Flat fillet welding intelligent planning method, welding robot and machine readable storage medium

Abstract

The invention relates to the field of welding, and discloses a flat fillet welding intelligent planning method, a welding robot and a machine readable storage medium, and the method comprises the steps that the inner surface width of a to-be-welded target welding layer in a flat fillet welding head, the number of welding beads and initial welding parameters of each welding bead are determined; according to the number of welding beads of the target welding layer and the initial welding parameters of all the welding beads, the welding layer cross section area of the target welding layer and the welding bead cross section area of all the welding beads are determined; according to the inner surface width of the target welding layer, the ratio of the welding bead cross section area of the mth welding bead of the target welding layer to the welding layer cross section area and the preset forming compensation coefficient corresponding to the mth welding bead, the position offset corresponding to the mth welding bead is determined; and determining the position of the mth welding bead according to the position of the (m-1) th welding bead of the target welding layer and the position offset corresponding to the mth welding bead, wherein m is an integer greater than 1. According to the method, automatic and intelligent welding planning of the flat angle welding joint can be achieved, the welding planning efficiency is greatly improved, and practicability and adaptability are high.

Description

Technical Field

[0001] The present application belongs to the field of welding technology, and specifically relates to an intelligent planning method for flat fillet welding, a welding robot and a machine-readable storage medium. Background Art

[0002] Multi-layer and multi-pass welding is a welding method that divides the target welding position into multiple layers and each layer into multiple passes. It is used in different types of joints such as flat butt joints and flat angle joints. At present, in order to realize automated welding, it is necessary to plan the welding of the joints before welding.

[0003] However, there is no method that can automatically plan the welding of flat-angle welds. It is still necessary to rely on experience to manually teach the welding robot, which is extremely inefficient. In addition, due to the differences in weld morphology and welding process between flat-joint and flat-angle welds, the welding planning method for flat-joint butt joints cannot be applied to flat-angle welds.

[0004] Therefore, at this stage, it is necessary to design a welding planning method specifically for flat-angle welded joints to better meet the needs of automated welding of flat-angle welded joints. Summary of the invention

[0005] The purpose of this application is to provide an intelligent planning method for flat fillet welding, a welding robot and a machine-readable storage medium to achieve automated and intelligent welding planning for flat fillet welding joints.

[0006] In order to achieve the above objectives, the present application provides, on one hand, a flat fillet welding intelligent planning method, which comprises:

[0007] Determine the inner surface width of the target weld layer to be welded in the flat fillet weld joint, the number of weld passes, and the initial welding parameters of each weld pass;

[0008] Determining a weld layer cross-sectional area of ​​the target weld layer and a weld cross-sectional area of ​​each weld pass according to the number of weld passes of the target weld layer and initial welding parameters of each weld pass;

[0009] Determine a position offset corresponding to the mth weld bead according to an inner surface width of the target weld layer, a ratio of a weld bead cross-sectional area of ​​the mth weld bead of the target weld layer to a weld layer cross-sectional area, and a preset forming compensation coefficient corresponding to the mth weld bead;

[0010] The position of the m-1th weld bead of the target weld layer is determined according to the position of the m-1th weld bead of the target weld layer and the position offset corresponding to the mth weld bead, where m is an integer greater than 1.

[0011] In some embodiments, the flat fillet welding intelligent planning method further includes:

[0012] Constructing a joint coordinate system based on the right-angle weld joint, so that the origin of the joint coordinate system is located at the root of the groove of the right-angle weld joint, the x-axis is parallel to the welding direction, the y-axis and the z-axis are on a plane perpendicular to the x-axis, and the z-axis is located between two corner edges of the groove;

[0013] In the joint coordinate system, determining an angle γ between the inner surface of the target welding layer and the y-axis;

[0014] According to the y coordinate value and z coordinate value of the tool center point of the welding robot at the m-1th weld bead, the position offset corresponding to the mth weld bead and the angle γ, the y coordinate value and z coordinate value of the tool center point at the mth weld bead are calculated.

[0015] In some embodiments, the flat fillet welding intelligent planning method further includes:

[0016] Determine the vertical plate thickness t and the expected weld leg size L of the right-angle weld joint f and the groove half angle θ, and calculate the angle α between the outer surface of the weld of the right-angle weld joint and the vertical direction according to the geometric relationship;

[0017] Constructing a joint coordinate system based on the flat angle weld joint includes:

[0018] The groove half angle θ is used as the included angle between the z-axis and the top surface of the bottom plate of the right-angle welding joint, so as to satisfy: γ=α-θ.

[0019] In some embodiments, the flat fillet welding intelligent planning method further includes:

[0020] In the joint coordinate system, determining that the position coordinate of the tool center point at the first weld bead of the target weld layer is located at the intersection of the inner surface of the target weld layer and the top surface of the bottom plate of the right-angle weld joint;

[0021] And / or, in the joint coordinate system, the position coordinates of the tool center point at the last weld bead of the target weld layer are determined to be located at the midpoint of the inner surface of the last weld bead in the width direction.

[0022] In some embodiments, the flat fillet welding intelligent planning method further includes:

[0023] Determine whether the welding gun will collide with the base material when the tip of the welding wire moves to the position of any weld bead of the target welding layer;

[0024] When it is determined that the welding gun will collide with the base material, the angle between the welding gun and the top surface of the bottom plate of the right-angle welding joint and / or the dry extension length of the welding wire are adjusted.

[0025] In some embodiments, determining whether the welding gun will collide with the base material when the tip of the welding wire moves to the position of any weld bead of the target welding layer includes:

[0026] Compare the position of L when the tip of the welding wire moves to any weld bead of the target welding layer E With L E_min The size of L E_min Through the welding gun mouth width B T , a preset minimum allowable distance g between the welding gun (201) and the base material min and the angle λ between the welding gun (201) and the top surface of the bottom plate (102) of the right-angle welding joint is determined, L E It is the preset standard extension length of welding wire;

[0027] When L E <L E_min When the welding gun collides with the base material,

[0028] When L E ≥L E_min When the welding gun is in the process of being welded, it is determined that the welding gun will not collide with the base material.

[0029] In some implementations, determining the inner surface width of the target solder layer includes:

[0030] According to the cross-sectional area of ​​the weld layer of the i-th target weld layer and the preset weld cross-sectional area and weld outer surface width b of the flat-angle weld joint top , determine the outer surface width b of the i-th target solder layer i ;

[0031] The outer surface width b of the i-th target solder layer i As the inner surface width of the i+1th target solder layer.

[0032] In some embodiments, the flat fillet welding intelligent planning method further includes:

[0033] After determining the outer surface width b of the i-th target solder layer i Smaller than the outer surface width b of the weld top In the case of , determining to add the i+1th target welding layer;

[0034] After determining the outer surface width b of the i-th target solder layer i Not less than the outer surface width b of the weld top In the case of, determining the i-th target welding layer as the last welding layer of the flat-angle welding joint, and determining the number of welding layers of the flat-angle welding joint.

[0035] In some embodiments, determining the number of weld passes of the target weld layer includes:

[0036] Calculating a ratio n of the inner surface width of the target welding layer to the weld bead width under current welding parameters;

[0037] When the value of the decimal part of n is less than a preset value, the value of the integer part of n is used as the number of welds of the target weld layer;

[0038] When the value of the decimal part of n is not less than a preset value, the value of the integer part of n is increased by one as the number of welds of the target weld layer.

[0039] In some embodiments, determining the initial welding parameters of each weld bead of the target weld layer includes:

[0040] Determining that when welding the plurality of weld passes in the target weld layer sequentially from bottom to top, the welding speeds of the plurality of weld passes uniformly increase;

[0041] And / or, it is determined that when welding multiple welds in the target weld layer from bottom to top, the angle between the welding gun and the top surface of the bottom plate of the flat welding joint decreases uniformly.

[0042] The second aspect of the present application also provides a welding robot, which is used to execute the above-mentioned flat fillet welding intelligent planning method.

[0043] The third aspect of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned flat fillet welding intelligent planning method.

[0044] Through the above technical scheme, the present application takes into account the characteristics of the flat fillet welding process. For the target welding layer that needs to form multiple welds from bottom to top in sequence, in order to ensure that the weld below can support the weld above to avoid the upper molten pool flowing downward and affecting the welding quality, when performing welding planning, the initial welding parameters of each weld can be set independently of each other, without limiting the initial welding parameters of each weld to be the same, so that each weld of the target welding layer can have a different weld cross-sectional area, thereby meeting the requirement that the lower weld can support the upper weld. In addition, when determining the position offset corresponding to the mth weld of the target welding layer, the present application considers the influence of other factors on welding forming, and specially sets a corresponding preset forming compensation coefficient, which can better fit the actual working conditions of the flat fillet welding process and improve the planning accuracy of the position offset. In general, the present application can effectively realize the automated and intelligent welding planning of flat fillet welding joints, can greatly improve the welding planning efficiency and welding efficiency, and has strong practicality and adaptability.

[0045] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0047] Figure 1 This is a flow chart of a flat fillet welding intelligent planning method in a specific implementation manner of this application;

[0048] Figure 2 A schematic diagram of a flat angle welding joint to be planned for welding in a specific implementation manner of the present application;

[0049] Figure 3 It is a schematic diagram of joint features obtained on a flat fillet weld joint by a flat fillet weld intelligent planning method in a specific embodiment of the present application;

[0050] Figure 4 A schematic diagram of constructing a joint coordinate system on a flat fillet weld joint by using a flat fillet weld intelligent planning method in a specific embodiment of the present application;

[0051] Figure 5 A schematic diagram of constructing a welding gun coordinate system on a welding gun by using a flat fillet welding intelligent planning method in a specific embodiment of the present application;

[0052] Figure 6 This is a schematic diagram of detecting whether a welding gun collides with a base material through a flat fillet welding intelligent planning method in a specific implementation of the present application.

[0053] Description of Reference Numerals

[0054] 101 vertical board 102 bottom board

[0055] 103 Target weld 201 Welding gun

[0056] 202 welding wire DETAILED DESCRIPTION

[0057] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0058] Reference Figure 1 and Figure 2 The first exemplary embodiment of the present application provides a method for intelligent planning of flat fillet welding, which includes:

[0059] Step S1: determining the inner surface width of the target weld layer to be welded in the flat-angle weld joint, the number of weld passes, and the initial welding parameters of each weld pass;

[0060] Step S2: determining the weld layer cross-sectional area of ​​the target weld layer and the weld cross-sectional area of ​​each weld pass according to the number of weld passes of the target weld layer and the initial welding parameters of each weld pass;

[0061] Step S3: determining a position offset corresponding to the mth weld pass according to the inner surface width of the target weld layer, the ratio of the weld pass cross-sectional area of ​​the mth weld pass of the target weld layer to the weld layer cross-sectional area, and a preset forming compensation coefficient corresponding to the mth weld pass;

[0062] Step S4: determining the position of the mth weld bead according to the position of the m-1th weld bead of the target weld layer and the position offset corresponding to the mth weld bead, where m is an integer greater than 1.

[0063] It should be noted that the right-angle welding joint to be welded includes a vertical plate 101 and a bottom plate 102, and a groove is formed between the vertical plate 101 and the bottom plate 102, and the groove is used to weld and form a target weld 103, and the target weld layer refers to a weld layer with multiple welds in the target weld 103, and the multiple welds in the target weld layer need to be welded and formed in sequence from bottom to top. For example, refer to Figure 2 , weld bead 2 and weld bead 3 constitute the first target weld layer and weld bead 2 and weld bead 3 need to be welded sequentially from bottom to top, weld bead 4, weld bead 5 and weld bead 6 constitute the second target weld layer and weld bead 4, weld bead 5 and weld bead 6 need to be welded sequentially from bottom to top, and so on. In addition, the target weld 103 generally also includes a base weld layer located at the root of the groove, and the base weld layer generally consists of one weld bead (e.g. Figure 2 The weld bead 1 in the joint is directly used as the base weld layer), and in some flat-angle weld joints, in addition to the base weld layer, there may also be other single-bead weld layers consisting of one weld bead.

[0064] According to the above, the target welding layer mentioned in step S1 specifically refers to a welding layer having multiple welds that need to be welded sequentially from bottom to top. More specifically, the inner surface of the target welding layer refers to its surface facing the root of the groove. Figure 2 The inner surface of the first target weld layer composed of weld bead 2 and weld bead 3 is the surface where the first target weld layer is connected to weld bead 1, and the outer surface of weld bead 1 can also be regarded as the inner surface of the first target weld layer. The inner surface width of the target weld layer refers to the distance between the intersection of the inner surface of the target weld layer and the vertical plate 101 and the intersection of the inner surface of the target weld layer and the bottom plate 102.

[0065] In addition, in step S1, the welding parameters may include wire feeding speed (i.e., the speed at which the welding wire is fed during welding), welding wire radius, welding speed (i.e., the speed at which the welding gun advances during welding), the angle between the welding gun and the top surface of the bottom plate 102, etc. The welding parameters of the weld bead (especially the welding speed) directly affect the filling amount of the weld bead, and thus also directly affect the weld bead cross-sectional area of ​​the weld bead, and the weld bead cross-sectional area of ​​the weld bead can be determined by analyzing the welding parameters of the weld bead.

[0066] Therefore, in step S2, the cross-sectional area of ​​each weld bead can be determined according to the number of weld bead of the target weld layer and the initial welding parameters of each weld bead, and then the cross-sectional area of ​​the weld layer of the target weld layer can be determined by summing the cross-sectional areas of multiple weld beads.

[0067] It should be noted here that the present application takes into account the characteristics of the flat-angle welding process. For the target weld layer that needs to form multiple welds in sequence from bottom to top, in order to ensure that the weld below can support the weld above to prevent the molten pool above from flowing downward and affecting the welding quality, when performing welding planning, the initial welding parameters of each weld can be set independently of each other, without limiting the initial welding parameters of each weld to be the same, so that each weld of the target weld layer can have a different weld cross-sectional area, thereby satisfying the requirement that the lower weld can support the upper weld.

[0068] In contrast, the weld shape of the existing flat butt joint is symmetrical along the angle bisector of the groove, but based on the above, the shape of the target weld 103 of the flat fillet weld joint is not symmetrical along the angle bisector of the groove. In addition, the gravity direction of the weld bead welded by the existing flat butt welding process is consistent with the direction of the molten droplet, so this weld bead can be approximated as a parallelogram and a trapezoid, but the gravity direction of the weld bead welded by the flat fillet welding process is nearly 90° with the direction of the molten droplet, so an approximation strategy similar to the flat butt welding process cannot be adopted. In other words, the existing welding planning method of the flat butt welding process is not suitable for the flat fillet welding process.

[0069] Figure 2 In order to simplify the illustration of each weld bead, each weld bead is approximated as a parallelogram and a trapezoid. However, in fact, according to the above, these weld beads welded by the flat fillet welding process cannot be approximated as a parallelogram and a trapezoid.

[0070] Since each weld bead of the target weld layer may have different weld bead cross-sectional areas, the offset between each group of adjacent weld bead is inconsistent. Figure 2 For the second target weld layer in , the offset between weld pass 4 and weld pass 5 is inconsistent with the offset between weld pass 5 and weld pass 6.

[0071] At this time, in order to accurately plan the positions of each weld bead of the target weld layer, after the weld bead cross-sectional area of ​​each weld bead and the weld layer cross-sectional area of ​​the target weld layer are determined by step S2, the ratio of the weld bead cross-sectional area of ​​a weld bead of the target weld layer to the weld layer cross-sectional area can be further determined by step S3 to quantify the inconsistency of the weld bead offset. In addition, in step S3, the influence of gravity on welding forming is also considered, and corresponding preset forming compensation coefficients are set respectively corresponding to different weld bead, which can better fit the actual working conditions of the flat fillet welding process and improve the planning accuracy of the weld bead position. As an example, the preset forming compensation coefficient can be obtained by fitting multiple groups of process tests and numerical methods. More specifically, the difference between the actual weld leg size after welding and the set weld leg size can be used to characterize the correctness of the forming compensation coefficient. The forming compensation coefficient is taken from each group of tests with the same welding speed and wire feeding speed, and finally the preset forming compensation coefficient under different welding speeds and wire feeding speeds is obtained by polynomial fitting or artificial neural network.

[0072] Based on the above analysis, it can be known that when executing step S3, the position offset corresponding to the mth weld bead can be accurately determined according to the inner surface width of the target weld layer, the ratio of the weld bead cross-sectional area of ​​the mth weld bead of the target weld layer to the weld layer cross-sectional area, and the preset forming compensation coefficient corresponding to the mth weld bead. In this way, step S4 can be further executed to accurately determine the position of the mth weld bead according to the position of the m-1th weld bead of the target weld layer and the position offset corresponding to the mth weld bead determined in step S2.

[0073] It should be noted here that when planning the positions of each weld bead of the target weld layer, the position of the first weld bead can be preset (that is, when m=2, the position of the m-1th weld bead can be preset), and then by executing the above steps S1-S4 multiple times, the positions of other weld bead of the target weld layer can be accurately determined.

[0074] In summary, it can be seen that the flat fillet welding intelligent planning method of the present application fully considers the characteristics of the flat fillet welding process (including the requirement that the lower weld can support the upper weld, the influence of gravity factors, etc.), can effectively realize the automation and intelligent welding planning of flat fillet welding joints, can greatly improve the welding planning efficiency and welding efficiency, and at the same time has strong practicality and adaptability.

[0075] In some embodiments, reference Figure 4 , the intelligent planning method for flat fillet welding may also include:

[0076] A joint coordinate system is constructed based on the right-angle weld joint, so that the origin of the joint coordinate system is located at the root of the groove of the right-angle weld joint, the x-axis is parallel to the welding direction, the y-axis and the z-axis are on a plane perpendicular to the x-axis, and the z-axis is located between the two corner edges of the groove;

[0077] In the joint coordinate system, determine the angle γ between the inner surface of the target welding layer and the y-axis;

[0078] According to the y-coordinate value and z-coordinate value of the tool center point of the welding robot at the m-1th weld pass, the position offset corresponding to the mth weld pass, and the angle γ, the y-coordinate value and z-coordinate value of the tool center point at the mth weld pass are calculated.

[0079] It should be noted that in Figure 4 In the above, the inner surface of any target weld layer can be represented by K line, and M line is a line parallel to the y axis of the joint coordinate system, so the angle γ is equivalent to the angle between K line and M line. The angle γ can be determined by different methods such as preset determination, real-time detection (such as visual detection) or calculation; K line can be Figure 4 As shown, it is located on the left side of the M line, and it can also be located on the right side of the M line; the construction method of the joint coordinate system (such as the directions of the x-axis, y-axis and z-axis, etc.) can also be adjusted; in addition, when the tool center point offsets between different welds, the tool center point can be limited to always being on the inner surface of the target weld layer, or the tool center point can be not limited to being on the inner surface of the target weld layer; this application does not impose any restrictions on these settings.

[0080] Based on the configuration of this embodiment, when determining the y coordinate value of the tool center point at the m-1th weld pass (hereinafter referred to as y m－1 ) and z coordinate value (hereinafter referred to as z m－1 ), the y coordinate value of the tool center point at the mth weld pass (hereinafter referred to as y m ) and z coordinate value (hereinafter referred to as z m ), the relationship 1 is:

[0081] y m =y m－1 -cosγ×c×b×S m / S;

[0082] z m =z m－1 -sinγ×c×b×S m / S;

[0083] Where c is the preset forming compensation coefficient corresponding to the mth weld of the target weld layer, b is the inner surface width of the target weld layer, S m is the cross-sectional area of ​​the mth weld bead of the target weld layer, and S is the cross-sectional area of ​​the weld layer of the target weld layer.

[0084] Through the method of this embodiment, the position coordinates of the tool center point of the welding robot at different welds of the target welding layer can be planned, thereby determining the moving path of the tool center point, so that automatic flat corner welding can be achieved by the welding robot.

[0085] Further, refer to Figure 3 and Figure 4 , the intelligent planning method for flat fillet welding may also include:

[0086] Determine the thickness t of the vertical plate 101 of the right-angle weld joint and the desired weld leg size L f and the groove half angle θ, and calculate the angle α between the weld outer surface of the target weld 103 of the right-angle weld joint and the vertical direction according to the geometric relationship. At this time, constructing a joint coordinate system based on the right-angle weld joint may include:

[0087] The groove half angle θ is used as the included angle between the z-axis and the top surface of the bottom plate 102 of the right-angle weld joint, so as to satisfy the second relationship: γ=α-θ.

[0088] In this way, the angle γ can be determined by calculation, so that the flat angle welding intelligent planning method of the present application does not need to detect the angle γ with the help of visual inspection equipment, etc., which saves costs, simplifies the welding planning process, and is conducive to further improving the welding planning efficiency. In addition, when the shape and size of the flat angle welding joint are different, it means that the expected weld leg size L f The method of the present application is for welding with different desired leg sizes L f It is applicable to all right-angle welding joints, so it has a wide range of applications.

[0089] In some embodiments, the flat fillet welding intelligent planning method may further include:

[0090] In the joint coordinate system, the position coordinates of the tool center point at the first weld bead of the target weld layer are determined to be located at the intersection of the inner surface of the target weld layer and the top surface of the bottom plate 102 of the flat fillet weld joint.

[0091] In other words, when m=2, the position coordinates of the m-1th weld bead (i.e., the first weld bead) of the target weld layer can be preset, so that the position coordinates of the tool center point at the remaining weld bead of the target weld layer can be calculated in sequence according to the aforementioned relationship 1.

[0092] In some embodiments, the flat fillet welding intelligent planning method may further include:

[0093] In the joint coordinate system, the position coordinate of the tool center point at the last weld bead of the target weld layer is determined to be located at the midpoint of the inner surface of the last weld bead along the width direction.

[0094] In other words, the position coordinates of the tool center point at the last weld bead of the target weld layer can be set independently. According to the above, when the weld bead cross-sectional area of ​​each weld bead of the target weld layer and the weld layer cross-sectional area of ​​the target weld layer are determined, the width of the weld bead on the inner surface of the target weld layer can be determined based on the ratio of the weld bead cross-sectional area of ​​a certain weld bead to the weld layer cross-sectional area, combined with the inner surface width of the target weld layer. Therefore, the width of the last weld bead on the inner surface of the target weld layer can be determined, so that the midpoint of the inner surface of the last weld bead along the width direction can be determined, and the position coordinates of the tool center point at the last weld bead can also be determined.

[0095] In some embodiments, when more than one single-pass weld layer is required in the target weld 103, since the number of welds of the weld layer will gradually increase as it moves away from the root of the groove, these single-pass weld layers should be arranged adjacent to each other in sequence. At this time, the flat fillet welding intelligent planning method may also include:

[0096] When two adjacent weld layers with a single weld bead are welded sequentially from the inside to the outside, the position coordinates of the tool center point of the welding robot in the joint coordinate system are offset along the groove angle bisector of the right-angle welding joint.

[0097] For example, when the groove half angle θ is used as the angle between the z-axis of the joint coordinate system and the top surface of the bottom plate 102 of the right-angle welding joint, it is equivalent to offsetting the position coordinates of the tool center point in the joint coordinate system along the z-axis. At this time, the y-coordinate value of the tool center point in the joint coordinate system does not change.

[0098] In some embodiments, reference Figure 6 , the intelligent planning method for flat fillet welding may also include:

[0099] Determine whether the welding gun 201 collides with the base material when the tip of the welding wire 202 moves to the position of any weld bead of the target welding layer;

[0100] When it is determined that the welding gun 201 will collide with the parent material (including the vertical plate 101 and the bottom plate 102), the angle between the welding gun 201 and the top surface of the bottom plate 102 of the right-angle welding joint and / or the dry extension length of the welding wire 202 are adjusted.

[0101] In other words, after completing the planning of each weld bead of the target welding layer, the position of the welding gun can also be detected and corrected by the method of this embodiment to prevent the welding gun from colliding or interfering with the base material during automated welding. Since the change of the dry extension of the welding wire may cause changes in the welding current, gas protection, etc., when it is determined that the welding gun 201 will collide with the base material, it is preferred to adjust the angle between the welding gun 201 and the top surface of the bottom plate 102. When the risk of collision between the welding gun and the base material cannot be eliminated by adjusting the posture of the welding gun, it can be solved by increasing the dry extension of the welding wire.

[0102] Further, refer to Figure 5 and Figure 6 , determining whether the welding gun 201 will collide with the base material when the tip of the welding wire moves to the position of any weld bead of the target welding layer may include the following steps:

[0103] Compare the position of L when the wire tip moves to any weld bead of the target weld layer. E With L E_min The size of L E_min Through the welding gun mouth width B T , the preset minimum allowable distance g between the welding gun 201 and the base material min (Right now Figure 6 The distance between the dotted line in the figure and the surface of the base material) and the angle λ between the welding gun 201 and the top surface of the bottom plate 102 are determined, L E It is the preset standard extension length of welding wire;

[0104] When L E <L E_min When , it is determined that the welding gun 201 will collide with the base material;

[0105] When L E ≥L E_min When welding, make sure that the welding gun 201 does not collide with the base material.

[0106] More specifically, for L E_min , which satisfies:

[0107] Through the configuration of this embodiment, the wire extension length can be preset as the standard wire extension length L E , when it is determined that L E ≥L E_min This means that there is no need to adjust the current welding gun posture and the standard wire extension length L. E Make adjustments; when it is determined that L E <L E_min When the standard dry extension length L of welding wire is used E In this case, it is necessary to adjust the welding gun posture and / or increase the wire extension length, otherwise the welding gun will collide with the base material.

[0108] In some embodiments, reference Figure 5 , the intelligent planning method for flat fillet welding may also include:

[0109] A welding gun coordinate system is constructed based on the welding gun 201, so that the z1 axis of the welding gun coordinate system extends along the axial direction of the welding gun 201, and the y1 axis extends along the radial direction of the welding gun 201 and coincides with the end face of the welding gun port;

[0110] According to the spatial relationship between the welding gun coordinate system and the joint coordinate system, the position coordinates of the current tool center point in the welding gun coordinate system are calculated when the welding wire tip moves to the position coordinates of the tool center point of the welding robot in the joint coordinate system;

[0111] After determining that the welding gun 201 will collide with the base material and adjusting the angle between the welding gun 201 and the top surface of the bottom plate 102 and / or the wire extension length, the position coordinates of the current tool center point in the welding gun coordinate system are corrected accordingly.

[0112] In other words, after adjusting the welding gun posture and / or the wire extension length, it is necessary to synchronously correct the position coordinates of the tool center point in the welding gun coordinate system to ensure that the welding robot can control the welding gun to perform automated welding at an accurate position.

[0113] In some embodiments, reference Figure 2 and Figure 3 , when determining the inner surface width of the target solder layer, the following steps may be included:

[0114] According to the cross-sectional area of ​​the weld layer of the i-th target weld layer and the weld cross-sectional area of ​​the preset flat-angle weld joint (i.e., the total cross-sectional area of ​​the target weld 103) and the outer surface width b of the weld top , determine the outer surface width b of the i-th target solder layer i ;

[0115] The outer surface width b of the i-th target solder layer i As the inner surface width of the i+1th target solder layer.

[0116] In this embodiment, the outer surface of each target weld layer can be regarded as parallel to the weld outer surface of the target weld 103, so that the ratio of the weld layer cross-sectional area of ​​the i-th target weld layer to the weld cross-sectional area of ​​the target weld 103 can be combined with the preset weld outer surface width b top , according to the geometric relationship, calculate the outer surface width b of the i-th target welding layer i , so that the inner surface width of the i+1th target solder layer can be determined.

[0117] Further, in order to determine the weld cross-sectional area and weld outer surface width b of the target weld 103 top , refer to Figure 2 , the intelligent planning method for flat fillet welding may also include:

[0118] Determine the vertical plate thickness t and the expected weld leg size L of the right-angle weld joint f and the groove half angle θ, and calculate the weld cross-sectional area and weld outer surface width b based on the geometric relationship top .

[0119] It can be seen that when the shape and size of the right-angle welding joint are different, it means that the expected weld leg size L f The method of the present application is for welding with different desired leg sizes L f It is applicable to all right-angle welding joints, so it has a wide range of applications.

[0120] In some embodiments, in order to automatically plan the number of weld layers in the target weld 103, the flat fillet welding intelligent planning method may further include:

[0121] After determining the outer surface width b of the i-th target solder layer i Smaller than the outer surface width of the weld b top In the case of , it is determined to add the i+1th target welding layer;

[0122] After determining the outer surface width b of the i-th target solder layer i Not less than the outer surface width b of the weld top In the case of , the i-th target welding layer is determined as the last welding layer of the flat-angle welding joint, and the number of welding layers of the flat-angle welding joint is determined.

[0123] By cyclically executing the steps of this embodiment, the outer surface width of the target weld layer can be gradually approached to the outer surface width b of the weld. top In the process, the number of weld layers in the target weld 103 is determined accordingly. This method does not need to equate the weld bead to a parallelogram and a trapezoid, and therefore meets the welding planning requirements of the right-angle weld joint, thereby having strong feasibility.

[0124] In some embodiments, when determining the number of weld passes of a target weld layer, the following steps may be included:

[0125] Calculate the ratio n of the inner surface width of the target weld layer to the weld bead width under the current welding parameters;

[0126] When the value of the decimal part of n is less than the preset value, the value of the integer part of n is used as the number of weld passes of the target welding layer;

[0127] When the value of the decimal part of n is not less than the preset value, the value of the integer part of n is increased by one as the number of welds of the target weld layer.

[0128] For example, the above-mentioned preset value can be set to 0.4. When the value of the decimal part of n is less than 0.4, according to rounding, the value of the integer part of n is used as the number of welds of the target weld layer; when the value of the decimal part of n is not less than 0.4, also according to rounding, the value of the integer part of n is increased by one as the number of welds of the target weld layer.

[0129] It should be noted that, for each single-bead weld layer in the target weld 103, its initial welding parameters can be preset, so that the weld layer cross-sectional area of ​​these single-bead weld layers (also equivalent to the weld cross-sectional area in this case) can be predetermined.

[0130] In addition, refer to Figure 2 , when the cross-sectional area of ​​the bottoming weld layer having only weld bead 1 is determined, the cross-sectional area of ​​the weld of the target weld 103 is determined, and the outer surface of the bottoming weld layer is considered to be parallel to the outer surface of the weld of the target weld 103, the ratio of the cross-sectional area of ​​the bottoming weld layer to the cross-sectional area of ​​the weld of the target weld 103 can be used in combination with the outer surface width b of the weld. top , the outer surface width of the base weld layer is calculated based on the geometric relationship, and the inner surface width of the first target weld layer having weld bead 2 and weld bead 3 can be determined accordingly.

[0131] Of course, other methods may also be used to determine the inner surface width of the first target welding layer, such as visual inspection, manual preset, etc., and this application does not impose any restrictions on this.

[0132] In some embodiments, when determining the initial welding parameters of each weld bead of the target weld layer, the following steps may be included:

[0133] Determine that when welding multiple welds in the target weld layer from bottom to top, the welding speeds of the multiple welds increase uniformly;

[0134] And / or, it is determined that when welding multiple welds in the target weld layer from bottom to top, the angle between the welding gun 201 and the top surface of the bottom plate 102 of the right-angle welding joint decreases uniformly.

[0135] For example, when planning the welding of a right-angle weld joint, the welding speeds of the top and bottom welds of each target weld layer can be preset, and then the welding speeds of the remaining welds can be automatically planned based on the requirement of uniformly increasing the welding speed. This planning method is suitable for right-angle weld joints with different shapes and sizes, and can make the method of the present application more universal.

[0136] Similarly, when planning the welding of the right-angle welding joint, the angle between the welding gun 201 and the top surface of the base plate when welding the top and bottom welds of each target welding layer can be preset, and then the angle between the welding gun 201 and the top surface of the base plate when welding the remaining welds can be automatically planned based on the requirement of uniformly reducing the angle. This is also applicable to right-angle welding joints with different shapes and sizes, and can also make the method of the present application more universal.

[0137] Of course, in some other embodiments, the welding speed of each weld can be set separately, and it is not necessary to meet the above-mentioned uniform increase requirement; similarly, the angle between the welding gun 201 and the top surface of the base plate 102 does not have to be set to decrease uniformly, as long as it is ensured that the welding gun 201 does not collide or interfere with the base material.

[0138] The second exemplary embodiment of the present application also provides a welding robot that is capable of executing the above-mentioned intelligent planning method for flat fillet welding.

[0139] The third exemplary embodiment of the present application further provides a machine-readable storage medium storing instructions for enabling a machine to execute the above-mentioned intelligent planning method for flat fillet welding.

[0140] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0141] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0142] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0143] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt 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.) that contain computer-usable program code.

[0144] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes 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 generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0145] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0146] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0147] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0148] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0149] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0150] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0151] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. An intelligent planning method for flat fillet welding, characterized in that: include: Determine the inner surface width of the target weld layer to be welded in the flat fillet weld joint, the number of weld passes, and the initial welding parameters of each weld pass; Determining a weld layer cross-sectional area of ​​the target weld layer and a weld cross-sectional area of ​​each weld pass according to the number of weld passes of the target weld layer and initial welding parameters of each weld pass; Determine a position offset corresponding to the mth weld bead according to an inner surface width of the target weld layer, a ratio of a weld bead cross-sectional area of ​​the mth weld bead of the target weld layer to a weld layer cross-sectional area, and a preset forming compensation coefficient corresponding to the mth weld bead; The position of the m-1th weld bead of the target weld layer is determined according to the position of the m-1th weld bead of the target weld layer and the position offset corresponding to the mth weld bead, where m is an integer greater than 1.

2. The flat fillet welding intelligent planning method according to claim 1 is characterized in that: The flat fillet welding intelligent planning method also includes: Constructing a joint coordinate system based on the right-angle weld joint, so that the origin of the joint coordinate system is located at the root of the groove of the right-angle weld joint, the x-axis is parallel to the welding direction, the y-axis and the z-axis are on a plane perpendicular to the x-axis, and the z-axis is located between two corner edges of the groove; In the joint coordinate system, determining an angle γ between the inner surface of the target welding layer and the y-axis; According to the y coordinate value and z coordinate value of the tool center point of the welding robot at the m-1th weld bead, the position offset corresponding to the mth weld bead and the angle γ, the y coordinate value and z coordinate value of the tool center point at the mth weld bead are calculated.

3. The intelligent planning method for flat fillet welding according to claim 2 is characterized in that: The flat fillet welding intelligent planning method also includes: Determine the vertical plate thickness t and the expected weld leg size L of the right-angle weld joint f and the groove half angle θ, and calculate the angle α between the outer surface of the weld of the right-angle weld joint and the vertical direction according to the geometric relationship; Constructing a joint coordinate system based on the flat angle weld joint includes: The groove half angle θ is used as the included angle between the z-axis and the top surface of the bottom plate (102) of the right-angle welding joint, so as to satisfy the following: γ=α-θ.

4. The intelligent planning method for flat fillet welding according to claim 2 is characterized in that: The flat fillet welding intelligent planning method also includes: In the joint coordinate system, determining that the position coordinate of the tool center point at the first weld bead of the target weld layer is located at the intersection of the inner surface of the target weld layer and the top surface of the bottom plate (102) of the right-angle weld joint; And / or, in the joint coordinate system, the position coordinates of the tool center point at the last weld bead of the target weld layer are determined to be located at the midpoint of the inner surface of the last weld bead in the width direction.

5. The flat fillet welding intelligent planning method according to claim 1, characterized in that: The flat fillet welding intelligent planning method also includes: Determining whether a welding gun (201) will collide with a base material when the tip of the welding wire moves to the position of any weld bead of the target welding layer; When it is determined that the welding gun (201) will collide with the parent material, the included angle between the welding gun (201) and the top surface of the bottom plate (102) of the right-angle welding joint and / or the welding wire dry extension length are adjusted.

6. The flat fillet welding intelligent planning method according to claim 5, characterized in that: Determining whether a welding gun (201) will collide with a base material when the tip of the welding wire moves to the position of any weld bead of the target welding layer comprises: Compare the position of L when the tip of the welding wire moves to any weld bead of the target welding layer E With L E_min The size of L E_min Through the welding gun mouth width B T , a preset minimum allowable distance g between the welding gun (201) and the base material min and the angle λ between the welding gun (201) and the top surface of the bottom plate (102) of the right-angle welding joint is determined, L E It is the preset standard extension length of welding wire; When L E <L E_min When the welding gun (201) is in contact with the base material, it is determined that the welding gun (201) will collide with the base material; When L E ≥L E_min When the welding gun (201) is welded, it is ensured that the welding gun (201) will not collide with the base material.

7. The intelligent planning method for flat fillet welding according to claim 1 is characterized in that: Determining the inner surface width of the target solder layer includes: According to the cross-sectional area of ​​the weld layer of the i-th target weld layer and the preset weld cross-sectional area and weld outer surface width b of the flat-angle weld joint top , determine the outer surface width b of the i-th target solder layer i ; The outer surface width b of the i-th target solder layer i As the inner surface width of the i+1th target solder layer.

8. The intelligent planning method for flat fillet welding according to claim 7 is characterized in that: The flat fillet welding intelligent planning method also includes: After determining the outer surface width b of the i-th target solder layer i Smaller than the outer surface width b of the weld top In the case of , determining to add the i+1th target welding layer; After determining the outer surface width b of the i-th target solder layer i Not less than the outer surface width b of the weld top In the case of, determining the i-th target welding layer as the last welding layer of the flat-angle welding joint, and determining the number of welding layers of the flat-angle welding joint.

9. The intelligent planning method for flat fillet welding according to claim 1, characterized in that: Determining the number of weld passes of the target weld layer includes: Calculating a ratio n of the inner surface width of the target welding layer to the weld bead width under current welding parameters; When the value of the decimal part of n is less than a preset value, the value of the integer part of n is used as the number of welds of the target weld layer; When the value of the decimal part of n is not less than a preset value, the value of the integer part of n is increased by one as the number of welds of the target weld layer.

10. The intelligent planning method for flat fillet welding according to any one of claims 1 to 9, characterized in that: Determining the initial welding parameters of each weld bead of the target weld layer includes: Determining that when welding the plurality of weld passes in the target weld layer sequentially from bottom to top, the welding speeds of the plurality of weld passes uniformly increase; And / or, determining that when welding a plurality of welds in the target weld layer sequentially from bottom to top, the angle between the welding gun (201) and the top surface of the bottom plate (102) of the flat-angle welding joint decreases uniformly.

11. A welding robot, characterized in that: Used to execute the flat fillet welding intelligent planning method according to any one of claims 1 to 10.

12. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for enabling a machine to execute the flat fillet welding intelligent planning method according to any one of claims 1 to 10.

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