Automatic surfacing method, system, equipment and medium for waist-shaped weldment

Abstract

The present invention proposes an automatic surfacing method, system, equipment and medium for a waist-shaped weldment, which relates to the field of welding technology. The method includes: obtaining a base coordinate system of a robotic arm and a tool coordinate system of a welding gun head on the robotic arm, and determining the coordinate position of the origin of the tool coordinate system in the base coordinate system; establishing a workpiece coordinate system of the waist-shaped weldment; determining a dividing line of the waist-shaped weldment, and dividing the waist-shaped weldment into two surfacing areas symmetrical to the dividing line, namely, a first surfacing area and a second surfacing area; based on the coordinate position and a preset surfacing execution action, controlling the welding gun to work so as to complete the surfacing in the first surfacing area; controlling the waist-shaped weldment to rotate 180° with the axis as the rotation axis; based on the coordinate position and the preset surfacing execution action, controlling the welding gun to move so as to perform surfacing in the second surfacing area. This scheme achieves the purpose of simplifying the path planning of the robotic arm in the welding gun and simplifying the posture adjustment process.

Description

Technical Field

[0001] The invention relates to the field of welding technology, and in particular to an automatic surfacing method, system, equipment and medium for a waist-shaped weldment. Background Art

[0002] The widespread use of robotic arms in the field of welding has led to the rapid replacement of related technologies. The flexible use of sensors has endowed welding robotic arms with intelligence and efficiency. Robotic arms are widely used in the field of surface surfacing of cylindrical weldments. The usual method is that the positioner rotates at a constant speed, and the robotic arm is fixed in a constant posture and translated along the axis of the weldment at a constant speed to form a spiral weld. If the size of the weldment changes, the robotic arm needs to be re-taught. For oblong weldments, the center of rotation is not at the center of the circle. If the same welding method as for cylindrical weldments is used, the welding gun needs to adjust the posture, height and horizontal position at the same time during the welding process, which brings difficulties to the path planning of the robotic arm. Summary of the invention

[0003] In view of the above problems existing in the prior art, the present invention proposes an automatic surfacing method, system, equipment and medium for waist-shaped weldments to solve the above problems.

[0004] In order to achieve the above and other purposes, the present invention provides an automatic surfacing method for a waist-shaped weldment, comprising:

[0005] Obtain the base coordinate system of the robot arm and the tool coordinate system of the welding gun head on the robot arm, and determine the coordinate position of the origin of the tool coordinate system in the base coordinate system; the tool coordinate origin is the welding gun head;

[0006] Establishing a workpiece coordinate system of the oval-shaped weldment to determine the working direction of the welding gun on the oval-shaped weldment and the detection direction of the detection element installed on the welding gun; the X-axis of the workpiece coordinate system is parallel to the X-axis of the tool coordinate system, and the Y-axis of the workpiece coordinate system is parallel to the Y-axis of the tool coordinate system;

[0007] Determine a dividing line of the oval-shaped weldment, and divide the oval-shaped weldment into two surfacing areas symmetrical to the dividing line, namely, a first surfacing area and a second surfacing area;

[0008] Based on the coordinate position and the preset surfacing welding execution action, control the welding gun to work so as to complete the surfacing welding in the first surfacing welding area;

[0009] Control the oval-shaped weldment to rotate 180° with the axis as the rotation axis;

[0010] Based on the coordinate position and the preset surfacing welding execution action, the welding gun is controlled to perform surfacing welding in the second surfacing welding area.

[0011] In an exemplary embodiment of the present invention, establishing a workpiece coordinate system of a round weldment includes:

[0012] The starting point of the straight line on the end face of the oval weldment is used as the origin of the workpiece coordinate system;

[0013] Determine the X-axis of the workpiece coordinate system so that the X-axis is parallel to the axial direction of the oval-shaped weldment, and set the working direction of the welding gun on the oval-shaped weldment along the X-axis;

[0014] Determine the Y axis of the workpiece coordinate system so that the Y axis is parallel to the tangent direction of the oval-shaped weldment, and set the detection direction of the detection element for detecting the oval-shaped weldment along the Y axis.

[0015] In an exemplary embodiment of the present invention, a dividing line of a round weldment is determined, and the round weldment is divided into a first surfacing area and a second surfacing area symmetrical to the dividing line, including:

[0016] The dividing line is a line connecting the midpoints of the arc segments of the end surface of the waist-shaped weldment, so that the first surfacing area and the second surfacing area include two arc segments and one straight segment, and the straight segment is located between the two arc segments.

[0017] In an exemplary embodiment of the present invention, the surfacing welding execution action includes: the surfacing welding execution action includes:

[0018] On the round weldment, determine the origin of the workpiece coordinate system as the starting point of surfacing welding, and mark the starting point of surfacing welding as the current starting point of welding;

[0019] Control the welding gun to start from the current welding point, weld a weld along the working direction and then return to the current welding point;

[0020] According to the coordinate position and the preset weld width, a preliminary welding point to be welded is determined, and the welding gun is controlled to move from the current welding point to the preliminary welding point along the detection direction, the current welding point that has been welded is marked as the completed welding point, and the preliminary welding point is marked as the current welding point for welding;

[0021] According to the preset surfacing sequence between the straight segment and the two arc segments in the same surfacing area, the surfacing position is switched, and the surfacing of the current starting point is repeated until the surfacing is completed in the surfacing area.

[0022] In an exemplary embodiment of the present invention, before switching the surfacing position, the method further includes:

[0023] Obtaining a distance change value between the detection element on the welding gun and the surface of the oval-shaped weldment, and comparing the distance change value with a preset value to generate a comparison result;

[0024] If the comparison result is that the distance change value is less than the preset value, determining that the preliminary welding starting point is located at the straight line segment of the waist-shaped weldment;

[0025] If the comparison result is that the distance change value is greater than the preset value, it is determined that the preliminary welding starting point is located in the arc segment of the waist-shaped weldment.

[0026] In an exemplary embodiment of the present invention, if the comparison result is that the distance change value is greater than the preset value, determining that the preliminary welding starting point is located at the arc segment of the waist-shaped weldment includes:

[0027] Determine the posture change angle required for the welding gun to move from the current welding start point to the preparatory welding start point along the detection direction according to the weld thickness, the distance change value difference between the current welding start point and the preparatory welding start point, and the arc radius of the arc segment;

[0028] According to the posture change angle, the welding gun is controlled to change its posture and perform the surfacing welding action of the arc segment.

[0029] In an exemplary embodiment of the present invention, switching the surfacing position according to a preset surfacing sequence includes:

[0030] Comparing the distance change value with a preset failure value to generate a comparison result; the preset failure value is greater than the preset value;

[0031] If after entering the first arc segment in the surfacing area from the straight segment, the comparison result is that the distance change value is greater than the failure value, the welding gun is controlled to switch the posture change angle to 90° to complete the surfacing at the position of the first arc segment dividing line in the surfacing area;

[0032] According to the surfacing sequence, the welding gun is controlled to switch to the surfacing starting point to perform surfacing welding of the second arc segment in the surfacing area;

[0033] If during the surfacing welding of the second arc segment in the surfacing area, the comparison result is that the distance change value is greater than the preset failure value, the welding gun is controlled to switch the posture change angle to 90° to complete the surfacing welding at the position of the second arc segment dividing line in the surfacing area.

[0034] The automatic surfacing device for a waist-shaped weldment provided by the present invention comprises:

[0035] A calibration module is used to obtain a base coordinate system of the robot arm and a tool coordinate system of a welding gun head on the robot arm, and determine the coordinate position of the origin of the tool coordinate system in the base coordinate system; the tool coordinate origin is the welding gun head;

[0036] A position determination module is used to establish a workpiece coordinate system of the oval-shaped weldment to determine the working direction of the welding gun on the oval-shaped weldment and the detection direction of the detection element installed on the welding gun; the X-axis of the workpiece coordinate system is parallel to the X-axis of the tool coordinate system, and the Y-axis of the workpiece coordinate system is parallel to the Y-axis of the tool coordinate system;

[0037] A surfacing area division module is used to determine a dividing line of the waist-shaped weldment, and divide the waist-shaped weldment into two surfacing areas symmetrical to the dividing line, namely, a first surfacing area and a second surfacing area;

[0038] A first surfacing welding module, used to control the welding gun to work based on the coordinate position and a preset surfacing welding execution action, so as to complete the surfacing welding in the first surfacing welding area;

[0039] The flip control module is used to control the waist-shaped weldment to rotate 180° with the axis as the rotation axis;

[0040] The second surfacing welding module is used to control the welding gun action based on the coordinate position and the preset surfacing welding execution action to perform surfacing welding in the second surfacing welding area.

[0041] The electronic device provided by the present invention comprises:

[0042] one or more processors;

[0043] A storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the electronic device implements the automatic surfacing method of the waist-shaped weldment.

[0044] The computer-readable storage medium provided by the present invention stores a computer program thereon. When the computer program is executed by a processor of a computer, the computer is enabled to execute the automatic surfacing method for a waist-shaped weldment.

[0045] Beneficial effects of the present invention: In the present invention, by dividing the symmetrical surfacing areas, the two surfacing areas only need to perform the same action to achieve surfacing, that is, after the surfacing in the first surfacing area is completed, the oval weldment only needs to be rotated 180°, and then the same operation as the first surfacing area can be performed in the second surfacing area, thereby achieving the purpose of simplifying the robot arm path planning and simplifying the posture adjustment process.

[0046] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0048] Figure 1 It is a flow chart of an automatic surfacing method for a waist-shaped weldment in one embodiment of the present invention.

[0049] Figure 2 It is a structural block diagram of an automatic surfacing device for a waist-shaped weldment in one embodiment of the present invention.

[0050] Figure 3 It is an axonometric view of a cladding device in one embodiment of the present invention.

[0051] Figure 4 It is a side view of a cladding device in one embodiment of the present invention.

[0052] Figure 5 1 is a top view of a cladding device according to an embodiment of the present invention.

[0053] Figure 6 It is a top view of a waisted circular weldment in one embodiment of the present invention.

[0054] Figure 7 It is a right side view of a waisted circular weldment in one embodiment of the present invention.

[0055] Figure 8 It is a schematic diagram of a state in which a line connecting the midpoints of arc segments is used as a dividing line in one embodiment of the present invention.

[0056] Fig. 9 It is a schematic diagram of a state in which a line connecting midpoints of straight line segments is used as a dividing line in one embodiment of the present invention.

[0057] Fig.10 It is a schematic diagram of the state of detection of the detection element when the surfacing welding of the first surfacing welding area is completed in one embodiment of the present invention.

[0058] The figures in the specification are marked as: oval-shaped weldment 100 , straight segment 101 , arc segment 102 , dividing line 110 , welding gun 200 , surfacing starting point 201 , robot arm 300 , positioner 400 , and detection position 501 . DETAILED DESCRIPTION

[0059] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0060] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0061] like Figure 1 As shown, in one embodiment of the present application, an automatic surfacing method for a waist-shaped weldment is provided, comprising steps S110 to S160.

[0062] Step S110, obtaining the base coordinate system of the robot arm and the tool coordinate system of the welding gun head on the robot arm, and determining the coordinate position of the origin of the tool coordinate system in the base coordinate system; the tool coordinate origin is the welding gun head.

[0063] In this embodiment, step S110 implements tool calibration so as to control the welding gun to move to a fixed point through the robot arm.

[0064] Step S120, establishing a workpiece coordinate system of the oval-shaped weldment to determine the operating direction of the welding gun on the oval-shaped weldment and the detection direction of the detection element installed on the welding gun; the X-axis of the workpiece coordinate system is parallel to the X-axis of the tool coordinate system, and the Y-axis of the workpiece coordinate system is parallel to the Y-axis of the tool coordinate system;

[0065] It should be noted that if Figures 3 to 5 As shown, the surfacing equipment includes a robot arm 300, a welding gun 200, a positioner 400, a detection element, etc. The welding gun 200 and the positioner 400 are installed on the ground or a work platform, the welding gun 200 is installed on the robot arm 300, the detection element is installed on the outer wall of the welding gun 200, and the oval-shaped weldment 100 is fixedly installed on the positioner 400. The detection element can be a laser ranging sensor. The positioner 400 is set to achieve a 180° flip of the oval-shaped weldment 100.

[0066] Step S130, determining the dividing line 110 of the oval-shaped weldment 100, dividing the oval-shaped weldment 100 into two symmetrical built-up welding areas about the dividing line 110, namely a first built-up welding area and a second built-up welding area.

[0067] In this embodiment, viewed from the end face of the oval-shaped weldment 100 , the oval-shaped weldment 100 is sequentially surrounded by an arc segment, a straight line segment 101 , an arc segment and a straight line segment 101 , and the arc segment is a semicircular arc.

[0068] Exemplarily, the dividing line 110 may be a line connecting the midpoints of two arc segments, or the dividing line 110 may be a line connecting the midpoints of two straight line segments 101 .

[0069] Step S140, based on the coordinate position and the preset surfacing welding execution action, the welding gun is controlled to work so as to complete the surfacing welding in the first surfacing welding area.

[0070] Exemplarily, the build-up welding is performed along the outer surface of the oval-shaped weldment 100 .

[0071] Step S150, controlling the oval-shaped weldment 100 to rotate 180° with the axis as the rotation axis.

[0072] In this embodiment, since the two surfacing areas are symmetrical, after the oval-shaped weldment 100 is switched 180°, the same action can be performed to achieve surfacing.

[0073] Step S160, based on the coordinate position and the surfacing welding execution action, controlling the welding gun to perform surfacing welding in the second surfacing welding area.

[0074] In this embodiment, the first surfacing area and the second surfacing area repeatedly perform the same surfacing action, so as to simplify the path planning and posture adjustment of the robot arm 300.

[0075] like Figure 6 and Figure 7 As shown, in an exemplary embodiment of the present invention, in step S120, the process of establishing the workpiece coordinate system of the oval-shaped weldment may include:

[0076] Step S210, taking the starting point of the straight line on the end face of the oval-shaped weldment 100 as the coordinate origin of the workpiece coordinate system.

[0077] In this embodiment, the starting point of the right straight line of the straight line segment 101 on the top side of the oval-shaped weldment 100 is used as the coordinate origin.

[0078] It is worth noting that in this solution, the coordinate origin can also be set at any other position.

[0079] Step S220, determine the X-axis of the workpiece coordinate system, make the X-axis parallel to the axial direction of the oval-shaped weldment 100, and set the working direction of the welding gun on the oval-shaped weldment 100 along the X-axis.

[0080] In this embodiment, the working direction is set parallel to the axis of the oval-shaped weldment 100 .

[0081] Step S230, determine the Y axis of the workpiece coordinate system, make the Y axis parallel to the tangent direction of the oval-shaped weldment 100, and set the detection direction of the detection element to detect the oval-shaped weldment 100 along the Y axis.

[0082] In this embodiment, the detection direction is set parallel to the straight line segment 101. The Z axis is perpendicular to the X axis and the Y axis, that is, the Z axis is parallel to the end surface of the oval-shaped weldment 100.

[0083] In an exemplary embodiment of the present invention, in step S130, a dividing line 110 of the oval-shaped weldment 100 is determined, and the process of dividing the oval-shaped weldment 100 into a first surfacing area and a second surfacing area symmetrical to the dividing line 110 also includes: using a line connecting the midpoints of the arc segments 102 on the end faces of the oval-shaped weldment 100 as the dividing line 110, so that the first surfacing area and the second surfacing area include two arc segments 102 and a straight line segment 101, and the straight line segment 101 is located between the two arc segments 102.

[0084] In this embodiment, the line between the midpoints of the arc segments is used as the dividing line 110 to separate the first surfacing area from the second surfacing area, that is, each surfacing area includes a 1 / 4 arc segment, a straight line segment 101, and a 1 / 4 arc segment.

[0085] like Figure 8 and Fig. 9 As shown, it is worth noting that the line between the midpoints of the arc segments is selected as the dividing line 110, rather than the line between the midpoints of the straight line segments 101. The reason is that when the line between the midpoints of the arc segments is used as the dividing line 110, when the welding gun 200 is welded from the coordinate origin to the left or right to a position parallel to the dividing line 110, the posture change range is between 0-90° (such as Figure 8 As shown, Figure 8 The angle a in the figure is the maximum posture change angle). If the line between the midpoints of the straight line segment 101 is used as the dividing line 110, the welding gun 200 moves from the upper surface of the waist-shaped workpiece to the lower surface, and the posture change range is 0-180° (such as Fig. 9 As shown, Fig. 9 The middle angle a is the maximum posture change angle). If the posture change range exceeds 90°, it is necessary to switch the direction of the waist-shaped weldment 100 or the direction of the robot arm 300 of the welding gun 200, which increases the difficulty of operation control and complicates the path planning of the robot arm 300.

[0086] In an exemplary embodiment of the present invention, in step S140 , the surfacing welding operation at least includes: steps S410 to S430 .

[0087] Step S410, on the oval-shaped weldment 100, determine the coordinate origin of the workpiece coordinate system as the surfacing starting point 201, and mark the surfacing starting point 201 as the current welding starting point.

[0088] In this embodiment, the coordinate origin is used as the surfacing starting point 201 , that is, the surfacing starting point 201 is located on the end surface contour of the oval-shaped weldment 100 .

[0089] Step S420, controlling the welding gun to move, starting from the current welding starting point, welding a weld along the working direction and then returning to the current welding starting point.

[0090] In this embodiment, the current welding starting point is used as the starting point, and a weld is welded along the working direction and then the current welding starting point is returned, that is, a weld is welded from left to right and then the starting point on the left is returned.

[0091] Step S430, according to the coordinate position and the preset weld width, determine the preliminary welding point to be welded, and control the welding gun to move from the current welding point along the detection direction to the preliminary welding point, mark the current welding point that has been welded as the completed welding point, and mark the preliminary welding point as the current welding point for welding.

[0092] It is worth noting that the current welding point is the point that needs to be welded at the current moment, the preparation welding point is the point that needs to be welded at the next moment, and the completed welding point is the point that has been welded at the previous moment. That is, the completed welding point, the current welding point and the preparation welding point will be replaced in real time according to the welding progress. Each time the current welding point is switched to the preparation welding point, the original current welding point will be marked as the new completed welding point, the original preparation welding point will be marked as the new current welding point, and the new preparation welding point will be determined according to the current welding point position and the weld width.

[0093] Step S440, according to the preset surfacing sequence between the straight segment 101 and the two arc segments 102 in the same surfacing area, the surfacing position is switched, and the surfacing of the current starting point is repeatedly performed until the surfacing is completed in the surfacing area.

[0094] In this embodiment, the surfacing sequence is the straight line segment 101, the first arc segment 102 and the second arc segment 102. Figure 7As shown, the arc segment 102 on the left side of the straight segment 101 becomes the first arc segment 102, and the arc segment 102 on the right side of the straight segment 101 becomes the second arc segment 102. Since the straight segment 101 is located between the first arc segment 102 and the second arc segment 102, after the welding gun 200 is moved to the left to complete the surfacing welding of the straight segment 101, it is only necessary to continue to move the welding gun 200 to the left to achieve the surfacing welding of the first arc segment 102. When it is necessary to perform surfacing welding of the second arc segment 102, it is necessary to move the welding gun 200 to the right to the second arc segment 102, and then move the welding gun 200 to the right to perform surfacing welding in the second arc segment 102.

[0095] It is worth noting that to achieve tailored welding, except for the case of switching from the first arc segment 102 to the second arc segment 102 in the same surfacing area, the moving distance is the surfacing weld W each time switching from the completed surfacing point to the current surfacing point.

[0096] In an exemplary embodiment of the present invention, before switching the surfacing position in step S440, the method further includes steps S510 to S530.

[0097] Step S510, obtaining the distance change value between the detection element on the welding gun and the surface of the oval-shaped weldment 100, and comparing the distance change value with a preset value to generate a comparison result.

[0098] It is worth noting that when the robot arm 300 drives the welding gun 200 to perform tailoring, the robot arm 300 drives the welding gun 200 to move from the detection position 501 to the tailoring position to perform tailoring of the oval-shaped weldment 100. When it is necessary to move the welding gun 200 from the current welding starting point to the preparatory welding starting point, the robot arm 300 drives the welding gun 200 back to the detection position 501, and then the robot arm 300 moves in the detection direction to achieve the position switching between the current welding starting point and the preparatory welding starting point of the welding gun 200. If the current welding starting point and the preparatory welding starting point are both on the straight line segment 101 of the oval-shaped weldment 100, then in the process of the robot arm 300 moving horizontally to drive the welding gun 200 from the current welding starting point to the preparatory welding starting point, the distance value detected by the detection element to the surface of the oval-shaped weldment 100 will not change. When the current welding point and the preliminary welding point are located in the arc segment 102 of the waist-shaped weldment 100, the distance value between the detection element and the surface of the waist-shaped weldment 100 will gradually increase. That is, by the change of the distance value between the detection element and the surface of the waist-shaped weldment 100, it can be determined whether the current required welding part is the straight segment 101 or the arc segment 102.

[0099] Step S520 , if the comparison result is that the distance change value is less than the preset value, it is determined that the preliminary welding starting point is located at the straight line segment 101 of the oval-shaped weldment 100 .

[0100] It should be noted that, since the detection result of the detection element may have a certain error, an error range is set according to the value 0 and the preset value. When the detected distance change value is within the error range, it is determined that the current welding is in the straight line segment 101.

[0101] For example, when the current welding point is located on a straight line segment:

[0102] 0≤|S 2 -S 1 |-t≤E

[0103] in,

[0104] E is the maximum allowable error, which is the preset value;

[0105] t is the weld thickness on the surface of the waist-shaped weldment;

[0106] S1 is the distance value between the surface of the oval-shaped weldment detected by the welding point detection element at the previous moment, which is called the first distance value;

[0107] S2 is the distance value between the detection element and the surface of the oval-shaped weldment when the welding point is started, which is called the second distance value.

[0108] In this embodiment, the absolute value of the difference between the second distance value S2 and the first distance value S1 is the distance change value. The distance change value is determined by the difference between the first distance value S1 and the second distance value S2, and the influence of the weld thickness t on the distance measurement is considered to reduce the judgment error.

[0109] Step S530 , if the comparison result is that the distance change value is greater than the preset value, it is determined that the preliminary welding starting point is located at the arc segment 102 of the oval weldment 100 .

[0110] For example, when the current welding point is located at an arc segment:

[0111] E<|S 2 -S 1 |-t

[0112] In this embodiment, when the distance change value is greater than a preset value, it indicates that the straight line segment 101 begins to enter the arc segment, or indicates that the arc segment has been entered.

[0113] It should also be noted that steps S510 to S530 are specific ways of determining whether the current position is in the straight segment 101 or the arc segment 102. When the detection position 501 at the completed welding start point and the current gas welding point moves, it is determined whether the arc segment 102 is entered according to the detection result of the detection element.

[0114] In an exemplary embodiment of the present invention, in step S140, if the comparison result is that the distance change value is greater than the preset value, the process of determining that the preliminary welding starting point is located at the arc segment 102 of the waist-shaped weldment 100 includes at least steps S610 and S620.

[0115] Step S610, determining the posture change angle required for the welding gun to move from the current welding start point to the preparation welding start point along the detection direction according to the weld thickness, the distance change value difference between the current welding start point and the preparation welding start point, and the arc radius of the arc segment 102

[0116] For example, in the base coordinate system, the coordinates of the completed welding point are defined as P 1 (x 1 ,y 1 ,z 1 ), the current starting welding point coordinate is defined as P 2 (x 2 ,y 2 ,z 2 ), the coordinates of the preparation welding point are defined as P 3 (x 3 ,y 3 ,z 3 ). According to the completed welding point P 1 (x 1 ,y 1 ,z 1 ) etc. to determine the coordinates P of the current welding starting point where the robot moves 2 (x 2 ,y 2 ,z 2 ) and the attitude transformation angle to be changed

[0117]

[0118] x 2 =x 1

[0119]

[0120] z 2 =z 1 +(|S 2 -S 1 |-t)

[0121] Wherein, R is the arc radius of the arc segment.

[0122] Step S620, according to the posture change angle and coordinates P 2, control the welding gun to change its posture and position, and perform the surfacing welding action of the arc segment 102.

[0123] In an exemplary embodiment of the present invention, in step S450, according to a preset build-up welding sequence, the process of switching the build-up welding position at least includes step S710 and step S720.

[0124] Step S710, comparing the distance change value with a preset failure value to generate a comparison result; the preset failure value is greater than the preset value.

[0125] Exemplarily, the preset failure value may be set as the distance between the upper surface of the oval-shaped weldment 100 and the ground (or a platform on which the surfacing equipment is installed).

[0126] like Fig.10 As shown, when the detection element is located on the left or right side of the oval-shaped weldment 100, the detection element will not detect the distance between the detection element and the oval-shaped weldment 100, which means that the arc segment welding on the left side is completed.

[0127] Step S720, if after entering the first arc segment 102 in the surfacing area from the straight segment 101 for surfacing welding, the comparison result is that the distance change value is greater than the failure value, then the welding gun is controlled to switch the posture change angle to 90° to complete the surfacing welding at the position of the dividing line 110 of the first arc segment 102 in the surfacing area.

[0128] It is worth noting that when the posture change angle of the welding gun is controlled to be 90°, it is to achieve surfacing welding near the midpoint of the arc segment of the oval-shaped weldment 100 and to achieve surfacing connection between the first surfacing welding area and the second surfacing welding area.

[0129] Step S730, according to the surfacing sequence, control the welding gun to switch to the surfacing starting point 201, and perform surfacing welding of the second arc segment 102 in the surfacing area.

[0130] In this embodiment, if Figure 7 As shown, after the surfacing of the first arc segment 102 on the left side of the straight segment 101 is completed, the welding gun 200 needs to be moved to the right so that the welding gun 200 moves to the second arc segment 102 on the left side of the straight segment 101 for surfacing.

[0131] For example, after the surfacing welding of the first arc segment 102 is completed, the position at the right side of the surfacing starting point 201 and a distance of a surfacing width W therefrom is marked as the current welding starting point.

[0132] Step S740, if during the surfacing welding of the second arc segment 102 in the surfacing area, the comparison result is that the distance change value is greater than the preset failure value, the welding gun is controlled to switch the posture change angle to 90° to complete the surfacing welding at the position of the dividing line 110 of the second arc segment 102 in the surfacing area.

[0133] It is worth noting that, in the same surfacing area, after the first arc segment 102 is surfacing, the distance to the oval-shaped weldment 100 cannot be detected from the time of the next preliminary welding point, and the distance value detected from the ground or the work platform causes the detection result to be greater than the preset failure value. At this time, the surface needs to be switched to the second arc segment 102 for surfacing. When the detection position 501 of the next preliminary welding point position determined according to the surfacing width is detected after the second arc segment 102 is surfacing, the detection element is also unable to detect the distance to the oval-shaped weldment 100, which indicates that the current surfacing area has been completed. If the currently completed surfacing area is the first surfacing area, it is necessary to control the positioner to switch the angle of the oval-shaped weldment 100. If the currently completed surfacing area is the second surfacing area, it indicates that the current oval-shaped weldment 100 has been completed.

[0134] In an exemplary embodiment of the present invention, an automatic surfacing device for a waist-shaped weldment is provided, comprising:

[0135] The calibration module 210 is used to obtain the base coordinate system of the robot arm and the tool coordinate system of the welding gun head on the robot arm, and determine the coordinate position of the origin of the tool coordinate system in the base coordinate system; the tool coordinate origin is the welding gun head;

[0136] The position determination module 220 is used to establish a workpiece coordinate system of the oval-shaped weldment to determine the working direction of the welding gun on the oval-shaped weldment and the detection direction of the detection element installed on the welding gun; the X axis of the workpiece coordinate system is parallel to the X axis of the tool coordinate system, and the Y axis of the workpiece coordinate system is parallel to the Y axis of the tool coordinate system;

[0137] The surfacing area division module 230 is used to determine a dividing line of the oval-shaped weldment, and divide the oval-shaped weldment into two surfacing areas symmetrical to the dividing line, namely, a first surfacing area and a second surfacing area;

[0138] A first surfacing module 240, for controlling the welding gun to work based on the coordinate position and a preset surfacing execution action, so as to complete surfacing in a first surfacing area;

[0139] The flip control module 250 is used to control the oval-shaped weldment to rotate 180° with the axis as the rotation axis;

[0140] The second surfacing module 260 is used to control the welding gun action based on the coordinate position and the preset surfacing execution action to perform surfacing in the second surfacing area.

[0141] In this embodiment, by symmetrically dividing the first welding area and the second welding area, when welding the second welding area, it is only necessary to rotate the oval weldment 100 180° and then repeat the welding operation in the first welding area. When planning the path of the robot arm 300, it is only necessary to move horizontally and control the welding gun 200 to move up and down. The path planning is simple and the work efficiency is effectively improved.

[0142] It should be noted that the automatic surfacing device for the waist-shaped welded parts provided in the above embodiment and the automatic surfacing method for the waist-shaped welded parts provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment, and will not be repeated here. In practical applications, the #device provided in the above embodiment can distribute the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0143] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the electronic device implements the automatic surfacing method of oval-shaped weldments provided in the above-mentioned embodiments.

[0144] Another aspect of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor of a computer, the computer executes the method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0145] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. An automatic surfacing method for a waist-shaped weldment, characterized in that: include: Obtain the base coordinate system of the robot arm and the tool coordinate system of the welding gun head on the robot arm, and determine the coordinate position of the origin of the tool coordinate system in the base coordinate system; The origin of the tool coordinate system is the welding gun tip; Establishing a workpiece coordinate system of the oval-shaped weldment to determine the working direction of the welding gun on the oval-shaped weldment and the detection direction of the detection element installed on the welding gun; the X-axis of the workpiece coordinate system is parallel to the X-axis of the tool coordinate system, and the Y-axis of the workpiece coordinate system is parallel to the Y-axis of the tool coordinate system; Determine a dividing line of the oval-shaped weldment, and divide the oval-shaped weldment into two surfacing areas symmetrical to the dividing line, namely, a first surfacing area and a second surfacing area; Based on the coordinate position and the preset surfacing welding execution action, control the welding gun to work so as to complete the surfacing welding in the first surfacing welding area; Control the oval-shaped weldment to rotate 180° with the axis as the rotation axis; Based on the coordinate position and the preset surfacing welding execution action, controlling the welding gun action to perform surfacing welding in the second surfacing welding area; The step of determining a dividing line of the oval-shaped weldment and dividing the oval-shaped weldment into a first surfacing area and a second surfacing area symmetrical to the dividing line includes: The connecting line of the midpoints of the arc segments of the end surface of the waist-shaped weldment is used as a dividing line, so that the first surfacing area and the second surfacing area include two arc segments and one straight segment, and the straight segment is located between the two arc segments; The surfacing welding execution action includes: On the waist-shaped weldment, determine the coordinate origin of the workpiece coordinate system as the starting point of surfacing welding, and mark the starting point of surfacing welding as the current starting point of welding; Control the welding gun to start from the current welding point, weld a weld along the working direction and then return to the current welding point; According to the coordinate position and the preset weld width, a preliminary welding point to be welded is determined, and the welding gun is controlled to move from the current welding point to the preliminary welding point along the detection direction, the current welding point that has been welded is marked as the completed welding point, and the preliminary welding point is marked as the current welding point for welding; According to the preset surfacing sequence between the straight segment and the two arc segments in the same surfacing area, the surfacing position is switched, and the surfacing at the current starting point is repeatedly performed until the surfacing is completed in the surfacing area; Before switching the cladding position, it also includes: Obtaining a distance change value between the detection element on the welding gun and the surface of the oval-shaped weldment, and comparing the distance change value with a preset value to generate a comparison result; If the comparison result is that the distance change value is less than the preset value, determining that the preliminary welding starting point is located at the straight line segment of the waist-shaped weldment; If the comparison result is that the distance change value is greater than the preset value, it is determined that the preliminary welding starting point is located in the arc segment of the waist-shaped weldment.

2. The automatic surfacing method for waist-shaped weldment according to claim 1 is characterized in that: Establish the workpiece coordinate system of the round weldment, including: The starting point of the straight line on the end face of the oval weldment is used as the origin of the workpiece coordinate system; Determine the X-axis of the workpiece coordinate system so that the X-axis is parallel to the axial direction of the oval-shaped weldment, and set the working direction of the welding gun on the oval-shaped weldment along the X-axis; Determine the Y axis of the workpiece coordinate system so that the Y axis is parallel to the tangent direction of the oval-shaped weldment, and set the detection direction of the detection element for detecting the oval-shaped weldment along the Y axis.

3. The automatic surfacing method for waist-shaped weldment according to claim 1, characterized in that: If the comparison result is that the distance change value is greater than the preset value, determining that the preliminary welding starting point is located at the arc segment of the waist-shaped weldment includes: Determine the posture change angle required for the welding gun to move from the current welding start point to the preparatory welding start point along the detection direction according to the weld thickness, the distance change value difference between the current welding start point and the preparatory welding start point, and the arc radius of the arc segment; According to the posture change angle, the welding gun is controlled to change its posture and perform the surfacing welding action of the arc segment.

4. The automatic surfacing method for waist-shaped weldment according to claim 3 is characterized in that: Switch the surfacing position according to the preset surfacing sequence, including: Comparing the distance change value with a preset failure value to generate a comparison result; the preset failure value is greater than the preset value; If after entering the first arc segment in the surfacing area from the straight segment, the comparison result is that the distance change value is greater than the failure value, the welding gun is controlled to switch the posture change angle to 90° to complete the surfacing at the position of the first arc segment dividing line in the surfacing area; According to the surfacing sequence, the welding gun is controlled to switch to the surfacing starting point to perform surfacing welding of the second arc segment in the surfacing area; If during the surfacing welding of the second arc segment in the surfacing area, the comparison result is that the distance change value is greater than the preset failure value, the welding gun is controlled to switch the posture change angle to 90° to complete the surfacing welding at the position of the second arc segment dividing line in the surfacing area.

5. An automatic surfacing device for a waist-shaped weldment, comprising: The calibration module is used to obtain the base coordinate system of the robot arm and the tool coordinate system of the welding gun head on the robot arm, and determine the coordinate position of the origin of the tool coordinate system in the base coordinate system; The origin of the tool coordinate system is the welding gun tip; A position determination module is used to establish a workpiece coordinate system of the oval-shaped weldment to determine the working direction of the welding gun on the oval-shaped weldment and the detection direction of the detection element installed on the welding gun; the X-axis of the workpiece coordinate system is parallel to the X-axis of the tool coordinate system, and the Y-axis of the workpiece coordinate system is parallel to the Y-axis of the tool coordinate system; A surfacing area division module is used to determine a dividing line of the waist-shaped weldment, and divide the waist-shaped weldment into two surfacing areas symmetrical to the dividing line, namely, a first surfacing area and a second surfacing area; A first surfacing welding module, used to control the welding gun to work based on the coordinate position and a preset surfacing welding execution action, so as to complete the surfacing welding in the first surfacing welding area; The flip control module is used to control the waist-shaped weldment to rotate 180° with the axis as the rotation axis; A second surfacing module, for controlling the welding gun to move based on the coordinate position and a preset surfacing execution action, so as to perform surfacing welding in a second surfacing area; The step of determining a dividing line of the oval-shaped weldment and dividing the oval-shaped weldment into a first surfacing area and a second surfacing area symmetrical to the dividing line includes: The connecting line of the midpoints of the arc segments of the end surface of the waist-shaped weldment is used as a dividing line, so that the first surfacing area and the second surfacing area include two arc segments and one straight segment, and the straight segment is located between the two arc segments; The surfacing welding execution action includes: On the waist-shaped weldment, determine the coordinate origin of the workpiece coordinate system as the starting point of surfacing welding, and mark the starting point of surfacing welding as the current starting point of welding; Control the welding gun to start from the current welding point, weld a weld along the working direction and then return to the current welding point; According to the coordinate position and the preset weld width, a preliminary welding point to be welded is determined, and the welding gun is controlled to move from the current welding point to the preliminary welding point along the detection direction, the current welding point that has been welded is marked as the completed welding point, and the preliminary welding point is marked as the current welding point for welding; According to the preset surfacing sequence between the straight segment and the two arc segments in the same surfacing area, the surfacing position is switched, and the surfacing at the current starting point is repeatedly performed until the surfacing is completed in the surfacing area; Before switching the cladding position, it also includes: Obtaining a distance change value between the detection element on the welding gun and the surface of the oval-shaped weldment, and comparing the distance change value with a preset value to generate a comparison result; If the comparison result is that the distance change value is less than the preset value, determining that the preliminary welding starting point is located at the straight line segment of the waist-shaped weldment; If the comparison result is that the distance change value is greater than the preset value, it is determined that the preliminary welding starting point is located in the arc segment of the waist-shaped weldment.

6. A device, characterized in that: include: one or more processors and memory, The memory is stored with a computer program that, when the one or more processors execute the computer program, causes the device to perform the method as claimed in claims 1-4.

7. A computer-readable storage medium, characterized in that: There is a computer program stored thereon that, when executed by one or more processors, causes the device to perform the method as described in claims 1-4.

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