A segmentation and partitioning method for drag-type double-head pressure vessel welding machine

Abstract

The present invention discloses an automatic segmentation and partitioning method applied to a drag-type double-head pressure vessel welding machine, and belongs to the field of industrial automation and laser welding processing. The present invention divides the parts to be processed into different processing areas according to the characteristic information of the parts to be processed, including a circle, a waist circle, a trajectory, etc., through segmentation and partitioning operations. At the same time, the requirements that the circle and the waist circle are inseparable and the segment width is smaller than the gas groove are met. An automated solution is provided for the segmentation and partitioning of pressure vessel equipment, thereby improving the manual operation efficiency.

Description

Technical Field

[0001] The invention relates to the field of automatic nesting of laser cutting and welding, and in particular to a segmentation and partitioning method applied to a drag-type double-head pressure vessel welding machine. Background Art

[0002] Laser welding is a method that uses high-energy laser beams to quickly melt workpieces to form a molten pool. It has the characteristics of high efficiency and high precision. It is widely used in powder metallurgy, metal processing, automotive industry, electronics industry, biomedicine and other fields. Its energy is adjustable, and the focus area is small. It is easy to control automatically and can perform high-speed welding. Compared with traditional argon arc welding and resistance welding, it has obvious advantages. Especially in the pressure vessel industry, it has replaced traditional processing methods and gradually become the mainstream choice of various manufacturers.

[0003] Pressure vessel equipment can be used to make transport tanks for beer, milk, beverages and other products. In the fields of environmental protection and chemical industry, it is also commonly used to make hot plates for waste heat utilization evaporators, continuous evaporation and crystallization equipment, VOC non-steam purification equipment, low-temperature belt vacuum dryers, etc. The demand has grown significantly in recent years. The traditional pressure vessel production method is manual spot welding, followed by punching, and then manual welding. The quality requirements of the product are basically unable to be guaranteed, and the efficiency is low and the cost is high. The currently used automated welding equipment also requires manual programming of the processing program. Once the graphics are complex, the welding process and difficulty will be greatly increased. And the manually written processing program is generally suitable for single-head equipment, and the collision risk of double-head equipment cannot be avoided. In order to solve the many problems faced by pressure vessel equipment in the process of generating processing programs and maximize the automation of nesting, it is necessary to seek a better segmentation and partitioning method to meet the production needs of equipment. Summary of the invention

[0004] In view of the above problems, the present invention is proposed to provide a segmentation and partitioning method applied to a drag-type double-head pressure vessel welding machine, which overcomes the above problems or at least partially solves the above problems.

[0005] In order to solve the above technical problems, the embodiments of the present application disclose the following technical solutions:

[0006] A segmentation and partitioning method applied to a drag-type double-head pressure vessel welding machine, comprising:

[0007] S100. Identify the features of the parts, and mark the feature types of each contour by parsing the CAD drawing; among them, the types of contours to be welded specifically include four types: weld, track, circle and waist circle.

[0008] S200. Count the parameters, count the positions of each circle, and calculate the closest horizontal distribution distance of the circle, and use the circle with the largest proportion as the segment reference point for setting the segment spacing and segment adjustment distance when segmenting;

[0009] S300. Set the segmentation line, set the position of the segmentation line according to the distribution of the circle and the waist circle, and divide the part drawing into multiple segments, wherein the interval between each segment is required to be less than the width of the equipment air groove, and the segmentation line cannot pass through the position of the circle and the waist circle;

[0010] S400. Setting the partition line, according to the safety distance limit of the two welding heads, setting the position of the partition line, dividing each segment into upper and lower parts, the upper half is welded by the first welding head, and the lower half is welded by the second welding head;

[0011] S500. Sort the contours, sort the contours in each partition, and implement the order from top to bottom or from bottom to top according to the relative size of the workload of the two partitions;

[0012] S600. Detect the collision and determine whether there is a collision by calculating the relative positions of the two welding heads at the key points in the Y-axis direction.

[0013] Furthermore, in S200, the specific method for calculating the horizontal closest distribution distance of the circles is: by counting the horizontal coordinate x of the center position (x, y) of each circle in the CAD drawing and the number of times it appears n, a key-value pair {<x1,n1>, <x2,n2>,..., <x k ,n k >}, filter out the x coordinates with n less than 3, and finally sort them according to the size of x. The average interval between adjacent x is taken as the horizontal closest distribution distance D of the circle.

[0014] Furthermore, the specific steps of S300 include:

[0015] S301. Initialize the segmentation lines; draw segmentation lines at equal intervals with the closest horizontal distribution distance D of the circle, and divide the CAD drawing to be processed into N parts;

[0016] S302. Check the rationality of the segmentation. If it is not rational, expand the left boundary of the partition so that the circles and waist circles that partially enter the segmentation range fall completely into the partition.

[0017] S303. Check the segment width. If it exceeds, move the right boundary to the right by L0 and increase it by L0 / 2, and then increase it by half of the last increase each time. Until the segment crosses the boundary to the previous segment;

[0018] S304. Check whether the segment includes any contour to be processed. If the segment does not include any contour to be processed, remove the empty segment; determine whether the sum of the widths of two adjacent segments is less than the maximum allowed width. If the sum of the widths of two adjacent segments is less than the maximum allowed width, merge the two segments.

[0019] Furthermore, in S302, the rationality of the segmentation is checked by detecting whether the segmentation partially includes a specific contour, which is a circle or a waist circle.

[0020] Furthermore, in S303, the segment width is checked by detecting whether the segment width exceeds the maximum value allowed by the air slot.

[0021] Furthermore, in S300, a segmented step-by-step welding device is used to set the segmented line.

[0022] Furthermore, in S500, by comparing the lengths to be welded of the two partitions, it is ensured that the contours in the two partitions are welded from the more to the less side, so that the overall movement in the same direction is maintained during the welding process.

[0023] Furthermore, in S600 , if a collision occurs, the relative sizes of the partitions, the lengths of the contours, and the order of the contours are adjusted to avoid the collision.

[0024] The beneficial effects of the above technical solution provided by the embodiment of the present invention include at least:

[0025] The present invention discloses a segmentation and partitioning method for a drag-type double-head pressure vessel welding machine, comprising: identifying part features, and marking the feature type of each contour by parsing a CAD drawing; wherein the types of contours to be welded specifically include four types: welds, trajectories, circles, and waist circles. The parameters are counted, the positions of each circle are counted, and the horizontal closest distribution distance of the circle is calculated. The circle with the largest proportion is used as the segmentation reference point to set the segmentation spacing and segmentation adjustment distance during segmentation; the segmentation line is set according to the distribution of the circle and the waist circle, and the part drawing is divided into multiple segments, where the segmentation spacing of each segment is required to be less than the width of the equipment gas groove, and the segmentation line cannot pass through the position of the circle and the waist circle; the partition line is set according to the safety distance limit of the two welding heads, and the position of the partition line is set to divide each segment into two parts, the upper half is welded by the first welding head, and the lower half is welded by the second welding head; the contours are sorted, and the contours in each partition are sorted, and the order from top to bottom or from bottom to top is realized according to the relative size of the workload of the two partitions; the collision is detected, and the relative position of the two welding heads at the key point in the Y-axis direction is calculated to determine whether there is a collision.

[0026] Compared with the prior art, the above technical solution conceived by the present invention can achieve the following beneficial effects:

[0027] 1. Using statistical principles, the circle distribution is obtained and used as a reference for segmentation, as well as for setting the segment spacing and segment adjustment distance when segmenting;

[0028] 2. Flexible segmentation adjustment strategy is adopted to realize automatic segmentation under complex feature contour distribution. For plates of different sizes and shapes, fast and automatic segmentation processing can be achieved, greatly improving operation efficiency;

[0029] 3. According to the relative size of the partitions, dynamically adjust the sorting direction of the contours within the partitions to ensure that the two welding heads move in the same direction as a whole. By limiting the maximum length of the contours and prioritizing the Y-axis direction, it is ensured that when the two heads move in opposite directions locally, a certain safety distance is maintained to avoid collisions between welding heads.

[0030] In summary, the method of the present invention can not only adapt to the diversity of part shapes, but also realize the segmentation and partitioning requirements of complex feature distribution, thereby improving production efficiency.

[0031] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0033] Figure 1 This is a flow chart of a segmentation and partitioning method applied to a drag-type double-head pressure vessel welding machine in Example 1 of the present invention. DETAILED DESCRIPTION

[0034] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0035] In order to solve the problems existing in the prior art, an embodiment of the present invention provides a segmentation and partitioning method applied to a drag-type double-head pressure vessel welding machine.

[0036] Example 1

[0037] This embodiment discloses a segmentation and partitioning method applied to a drag-type double-head pressure vessel welding machine, such as Figure 1 ,include:

[0038] S100. Identify the features of the parts, and mark the feature types of each contour by parsing the CAD drawing; among them, the types of contours to be welded specifically include four types: weld, track, circle and waist circle.

[0039] S200. Count the parameters, count the positions of each circle, and calculate the closest horizontal distribution distance of the circle, and use the circle with the largest proportion as the segment reference point for setting the segment spacing and segment adjustment distance when segmenting;

[0040] In this embodiment S200, the specific method for calculating the horizontal closest distribution distance of the circles is: by counting the horizontal coordinate x of the center position (x, y) of each circle in the CAD drawing and the number of times it appears n, a key-value pair {<x1,n1>, <x2,n2>, ..., <x k ,n k >}, filter out the x coordinates with n less than 3, and finally sort them according to the size of x. The average interval between adjacent x is taken as the horizontal closest distribution distance D of the circle.

[0041] S300. Set the segmentation line, set the position of the segmentation line according to the distribution of the circle and the waist circle, and divide the part drawing into multiple segments, wherein the interval between each segment is required to be less than the width of the equipment air groove, and the segmentation line cannot pass through the position of the circle and the waist circle;

[0042] In this embodiment, the specific steps of S300 include:

[0043] S301. Initialize the segmentation lines; draw segmentation lines at equal intervals with the closest horizontal distribution distance D of the circle, and divide the CAD drawing to be processed into N parts;

[0044] S302. Check the rationality of the segmentation. If it is unreasonable, expand the left boundary of the partition so that the circles and waist circles that partially enter the segmentation interval within the segmentation range fall completely into the partition. Specifically, in S302, check the rationality of the segmentation by detecting whether the segmentation partially includes a specific contour, and the specific contour is a circle or a waist circle.

[0045] S303. Check the segment width. If it exceeds, move the right boundary to the right by L0 and increase it by L0 / 2, and then increase it by half of the last increase each time. Until the segment crosses the boundary to the previous segment; specifically, in S303, the segment width is checked by detecting whether the segment width exceeds the maximum value allowed by the air slot.

[0046] S304. Check whether the segment includes any contour to be processed. If the segment does not include any contour to be processed, remove the empty segment; determine whether the sum of the widths of two adjacent segments is less than the maximum allowed width. If the sum of the widths of two adjacent segments is less than the maximum allowed width, merge the two segments.

[0047] S400. Setting the partition line, according to the safety distance limit of the two welding heads, setting the position of the partition line, dividing each segment into upper and lower parts, the upper half is welded by the first welding head, and the lower half is welded by the second welding head;

[0048] S500. Sort the contours, sort the contours in each partition, and implement the order from top to bottom or from bottom to top according to the relative size of the workload of the two partitions; in S500 of this embodiment, by comparing the lengths to be welded of the two partitions, it is ensured that the directions of the contours in the two partitions are welded from the more to the less side, so that the overall movement in the same direction is maintained during the welding process.

[0049] S600. Detect collision by calculating the relative positions of the two welding heads at the key points in the Y-axis direction to determine whether there is a collision. In this embodiment S600, if a collision occurs, the relative size of the partitions, the length of the contours and the order of the contours are adjusted to avoid the collision.

[0050] The present embodiment discloses a segmentation and partitioning method applied to a drag-type double-head pressure vessel welding machine, comprising: identifying part features, and marking the feature type of each contour by parsing the CAD drawing; wherein the type of contour to be welded specifically includes four types: weld, trajectory, circle and waist circle. The parameters are counted, the positions of each circle are counted, and the horizontal closest distribution distance of the circle is calculated. The circle with the largest proportion is used as the segmentation reference point to set the segmentation spacing and segmentation adjustment distance during segmentation; the segmentation line is set according to the distribution of the circle and the waist circle, and the part drawing is divided into multiple segments, where the segmentation spacing of each segment is required to be less than the width of the equipment gas groove, and the segmentation line cannot pass through the position of the circle and the waist circle; the partition line is set according to the safety distance limit of the two welding heads, and the position of the partition line is set to divide each segment into two parts, the upper half is welded by the first welding head, and the lower half is welded by the second welding head; the contours are sorted, and the contours in each partition are sorted, and the order from top to bottom or from bottom to top is realized according to the relative size of the workload of the two partitions; the collision is detected, and the relative position of the two welding heads at the key point in the Y-axis direction is calculated to determine whether there is a collision.

[0051] Compared with the prior art, the above technical solution conceived by this embodiment can achieve the following beneficial effects:

[0052] 1. Using statistical principles, the circle distribution is obtained and used as a reference for segmentation, as well as for setting the segment spacing and segment adjustment distance when segmenting;

[0053] 2. Flexible segmentation adjustment strategy is adopted to realize automatic segmentation under complex feature contour distribution. For plates of different sizes and shapes, fast and automatic segmentation processing can be achieved, greatly improving operation efficiency;

[0054] 3. According to the relative size of the partitions, dynamically adjust the sorting direction of the contours within the partitions to ensure that the two welding heads move in the same direction as a whole. By limiting the maximum length of the contours and prioritizing the Y-axis direction, it is ensured that when the two heads move in opposite directions locally, a certain safety distance is maintained to avoid collisions between welding heads.

[0055] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of protection of the present disclosure. The attached method claims present the elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy described.

[0056] In the above detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are clearly stated in each claim. On the contrary, as reflected in the appended claims, the invention is in a state of having less than all the features of the disclosed individual embodiments. Therefore, the appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

[0057] Those skilled in the art will also appreciate that the various illustrative logic blocks, modules, circuits, and algorithmic steps described in conjunction with the embodiments herein can all be implemented as electronic hardware, computer software, or a combination thereof. In order to clearly illustrate the interchangeability between hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above around their functions. Whether such functions are implemented as hardware or software depends on specific applications and the design constraints imposed on the entire system. A skilled person can implement the described functions in an alternative manner for each specific application, but such implementation decisions should not be interpreted as departing from the scope of protection of the present disclosure.

[0058] The steps of the method or algorithm described in conjunction with the embodiments herein may be directly embodied as hardware, a software module executed by a processor, or a combination thereof. The software module may be located in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a mobile disk, a CD-ROM, or any other form of storage medium well known in the art. An exemplary storage medium is connected to the processor so that the processor can read information from the storage medium and can write information to the storage medium. Of course, the storage medium may also be an integral part of the processor. The processor and the storage medium may be located in an ASIC. The ASIC may be located in a user terminal. Of course, the processor and the storage medium may also be present in a user terminal as discrete components.

[0059] For software implementation, the techniques described in this application can be implemented with modules (e.g., procedures, functions, etc.) that perform the functions described in this application. These software codes can be stored in a memory unit and executed by a processor. The memory unit can be implemented within the processor or outside the processor. In the latter case, it is coupled to the processor in a communication manner via various means, which are well known in the art.

[0060] The above description includes examples of one or more embodiments. Of course, it is impossible to describe all possible combinations of components or methods for the purpose of describing the above embodiments, but it should be recognized by those skilled in the art that the various embodiments may be further combined and arranged. Therefore, the embodiments described herein are intended to cover all such changes, modifications and variations that fall within the scope of protection of the appended claims. In addition, with respect to the term "comprising" used in the specification or claims, the word is covered in a manner similar to the term "including", just as "including," is explained as a transitional word in the claims. In addition, any term "or" used in the specification of the claims is intended to mean "non-exclusive or".

Claims

1. A segmentation and partitioning method applied to a drag-type double-head pressure vessel welding machine, characterized in that: include: S100. Identify the features of the parts, and mark the feature types of each contour by parsing the CAD drawing; the types of contours to be welded include four types: weld, track, circle and waist circle; S200. Count the parameters, count the positions of each circle, and calculate the closest horizontal distribution distance of the circle. The circle with the largest proportion is used as the segmentation reference point to set the segmentation spacing and segmentation adjustment distance during segmentation. In S200, the specific method for calculating the closest horizontal distribution distance of the circle is: by counting the horizontal coordinates x of the center position (x, y) of each circle in the CAD drawing and the number of times it appears n, a key-value pair {<x1,n1>, <x2,n2>,..., <x k ,n k >}, filter out the x coordinates with n less than 3, and finally sort them according to the size of x. The average interval between adjacent x is taken as the closest horizontal distribution distance D of the circle; S300. Set the segmentation line, set the position of the segmentation line according to the distribution of the circle and the waist circle, and divide the part drawing into multiple segments, wherein the interval between each segment is required to be less than the width of the equipment air groove, and the segmentation line cannot pass through the position of the circle and the waist circle; S300 specific steps include: S301. Initialize the segmentation lines; draw segmentation lines at equal intervals with the closest horizontal distribution distance D of the circle, and divide the CAD drawing to be processed into N parts; S302. Check the rationality of the segmentation. If it is not rational, expand the left boundary of the partition so that the circles and waist circles that partially enter the segmentation range fall completely into the partition. S303. Check the segment width. If it exceeds, move the right boundary to the right by L0 and increase it by L0 / 2, and then increase it by half of the last increase each time. Until the segment crosses the boundary to the previous segment; S304. Check whether the segment includes any contour to be processed. If the segment does not include any contour to be processed, remove the empty segment; determine whether the sum of the widths of two adjacent segments is less than the maximum allowed width. If the sum of the widths of two adjacent segments is less than the maximum allowed width, merge the two segments; S400. Setting the partition line, according to the safety distance limit of the two welding heads, setting the position of the partition line, dividing each segment into upper and lower parts, the upper half is welded by the first welding head, and the lower half is welded by the second welding head; S500. Sort the contours, sort the contours in each partition, and implement the order from top to bottom or from bottom to top according to the relative size of the workload of the two partitions; S600. Detect the collision and determine whether there is a collision by calculating the relative positions of the two welding heads at the key points in the Y-axis direction.

2. A segmentation and partitioning method applied to a drag-type double-head pressure vessel welding machine as described in claim 1, in S302, by detecting whether the segmentation partially includes a specific contour, the specific contour is a circle or a waist circle, and checking the rationality of the segmentation.

3. According to the segmentation and partitioning method for a drag-type double-head pressure vessel welding machine as described in claim 1, in S303, the segment width is checked by detecting whether the segment width exceeds the maximum value allowed by the gas groove.

4. According to the segmentation and partitioning method for a drag-type double-head pressure vessel welding machine as described in claim 1, in S300, a segmentation line is set using a segmented step-by-step welding device.

5. According to a segmented partitioning method applied to a drag-type double-head pressure vessel welding machine as described in claim 1, in S500, by comparing the lengths to be welded of the two partitions, it is ensured that the directions of the contours in the two partitions are welded from the more to the less side, so that the whole maintains the same direction of movement during the welding process.

6. A segmentation partitioning method for a drag-type double-head pressure vessel welding machine as claimed in claim 1, wherein in S600, if a collision occurs, the relative size of the partitions, the length of the contours and the order of the contours are adjusted to avoid the collision.

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