CN115716268B - Correction method and device for power transmission tower node welding spots and power transmission tower node welding paths - Google Patents

Abstract

The application provides a method and a device for correcting a power transmission tower node welding spot and a power transmission tower node welding path, wherein the method for correcting the power transmission tower node welding spot comprises the following steps: determining coordinates of a preparation position of a target steel plate in a power transmission tower node according to coordinates of an initial welding spot of the target steel plate in the power transmission tower node and the size of the target steel plate in the power transmission tower node, and controlling a welding wire TCP of a welding gun to move to the preparation position; controlling a welding wire TCP of a welding gun to move towards a target steel plate, and determining the coordinates of a final welding spot by utilizing the coordinates of a touch point with the target steel plate generated in the moving process; wherein, final solder joint includes: a starting welding spot of a welding path of a node of the power transmission tower or a terminating welding spot of the welding path of the node of the power transmission tower; coordinates of a touch point of a welding wire TCP of the welding gun and the target steel plate are obtained through a touch sensor arranged at a welding gun nozzle. The technical scheme provided by the application not only improves the welding efficiency, accuracy and quality, but also reduces the risk of gun blocking and saves the economic cost.

Description

Transmission tower node welding point and transmission tower node welding path correction method and device

Technical Field

The invention relates to the technical field of power transmission tower processing, and in particular to a method and a device for correcting a power transmission tower node welding point and a power transmission tower node welding path.

Background Art

The nodes of the transmission tower are made of multiple steel plates spliced together to form a whole to bear the axial force and bending moment applied by the main material or the diagonal material. Because of the symmetry of the iron tower and the versatility of the design, there are usually more than 50 nodes of the transmission tower with the same geometric specifications. Due to the complexity and large number of welds at the nodes of the transmission tower, it is difficult to identify all welds through machine vision and other means, so the application rate of automated welding based on robot arms is very low, and node welding is generally completed manually. If robot welding is used, the teaching method must be used to manually guide the welding gun to a reasonable position, form a welding path, and complete the node welding.

However, there are the following disadvantages in using robot welding: the welding path of one node can hardly be used for other nodes in the same batch, which means that the welding path of each node needs to be manually taught, which results in high labor costs. The above disadvantages are mainly caused by the following reasons: 1) The welding effect of the transmission tower node requires high accuracy of the welding path. Generally speaking, when the error of the welding path is greater than 0.5mm, the welding quality will be significantly reduced; 2) The processing of the transmission tower node belongs to the rough processing industry. After the nodes with the same geometric specifications are installed on the welding fixture, the difference in the welding path is generally about 5mm.

In robot welding, the labor cost of teaching the welding path generally accounts for more than 60% of the total cost. Therefore, there is an urgent need to invent a method that can significantly reduce the cost of teaching the welding path of transmission tower nodes. At present, the use of line laser technology to correct the welding path is suitable for long welds with less risk of gun blocking, such as in the shipbuilding industry. This method is to install a line laser sensor on the welding gun to collect the surface information of the component and complete the correction of the welding path. However, this method has the following disadvantages:

1) High price. The price of line laser sensor is more than 10 times that of tactile sensor.

2) It is necessary to install accessories on the welding gun, which increases the risk of collision between the robot and the workpiece; the structure of the transmission tower node is very complex, and after installing the accessories, many welds cannot be welded. The tactile sensor is built into the welding gun nozzle, and there is no need to install any equipment on the welding gun;

3) During the welding process, the ablation speed and wire feeding speed of the welding wire are not absolutely equal, resulting in changes in the extension length of the welding wire. Usually, a change in the welding wire of about 0.5 mm will affect the welding quality. The line laser sensor measures the distance between the calibrated welding wire TCP point and the workpiece, and cannot consider the change in the welding wire length, which will have a significant impact on the welding quality. Before each welding arc, re-cutting the welding wire can solve this problem. However, the welding path of the transmission tower node is very short, generally not more than 1m. Frequent cutting of the welding wire will waste welding wire and reduce work efficiency.

Summary of the invention

In order to overcome the problems existing in the related art to at least a certain extent, the present application provides a method and device for correcting transmission tower node welds and transmission tower node welding paths.

According to a first aspect of an embodiment of the present application, a method for correcting a node weld of a transmission tower is provided, the method comprising:

Determine the coordinates of the preparation position of the target steel plate in the transmission tower node according to the coordinates of the initial welding point of the target steel plate in the transmission tower node and the size of the target steel plate in the transmission tower node, and control the welding wire TCP of the welding gun to move to the preparation position;

Controlling the welding wire TCP of the welding gun to move toward the target steel plate, and using the coordinates of the contact point with the target steel plate generated during the movement to determine the coordinates of the final welding point;

Among them, the final weld point includes: the starting weld point of the transmission tower node welding path or the ending weld point of the transmission tower node welding path; the coordinates of the contact point between the welding wire TCP of the welding gun and the target steel plate are obtained through a tactile sensor arranged at the nozzle of the welding gun.

Preferably, the positions of the initial welding point and the final welding point are determined by a three-dimensional coordinate system;

The three-dimensional coordinate system is obtained by the following method: let the direction from the starting point of the weld line to the end point of the weld line be the positive direction of the x-axis, and according to the positive direction of the x-axis, use the left-hand coordinate system to determine the positive directions of the y-axis and the z-axis.

Preferably, the step of determining the coordinates of the preliminary position of the target steel plate in the transmission tower node according to the coordinates of the initial welding point of the target steel plate in the transmission tower node and the size of the target steel plate in the transmission tower node comprises:

Determine the distance of the welding wire TCP of the welding gun away from the target steel plate according to the size of the target steel plate;

The coordinates of the preparation position are calculated and determined in a three-dimensional coordinate system according to the coordinates of the initial welding point and the distance of the welding wire TCP of the welding gun away from the target steel plate.

Preferably, the control of the welding wire TCP of the welding gun to move toward the target steel plate, and using the coordinates of the contact point with the target steel plate generated during the movement to determine the coordinates of the final welding point, includes:

By controlling the welding wire TCP of the welding gun to move toward the target steel plate, when touching, the coordinates of the projected welding point of the preparation position on the weld line are determined according to the coordinates of the touching point and the first distance;

Controlling the welding wire TCP of the welding gun to move to the projected welding point;

The welding wire TCP of the welding gun is controlled to move along the z-axis and the x-axis in sequence, and it is determined whether the welding wire TCP of the welding gun touches an obstacle. If the welding wire TCP of the welding gun touches the obstacle, the welding wire TCP of the welding gun is controlled to move along the z-axis, and the contact point with the target steel plate generated during the movement is used to determine the final welding point; otherwise, the coordinates of point P0 and point P1 are iteratively determined by using the binary search method, and the coordinates of the final welding point are determined by using the coordinates of the point P0 and point P1.

Preferably, the controlling the welding wire TCP of the welding gun to move toward the target steel plate, when touching, determining the coordinates of the projected welding point of the preparation position on the weld line by the coordinates of the touching point and the first distance, comprises:

Step 11: Control the welding wire TCP of the welding gun to move along the positive direction of the y-axis until the welding wire TCP of the welding gun touches the target steel plate, and the touch point is defined as the first touch point;

Step 12: Control the welding wire TCP of the welding gun to start from the first touch point and move along the negative direction of the y-axis until the welding wire TCP of the welding gun touches the target steel plate, and make the touch point the second touch point;

Step 13: Calculating the distance between the first touch point and the second touch point, and calculating the coordinates of the middle point between the first touch point and the second touch point;

Step 14: Determine whether the distance between the first touch point and the second touch point is less than or equal to the first distance. If the distance between the first touch point and the second touch point is less than or equal to the first distance, set the middle point between the first touch point and the second touch point as the projected weld point; otherwise, control the welding wire TCP of the welding gun to move to the middle point between the first touch point and the second touch point, and move along the positive direction of the z-axis until it touches the steel plate, set the coordinates of the first touch point as the coordinates of the touch point, and return to step 12 until the coordinates of the projected weld point are obtained.

Preferably, the first distance is the diameter of the welding wire.

Preferably, controlling the welding wire TCP of the welding gun to move along the z-axis and the x-axis in sequence comprises:

The welding wire TCP of the welding gun is controlled to move a second distance in the negative direction of the z-axis and a third distance in the positive direction of the x-axis, so that the position of the welding wire TCP of the welding gun at this time is point P0.

Preferably, controlling the welding wire TCP of the welding gun to move along the z-axis and determining the final welding point using the contact point with the target steel plate generated during the movement includes:

Let one end of the weld line corresponding to the projected weld point be the starting point a of the weld line, the other end of the weld line be the end point b of the weld line, the middle point between the starting point and the end point of the weld line be c, and the direction from the starting point a of the weld line to the middle point c is

Control the welding wire TCP of the welding gun to start from point P0 and move along The welding gun moves a fourth distance in the positive direction of the z-axis until the welding wire TCP of the welding gun touches the target steel plate, and the touching point is the final welding point.

Preferably, the second distance and the third distance are both determined according to the target steel plate size;

The fourth distance is the welding wire diameter.

Preferably, the iterative determination of the coordinates of point P0 and point P1 by using the dichotomy method, and the determination of the coordinates of the final welding point by using the coordinates of point P0 and point P1, comprises:

Step 21: Let the coordinates of point P1 be the coordinates of the projected welding point;

Step 22: Calculate the coordinates of the middle point between point P0 and point P1;

Step 23: Control the welding wire TCP of the welding gun to start from point P0, move to the target position, and move a fifth distance along the positive direction of the z-axis to determine whether the welding wire TCP touches an obstacle. If the welding wire TCP touches the obstacle, the coordinates of point P1 are set as the coordinates of the touching point, and step 24 is executed; otherwise, the coordinates of point P0 are set as the coordinates of the position of the welding wire TCP at this time, and step 24 is executed;

Step 24: Calculate the distance between point P0 and point P1;

Step 25: Determine whether the distance between point P0 and point P1 is less than or equal to the first distance. If the distance between point P0 and point P1 is less than or equal to the first distance, the coordinates of the middle point between point P0 and point P1 are the final welding point; otherwise, return to step 22 until the coordinates of the final welding point are obtained.

Preferably, the process of acquiring the target position is: based on the coordinates of the middle point between point P0 and point P1, a sixth distance is moved along the negative direction of the z-axis to obtain the target position; the sixth distance is determined according to the target steel plate size;

The fifth distance is determined according to the target steel plate size.

According to a second aspect of an embodiment of the present application, a device for correcting a node weld of a transmission tower is provided, the device comprising:

A first acquisition module is used to determine the coordinates of the preparation position of the target steel plate in the transmission tower node according to the coordinates of the initial welding point of the target steel plate in the transmission tower node and the size of the target steel plate in the transmission tower node, and control the welding wire TCP of the welding gun to move to the preparation position;

A second acquisition module is used to control the welding wire TCP of the welding gun to move toward the target steel plate, and determine the coordinates of the final welding point using the coordinates of the contact point with the target steel plate generated during the movement;

Among them, the final weld point includes: the starting weld point of the transmission tower node welding path or the ending weld point of the transmission tower node welding path; the coordinates of the contact point between the welding wire TCP of the welding gun and the target steel plate are obtained through a tactile sensor arranged at the nozzle of the welding gun.

According to a third aspect of an embodiment of the present application, there is provided a computer device, including: one or more processors;

The processor is used to store one or more programs;

When the one or more programs are executed by the one or more processors, the above-mentioned method for correcting the node welding point of the transmission tower is implemented.

According to a fourth aspect of an embodiment of the present application, there is provided a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed, the above-mentioned method for correcting a node weld of a transmission tower is implemented.

According to a fifth aspect of an embodiment of the present application, a method for correcting a transmission tower node welding path is provided, the method comprising:

Based on the above-mentioned correction method of the transmission tower node weld point, the starting weld point of the transmission tower node welding path and the ending weld point of the transmission tower node welding path are determined respectively;

The welding wire TCP of the welding gun is controlled to move to the starting welding point of the transmission tower node welding path, and welding is performed along the weld line from the starting welding point of the transmission tower node welding path until welding to the ending welding point of the transmission tower node welding path.

According to a sixth aspect of an embodiment of the present application, a device for correcting a transmission tower node welding path is provided, the device comprising:

A third acquisition module is used to determine the starting welding point of the transmission tower node welding path and the ending welding point of the transmission tower node welding path respectively based on the above-mentioned transmission tower node welding point correction device;

The welding module is used to control the welding wire TCP of the welding gun to move to the starting welding point of the transmission tower node welding path, and to weld along the weld line from the starting welding point of the transmission tower node welding path until it reaches the ending welding point of the transmission tower node welding path.

According to a seventh aspect of an embodiment of the present application, there is provided a computer device, including: one or more processors;

The processor is used to store one or more programs;

When the one or more programs are executed by the one or more processors, the above-mentioned method for correcting the transmission tower node welding path.

According to an eighth aspect of an embodiment of the present application, there is provided a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed, the above-mentioned method for correcting the welding path of a transmission tower node is implemented.

The above one or more technical solutions of the present invention have at least one or more of the following beneficial effects:

The present invention determines the coordinates of the preparation position of the target steel plate in the transmission tower node according to the coordinates of the initial welding point of the target steel plate in the transmission tower node and the size of the target steel plate in the transmission tower node, controls the welding wire TCP of the welding gun to move to the preparation position, controls the welding wire TCP of the welding gun to move toward the target steel plate, and uses the coordinates of the contact point with the target steel plate generated during the movement to determine the coordinates of the final welding point, wherein the final welding point includes the starting welding point of the welding path of the transmission tower node or the ending welding point of the welding path of the transmission tower node, and controls the welding wire TCP of the welding gun to move to the preparation position. The starting welding point of the transmission tower node welding path is selected, and welding is performed along the weld line from the starting welding point of the transmission tower node welding path until welding to the ending welding point of the transmission tower node welding path. This not only realizes that only one node welding path needs to be manually taught, and the accurate welding paths of the remaining nodes can be automatically generated, but also the entire correction work is automatically completed without manual intervention, thereby improving welding efficiency and accuracy. Moreover, the present invention collects the distance information between the tip of the welding wire and the workpiece, thereby avoiding the influence of the change of the dry extension length of the welding wire on the welding quality, thereby improving the welding quality.

The coordinates of the contact point between the welding wire TCP and the target steel plate are obtained by using a tactile sensor installed at the nozzle of the welding gun, which not only saves economic costs but also avoids installing any accessories on the welding gun, reducing the risk of blocking the gun.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

FIG1 is a flow chart of a method for correcting a node weld of a transmission tower according to an exemplary embodiment;

FIG2 is a schematic diagram showing the positions of an initial welding point, a preparation position and a projected welding point according to an exemplary embodiment;

FIG3 is a flow chart showing a process of obtaining coordinates of a projected welding point according to an exemplary embodiment;

FIG4 is a schematic diagram showing a process of obtaining a projected welding point according to an exemplary embodiment;

FIG5 is a flow chart showing a process of obtaining a final welding point according to an exemplary embodiment;

FIG6 is a structural block diagram of a device for correcting a node weld of a transmission tower according to an exemplary embodiment;

FIG7 is a flow chart of a method for correcting a transmission tower node welding path according to an exemplary embodiment;

Fig. 8 is a structural block diagram of a device for correcting a transmission tower node welding path according to an exemplary embodiment.

DETAILED DESCRIPTION

The specific implementation modes of the present invention will be further described in detail below in conjunction with the accompanying drawings.

In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

As disclosed in the background technology, the nodes of the transmission tower are spliced by multiple steel plates to form a whole to bear the axial force and bending moment applied by the main material or the diagonal material. Because of the symmetry of the iron tower and the versatility of the design, there are usually more than 50 nodes of the transmission tower with the same geometric specifications. Since the welds of the transmission tower nodes are complex and numerous, it is difficult to identify all the welds by means such as machine vision, so the application rate of automated welding based on robot arms is very low, and the welding of nodes is generally completed manually. If robot welding is used, a teaching method must be used to manually guide the welding gun to a reasonable position to form a welding path and complete the welding of the node.

However, there are the following disadvantages in using robot welding: the welding path of one node can hardly be used for other nodes in the same batch, which means that the welding path of each node needs to be manually taught, which results in high labor costs. The above disadvantages are mainly caused by the following reasons: 1) The welding effect of the transmission tower node requires high accuracy of the welding path. Generally speaking, when the error of the welding path is greater than 0.5mm, the welding quality will be significantly reduced; 2) The processing of the transmission tower node belongs to the rough processing industry. After the nodes with the same geometric specifications are installed on the welding fixture, the difference in the welding path is generally about 5mm.

In robot welding, the labor cost of teaching the welding path generally accounts for more than 60% of the total cost. Therefore, there is an urgent need to invent a method that can significantly reduce the cost of teaching the welding path of transmission tower nodes. At present, the use of line laser technology to correct the welding path is suitable for long welds with less risk of gun blocking, such as in the shipbuilding industry. This method is to install a line laser sensor on the welding gun to collect the surface information of the component and complete the correction of the welding path. However, this method has the following disadvantages:

1) High price. The price of line laser sensor is more than 10 times that of tactile sensor.

2) It is necessary to install accessories on the welding gun, which increases the risk of collision between the robot and the workpiece; the structure of the transmission tower node is very complex, and after installing the accessories, many welds cannot be welded. The tactile sensor is built into the welding gun nozzle, and there is no need to install any equipment on the welding gun;

3) During the welding process, the ablation speed and wire feeding speed of the welding wire are not absolutely equal, resulting in changes in the extension length of the welding wire. Usually, a change in the welding wire of about 0.5 mm will affect the welding quality. The line laser sensor measures the distance between the calibrated welding wire TCP point and the workpiece, and cannot consider the change in the welding wire length, which will have a significant impact on the welding quality. Before each welding arc, re-cutting the welding wire can solve this problem. However, the welding path of the transmission tower node is very short, generally not more than 1m. Frequent cutting of the welding wire will waste welding wire and reduce work efficiency.

In order to improve the above problems, improve welding efficiency, welding accuracy and welding quality, reduce the risk of gun blocking and save economic costs.

The above scheme is described in detail below.

Embodiment 1

As shown in FIG1 , a flow chart of a method for correcting a node weld of a transmission tower according to an exemplary embodiment is shown. The method can be, but is not limited to, used in a terminal, and includes the following steps:

Step 101: determining the coordinates of the preparation position of the target steel plate in the transmission tower node according to the coordinates of the initial welding point of the target steel plate in the transmission tower node and the size of the target steel plate in the transmission tower node, and controlling the welding wire TCP of the welding gun to move to the preparation position;

Step 102: Control the welding wire TCP of the welding gun to move toward the target steel plate, and use the coordinates of the contact point with the target steel plate generated during the movement process to determine the coordinates of the final welding point;

Among them, the final welding point includes: the starting welding point of the transmission tower node welding path or the ending welding point of the transmission tower node welding path; the coordinates of the contact point between the welding wire TCP of the welding gun and the target steel plate are obtained through a tactile sensor set at the nozzle of the welding gun.

In some embodiments, the initial welding point may be, but is not limited to, determined by using a CAD model, and may also be, but is not limited to, a starting welding point determined when welding a workpiece with the same geometric specifications last time.

It should be noted that the tactile sensor is a wire, one end of which is connected to the welding wire, and the other end is connected to the PLC (programmable logic controller) and other controllers of the welding gun robot. The tactile sensor is built into the nozzle of the welding gun and will not cause any change to the appearance of the welding gun. After the robot is started, the PCL passes low-voltage electricity to the wire and records the voltage of the welding wire at this time as V. When the welding gun robot moves under instructions, before it touches the steel plate, the voltage remains unchanged because the air is an insulator; once the welding wire TCP touches the steel plate during movement, because the steel plate is grounded and the voltage is 0, the voltage of the welding wire TCP will suddenly drop to 0. After receiving the signal that the voltage of the welding wire TCP suddenly drops to 0, the controller such as the PLC immediately instructs the robot to stop moving and keeps the configuration of the robot unchanged when the welding wire TCP contacts the steel plate. The PLC reads the rotation amount of each joint of the robot, and uses the rotation amount, the robot's arm length, the welding gun shape and other parameters to calculate the XYZ coordinate value of the welding wire TCP at this time, thereby obtaining the coordinates of the contact point between the welding wire YCP and the steel plate, and storing the coordinates in the robot's background processor. In some embodiments, the coordinates of the contact point can be obtained from the robot's background processor by writing a program in C#, but is not limited to.

It is understandable that the method provided in the embodiment of the present invention requires only a tactile sensor built into the welding gun robot, which is inexpensive and greatly reduces the economic cost of welding. Generally speaking, the price of a tactile sensor is less than 0.1 times that of an optical sensor. At the same time, since no accessories need to be installed on the welding gun, the risk of blocking the gun will not increase, thereby improving welding efficiency and welding quality. In addition, when correcting the position of the weld point, the method provided in the embodiment of the present invention is based on the distance information between the tip of the welding wire and the workpiece. In this way, the influence of the change in the dry extension length of the welding wire on the welding quality is avoided, thereby improving the welding quality.

In addition, the weld line refers to the intersection of the two planes of the fillet weld; the welding wire TCP refers to the welding gun position point defined at the tip of the welding wire, with a total of 6 degrees of freedom, representing the position and posture of the welding gun.

Furthermore, the positions of the initial and final weld points are determined by a three-dimensional coordinate system;

The three-dimensional coordinate system is obtained by the following method: let the direction from the starting point of the weld line to the end point of the weld line be the positive direction of the x-axis, and according to the positive direction of the x-axis, use the left-hand coordinate system to determine the positive direction of the y-axis and the positive direction of the z-axis, where the positive direction of the z-axis is the direction of the welding wire TCP.

Furthermore, step 101 includes:

Determine the distance between the welding wire TCP of the welding gun and the target steel plate according to the size of the target steel plate;

According to the coordinates of the initial welding point and the distance of the welding wire TCP of the welding gun away from the target steel plate, the coordinates of the preparation position are calculated and determined in the three-dimensional coordinate system.

It should be noted that the welding wire TCP of the welding gun is far away from the target steel plate, that is, far away from the initial weld point, so it can also be called the withdrawal distance. The embodiment of the present invention does not limit the "distance of the welding wire TCP of the welding gun away from the target steel plate", which can be set by those skilled in the art based on experimental data or expert experience. In some embodiments, the distance of the welding wire TCP of the welding gun away from the target steel plate can be set to 8 mm, but is not limited to.

Specifically, the coordinates (x _S , y _S , z _S ) of the preparation position S are determined as follows:

In the above formula, x _S , y _S and z _S are the coordinate values of the preparation position S on the x-axis, y-axis and z-axis respectively; x _A , y _A and z _A are the coordinate values of the initial welding point A on the x-axis, y-axis and z-axis respectively; b is a constant, b is the distance of the welding wire TCP of the welding gun from the target steel plate; is the z-axis direction, The x-axis points to the right.

As shown in Figure 2, the exemplary preparation position is mainly to adjust the welding wire TCP to a reasonable search starting position to ensure the smooth execution of the subsequent search algorithm. Therefore, the retreat method is generally adopted. In the figure, A' is the initial welding point corresponding to the starting welding point, At is the starting welding point, Ap is the projected welding point, B' is the initial welding point corresponding to the ending welding point, Bt is the ending welding point, and Bp is the projected welding point.

Further, step 102 includes:

Step 1021: Control the welding wire TCP of the welding gun to move toward the target steel plate, and when the target steel plate is touched, determine the coordinates of the projected welding point of the preparation position on the weld line according to the coordinates of the touching point and the first distance;

Step 1022: Control the welding wire TCP of the welding gun to move to the projected welding point;

Step 1023: Control the welding wire TCP of the welding gun to move along the z-axis and the x-axis in sequence, and determine whether the welding wire TCP of the welding gun touches an obstacle. If the welding wire TCP of the welding gun touches an obstacle, control the welding wire TCP of the welding gun to move along the z-axis, and use the contact point with the target steel plate generated during the movement to determine the final weld point; otherwise, use the binary search method to iteratively determine the coordinates of point P0 and point P1, and use the coordinates of point P0 and point P1 to determine the coordinates of the final weld point.

Specifically, step 1021 includes:

Step 1021a: Control the welding wire TCP of the welding gun to move along the positive direction of the y-axis until the welding wire TCP of the welding gun touches the target steel plate, and the touch point is defined as the first touch point;

Step 1021b: Control the welding wire TCP of the welding gun to start from the first touch point and move along the negative direction of the y-axis until the welding wire TCP of the welding gun touches the target steel plate, and the touch point is set as the second touch point;

Step 1021c: Calculate the distance between the first touch point and the second touch point, and calculate the coordinates of the middle point between the first touch point and the second touch point;

Step 1021d: Determine whether the distance between the first touch point and the second touch point is less than or equal to the first distance. If the distance between the first touch point and the second touch point is less than or equal to the first distance, the middle point between the first touch point and the second touch point is set as the projected weld point; otherwise, control the welding wire TCP of the welding gun to move to the middle point between the first touch point and the second touch point, and move along the positive direction of the z-axis until it touches the steel plate, and set the coordinates of the first touch point as the coordinates of the touch point, and return to step 1021b until the coordinates of the projected weld point are obtained;

The first distance is the diameter of the welding wire.

It should be noted that the “calculating the distance between the first touch point and the second touch point” and “calculating the coordinates of the middle point between the first touch point and the second touch point” involved in the embodiments of the present invention are well known to those skilled in the art, and therefore, their specific implementation methods are not described in detail.

To further illustrate the process of obtaining the coordinates of the projected welding point, an embodiment of the present invention provides a specific example, as shown in FIG. 3 and FIG. 4 , including the following steps:

Step 1021a: The welding wire TCP starts from the preparation position S and moves along the positive direction of the y-axis until the welding wire TCP touches the steel plate, and the touch point is SL0;

Step 1021b: The welding wire TCP starts from point SL0 and moves along the negative direction of the y-axis until the welding wire TCP touches the steel plate, and the touch point is SR0;

Step 1021c: Calculate the distance d ₀ between point SL0 and point SR0;

Specifically, the distance d ₀ between the point SL0 and the point SR0 is calculated as follows:

In the above formula, x _SL0 , y _SL0 and z _SL0 are the coordinate values of point SL0 on the x-axis, y-axis and z-axis respectively, and x _SR0 , y _SR0 and z _SR0 are the coordinate values of point SR0 on the x-axis, y-axis and z-axis respectively;

Step 1021d: Calculate the coordinates of the middle point SM0 between the point SL0 and the point SR0;

Specifically, the coordinates of the middle point SM0 between the point SL0 and the point SR0 are calculated as follows (x _SM0 , y _SM0 , z _SM0 );

In the above formula, x _SM0 , y _SM0 and z _SM0 are the coordinate values of point SM0 on the x-axis, y-axis and z-axis respectively, x _SL0 , y _SL0 and z _SL0 are the coordinate values of point SL0 on the x-axis, y-axis and z-axis respectively, x _SR0 , y _SR0 and z _SR0 are the coordinate values of point SR0 on the x-axis, y-axis and z-axis respectively;

Step 1021e: Determine whether the distance _d0 is less than or equal to the first distance. If the distance _d0 is less than or equal to the first distance, set point SM0 as the projected welding point Ap. If the distance _d0 is greater than the first distance, move the welding wire TCP to point SM0 and move along the positive direction of the z-axis until it touches the steel plate. Set the touching point as SR1 and execute step 1021g.

Step 1021f: The welding wire TCP starts from point SR1 and moves along the positive direction of the y-axis until the welding wire TCP touches the steel plate, and the touch point is SL1;

Step 1021g: Calculate the distance d ₁ between point SL1 and point SR1;

Specifically, the distance d ₁ between point SL1 and point SR1 is calculated according to the following formula:

In the above formula, x _SL1 , y _SL1 and z _SL1 are the coordinate values of point SL1 on the x-axis, y-axis and z-axis respectively, and x _SR1 , y _SL1 and z _SL1 are the coordinate values of point SR1 on the x-axis, y-axis and z-axis respectively;

Step 1021h: Calculate the coordinates of the middle point SM1 between point SL1 and point SR1;

Specifically, the coordinates (x _SM1 , y _SM1 , z _SM1 ) of the middle point SM1 between the point SL1 and the point SR1 are calculated as follows:

In the above formula, x _SM1 , y _SM1 and z _SM1 are the coordinate values of point SM1 on the x-axis, y-axis and z-axis respectively, x _SL1 , y _SL1 and z _SL1 are the coordinate values of point SL1 on the x-axis, y-axis and z-axis respectively, x _SR1 , y _SR1 and z _SR1 are the coordinate values of point SR1 on the x-axis, y-axis and z-axis respectively;

Step 1021i: Determine whether the distance _d1 is less than or equal to the first distance. If the distance _d1 is less than or equal to the first distance, set point SM1 as the projected welding point Ap. If the distance _d1 is greater than the first distance, move the welding wire TCP to point SM1 and move along the positive direction of the z-axis until the welding wire TCP touches the steel plate. Set the touch point as SR2. Repeat steps 1021f to 1021h until the coordinates of the projected welding point Ap are obtained.

As shown in FIG5 , step 1023 specifically includes:

Step 1023a: Control the welding wire TCP of the welding gun to move a second distance in the negative direction of the z-axis and a third distance in the positive direction of the x-axis, so that the position of the welding wire TCP of the welding gun is point P0;

Wherein, the second distance and the third distance are both determined according to the target steel plate size;

Step 1023b: Determine whether the welding wire TCP of the welding gun touches an obstacle. If the welding wire TCP of the welding gun touches an obstacle, execute step 1023c; otherwise, execute step 1023d;

Step 1023c: Let one end of the weld line corresponding to the projected weld point be the starting point a of the weld line, the other end of the weld line be the end point b of the weld line, the middle point between the starting point of the weld line and the end point of the weld line be c, and the direction from the starting point a of the weld line to the middle point c is

Control the welding wire TCP of the welding gun starting from point P0 and moving along The welding gun moves a fourth distance in the positive direction of the z-axis until the welding wire TCP of the welding gun touches the target steel plate, and the touching point is the final welding point;

Wherein, the fourth distance is the diameter of the welding wire;

Step 1023d: Let the coordinates of point P1 be the coordinates of the projected welding point;

Step 1023e: Calculate the coordinates of the middle point between point P0 and point P1;

Specifically, the coordinates (x _m , y _m , z _m ) of the middle point m between point P0 and point P1 are calculated as follows;

In the above formula, _xm , _ym and _zm are the coordinate values of point m on the x-axis, y-axis and z-axis respectively, _xP0 , _yP0 and _zP0 are the coordinate values of point P0 on the x-axis, y-axis and z-axis respectively, _xP1 , _yP1 and _zP1 are the coordinate values of point P1 on the x-axis, y-axis and z-axis respectively;

Step 1023f: Control the welding wire TCP of the welding gun to start from point P0, move to the target position, and move a fifth distance along the positive direction of the z-axis to determine whether the welding wire TCP of the welding gun touches an obstacle. If the welding wire TCP touches the obstacle, set the coordinates of point P1 as the coordinates of the touching point, and execute step 1023g; otherwise, set the coordinates of point P0 as the coordinates of the position where the welding wire TCP is at this time, and execute step 1023g;

The process of acquiring the target position is as follows: based on the coordinates of the middle point between point P0 and point P1, the sixth distance is moved along the negative direction of the z-axis to obtain the target position; the sixth distance is determined according to the size of the target steel plate;

The fifth distance is determined according to the target steel plate size;

Step 1023g: Calculate the distance between point P0 and point P1;

Specifically, the distance D between point P0 and point P1 is as follows:

In the above formula, x _P0 , y _P0 and z _P0 are the coordinate values of point P0 on the x-axis, y-axis and z-axis respectively, and x _P1 , y _P1 and z _P1 are the coordinate values of point P1 on the x-axis, y-axis and z-axis respectively;

Step 1023h: Determine whether the distance between point P0 and point P1 is less than or equal to the first distance. If the distance between point P0 and point P1 is less than or equal to the first distance, the coordinates of the middle point between point P0 and point P1 are the final welding point; otherwise, return to step 1023e until the coordinates of the final welding point are obtained.

It should be noted that the embodiments of the present invention do not limit the "second distance", "third distance", "fourth distance", "fifth distance" and "sixth distance", and can be set by those skilled in the art according to experimental data or expert experience. In some embodiments, the second distance can be set to a value between 3mm and 5mm, the third distance can be set to 20mm, the fourth distance can be set to 1mm, the fifth distance can be set to 6mm, and the fifth distance can be set to 5mm.

In the process of practical application of the present invention, it is found that for the transmission tower nodes with the same geometric specifications, the method provided by the embodiment of the present invention only needs to manually teach the welding path of one node, and the accurate welding path of the remaining nodes can be automatically generated. Moreover, the entire correction work is completed automatically without manual intervention. The cost saved by this solution is proportional to the number of nodes with the same geometric specifications. Considering that the number of nodes with the same geometric specifications is generally more than 50, this patent improves the generation efficiency of node welding paths by at least 50 times.

The embodiment of the present invention provides a method for correcting welding points of a transmission tower node. The method determines the coordinates of a preparation position of a target steel plate in the transmission tower node according to the coordinates of an initial welding point of the target steel plate in the transmission tower node and the size of the target steel plate in the transmission tower node, controls the welding wire TCP of the welding gun to move to the preparation position, controls the welding wire TCP of the welding gun to move toward the target steel plate, and uses the coordinates of the contact point with the target steel plate generated during the movement to determine the coordinates of the final welding point, thereby realizing automatic correction of welding points, and then determining the welding path according to the corrected welding points, thereby ensuring the reliability and accuracy of the welding path, so that only the welding path of one node needs to be manually taught, and the accurate welding paths of the remaining nodes can be automatically generated, and the entire correction work is automatically completed without manual intervention, thereby improving welding efficiency and accuracy; and the present invention collects the distance information between the tip of the welding wire and the workpiece, thereby avoiding the influence of the change of the dry extension length of the welding wire on the welding quality, thereby improving the welding quality;

The coordinates of the contact point between the welding wire TCP and the target steel plate are obtained by using a tactile sensor installed at the nozzle of the welding gun, which not only saves economic costs but also avoids installing any accessories on the welding gun, reducing the risk of blocking the gun.

Embodiment 2

In order to cooperate with the above-mentioned method for correcting the node welds of the transmission tower, an embodiment of the present invention provides a correction device for the node welds of the transmission tower. Referring to FIG. 6 , the device includes:

A first acquisition module is used to determine the coordinates of the preparation position of the target steel plate in the transmission tower node according to the coordinates of the initial welding point of the target steel plate in the transmission tower node and the size of the target steel plate in the transmission tower node, and control the welding wire TCP of the welding gun to move to the preparation position;

The second acquisition module is used to control the welding wire TCP of the welding gun to move toward the target steel plate, and determine the coordinates of the final welding point using the coordinates of the contact point with the target steel plate generated during the movement;

Among them, the final welding point includes: the starting welding point of the transmission tower node welding path or the ending welding point of the transmission tower node welding path; the coordinates of the contact point between the welding wire TCP of the welding gun and the target steel plate are obtained through a tactile sensor set at the nozzle of the welding gun.

Furthermore, the positions of the initial and final weld points are determined by a three-dimensional coordinate system;

The three-dimensional coordinate system is obtained by the following method: let the direction from the starting point of the weld line to the end point of the weld line be the positive direction of the x-axis, and according to the positive direction of the x-axis, use the left-hand coordinate system to determine the positive directions of the y-axis and the z-axis.

Furthermore, the root first acquisition module is specifically used for:

Determine the distance between the welding wire TCP of the welding gun and the target steel plate according to the size of the target steel plate;

According to the coordinates of the initial welding point and the distance of the welding wire TCP of the welding gun away from the target steel plate, the coordinates of the preparation position are calculated and determined in the three-dimensional coordinate system.

Furthermore, the second acquisition module includes:

A first determining unit is used to control the welding wire TCP of the welding gun to move toward the target steel plate, and when the target steel plate is touched, determine the coordinates of the projected welding point of the preparation position on the weld line according to the coordinates of the touching point and the first distance;

A moving unit, used for controlling the welding wire TCP of the welding gun to move to the projected welding point;

The second determination unit is used to control the welding wire TCP of the welding gun to move along the z-axis and the x-axis in sequence, and determine whether the welding wire TCP of the welding gun touches an obstacle. If the welding wire TCP of the welding gun touches the obstacle, the welding wire TCP of the welding gun is controlled to move along the z-axis, and the contact point with the target steel plate generated during the movement is used to determine the final welding point; otherwise, the coordinates of point P0 and point P1 are iteratively determined using the binary search method, and the coordinates of the final welding point are determined using the coordinates of point P0 and point P1.

Furthermore, the first determining unit is specifically configured to perform the following steps:

Step 11: Control the welding wire TCP of the welding gun to move along the positive direction of the y-axis until the welding wire TCP of the welding gun touches the target steel plate, and the touch point is defined as the first touch point;

Step 12: Control the welding wire TCP of the welding gun to start from the first touch point and move along the negative direction of the y-axis until the welding wire TCP of the welding gun touches the target steel plate, and make the touch point the second touch point;

Step 13: Calculate the distance between the first touch point and the second touch point, and calculate the coordinates of the middle point between the first touch point and the second touch point;

Step 14: Determine whether the distance between the first touch point and the second touch point is less than or equal to the first distance. If the distance between the first touch point and the second touch point is less than or equal to the first distance, the middle point between the first touch point and the second touch point is set as the projected weld point; otherwise, control the welding wire TCP of the welding gun to move to the middle point between the first touch point and the second touch point, and move along the positive direction of the z-axis until it touches the steel plate, and set the coordinates of the first touch point as the coordinates of the touch point, and return to step 12 until the coordinates of the projected weld point are obtained;

The first distance is the diameter of the welding wire.

Furthermore, the second determining unit is specifically configured to:

The welding wire TCP of the welding gun is controlled to move a second distance in the negative direction of the z-axis and a third distance in the positive direction of the x-axis, so that the position of the welding wire TCP of the welding gun at this time is point P0.

Furthermore, the second determining unit is specifically configured to:

Let one end of the weld line corresponding to the projected weld point be the starting point a of the weld line, the other end of the weld line be the end point b of the weld line, the middle point between the starting point and the end point of the weld line be c, and the direction from the starting point a of the weld line to the middle point c is

Control the welding wire TCP of the welding gun starting from point P0 and moving along The welding gun moves a fourth distance in the positive direction of the z-axis until the welding wire TCP of the welding gun touches the target steel plate, and the touching point is the final welding point.

Specifically, the second distance and the third distance are both determined according to the target steel plate size;

The fourth distance is the wire diameter.

Furthermore, the second determining unit is further specifically configured to perform the following steps:

Step 21: Let the coordinates of point P1 be the coordinates of the projected welding point;

Step 22: Calculate the coordinates of the middle point between point P0 and point P1;

Step 23: Control the welding wire TCP of the welding gun to start from point P0, move to the target position, and move a fifth distance along the positive direction of the z-axis to determine whether the welding wire TCP touches an obstacle. If the welding wire TCP touches the obstacle, the coordinates of point P1 are set as the coordinates of the touching point, and step 24 is executed; otherwise, the coordinates of point P0 are set as the coordinates of the position where the welding wire TCP is at this time, and step 24 is executed;

Step 24: Calculate the distance between point P0 and point P1;

Step 25: Determine whether the distance between point P0 and point P1 is less than or equal to the first distance. If the distance between point P0 and point P1 is less than or equal to the first distance, the coordinates of the middle point between point P0 and point P1 are the final welding point; otherwise, return to step 22 until the coordinates of the final welding point are obtained.

Specifically, the process of acquiring the target position is as follows: based on the coordinates of the middle point between point P0 and point P1, the sixth distance is moved along the negative direction of the z-axis to obtain the target position; the sixth distance is determined according to the target steel plate size;

The fifth distance is determined according to the target steel plate size.

The embodiment of the present invention provides a correction device for a transmission tower node weld. The device determines the coordinates of a preparation position of a target steel plate in the transmission tower node according to the coordinates of an initial weld of the target steel plate in the transmission tower node and the size of the target steel plate in the transmission tower node through a first acquisition module, controls the welding wire TCP of the welding gun to move to the preparation position, controls the welding wire TCP of the welding gun to move toward the target steel plate through a second acquisition module, and determines the coordinates of a final weld using the coordinates of a contact point with the target steel plate generated during the movement, thereby realizing automatic correction of welds, and then determining a welding path according to the corrected welds, thereby ensuring the reliability and accuracy of the welding path, thereby only requiring manual teaching of the welding path of one node to automatically generate accurate welding paths for the remaining nodes, and the entire correction work is automatically completed without manual intervention, thereby improving welding efficiency and accuracy. Moreover, the present invention collects information on the distance between the tip of the welding wire and the workpiece, thereby avoiding the influence of changes in the dry extension of the welding wire on the welding quality, thereby improving the welding quality.

The coordinates of the contact point between the welding wire TCP and the target steel plate are obtained by using a tactile sensor installed at the nozzle of the welding gun, which not only saves economic costs but also avoids installing any accessories on the welding gun, reducing the risk of blocking the gun.

It can be understood that the device embodiment provided above corresponds to the method embodiment described above, and the corresponding specific contents can be referenced to each other and will not be repeated here.

It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

Embodiment 3

Based on the same inventive concept, the present invention also provides a computer device, which includes a processor and a memory, wherein the memory is used to store a computer program, the computer program includes program instructions, and the processor is used to execute the program instructions stored in the computer storage medium. The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, which is suitable for implementing one or more instructions, and is specifically suitable for loading and executing one or more instructions in the computer storage medium to implement the corresponding method flow or corresponding function, so as to implement the steps in the correction method of the node welding point of the transmission tower in the above embodiment.

Embodiment 4

Based on the same inventive concept, the present invention also provides a storage medium, specifically a computer-readable storage medium (Memory), which is a memory device in a computer device for storing programs and data. It can be understood that the computer-readable storage medium here can include both built-in storage media in the computer device and, of course, extended storage media supported by the computer device. The computer-readable storage medium provides a storage space, which stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by the processor are also stored in the storage space, and these instructions can be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the steps in the correction method of a transmission tower node weld in the above embodiment.

Embodiment 5

The embodiment of the present invention further provides a method for correcting a transmission tower node welding path, as shown in FIG7 . The method can be, but is not limited to, used in a terminal, and includes the following steps:

Step 201: Based on the correction method of the transmission tower node weld point provided in the above embodiment, respectively determine the starting weld point of the transmission tower node welding path and the ending weld point of the transmission tower node welding path;

Step 202: Control the welding wire TCP of the welding gun to move to the starting welding point of the transmission tower node welding path, and weld along the weld line from the starting welding point of the transmission tower node welding path until welding to the ending welding point of the transmission tower node welding path.

A method for correcting a transmission tower node welding path provided by an embodiment of the present invention determines a starting welding point and an ending welding point of the transmission tower node welding path based on the correction method of the transmission tower node welding point provided by the above embodiment, respectively, controls the welding wire TCP of the welding gun to move to the starting welding point of the transmission tower node welding path, and performs welding along the weld line from the starting welding point of the transmission tower node welding path until welding to the ending welding point of the transmission tower node welding path, which not only realizes that only one node welding path needs to be manually taught to automatically generate accurate welding paths for the remaining nodes, but also the entire correction work is automatically completed without manual intervention, thereby improving welding efficiency and accuracy; and the present invention collects the distance information between the tip of the welding wire and the workpiece, thereby avoiding the influence of the change of the dry extension length of the welding wire on the welding quality, thereby improving the welding quality;

The coordinates of the contact point between the welding wire TCP and the target steel plate are obtained by using a tactile sensor installed at the nozzle of the welding gun, which not only saves economic costs but also avoids installing any accessories on the welding gun, reducing the risk of blocking the gun.

Embodiment 6

The embodiment of the present invention further provides a device for correcting a transmission tower node welding path, as shown in FIG8 , the device comprises:

A third acquisition module is used to determine the starting welding point of the transmission tower node welding path and the ending welding point of the transmission tower node welding path respectively based on the welding point correction device of the transmission tower node provided by the above embodiment;

The welding module is used to control the welding wire TCP of the welding gun to move to the starting welding point of the transmission tower node welding path, and to weld along the weld line from the starting welding point of the transmission tower node welding path until it reaches the ending welding point of the transmission tower node welding path.

The embodiment of the present invention provides a correction device for a transmission tower node welding path. The third acquisition module determines the starting welding point and the ending welding point of the transmission tower node welding path based on the correction method of the transmission tower node welding point provided in the above embodiment respectively. The welding module controls the welding wire TCP of the welding gun to move to the starting welding point of the transmission tower node welding path, and welds along the weld line from the starting welding point of the transmission tower node welding path until it is welded to the ending welding point of the transmission tower node welding path. This not only realizes that only one node welding path needs to be manually taught to automatically generate accurate welding paths for the remaining nodes, but also the entire correction work is automatically completed without manual intervention, thereby improving welding efficiency and accuracy. Moreover, the present invention collects the distance information between the tip of the welding wire and the workpiece, thereby avoiding the influence of the change of the dry extension length of the welding wire on the welding quality, thereby improving the welding quality.

The coordinates of the contact point between the welding wire TCP and the target steel plate are obtained by using a tactile sensor installed at the nozzle of the welding gun, which not only saves economic costs but also avoids installing any accessories on the welding gun, reducing the risk of blocking the gun.

It can be understood that the device embodiment provided above corresponds to the method embodiment described above, and the corresponding specific contents can be referenced to each other and will not be repeated here.

It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

Embodiment 7

Based on the same inventive concept, the present invention also provides a computer device, which includes a processor and a memory, wherein the memory is used to store a computer program, the computer program includes program instructions, and the processor is used to execute the program instructions stored in the computer storage medium. The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, which is suitable for implementing one or more instructions, and is specifically suitable for loading and executing one or more instructions in the computer storage medium to implement the corresponding method flow or corresponding function, so as to implement the steps in the method for correcting the welding path of a transmission tower node in the above embodiment.

Embodiment 8

Based on the same inventive concept, the present invention also provides a storage medium, specifically a computer-readable storage medium (Memory), which is a memory device in a computer device for storing programs and data. It can be understood that the computer-readable storage medium here can include both built-in storage media in a computer device and, of course, extended storage media supported by the computer device. The computer-readable storage medium provides a storage space, which stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by a processor are also stored in the storage space, and these instructions can be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the steps in the method for correcting the welding path of a transmission tower node in the above embodiment.

Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

The present invention is described with reference to the flowchart and/or block diagram of the method, device (system), and computer program product according to the embodiment of the present invention. It should be understood that each process and/or box in the flowchart and/or block diagram, as well as the combination of the process and/or box in the flowchart and/or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device that implements the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.

These computer program instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims (13)

1. The method for correcting the node welding spot of the power transmission tower is characterized by comprising the following steps of:

Determining coordinates of a preparation position of a target steel plate in a power transmission tower node according to coordinates of an initial welding spot of the target steel plate in the power transmission tower node and the size of the target steel plate in the power transmission tower node, and controlling a welding wire TCP of a welding gun to move to the preparation position;

Controlling a welding wire TCP of a welding gun to move towards the target steel plate, and determining the coordinates of a final welding spot by utilizing the coordinates of a touch point with the target steel plate generated in the moving process;

Wherein the final solder joint comprises: a starting welding spot of a welding path of a node of the power transmission tower or a terminating welding spot of the welding path of the node of the power transmission tower; coordinates of a touch point of a welding wire TCP of the welding gun and a target steel plate are obtained through a touch sensor arranged at a welding gun nozzle;

The positions of the initial welding spot and the final welding spot are determined by a three-dimensional coordinate system;

the three-dimensional coordinate system is obtained by the following steps: the direction of the starting point of the weld line pointing to the end point of the weld line is the positive x-axis direction, and the positive y-axis direction and the positive z-axis direction are determined by using a left-hand coordinate system according to the positive x-axis direction;

the controlling the welding wire TCP of the welding gun to move toward the target steel plate, and determining coordinates of a final welding spot using coordinates of a touch point with the target steel plate generated during the moving process, includes:

the welding wire TCP of the welding gun is controlled to move towards the target steel plate, and when touching, the coordinates of a projection welding spot of the preparation position on a welding line are determined through the coordinates of a touching point and a first distance;

Controlling the welding wire TCP of the welding gun to move to the projection welding spot;

Controlling the welding wire TCP of the welding gun to sequentially move along a z axis and an x axis, judging whether the welding wire TCP of the welding gun touches an obstacle, if so, controlling the welding wire TCP of the welding gun to move along the z axis, and determining a final welding spot by utilizing the touch point with the target steel plate generated in the moving process; otherwise, iteratively determining the coordinates of the point P0 and the point P1 by using a dichotomy, and determining the coordinates of a final welding spot by using the coordinates of the point P0 and the point P1;

The welding wire TCP of the welding gun is controlled to sequentially move along a z axis and an x axis, and the welding wire TCP comprises:

Controlling the welding wire TCP of the welding gun to move a second distance along the reverse direction of the z axis and a third distance along the forward direction of the x axis, so that the position of the welding wire TCP of the welding gun is a point P0;

The controlling the welding wire TCP of the welding gun to move along the z-axis and determining a final welding spot using a touch point with the target steel plate generated during the moving process includes:

one end of the seam line corresponding to the projection welding point is set as a starting point a of the seam line, the other end of the seam line is set as an ending point b of the seam line, a middle point between the starting point of the seam line and the ending point of the seam line is set as c, and the direction of the starting point a of the seam line pointing to the middle point c is set as The welding wire TCP of the welding gun is controlled to start from the point P0 and followMoving in the direction for a fourth distance and moving in the positive direction of the z-axis until the welding wire TCP of the welding gun touches the target steel plate, wherein the touch point is a final welding point;

The iteratively determining the coordinates of the point P0 and the point P1 by using the dichotomy, and determining the coordinates of the final welding point by using the coordinates of the point P0 and the point P1 includes:

step 21: let the coordinates of the point P1 be the coordinates of the projection welding point;

step 22: calculating coordinates of an intermediate point between the point P0 and the point P1;

Step 23: controlling a welding wire TCP of the welding gun to start from a point P0, move to a target position, move a fifth distance along the positive direction of the z axis, judging whether the welding wire TCP touches an obstacle, if the welding wire TCP touches the obstacle, enabling the coordinate of a point P1 to be the coordinate of the touch point, and executing a step 24; otherwise, let the coordinates of the point P0 be the coordinates of the position of the welding wire TCP at this time, and execute step 24;

step 24: calculating the distance between the point P0 and the point P1;

Step 25: judging whether the distance between the point P0 and the point P1 is smaller than or equal to the first distance, and if the distance between the point P0 and the point P1 is smaller than or equal to the first distance, determining the coordinates of the middle point between the point P0 and the point P1 as the final welding point; otherwise, returning to the step 22 until the coordinates of the final welding spot are obtained.

2. The method of claim 1, wherein determining the coordinates of the preliminary location of the target steel sheet in the power tower node based on the coordinates of the initial weld of the target steel sheet in the power tower node and the target steel sheet size in the power tower node comprises:

determining the distance between a welding wire TCP of a welding gun and a target steel plate according to the size of the target steel plate;

and calculating and determining the coordinates of the preparation position on a three-dimensional coordinate system according to the coordinates of the initial welding spot and the distance between the welding wire TCP of the welding gun and the target steel plate.

3. The method of claim 1, wherein the determining the coordinates of the projected weld of the preliminary location on the weld line by controlling the welding wire TCP of the welding gun to move toward the target steel plate, when touched, by the coordinates of the touch point and the first distance, comprises:

Step 11: controlling the welding wire TCP of the welding gun to move along the positive direction of the y axis until the welding wire TCP of the welding gun touches the target steel plate, and enabling the touch point to be a first touch point;

Step 12: controlling the welding wire TCP of the welding gun to start from the first touch point and move along the negative direction of the y axis until the welding wire TCP of the welding gun touches the target steel plate, so that the touch point is a second touch point;

step 13: calculating a distance between the first touch point and the second touch point, and calculating coordinates of an intermediate point between the first touch point and the second touch point;

Step 14: judging whether the distance between the first touch point and the second touch point is smaller than or equal to a first distance, and if the distance between the first touch point and the second touch point is smaller than or equal to the first distance, enabling the middle point between the first touch point and the second touch point to be the projection welding point; otherwise, the welding wire TCP of the welding gun is controlled to move to the middle point between the first touch point and the second touch point and move along the positive direction of the z axis until touching with the steel plate, the coordinate of the first touch point is made to be the coordinate of the touch point, and the step 12 is returned until the coordinate of the projection welding point is obtained.

4. The method of claim 3, wherein the first distance is a diameter of the welding wire.

5. The method of claim 1, wherein the second distance and the third distance are each determined according to a target steel plate size;

the fourth distance is a wire diameter.

6. The method according to claim 1, wherein the obtaining of the target position is: moving a sixth distance along the negative direction of the z axis based on the coordinates of the intermediate point between the point P0 and the point P1 to obtain the target position; the sixth distance is determined according to the size of the target steel plate;

The fifth distance is determined according to the target steel plate size.

7. A device for correcting a transmission tower node weld, the device comprising:

The first acquisition module is used for determining the coordinates of a preparation position of the target steel plate in the power transmission tower node according to the coordinates of an initial welding spot of the target steel plate in the power transmission tower node and the size of the target steel plate in the power transmission tower node, and controlling a welding wire TCP of a welding gun to move to the preparation position;

The second acquisition module is used for controlling the welding wire TCP of the welding gun to move towards the target steel plate and determining the coordinates of a final welding spot by utilizing the coordinates of a touch point with the target steel plate generated in the moving process;

Wherein the final solder joint comprises: a starting welding spot of a welding path of a node of the power transmission tower or a terminating welding spot of the welding path of the node of the power transmission tower; coordinates of a touch point of a welding wire TCP of the welding gun and a target steel plate are obtained through a touch sensor arranged at a welding gun nozzle;

The positions of the initial welding spot and the final welding spot are determined by a three-dimensional coordinate system;

The three-dimensional coordinate system is obtained by the following method: the direction of the starting point of the weld line pointing to the end point of the weld line is the positive x-axis direction, and the positive y-axis direction and the positive z-axis direction are determined by using a left-hand coordinate system according to the positive x-axis direction;

The second acquisition module includes:

a first determining unit for determining coordinates of a projection welding spot of the preliminary position on the weld line by controlling a welding wire TCP of the welding gun to move toward the target steel plate and by coordinates of a touch point and a first distance when touched;

The moving unit is used for controlling the welding wire TCP of the welding gun to move to the projection welding spot;

The second determining unit is used for controlling the welding wire TCP of the welding gun to sequentially move along the z axis and the x axis, judging whether the welding wire TCP of the welding gun touches an obstacle, if the welding wire TCP of the welding gun touches the obstacle, controlling the welding wire PCT of the welding gun to move along the z axis, and determining a final welding spot by utilizing the touch point with the target steel plate generated in the moving process; otherwise, iteratively determining the coordinates of the point P0 and the point P1 by using a dichotomy, and determining the coordinates of the final welding point by using the coordinates of the point P0 and the point P1;

The second determining unit is specifically configured to:

Controlling the welding wire TCP of the welding gun to move a second distance along the reverse direction of the z axis and a third distance along the forward direction of the x axis, so that the position of the welding wire TCP of the welding gun is a point P0;

The second determining unit is specifically configured to:

one end of the seam line corresponding to the projection welding point is set as a starting point a of the seam line, the other end of the seam line is set as an ending point b of the seam line, a middle point between the starting point of the seam line and the ending point of the seam line is set as c, and the direction of the starting point a of the seam line pointing to the middle point c is set as The welding wire TCP of the welding gun is controlled to start from the point P0 and followMoving in the direction for a fourth distance and moving in the positive direction of the z-axis until the welding wire TCP of the welding gun touches the target steel plate, wherein the touch point is a final welding point;

The second determining unit is further specifically configured to perform the following steps:

Step 21: let the coordinates of the point P1 be the coordinates of the projection welding point;

step 22: calculating coordinates of an intermediate point between the point P0 and the point P1;

Step 23: controlling a welding wire TCP of a welding gun to start from a point P0, move to a target position, move a fifth distance along the positive direction of the z axis, judging whether the welding wire TCP touches an obstacle, if the welding wire TCP touches the obstacle, setting the coordinate of the point P1 as the coordinate of the touch point, and executing a step 24; otherwise, let the coordinates of the point P0 be the coordinates of the position of the welding wire TCP at this time, and execute step 24;

step 24: calculating the distance between the point P0 and the point P1;

step 25: judging whether the distance between the point P0 and the point P1 is smaller than or equal to the first distance, and if the distance between the point P0 and the point P1 is smaller than or equal to the first distance, taking the coordinates of the middle point between the point P0 and the point P1 as a final welding point; otherwise, return to step 22 until the coordinates of the final weld spot are obtained.

8. A computer device, comprising: one or more processors;

the processor is used for storing one or more programs;

the method for correction of transmission tower node joints according to any of claims 1 to 6 is implemented when said one or more programs are executed by said one or more processors.

9. A computer-readable storage medium, on which a computer program is stored, which computer program, when executed, implements a method for correcting a transmission tower node joint according to any one of claims 1 to 6.

10. A method for modifying a welding path of a node of a power transmission tower, the method comprising:

Determining a starting welding spot of a welding path of a power transmission tower node and a terminating welding spot of the welding path of the power transmission tower node respectively based on the correction method of the welding spot of the power transmission tower node of any one of claims 1 to 6;

And controlling a welding wire TCP of a welding gun to move to a starting welding spot of the power transmission tower node welding path, and welding along a welding line from the starting welding spot of the power transmission tower node welding path until the welding wire TCP is welded to a terminating welding spot of the power transmission tower node welding path.

11. A correction device for a welding path of a node of a power transmission tower, the device comprising:

A third obtaining module, configured to determine a start welding point of the welding path of the power transmission tower node and a stop welding point of the welding path of the power transmission tower node, respectively, based on the welding point correction device of the power transmission tower node according to claim 7;

And the welding module is used for controlling the welding wire TCP of the welding gun to move to the initial welding point of the welding path of the power transmission tower node, and welding along a welding line from the initial welding point of the welding path of the power transmission tower node until the welding wire TCP is welded to the final welding point of the welding path of the power transmission tower node.

12. A computer device, comprising: one or more processors;

the processor is used for storing one or more programs;

the method for modifying a transmission tower node welding path of claim 10 is implemented when the one or more programs are executed by the one or more processors.

13. A computer-readable storage medium, on which a computer program is stored which, when executed, implements the method for correcting a welding path of a node of a power transmission tower according to claim 10.