various components of the terminal device. Power supply components 1204 can include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for terminal devices.
The multimedia component 1205 includes a display screen that provides an output interface between the terminal device and the user. In some embodiments, the display screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the display screen includes a touch panel, the display screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or slide action, but also the duration and pressure associated with the touch or slide operation.
The voice component 1206 is configured to output and/or input voice signals. For example, the voice component 1206 includes a Microphone (MIC) configured to receive external voice signals when the terminal device is in an operational mode, such as a voice recognition mode. The received voice signals may be further stored in the second memory 1202 or transmitted via the communication component 1203. In some embodiments, the voice component 1206 further includes a speaker for outputting voice signals.
The input/output interface 1207 provides an interface between the processing assembly 1200 and peripheral interface modules, which may be click wheels, buttons, and the like. These buttons may include, but are not limited to: volume button, start button and lock button.
The sensor assembly 1208 includes one or more sensors for providing status assessment of various aspects for the terminal device. For example, the sensor assembly 1208 may detect an on/off state of the terminal device, a relative positioning of the assembly, and the presence or absence of user contact with the terminal device. The sensor assembly 1208 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact, including detecting the distance between the user and the terminal device. In some embodiments, the sensor assembly 1208 may also include a camera or the like.
The communication component 1203 is configured to facilitate communication between the terminal device and other devices in a wired or wireless manner. The terminal device may access a wireless network based on a communication standard, such as WiFi,2G or 3G, or a combination thereof. In one embodiment, the terminal device may include a SIM card slot therein for inserting a SIM card, so that the terminal device may log into a GPRS network and establish communication with a server via the internet.
From the above, the communication component 1203, the voice component 1206, the input/output interface 1207, and the sensor component 1208 in the embodiment of fig. 7 can be implemented as the input device in the embodiment of fig. 6.
The above embodiments are merely illustrative of the principles of the present application and its effectiveness, and are not intended to limit the application. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the application. Accordingly, it is intended that all equivalent modifications and variations of the application be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (9)
1. A welding system, comprising:
the deflection module is used for bearing the workpiece to be welded;
the welding seam locating module is used for acquiring welding seam information of the workpiece to be welded;
the processing module is respectively connected with the deflection module and the welding seam locating module and is used for controlling and adjusting the angle of the deflection module and generating station information according to the angle of the deflection module; processing the welding seam information to generate welding seam corresponding information and welding seam path information;
the welding robot is connected with the processing module and used for welding the welding seam of the workpiece to be welded according to the welding seam corresponding information and the welding seam path information;
the information matching module is used for carrying out association matching on the welding seam information, the station information, the welding seam corresponding information and the welding seam path information so as to generate a plurality of groups of welding seam association information; and processing the plurality of groups of weld joint related information to generate workpiece welding task information;
the weld information includes at least one of: the number of welding seams, the position information of the welding seams and the size of the welding seams;
the weld correspondence information includes at least one of: the type of the welding seam and the welding seam process;
the weld path information includes: a marker bit sequence and a path pose sequence;
the information matching module comprises a welding seam information matching unit, and is used for performing association matching on station information, welding seam corresponding information and welding seam path information of the displacement module when a welding seam of the workpiece to be welded presents a state to be welded on the displacement module so as to generate a group of welding seam association information;
the welding robot welds the workpiece to be welded according to the weld joint related information;
the information matching module further comprises a workpiece information matching unit, and is used for classifying and processing the weld joint related information corresponding to each weld joint of the workpieces to be welded in the same category to generate workpiece welding task information corresponding to the workpieces to be welded; generating a plurality of groups of workpiece welding task information corresponding to each workpiece to be welded according to the plurality of different types of workpieces to be welded;
the welding robot welds the workpiece to be welded according to the workpiece welding task information;
the flag bit sequence includes at least one of: a welding serial number mark, a type mark, a welding completion mark, a total welding track number mark, a welded track number mark, a welding seam welding enabling mark and a welding seam tracking option mark of each welding seam;
the path pose sequence comprises each weld sequence number and the pose of the tail end path point of each welding robot when the welding robot performs welding.
2. The welding system of claim 1, further comprising a weld tracking module coupled to the processing module and the welding robot, wherein the weld tracking option flag is invoked to detect and obtain real-time welding status information of the welding robot on the weld of the workpiece to be welded and generate deviation correction control information for sending to the welding robot.
3. The welding system of claim 2, further comprising a display module for displaying at least one of: the station information, the weld corresponding information, the weld path information, the real-time welding state information or the deviation correction control information.
4. Welding system according to claim 1, characterized in that the welding robot comprises a multi-layer multi-pass welding unit for multi-layer welding of the work piece to be welded and/or a fillet welding unit for fillet welding of the work piece to be welded.
5. A welding method using the welding system according to any one of claims 1-4, comprising the steps of:
placing a workpiece to be welded on the deflection module;
adjusting the angle of the deflection module, and generating station information according to the angle of the deflection module;
acquiring welding seam information of the workpiece to be welded;
processing the welding seam information and generating welding seam corresponding information and welding seam path information;
welding the welding seam of the welding workpiece according to the welding seam corresponding information and the welding seam path information;
performing association matching on the welding seam information, the station information, the welding seam corresponding information and the welding seam path information to generate a plurality of groups of welding seam association information;
processing a plurality of groups of welding seam related information to generate workpiece welding task information;
completing the welding of the workpieces to be welded of corresponding types according to different workpiece welding task information;
the weld information includes at least one of: the number of welding seams, the position information of the welding seams and the size of the welding seams;
the weld correspondence information includes at least one of: the type of the welding seam and the welding seam process; the weld path information includes: a marker bit sequence and a path pose sequence;
performing association matching on station information of the displacement module, the weld information, the weld corresponding information and the weld path information when a weld of the workpiece to be welded presents a state to be welded on the displacement module so as to generate a group of weld association information;
welding the workpiece to be welded according to the weld joint related information;
the method further comprises the step of classifying the weld joint related information corresponding to each weld joint of the workpieces to be welded in the same category to generate workpiece welding task information corresponding to the workpieces to be welded; generating a plurality of groups of workpiece welding task information corresponding to each workpiece to be welded according to the workpieces to be welded of different types;
and welding the workpiece to be welded according to the workpiece welding task information.
6. The welding method of claim 5, further comprising detecting and acquiring real-time welding status information of a welding robot to a weld of the workpiece to be welded.
7. The welding method of claim 6, further comprising generating de-skew control information based on the real-time welding status information and transmitting the de-skew control information to the welding robot.
8. An apparatus for performing the method of any of claims 5-7, comprising:
one or more processors; and
one or more machine readable media having instructions stored thereon, which when executed by the one or more processors, cause the apparatus to perform the method.
9. A machine readable medium having instructions stored thereon, which when executed by one or more processors, cause an apparatus to perform the method of any of claims 5-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910829956.5A CN112440018B (en) | 2019-09-04 | 2019-09-04 | Welding system and welding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910829956.5A CN112440018B (en) | 2019-09-04 | 2019-09-04 | Welding system and welding method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112440018A CN112440018A (en) | 2021-03-05 |
| CN112440018B true CN112440018B (en) | 2023-08-11 |
Family
ID=74734388
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910829956.5A Active CN112440018B (en) | 2019-09-04 | 2019-09-04 | Welding system and welding method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112440018B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115145912A (en) * | 2021-03-31 | 2022-10-04 | 北京配天技术有限公司 | Hidden switch position-finding compensation method, device, equipment and storage medium |
| CN113177914B (en) * | 2021-04-15 | 2023-02-17 | 青岛理工大学 | Robot welding method and system based on semantic feature clustering |
| CN113427182A (en) * | 2021-07-16 | 2021-09-24 | 辽宁都城机器人科技有限公司 | Nonstandard component intelligent management and control platform |
| CN114789442A (en) * | 2022-04-24 | 2022-07-26 | 重庆创御智能装备有限公司 | An Adaptive Path Planning Algorithm for Welding Robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08150476A (en) * | 1994-11-24 | 1996-06-11 | Fanuc Ltd | Method for confirming weld bead shape in welding robot using real time tracking sensor |
| CN102581437A (en) * | 2011-08-24 | 2012-07-18 | 唐山松下产业机器有限公司 | Welder, system and method capable of managing welding operation |
| KR20120137695A (en) * | 2011-06-13 | 2012-12-24 | 김재은 | Welding robot and controlling method therefor |
| CN104070265A (en) * | 2013-03-28 | 2014-10-01 | 株式会社神户制钢所 | Welding seam information setting device, program, automatic teaching system and welding seam information setting method |
| CN105522301A (en) * | 2014-10-25 | 2016-04-27 | 西安越度机电科技有限公司 | Automatic workpiece welding state monitoring method |
| WO2017198299A1 (en) * | 2016-05-19 | 2017-11-23 | Abb Schweiz Ag | Method of simulating a robotic system |
| CN107414248A (en) * | 2017-08-30 | 2017-12-01 | 广州航海学院 | Towards the automatic welding system and method for the medium-and-large-sized bend pipe girth joint of ship |
| CN108817613A (en) * | 2018-06-11 | 2018-11-16 | 华南理工大学 | A kind of arc welding robot weld seam deviation-rectifying system and method |
| CN110102855A (en) * | 2019-05-15 | 2019-08-09 | 上海振华重工(集团)股份有限公司 | A kind of robot automtion welding system, device and method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10835981B2 (en) * | 2017-12-21 | 2020-11-17 | Technip France | Method for circumferential welding and a robotic welding system for circumferential welding |
-
2019
- 2019-09-04 CN CN201910829956.5A patent/CN112440018B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08150476A (en) * | 1994-11-24 | 1996-06-11 | Fanuc Ltd | Method for confirming weld bead shape in welding robot using real time tracking sensor |
| KR20120137695A (en) * | 2011-06-13 | 2012-12-24 | 김재은 | Welding robot and controlling method therefor |
| CN102581437A (en) * | 2011-08-24 | 2012-07-18 | 唐山松下产业机器有限公司 | Welder, system and method capable of managing welding operation |
| CN104070265A (en) * | 2013-03-28 | 2014-10-01 | 株式会社神户制钢所 | Welding seam information setting device, program, automatic teaching system and welding seam information setting method |
| CN105522301A (en) * | 2014-10-25 | 2016-04-27 | 西安越度机电科技有限公司 | Automatic workpiece welding state monitoring method |
| WO2017198299A1 (en) * | 2016-05-19 | 2017-11-23 | Abb Schweiz Ag | Method of simulating a robotic system |
| CN107414248A (en) * | 2017-08-30 | 2017-12-01 | 广州航海学院 | Towards the automatic welding system and method for the medium-and-large-sized bend pipe girth joint of ship |
| CN108817613A (en) * | 2018-06-11 | 2018-11-16 | 华南理工大学 | A kind of arc welding robot weld seam deviation-rectifying system and method |
| CN110102855A (en) * | 2019-05-15 | 2019-08-09 | 上海振华重工(集团)股份有限公司 | A kind of robot automtion welding system, device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112440018A (en) | 2021-03-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112440018B (en) | Welding system and welding method | |
| CN210818050U (en) | Welding system | |
| US11173601B2 (en) | Teaching device for performing robot teaching operations and teaching method | |
| EP3787828B1 (en) | Portable user interface for a welding type system | |
| US7848851B2 (en) | Controller of work piece-conveying robot | |
| EP4177015A1 (en) | Robot teaching system | |
| US20080013825A1 (en) | Simulation device of robot system | |
| US9067321B2 (en) | System and method for visualization of process errors | |
| CN105171194A (en) | Multi-type welding processing and manufacturing technological method for full-automatic welding robot | |
| CN115091028B (en) | Welding method and device based on laser real-time tracking, electronic equipment and medium | |
| JP7176148B1 (en) | Weld line detection system | |
| CN111992940B (en) | Welding detection control system | |
| US20250135641A1 (en) | Terminal device | |
| EP4166267A1 (en) | Welding line detection system | |
| US20230098696A1 (en) | Work Program Production System and Work Program Production Method | |
| EP4177838A1 (en) | Marker detection apparatus and robot teaching system | |
| CN116197577A (en) | Swing method and device for parts, swing tower welding workstation and controller | |
| TWI822315B (en) | Welding program production system and welding program production method | |
| CN117226330B (en) | Locating method and device based on laser sensing and electronic equipment | |
| CN115476338B (en) | Gesture adjustment method and device, robot mechanism, electronic device and storage medium | |
| JP7195476B1 (en) | WORK PROGRAM CREATION SYSTEM AND WORK PROGRAM CREATION METHOD | |
| US20240375268A1 (en) | Terminal device | |
| KR102756666B1 (en) | Apparatus for setting and correcting operation path of tracking type multi-axial robot | |
| CN116320340A (en) | Method and system for indicating operation guidance information | |
| CN118414587A (en) | Device for generating search program for robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |