Welding method and welding workstation for disc cylinder type component, electronic equipment and medium

Abstract

The invention relates to a welding method, a welding workstation, electronic equipment and a medium for disc and cylinder type components, and belongs to the technical field of welding. The method comprises the steps that a welding path of the disc and cylinder type components is obtained, and the welding path is discretized at equal intervals to obtain a plurality of discrete points; establishing a pose model of the welding gun at the discrete points; determining constraint conditions of the welding gun at the discrete points; the constraint conditions include that the projection of the axis of the welding gun on the cross section of the disc cylinder type component is vertically downward, and the moving direction of the welding gun at the discrete point and the tangential direction of the discrete point are in the horizontal direction; and according to the pose model of the welding gun at the discrete points and the constraint conditions, the welding gun is controlled to weld the disc cylinder type component. According to the method, by setting the constraint conditions of the welding gun at the discrete points, the position posture relation between the welding gun and the disc cylinder type component is dynamically restrained, so that the welding gun and the component are kept in the optimal welding posture all the time during welding, the conditions of uphill welding, downhill welding and even overhead welding are avoided, and the welding forming quality is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of welding, and in particular to a disc-type component welding method, a welding workstation, electronic equipment and a medium. Background Art

[0002] The disc-type components such as turbine casings and transmission housings have complex external structures and narrow internal gaps. The use of manual welding may result in poor welding consistency and large fluctuations in welding quality. In addition, in the process of manual welding of disc-type components, uphill welding, downhill welding, and even overhead welding often occur. In this case, the molten metal in the molten pool flows under the influence of gravity, resulting in poor welding quality and prone to defects such as weld penetration, undercut and weld nodules. Summary of the invention

[0003] In view of this, it is necessary to provide a disc-type component welding method, welding workstation, electronic equipment and medium to solve the problem of unstable welding quality and deterioration of welding quality that easily occurs during manual welding of disc-type components.

[0004] In order to solve the above problems, in a first aspect, the present invention provides a method for welding a disc-type component; the method comprises: Obtaining a welding path of a drum-like component, and discretizing the welding path with equal distances to obtain a plurality of discrete points; Establishing a posture model of the welding gun at the discrete points; Determine the constraint conditions of the welding gun at the discrete point; wherein the constraint conditions include: the projection of the axis of the welding gun on the cross section of the drum-like component is vertically downward, and the moving direction of the welding gun at the discrete point and the tangent direction of the discrete point are in the horizontal direction; The welding gun is controlled to weld the disc-like component according to the posture model of the welding gun at the discrete points and the constraint conditions.

[0005] Optionally, the welding path includes at least one of an arc path and a straight line path; and establishing a posture model of the welding gun at the discrete points includes: Establishing a mathematical model of the welding gun at the discrete points; wherein the mathematical model includes at least one of a first mathematical model for the circular arc path and a second mathematical model for the straight line path; the first mathematical model is used to describe the coordinates of the points on the circular arc path, and the second mathematical model is used to describe the coordinates of the points on the straight line path; The posture model is established according to the mathematical model.

[0006] Optionally, establishing the posture model according to the mathematical model includes: Let the position of the discrete points of the welding path in space be ,in, represents the i-th discrete point, , , Respectively represent the coordinates of the i-th discrete point on the X-axis, Y-axis and Z-axis; , , Determined according to the mathematical model of the discrete points; The pose model is established as: , in, , , represents the direction vector of the welding gun in the X-axis direction, the Y-axis direction and the Z-axis direction at the i-th discrete point; when the discrete point is on the arc path, is the tangent direction of the discrete point, = , , , Respectively Components in the X-axis, Y-axis and Z-axis directions respectively; Pointing to the center of the circle, = ,in, , , Respectively The components in the X-axis, Y-axis and Z-axis directions respectively, is the center coordinate of the arc corresponding to the discrete point in the welding path, Depend on Sure, ; When the discrete point is on a straight line path, the direction vector at the discrete point on the straight line path is the same as the direction vector of the discrete point at the end of the previous arc path.

[0007] Optionally, It also represents the moving direction of the welding gun at the i-th discrete point; the constraint conditions of the welding gun at the discrete point are determined, including: The posture model of the welding gun at the discrete point is determined as:

[0008] in, The components in the X-axis, Y-axis, and Z-axis directions are 0, 0, ; as well as, Determine that the position and posture of the welding gun at the discrete point meets the following conditions: and ,or, , in, is the angle between the welding gun and the tangent direction of the discrete point, is the direction vector of the disc-like component in the X-axis direction at the discrete point, Expressed by coordinates, it is expressed as ( ), Expressed by coordinates, it is expressed as ( ).

[0009] Optionally, the welding gun is controlled by a robot; the disc-like component is fixed on a positioner; and the welding gun is controlled to weld the disc-like component according to the posture model of the welding gun at the discrete points and the constraint conditions, including: Obtaining an interpolation cycle; the interpolation cycle is the time it takes for the welding gun to move from one discrete point to another adjacent discrete point; Determine the welding speed of the welding gun between two adjacent discrete points and the angular speed of the rotation axis of the positioner according to the interpolation period and the coordinates of the two adjacent discrete points; Determine a first operating program of the robot according to the posture model of the welding gun at the discrete points, the constraint conditions and the welding speed, and determine a second operating program of the positioner according to the posture model of the welding gun at the discrete points, the constraint conditions and the angular velocity of the rotation axis of the positioner; The first operation program and the second operation program are run so that the robot controls the welding gun to weld the disc-type components on the positioner.

[0010] Optionally, determining the welding speed of the welding gun between two adjacent discrete points and the angular velocity of the rotation axis of the positioner according to the interpolation period and the coordinates of the two adjacent discrete points includes: The welding speed of the welding gun is determined according to the following calculation method: , Among them, V represents the welding speed of the welding gun, T represents the interpolation period, and the coordinates of the i-th discrete point are (x i ,y i 、z i ), the coordinates of the i+1th discrete point are (x i+1 ,y i+1 、z i+1 ); Between the ith discrete point and the i+1th discrete point, the angular velocity of the positioner rotation axis is calculated as follows: , , Among them, W i represents the angular velocity of the positioner's rotation axis between the ith discrete point and the i+1th discrete point, R i represents the approximate distance between the i-th and i+1-th discrete points and the rotation center of the positioner. The coordinates of the rotation center of the positioner are (x base ,y base 、z base ).

[0011] Optionally, determining the first operating program of the robot according to the posture model of the welding gun at the discrete point, the constraint condition and the welding speed includes: Obtain other welding parameters; the other welding parameters include: groove angle 45~90°, blunt edge 0.3~1mm, welding current 150~250A, arc voltage 5~15V, shielding gas is 99.9% argon, flow rate 15~25L / min; The first operating program of the robot is determined according to the posture model of the welding gun at the discrete point, the constraint conditions, the welding speed and the other welding parameters.

[0012] In the second aspect, the present invention also provides a welding workstation for implementing the above-mentioned disc-type component welding method, the welding workstation comprises: a robot and a positioner, wherein the robot is equipped with a welding gun, and the welding work is achieved by controlling the welding gun; the positioner drives the disc-type component fixed on the positioner to rotate or move, thereby changing the welding position of the disc-type component to assist the robot in achieving the welding work.

[0013] In a third aspect, the present invention further provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the steps of any one of the above-mentioned methods for welding disc-type components are implemented.

[0014] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by the processor, the steps of any one of the above-mentioned methods for welding disc-type components are implemented.

[0015] The beneficial effects of the present invention are: The embodiment of the present invention obtains the welding path of the drum-like component and discretizes the welding path at equal distances to obtain multiple discrete points; establishes a posture model of the welding gun at the discrete points; determines the constraint conditions of the welding gun at the discrete points; the constraint conditions include: the projection of the axis of the welding gun on the cross section of the drum-like component is vertically downward, and the moving direction of the welding gun at the discrete point and the tangent direction of the discrete point are in the horizontal direction; the welding gun is intelligently controlled to weld the drum-like component according to the posture model of the welding gun at the discrete point and the constraint conditions, and automatic welding is realized through software programming, which can improve welding efficiency and ensure the stability of welding quality. In addition, by setting the constraint conditions of the welding gun at the discrete points, the position and posture relationship between the welding gun and the drum-like component is dynamically constrained, so that the welding gun can avoid uphill welding, downhill welding, or even overhead welding when welding, thereby ensuring the welding forming quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A flow chart of the steps of a drum-type component welding method provided by the present invention; Figure 2 A schematic diagram of a welding gun posture modeling method for any discrete point position provided by the present invention; Figure 3 A schematic diagram of a mathematical model of a welding path for a drum-type component provided by the present invention; Figure 4 A schematic diagram of an equidistant discretization method for welding paths of disc-type components provided by the present invention; Figure 5 A schematic diagram of a posture model of a welding gun at discrete points provided by the present invention; Figure 6 A schematic diagram of the posture constraint relationship between a welding gun and a disc-like component at any position during the welding of a disc-like component provided by the present invention; Figure 7 A schematic diagram of an automated welding process for a drum-type component provided by the present invention; Figure 8 A schematic diagram of a welding workstation provided by the present invention; A robot 10 , a welding gun 20 , a drum-like component 30 , and a positioner 40 . DETAILED DESCRIPTION

[0017] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0018] like Figure 1 , shows a method flow chart of an embodiment of a method for welding a drum-like component provided by an embodiment of the present invention, the method comprising: Step S101, obtaining a welding path of a drum-like component, and discretizing the welding path at equal distances to obtain a plurality of discrete points.

[0019] Step S102, establishing a posture model of the welding gun at discrete points.

[0020] Step S103, determining the constraint conditions of the welding gun at the discrete points; wherein the constraint conditions include: the projection of the axis of the welding gun on the cross section of the drum-like component is vertically downward, and the moving direction of the welding gun at the discrete point and the tangent direction of the discrete point are in the horizontal direction.

[0021] Step S104, controlling the welding gun to weld the disc-type component according to the posture model of the welding gun at the discrete points and the constraint conditions.

[0022] The method of the embodiment of the present invention can be controlled and implemented by electronic devices such as computers.

[0023] Coil-type components refer to mechanical or structural components that are shaped like a disk or a cylinder. After obtaining the welding path of the coil-type component, the embodiment of the present invention can discretize the welding path at equal distances to obtain multiple discrete points, and establish a posture model of the welding gun at each discrete point. The posture model of the welding gun at the discrete point can be a model that includes the position information of the welding gun at the discrete point and the posture information of the welding gun at the discrete point. Specifically, the position information can be the coordinate information of the discrete point, and the posture information can be the orientation information of the welding gun at the discrete point, and the orientation information can be represented by the direction vectors of the welding gun on the X, Y, and Z axes.

[0024] To avoid uphill welding, downhill welding, or even overhead welding, the welding gun posture can be further constrained. Constraint 1 is: the projection of the welding gun or the axis of the welding gun on the cross section of the drum-like component is vertically downward to ensure that the welding gun is in a horizontal position. Constraint 2 is: the moving direction of the welding gun at the discrete point is in the horizontal direction with the tangent direction at the discrete point on the welding path.

[0025] Then, the execution subject can dynamically control the welding gun to weld the disc-type components according to the posture model of the welding gun at the discrete points and the constraint conditions.

[0026] The embodiment of the present invention obtains the welding path of the drum-like component and discretizes the welding path at equal distances to obtain multiple discrete points; establishes a posture model of the welding gun at the discrete points; determines the constraint conditions of the welding gun at the discrete points; the constraint conditions include: the projection of the axis of the welding gun on the cross section of the drum-like component is vertically downward, and the moving direction of the welding gun at the discrete point and the tangent direction of the discrete point are in the horizontal direction; the welding gun is intelligently controlled to weld the drum-like component according to the posture model of the welding gun at the discrete point and the constraint conditions, and automatic welding is realized through software programming, which can improve welding efficiency and ensure the stability of welding quality. In addition, by setting the constraint conditions of the welding gun at the discrete points, the position and posture relationship between the welding gun and the drum-like component is dynamically constrained, so that the welding gun can avoid uphill welding, downhill welding, or even overhead welding when welding, thereby ensuring the welding forming quality.

[0027] In one embodiment, the welding path may include at least one of an arc path and a straight path. For example, the welding path may include only multiple arc paths, or only multiple straight paths, or both multiple arc paths and multiple straight paths. Then, the process of discretizing the welding path into equal distances in step S101 may be: obtaining the welding process requirements of the current welding path - welding speed , according to the welding speed and interpolation cycle The welding path is discretized into multiple discrete points with equal distances; wherein the interpolation period is the time it takes for the welding gun to move from one discrete point to another adjacent discrete point.

[0028] Specifically, the interpolation cycle The range can be set to , you can set for The smallest divisor within the range of interpolation period values, where is the total length of the welding path, and V is the welding speed. For example, , the required welding speed is , , the minimum divisor within the interpolation period range is , which is the interpolation period of this path .

[0029] After determining the welding speed and interpolation cycle, the distance the weld moves in one interpolation cycle can be determined. Then, the length of each arc in the welding path composed of arc parts is ,pass Each arc is discretized uniformly into The length of each straight welding path in the welding path composed of straight parts is , where , , are the x, y, and z axis coordinates of the starting point of the i-th straight line, , , are the x, y, and z axis coordinates of the end point of the i-th straight line segment, respectively. Discretize each straight line welding path into If the length of a certain arc or straight line section in the total path is less than the distance within one interpolation cycle when it is discretely arranged near the end, then The remaining distance is filled by the next adjacent path.

[0030] In one embodiment, step S102 may specifically be: establishing a mathematical model of the welding gun at a discrete point; wherein the mathematical model includes at least one of a first mathematical model for an arc path and a second mathematical model for a straight path; the first mathematical model is used to describe the coordinates of points on the arc path, and the second mathematical model is used to describe the coordinates of points on the straight path; and establishing a posture model according to the mathematical model. The drum-type components mainly include an arc path and a straight path. The embodiment of the present invention establishes mathematical models for different paths respectively, which can facilitate more accurate and convenient determination of the position coordinates of each discrete point according to the mathematical model.

[0031] Specifically, the first mathematical model may be: ,in, , , They are the X, Y, and Z axis coordinates of the points on the arc path respectively; , , are the coordinates of the centers of different arcs, are the radii of different arcs, is the angle parameter variable. The second mathematical model can be: ,in, , , They are the X, Y, and Z axis coordinates of the points on the straight path; , , is the coordinate of the starting point of the current straight line segment, is the inclination angle of the current straight line segment, which is obtained by taking the inverse tangent function of the slope of the current straight line segment. is the linear parameter variable.

[0032] When the discrete points are on the arc path, the position information of the discrete points can be determined according to the first mathematical model, and the posture model of the welding gun at the discrete points can be generated by combining the posture information of the welding gun at the discrete points. The same is true when the discrete points are on the straight line path.

[0033] In one embodiment, the method for establishing the posture model of the welding gun at discrete points can be specifically as follows: let the position of the discrete point of the welding path in space ,in, , , Respectively represent the coordinates of the ith discrete point on the X-axis, Y-axis, and Z-axis. If the discrete point is located in the arc path, then = , = , = The posture of the welding gun posture model is: the X-axis direction is the tangent direction of the discrete points of the welding path, recorded as = ,in, for , , , Respectively The components in the X-axis, Y-axis and Z-axis directions respectively. The Z-axis direction points to the center of the circle and is recorded as = ,in, , , Respectively The components in the X-axis, Y-axis and Z-axis directions respectively, is the center coordinate of the arc corresponding to the discrete point in the welding path, and the Y-axis direction is OK, record as ,and , , All are represented by unit vectors. If the discrete point is located in a straight path, the posture in the welding gun posture model is consistent with the posture model of the discrete point at the end of the arc path before the straight path, and the position corresponds to the position coordinates of the discrete points. The posture model of the welding gun at the discrete point can be represented by a 4×4 homogeneous transformation matrix, which is: .

[0034] In one embodiment, It also represents the moving direction of the welding gun at the i-th discrete point; step S103 may specifically be: The posture model of the welding gun at discrete points is determined as:

[0035] in, represents the i-th discrete point, , , Respectively represent the coordinates of the i-th discrete point on the X-axis, Y-axis and Z-axis; , , represents the direction vector of the welding gun in the X-axis direction, the direction vector of the Y-axis direction and the direction vector of the Z-axis direction at the i-th discrete point; , , Respectively Components in the X-axis, Y-axis and Z-axis directions respectively; , , Respectively Components in the X-axis, Y-axis and Z-axis directions respectively; The components in the X-axis, Y-axis, and Z-axis directions are 0, 0, ; When the discrete point is on the arc path, the direction vector in the X-axis direction is the direction vector in the tangent direction, the direction vector in the Z-axis direction is the direction vector pointing to the center of the circle, and the direction vector in the Y-axis direction is determined based on the direction vector in the X-axis direction and the direction vector in the Z-axis direction; when the discrete point is on the straight path, the direction vector at the discrete point on the straight path is the same as the direction vector of the discrete point at the end of the previous arc path; as well as, Determine that the position and posture of the welding gun at discrete points meets the following conditions: and ,or, , in, is the angle between the welding gun and the tangent direction of the discrete point, is the direction vector of the disc-type component in the X-axis direction at the discrete point, Expressed by coordinates, it is expressed as ( ), Expressed by coordinates, it is expressed as ( ).

[0036] The embodiment of the present invention maintains the posture constraint of the welding gun during welding by the coordinated movement of the welding gun and the disc-like component, so that when the welding gun is welding at any discrete point, it can maintain a horizontal position and the welding gun is always downward and the movement direction is along the horizontal direction.

[0037] In the embodiment of the present invention, because the welding gun and the drum-like component move in coordination, the welding gun has a direction vector in the X-axis, Y-axis and Z-axis directions at the discrete points, such as , , , and the disc-type components also have a direction vector in the X-axis, Y-axis and Z-axis directions at discrete points, such as In order to make the welding gun meet the constraints, it is necessary to make and Located at the same level.

[0038] In the embodiment of the present invention, the welding gun can be controlled by a multi-joint robot to perform welding operations, while the disc-type components are controlled by a positioner to assist the robot in completing welding. Under the premise that the constraints are determined, the robot-positioner kinematics can be solved to obtain the axis joint angles of the robot and the positioner when the discrete points meet the constraints.

[0039] Table 1 shows the joint angle values ​​of the robot and the positioner when the discrete points are in the best position during support plate welding.

[0040] As shown in Table 1, the robot has 6 axis joints and the positioner has 2 axis joints. The angle values ​​of the robot and positioner axis joints at each discrete point can be calculated through robot-positioner kinematics.

[0041] According to the mathematical model of the welding path of the drum-like components, the embodiment of the present invention discretizes the welding path in equal distances and establishes a welding gun posture model at the discrete point position. By determining the collaborative motion constraint conditions, the robot and the positioner are kinematically solved respectively to obtain eight joint angles, including six joint angles of the robot and two joint angles of the positioner that meet the constraint conditions at each discrete point position. Finally, the eight joint angles corresponding to each discrete point are combined with the corresponding welding process and sequentially imported into the robot software to generate a welding motion instruction program. Start the program, and the robot and the positioner intelligently and collaboratively perform automated welding on the drum-like components. The embodiment of the present invention uses a welding path discretization method and intelligent dynamic constraints on the geometric position relationship between the welding gun and the component during the welding process, so that the robot and the positioner can always achieve the best welding position for the entire drum-like component during the collaborative motion welding process.

[0042] In one embodiment, the welding gun is controlled by a robot; the disc-like component is fixed on a positioner; then step S104 may specifically include: obtaining an interpolation cycle; determining the welding speed of the welding gun between two adjacent discrete points and the angular velocity of the rotation axis of the positioner according to the interpolation cycle and the coordinates of the two adjacent discrete points; determining the first operating program of the robot according to the posture model of the welding gun at the discrete points, constraints and welding speed, and determining the second operating program of the positioner according to the posture model of the welding gun at the discrete points, constraints and angular velocity of the rotation axis of the positioner; running the first operating program and the second operating program, so that the robot controls the welding gun to weld the disc-like component on the positioner.

[0043] In one embodiment, the step of determining the welding speed of the welding gun between two adjacent discrete points and the angular velocity of the rotation axis of the positioner according to the interpolation period and the coordinates of the two adjacent discrete points may specifically include: Determine the welding speed of the welding gun according to the following calculation method: , Among them, V represents the welding speed of the welding gun, T represents the interpolation period, and the coordinates of the i-th discrete point are (x i ,y i 、z i ), the coordinates of the i+1th discrete point are (x i+1 ,y i+1 、z i+1 ); Between the i-th discrete point and the i+1-th discrete point, the angular velocity of the positioner's rotation axis is calculated as follows: , , Among them, W i represents the angular velocity of the positioner's rotation axis between the i-th discrete point and the i+1-th discrete point, R i represents the approximate distance between the i-th and i+1-th discrete points and the rotation center of the positioner. The coordinates of the rotation center of the positioner are (x base ,y base 、z base ).

[0044] The embodiment of the present invention controls the welding gun by a robot and controls the disc-like component by a positioner, so that the welding gun and the disc-like component move in coordination to maintain the welding posture of the welding gun at each discrete point to meet the constraint conditions, and at the same time keep the welding speed of the welding gun constant.

[0045] In one embodiment, the step of determining the first operating program of the robot according to the posture model of the welding gun at discrete points, constraints and welding speed may specifically include: obtaining other welding parameters; other welding parameters include: groove angle 45~90°, blunt edge 0.3~1mm, welding current 150~250A, arc voltage 5~15V, shielding gas is 99.9% argon, flow rate 15~25L / min; determining the first operating program of the robot according to the posture model of the welding gun at discrete points, constraints, welding speed and other welding parameters.

[0046] like Figure 2 , which shows a schematic diagram of the welding gun posture modeling method for any discrete point position provided by the present invention. The discrete point t1 is on the arc path, and its position coordinates are , the vectors in the X-axis, Y-axis and Z-axis directions are , , The discrete point t2 is on the arc path, and its position coordinates are , the vectors in the X-axis, Y-axis and Z-axis directions are , , .

[0047] like Figure 3 , showing a schematic diagram of a mathematical model of a welding path for a disc-type component provided by the present invention. Figure 3 middle, , , , , , is the radius of the arc with different radius, , , , , , is the center of the arc with different radius, , , , , , is the arc angle of arcs with different radii, , , , , , The different straight line paths that make up the weld.

[0048] like Figure 4 , showing a schematic diagram of an equidistant discretization method for the welding path of a disc-type component provided by the present invention. , each arc in the welding path , , , , , And each straight line , , , , , Through , , , , , and , , , , , Discretize each arc and each straight line at equal distances. The distances between discrete points are the same, and the welding time, i.e., the interpolation cycle, is also the same, which can ensure that the welding gun and the positioner can maintain a constant speed during the welding process.

[0049] like Figure 5 , shows a schematic diagram of a posture model of a welding gun at discrete points provided by the present invention. The welding gun has a corresponding direction vector in the X-axis, Y-axis and Z-axis directions at each discrete point.

[0050] like Figure 6 , shows a schematic diagram of the posture constraint relationship between the welding gun and the disc-type component at any position during the welding process of the disc-type component provided by the present invention. The disc-type component and the welding gun move in coordination during the welding process, and during the movement, the welding gun and the disc-type component always maintain the posture constrained by the constraint conditions.

[0051] like Figure 7 , which shows a schematic diagram of an automated welding process for a drum-like component provided by the present invention. The relationship between the drum-like component and the welding gun during the welding process is as follows: Figure 7 shown. Figure 7 In the figure, the disc-type component is a component with an elliptical cross-section, the welding gun axis and the cross-section of the disc-type component are on the same plane, and the projection of the welding gun axis on the cross-section of the disc-type component is the welding gun axis itself, and the projection is vertically downward.

[0052] like Figure 8 , which shows a schematic diagram of a welding workstation provided by the present invention. A robot 10 controls a welding gun 20 to weld a disc-like component 30 fixed on a positioner 40 .

[0053] In one embodiment, the present invention also provides a welding workstation for implementing the above-mentioned disc-type component welding method, the welding workstation includes: a robot 10 and a positioner 40, wherein the robot 10 is equipped with a welding gun 20, and the welding work is achieved by controlling the welding gun 20; the positioner 40 drives the disc-type component 30 fixed on the positioner to rotate or move, thereby changing the welding position of the disc-type component 30 to assist the robot 10 in achieving the welding work.

[0054] Optionally, the robot may include a multi-axis or multi-joint robotic arm and be equipped with a welding system to implement welding work. The positioner may include a two-axis or multi-axis rotation or displacement joint to change the welding position of the component by driving the component to rotate or move.

[0055] Optionally, the welding workstation may also include: a workbench, a welding system, a control cabinet, a protective gas delivery device and other parts, wherein the workbench is a workbench of a positioner for fixing disc-type components; the control cabinet is used to realize the control of the robot and the positioner.

[0056] In one embodiment, the present invention further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the steps of any one of the above-mentioned methods for welding disc-type components are implemented.

[0057] In one embodiment, the present invention further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by the processor, the steps of any one of the above-mentioned methods for welding disc-type components are implemented.

[0058] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0059] The above are only preferred specific implementations of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for welding a disc-type component, characterized in that: include: Obtaining a welding path of a drum-like component, and discretizing the welding path with equal distances to obtain a plurality of discrete points; Establishing a posture model of the welding gun at the discrete points; Determine the constraint conditions of the welding gun at the discrete point; wherein the constraint conditions include: the projection of the axis of the welding gun on the cross section of the drum-like component is vertically downward, and the moving direction of the welding gun at the discrete point and the tangent direction of the discrete point are in the horizontal direction; The welding gun is controlled to weld the disc-like component according to the posture model of the welding gun at the discrete points and the constraint conditions.

2. The disc-type component welding method according to claim 1 is characterized in that: The welding path includes at least one of an arc path and a straight line path; and establishing a posture model of the welding gun at the discrete points includes: Establishing a mathematical model of the welding gun at the discrete points; wherein the mathematical model includes at least one of a first mathematical model for the circular arc path and a second mathematical model for the straight line path; the first mathematical model is used to describe the coordinates of the points on the circular arc path, and the second mathematical model is used to describe the coordinates of the points on the straight line path; The posture model is established according to the mathematical model.

3. The disc-type component welding method according to claim 2, characterized in that: The step of establishing the posture model according to the mathematical model comprises: Let the position of the discrete points of the welding path in space be ,in, represents the i-th discrete point, , , Respectively represent the coordinates of the i-th discrete point on the X-axis, Y-axis and Z-axis; , , Determined according to the mathematical model of the discrete points; The pose model is established as: ， in, , , represents the direction vector of the welding gun in the X-axis direction, the Y-axis direction and the Z-axis direction at the i-th discrete point; when the discrete point is on the arc path, is the tangent direction of the discrete point, = , , , Respectively Components in the X-axis, Y-axis and Z-axis directions respectively; Pointing to the center of the circle, = ,in, , , Respectively The components in the X-axis, Y-axis and Z-axis directions respectively, is the center coordinate of the arc corresponding to the discrete point in the welding path, Depend on Sure, ; When the discrete point is on a straight line path, the direction vector at the discrete point on the straight line path is the same as the direction vector of the discrete point at the end of the previous arc path.

4. The disc-type component welding method according to claim 3 is characterized in that: It also represents the moving direction of the welding gun at the i-th discrete point; the constraint conditions of the welding gun at the discrete point are determined, including: The posture model of the welding gun at the discrete point is determined as: in, The components in the X-axis, Y-axis, and Z-axis directions are 0, 0, ; as well as, Determine that the position and posture of the welding gun at the discrete point meets the following conditions: and ,or, , in, is the angle between the welding gun and the tangent direction of the discrete point, is the direction vector of the disc-like component in the X-axis direction at the discrete point, Expressed by coordinates, it is expressed as ( ), Expressed by coordinates, it is expressed as ( ).

5. The disc-type component welding method according to claim 1, characterized in that: The welding gun is controlled by a robot; the disc-like component is fixed on a positioner; and the welding gun is controlled to weld the disc-like component according to the posture model of the welding gun at the discrete point and the constraint conditions, including: Obtaining an interpolation cycle; the interpolation cycle is the time it takes for the welding gun to move from one discrete point to another adjacent discrete point; Determine the welding speed of the welding gun between two adjacent discrete points and the angular speed of the rotation axis of the positioner according to the interpolation period and the coordinates of the two adjacent discrete points; Determine a first operating program of the robot according to the posture model of the welding gun at the discrete points, the constraint conditions and the welding speed, and determine a second operating program of the positioner according to the posture model of the welding gun at the discrete points, the constraint conditions and the angular velocity of the rotation axis of the positioner; The first operation program and the second operation program are run so that the robot controls the welding gun to weld the disc-type components on the positioner.

6. The disc-type component welding method according to claim 5, characterized in that: The step of determining the welding speed of the welding gun between two adjacent discrete points and the angular velocity of the rotation axis of the positioner according to the interpolation cycle and the coordinates of the two adjacent discrete points comprises: The welding speed of the welding gun is determined according to the following calculation method: ， Among them, V represents the welding speed of the welding gun, T represents the interpolation period, and the coordinates of the i-th discrete point are (x i ,y i 、z i ), the coordinates of the i+1th discrete point are (x i+1 ,y i+1 、z i+1 ); Between the ith discrete point and the i+1th discrete point, the angular velocity of the positioner rotation axis is calculated as follows: ， ， Among them, W i represents the angular velocity of the positioner's rotation axis between the ith discrete point and the i+1th discrete point, R i represents the approximate distance between the i-th and i+1-th discrete points and the rotation center of the positioner. The coordinates of the rotation center of the positioner are (x base ,y base 、z base ).

7. The disc-type component welding method according to claim 5, characterized in that: Determining the first operating program of the robot according to the posture model of the welding gun at the discrete point, the constraint conditions and the welding speed includes: Obtain other welding parameters; the other welding parameters include: groove angle 45~90°, blunt edge 0.3~1mm, welding current 150~250A, arc voltage 5~15V, shielding gas is 99.9% argon, flow rate 15~25L / min; The first operating program of the robot is determined according to the posture model of the welding gun at the discrete point, the constraint conditions, the welding speed and the other welding parameters.

8. A welding workstation using the disc-type component welding method according to any one of claims 1 to 7, characterized in that: The welding workstation includes: a robot and a positioner, wherein the robot is equipped with a welding gun and realizes welding work by controlling the welding gun; the positioner drives the disc-like component fixed on the positioner to rotate or move, thereby changing the welding position of the disc-like component to assist the robot in realizing welding work.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of any one of the disc-type component welding methods as described in claims 1-7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of any one of the drum-type component welding methods as described in claims 1-7 are implemented.

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