On-site automatic welding method and system for transmission tower legs

Abstract

The present invention belongs to the technical field of transmission angle steel tower reinforcement, and provides a method and system for automatic on-site welding of transmission tower legs. After the number, length and direction of welding tracks are determined according to all welding start point coordinates and welding end point coordinates, a welding strategy that meets the number, length and direction of welding tracks is retrieved from a preset expert library. Before welding the tower legs, it is not necessary to set or adjust welding parameters according to the actual size and track shape of the tower legs to be welded, but the welding strategy that meets the requirements is directly retrieved from the expert library, thereby improving the welding operation efficiency. After determining the welding strategy, the allowable welding space size is determined according to the starting point and end point of an obstacle on the welding track, and the distance between the obstacle and the welding surface, and the welding track and sequence in the welding strategy are adjusted based on this, thereby avoiding the influence of obstacles such as beams or inclined beams on welding, and further ensuring the welding efficiency and quality.

Description

Technical Field

[0001] The invention belongs to the technical field of transmission tower reinforcement, and in particular relates to an on-site automatic welding method and system for transmission tower legs. Background Art

[0002] Overhead transmission line transmission towers are widely distributed in various geological and natural environments. They are affected by corrosive media, external forces, and mining, which will cause local damage to the transmission towers. In particular, corrosion damage to the tower legs has become a common form of damage to transmission towers. It is particularly obvious in coastal areas, heavy industrial pollution areas, and polluted environments such as soil microorganisms. Severe corrosion causes significant thinning of the tower material, resulting in a significant reduction in the carrying capacity of the transmission tower. At the same time, the working stress of the tower legs of the transmission towers in service is at a high level. Once the carrying capacity decreases, it will pose a serious threat to the safety of the transmission tower and increase the risk of tower collapse.

[0003] With the frequent occurrence of extreme weather, the aging of transmission towers and family design defects, there are many transmission towers that need to be reinforced. Traditionally, the welding reinforcement of transmission tower legs mainly adopts manual operation mode, but the on-site welding of tower legs has the characteristics of a large number of welds and a small welding operation space, which leads to low work efficiency and high cost of manual welding. It also requires high skill level of welders, and is greatly affected by the personality, mood and environment of personnel, and the quality of equipment maintenance is unstable. Based on this, through the application of automatic welding equipment, the problems of on-site manual welding can be solved, and the operation and maintenance of transmission towers can be transformed and upgraded towards intelligence and automation. At present, when the automatic welding device used for on-site welding of the tower legs of transmission towers is operating on-site, it is necessary to set parameters according to the size and shape of the tower leg reinforcement structure and the welding trajectory to ensure the accuracy of the welding trajectory; however, the tower legs of transmission angle steel towers are different in size and shape due to different tower types. Even if the same tower type has different heights, the size of the tower legs is not exactly the same. In addition, the sizes of the various components of the tower legs may also have different degrees of deviation during processing or installation. At the same time, the welding position and welding trajectory of the tower legs are complex, including vertical welding, horizontal welding and inclined welding, etc. This requires that before welding each tower foot, the welding parameters need to be set and adjusted according to the actual shape, size and trajectory of the tower leg structure to be welded, and even on-site teaching is required, which seriously affects the efficiency of the welding operation; in addition, the tower foot space structure is designed and arranged with inclined materials, which mainly play a supporting role to ensure the stability of the transmission tower. This causes the welding gun to collide with the inclined materials during automatic welding, affecting the welding process as well as the welding efficiency and quality. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes an on-site automatic welding method and system for transmission tower legs. The present invention retrieves welding strategies that meet the number, length and direction of welding trajectories from a preset expert library. Before welding the tower legs, there is no need to set or adjust welding parameters according to the actual size and trajectory shape of the tower legs to be welded. Instead, the welding strategy that meets the needs is directly retrieved from the expert library, thereby improving the welding operation efficiency. After determining the welding strategy, the allowable welding space size is determined according to the starting and end points of the obstacle on the welding trajectory and the distance between the obstacle and the welding surface. Based on this, the welding trajectory and sequence in the welding strategy are adjusted, thereby avoiding the influence of obstacles such as beams or inclined beams on welding.

[0005] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0006] In a first aspect, the present invention provides a method for on-site automatic welding of transmission tower legs, comprising:

[0007] Obtain the coordinates of the welding start point and the welding end point on all welding tracks of the tower legs to be welded, the starting point and the end point of the obstacle on the welding track, and the distance between the obstacle and the welding surface;

[0008] Determine the number, length and direction of welding tracks according to all welding start point coordinates and welding end point coordinates;

[0009] According to the number, length and direction of the welding tracks, a welding strategy is retrieved from a preset expert library; wherein the expert library stores welding strategies that meet the number, length and direction of various welding tracks;

[0010] Determine the allowable welding space size according to the starting point and the end point of the obstacle on the welding trajectory and the distance between the obstacle and the welding surface; adjust the welding trajectory and sequence in the welding strategy according to the allowable welding space size to obtain an adjusted welding strategy;

[0011] Welding is performed using the adjusted welding strategy.

[0012] Furthermore, before determining the coordinate point, the welding gun coordinate system is calibrated; specifically, a fixed point is selected in the space where the welding gun is located, and the welding gun is moved to the fixed point in three different postures; the welding gun is moved vertically to the fixed point, keeping the vertical posture unchanged, and using the base coordinate movement to move a preset distance in the horizontal direction to obtain the X-axis direction of the welding gun coordinate system; return to the fixed point, move vertically upward a preset distance, and determine the Z-axis direction of the welding gun coordinate system.

[0013] Furthermore, the number of welding start points and welding end points is equal, the number of welding tracks is equal to the number of welding start points, the length of the welding track is equal to the distance between the welding start point and the welding end point in the welding track, and the welding direction is the direction from the welding start point in the welding track to the welding end point.

[0014] Further, searching the expert database for the welding track number, length and direction, and the corresponding welding strategy when the number, length and direction of the welding tracks are respectively the same as the number, length and direction of the welding tracks determined for the tower leg to be welded;

[0015] First, the expert database selects welding strategies with equal numbers of welding tracks, then selects welding strategies with equal lengths of the welding tracks from the remaining welding strategies, and finally selects welding strategies with the same directions of the welding tracks; if the number of welding tracks is not equal, the welding is taught again, and the welding process is saved as a new welding strategy in the expert database, otherwise the lengths of the welding tracks are continued to be compared; if the length difference of the welding tracks is greater than a preset length error value, the welding is taught again, and the welding process is saved as a new welding strategy in the expert database, otherwise the directions of the welding tracks are continued to be compared; if the difference in the direction angles of the welding tracks is greater than a preset angle error value, the welding is taught again, and the welding process is saved as a new welding strategy in the expert database.

[0016] Furthermore, for all welding strategies stored in the expert database, a recommendation coefficient is determined according to the number, length and direction of the welding tracks; a comparison coefficient is determined according to the number, length and direction of the welding tracks of the tower leg to be welded; the welding strategies whose absolute value of the difference between the recommendation coefficient and the comparison coefficient in the expert database exceeds the preset range are first deleted, and then the number, length and direction of the welding tracks are compared; the recommendation coefficient is:

[0017]

[0018] in, is the recommended parameter; is the number of welding tracks; is the length, which is the length of the welding start point coordinate and the welding end point coordinate, where i =1,2… m , m is the number of welding tracks; For direction; , and Weight

[0019] Furthermore, when performing teaching welding, the process of determining the welding instruction includes:

[0020] Set to manual welding mode, determine the welding gun coordinates and workpiece coordinates; drag the robot to perform straight line welding teaching, determine the program starting point, welding starting point, welding ending point and program ending point, and the welding starting point and the welding ending point are on a straight line;

[0021] Move the welding gun and stop it at the program starting point, add the teaching point of the program starting point; move the welding gun and stop it at the welding starting point, the welding ending point and the program ending point in sequence, and add the teaching point of the welding starting point, the welding ending point and the program ending point; add a test program from the program starting point to the program ending point; run the program in manual mode to verify the correctness of the program starting point, the welding starting point, the welding ending point and the program ending point;

[0022] Switch to automatic welding mode and adjust the robot speed; switch to manual welding mode, move the welding gun cursor to the welding start point, and add an arc start instruction; move the welding gun cursor to the welding end point, and add an arc end instruction; switch to automatic welding mode.

[0023] Furthermore, if the distance from the lowest point of the obstacle to the welding surface is less than the minimum height of the welding gun when it is working, or the inclined welding distance of the welding gun is less than the distance from the obstacle to the corresponding welding end point, the starting point of the welding obstacle is used as the welding end point, and the welding trajectory where the obstacle is located is split into two trajectories, and welding is performed at both ends of the obstacle using the inclined welding gun.

[0024] In a second aspect, the present invention further provides an on-site automatic welding system for transmission tower legs, comprising:

[0025] The data acquisition module is configured to: obtain the coordinates of the welding start point and the welding end point on all welding trajectories of the tower leg to be welded, the start point and the end point of the obstacle on the welding trajectory, and the distance between the obstacle and the welding surface;

[0026] The welding trajectory determination module is configured to: determine the number, length and direction of the welding trajectory according to all the welding start point coordinates and welding end point coordinates;

[0027] The welding strategy determination module is configured to: retrieve a welding strategy from a preset expert library according to the number, length and direction of the welding tracks; wherein the expert library stores welding strategies that meet the number, length and direction of multiple welding tracks;

[0028] The welding strategy adjustment module is configured to: determine the allowable welding space size according to the starting point and the end point of the obstacle on the welding trajectory and the distance between the obstacle and the welding surface; and adjust the welding trajectory and sequence in the welding strategy according to the allowable welding space size to obtain an adjusted welding strategy;

[0029] The welding control module is configured to perform welding using the adjusted welding strategy.

[0030] Furthermore, the transmission tower leg on-site automatic welding system includes an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor. When the processor executes the program, the steps of the transmission tower leg on-site automatic welding method described in the first aspect are implemented.

[0031] Furthermore, the transmission tower leg on-site automatic welding system includes a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the transmission tower leg on-site automatic welding method described in the first aspect are implemented.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] The present invention determines the number, length and direction of welding tracks according to all welding starting point coordinates and welding end point coordinates, and then retrieves welding strategies that meet the number, length and direction of welding tracks from a preset expert library. Before welding the tower legs, it is not necessary to set or adjust welding parameters according to the actual size and track shape of the tower legs to be welded, but directly retrieves welding strategies that meet the needs from the expert library, thereby improving the welding operation efficiency. After determining the welding strategy, the allowable welding space size is determined according to the starting point and end point of the obstacle on the welding track and the distance between the obstacle and the welding surface, and the welding track and sequence in the welding strategy are adjusted based on this, thereby avoiding the influence of obstacles such as beams or inclined beams on welding, and further ensuring welding efficiency and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings in the specification that constitute a part of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments of this embodiment and their descriptions are used to explain this embodiment and do not constitute improper limitations on this embodiment.

[0035] Figure 1 is a flow chart of the method of embodiment 1 of the present invention;

[0036] Figure 2 The six-axis robotic arm of embodiment 1 of the present invention;

[0037] Figure 3 3 are three different postures of the welding gun according to Embodiment 1 of the present invention;

[0038] Figure 4 This is a state diagram of the welding gun in Example 1 of the present invention moving vertically to a fixed point;

[0039] Figure 5The coordinate system of Embodiment 1 of the present invention is X Schematic diagram of axis calibration;

[0040] Figure 6 The coordinate system of Embodiment 1 of the present invention is Z Schematic diagram of axis calibration;

[0041] Figure 7 Schematic diagram of obstacles in embodiment 1 of the present invention;

[0042] Figure 8 is the inclined welding distance of the welding gun of Example 1 of the present invention;

[0043] Fig. 9 This is a schematic diagram of tilted welding of a welding gun according to Example 1 of the present invention. DETAILED DESCRIPTION

[0044] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0045] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0046] The tower leg is the supporting part of the tower. It is located at the bottom of the tower, connecting the tower body and the foundation, and mainly bears tensile stress and bending stress.

[0047] Embodiment 1:

[0048] As described in the background technology, when the automatic welding device currently used for on-site automatic welding of transmission tower legs is in on-site operation, the tower legs of different transmission angle steel towers have different sizes and shapes. Even the tower legs at different positions on the same transmission angle steel tower may have errors in size and shape due to processing or installation errors. At the same time, the welding position and trajectory of the tower legs are complex, including flat welding, vertical welding, horizontal welding and inclined welding, etc. This requires that before welding each tower leg, the welding parameters must be set, adjusted or taught on-site according to the actual size and trajectory shape of the tower leg to be welded, which seriously affects the efficiency of the welding operation; and, at different tower legs, additional cross beams or inclined beams may be set at the tower legs and other positions due to installation or previous reinforcement operations, which causes the welding gun to collide with the additional cross beams or inclined beams during automatic welding, affecting the welding efficiency and quality, and even requiring the current welding to be stopped and the welding trajectory to be re-set.

[0049] In view of the above problems of low welding efficiency and interference of the welding gun with the additional reinforcement beam, Figure 1 As shown, this embodiment provides a method for on-site automatic welding of transmission tower legs, comprising:

[0050] S1. Obtain the coordinates of the welding start point and the welding end point on all welding tracks of the tower legs to be welded, the starting point and the end point of the obstacle on the welding track, and the distance between the obstacle and the welding surface;

[0051] It can be understood that the obstacle can be an additional cross beam or inclined beam arranged at a position such as a tower leg of the tower leg, or other obstacles that can affect welding.

[0052] S2. Determine the number, length and direction of welding tracks according to all welding start point coordinates and welding end point coordinates;

[0053] It should be noted that in the current on-site automatic welding method for transmission tower legs, when welding the tower legs, for different welding positions on the tower legs, multiple straight welding segments are determined through teaching. When welding, each straight welding segment is welded separately in a certain order. Therefore, each straight welding segment has a corresponding welding start point and welding end point, and each straight welding segment has a corresponding length and direction.

[0054] S3. Retrieving a welding strategy from a preset expert library according to the number, length and direction of the welding tracks; wherein the expert library stores welding strategies that meet the requirements of the number, length and direction of various welding tracks;

[0055] S4. Determine the allowable welding space size according to the starting point and the end point of the obstacle on the welding trajectory and the distance between the obstacle and the welding surface; adjust the welding trajectory and sequence in the welding strategy according to the allowable welding space size to obtain an adjusted welding strategy;

[0056] S5. Perform welding using the adjusted welding strategy.

[0057] In order to realize the on-site automatic welding method of the transmission tower leg in this embodiment, a transmission tower leg on-site automatic welding robot is also provided, including a base plate, a mechanical arm arranged on the base plate, and a welding gun arranged on the mechanical arm. The base plate is used to connect with the transmission tower leg steel by means of calipers or the like; Figure 2 As shown, the robot arm is used to control the posture of the welding gun, and a six-axis robot arm can be used. The robot arm and the welding gun are connected with a controller and a teaching pendant; the teaching pendant can be used to implement a teaching welding method, such as before welding, the operator manually operates the welding gun, determines the welding start point and the welding end point, and then starts welding, and the welding gun automatically welds on the straight line where the welding start point and the welding end point are located.

[0058] On the basis of the teaching welding method, in this embodiment, after determining the number, length and direction of the welding trajectory according to all the welding starting point coordinates and the welding end point coordinates, the welding strategy that meets the number, length and direction of the welding trajectory is retrieved from the preset expert library. Before welding the tower legs, there is no need to set or adjust the welding parameters according to the actual size and trajectory shape of the tower legs to be welded. Instead, the welding strategy that meets the needs is directly retrieved from the expert library, thereby improving the welding operation efficiency. After determining the welding strategy, the allowable welding space size is determined according to the starting and end points of the obstacle on the welding trajectory and the distance between the obstacle and the welding surface. Based on this, the welding trajectory and sequence in the welding strategy are adjusted to avoid the influence of obstacles such as beams or inclined beams on welding, further ensuring welding efficiency and quality.

[0059] S1. Obtain the coordinates of the welding start point and the welding end point on all welding tracks of the tower legs to be welded, the starting point and the end point of the obstacle on the welding track, and the distance between the obstacle and the welding surface:

[0060] S1.1. Before determining the coordinate points, calibrate the welding gun coordinate system:

[0061] S1.1.1, if Figure 3 As shown, a fixed point is selected in the space where the welding gun is located, the welding gun is moved to the fixed point in three different postures, and the three points are set in sequence.

[0062] S1.1.2, if Figure 4 As shown, move the welding gun vertically to the fixed point to set the fourth point.

[0063] S1.1.3, if Figure 5 As shown, keep the posture in step S1.1.2 unchanged, use the base coordinate to move a distance in the horizontal direction, set the fifth point, and this direction is the set welding gun coordinate system X Axis direction.

[0064] S1.1.4, if Figure 6 As shown, return to the fixed point, move vertically upward for a distance, and set the sixth point. This direction is the tool coordinate system Z Axis direction.

[0065] S1.1.5. Determine the welding gun position based on the determined coordinate system.

[0066] S1.2. Obtain the coordinates of the welding start point and the welding end point on all welding tracks of the tower legs to be welded:

[0067] When welding each transmission angle steel tower leg, one or more of flat welding, vertical welding, horizontal welding and inclined welding are included; optionally, in the welding methods involved in flat welding, vertical welding, horizontal welding and inclined welding, the worker holds the welding gun and moves the welding gun to the welding start point and welding end point of each welding method respectively, and determines all the welding start point coordinates and welding end point coordinates in a determined coordinate system.

[0068] S1.3. Starting point and end point of the obstacle on the welding track:

[0069] Optionally, the welding gun is moved to both ends of the obstacle along the welding direction, and then the starting point coordinates and the end point coordinates are determined in the determined coordinate system.

[0070] S1.4. Distance between obstacles and welding surface:

[0071] Optionally, move the welding gun to a point on the surface of the obstacle ( x 1, y 2, z3), and a point on the weld surface ( x 1, y 2, z 3) Try to ensure that the line between the two points is perpendicular to the weld surface; then determine the coordinates of the two points in the determined coordinate system; and calculate the distance between the obstacle and the weld surface using the coordinates of the two points H :

[0072]

[0073] S2, according to all the welding starting point coordinates ( x 1i , y 1i , z 1i ) and the welding end point coordinates ( x 2i , y 2i , z 2i ), determine the number, length and direction of welding tracks.

[0074] Optionally, the number of welding start points and welding end points is equal, the number of welding tracks is equal to the number of welding start points, the length of the welding track is equal to the distance between the welding start point and the welding end point in the welding track, and the welding direction is the direction from the welding start point to the welding end point in the welding track. L i for:

[0075]

[0076] in, i =1,2… m , m is the number of welding tracks.

[0077] All welding trajectories can be regarded as straight lines; the welding direction can be determined by connecting the coordinates of the welding start point and the welding end point on the same welding trajectory, relative to the coordinate system. X Axis and Y The angle between the planes where the axes lie is determined.

[0078] S3. Retrieving a welding strategy from a preset expert library according to the number, length and direction of the welding tracks; wherein the expert library stores welding strategies that meet the requirements of the number, length and direction of various welding tracks:

[0079] S3.1. It is understandable that the expert database has pre-stored historical welding data, as well as the corresponding welding procedures and quality, etc. If the size and welding parameters of the tower leg to be welded are known, the welding procedures and instructions in the expert database can be directly called to avoid the problem of increasing the workload of on-site welding instructions and program adjustments. Specifically, the expert database is searched for the number, length and direction of welding tracks, and the corresponding welding strategy is found when the number, length and direction of welding tracks are the same as the number, length and direction of welding tracks determined for the tower leg to be welded;

[0080] First, the expert database selects welding strategies with equal numbers of welding tracks, then selects welding strategies with equal lengths of the welding tracks from the remaining welding strategies, and finally selects welding strategies with the same directions of the welding tracks; if the number of welding tracks is not equal, the welding is taught again, and the welding process is saved as a new welding strategy in the expert database, otherwise the lengths of the welding tracks are continued to be compared; if the length difference of the welding tracks is greater than a preset length error value, the welding is taught again, and the welding process is saved as a new welding strategy in the expert database, otherwise the directions of the welding tracks are continued to be compared; if the difference in the direction angles of the welding tracks is greater than a preset angle error value, the welding is taught again, and the welding process is saved as a new welding strategy in the expert database.

[0081] It should be noted that when the processing or installation errors are small, it will not affect welding; therefore, when judging the number, length and direction of welding tracks, they are compared with the preset errors. Only when they are greater than the preset errors, it is assumed that it will affect the welding quality. At this time, it is necessary to readjust the welding parameters and instructions, etc., avoiding unnecessary operations of readjusting the welding parameters and instructions, etc.

[0082] With the continuous updating of the expert database, the historical data in the expert database continues to increase, and the pressure of screening welding strategies increases. If the number, length and direction of welding tracks are compared in sequence each time, it will take up more comparison processing time, affecting the welding efficiency. In order to solve the problem that the comparison of the reference data affects the welding efficiency, in this embodiment, for all welding strategies pre-stored in the expert database, a recommendation coefficient is determined according to the number, length and direction of welding tracks; a comparison coefficient is determined according to the number, length and direction of welding tracks determined by the tower leg to be welded; the welding strategies whose absolute value of the difference between the recommendation coefficient and the comparison coefficient in the expert database exceeds the preset range are first deleted, and then the number, length and direction of welding tracks are compared.

[0083] Specifically, by comparing the difference between the recommended coefficient and the comparison coefficient, most of the welding strategies that do not meet the requirements can be deleted, and then the number, length and direction of welding tracks can be compared in sequence, ensuring the data processing speed. On the basis of ensuring welding efficiency, the accuracy of welding strategy screening can be guaranteed.

[0084] The optional calculation of the recommendation coefficient and the comparison coefficient is:

[0085]

[0086] in, is the recommended parameter, or comparison coefficient; is the number of welding tracks; is the length, which is the length of the welding start point coordinate and the welding end point coordinate, where i =1,2… m , m is the number of welding tracks; For direction; , and is the weight, which can be adjusted in real time according to the actual situation. =0.5, =0.3, =0.2.

[0087] In one of the embodiments, the number and direction of the welding tracks are equal, but the lengths are not equal. In this case, it is determined that there is an error in the processing or installation of the angle steel. In this case, there is no need to adjust the welding instructions on site. When calling the welding instructions in the expert library, it is only necessary to add or subtract the length difference in the welding track of the instruction, thereby avoiding the operation of the teaching pendant and improving welding efficiency.

[0088] S3.2, when performing teaching welding, the process of determining the welding instruction includes:

[0089] Set to manual welding mode, determine the welding gun coordinates and workpiece coordinates; drag the robot to perform straight line welding teaching, determine the program starting point, welding starting point, welding ending point and program ending point, and the welding starting point and the welding ending point are on a straight line;

[0090] Move the welding gun and stop it at the program starting point, add the teaching point of the program starting point; move the welding gun and stop it at the welding starting point, the welding ending point and the program ending point in sequence, and add the teaching point of the welding starting point, the welding ending point and the program ending point; add a test program from the program starting point to the program ending point; run the program in manual mode to verify the correctness of the program starting point, the welding starting point, the welding ending point and the program ending point;

[0091] Switch to automatic welding mode and adjust the robot speed; switch to manual welding mode, move the welding gun cursor to the welding start point, and add an arc start instruction; move the welding gun cursor to the welding end point, and add an arc end instruction; switch to automatic welding mode.

[0092] S4. Based on the starting and ending points of the obstacle on the welding trajectory, and the distance between the obstacle and the welding surface H , determine the allowable welding space size; according to the allowable welding space size, adjust the welding trajectory and sequence in the welding strategy to obtain the adjusted welding strategy:

[0093] Optional, such as Figure 7 As shown, if the distance from the lowest point of the obstacle to the welding surface is H Smaller than the minimum height of the welding gun when working h , or Figure 8 As shown, the tilt welding distance of the welding gun u When it is less than the distance from the obstacle to the corresponding welding end point, Fig. 9 As shown in the figure, the starting point of the welding obstacle is used as the welding end point, and the welding track where the obstacle is located is split into two tracks. Welding is performed at both ends of the obstacle by tilting the welding gun to improve the welding strength at the obstacle. It can be understood that when the distance from the lowest point of the obstacle to the welding surface is H Smaller than the minimum height of the welding gun when working h , do not allow the welding gun to be too close to the weld surface to avoid affecting the welding surface. u When the distance is less than the distance from the obstacle to the corresponding welding end point, it is impossible to weld all the welds under the obstacle at one end alone.

[0094] Embodiment 2:

[0095] This embodiment provides an on-site automatic welding system for transmission tower legs, comprising:

[0096] The data acquisition module is configured to: obtain the coordinates of the welding start point and the welding end point on all welding trajectories of the tower leg to be welded, the start point and the end point of the obstacle on the welding trajectory, and the distance between the obstacle and the welding surface;

[0097] The welding trajectory determination module is configured to: determine the number, length and direction of the welding trajectory according to all the welding start point coordinates and welding end point coordinates;

[0098] The welding strategy determination module is configured to: retrieve a welding strategy from a preset expert library according to the number, length and direction of the welding tracks; wherein the expert library stores welding strategies that meet the number, length and direction of multiple welding tracks;

[0099] The welding strategy adjustment module is configured to: determine the allowable welding space size according to the starting point and the end point of the obstacle on the welding trajectory and the distance between the obstacle and the welding surface; and adjust the welding trajectory and sequence in the welding strategy according to the allowable welding space size to obtain an adjusted welding strategy;

[0100] The welding control module is configured to perform welding using the adjusted welding strategy.

[0101] The working method of the system is the same as the on-site automatic welding method for transmission tower legs in Example 1, and will not be repeated here.

[0102] Optionally, the transmission tower leg on-site automatic welding system includes an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the program, the steps of the transmission tower leg on-site automatic welding method described in Example 1 are implemented.

[0103] Optionally, the transmission tower leg on-site automatic welding system includes a computer program product, and the computer program product includes a computer program. When the computer program is executed by a processor, the steps of the transmission tower leg on-site automatic welding method described in Example 1 are implemented.

[0104] The above description is only a preferred embodiment of the present embodiment and is not intended to limit the present embodiment. For those skilled in the art, the present embodiment may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment shall be included in the protection scope of the present embodiment.

Claims

1. A method for automatic on-site welding of transmission tower legs, characterized in that: include: Obtain the coordinates of the welding start point and the welding end point on all welding tracks of the tower legs to be welded, the starting point and the end point of the obstacle on the welding track, and the distance between the obstacle and the welding surface; Determine the number, length and direction of welding tracks according to all welding start point coordinates and welding end point coordinates; According to the number, length and direction of the welding tracks, a welding strategy is retrieved from a preset expert library; wherein the expert library stores welding strategies that meet the number, length and direction of various welding tracks; Determine the allowable welding space size according to the starting point and the end point of the obstacle on the welding trajectory and the distance between the obstacle and the welding surface; adjust the welding trajectory and sequence in the welding strategy according to the allowable welding space size to obtain an adjusted welding strategy; Welding is performed using the adjusted welding strategy; Before determining the coordinate point, the welding gun coordinate system is calibrated; specifically, a fixed point is selected in the space where the welding gun is located, and the welding gun is moved to the fixed point in three different postures; the welding gun is moved vertically to the fixed point, keeping the vertical posture unchanged, and using the base coordinate movement to move a preset distance in the horizontal direction to obtain the X-axis direction of the welding gun coordinate system; return to the fixed point, move vertically upward a preset distance, and determine the Z-axis direction of the welding gun coordinate system.

2. The on-site automatic welding method for transmission tower legs according to claim 1, characterized in that: The number of welding start points and welding end points is equal, the number of welding tracks is equal to the number of welding start points, the length of the welding track is equal to the distance between the welding start point and the welding end point in the welding track, and the welding direction is the direction from the welding start point in the welding track to the welding end point.

3. The on-site automatic welding method for transmission tower legs according to claim 1, characterized in that: Search the expert database for the welding strategy corresponding to the number, length and direction of welding tracks that are respectively the same as the number, length and direction of welding tracks determined for the tower leg to be welded; first, select the welding strategies with the same number of welding tracks in the expert database, then select the welding strategies with the same lengths of the welding tracks from the remaining welding strategies, and finally select the welding strategies with the same directions of the welding tracks; if the number of welding tracks is not equal, re-perform teaching welding, and save the welding process as a new welding strategy to the expert database, otherwise continue to compare the lengths of the welding tracks; if the length difference of the welding tracks is greater than a preset length error value, re-perform teaching welding, and save the welding process as a new welding strategy to the expert database, otherwise continue to compare the directions of the welding tracks; if the difference in the direction angles of the welding tracks is greater than a preset angle error value, re-perform teaching welding, and save the welding process as a new welding strategy to the expert database.

4. The on-site automatic welding method for transmission tower legs as claimed in claim 3, characterized in that: For all welding strategies stored in the expert database, a recommendation coefficient is determined according to the number, length and direction of welding tracks; a comparison coefficient is determined according to the number, length and direction of welding tracks of the tower leg to be welded; the welding strategies whose absolute value of the difference between the recommendation coefficient and the comparison coefficient in the expert database exceeds the preset range are first deleted, and then the number, length and direction of welding tracks are compared; The recommended coefficients are: in, is the recommended parameter; is the number of welding tracks; is the length, which is the length of the welding start point coordinate and the welding end point coordinate, where i =1,2… m , m is the number of welding tracks; For direction; , and is the weight.

5. The on-site automatic welding method for transmission tower legs as claimed in claim 3, characterized in that: When teaching welding, the process of determining welding instructions includes: Set to manual welding mode, determine the welding gun coordinates and workpiece coordinates; drag the robot to perform straight line welding teaching, determine the program starting point, welding starting point, welding ending point and program ending point, and the welding starting point and the welding ending point are on a straight line; Move the welding gun and stop it at the program starting point, add the teaching point of the program starting point; move the welding gun and stop it at the welding starting point, the welding ending point and the program ending point in sequence, and add the teaching point of the welding starting point, the welding ending point and the program ending point; add a test program from the program starting point to the program ending point; run the program in manual mode to verify the correctness of the program starting point, the welding starting point, the welding ending point and the program ending point; Switch to automatic welding mode and adjust the robot speed; switch to manual welding mode, move the welding gun cursor to the welding start point, and add an arc start instruction; move the welding gun cursor to the welding end point, and add an arc end instruction; switch to automatic welding mode.

6. The on-site automatic welding method for transmission tower legs according to claim 1, characterized in that: If the distance from the lowest point of the obstacle to the welding surface is less than the minimum height of the welding gun when it is working, or the tilted welding distance of the welding gun is less than the distance from the obstacle to the corresponding welding end point, the starting point of the welding obstacle is used as the welding end point, and the welding track where the obstacle is located is split into two tracks, and welding is performed at both ends of the obstacle using the tilted welding gun.

7. The on-site automatic welding system for transmission tower legs is characterized by: The method for realizing the on-site automatic welding of the transmission tower legs as claimed in any one of claims 1 to 6 comprises: The data acquisition module is configured to: obtain the coordinates of the welding start point and the welding end point on all welding trajectories of the tower leg to be welded, the start point and the end point of the obstacle on the welding trajectory, and the distance between the obstacle and the welding surface; The welding trajectory determination module is configured to: determine the number, length and direction of the welding trajectory according to all the welding start point coordinates and welding end point coordinates; The welding strategy determination module is configured to: retrieve a welding strategy from a preset expert library according to the number, length and direction of the welding tracks; wherein the expert library stores welding strategies that meet the number, length and direction of multiple welding tracks; The welding strategy adjustment module is configured to: determine the allowable welding space size according to the starting point and the end point of the obstacle on the welding trajectory and the distance between the obstacle and the welding surface; and adjust the welding trajectory and sequence in the welding strategy according to the allowable welding space size to obtain an adjusted welding strategy; The welding control module is configured to perform welding using the adjusted welding strategy.

8. The transmission tower leg on-site automatic welding system according to claim 7 comprises an electronic device, wherein the electronic device comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein: When the processor executes the program, the steps of the on-site automatic welding method for transmission tower legs as described in any one of claims 1 to 6 are implemented.

9. The transmission tower leg on-site automatic welding system as claimed in claim 7, comprising a computer program product, characterized in that: The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the method for on-site automatic welding of transmission tower legs as claimed in any one of claims 1 to 6 are implemented.

Images