CN113942017B - Tank welding point position planning method, welding workstation, equipment and medium - Google Patents
Tank welding point position planning method, welding workstation, equipment and medium Download PDFInfo
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- CN113942017B CN113942017B CN202111435785.1A CN202111435785A CN113942017B CN 113942017 B CN113942017 B CN 113942017B CN 202111435785 A CN202111435785 A CN 202111435785A CN 113942017 B CN113942017 B CN 113942017B
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- 238000003466 welding Methods 0.000 title claims abstract description 286
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- 238000013178 mathematical model Methods 0.000 claims abstract description 21
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- 238000006073 displacement reaction Methods 0.000 claims description 10
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Automation & Control Theory (AREA)
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Abstract
本申请公开了一种罐体焊接点位姿规划方法、焊接工作站、设备及介质,所述方法包括:获取所述罐体的截面曲线并得到焊接轨迹,建立截面数学模型并对所述焊接轨迹进行离散化,以得到焊接点位置坐标;根据所述焊接点位置坐标获取所述焊接点处的焊枪姿态的表达式,对所述焊接点位置的焊枪姿态进行规划;建立变位机转角的数学模型,以获取对任一焊接点位置处焊接时所述罐体所需转动的角度;获取基于机器人语言的焊接点定义与焊接运动指令,进行对所述罐体焊接的运动仿真;本申请与人工示教的方法相比,大大提高了焊接的效率,实现焊接时机器人位姿的精确调整。
The application discloses a method for planning the position and posture of the welding point of the tank body, a welding workstation, equipment and media. The method includes: obtaining the section curve of the tank body and obtaining the welding trajectory, establishing a mathematical model of the section and analyzing the welding trajectory Carry out discretization to obtain the position coordinates of the welding point; obtain the expression of the welding torch posture at the welding point according to the position coordinates of the welding point, and plan the welding torch posture at the position of the welding point; establish the mathematics of the positioner rotation angle model, to obtain the required rotation angle of the tank body when welding at any welding point position; obtain the welding point definition and welding motion instructions based on robot language, and carry out the motion simulation of the tank body welding; the application and Compared with the method of manual teaching, the efficiency of welding is greatly improved, and the precise adjustment of the robot's pose during welding is realized.
Description
技术领域technical field
本申请涉及焊接技术领域,尤其涉及一种罐体焊接点位姿规划方法、焊接工作站、设备及介质。The present application relates to the field of welding technology, and in particular to a method for planning the position and posture of welding points of a tank body, a welding workstation, equipment and media.
背景技术Background technique
对于用于液体运输用途的罐车罐体,其横截面多设计为由多段圆弧构成的近椭圆形。近椭圆形截面是由多段圆弧通过相切而形成的呈相切连续的G1型截面。这种异型截面结构可以降低在运输过程中液体对罐车内壁的压力,但极大地增加了罐体焊接的难度。For the tanker tank body used for liquid transportation, its cross section is mostly designed as a nearly elliptical shape composed of multiple arcs. The nearly elliptical cross-section is a tangentially continuous G1-shaped cross-section formed by the tangency of multiple arcs. This special-shaped cross-section structure can reduce the pressure of the liquid on the inner wall of the tank car during transportation, but it greatly increases the difficulty of tank welding.
对于罐体环焊缝的自动化焊接,目前主要以机器人人工示教的方式为主,焊接过程中再通过焊缝跟踪的方式对轨迹进行纠偏。人工示教的不足之处为:(1)人工示教得到的焊缝的质量与工人的技术水平、工作态度等主观因素有关;(2)对于截面轮廓形状有差异但焊接流程相同的罐体焊接任务,人工示教需要做大量的重复性工作,使得工作效率大幅降低。例如,对于近椭圆形截面罐体的焊接,有成百上千个点需要进行人工示教,将花费大量时间和人力成本;(3)人工示教方式很难保证在焊接时机器人位姿的精确调整。上述情况严重影响了罐体的产品质量和生产效率,加大了生产成本。For the automatic welding of the girth weld of the tank body, the manual teaching method of the robot is mainly used at present, and the trajectory is corrected by the welding seam tracking method during the welding process. The shortcomings of manual teaching are: (1) The quality of the weld seam obtained by manual teaching is related to subjective factors such as the technical level and work attitude of the workers; (2) For tanks with different cross-sectional contour shapes but the same welding process For welding tasks, manual teaching requires a lot of repetitive work, which greatly reduces work efficiency. For example, for the welding of nearly elliptical cross-section tanks, there are hundreds of points that need to be taught manually, which will take a lot of time and labor costs; (3) the manual teaching method is difficult to ensure the correctness of the robot pose during welding. Fine adjustment. Above-mentioned situation has had a strong impact on the product quality and production efficiency of tank body, has increased production cost.
发明内容Contents of the invention
本申请实施例提供了一种罐体焊接点位姿规划方法、设备及介质,解决现有技术中人工示教工作效率低以及焊接质量不能保证的问题,所述技术方案如下:The embodiment of the present application provides a method, equipment and medium for planning the position and posture of the welding point of the tank body, which solves the problems of low efficiency of manual teaching and unguaranteed welding quality in the prior art. The technical solution is as follows:
根据一实施例提供的罐体焊接点位姿规划方法,所述方法包括:获取所述罐体的截面曲线并得到焊接轨迹,建立截面数学模型并离散为等弧长的若干点,在建立相应的工件坐标系后得到焊接点的位置坐标:According to an embodiment of the tank welding point pose planning method, the method includes: obtaining the cross-sectional curve of the tank and obtaining the welding trajectory, establishing a mathematical model of the cross-section and discretizing it into several points of equal arc length, and establishing the corresponding The position coordinates of the welding point are obtained after the workpiece coordinate system:
其中,xi、yi为圆弧上任意点的坐标,x0、y0为圆心的坐标,R为圆弧的半径,θi表示圆弧段上离散点与所述圆弧段圆心的连线与水平方向的夹角,所述θi的计算公式为:θi+1=θi-dθ;根据所述焊接点位置坐标获取所述焊接点处的焊枪姿态的表达式,对所述焊接点位置的焊枪姿态进行规划;建立变位机转角的数学模型,以获取对任一焊接点位置处焊接时所述罐体所需转动的角度;获取基于机器人语言的焊接点定义与焊接运动指令,进行对所述罐体焊接的运动仿真。Among them, x i , y i are the coordinates of any point on the arc, x 0 , y 0 are the coordinates of the center of the circle, R is the radius of the arc, θ i represents the distance between the discrete point on the arc segment and the center of the arc segment The angle between the connecting line and the horizontal direction, the calculation formula of θi is: θi +1 = θi -dθ; the expression of the welding torch attitude at the welding point is obtained according to the position coordinates of the welding point, for all Plan the welding torch posture at the position of the welding point; establish the mathematical model of the positioner’s rotation angle to obtain the angle required to rotate the tank when welding at any welding point position; obtain the definition and welding of the welding point based on robot language A motion instruction is used to perform motion simulation on the welding of the tank body.
例如,在一个实施例提供的罐体焊接点位姿规划方法中,所述罐体的截面为近椭圆形。For example, in the method for planning the pose and posture of the welding point of the tank body provided in one embodiment, the cross section of the tank body is nearly elliptical.
例如,在一个实施例提供的罐体焊接点位姿规划方法中,所述近椭圆形截面数学模型包括多段圆弧,不同段圆弧采用等圆弧分割的方法,第i段圆弧以第一段圆弧的分割数为基础进行等弧长分割,得到第i段圆弧的分割段数为:For example, in the pose planning method for the welding point of the tank body provided in one embodiment, the mathematical model of the nearly elliptical cross-section includes multiple arcs, different arcs are divided by equal arcs, and the i-th arc is divided into the first Based on the number of divisions of an arc, the equal arc length division is performed, and the number of divisions of the i-th arc is obtained as:
其中,θ1、θ2为第一段圆弧的起、止角度,θi、θi+11为第i段圆弧的起、止角度;N1为第一段圆弧需要分割的份数,Ni为第i段圆弧需要分割的份数,Ni的结果取整数。Among them, θ 1 and θ 2 are the starting and ending angles of the first segment of the arc, θ i and θ i+11 are the starting and ending angles of the i-th segment of the arc; N 1 is the portion of the first segment of the arc that needs to be divided N i is the number of parts of the i-th arc that needs to be divided, and the result of N i is an integer.
例如,在一个实施例提供的罐体焊接点位姿规划方法中,所述获取所述焊接点处的焊枪姿态的表达式为旋转矩阵表达式,所述旋转矩阵表达式为:For example, in the tank welding point pose planning method provided in one embodiment, the expression for obtaining the welding torch pose at the welding point is a rotation matrix expression, and the rotation matrix expression is:
或 or
其中,Δ为焊枪的行走角,λ为焊枪的工作角,θ表示圆弧段上离散点与所述圆弧段圆心的连线与水平方向的夹角。Among them, Δ is the walking angle of the welding torch, λ is the working angle of the welding torch, and θ represents the angle between the line connecting the discrete point on the arc segment and the center of the arc segment and the horizontal direction.
例如,在一个实施例提供的罐体焊接点位姿规划方法中,获取所述焊接点处的焊枪姿态的旋转矩阵表达式后,将所述旋转矩阵表达式转化为四元数,以用于基于机器人的编程语言的焊接点定义中。For example, in the tank body welding point pose planning method provided in one embodiment, after obtaining the rotation matrix expression of the welding torch pose at the welding point, the rotation matrix expression is converted into a quaternion for use in In the welding point definition of the robot-based programming language.
例如,在一个实施例提供的罐体焊接点位姿规划方法中,所述建立变位机转角的数学模型,以获取对任一焊接点位置处焊接时所述罐体所需转动的角度,所述罐体所需转动的角度为变位机转角,所述变位机转角的计算公式为:For example, in the pose planning method of the tank body welding point provided in one embodiment, the mathematical model of the rotation angle of the positioner is established to obtain the required rotation angle of the tank body during welding at any welding point position, The required rotation angle of the tank body is the angle of rotation of the positioner, and the calculation formula of the angle of rotation of the positioner is:
其中,φ为变位机转角。Among them, φ is the rotation angle of the positioner.
例如,在一个实施例提供的罐体焊接点位姿规划方法中,所述变位机转角φ的取值范围为:(-π,π]。For example, in the tank body welding point pose planning method provided in one embodiment, the value range of the positioner rotation angle φ is: (-π, π].
例如,在一个实施例提供的罐体焊接点位姿规划方法中,根据所述焊接点处的焊枪姿态的表达式以及任一焊接点位置处焊接时所述罐体所需转动的角度,自动生成基于机器人语言的焊接点定义与焊接运动指令,并将所述焊接点定义与焊接运动指令应用到焊接工作站中进行对所述罐体焊接的运动仿真。For example, in the tank body welding point pose planning method provided in one embodiment, according to the expression of the welding torch pose at the welding point and the required rotation angle of the tank body during welding at any welding point position, automatically Generating the welding point definition and welding motion instruction based on the robot language, and applying the welding point definition and welding motion instruction to the welding workstation to perform motion simulation on the tank body welding.
本申请第二方面提供一种采用上述所述罐体焊接点位姿规划方法的焊接工作站,所述焊接工作站包括机器人、变位装置、罐体、焊缝定位与跟踪系统以及熔池形貌在线监测装置,其中,所述变位装置包括变位机、变位器和其他自动变位设备,所述机器人包括多关节机器人和多轴的机械臂,所述焊缝定位与跟踪系统通过激光跟踪器实现对焊缝的定位和轨迹跟踪;所述熔池形貌在线监测装置由单目或多目CCD相机组成,实现对焊接过程中熔池形貌在线监测与实时反馈。The second aspect of the present application provides a welding workstation using the above-mentioned method for planning the position and posture of the welding point of the tank body. The welding workstation includes a robot, a displacement device, a tank body, a weld seam positioning and tracking system, and an online Monitoring device, wherein the displacement device includes a positioner, a positioner and other automatic displacement equipment, the robot includes a multi-joint robot and a multi-axis mechanical arm, and the welding seam positioning and tracking system uses laser tracking The device realizes the positioning and track tracking of the welding seam; the online monitoring device of the molten pool shape is composed of a monocular or multi-eye CCD camera, which realizes online monitoring and real-time feedback of the molten pool shape during the welding process.
本申请第三方面提供一种电子设备,所述电子设备包括:一个或多个处理器和配置有程序指令的存储器;所述一个或多个处理器执行所述程序指令使得所述电子设备执行上述所述的罐体焊接点位姿规划方法。The third aspect of the present application provides an electronic device, the electronic device includes: one or more processors and a memory configured with program instructions; the execution of the program instructions by the one or more processors causes the electronic device to execute The method for planning the position and posture of the welding point of the tank body described above.
本申请第四方面提供一种存储介质,所述存储介质存储有程序,其中,所述程序在被调用执行时实现上述所述的罐体焊接点位姿规划方法。The fourth aspect of the present application provides a storage medium, the storage medium stores a program, wherein when the program is called and executed, the above-mentioned method for planning the pose and posture of the welding point of the tank body is realized.
本申请一些实施例提供的一种罐体焊接点位姿规划方法、焊接工作站、设备及介质带来的有益效果为:本申请为了能够使得焊接机器人与变位机之间精确匹配完成罐体焊接任务,对焊接时变位机转角进行了规划,最终基于机器人的编程语言,生成焊接点定义和焊接运动指令,实现了对近椭圆形罐体以恒定焊接速度、焊枪与罐体表面恒定距离以及一定焊枪姿态焊接时,机器人在竖直方向做往复直线运动与罐体非匀速转动的精确匹配。本申请与人工示教的方法相比,大大提高了焊接的效率。Some embodiments of the present application provide a method for planning the position and posture of the welding point of the tank body, the welding workstation, the equipment, and the medium. The task is to plan the rotation angle of the positioner during welding, and finally generate the welding point definition and welding motion instructions based on the programming language of the robot, so as to realize the constant welding speed, constant distance between the welding torch and the surface of the tank, and When welding with a certain welding torch attitude, the robot makes a precise match between the reciprocating linear motion in the vertical direction and the non-uniform rotation of the tank. Compared with the manual teaching method, the present application greatly improves the welding efficiency.
附图说明Description of drawings
为了更清楚地说明本申请实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present application. Those skilled in the art can also obtain other drawings based on these drawings without creative work.
图1是本申请一实施例的异形截面罐体焊接点位姿规划方法的流程图;Fig. 1 is a flow chart of a method for planning a position and posture of a tank body with a special-shaped cross-section according to an embodiment of the present application;
图2是本申请一实施例提供的由八段圆弧构成的近椭圆形截面示意图;Fig. 2 is a schematic diagram of a nearly elliptical cross-section composed of eight arcs provided by an embodiment of the present application;
图3为焊接点位置与焊接点处焊枪姿态规划数学模型示意图;Fig. 3 is the schematic diagram of the mathematical model of welding torch posture planning at the position of the welding point and the welding point;
图4为焊接时变位机转角的数学模型示意图;Fig. 4 is a schematic diagram of the mathematical model of the positioner rotation angle during welding;
图5为本申请一实施例提供的焊接时在焊接点处焊枪姿态示意图;Fig. 5 is a schematic diagram of the posture of the welding torch at the welding point during welding provided by an embodiment of the present application;
图6为本申请一实施例提供的焊接时在焊接点处焊枪姿态俯视图;Fig. 6 is a top view of the posture of the welding torch at the welding point during welding provided by an embodiment of the present application;
图7为在焊接工作站中焊接罐体时焊接点处焊枪位姿示意图;Fig. 7 is a schematic diagram of the position and posture of the welding torch at the welding point when the tank is welded in the welding workstation;
图8为在罐体焊接过程中不同变位机转角时焊枪与罐体之间的运动关系示意图;Fig. 8 is a schematic diagram of the motion relationship between the welding torch and the tank body at different positioner angles during the tank body welding process;
图9是本申请的一实施例提供的焊接工作站的示意图。Fig. 9 is a schematic diagram of a welding workstation provided by an embodiment of the present application.
具体实施方式Detailed ways
下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本申请一部分实施例,而不是全部的实施例。基于本申请中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本申请保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
除非另外定义,本公开使用的技术术语或者科学术语应当为本公开所属领域内具有一般技能的人士所理解的通常意义。本公开中使用的“第一”、“第二”以及类似的词语并不表示任何顺序、数量或者重要性,而只是用来区分不同的组成部分。“包括”或者“包含”等类似的词语意指出现该词前面的元件或者物件涵盖出现在该词后面列举的元件或者物件及其等同,而不排除其他元件或者物件。“连接”或者“相连”等类似的词语并非限定于物理的或者机械的连接,而是可以包括电性的连接,不管是直接的还是间接的。“上”、“下”、“左”、“右”等仅用于表示相对位置关系,当被描述对象的绝对位置改变后,则该相对位置关系也可能相应地改变。Unless otherwise defined, the technical terms or scientific terms used in the present disclosure shall have the usual meanings understood by those skilled in the art to which the present disclosure belongs. "First", "second" and similar words used in the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Comprising" or "comprising" and similar words mean that the elements or items appearing before the word include the elements or items listed after the word and their equivalents, without excluding other elements or items. Words such as "connected" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "Down", "Left", "Right" and so on are only used to indicate the relative positional relationship. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.
根据一实施例提供的罐体焊接点位姿规划方法,所述方法的流程图如图1所示,所述方法包括:获取所述罐体的截面曲线并得到焊接轨迹,建立截面数学模型并对所述焊接轨迹进行离散化,以得到焊接点位置坐标;根据所述焊接点位置坐标获取所述焊接点处的焊枪姿态的表达式,对所述焊接点位置的焊枪姿态进行规划;建立变位机转角的数学模型,以获取对任一焊接点位置处焊接时所述罐体所需转动的角度;获取基于机器人语言的焊接点定义与焊接运动指令,进行对所述罐体焊接的运动仿真,为后面进行罐体的焊接试验做好准备。According to an embodiment of the tank body welding point posture planning method, the flow chart of the method is shown in Figure 1, the method includes: obtaining the section curve of the tank body and obtaining the welding trajectory, establishing a mathematical model of the section and Discretize the welding trajectory to obtain the position coordinates of the welding points; obtain the expression of the welding torch attitude at the welding point according to the position coordinates of the welding points, and plan the welding torch attitude at the position of the welding points; establish a variable The mathematical model of the angle of the bit computer is used to obtain the required rotation angle of the tank when welding at any welding point position; to obtain the definition of the welding point and the welding movement command based on the robot language, and to perform the movement of welding the tank Simulation, to prepare for the welding test of the tank body later.
为了保证在罐体焊接时焊接机器人与变位机之间的运动匹配关系,必须准确获取罐体的截面曲线,得到准确的焊接轨迹,这样建立截面的数学模型就显得尤为重要了。In order to ensure the motion matching relationship between the welding robot and the positioner during tank welding, it is necessary to accurately obtain the section curve of the tank and obtain an accurate welding trajectory, so it is particularly important to establish a mathematical model of the section.
例如,在一个实施例提供的罐体焊接点位姿规划方法中,所述罐体的截面为异形截面,所述异形截面包括近圆形、近四边形、近椭圆形。下文以近椭圆形截面为例进行阐述:For example, in the method for planning the pose and posture of the welding point of the tank body provided in one embodiment, the cross section of the tank body is a special-shaped cross-section, and the special-shaped cross-section includes a nearly circular shape, a nearly quadrangular shape, and a nearly elliptical shape. The following is an example of a nearly elliptical cross-section:
例如,在一个实施例提供的罐体焊接点位姿规划方法中,所述方法包括:获取所述罐体的近椭圆形截面曲线并得到近椭圆形焊接轨迹,建立近椭圆形截面数学模型并对所述近椭圆形焊接轨迹进行离散化,以得到焊接点位置坐标;根据所述焊接点位置坐标获取所述焊接点处的焊枪姿态的表达式,对所述焊接点位置的焊枪姿态进行规划;建立变位机转角的数学模型,以获取对任一焊接点位置处焊接时所述罐体所需转动的角度;获取基于机器人语言的焊接点定义与焊接运动指令,进行对所述罐体焊接的运动仿真,为后面进行罐体的焊接试验做好准备。For example, in the pose planning method of the tank body welding point provided in one embodiment, the method includes: obtaining the nearly elliptical section curve of the tank body and obtaining the nearly elliptical welding trajectory, establishing a nearly elliptical section mathematical model and Discretizing the nearly elliptical welding trajectory to obtain position coordinates of the welding point; obtaining an expression of the posture of the welding torch at the welding point according to the position coordinates of the welding point, and planning the posture of the welding torch at the position of the welding point ;Establish the mathematical model of the rotation angle of the positioner to obtain the required rotation angle of the tank body when welding at any welding point position; obtain the welding point definition and welding motion instructions based on the robot language, and carry out the adjustment of the tank body The motion simulation of welding is ready for the subsequent welding test of the tank body.
例如,在一个实施例提供的罐体焊接点位姿规划方法中,所建立的近椭圆形截面的数学模型如图2所示。所述近椭圆形截面是指由若干段圆弧构成的且呈相切连续的G1型截面,即圆弧与圆弧之间呈现相切的关系,且左右是对称的。图2中表示的是由八段圆弧构成的近椭圆形截面。For example, in a pose planning method for a tank body welding point provided in an embodiment, a mathematical model of a nearly elliptical section is established as shown in FIG. 2 . The nearly elliptical section refers to a tangentially continuous G1-shaped section composed of several circular arcs, that is, the circular arcs are tangential to each other, and the left and right are symmetrical. Shown in Figure 2 is a nearly elliptical cross-section formed by eight arcs.
图2中,H1、H2、H3、H4、H5分别为组成右半段的五段圆弧,它们的半径分别为R1、R2、R3、R4、R5,圆心分别为Q1、Q2、Q3、Q4、Q5,θ1、θ2、θ3、θ4分别表示H1、H2、H4、H5段圆弧的圆心角,L1、L2、L3分别表示椭圆形长半轴和上下两个短半轴的长度。In Figure 2, H1, H2, H3, H4, and H5 are five circular arcs that make up the right half, their radii are R1, R2, R3, R4, and R5, and their centers are Q1, Q2, Q3, and Q4 respectively. , Q5, θ1, θ2, θ3, θ4 represent the central angles of the arcs of H1, H2, H4, and H5 respectively, and L1, L2, L3 represent the lengths of the semi-major axis and the upper and lower semi-minor axes of the ellipse respectively.
为了得到焊接时焊接点位置,需要对近椭圆形截面进行离散化处理,将其离散成等弧长的若干点,在建立相应的坐标系后可以得到焊接点的位置坐标。对于平面上的一段圆弧,可以通过圆心坐标、半径、圆弧起始角度来确定,由此可以计算出离散点的坐标。In order to obtain the position of the welding point during welding, it is necessary to discretize the nearly elliptical section into several points of equal arc length. After establishing the corresponding coordinate system, the position coordinates of the welding point can be obtained. For an arc on the plane, it can be determined by the coordinates of the center of the circle, the radius, and the starting angle of the arc, so that the coordinates of the discrete points can be calculated.
图3为某段圆弧上焊接点的位置和焊接点处焊枪姿态的数学模型。图3中的θi表示圆弧上离散点与该段圆弧圆心的连线与y轴正方向的夹角,以弧度表示,这样就可以得出θi在右半截面的取值范围为:-π/2≤θ≤π/2。Figure 3 is a mathematical model of the position of the welding point on a certain arc and the posture of the welding torch at the welding point. θi in Figure 3 represents the angle between the line connecting the discrete point on the arc and the center of the arc and the positive direction of the y-axis, expressed in radians, so that the value range of θi in the right half section can be obtained as : -π/2≤θ≤π/2.
y0、x0为圆心的坐标,R为圆弧的半径,Δ为焊枪的行走角,即在焊缝平面内焊枪轴线与焊缝法平面之间的夹角,x'、z'为该焊接点处焊枪的姿态,x'的方向为焊接点处的切线方向绕垂直于焊接平面的轴转动行走角Δ得到的方向,z'的方向为焊接点处的法线方向绕垂直于焊接平面的轴转动行走角Δ得到的方向,即焊枪轴线的方向,λ为焊枪的工作角,即焊枪轴线在焊缝法平面上的投影与焊接表面法线之间的夹角,图4所示即为焊枪绕x'轴转动的角度。可以得到θi与θi+1之间的关系如公式(1)所示:y 0 and x 0 are the coordinates of the center of the circle, R is the radius of the arc, Δ is the walking angle of the welding torch, that is, the included angle between the axis of the welding torch and the normal plane of the welding seam in the welding seam plane, x' and z' are the The attitude of the welding gun at the welding point, the direction of x' is the direction obtained by turning the tangent direction at the welding point around the axis perpendicular to the welding plane by turning the walking angle Δ, and the direction of z' is the normal direction at the welding point around the axis perpendicular to the welding plane The direction obtained by rotating the walking angle Δ of the axis of the axis is the direction of the welding torch axis, and λ is the working angle of the welding torch, that is, the angle between the projection of the welding torch axis on the normal plane of the weld seam and the normal line of the welding surface, as shown in Figure 4. is the rotation angle of the welding torch around the x' axis. The relationship between θ i and θ i+1 can be obtained as shown in formula (1):
θi+1=θi-dθ (1)θ i+1 =θ i -dθ (1)
这样就可以得到焊接点离散后的位置坐标如公式(2)所示:In this way, the discretized position coordinates of the welding points can be obtained as shown in formula (2):
对于不同段的圆弧,根据等弧长分割的方法,第i段应该分割的段数如公式(3)所示:For arcs of different segments, according to the method of equal arc length division, the number of segments that segment i should divide is shown in formula (3):
其中,θ1、θ2为第一段圆弧的起、止角度,θi、θi+1为第i段圆弧的起、止角度;N1为第一段圆弧需要分割的份数,Ni为为了得到等弧长第i段圆弧需要分割的份数,Ni的结果取整数。Among them, θ 1 and θ 2 are the starting and ending angles of the first segment of the arc, θ i and θ i+1 are the starting and ending angles of the i-th segment of the arc; N 1 is the portion of the first segment of the arc that needs to be divided N i is the number of divisions that need to be divided in order to obtain the i-th arc of equal arc length, and the result of N i is an integer.
在得到焊接点离散后的位置坐标后,同样可以根据图3得出在焊接点处的焊枪姿态的表达式。图3中,xoy为工件坐标系,x'为工具坐标系的x方向,z'为工具坐标系的z方向,即焊枪在该位置的轴线方向,经过推导可得到,在近椭圆形截面右半段任意处焊枪相对于工件坐标系的姿态用旋转矩阵表达如公式(4)所示:After the discretized position coordinates of the welding points are obtained, the expression of the posture of the welding torch at the welding points can also be obtained according to Fig. 3 . In Figure 3, xoy is the workpiece coordinate system, x' is the x direction of the tool coordinate system, and z' is the z direction of the tool coordinate system, that is, the axis direction of the welding torch at this position. The attitude of the welding torch at any part of the half-section relative to the workpiece coordinate system is expressed by the rotation matrix, as shown in formula (4):
其中,Δ为焊枪的行走角,λ为焊枪的工作角,θ表示圆弧上离散点与该段圆弧圆心的连线与y轴方向的夹角。Among them, Δ is the walking angle of the welding torch, λ is the working angle of the welding torch, and θ represents the angle between the line connecting the discrete point on the arc and the center of the arc and the y-axis direction.
在得到右半段的焊枪姿态的表达式后,用同样的方法可以得到左半段的焊枪姿态的表达式如公式(5)所示:After obtaining the expression of the welding torch attitude of the right half section, the expression of the welding torch attitude of the left half section can be obtained by the same method as shown in formula (5):
在得到焊枪姿态的旋转矩阵表达式后,将其转化为四元数,即可用于基于机器人的编程语言的焊接点定义中去。After obtaining the rotation matrix expression of the welding torch attitude, convert it into a quaternion, which can be used in the definition of welding points based on the programming language of the robot.
图4为焊接时变位机转角的数学模型,假设焊接速度为V m/s,P为焊接点,罐体逆时针转动,t时刻转动了角(以弧度表示),坐标系x'Oy'是大地坐标系,不随着罐体的转动而变化的,坐标系xOy附着在罐体上,随着罐体的转动而转动,对于变位机转角的描述,在焊接过程中,罐体做变速转动,焊枪只在竖直方向上做简单的往复直线运动。对任意一个焊接点P(x,y),根据该数学模型可以得到在焊接点P处所需要的变位机转角/>,也就是在焊接该点时罐体所需转动的角度,如公式(6)所示:Figure 4 is the mathematical model of the rotation angle of the positioner during welding, assuming that the welding speed is V m/s, P is the welding point, the tank rotates counterclockwise, and it rotates at time t Angle (expressed in radians), the coordinate system x'Oy' is the earth coordinate system, which does not change with the rotation of the tank body, the coordinate system xOy is attached to the tank body, and rotates with the rotation of the tank body, for the positioner The description of the corner, during the welding process, the tank body rotates at variable speed, and the welding torch only performs simple reciprocating linear motion in the vertical direction. For any welding point P(x,y), according to the mathematical model, the positioner rotation angle required at the welding point P can be obtained /> , that is, the angle required to rotate the tank when welding this point, as shown in formula (6):
其中,atan2(x,y)返回的是点P转到焊接位置时的变位机转角,以弧度表示,取值范围为(-π,π]。由于atan2(x,y)最大的取值范围为π,,而罐体在焊接过程中需要变位机带动转动一圈(变位机转角为2π),超出了其取值范围,因此将罐体的左右两部分分别计算变位机转角。对于变位机逆时针转动时,右半段圆弧所需的变位机转角可以用atan2(x,y)表示,而左半段圆弧所需的变位机转角可以表示为atan2(x,y)+2π。最后将变位机转角用角度表示,并考虑罐体逆时针转动时角度为负即可。Among them, atan2(x, y) returns the positioner rotation angle when point P is transferred to the welding position, expressed in radians, and the value range is (-π, π]. Since the maximum value of atan2(x, y) The range is π, and the tank needs to be rotated by a positioner during the welding process (the rotation angle of the positioner is 2π), which exceeds its value range, so the left and right parts of the tank are calculated separately for the positioner rotation angle When the positioner rotates counterclockwise, the positioner rotation angle required for the right half arc can be expressed by atan2(x,y), while the positioner rotation angle required for the left half arc can be expressed as atan2( x,y)+2π. Finally, express the rotation angle of the positioner in angle, and consider that the angle is negative when the tank rotates counterclockwise.
图5为焊接时在焊接点处的焊枪姿态示意图,图6为相应焊枪姿态的俯视图。图5和图6中是以图2中所述的八段圆弧构成的近椭圆形截面作为一个实施例加以描述的。Fig. 5 is a schematic diagram of the posture of the welding torch at the welding point during welding, and Fig. 6 is a top view of the posture of the corresponding welding torch. Figures 5 and 6 describe the nearly elliptical cross-section formed by the eight segments of arcs described in Figure 2 as an example.
图5和图6表示的是在工件坐标系中绘制出的近椭圆截面离散后焊接点处的焊枪位姿,焊枪的行走角为15°,工作角为0°。图5及图6中第一线条100表示坐标系的x方向,为焊接点处的切线方向绕垂直于焊接平面的轴转动行走角得到的方向,第二线条200表示坐标系的z方向,为焊接点处的法线方向绕垂直于焊接平面的轴转动行走角后,再绕x方向转动工作角得到的方向,第三线条300表示坐标系的y方向,符合右手法则。Figure 5 and Figure 6 show the welding torch pose at the welding point after the nearly elliptical section is drawn in the workpiece coordinate system. The walking angle of the welding torch is 15°, and the working angle is 0°. In Fig. 5 and Fig. 6, the first line 100 represents the x direction of the coordinate system, which is the direction obtained by rotating the travel angle around the axis perpendicular to the welding plane in the direction of the tangent line at the welding point, and the second line 200 represents the z direction of the coordinate system, which is The normal direction at the welding point is the direction obtained by rotating the travel angle around the axis perpendicular to the welding plane, and then turning the working angle around the x direction. The third line 300 represents the y direction of the coordinate system, which conforms to the right-hand rule.
根据上文所述的公式(1)~(6),除了能得到焊接点处焊枪姿态的示意图外,还可以得到基于机器人语言的焊接点定义和焊接运动指令,分别如下表1和表2所示:According to the formulas (1)-(6) mentioned above, in addition to the schematic diagram of the welding torch posture at the welding point, the definition of the welding point and the welding motion command based on the robot language can also be obtained, as shown in Table 1 and Table 2 respectively Show:
表1焊接点定义Table 1 Welding point definition
表2焊接运动指令Table 2 Welding motion instructions
表1为焊接点的定义,包括焊接点的名称、焊接点的位置坐标、焊接点的姿态、变位机转角信息,以第一个点P1为例,P1为焊接点的名称,[981.5000,0.0000,250.0000]为焊接点在工件坐标系中的x、y、z坐标,[0.5610,-0.5610,-0.4305,0.4305]为用四元数表示的焊枪的姿态,[-0.0000,9E+09,9E+09,9E+09,9E+09,9E+09]中的第一个数-0.0000表示第一个外部轴转角,这里只有变位机一个外部轴,表示的就是变位机转角,其余没用到的外部轴用9E+09表示。Table 1 is the definition of the welding point, including the name of the welding point, the position coordinates of the welding point, the posture of the welding point, and the rotation angle information of the positioner. Taking the first point P1 as an example, P1 is the name of the welding point, [981.5000, 0.0000,250.0000] is the x, y, z coordinates of the welding point in the workpiece coordinate system, [0.5610,-0.5610,-0.4305,0.4305] is the posture of the welding torch represented by the quaternion, [-0.0000,9E+09, The first number -0.0000 in 9E+09,9E+09,9E+09,9E+09] indicates the first external axis rotation angle, here there is only one external axis of the positioner, which represents the rotation angle of the positioner, the rest Unused external axes are represented by 9E+09.
表2中的MoveL为直线运动指令,P1、P2等为焊接点的名称,vv为定义的速度数据,zone为转角数据,PKI_500为定义的工具坐标系,Workobject_1为定义的工件坐标系。MoveL in Table 2 is the linear motion command, P1, P2, etc. are the names of the welding points, vv is the defined speed data, zone is the corner data, PKI_500 is the defined tool coordinate system, and Workobject_1 is the defined workpiece coordinate system.
图7为在焊接工作站中焊接罐体时焊枪位姿图,将表1中得到的焊接点定义应用到机器人的仿真软件中去就可以得到图8中的焊接点处的焊枪姿态的结果图。得到焊接点定义后,通过建立工作站中相应的工件坐标系和工具坐标系以及表2中的焊接运动指令后就可以进行罐体焊接运动的仿真。Fig. 7 is a diagram of the posture of the welding torch when welding the tank in the welding workstation. Apply the definition of the welding point obtained in Table 1 to the simulation software of the robot to obtain the result diagram of the posture of the welding torch at the welding point in Fig. 8. After the definition of the welding point is obtained, the simulation of the tank welding movement can be carried out by establishing the corresponding workpiece coordinate system and tool coordinate system in the workstation and the welding movement instructions in Table 2.
图8为将表1和表2中的数据应用到机器人的仿真软件中去得到的罐体的焊接仿真时罐体与焊枪之间的关系的示意图,图8表示变位机转角从0°到360°,每隔45°时焊枪与罐体之间的运动匹配关系。Fig. 8 is a schematic diagram of the relationship between the tank body and the welding gun when applying the data in Table 1 and Table 2 to the simulation software of the robot to obtain the welding simulation of the tank body. Fig. 8 shows that the rotation angle of the positioner is from 0 ° to 360°, the motion matching relationship between the welding torch and the tank every 45°.
本申请第二方面提供一种采用上述所述罐体焊接点位姿规划方法的焊接工作站,如图9所示,所述焊接工作站包括机器人3、变位装置、罐体6、焊缝定位与跟踪系统以及熔池形貌在线监测装置,其中,所述变位装置包括变位机9、变位器和其他自动变位设备,所述机器人3包括多关节机器人和多轴的机械臂,所述焊缝定位与跟踪系统通过激光跟踪器2实现对焊缝的定位和轨迹跟踪;所述熔池形貌在线监测装置由CCD相机5组成,实现对焊接过程中熔池形貌在线监测与实时反馈,具体地,所述焊接工作站还包括龙门架1、焊枪4、电子设备7和龙门架导轨8,通过执行电子设备7中的程序,使得变位机9带动罐体6转动,同时安装在机器人3末端的焊枪4随着机器人3运动完成相应的焊接任务,在焊接过程中可通过激光跟踪器2对焊接轨迹进行调整达到较佳的焊接效果,同时可通过CCD相机5对熔池的形貌进行监测,同时,通过龙门架1在龙门架导轨8上运动来改变机器人3及焊枪4的位置,实现对罐体6不同位置的焊接任务。The second aspect of the present application provides a welding workstation that adopts the above-mentioned tank body welding point pose planning method. As shown in FIG. A tracking system and an on-line monitoring device for molten pool appearance, wherein the displacement device includes a positioner 9, a positioner and other automatic displacement equipment, and the robot 3 includes a multi-joint robot and a multi-axis mechanical arm, so The welding seam positioning and tracking system realizes the positioning and trajectory tracking of the welding seam through the laser tracker 2; the online monitoring device for the molten pool morphology is composed of a CCD camera 5, which realizes online monitoring and real-time monitoring of the molten pool morphology during the welding process. Feedback, specifically, the welding workstation also includes a gantry 1, a welding torch 4, an electronic device 7 and a gantry guide rail 8, by executing the program in the electronic device 7, the positioner 9 drives the tank body 6 to rotate, and is installed on the The welding torch 4 at the end of the robot 3 completes the corresponding welding tasks as the robot 3 moves. During the welding process, the welding trajectory can be adjusted by the laser tracker 2 to achieve a better welding effect. At the same time, the shape of the molten pool can be monitored by the CCD camera 5. At the same time, the position of the robot 3 and the welding torch 4 is changed by the movement of the gantry 1 on the gantry guide rail 8, so as to realize the welding task of different positions of the tank body 6.
本申请第三方面提供一种电子设备,所述电子设备包括:一个或多个处理器;和配置有程序指令的存储器;所述一个或多个处理器执行所述程序指令使得所述电子设备执行上述所述的罐体焊接点位姿规划方法。The third aspect of the present application provides an electronic device, the electronic device includes: one or more processors; and a memory configured with program instructions; the one or more processors execute the program instructions so that the electronic device Execute the above-mentioned tank body welding point pose planning method.
本申请第四方面提供一种存储介质,所述存储介质存储有程序,其中,所述程序在被调用执行时实现上述所述的罐体焊接点位姿规划方法。The fourth aspect of the present application provides a storage medium, the storage medium stores a program, wherein when the program is called and executed, the above-mentioned method for planning the pose and posture of the welding point of the tank body is realized.
本申请的罐体焊接点位姿规划方法、焊接工作站、设备及介质,从建立近椭圆形截面的数学模型出发,通过对近椭圆形截面的离散化得到焊接点的位置,使用旋转矩阵的表示方法得出焊枪在焊接点处的姿态,接着建立变位机的转角模型得出对罐体转角的描述;综合上述的内容可以自动生成基于机器人编程语言的焊接点定义和运动指令,并进行近椭圆形罐体的运动仿真,为近椭圆形罐体的实际焊接任务奠定基础,大幅提高罐体焊接的效率,减轻工人的劳动。The tank welding point pose planning method, welding workstation, equipment and medium of this application start from the establishment of a mathematical model of a nearly elliptical cross section, and obtain the position of the welding point by discretizing the nearly elliptical cross section, using the representation of a rotation matrix The posture of the welding torch at the welding point is obtained by the method, and then the rotation angle model of the positioner is established to obtain the description of the rotation angle of the tank; the above-mentioned content can automatically generate the welding point definition and motion instructions based on the robot programming language, and carry out close The motion simulation of the elliptical tank lays the foundation for the actual welding task of the nearly elliptical tank, which greatly improves the efficiency of tank welding and reduces the labor of workers.
尽管已经出于说明性目的对本申请的实施例进行了公开,但是本领域技术人员将认识的是:在不偏离如所附权利要求公开的本发明的范围和精神的情况下,能够进行各种修改、添加和替换。Although the embodiments of the present application have been disclosed for illustrative purposes, those skilled in the art will recognize that various Modify, add and replace.
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