A disc-type component welding method, welding workstation, electronic equipment and medium

Abstract

The present invention relates to a method for welding a cylindrical component, a welding workstation, an electronic device, and a medium, and belongs to the field of welding technology. The method comprises: obtaining a welding path of the cylindrical component and discretizing the welding path at equal distances to obtain a plurality of discrete points; establishing a posture model of a welding gun at the discrete points; determining 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 cylindrical component is vertically downward, and the moving direction of the welding gun at the discrete points and the tangent direction of the discrete points are along the horizontal direction; and controlling the welding gun to weld the cylindrical component according to the posture model of the welding gun at the discrete points and the constraint conditions. The present invention dynamically constrains the position and posture relationship between the welding gun and the cylindrical component by setting the constraint conditions of the welding gun at the discrete points, so that the welding gun and the component always maintain the optimal welding posture during welding, avoiding uphill welding, downhill welding, or even overhead welding, thereby ensuring the quality of the welding formation.

Description

Technical Field

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

[0002] Cylindrical components such as turbine casings and transmission housings have complex structures and narrow internal gaps. Manual welding can result in poor weld consistency and significant fluctuations in weld quality. Furthermore, manual welding of these components often involves welding uphill, downhill, or even overhead. In these situations, gravity causes the molten metal in the weld pool to flow, resulting in poor weld quality and the potential for defects such as weld penetration, undercuts, and weld nubs. 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:

[0005] Obtaining a welding path of a drum-like component, and discretizing the welding path into multiple discrete points at equal distances;

[0006] Establishing a posture model of the welding gun at the discrete points;

[0007] Determining constraints on the welding gun at the discrete point; wherein the constraints 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;

[0008] The welding gun is controlled to weld the disc-type component according to the posture model of the welding gun at the discrete points and the constraint conditions.

[0009] 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:

[0010] 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;

[0011] The posture model is established according to the mathematical model.

[0012] Optionally, establishing the posture model according to the mathematical model includes:

[0013] Let the position of the discrete points of the welding path in space be ,in, represents the i-th discrete point, 、 、 Represent the coordinates of the i-th discrete point on the X-axis, Y-axis, and Z-axis respectively; 、 、 Determined according to the mathematical model of the discrete points;

[0014] The pose model is established as:

[0015] ,

[0016] 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 a discrete point is located 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.

[0017] Optionally, It also represents the moving direction of the welding gun at the i-th discrete point; the determination of the constraint condition of the welding gun at the discrete point includes:

[0018] The posture model of the welding gun at the discrete point is determined as:

[0019]

[0020] in, The components in the X-axis, Y-axis, and Z-axis directions are 0, 0, ;

[0021] as well as,

[0022] Determine that the position and posture of the welding gun at the discrete point meets the following conditions:

[0023] and ,or, ,

[0024] 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 ( ).

[0025] 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:

[0026] Obtaining an interpolation period; the interpolation period is the time it takes for the welding gun to move from one discrete point to another adjacent discrete point;

[0027] Determining the welding speed of the welding gun between two adjacent discrete points and the angular velocity of the positioner rotation axis according to the interpolation period and the coordinates of the two adjacent discrete points;

[0028] Determining a first operating program of the robot according to a posture model of the welding gun at the discrete points, constraints, and a welding speed, and determining a second operating program of the positioner according to the posture model of the welding gun at the discrete points, constraints, and an angular velocity of a rotation axis of the positioner;

[0029] The first operating program and the second operating program are run to enable the robot to control the welding gun to weld the disc-type components on the positioner.

[0030] Optionally, determining the welding speed of the welding gun between two adjacent discrete points and the angular velocity of the positioner rotation axis according to the interpolation period and the coordinates of the two adjacent discrete points includes:

[0031] The welding speed of the welding gun is determined according to the following calculation method:

[0032] ,

[0033] 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 );

[0034] 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:

[0035] ,

[0036] ,

[0037] 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 It 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 ).

[0038] Optionally, determining the first operating program of the robot according to the posture model, constraint conditions, and welding speed of the welding gun at the discrete points includes:

[0039] 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;

[0040] 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.

[0041] 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 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-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 realizing welding work.

[0042] 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 of the above-mentioned methods for welding disc-type components are implemented.

[0043] 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.

[0044] The beneficial effects of the present invention are:

[0045] 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 along the horizontal direction; based on the posture model of the welding gun at the discrete point and the constraint conditions, the welding gun is intelligently controlled to weld the drum-like component, and automated welding is achieved 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, which can avoid uphill welding, downhill welding, or even overhead welding during welding with the welding gun, thereby ensuring the quality of welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A flowchart of the steps of a drum-type component welding method provided by the present invention;

[0047] Figure 2 Schematic diagram of the welding gun posture modeling method for arbitrary discrete point positions provided by the present invention;

[0048] Figure 3 A schematic diagram of a mathematical model of a welding path for a drum-type component provided by the present invention;

[0049] Figure 4 A schematic diagram of an equidistant discretization method for welding paths of disc-type components provided by the present invention;

[0050] Figure 5 A schematic diagram of a posture model of a welding gun at discrete points provided by the present invention;

[0051] Figure 6 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;

[0052] Figure 7A schematic diagram of an automated welding process for a drum-type component provided by the present invention;

[0053] Figure 8 A schematic diagram of a welding workstation provided by the present invention;

[0054] A robot 10 , a welding gun 20 , a drum-like component 30 , and a positioner 40 . DETAILED DESCRIPTION

[0055] The preferred embodiments of the present invention will be 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, and are not used to limit the scope of the present invention.

[0056] like Figure 1 , shows a method flow chart of an embodiment of a method for welding a drum-type component provided by an embodiment of the present invention, the method comprising:

[0057] 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.

[0058] Step S102: establishing a posture model of the welding gun at discrete points.

[0059] Step S103, determining the constraints of the welding gun at the discrete points; wherein the constraints 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.

[0060] 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.

[0061] The method of the embodiment of the present invention can be controlled and implemented by electronic devices such as computers.

[0062] Coil-type components refer to mechanical or structural parts that are shaped like a disk or cylinder. After obtaining the welding path of the coil-type component, the embodiment of the present invention can discretize the welding path into multiple discrete points at equal intervals 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. The orientation information can be represented by the direction vectors of the welding gun on the X, Y, and Z axes.

[0063] To avoid welding uphill, downhill, or even overhead, the welding gun's posture can be further constrained. Constraint 1: The projection of the welding gun or its axis onto the cross-section of the cylindrical component is vertically downward, ensuring the gun maintains a horizontal position during welding. Constraint 2: The direction of movement of the welding gun at a discrete point is horizontal to the tangent line at that discrete point on the welding path.

[0064] 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.

[0065] 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 along the horizontal direction; based on the posture model of the welding gun at the discrete point and the constraint conditions, the welding gun is intelligently controlled to weld the drum-like component, and automated welding is achieved 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, which can avoid uphill welding, downhill welding, or even overhead welding during welding with the welding gun, thereby ensuring the quality of welding.

[0066] 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 as follows: obtaining the welding process requirements of the current welding path - welding speed , according to welding speed and interpolation cycle The welding path is discretized into multiple discrete points with equal distances; the interpolation period is the time it takes for the welding gun to move from one discrete point to another adjacent discrete point.

[0067] 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 .

[0068] After determining the welding speed and interpolation cycle, the distance the weld moves within 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 discreted to the end, then The remaining distance is filled by the next adjacent path.

[0069] In one embodiment, step S102 may specifically include: establishing a mathematical model of the welding gun at discrete points; wherein the mathematical model includes at least one of a first mathematical model for a circular path and a second mathematical model for a linear path; the first mathematical model is used to describe the coordinates of points on the circular path, and the second mathematical model is used to describe the coordinates of points on the linear path; and establishing a posture model based on the mathematical model. Coil-type components primarily include circular paths and linear paths. In embodiments of the present invention, mathematical models are established for different paths, facilitating more accurate and convenient determination of the position coordinates of each discrete point based on the mathematical model.

[0070] 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, , , are the X, Y, and Z axis coordinates of the points on the straight path respectively; , , 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.

[0071] When the discrete points are on an 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 a straight path.

[0072] 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 be ,in, 、 、 Represents 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 it as ,and 、 、 All are represented by unit vectors. If the discrete point is located in a straight line path, the posture of the welding gun pose model is consistent with the pose model of the discrete point at the end of the arc path before the straight line path, and the position corresponds to the position coordinates of the discrete points. The pose model of the welding gun at the discrete point can be represented by a 4×4 homogeneous transformation matrix, which is:

[0073] .

[0074] In one embodiment, It also represents the moving direction of the welding gun at the i-th discrete point; step S103 may specifically be:

[0075] The posture model of the welding gun at discrete points is determined as:

[0076]

[0077] in, represents the i-th discrete point, 、 、 Represent the coordinates of the i-th discrete point on the X-axis, Y-axis, and Z-axis respectively; 、 、 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; 、 、 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 a discrete point is on an arc path, the direction vector in the X-axis direction is the direction vector of the tangent line, 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 vectors in the X-axis direction and the Z-axis direction. When a discrete point is on a straight path, the direction vector at the discrete point on the straight path is the same as the direction vector at the discrete point at the end of the previous arc path.

[0078] as well as,

[0079] Determine that the position of the welding gun at the discrete point meets the following conditions:

[0080] and ,or, ,

[0081] in, is the angle between the welding gun and the tangent direction of the discrete point, is the direction vector of the drum component in the X-axis direction at the discrete point, Expressed by coordinates, it is expressed as ( ), Expressed by coordinates, it is expressed as ( ).

[0082] The embodiment of the present invention maintains the posture constraint of the welding gun during the welding process through the coordinated movement of the welding gun and the drum-like component, so that the welding gun can maintain a horizontal position when welding at any discrete point, and the welding gun is always downward and the movement direction is along the horizontal direction.

[0083] In the embodiment of the present invention, since 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 a discrete point, 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 on the same level.

[0084] In this embodiment of the present invention, a multi-jointed robot can control the welding gun to perform welding operations, while a positioner can control the drum-like components to assist the robot in completing the welding. Given the constraints, the robot-positioner kinematics can be used to determine the joint angles of the robot and positioner axes when the constraints are satisfied at discrete points.

[0085] 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.

[0086]

[0087] As shown in Table 1, the robot has 6 axis joints and the positioner has 2 axis joints. The angle value of the robot and positioner axis joints at each discrete point can be calculated through robot-positioner kinematics.

[0088] 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 intervals and establishes a welding gun posture model at discrete point positions. By determining the collaborative motion constraint conditions, the kinematics of the robot and the positioner are solved separately to obtain eight joint angles, namely, 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. The program is started, and the robot and the positioner intelligently and collaboratively perform automated welding of 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 optimal welding position for the entire drum-like component during the collaborative motion welding process.

[0089] 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 period; 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; determining a first operating program of the robot according to the posture model, constraint conditions and welding speed of the welding gun at the discrete points, and determining a second operating program of the positioner according to the posture model, constraint conditions and angular velocity of the rotation axis of the positioner at the discrete points; 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.

[0090] 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 positioner rotation axis according to the interpolation period and the coordinates of the two adjacent discrete points may specifically include:

[0091] Determine the welding speed of the welding gun according to the following calculation method:

[0092] ,

[0093] 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 );

[0094] 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:

[0095] ,

[0096] ,

[0097] 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 It 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 ).

[0098] In an embodiment of the present invention, a robot controls a welding gun, and a positioner controls a drum-like component, so that the welding gun and the drum-like component move in coordination to maintain the welding posture of the welding gun at each discrete point in compliance with the constraint conditions, and at the same time keep the welding speed of the welding gun constant.

[0099] In one embodiment, the step of determining the first operating program of the robot based on the posture model of the welding gun at the discrete point, the constraint conditions and the welding speed may specifically include: obtaining 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; determining the first operating program of the robot based on the posture model of the welding gun at the discrete point, the constraint conditions, the welding speed and other welding parameters.

[0100] 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 、 、 .

[0101] 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.

[0102] 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 same distances between discrete points ensure that the welding time, or interpolation cycle, is the same. This ensures that the welding gun and positioner maintain a constant speed during the welding process.

[0103] like Figure 5 , which 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.

[0104] like Figure 6 Figure 2 shows a schematic diagram of the posture constraint relationship between a welding gun and a cylindrical component at any position during welding of a cylindrical component, as provided by the present invention. The cylindrical component and welding gun move in tandem during welding, maintaining the postures defined by the constraint conditions throughout the movement.

[0105] like Figure 7 , shows a schematic diagram of the automatic welding process of a drum-type component provided by the present invention. The relationship between the drum-type 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. 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.

[0106] 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 .

[0107] In one embodiment, the present invention also provides a welding workstation for implementing the above-mentioned disc-type component welding method, the welding workstation comprising: 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.

[0108] Optionally, the robot may include a multi-axis or multi-joint robotic arm and be equipped with a welding system to perform 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.

[0109] 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 the workbench of the positioner, which is used to fix the disc-type components; the control cabinet is used to realize the control of the robot and the positioner.

[0110] In one embodiment, 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 of the above-mentioned methods for welding disc-type components are implemented.

[0111] 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 of the above-mentioned methods for welding disc-type components are implemented.

[0112] Those skilled in the art will appreciate that all or part of the process steps of the above-described embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, such as a magnetic disk, an optical disk, a read-only memory, or a random access memory.

[0113] The above are only preferred specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or replacements that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection 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 into multiple discrete points at equal distances; Establishing a posture model of the welding gun at the discrete points; Determining constraints on the welding gun at the discrete point; wherein the constraints 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; Controlling the welding gun to weld the disc-like component according to the posture model of the welding gun at the discrete points and the constraint conditions; Wherein, establishing the posture model of the welding gun at the discrete points includes: Let the position of the discrete points of the welding path in space be ,in, represents the i-th discrete point, 、 、 Represent the coordinates of the i-th discrete point on the X-axis, Y-axis, and Z-axis respectively; 、 、 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 a discrete point is located 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.

2. The method for welding a disc-type component according to claim 1, characterized in that: The welding path includes at least one of an arc path and a straight path; the method further includes: A mathematical model of the welding gun at the discrete points is established; 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.

3. The method for welding a drum-type component according to claim 1, characterized in that: It also represents the moving direction of the welding gun at the i-th discrete point; the determination of the constraint condition of the welding gun at the discrete point includes: 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 ( ).

4. The method for welding a drum-type component 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 points and the constraint conditions, including: Obtaining an interpolation period; the interpolation period is the time it takes for the welding gun to move from one discrete point to another adjacent discrete point; Determining the welding speed of the welding gun between two adjacent discrete points and the angular velocity of the positioner rotation axis according to the interpolation period and the coordinates of the two adjacent discrete points; Determining a first operating program of the robot according to a posture model of the welding gun at the discrete points, constraints, and a welding speed, and determining a second operating program of the positioner according to the posture model of the welding gun at the discrete points, constraints, and an angular velocity of a rotation axis of the positioner; The first operating program and the second operating program are run to enable the robot to control the welding gun to weld the disc-type components on the positioner.

5. The method for welding a drum-type component according to claim 4, 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 positioner rotation axis according to the interpolation period 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 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 It 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 ).

6. The method for welding a drum-type component according to claim 4, characterized in that: The first operation program of the robot is determined according to the posture model, constraint conditions and welding speed of the welding gun at the discrete point, including: 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.

7. A welding workstation using the disc-type component welding method according to any one of claims 1 to 6, characterized in that: The welding workstation includes: a robot and a positioner, wherein the robot is equipped with a welding gun and performs 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 performing welding work.

8. 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 according to claims 1-6 are implemented.

9. 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 according to claims 1-6 are implemented.

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