A method and device for generating welding path of a neutral assembly robot

Abstract

The present invention discloses a method and device for generating a welding path of a central assembly robot, which obtains a central assembly model weld and its weld starting point; according to the weld starting point, whether there is an obstacle in the central assembly model weld in real time along the direction of the central assembly model weld; when there is an obstacle, the obstacle avoidance welding path of the obstacle interval in the central assembly model weld is obtained and drawn based on the obstacle parameters; when there is no obstacle, the obstacle-free welding path of the obstacle-free interval in the central assembly model weld is drawn; when it is detected that the obstacle interval and the obstacle-free interval exist in the central assembly model weld at the same time, the obstacle avoidance welding path and the obstacle-free welding path are connected to generate a welding path of the central assembly model weld; corresponding welding process parameters are set for the welding path of the central assembly model weld to generate a robot welding path. Compared with the prior art, the technical solution of the present invention is based on improving the generation efficiency of the welding path and reducing the dependence on manual labor.

Description

Technical Field

[0001] The present invention relates to the field of welding technology, and in particular to a method and device for generating a welding path for a central assembly robot. Background Art

[0002] In the process of ship construction, the hull is gradually assembled from plates through pre-group assembly, sub-group assembly, and intermediate assembly. The intermediate assembly includes multiple sub-group workpieces, which are welded in a certain assembly sequence to form intermediate assembly sections.

[0003] At present, in the process of central assembly welding, manual welding is mostly carried out according to drawings. However, due to the complex structure of the central assembly, there are many obstacles crossing the assembly welds, and the structure is complex, which often makes the efficiency of assembly weld welding low, the welding quality difficult to ensure, and the labor intensity high. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a method and device for generating a welding path of a central assembly robot, so as to improve the generation efficiency of the welding path of the central assembly model weld and reduce the dependence on manual labor.

[0005] In order to solve the above technical problems, the present invention provides a method for generating a welding path of a neutral assembly robot, comprising:

[0006] Acquire a middle assembly model weld and its corresponding middle assembly model weld parameters, and acquire a weld starting point of the middle assembly model weld according to the middle assembly model weld parameters;

[0007] According to the weld starting point, real-time detection is performed along the weld direction of the middle assembly model to determine whether there is an obstacle in the weld of the middle assembly model;

[0008] When there is an obstacle, an obstacle avoidance welding path of the obstacle interval in the middle assembly model weld is obtained and drawn based on the obstacle parameters; when there is no obstacle, an obstacle-free welding path of the obstacle-free interval in the middle assembly model weld is drawn;

[0009] When it is detected that the obstacle section and the obstacle-free section exist simultaneously in the middle assembly model weld, the obstacle avoidance welding path and the obstacle-free welding path are connected to generate a welding path of the middle assembly model weld;

[0010] Corresponding welding process parameters are set for the welding path of the weld of the middle assembly model to generate a robot welding path.

[0011] In a possible implementation, when it is detected that there is no obstacle interval in the middle assembly model weld, the obstacle-free welding path is used as the middle assembly model weld welding path; when it is detected that there is no obstacle-free interval in the middle assembly model weld, the obstacle avoidance welding path is used as the middle assembly model weld welding path.

[0012] In a possible implementation, when it is detected that the obstacle interval and the obstacle-free interval exist simultaneously in the middle assembly model weld, the obstacle avoidance welding path and the obstacle-free welding path are connected to generate a middle assembly model weld path, specifically:

[0013] When it is detected that the obstacle interval and the obstacle-free interval exist simultaneously in the middle assembly model weld, the obstacle interval and the obstacle-free interval are sorted according to the order of detection, so that the obstacle avoidance welding path and the obstacle-free welding path are connected according to the sorting to generate a welding path for the middle assembly model weld.

[0014] In a possible implementation, before obtaining the assembled model weld, the method further includes:

[0015] All the middle assembly model welds in the middle assembly model are obtained, and corresponding middle assembly model weld numbers are set for all the middle assembly model welds, so that the corresponding middle assembly model welds are obtained based on the middle assembly model weld numbers.

[0016] In a possible implementation, the central assembly model weld parameters include: central assembly model weld number, weld start point, weld end point, weld size, weld length, weld cross-sectional size, weld leg height and model weld connection plate number.

[0017] In a possible implementation, the obstacle parameters include: the distance between the obstacle and the weld start point, the obstacle height, the length of the obstacle in the weld direction of the central assembly model, the spatial coordinate position of the obstacle, and the structural size of the obstacle.

[0018] In a possible implementation, before drawing the obstacle avoidance welding path of the obstacle interval, the method further includes: setting the obstacle interval;

[0019] According to the obstacle parameters, the length of the obstacle in the direction of the weld of the central assembly model and the distance between the obstacle and the starting point of the weld are obtained;

[0020] Determine the first starting point coordinates of the obstacle interval based on the distance between the obstacle and the weld starting point;

[0021] At the same time, based on the length of the obstacle in the weld direction of the central assembly model and the first starting point coordinate, the first end point coordinate of the obstacle interval is determined.

[0022] In a possible implementation, before drawing the obstacle-free welding path of the obstacle-free interval, the method further includes: setting the obstacle-free interval;

[0023] When it is detected that there is no obstacle, the current detection coordinates of the weld of the middle assembly model are obtained, and the current detection coordinates are set as the second starting point coordinates of the obstacle-free interval;

[0024] According to the second starting point coordinates, obstacle detection is performed on the weld of the middle assembly model along the direction of the weld of the middle assembly model;

[0025] If an obstacle is detected, obtaining the first starting point coordinates of the obstacle interval, and setting the first starting point coordinates as the second end point coordinates of the obstacle-free interval;

[0026] If no obstacle is detected, the weld end point is set as the second end point coordinate of the obstacle-free interval.

[0027] In a possible implementation, the welding process parameters include obstacle avoidance welding path welding process parameters and obstacle-free welding path welding process parameters;

[0028] The obstacle avoidance welding path welding process parameters include the obstacle interval welding speed, the obstacle interval welding wire diameter, the obstacle interval welding current, the obstacle interval welding voltage and the obstacle interval welding gun angle;

[0029] The welding process parameters of the obstacle-free welding path include a welding speed in an obstacle-free interval, a welding wire diameter in an obstacle-free interval, a welding current in an obstacle-free interval, a welding voltage in an obstacle-free interval, and a welding gun angle in an obstacle-free interval.

[0030] The embodiment of the present invention also provides a central assembly robot welding path generation device, comprising: a central assembly model weld seam acquisition module, an obstacle detection module, a welding path drawing module, a central assembly model weld seam welding path generation module and a robot path generation module;

[0031] The middle assembly model weld acquisition module is used to acquire the middle assembly model weld and its corresponding middle assembly model weld parameters, and acquire the weld starting point of the middle assembly model weld according to the middle assembly model weld parameters;

[0032] The obstacle detection module is used to detect whether there is an obstacle in the weld of the middle assembly model in real time along the direction of the weld of the middle assembly model according to the starting point of the weld;

[0033] The welding path drawing module is used to obtain and draw an obstacle avoidance welding path in the obstacle interval in the middle assembly model weld based on obstacle parameters when there is an obstacle, and to draw an obstacle-free welding path in the obstacle-free interval in the middle assembly model weld when there is no obstacle;

[0034] The middle assembly model weld seam welding path generation module is used to connect the obstacle avoidance welding path and the obstacle-free welding path to generate the middle assembly model weld seam welding path when it is detected that the obstacle interval and the obstacle-free interval exist simultaneously in the middle assembly model weld seam;

[0035] The robot welding path generation module is used to set corresponding welding process parameters for the welding path of the weld of the central assembly model to generate a robot welding path.

[0036] In a possible implementation, the middle assembly model weld welding path generation module is also used to use the obstacle-free welding path as the middle assembly model weld welding path when it is detected that there is no obstacle interval in the middle assembly model weld, and to use the obstacle avoidance welding path as the middle assembly model weld welding path when it is detected that there is no obstacle-free interval in the middle assembly model weld.

[0037] In a possible implementation, the middle assembly model weld seam welding path generation module is used to connect the obstacle avoidance welding path and the obstacle-free welding path to generate the middle assembly model weld seam welding path when it is detected that the obstacle interval and the obstacle-free interval exist simultaneously in the middle assembly model weld seam, specifically:

[0038] When it is detected that the obstacle interval and the obstacle-free interval exist simultaneously in the middle assembly model weld, the obstacle interval and the obstacle-free interval are sorted according to the order of detection, so that the obstacle avoidance welding path and the obstacle-free welding path are connected according to the sorting to generate a welding path for the middle assembly model weld.

[0039] In a possible implementation, the middle assembly model weld acquisition module is also used to acquire all middle assembly model welds in the middle assembly model, and set corresponding middle assembly model weld numbers for all the middle assembly model welds, so that the corresponding middle assembly model welds are acquired based on the middle assembly model weld numbers.

[0040] In a possible implementation, the intermediate assembly model weld parameters in the intermediate assembly model weld acquisition module include: intermediate assembly model weld number, weld start point, weld end point, weld size, weld length, weld cross-sectional size, weld leg height and model weld connection plate number.

[0041] In a possible implementation, the obstacle parameters in the welding path drawing module include: the distance between the obstacle and the weld starting point, the obstacle height, the length of the obstacle in the weld direction of the central assembly model, the spatial coordinate position of the obstacle, and the structural size of the obstacle.

[0042] In a possible implementation, the welding path drawing module further includes an obstacle interval setting unit;

[0043] The obstacle interval setting unit is used to obtain the length of the obstacle in the weld direction of the middle assembly model and the distance between the obstacle and the weld starting point according to the obstacle parameters, determine the first starting point coordinates of the obstacle interval based on the distance between the obstacle and the weld starting point, and determine the first end point coordinates of the obstacle interval based on the length of the obstacle in the weld direction of the middle assembly model and the first starting point coordinates.

[0044] In a possible implementation, the welding path drawing module further includes an obstacle-free interval setting unit;

[0045] The obstacle-free interval setting unit is used to obtain the current detection coordinates of the middle assembly model weld when it is detected that there is no obstacle, and set the current detection coordinates as the second starting point coordinates of the obstacle-free interval; according to the second starting point coordinates, obstacle detection is performed on the middle assembly model weld along the direction of the middle assembly model weld; if an obstacle is detected, the first starting point coordinates of the obstacle interval are obtained, and the first starting point coordinates are set as the second end point coordinates of the obstacle-free interval; if no obstacle is detected, the weld end point is set as the second end point coordinates of the obstacle-free interval.

[0046] In a possible implementation, the welding process parameters in the robot welding path generation module include obstacle avoidance welding path welding process parameters and obstacle-free welding path welding process parameters;

[0047] The obstacle avoidance welding path welding process parameters include the obstacle interval welding speed, the obstacle interval welding wire diameter, the obstacle interval welding current, the obstacle interval welding voltage and the obstacle interval welding gun angle;

[0048] The welding process parameters of the obstacle-free welding path include a welding speed in an obstacle-free interval, a welding wire diameter in an obstacle-free interval, a welding current in an obstacle-free interval, a welding voltage in an obstacle-free interval, and a welding gun angle in an obstacle-free interval.

[0049] The present invention provides a method and device for generating a welding path for a central assembly robot, which has the following beneficial effects compared with the prior art:

[0050] By setting the weld starting point of the middle assembly model weld, starting from the weld starting point, detecting whether there is an obstacle in the middle assembly model weld along the direction of the middle assembly model weld, when there is an obstacle, drawing an obstacle avoidance welding path in the obstacle interval in the middle assembly model weld based on obstacle parameters, and when there is no obstacle, drawing an obstacle-free welding path in the obstacle-free interval in the middle assembly model weld, so that according to the obstacle avoidance welding path and the obstacle-free welding path, a welding path of the middle assembly model weld is generated, and corresponding welding process parameters are set for the welding path of the middle assembly model weld to generate a robot welding path. Compared with the prior art, the technical solution of the present invention is based on improving the generation efficiency of the welding path and reducing the dependence on manual labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a flow chart of an embodiment of a method for generating a welding path for a neutral assembly robot provided by the present invention;

[0052] Figure 2 It is a structural schematic diagram of an embodiment of a welding path generating device for a central assembly robot provided by the present invention. DETAILED DESCRIPTION

[0053] The following will be combined with the accompanying drawings in the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] Example 1

[0055] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of an embodiment of a method for generating a welding path of a neutral assembly robot provided by the present invention. Figure 1 As shown, the method includes steps 101 to 105, which are specifically as follows:

[0056] Step 101: obtaining a middle assembly model weld and its corresponding middle assembly model weld parameters, and obtaining a weld starting point of the middle assembly model weld according to the middle assembly model weld parameters.

[0057] In this embodiment, since the welding of multiple middle assembly welds is often involved in the ship model design, in this embodiment, before obtaining the middle assembly model welds for drawing the weld welding path, all the middle assembly model welds in the middle assembly model will be obtained, and corresponding middle assembly model weld numbers will be set for all the middle assembly model welds, so as to facilitate the management of all the middle assembly model welds in the middle assembly model, so that the corresponding middle assembly model welds can be obtained according to the middle assembly model weld numbers.

[0058] In this embodiment, according to the weld number of the middle assembly model, the corresponding weld of the middle assembly model is selected in the middle assembly model, and the weld parameters of the middle assembly model corresponding to the weld of the middle assembly model are obtained, wherein the weld parameters of the middle assembly model include the weld number of the middle assembly model, the weld starting point, the weld end point, the weld size, the weld length, the weld cross-sectional size, the weld leg height and the plate number of the model weld connection. Based on the weld parameters of the middle assembly model, the weld starting point and the weld end point of the weld of the middle assembly model are determined.

[0059] As an example in this embodiment, the acquisition of the weld parameters of the middle assembly model may be performed manually, or may be performed automatically based on the setting of the weld of the middle assembly model in the middle assembly model.

[0060] Step 102: According to the weld starting point, detect in real time along the weld direction of the middle assembly model whether there is an obstacle in the weld of the middle assembly model.

[0061] In this embodiment, according to the weld starting point and the weld end point in the weld parameters of the neutral assembly model, the weld direction of the neutral welding model corresponding to the weld is obtained, and after determining the weld direction of the neutral assembly model, based on the weld starting point, the weld direction of the neutral assembly model is detected in real time whether there are obstacles in the weld of the neutral assembly model along the weld direction of the neutral assembly model; wherein the weld direction of the neutral assembly welding model is the direction from the weld starting point to the weld end point of the weld of the neutral assembly model.

[0062] In this embodiment, since the structure of the middle assembly model is complex and there are many obstacles across the weld of the middle assembly model, it is necessary to detect in real time whether there are obstacles in the weld of the middle assembly model.

[0063] Step 103: When there is an obstacle, an obstacle avoidance welding path of the obstacle interval in the middle assembly model weld is obtained and drawn based on the obstacle parameters; when there is no obstacle, an obstacle-free welding path of the obstacle-free interval in the middle assembly model weld is drawn.

[0064] In this embodiment, when there is an obstacle in the middle assembly model weld, it is also necessary to analyze the relationship between the obstacle and the middle assembly model weld, wherein the relationship between the obstacle and the middle assembly model weld can be: the obstacle is in the form of cutting off the middle assembly model weld, the middle assembly model weld forms an interval on both sides of the obstacle, and the two formed middle assembly model weld intervals do not intersect; the relationship between the obstacle and the middle assembly model weld can also be: the obstacle is in the form of crossing the middle assembly model weld, the middle assembly model weld maintains a continuous weld below the obstacle, and forms an interval on both sides, and the two formed middle assembly model weld intervals intersect, that is, multi-layer welding is formed below the obstacle.

[0065] In this embodiment, based on the relationship between the obstacle and the weld of the middle assembly model, the parameters of the obstacle are obtained, wherein the obstacle parameters include the distance between the obstacle and the starting point of the weld, the height of the obstacle, the length of the obstacle in the direction of the weld of the middle assembly welding model, the spatial coordinate position of the obstacle, and the structural size of the obstacle.

[0066] In one embodiment, it is determined whether the obstacle is lowered through a water hole, and when there is a water hole below the obstacle, the obstacle parameters also include the water hole below the obstacle and the arc radius of the water hole; when there is no water hole below the obstacle, the obstacle parameters also include no water hole below the obstacle.

[0067] In this embodiment, before drawing the obstacle avoidance welding path of the obstacle interval, it also includes: setting the obstacle interval; specifically, according to the obstacle parameters, obtaining the length of the obstacle in the weld direction of the middle assembly model and the distance between the obstacle and the weld starting point; based on the distance between the obstacle and the weld starting point, determining the first starting point coordinates of the obstacle interval; and at the same time, based on the length of the obstacle in the weld direction of the middle assembly model and the first starting point coordinates, determining the first end point coordinates of the obstacle interval.

[0068] In this embodiment, when the obstacle interval is obtained, an obstacle avoidance welding path of the obstacle interval in the weld of the middle assembly model is drawn in the obstacle interval in combination with the structural dimensions and obstacle parameters of the robot welding gun.

[0069] In this embodiment, after drawing the corresponding obstacle avoidance welding path in the obstacle interval, it is necessary to determine whether the first end point coordinate of the current obstacle interval is the same as the weld end point. If not, it is considered that the obstacle detection of the center assembly model weld has not been completed. Therefore, the position of the first end point coordinate is used as the weld starting point, and the process returns to step 102: "According to the weld starting point, detect in real time along the center assembly model weld direction whether there is an obstacle in the center assembly model weld"; if they are the same, it is considered that the obstacle detection of the center assembly model weld is completed.

[0070] In one embodiment, if the first starting point coordinate of the obstacle interval is the weld starting point and the first end point coordinate of the obstacle interval is the weld end point, it is considered that there is no obstacle-free interval in the middle assembly model weld, and an obstacle avoidance welding path of the obstacle interval in the middle assembly model weld can be directly drawn along the direction of the middle assembly model weld.

[0071] In this embodiment, when it is determined that there is no obstacle in the middle assembly model weld, it is also necessary to set an obstacle-free interval for the middle assembly model weld; specifically, when it is detected that there is no obstacle, the current detection coordinates of the middle assembly model weld are obtained, and the current detection coordinates are set as the second starting point coordinates of the obstacle-free interval; according to the second starting point coordinates, obstacle detection is performed on the middle assembly model weld along the direction of the middle assembly model weld; if an obstacle is detected, the first starting point coordinates of the obstacle interval are obtained, and the first starting point coordinates are set as the second end point coordinates of the obstacle-free interval; if no obstacle is detected, the weld end point is set to the second end point coordinates of the obstacle-free interval.

[0072] In one embodiment, if the second starting point coordinate of the obstacle-free interval is the starting point of the weld and the second end point coordinate of the obstacle-free interval is the end point of the weld, it is considered that there is no obstacle interval in the weld of the middle assembly model, and an obstacle-free welding path of the obstacle-free interval in the weld of the middle assembly model can be directly drawn along the direction of the weld of the middle assembly model.

[0073] Step 104: when it is detected that the obstacle section and the obstacle-free section exist simultaneously in the middle assembly model weld, the obstacle-avoiding welding path and the obstacle-free welding path are connected to generate a welding path for the middle assembly model weld.

[0074] In this embodiment, when it is detected that both the obstacle interval and the obstacle-free interval exist in the middle assembly model weld, since the number of the obstacle interval and the obstacle-free interval may be one or more, in order to better distinguish the positions of the obstacle interval and the obstacle-free interval in the middle assembly model weld, the obstacle interval and the obstacle-free interval are also sorted. Specifically, when it is detected that both the obstacle interval and the obstacle-free interval exist in the middle assembly model weld, the obstacle interval and the obstacle-free interval on the middle assembly model weld are sorted according to the order of detection, so that the obstacle avoidance welding path and the obstacle-free welding path are connected according to the sorting to generate the welding path of the middle assembly model weld.

[0075] As a preferred solution in this embodiment, when it is detected that there is no obstacle section in the middle assembly model weld, the obstacle-free welding path is used as the welding path of the middle assembly model weld;

[0076] As a preferred solution in this embodiment, when it is detected that there is no obstacle-free section in the middle assembly model weld, the obstacle avoidance welding path is used as the welding path of the middle assembly model weld.

[0077] Step 105: setting corresponding welding process parameters for the welding path of the weld of the intermediate assembly model to generate a robot welding path.

[0078] In this embodiment, since the welding processes corresponding to the obstacle interval and the obstacle-free interval are different during the actual welding process, corresponding welding process parameters are set for the welding path of the middle assembly model weld. Specifically, the welding process parameters include obstacle avoidance welding path welding process parameters and obstacle-free welding path welding process parameters; wherein the obstacle avoidance welding path welding process parameters include obstacle interval welding speed, obstacle interval welding wire diameter, obstacle interval welding current, obstacle interval welding voltage and obstacle interval welding gun angle; the obstacle-free welding path welding process parameters include obstacle-free interval welding speed, obstacle-free interval welding wire diameter, obstacle-free interval welding current, obstacle-free interval welding voltage and obstacle-free interval welding gun angle.

[0079] The present invention provides a method for generating a welding path of a central assembly robot. The method comprises the following steps: setting a weld starting point of a central assembly model weld, starting from the weld starting point, detecting whether there is an obstacle in the central assembly model weld along the direction of the central assembly model weld; when there is an obstacle, drawing an obstacle avoidance welding path in an obstacle interval in the central assembly model weld based on obstacle parameters; when there is no obstacle, drawing an obstacle-free welding path in an obstacle-free interval in the central assembly model weld, so that a welding path of the central assembly model weld is generated according to the obstacle avoidance welding path and the obstacle-free welding path, and setting corresponding welding process parameters for the welding path of the central assembly model weld to generate a robot welding path, so as to improve the generation efficiency of the welding path of the central assembly model weld and reduce the dependence on manual labor.

[0080] Example 2

[0081] See also Figure 2 , Figure 2 : is a schematic diagram of a structure of an embodiment of a welding path generating device for a neutral assembly robot provided by the present invention, such as Figure 2 As shown, the device includes a central assembly model weld acquisition module 201, an obstacle detection module 202, a welding path drawing module 203, a central assembly model weld welding path generation module 204 and a robot welding path generation module 205, which are specifically as follows:

[0082] The middle assembly model weld acquisition module 201 is used to acquire the middle assembly model weld and its corresponding middle assembly model weld parameters, and acquire the weld starting point of the middle assembly model weld according to the middle assembly model weld parameters.

[0083] The obstacle detection module 202 is used to detect whether there is an obstacle in the weld of the middle assembly model in real time along the direction of the weld of the middle assembly model according to the weld starting point.

[0084] The welding path drawing module 203 is used to obtain and draw an obstacle avoidance welding path in the obstacle interval in the middle assembly model weld based on obstacle parameters when there are obstacles, and to draw an obstacle-free welding path in the obstacle-free interval in the middle assembly model weld when there are no obstacles.

[0085] The intermediate assembly model weld seam welding path generation module 204 is used to connect the obstacle avoidance welding path and the obstacle-free welding path to generate the intermediate assembly model weld seam welding path when it is detected that the obstacle interval and the obstacle-free interval exist simultaneously in the intermediate assembly model weld seam.

[0086] The robot welding path generation module 205 is used to set corresponding welding process parameters for the welding path of the weld of the central assembly model to generate a robot welding path.

[0087] In this embodiment, the middle assembly model weld welding path generation module 204 is also used to use the obstacle-free welding path as the middle assembly model weld welding path when it is detected that there is no obstacle interval in the middle assembly model weld, and to use the obstacle avoidance welding path as the middle assembly model weld welding path when it is detected that there is no obstacle-free interval in the middle assembly model weld.

[0088] In this embodiment, the middle assembly model weld welding path generation module 204 is used to connect the obstacle avoidance welding path and the obstacle-free welding path to generate the middle assembly model weld welding path when it is detected that the obstacle interval and the obstacle-free interval exist simultaneously in the middle assembly model weld. Specifically, when it is detected that the obstacle interval and the obstacle-free interval exist simultaneously in the middle assembly model weld, the obstacle interval and the obstacle-free interval are sorted according to the order of detection, so that the obstacle avoidance welding path and the obstacle-free welding path are connected according to the sorting to generate the middle assembly model weld welding path.

[0089] In this embodiment, the intermediate assembly model weld acquisition module 201 is also used to acquire all intermediate assembly model welds in the intermediate assembly model, and set corresponding intermediate assembly model weld numbers for all the intermediate assembly model welds, so as to acquire the corresponding intermediate assembly model welds based on the intermediate assembly model weld numbers.

[0090] In this embodiment, the intermediate assembly model weld parameters in the intermediate assembly model weld acquisition module 201 include: intermediate assembly model weld number, weld start point, weld end point, weld size, weld length, weld cross-sectional size, weld leg height and model weld connection plate number.

[0091] In this embodiment, the obstacle parameters in the welding path drawing module 203 include: the distance between the obstacle and the weld starting point, the obstacle height, the length of the obstacle in the weld direction of the central assembly model, the spatial coordinate position of the obstacle, and the structural size of the obstacle.

[0092] In this embodiment, the welding path drawing module 203 also includes an obstacle interval setting unit; the obstacle interval setting unit is used to obtain the length of the obstacle in the direction of the weld of the middle assembly model and the distance between the obstacle and the starting point of the weld according to the obstacle parameters, and determine the first starting point coordinates of the obstacle interval based on the distance between the obstacle and the starting point of the weld, and at the same time determine the first end point coordinates of the obstacle interval based on the length of the obstacle in the direction of the weld of the middle assembly model and the first starting point coordinates.

[0093] In this embodiment, the welding path drawing module 203 also includes an obstacle-free interval setting unit; the obstacle-free interval setting unit is used to obtain the current detection coordinates of the middle assembly model weld when it is detected that there is no obstacle, and set the current detection coordinates as the second starting point coordinates of the obstacle-free interval, and perform obstacle detection on the middle assembly model weld along the direction of the middle assembly model weld according to the second starting point coordinates. If an obstacle is detected, the first starting point coordinates of the obstacle interval are obtained, and the first starting point coordinates are set as the second end point coordinates of the obstacle-free interval. If no obstacle is detected, the weld end point is set to the second end point coordinates of the obstacle-free interval.

[0094] In this embodiment, the welding process parameters in the robot welding path generation module 205 include obstacle avoidance welding path welding process parameters and obstacle-free welding path welding process parameters; wherein the obstacle avoidance welding path welding process parameters include obstacle interval welding speed, obstacle interval welding wire diameter, obstacle interval welding current, obstacle interval welding voltage and obstacle interval welding gun angle; the obstacle-free welding path welding process parameters include obstacle-free interval welding speed, obstacle-free interval welding wire diameter, obstacle-free interval welding current, obstacle-free interval welding voltage and obstacle-free interval welding gun angle.

[0095] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0096] It should be noted that the above-mentioned embodiment of the assembly robot welding path generation device is only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0097] In summary, the present invention discloses a method and device for generating a welding path for a central assembly robot, by obtaining a central assembly model weld and its weld starting point; according to the weld starting point, real-time detection of whether there is an obstacle in the central assembly model weld along the direction of the central assembly model weld; when there is an obstacle, obtaining and drawing an obstacle avoidance welding path in the obstacle interval in the central assembly model weld based on the obstacle parameters, when there is no obstacle, drawing an obstacle-free welding path in the obstacle-free interval in the central assembly model weld; when it is detected that the obstacle interval and the obstacle-free interval exist in the central assembly model weld at the same time, connecting the obstacle avoidance welding path and the obstacle-free welding path to generate a welding path for the central assembly model weld; setting corresponding welding process parameters for the welding path of the central assembly model weld to generate a robot welding path. Compared with the prior art, the technical solution of the present invention is based on improving the generation efficiency of the welding path and reducing the dependence on manual labor. The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A method for generating a welding path for a neutral assembly robot, characterized in that: include: Acquire a middle assembly model weld and its corresponding middle assembly model weld parameters, and acquire a weld starting point of the middle assembly model weld according to the middle assembly model weld parameters; According to the weld starting point, real-time detection is performed along the weld direction of the middle assembly model to determine whether there is an obstacle in the weld of the middle assembly model; When there is an obstacle, an obstacle avoidance welding path of the obstacle interval in the middle assembly model weld is obtained and drawn based on the obstacle parameters; when there is no obstacle, an obstacle-free welding path of the obstacle-free interval in the middle assembly model weld is drawn; When it is detected that the obstacle section and the obstacle-free section exist simultaneously in the middle assembly model weld, the obstacle avoidance welding path and the obstacle-free welding path are connected to generate a welding path of the middle assembly model weld; Setting corresponding welding process parameters for the welding path of the weld of the middle assembly model to generate a robot welding path; Wherein, before drawing the obstacle avoidance welding path of the obstacle interval, it also includes: setting the obstacle interval; specifically, according to the obstacle parameters, obtaining the length of the obstacle in the direction of the weld of the middle assembly model and the distance between the obstacle and the starting point of the weld; based on the distance between the obstacle and the starting point of the weld, determining the first starting point coordinates of the obstacle interval; and at the same time, based on the length of the obstacle in the direction of the weld of the middle assembly model and the first starting point coordinates, determining the first end point coordinates of the obstacle interval; Before drawing an obstacle-free welding path for an obstacle-free interval, it also includes: setting an obstacle-free interval; specifically, when it is detected that there is no obstacle, obtaining the current detection coordinates of the middle assembly model weld, and setting the current detection coordinates as the second starting point coordinates of the obstacle-free interval; according to the second starting point coordinates, performing obstacle detection on the middle assembly model weld along the direction of the middle assembly model weld; if an obstacle is detected, obtaining the first starting point coordinates of the obstacle interval, and setting the first starting point coordinates as the second end point coordinates of the obstacle-free interval; if no obstacle is detected, setting the weld end point of the middle assembly model weld to the second end point coordinates of the obstacle-free interval.

2. A method for generating a welding path for a neutral assembly robot as claimed in claim 1, characterized in that: Also includes: When it is detected that there is no obstacle section in the middle assembly model weld, the obstacle-free welding path is used as the welding path of the middle assembly model weld; When it is detected that there is no obstacle-free section in the middle assembly model weld, the obstacle avoidance welding path is used as the welding path of the middle assembly model weld.

3. A method for generating a welding path for a neutral assembly robot as claimed in claim 1, characterized in that: When it is detected that the obstacle interval and the obstacle-free interval exist simultaneously in the middle assembly model weld, the obstacle avoidance welding path and the obstacle-free welding path are connected to generate a middle assembly model weld path, specifically: When it is detected that the obstacle interval and the obstacle-free interval exist simultaneously in the middle assembly model weld, the obstacle interval and the obstacle-free interval are sorted according to the order of detection, so that the obstacle avoidance welding path and the obstacle-free welding path are connected according to the sorting to generate a welding path for the middle assembly model weld.

4. A method for generating a welding path for a neutral assembly robot as claimed in claim 1, characterized in that: Before obtaining the weld seam model, it also includes: All the middle assembly model welds in the middle assembly model are obtained, and corresponding middle assembly model weld numbers are set for all the middle assembly model welds, so that the corresponding middle assembly model welds are obtained based on the middle assembly model weld numbers.

5. A method for generating a welding path for a neutral assembly robot as claimed in claim 1, characterized in that: The central assembly model weld parameters include: central assembly model weld number, weld start point, weld end point, weld size, weld length, weld cross-sectional size, weld leg height and model weld connection plate number.

6. A method for generating a welding path for a neutral assembly robot as claimed in claim 1, characterized in that: The obstacle parameters include: the distance between the obstacle and the weld start point, the obstacle height, the length of the obstacle in the weld direction of the central assembly model, the spatial coordinate position of the obstacle, and the structural size of the obstacle.

7. A method for generating a welding path for a neutral assembly robot as claimed in claim 1, characterized in that: The welding process parameters include obstacle avoidance welding path welding process parameters and barrier-free welding path welding process parameters; The obstacle avoidance welding path welding process parameters include the obstacle interval welding speed, the obstacle interval welding wire diameter, the obstacle interval welding current, the obstacle interval welding voltage and the obstacle interval welding gun angle; The welding process parameters of the obstacle-free welding path include a welding speed in an obstacle-free interval, a welding wire diameter in an obstacle-free interval, a welding current in an obstacle-free interval, a welding voltage in an obstacle-free interval, and a welding gun angle in an obstacle-free interval.

8. A welding path generation device for a mid-assembly robot, characterized in that: include: Central assembly model weld acquisition module, obstacle detection module, welding path drawing module, central assembly model weld path generation module and robot welding path generation module; The middle assembly model weld acquisition module is used to acquire the middle assembly model weld and its corresponding middle assembly model weld parameters, and acquire the weld starting point of the middle assembly model weld according to the middle assembly model weld parameters; The obstacle detection module is used to detect whether there is an obstacle in the weld of the middle assembly model in real time along the direction of the weld of the middle assembly model according to the starting point of the weld; The welding path drawing module is used to obtain and draw an obstacle avoidance welding path in the obstacle interval in the middle assembly model weld based on obstacle parameters when there is an obstacle, and to draw an obstacle-free welding path in the obstacle-free interval in the middle assembly model weld when there is no obstacle; The middle assembly model weld seam welding path generation module is used to connect the obstacle avoidance welding path and the obstacle-free welding path to generate the middle assembly model weld seam welding path when it is detected that the obstacle interval and the obstacle-free interval exist simultaneously in the middle assembly model weld seam; The robot welding path generation module is used to set corresponding welding process parameters for the welding path of the weld of the central assembly model to generate a robot welding path; Wherein, the welding path drawing module also includes an obstacle interval setting unit; the obstacle interval setting unit is used to obtain the length of the obstacle in the direction of the weld of the middle assembly model and the distance between the obstacle and the starting point of the weld according to the obstacle parameters, and determine the first starting point coordinates of the obstacle interval based on the distance between the obstacle and the starting point of the weld, and determine the first end point coordinates of the obstacle interval based on the length of the obstacle in the direction of the weld of the middle assembly model and the first starting point coordinates; The welding path drawing module also includes an obstacle-free interval setting unit; the obstacle-free interval setting unit is used to obtain the current detection coordinates of the middle assembly model weld when it is detected that there is no obstacle, and set the current detection coordinates as the second starting point coordinates of the obstacle-free interval, and perform obstacle detection on the middle assembly model weld along the direction of the middle assembly model weld according to the second starting point coordinates. If an obstacle is detected, the first starting point coordinates of the obstacle interval are obtained, and the first starting point coordinates are set as the second end point coordinates of the obstacle-free interval; if no obstacle is detected, the weld end point is set as the second end point coordinates of the obstacle-free interval.

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