Oceanographic engineering complex node multi-robot welding cooperative control method

Abstract

The invention discloses an oceanographic engineering complex node multi-robot welding cooperative control method which comprises the following steps: Step 1, importing a model, and performing weld joint point selection and information extraction, Step 2, calculating a weld joint equation, Step 3, selecting one weld joint of a main welding robot, Step 4, selecting one weld joint of an auxiliary welding robot which works at the same time, Step 5, discretizing weld joint coordinates, Step 6, performing coordinate conversion on main and auxiliary weld joints under a global coordinate system, Step7, performing inverse motion calculation on the main and auxiliary weld joints to obtain joint corner data of the main and auxiliary welding robots, Step 8, repeating the Step 3 to the Step 7 until all calculation is completed, and Step 9, generating a welding robot motion instruction to realize cooperative welding of the welding robots. According to the method, the welding efficiency is improved,the welding cost is reduced, the operation process is simplified, the welding quality is improved, and the multi-robot welding cooperative control method is easy to operate, visual in result, stable,reliable and wide in adaptability.

Description

technical field [0001] The invention relates to a multi-robot welding cooperative control method, in particular to a multi-robot welding cooperative control method for complex nodes in marine engineering. Background technique [0002] The complex nodes of marine engineering are welded by a large number of steel parts. Due to the large thickness of the steel parts and the complex nodes as the main support point of the entire platform, the traditional single-side fillet welding cannot provide sufficient safety guarantee. Therefore, for the steel parts on the nodes Welding must be by bilateral fillet welding. If the bilateral fillet welding cannot be welded at the same time, it will definitely shrink and deform on one side due to the cooling of the welding heat, which will seriously damage the performance of the steel part. At present, most of the welding robots work alone, and a small part of the collaborative work is only the overall collaboration, which cannot weld both sid...

AI Technical Summary

Problems solved by technology

[0002] The complex nodes of marine engineering are welded by a large number of steel parts. Due to the large thickness of the steel parts and the complex nodes as the main support point of the entire platform, the traditional single-side fillet welding cannot provide sufficient safety guarantee. Therefore, for the steel parts on the nodes Welding must adopt bilateral fillet welding

If the bilateral fillet welding cannot be welded at the same time, it will definitely shrink and deform on one side due to the cooling of the welding heat, which will seriously damage the performance of the steel parts.

At present, most of the welding robots work alone, and a small part of the collaborative work is only the overall collaboration, which cannot weld both sides of the steel parts at the same time; in order to pursue welding quality in actual engineering, the key parts of the offshore platform nodes Welding is done manually by workers, but this method is not only inefficient but also of poor quality

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