A method and device for welding intermediate assembly welds based on simulation software

Abstract

The present invention discloses a method and device for welding intermediate assembly welds based on simulation software. By obtaining the constructed intermediate assembly component model, performing structural analysis on the intermediate assembly component model to obtain all the welds in the intermediate assembly component model, and acquiring the weld position corresponding to each weld; setting the weld type, classifying all the welds based on the weld position to obtain the weld type corresponding to each weld, and automatically obtaining the robot welding trajectory corresponding to the weld type according to the weld type; setting the robot posture for the welding robot based on the robot welding trajectory, weld position, and weld type; so that the welding robot welds each fillet weld on the robot welding trajectory based on the robot posture. Compared with the prior art, the technical solution of the present invention realizes automatic robot welding operation by completing the welding trajectory planning of the intermediate assembly welds, improving the welding operation efficiency and quality.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent shipbuilding manufacturing, and particularly to a welding method and device for intermediate assembly welds based on simulation software. Background Art

[0002] Currently, in the process of sectional construction in the shipbuilding industry, high-integration automated equipment has been applied in processes and workstations such as cutting, panel splicing, longitudinal girder installation, and longitudinal girder welding, greatly improving the construction efficiency. However, in the intermediate assembly rib plate welding process, due to the relatively complex intermediate assembly structure and multi-dimensional welds between components, the welding operation of the fillet weld between the rib plate and the bottom plate is basically still in the stage mainly of manual welding supplemented by semi-automatic welding trolleys. The welding quality is greatly related to the technical level of the welding operators. The weld formation is relatively poor and unstable, making it difficult to ensure the welding quality of the intermediate assembly. Often, a large amount of unnecessary post-weld seam grinding work is required, a large number of grinding operators need to be invested, the labor intensity of the personnel is high, the working environment is poor, and the efficiency is low, which does not meet the current demand of enterprises for transformation and upgrading to achieve high-quality development for automated, digital, and intelligent manufacturing, and there is a large gap.

[0003] And currently, flat sections are mainly fabricated on the flat section production line. For the rib plate welding station, manual welding operations are still mainly carried out. The quality of the welding is directly related to the technical level of the welder, and due to the poor stability of manual operations, a large amount of repair work is often required. Therefore, how to use robot technology to achieve intelligent welding, thereby improving the welding quality and efficiency, will be an important issue that every shipbuilding enterprise needs to consider. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: to provide a welding method and device for intermediate assembly welds based on simulation software, so as to improve the welding operation efficiency and quality.

[0005] To solve the above technical problem, the present invention provides a welding method for intermediate assembly welds based on simulation software, including:

[0006] Obtain the constructed intermediate assembly component model, perform a structural analysis on the intermediate assembly component model to obtain all the welds in the intermediate assembly component model, and obtain the weld position corresponding to each weld;

[0007] Set the weld type, classify all the welds based on the weld position to obtain the weld type corresponding to each weld, and automatically obtain the robot welding trajectory corresponding to the weld type according to the weld type;

[0008] Based on the robot welding trajectory, the weld position, and the weld type, set the robot posture for the welding robot; so that the welding robot welds each fillet weld on the robot welding trajectory based on the robot posture.

[0009] In a possible implementation, perform a structural analysis on the intermediate assembly component model to obtain all the welds in the intermediate assembly component model, specifically including:

[0010] Perform a structural analysis on the intermediate assembly component model to obtain the part types in the intermediate assembly component model, and count the number of parts corresponding to each part type, where the part types include bottom plates, vertical and horizontal partitions, and longitudinal stiffeners;

[0011] Based on the part types and the number of parts, calculate and obtain all the welds in the intermediate assembly component model, where all the welds include intermediate assembly fillet welds and intermediate assembly flat fillet welds.

[0012] In a possible implementation, set the weld type, classify all the welds based on the weld position to obtain the weld type corresponding to each weld, specifically including:

[0013] Set the intermediate assembly fillet weld type, where the intermediate assembly fillet weld type includes fillet welds in the first quadrant, fillet welds in the second quadrant, fillet welds in the third quadrant, and fillet welds in the fourth quadrant;

[0014] Based on the weld position corresponding to each obtained intermediate assembly fillet weld, judge the quadrant area where each intermediate assembly fillet weld is located, and classify each intermediate assembly fillet weld based on the quadrant area to obtain the intermediate assembly fillet weld type corresponding to each intermediate assembly fillet weld.

[0015] In a possible implementation, set the weld type, classify all the welds based on the weld position to obtain the weld type corresponding to each weld, and also include:

[0016] Set the intermediate assembly flat fillet weld type, where the intermediate assembly flat fillet weld type includes horizontal flat fillet welds in the first quadrant, vertical flat fillet welds in the first quadrant, horizontal flat fillet welds in the second quadrant, vertical flat fillet welds in the second quadrant, horizontal flat fillet welds in the third quadrant, vertical flat fillet welds in the third quadrant, horizontal flat fillet welds in the fourth quadrant, and vertical flat fillet welds in the fourth quadrant;

[0017] Based on the weld position corresponding to each obtained intermediate assembly flat fillet weld, judge the quadrant area where each intermediate assembly flat fillet weld is located, and at the same time judge the horizontal and vertical placement state of each intermediate assembly flat fillet weld;

[0018] Classify each middle assembly flat fillet weld based on the quadrant region and the horizontal and vertical placement states to obtain the corresponding middle assembly fillet weld type for each middle assembly flat fillet weld.

[0019] In a possible implementation manner, according to the weld type, automatically obtain the robot welding trajectory corresponding to the weld type, specifically including:

[0020] Set corresponding weld trajectory parameters for each weld type, where the weld trajectory parameters include the torch angle attitude and the torch trajectory line;

[0021] Based on the weld type, obtain the corresponding weld trajectory parameters, and automatically generate the robot welding trajectory corresponding to the weld type based on the weld trajectory parameters.

[0022] In a possible implementation manner, before the welding robot welds each weld on the robot welding trajectory based on the robot attitude, it further includes:

[0023] Set the robot welding seam finding method, so that the robot finds the position of each weld based on the robot welding seam finding method and moves to the starting point position of each weld.

[0024] In a possible implementation manner, obtain the constructed middle assembly component model, specifically including:

[0025] Based on the plain text file generated by the shipbuilding modeling software, obtain the middle assembly component model data, and input the middle assembly component model data into the simulation software to obtain the middle assembly component model.

[0026] In a possible implementation manner, after obtaining the constructed middle assembly component model, it further includes:

[0027] Obtain the actual position and orientation of the ship, and judge whether the position and orientation of the middle assembly component model are the same as the actual position and orientation. If not, set the position and orientation to the actual position and orientation;

[0028] Obtain the first coordinate system of the shipbuilding modeling software, and judge whether the second coordinate system of the middle assembly component model is the same as the first coordinate system. If not, convert the first coordinate system to the second coordinate system.

[0029] The present invention also provides a middle assembly weld welding device based on simulation software, including: a middle assembly weld acquisition module, a robot welding trajectory acquisition module, and a weld welding module;

[0030] Among them, the intermediate assembly weld acquisition module is used to obtain the built intermediate assembly component model, perform structural analysis on the intermediate assembly component model to obtain all the welds in the intermediate assembly component model, and obtain the weld position corresponding to each weld.

[0031] The robot welding trajectory acquisition module is used to set the weld type, classify all the welds based on the weld position to obtain the weld type corresponding to each weld, and automatically obtain the robot welding trajectory corresponding to the weld type according to the weld type.

[0032] The weld welding module is used to set the robot posture of the welding robot based on the robot welding trajectory, the weld position and the weld type; so that the welding robot welds each weld on the robot welding trajectory based on the robot posture.

[0033] In a possible implementation manner, the intermediate assembly weld acquisition module is used to perform structural analysis on the intermediate assembly component model to obtain all the welds in the intermediate assembly component model, specifically including:

[0034] Perform structural analysis on the intermediate assembly component model to obtain the part types in the intermediate assembly component model, and count the number of parts corresponding to each part type, where the part types include bottom plates, vertical and horizontal partitions, and longitudinal stiffeners;

[0035] Based on the part type and the number of parts, calculate and obtain all the welds in the intermediate assembly component model, where all the welds include intermediate assembly fillet welds and intermediate assembly flat fillet welds.

[0036] In a possible implementation manner, the robot welding trajectory acquisition module is used to set the weld type, classify all the welds based on the weld position to obtain the weld type corresponding to each weld, specifically including:

[0037] Set the intermediate assembly fillet weld type, where the intermediate assembly fillet weld type includes fillet welds in the first quadrant, fillet welds in the second quadrant, fillet welds in the third quadrant, and fillet welds in the fourth quadrant;

[0038] Based on the weld position corresponding to each obtained intermediate assembly fillet weld, judge the quadrant area where each intermediate assembly fillet weld is located, and classify each intermediate assembly fillet weld based on the quadrant area to obtain the intermediate assembly fillet weld type corresponding to each intermediate assembly fillet weld.

[0039] In a possible implementation manner, the robot welding trajectory acquisition module is used to set the weld type, classify all the welds based on the weld position to obtain the weld type corresponding to each weld, and further includes:

[0040] Set the type of intermediate assembly fillet welds, where the type of intermediate assembly fillet welds includes horizontal fillet welds in the first quadrant, vertical fillet welds in the first quadrant, horizontal fillet welds in the second quadrant, vertical fillet welds in the second quadrant, horizontal fillet welds in the third quadrant, vertical fillet welds in the third quadrant, horizontal fillet welds in the fourth quadrant, and vertical fillet welds in the fourth quadrant;

[0041] Based on the weld positions corresponding to each intermediate assembly fillet weld obtained, determine the quadrant area where each intermediate assembly fillet weld is located, and at the same time determine whether each intermediate assembly fillet weld is in a horizontal or vertical placement state;

[0042] Based on the quadrant area and the horizontal / vertical placement state, classify each intermediate assembly fillet weld to obtain the type of intermediate assembly fillet weld corresponding to each intermediate assembly fillet weld.

[0043] In a possible implementation, the robot welding trajectory acquisition module is used to automatically acquire the robot welding trajectory corresponding to the weld type according to the weld type, specifically including:

[0044] Set corresponding weld trajectory parameters for each weld type, where the weld trajectory parameters include the torch angle attitude and the torch trajectory line;

[0045] Based on the weld type, acquire the corresponding weld trajectory parameters, and automatically generate the robot welding trajectory corresponding to the weld type based on the weld trajectory parameters.

[0046] In a possible implementation, before the weld welding module is used for the welding robot to weld each weld on the robot welding trajectory based on the robot posture, it further includes:

[0047] Set the robot welding seam finding method, so that the robot finds each weld based on the robot welding seam finding method and moves to the starting point position of each weld.

[0048] In a possible implementation, the intermediate assembly weld acquisition module is used to acquire the constructed intermediate assembly component model, specifically including:

[0049] Based on the plain text file generated by the shipbuilding modeling software, acquire the intermediate assembly component model data, and input the intermediate assembly component model data into the simulation software to obtain the intermediate assembly component model.

[0050] In a possible implementation, after the intermediate assembly weld acquisition module acquires the constructed intermediate assembly component model, it further includes:

[0051] Obtain the actual position and orientation of the ship, and determine whether the position and orientation of the intermediate assembly component model are the same as the actual position and orientation. If not, set the position and orientation to the actual position and orientation;

[0052] Obtain the first coordinate system of the shipbuilding modeling software, and determine whether the second coordinate system of the intermediate assembly component model is the same as the first coordinate system. If not, convert the first coordinate system to the second coordinate system.

[0053] The present invention also provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the intermediate assembly weld welding method based on simulation software as described in any one of the above.

[0054] The present invention also provides a computer-readable storage medium, which includes a stored computer program. When the computer program runs, it controls the device where the computer-readable storage medium is located to execute the intermediate assembly weld welding method based on simulation software as described in any one of the above.

[0055] An intermediate assembly weld welding method and device based on simulation software according to an embodiment of the present invention have the following beneficial effects compared with the prior art:

[0056] By obtaining the constructed intermediate assembly component model, performing a structural analysis on the intermediate assembly component model to obtain all welds in the intermediate assembly component model, and obtaining the weld position corresponding to each weld; setting the weld type, classifying all welds based on the weld position to obtain the weld type corresponding to each weld, and automatically obtaining the robot welding trajectory corresponding to the weld type according to the weld type; setting the robot posture of the welding robot based on the robot welding trajectory, weld position, and weld type; so that the welding robot welds each fillet weld on the robot welding trajectory based on the robot posture. Compared with the prior art, the technical solution of the present invention realizes automatic welding operation of the robot by completing the welding trajectory planning of the intermediate assembly welds, improving the welding operation efficiency and quality. Description of the Drawings

[0057] Figure 1 It is a schematic flowchart of an embodiment of an intermediate assembly weld welding method based on simulation software provided by the present invention;

[0058] Figure 2 It is a schematic structural diagram of an embodiment of an intermediate assembly weld welding device based on simulation software provided by the present invention;

[0059] Figure 3Schematic diagram of the model position and orientation settings for an embodiment provided by the present invention;

[0060] Figure 4 Schematic diagram of the coordinate system settings for an embodiment provided by the present invention;

[0061] Figure 5 Schematic diagram of the interface of the planned weld curve module for an embodiment provided by the present invention;

[0062] Figure 6 Schematic diagram of the vertical fillet weld type of the middle assembly provided by the present invention;

[0063] Figure 7 Schematic diagram of the flat fillet weld type of the middle assembly provided by the present invention;

[0064] Figure 8 Schematic diagram of the parameter configuration interface for an embodiment provided by the present invention. Detailed implementation manners

[0065] Next, in combination with the drawings in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0066] Embodiment 1

[0067] Refer to Figure 1 , Figure 1 which is a schematic flow diagram of an embodiment of a method for welding the middle assembly welds based on simulation software provided by the present invention. As shown in Figure 1 , this method includes steps 101 - 103, which are specifically as follows:

[0068] Step 101: Obtain the constructed middle assembly component model, perform a structural analysis on the middle assembly component model to obtain all the welds in the middle assembly component model, and obtain the weld position corresponding to each weld.

[0069] In one embodiment, based on the plain text file generated by the shipbuilding modeling software, obtain the middle assembly component model data, and input the middle assembly component model data into the simulation software to obtain the middle assembly component model.

[0070] Specifically, in the robotstudio simulation software, import the XML file generated by shipbuilding modeling software such as SPD. The simulation software obtains the middle assembly component model data from the XML file, and based on the obtained middle assembly component model data, establishes the middle assembly component model.

[0071] In one embodiment, since the imported medium assembly component model data is in the actual position and orientation during the ship modeling process, which may not be consistent with the actual on-site position and orientation, therefore, the position and orientation of the medium assembly component model generated in the simulation software are also adjusted to be consistent with the actual on-site position and orientation.

[0072] Specifically, obtain the actual position and orientation of the ship, and determine whether the position and orientation of the medium assembly component model are the same as the actual position and orientation. If not, set the position and orientation to the actual position and orientation.

[0073] As an example of this embodiment: such as Figure 3 shown, Figure 3 is a schematic diagram of the model position and orientation setting of an embodiment of the present invention. After selecting the medium assembly component model, enter the angle value 180 at the Y-axis position 41 of "Direction" in the "Set Position" parameter interface 4. At this time, the medium assembly component model rotates 180 degrees around the Y-axis. It should be noted that the input angle value is related to the position of the imported medium assembly component model data, including but not limited to 180 degrees. When the imported medium assembly component model data is vertical, the rotation angle is 90 degrees. At the same time, the setting of the rotation angle includes but not limited to the Y-axis, and can also be the X-axis or Z-axis, which is specifically determined according to the position of the small assembly component on the ship and the actual placement position during production.

[0074] In one embodiment, since the coordinates used in the simulation software are not the same as the coordinates used in the shipbuilding modeling software, and after rotating the position and orientation of the medium assembly component model to be consistent with the actual on-site position and orientation through the above steps, the medium assembly component model is not consistent with the coordinates used in the simulation software, so it is necessary to perform unified coordinate setting.

[0075] Specifically, obtain the first coordinate system of the shipbuilding modeling software, and determine whether the second coordinate system of the medium assembly component model is the same as the first coordinate system. If not, convert the first coordinate system to the second coordinate system.

[0076] As an example of this embodiment: such as Figure 4 shown, Figure 4It is a schematic diagram of the coordinate system setting in an embodiment of the present invention. In the virtual simulation scenario built in the robotstudio simulation software, within the range of the gantry of the mid-assembly welding robot, that is, within the range where the mid-assembly robot can weld, a point is selected on the surface of the base plate of the mid-assembly component model as the new coordinate origin. When the coordinate origin O is selected on the base plate of the mid-assembly component model, the corresponding coordinate values are displayed at the positions of the X-axis 51 and Y-axis 52 in the "Set Local Origin" parameter interface 5. The angle values at the positions 53 and 54 in the "Direction" of the "Set Local Origin" parameter interface 5 are all modified to 0. At this time, the second coordinate system will move to the specified O point position on the base plate of the mid-assembly component. After completing the positioning of the local coordinate O point, the "Set Position" parameter interface 4 is retrieved again, and the values of the X-axis 42 and Y-axis 43 in the "Position" are modified to 0. At this time, the sub-assembly component 2 completes the calibration of the second coordinate system in the virtual environment.

[0077] In one embodiment, since it reaches the mid-assembly welding stage, considering that the welding work of longitudinal stiffeners and internal members has been completed in the previous process, this process mainly solves the welding problem of the fillet welds between the vertical and horizontal diaphragms in the mid-assembly, that is, to solve the vertical fillet welds between the vertical and horizontal diaphragms in the mid-assembly, as well as the flat fillet welds between the vertical / horizontal diaphragms and the base plate in the mid-assembly.

[0078] In one embodiment, the mid-assembly component model is structurally analyzed to obtain the part types in the mid-assembly component model, and the number of parts corresponding to each part type is counted, where the part types include base plates, vertical and horizontal diaphragms, and longitudinal stiffeners.

[0079] Specifically, during the structural analysis, the part type is mainly judged by identifying the part name or component name of each part, that is, by identifying the part code. For example, a component with DK is judged as a deck type, IB is the inner bottom plate, BS is the outer bottom plate, FR is an ordinary vertical and horizontal plate, etc. Since in the mid-assembly welding stage, the vertical and horizontal diaphragms and longitudinal stiffeners are mainly welded, the structural analysis is mainly carried out on the vertical and horizontal diaphragms, base plates, and longitudinal stiffeners.

[0080] As an example of this embodiment: Taking the mid-assembly component of the 204 section of the 8500-ton series bulk carrier as an example, when performing structural analysis, select structural analysis in the "Plan Weld Curve" module. After the structural analysis by the simulation software, the number of each type of weld is obtained. Among them, the number of base plates is 5, the number of sub-assembly vertical and horizontal diaphragms is 142, and the number of longitudinal stiffeners is 105, and different colors are used for distinction. At this time, the automatic structural analysis of the mid-assembly component model is completed, clarifying the part types and the number of parts in the mid-assembly component model, and preparing for the next step of weld calculation.

[0081] In one embodiment, based on the part type and the number of parts, all welds in the intermediate assembly component model are calculated and obtained, where all the welds include intermediate assembly vertical fillet welds and intermediate assembly flat fillet welds, and the intermediate assembly vertical fillet welds are the welds between the intermediate assembly vertical and horizontal diaphragms, and the intermediate assembly flat fillet welds are the welds between the bottom plate and the intermediate assembly vertical and horizontal diaphragms.

[0082] Preferably, when calculating all the welds in the intermediate assembly component model, the spatial coordinate positions of the welds are calculated. The weld calculation is performed by means of mutual searching between parts. Parts that do not participate in the subsequent weld calculation are screened out through "the number of parts" and "part type consistency", that is, parts that do not need to be welded are screened out. All the welds obtained after calculation are displayed in a straight line.

[0083] As an example in this embodiment: When calculating welds in the simulation software, only select the welds that need to be welded for calculation. As Figure 5 shown, Figure 5 FIG. is a schematic diagram of the interface of the planned weld curve module of an embodiment provided by the present invention. When calculating the intermediate assembly vertical fillet welds, check MicroPanel x MicroPanel on the right side of the calculated weld 63 in the "planned weld curve" module, and start calculating the intermediate assembly vertical fillet welds; when calculating the intermediate assembly flat fillet welds, check Floor x Micropanel in the calculated weld 63 of the "planned weld curve" module, and start calculating the intermediate assembly flat fillet welds. Among them, the MicroPanel x MicroPanel is the weld between the intermediate assembly vertical and horizontal diaphragms, and the Floor x Micropanel is the weld between the bottom plate and the intermediate assembly vertical and horizontal diaphragms.

[0084] Step 102: Set the weld type, classify all the welds based on the weld positions to obtain the weld type corresponding to each weld, and automatically obtain the robot welding trajectory corresponding to the weld type according to the weld type.

[0085] In one embodiment, after the coordinates in the simulation software are determined, four azimuth types of vertical fillet welds are formed between the intermediate assembly vertical and horizontal diaphragms.

[0086] Specifically, set the intermediate assembly vertical fillet weld type, as Figure 6 shown, Figure 6It is a schematic diagram of the type of vertical fillet weld in the middle assembly provided by the present invention. Among them, the type of vertical fillet weld in the middle assembly includes the first quadrant vertical fillet weld V1, the second quadrant vertical fillet weld V2, the third quadrant vertical fillet weld V3, and the fourth quadrant vertical fillet weld V4. Based on the weld positions corresponding to each vertical fillet weld in the middle assembly obtained, the quadrant area where each vertical fillet weld in the middle assembly is located is judged. Based on the quadrant area, each vertical fillet weld in the middle assembly is classified to obtain the type of vertical fillet weld in the middle assembly corresponding to each vertical fillet weld in the middle assembly.

[0087] In one embodiment, in the "horizontal weld path" planning module 8, eight horizontal fillet welds in four quadrants formed by the intersection of the transverse diaphragm 22 and the longitudinal diaphragm

[0088] Specifically, set the type of flat fillet weld in the middle assembly, such as Figure 7 as shown Figure 7 It is a schematic diagram of the type of flat fillet weld in the middle assembly provided by the present invention; the type of flat fillet weld in the middle assembly includes the first quadrant horizontal flat fillet weld L1, the first quadrant vertical flat fillet weld L5, the second quadrant horizontal flat fillet weld L4, the second quadrant vertical flat fillet weld L6, the third quadrant horizontal flat fillet weld L3, the third quadrant vertical flat fillet weld L8, the fourth quadrant horizontal flat fillet weld L2, and the fourth quadrant vertical flat fillet weld L7; based on the weld positions corresponding to each flat fillet weld in the middle assembly obtained, the quadrant area where each flat fillet weld in the middle assembly is located is judged, and at the same time, it is judged whether each flat fillet weld in the middle assembly is in a horizontal or vertical placement state; based on the quadrant area and the horizontal / vertical placement state, each flat fillet weld in the middle assembly is classified to obtain the type of vertical fillet weld in the middle assembly corresponding to each flat fillet weld in the middle assembly.

[0089] In one embodiment, corresponding weld path parameters are set for each weld type. Among them, the weld path parameters include the torch angle attitude and the torch path line; based on the weld type, the corresponding weld path parameters are obtained, and based on the weld path parameters, the robot welding path corresponding to the weld type is automatically generated.

[0090] Specifically, the weld path parameters are planned according to the structure of the middle assembly components and the welding requirements, and fixed welding path parameters are formed for the same type of horizontal weld in the middle assembly and the same type of vertical fillet weld in the middle assembly.

[0091] As an example in this embodiment, for the vertical fillet weld in the middle assembly, the middle assembly components of the 85,000-ton series bulk carrier section are used as an example for illustration. After selecting the first vertical fillet weld, according to the fact that this weld is distributed in the fourth quadrant, the second quadrant vertical fillet weld V2 in the fourth quadrant is correspondingly selected. At this time, the robot welding path will be automatically generated. Repeat the above steps, select other vertical fillet welds in the middle assembly in turn, and generate the corresponding welding robot welding paths respectively.

[0092] As an example in this embodiment, for the flat fillet weld of the intermediate assembly, taking the intermediate assembly components of the 1900TUE series box ship section as an example, after selecting the first flat fillet weld of the intermediate assembly, it is judged that the flat fillet weld of the intermediate assembly is distributed in the horizontal flat fillet weld of the first quadrant. Therefore, "the horizontal flat fillet weld L1 of the first quadrant" is selected in the "horizontal weld path" planning module. At this time, the weld track path will be automatically generated. Repeat the above steps, select the second horizontal fillet weld, and generate the corresponding weld track.

[0093] Step 103: Based on the robot welding track, the weld position, and the weld type, set the robot posture for the welding robot; so that the welding robot welds each vertical fillet weld on the robot welding track based on the robot posture.

[0094] In one embodiment, set the robot welding seam finding method so that the robot finds the position of each weld based on the robot welding seam finding method and moves to the starting point position of each weld. Among them, there are mainly two robot welding seam finding methods. One is laser seam finding, and the other is wire electrode seam finding; both methods can achieve robot welding seam finding. Preferably, the present invention adopts the laser seam finding method.

[0095] In one embodiment, after setting the robot welding seam finding method, the robot seam finding parameters are also set. Among them, the robot seam finding parameters include the safety distance from the bottom plate of the intermediate assembly during seam finding, the angle between the welding torch and the bottom plate at the starting point of the welding torch, and the included angle between the welding torch and the horizontal at the end point of the welding torch. Among them, the robot seam finding parameters are determined according to on-site tests.

[0096] In one embodiment, after completing the planning of the weld path, it is necessary to set the robot posture according to the structural characteristics of the intermediate assembly and the structural characteristics near the distribution position of the vertical fillet weld. The robot posture parameters can be analyzed and set as fixed parameters in advance according to the characteristics of the vertical fillet weld of the intermediate assembly and stored.

[0097] In one embodiment, the "parameter configuration" module 9 is called in the simulation software, as Figure 8 shown, Figure 8 is a schematic diagram of the parameter configuration interface of an embodiment provided by the present invention; the standard six-axis robot corresponds to six robot posture parameters, which are respectively denoted as Cfg1, Cfg2, Cfg3, Cfg4, Cfg5, and Cfg6. Select appropriate robot posture parameters and complete the robot posture setting configuration of the first weld respectively. Repeat the above steps until the robot posture setting of all welds is completed.

[0098] In one embodiment, after the welding paths corresponding to all the welds in the intermediate assembly component model are planned, a welding program is generated through the "planned weld curve" module 6 of the simulation software. The welding programs for all the welds can be generated batchwise and simultaneously, or the welding program for a single weld can be generated separately, so as to control a welding robot to weld the welds based on the welding program.

[0099] In summary, a method for welding intermediate assembly welds based on simulation software provided by the present invention can build and simulate the actual scenario of intermediate assembly robot welding through the simulation software, can quickly perform welding simulation, is intuitive and clear, can ensure that the weld trajectories of intermediate assembly welds can be planned under the condition of robot welding, realizes intelligent welding of intermediate assembly welds by the robot, has a simple welding method, changes the existing method that intermediate assembly components can only be welded manually, and improves the welding operation efficiency and quality.

[0100] Embodiment 2

[0101] See Figure 2 , Figure 2 which is a schematic structural diagram of an embodiment of a device for welding intermediate assembly welds based on simulation software provided by the present invention. As Figure 2 shown, the device includes an intermediate assembly weld acquisition module 201, a robot welding trajectory acquisition module 202, and a weld welding module 203, which are specifically as follows:

[0102] The intermediate assembly weld acquisition module 201 is configured to acquire the constructed intermediate assembly component model, perform a structural analysis on the intermediate assembly component model to obtain all the welds in the intermediate assembly component model, and acquire the weld position corresponding to each weld.

[0103] The robot welding trajectory acquisition module 202 is configured to set the weld type, classify all the welds based on the weld position to obtain the weld type corresponding to each weld, and automatically acquire the robot welding trajectory corresponding to the weld type according to the weld type.

[0104] The weld welding module 203 is configured to set the robot posture for the welding robot based on the robot welding trajectory, the weld position, and the weld type; so that the welding robot welds each weld on the robot welding trajectory based on the robot posture.

[0105] In one embodiment, the intermediate assembly weld acquisition module 201 is configured to perform a structural analysis on the intermediate assembly component model to obtain all the welds in the intermediate assembly component model, specifically including: performing a structural analysis on the intermediate assembly component model to obtain the part types in the intermediate assembly component model, and counting the number of parts corresponding to each part type, where the part types include bottom plates, vertical and horizontal partitions, and longitudinal stiffeners; calculating and obtaining all the welds in the intermediate assembly component model based on the part types and the number of parts, where all the welds include intermediate assembly fillet welds and intermediate assembly flat fillet welds.

[0106] In one embodiment, the robot welding trajectory acquisition module 202 is configured to set the weld type, classify all the welds based on the weld positions, and obtain the weld type corresponding to each weld, specifically including: setting the intermediate assembly fillet weld type, where the intermediate assembly fillet weld type includes fillet welds in the first quadrant, fillet welds in the second quadrant, fillet welds in the third quadrant, and fillet welds in the fourth quadrant; judging the quadrant area where each intermediate assembly fillet weld is located based on the obtained weld position of each intermediate assembly fillet weld, and classifying each intermediate assembly fillet weld based on the quadrant area to obtain the intermediate assembly fillet weld type corresponding to each intermediate assembly fillet weld.

[0107] In one embodiment, the robot welding trajectory acquisition module 202 is configured to set the weld type, classify all the welds based on the weld positions, and obtain the weld type corresponding to each weld, and further includes: setting the intermediate assembly flat fillet weld type, where the intermediate assembly flat fillet weld type includes horizontal flat fillet welds in the first quadrant, vertical flat fillet welds in the first quadrant, horizontal flat fillet welds in the second quadrant, vertical flat fillet welds in the second quadrant, horizontal flat fillet welds in the third quadrant, vertical flat fillet welds in the third quadrant, horizontal flat fillet welds in the fourth quadrant, and vertical flat fillet welds in the fourth quadrant; judging the quadrant area where each intermediate assembly flat fillet weld is located based on the obtained weld position of each intermediate assembly flat fillet weld, and simultaneously judging the horizontal and vertical placement state of each intermediate assembly flat fillet weld; classifying each intermediate assembly flat fillet weld based on the quadrant area and the horizontal and vertical placement state to obtain the intermediate assembly fillet weld type corresponding to each intermediate assembly flat fillet weld.

[0108] In one embodiment, the robot welding trajectory acquisition module 202 is configured to automatically obtain the robot welding trajectory corresponding to the weld type according to the weld type, specifically including: setting corresponding weld trajectory parameters for each weld type, where the weld trajectory parameters include the torch angle attitude and the torch trajectory line; obtaining the corresponding weld trajectory parameters based on the weld type, and automatically generating the robot welding trajectory corresponding to the weld type based on the weld trajectory parameters.

[0109] In one embodiment, before the weld seam welding module 203 welds each weld seam on the robot welding trajectory based on the robot posture, it further includes: setting a robot welding position-finding method, so that the robot finds the position of each weld seam based on the robot welding position-finding method and moves to the starting point position of each weld seam.

[0110] In one embodiment, the intermediate assembly weld seam acquisition module 201 is used to acquire the constructed intermediate assembly component model, and specifically includes: acquiring the intermediate assembly component model data based on the plain text file generated by the shipbuilding modeling software, and inputting the intermediate assembly component model data into the simulation software to obtain the intermediate assembly component model.

[0111] In one embodiment, after the intermediate assembly weld seam acquisition module 201 acquires the constructed intermediate assembly component model, it further includes: acquiring the actual position and orientation of the ship, and determining whether the position and orientation of the intermediate assembly component model are the same as the actual position and orientation. If not, setting the position and orientation to the actual position and orientation; acquiring the first coordinate system of the shipbuilding modeling software, and determining whether the second coordinate system of the intermediate assembly component model is the same as the first coordinate system. If not, converting the first coordinate system to the second coordinate system.

[0112] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the above-described device can refer to the corresponding process in the foregoing method embodiment, and will not be elaborated herein.

[0113] It should be noted that the embodiments of the intermediate assembly weld seam welding device of the above simulation software are merely illustrative. The modules described as separate components may or may not be physically separated. The components shown as modules may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0114] Based on the embodiments of the intermediate assembly weld seam welding method of the above simulation software, another embodiment of the present invention provides a terminal device for intermediate assembly weld seam welding of simulation software. The terminal device for intermediate assembly weld seam welding of simulation software includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the intermediate assembly weld seam welding method of the simulation software according to any embodiment of the present invention.

[0115] Exemplarily, in this embodiment, the computer program may be divided into one or more modules. The one or more modules are stored in the memory and executed by the processor to implement the present invention. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program in the intermediate assembly weld welding terminal device of the simulation software.

[0116] The intermediate assembly weld welding terminal device of the simulation software may be a computing device such as a desktop computer, a notebook, a palm computer, or a cloud server. The intermediate assembly weld welding terminal device of the simulation software may include, but is not limited to, a processor and a memory.

[0117] The so-called processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The processor is the control center of the intermediate assembly weld welding terminal device of the simulation software, and connects various parts of the entire intermediate assembly weld welding terminal device of the simulation software through various interfaces and lines.

[0118] The memory may be used to store the computer program and / or modules. The processor realizes various functions of the intermediate assembly weld welding terminal device of the simulation software by running or executing the computer program and / or modules stored in the memory, and by calling the data stored in the memory. The memory may mainly include a program storage area and a data storage area. Among them, the program storage area may store an operating system, application programs required for at least one function, etc.; the data storage area may store data created according to the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0119] Based on the embodiment of the method for welding the intermediate assembly weld seam in the above simulation software, another embodiment of the present invention provides a storage medium, which includes a stored computer program. When the computer program runs, it controls the device where the storage medium is located to execute the method for welding the intermediate assembly weld seam of the simulation software according to any embodiment of the present invention.

[0120] In this embodiment, the above storage medium is a computer-readable storage medium. The computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0121] In summary, the method and device for welding the intermediate assembly weld seam based on the simulation software provided by the present invention obtain the constructed intermediate assembly component model, perform structural analysis on the intermediate assembly component model to obtain all the weld seams in the intermediate assembly component model, and obtain the weld position corresponding to each weld seam; set the weld type, classify all the weld seams based on the weld position to obtain the weld type corresponding to each weld seam, and automatically obtain the robot welding trajectory corresponding to the weld type according to the weld type; set the robot posture for the welding robot based on the robot welding trajectory, weld position, and weld type; so that the welding robot welds each vertical fillet weld on the robot welding trajectory based on the robot posture. Compared with the prior art, the technical solution of the present invention realizes the automatic welding operation of the robot by completing the welding trajectory planning of the intermediate assembly weld seam, and improves the efficiency and quality of the welding operation.

[0122] The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and replacements can still be made, and these improvements and replacements should also be regarded as the protection scope of the present invention.

Claims

1. A welding method for intermediate assembly welds based on simulation software, characterized in that, it includes: Obtain the constructed intermediate assembly component model, conduct a structural analysis on the intermediate assembly component model to obtain all the welds in the intermediate assembly component model, and obtain the weld position corresponding to each weld; Set the weld type, classify all the welds based on the weld position to obtain the weld type corresponding to each weld, and automatically obtain the robot welding trajectory corresponding to the weld type according to the weld type; Based on the robot welding trajectory, the weld position and the weld type, set the robot posture for the welding robot; so that the welding robot welds each weld on the robot welding trajectory based on the robot posture; Among them, conducting a structural analysis on the intermediate assembly component model to obtain all the welds in the intermediate assembly component model specifically includes: conducting a structural analysis on the intermediate assembly component model to obtain the part types in the intermediate assembly component model, and counting the number of parts corresponding to each part type, where the part types include bottom plates, vertical and horizontal partitions, and longitudinal stiffeners; based on the part types and the number of parts, calculate and obtain all the welds in the intermediate assembly component model, where all the welds include intermediate assembly vertical fillet welds and intermediate assembly flat fillet welds; Among them, setting the weld type, classifying all the welds based on the weld position to obtain the weld type corresponding to each weld includes: setting the intermediate assembly flat fillet weld type, where the intermediate assembly flat fillet weld type includes the first quadrant horizontal flat fillet weld, the first quadrant vertical flat fillet weld, the second quadrant horizontal flat fillet weld, the second quadrant vertical flat fillet weld, the third quadrant horizontal flat fillet weld, the third quadrant vertical flat fillet weld, the fourth quadrant horizontal flat fillet weld, and the fourth quadrant vertical flat fillet weld; based on the weld position corresponding to each obtained intermediate assembly flat fillet weld, judge the quadrant area where each intermediate assembly flat fillet weld is located, and at the same time judge the horizontal and vertical placement states of each intermediate assembly flat fillet weld; based on the quadrant area and the horizontal and vertical placement states, classify each intermediate assembly flat fillet weld to obtain the intermediate assembly flat fillet weld type corresponding to each intermediate assembly flat fillet weld.

2. The welding method for intermediate assembly welds based on simulation software according to claim 1, characterized in that, setting the weld type, classifying all the welds based on the weld position to obtain the weld type corresponding to each weld further includes: setting the intermediate assembly vertical fillet weld type, where the intermediate assembly vertical fillet weld type includes the first quadrant vertical fillet weld, the second quadrant vertical fillet weld, the third quadrant vertical fillet weld, and the fourth quadrant vertical fillet weld; based on the weld position corresponding to each obtained intermediate assembly vertical fillet weld, judge the quadrant area where each intermediate assembly vertical fillet weld is located, and based on the quadrant area, classify each intermediate assembly vertical fillet weld to obtain the intermediate assembly vertical fillet weld type corresponding to each intermediate assembly vertical fillet weld.

3. The welding method for intermediate assembly welds based on simulation software according to claim 1, characterized in that, According to the type of weld seam, automatically obtain the robot welding trajectory corresponding to the type of weld seam, specifically including: Set corresponding weld seam trajectory parameters for each type of weld seam, where the weld seam trajectory parameters include the angle and posture of the welding torch and the welding torch trajectory line; Based on the type of weld seam, obtain the corresponding weld seam trajectory parameters, and automatically generate the robot welding trajectory corresponding to the type of weld seam based on the weld seam trajectory parameters.

4. A method for welding intermediate assembly weld seams based on simulation software as claimed in claim 1, characterized in that before the welding robot welds each weld seam on the robot welding trajectory based on the robot posture, it further includes: Set the robot welding seam finding method, so that the welding robot finds each weld seam based on the robot welding seam finding method and moves to the starting point position of each weld seam.

5. A method for welding intermediate assembly weld seams based on simulation software as claimed in claim 1, characterized in that Obtain the constructed intermediate assembly component model, specifically including: Based on the plain text file generated by the shipbuilding modeling software, obtain the intermediate assembly component model data, and input the intermediate assembly component model data into the simulation software to obtain the intermediate assembly component model.

6. A method for welding intermediate assembly weld seams based on simulation software as claimed in claim 1, characterized in that After obtaining the constructed intermediate assembly component model, it further includes: Obtain the actual position and orientation of the ship, and judge whether the position and orientation of the intermediate assembly component model are the same as the actual position and orientation. If not, set the position and orientation to the actual position and orientation; Obtain the first coordinate system of the shipbuilding modeling software, and judge whether the second coordinate system of the intermediate assembly component model is the same as the first coordinate system. If not, convert the first coordinate system to the second coordinate system.

7. An intermediate assembly weld seam welding device based on simulation software, characterized in that including: An intermediate assembly weld seam acquisition module, a robot welding trajectory acquisition module, and a weld seam welding module; Among them, the intermediate assembly weld seam acquisition module is used to obtain the constructed intermediate assembly component model, perform structural analysis on the intermediate assembly component model to obtain all weld seams in the intermediate assembly component model, and obtain the weld seam position corresponding to each weld seam; The robot welding trajectory acquisition module is used to set the type of weld seam, classify all weld seams based on the weld seam position to obtain the type of weld seam corresponding to each weld seam, and automatically obtain the robot welding trajectory corresponding to the type of weld seam according to the type of weld seam; The weld seam welding module is used to set the robot posture for the welding robot based on the robot welding trajectory, the weld seam position, and the type of weld seam; so that the welding robot welds each weld seam on the robot welding trajectory based on the robot posture. Among them, structural analysis is performed on the middle assembly component model to obtain all welds in the middle assembly component model, specifically including: performing structural analysis on the middle assembly component model to obtain the part types in the middle assembly component model, and counting the number of parts corresponding to each part type, where the part types include bottom plates, vertical and horizontal partitions, and longitudinal stiffeners; based on the part types and the number of parts, calculate and obtain all welds in the middle assembly component model, where the all welds include middle assembly fillet welds and middle assembly flat fillet welds; Among them, set the weld type, classify all welds based on the weld positions, and obtain the weld type corresponding to each weld, including: set the middle assembly flat fillet weld type, where the middle assembly flat fillet weld type includes the first quadrant horizontal flat fillet weld, the first quadrant vertical flat fillet weld, the second quadrant horizontal flat fillet weld, the second quadrant vertical flat fillet weld, the third quadrant horizontal flat fillet weld, the third quadrant vertical flat fillet weld, the fourth quadrant horizontal flat fillet weld, and the fourth quadrant vertical flat fillet weld; based on the weld position corresponding to each obtained middle assembly flat fillet weld, judge the quadrant area where each middle assembly flat fillet weld is located, and at the same time judge the horizontal and vertical placement states of each middle assembly flat fillet weld; based on the quadrant area and the horizontal and vertical placement states, classify each middle assembly flat fillet weld to obtain the middle assembly flat fillet weld type corresponding to each middle assembly flat fillet weld.

8. A terminal device, Characterized in that, It includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the middle assembly weld welding method based on simulation software as described in any one of claims 1 to 6.

9. A computer-readable storage medium, Characterized in that, The computer-readable storage medium includes a stored computer program, where when the computer program runs, it controls the device where the computer-readable storage medium is located to execute the middle assembly weld welding method based on simulation software as described in any one of claims 1 to 6.

Images