Parameterized programming method based on hydraulic support structural part welding program

Abstract

The invention provides a parameterization programming method based on a hydraulic support structural part welding program, which comprises the following steps of: 1) compiling a standard series workpiece welding program template according to process parameter information of a standard series workpiece; 2) determining the number of required numerical registers according to the design specifications of the standard series of workpieces so as to match the number of variable parameters of the standard series of workpieces; (3) according to the placing position standard of the workpiece on the positioner and the layout of the robot welding workstation, a function relation between a robot world coordinate system and the characteristic points of the positioner is constructed, and assignment operation logic of a position register and a numerical value register is defined; 4) taking the changed process parameter information as position register data for updating; 5, the welding robot calls the information in the position register, and updating of the welding gun operation program parameters is achieved.The method has the advantages that hardware equipment input and external database support are not depended on, and parameterized programming is completed through internal hardware of the welding robot.

Description

Technical Field

[0001] The present invention relates to the technical field of welding robots. Specifically, it relates to a parametric programming method based on the welding procedure of hydraulic support structural parts. Background Art

[0002] With the popularization and application of welding robots in the manufacturing industry, they can not only solve the problems of unstable quality and low efficiency of traditional manual welding, but more importantly, the various register types, functional relationships, etc. provided by the welding robot system provide diverse ideas for the compilation of welding programs.

[0003] The Chinese invention patent "A Parametric Programming System and Its Programming Method for a Box Welding Robot" was published on April 16, 2019 (Application No.: CN201811557908). This invention describes a parametric programming system and its programming method for a box welding robot, including: a host computer for storing spreadsheets of geometric feature parameters and process parameter specifications of large box structures; a host computer APP program for inputting the spreadsheets and sending data; a PLC forming a local area network connection with the host computer APP program, including a slave PLC and a master PLC. The slave PLC is used to receive the data sent by the host computer APP program, and the master PLC is used to send data reception requests; a robot controller is connected to the master PLC through I / O PTP and is also connected to the slave PLC through a field bus, and automatically generates a welding process table based on the received data, thereby completing the programming of the welding task program for the box partition robot.

[0004] This solution mainly has the following three disadvantages: 1. The investment in purchasing hardware equipment is large; 2. The entire parametric programming system is complex, the information transmission path is long, and there is a risk of errors; 3. The system maintenance process is complex, and it is more difficult to troubleshoot problems.

[0005] In order to solve the above problems, people have been seeking an ideal technical solution. Summary of the Invention

[0006] The purpose of the present invention is to address the deficiencies of the prior art, and thus provide a parametric programming method based on the welding procedure of hydraulic support structural parts that does not rely on the investment in hardware equipment and the support of external databases and relies on the internal hardware of the welding robot to complete parametric programming.

[0007] To achieve the above purpose, the technical solution adopted by the present invention is: a parametric programming method based on the welding procedure of hydraulic support structural parts, including the following steps: Step 1) Relying on the process parameter information of the standard series of workpieces, compile a welding program template for the standard series of workpieces, which includes an adjustable parameter module composed of the characteristic parameters of the standard series of workpieces. The values of the workpiece characteristic parameters are used as input variables, and the required program type and the number of registers participating in the operation are specified; Step 2) According to the design specifications of the standard series of workpieces, specify the required number of numerical registers to match the number of variable parameters of the standard series of workpieces; Step 3) According to the placement position standard of the workpiece on the positioner and the layout of the robot welding workstation, construct the functional relationship between the robot world coordinate system and the characteristic points of the positioner, and specify the assignment operation logic of the position register and the numerical register; Step 4) As the input variables in the welding program template of the standard series of workpieces are assigned values, the overall process parameter information of the workpiece changes, and the changed process parameter information is updated as the data in the position register; Step 5) The welding robot calls the information in the position register to update the operating program parameters of the welding torch.

[0008] Based on the above, the characteristic parameters of the standard series of workpieces are geometric characteristic parameters.

[0009] Based on the above, in Step 1), the compiled welding program template for the standard series of workpieces is built into the built-in registers of the robot, and a main program is provided in the control host for parameter input.

[0010] Based on the above, in Step 2), each variable parameter of the standard series of workpieces is matched with a corresponding numerical register for arithmetic processing.

[0011] Based on the above, in Step 3), the position register is used to record the spatial coordinate point information required by the welding robot during the welding operation.

[0012] Based on the above, in Step 3), the numerical register is used to record the characteristic parameter information of the standard series of workpieces.

[0013] Based on the above, the position register used in Step 4) is the same as the position register required for the original welding robot operation.

[0014] Based on the above, the position register used in Step 4) is different from the position register required for the original welding robot operation, and the two groups of registers are connected through a data link for data update.

[0015] The present invention has outstanding substantive features and significant progress compared to the prior art. Specifically, the present invention realizes the compilation of welding programs based on the registers and programming capabilities of the welding robot. It is mainly used for updating the welding programs of standard series workpieces. Its core principle is: setting a welding program template based on the standard series workpieces, in which the characteristic parameter information of the workpiece, such as length, width and height, is assigned as input variable parameters, and then matching a certain number of registers for running the template program; At the same time, the operation of the welding robot depends on the position register to plan the walking path. Therefore, based on the position relationship between the workpiece and the positioner, and between the positioner and the welding robot, a logical operation program for coordinate conversion and operation is compiled to convert and operate the process parameter information in the aforementioned welding program template and store it in the position register; When the welding robot calls the welding program, it obtains the updated parameters from these position registers, thereby realizing the adaptive adjustment of the welding program.

[0016] The above method does not rely on hardware equipment investment and external database support. It completes parameterized programming based on the internal hardware of the welding robot. The transformation cost is low and it is suitable for popularization and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is an operation flow chart of the parametric programming method based on the welding program of the hydraulic support structure in the present invention.

[0018] Figure 2 It is a schematic diagram of geometric parameter variables of standard connectors in a specific implementation manner of the present invention. DETAILED DESCRIPTION

[0019] The technical solution of the present invention is further described in detail below through specific implementation methods.

[0020] like Figure 1 and Figure 2 As shown, a parametric programming method based on the welding program of hydraulic support structural parts is described. In this embodiment, the standard connecting parts in the hydraulic support are used as an example for explanation. The variable parameters in the standard connecting parts mainly include length and width, and other parameters are generally not adjusted.

[0021] The following steps are involved: Step 1) Relying on the process parameter information of the standard series of workpieces, compile a welding program template for the standard series of workpieces, which includes an adjustable parameter module composed of the characteristic parameters of the standard series of workpieces. The values of the workpiece characteristic parameters are used as input variables. In this embodiment, the workpiece characteristic parameters include geometric feature data such as length, width, hole opening position, and arc. However, only the length and width exist as input variables, and the required program type and the number of registers participating in the operation are specified. The program type is, for example, a program that can be run by a PLC, etc.

[0022] Step 2) According to the design specifications of the standard series of workpieces, clarify the required number of numerical registers to match the number of variable parameters of the standard series of workpieces. In this embodiment, the variables are only length and width, and the number of numerical registers is correspondingly configured to two.

[0023] Step 3) According to the placement position standard of the workpiece on the positioner and the layout of the robot welding workstation, construct the functional relationship between the robot world coordinate system and the characteristic points of the positioner, and clarify the assignment operation logic between the position register and the numerical register.

[0024] Specifically, since the aforementioned design specifications, welding process parameters, welding program templates, etc. are all built based on the position coordinate system of the workpiece itself, the robot has its own set of world coordinate systems, and the workpiece needs to be placed on the positioner according to the set standards. Therefore, in this step, it is necessary to clarify the logical relationship between the workpiece coordinate system and the positioner coordinate system, as well as the position relationship between the positioner coordinate system and the robot world coordinate system, and finally achieve the unification of the coordinate system.

[0025] In this embodiment, the coordinates of the workpiece are built based on the origin of the robot world coordinate system, that is, the coordinates required to execute the welding program.

[0026] Step 4) As the input variables in the welding program template of the standard series of workpieces are assigned values, the overall process parameter information of the workpiece changes, and the changed process parameter information is updated as the data in the position register.

[0027] The process of assignment is essentially the process of machining a new workpiece. When workpieces of the same series but different specifications are placed on the positioner for machining, after inputting the variable information of the new workpiece, such as length and width information, into the welding program template of the standard series of workpieces, new welding action path data is formed, which is essentially the update of coordinate point data. After the program is calculated and processed, these new coordinate point data are converted into new coordinate point data in the coordinate system of the welding robot, and these coordinate point data are updated to the corresponding position registers, waiting to be called by the welding robot.

[0028] Step 5) The welding robot calls the information in the position register to update the operating program parameters of the welding torch, completing the compilation of the welding program.

[0029] Among them, in this embodiment, the position register used in step 4) is the same as the position register required for the original welding robot to operate.

[0030] In other embodiments, the position register used in step 4) is different from the position register required for the original welding robot to operate, and the two groups of registers are connected through a data link for data update.

[0031] In the specific program planning, it includes at least a main program, a position register update program, and a welding subprogram. The main program is used for the parameter input program and is also used to call the position register assignment update program and the welding subprogram. The position register update program is used to read the parameter variables input in the main program and update the assignment of the position register using the relative position relationship function between the workpiece and the robot. The welding subprogram is used to read the latest point position information in the position register and directly apply it to the welding point position.

[0032] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: it is still possible to modify the specific implementation manners of the present invention or perform equivalent replacements for some technical features; without departing from the spirit of the technical solutions of the present invention, they should all be covered by the scope of the technical solutions claimed by the present invention.

Claims

1. A parametric programming method based on the welding procedure of hydraulic support structural parts, characterized in that: Including the following steps: Step 1) Based on the process parameter information of the standard series of workpieces, compile a welding program template for the standard series of workpieces, which includes an adjustable parameter module composed of the characteristic parameters of the standard series of workpieces. The values of the workpiece characteristic parameters are used as input variables, and the required program type and the number of registers participating in the operation are specified; Step 2) According to the design specifications of the standard series of workpieces, determine the required number of numerical registers to match the number of variable parameters of the standard series of workpieces; Step 3) According to the placement position standard of the workpiece on the positioner and the layout of the robot welding workstation, establish the functional relationship between the robot world coordinate system and the characteristic points of the positioner, and clarify the assignment operation logic of the position register and the numerical register; Step 4) As the input variables in the welding program template of the standard series of workpieces are assigned values, the overall process parameter information of the workpiece changes, and the changed process parameter information is updated as the data of the position register; Step 5) The welding robot calls the information in the position register to update the operation program parameters of the welding torch.

2. The parametric programming method based on the welding procedure of the hydraulic support structural parts according to claim 1, characterized in that: The characteristic parameters of the standard series of workpieces are geometric characteristic parameters.

3. The parametric programming method based on the welding procedure of the hydraulic support structural member according to claim 1 or 2, characterized in that: In Step 1), the compiled welding program template for the standard series of workpieces is built into the built-in registers of the robot, and a main program is provided in the control host for parameter input.

4. The parametric programming method based on the welding procedure of the hydraulic support structural member according to claim 3, characterized in that: In Step 2), each variable parameter of the standard series of workpieces is matched with a corresponding numerical register for operation processing.

5. The parametric programming method based on the welding procedure of hydraulic support structural parts according to claim 4, characterized in that: In Step 3), the position register is used to record the spatial coordinate point information required by the welding robot during the welding operation.

6. The parametric programming method based on the welding procedure of the hydraulic support structural parts according to claim 5, characterized in that: In Step 3), the numerical register is used to record the characteristic parameter information of the standard series of workpieces.

7. The parametric programming method based on the welding procedure of the hydraulic support structural parts according to claim 6, characterized in that: The position register used in Step 4) is the same as the position register required for the original welding robot operation.

8. The parametric programming method based on the welding procedure of the hydraulic support structural member according to claim 1 or 2, characterized in that: The position register used in Step 4) is different from the position register required for the original welding robot operation, and the two groups of registers are connected through a data link for data update.

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