A method for automatic welding path planning of diamond patterns and hard points on roller surface of roller press

Abstract

The invention discloses a method for automatic welding path planning of diamond patterns and hard points on the roller surface of a roller press, which relates to the technical field of roller surface welding, and comprises the following steps: obtaining the roller surface diameter, roller surface width, diamond diagonal length and hard point interval length, obtaining the welding gun weld bead width and the axial moving speed of the welding gun along the roller surface in a welding database, calculating the final planning value based on the obtained parameters, and calculating the span angle of the current pattern on the roller surface, thereby calculating the starting angle of the next pattern, and then executing the welding pattern task; constructing a relationship library Lia4 based on the parameters set in the pattern welding task, and obtaining the parameters of the total number of hard point rows and row position information at the same time, and sorting the positions, thereby executing the hard point positioning welding task; the automatic welding path planning method replaces manual and semi-automatic equipment to realize the fully automatic, efficient and high-quality diamond pattern and hard point welding tasks.

Description

Technical Field

[0001] The invention relates to the technical field of roller surface welding, and in particular to a method for automatically planning welding paths for diamond patterns and hard points on the roller surface of a roller press. Background Art

[0002] Roller press is a high-efficiency and energy-saving grinding equipment based on the material bed crushing mechanism. It has been widely promoted and applied in cement, mining, chemical and other grinding industries. The main components of the roller press include a pair of cylindrical rollers rotating in opposite directions and a hydraulic system, such as Figure 8 As shown, the fixed roller 12 can only rotate around the axis, and the movable roller 11 can rotate around the axis and move forward and backward horizontally. The movable roller 11 is connected to the hydraulic cylinder 13. During production, the material falls from the feed port 14 between the fixed roller 12 and the movable roller 11. The hydraulic cylinder 13 applies high pressure to the movable roller 11, so that the material is squeezed between the fixed roller 12 and the movable roller 1. After the material is squeezed, it is discharged from the discharge port 15. The accumulator 16 is used to buffer and release the pressure fluctuation caused by the unstable working condition changes during the extrusion process. The frame 17 is used to support the movable roller 11 and the fixed roller 12, etc., and finally realize the crushing and grinding of the material. Since the surface of the fixed roller 12 and the movable roller 11 (referred to as the roller surface) is in direct contact with the material, the morphology and wear resistance of the roller surface are crucial to the extrusion performance of the roller press. Figure 4 , is a roller surface in the form of welded diamond patterns and hard points. The concave-convex structure formed by this combination on the roller surface can effectively improve the roller surface's material locking ability and friction, and form a material pad to abrasive materials, effectively improving the roller press efficiency and roller surface service life.

[0003] There are currently two types of technologies for welding roller surface patterns and hard points. One is completely dependent on manual welding, in which a reference path is manually made on the roller surface according to the pattern shape and hard point specifications, and personnel hold welding equipment to weld along the path. This method not only takes a long time to weld and has high work intensity, but also the welding accuracy is difficult to accurately control and is greatly affected by human factors, and the uniformity and consistency of the welding quality cannot be guaranteed. At the same time, smoke, noise, and arc light in the welding process are not conducive to the health of personnel. The other is semi-automatic welding technology, which uses a frame and other mechanisms to place welding guns and wire feeders to achieve automatic wire feeding and welding. Although it reduces the labor intensity of personnel and improves the welding quality to a certain extent, due to the lack of an automatic control system, welding process parameters, pattern paths, and hard point planning still need to be manually set, and the influence of human factors is inevitable.

[0004] Therefore, the manual or semi-automatic method has the following disadvantages:

[0005] 1. The degree of automation is low, and it is completely realized by manual or semi-automatic with manual assistance. The labor intensity is high. A lot of smoke, noise and arc light will be generated during welding. If people work in this environment for a long time, the risk of occupational diseases will increase significantly.

[0006] 2. Low welding efficiency. Due to the relatively large size of the roller surface of the roller press, the manual or semi-automatic planning of diamond patterns and hard points is labor-intensive and difficult to operate. It requires cooperation from many aspects and the planning process is time-consuming. At the same time, affected by human factors, the welding process is difficult to continue for a long time, and the welding time is long;

[0007] 3. The welding quality is uneven and the consistency is poor. The completely manual method will cause the welding stability to change due to the different operating habits of different personnel. The semi-automatic method is also inevitable to avoid the problems caused by human factors. Summary of the invention

[0008] Based on the technical problems existing in the background technology, the present invention proposes an automatic welding path planning method for diamond patterns and hard spots on the roller surface of a roller press, which replaces manual and semi-automatic equipment to achieve fully automatic, efficient and high-quality welding tasks of diamond patterns and hard spots.

[0009] The present invention provides a method for automatic welding path planning of diamond patterns and hard points on the roller surface of a roller press, comprising the following steps:

[0010] Step 1: Roller surface diamond pattern welding path planning, including steps S11 to S14;

[0011] S11. For the current pattern welding, obtain the roller surface diameter , Roller surface width , the length of the diagonal of the rhombus Length between hard points , get the welding gun weld width in the welding database And the axial movement speed of the welding gun along the roller surface ;

[0012] S12, based on the parameters of step S11, multiple groups of correction results are calculated to construct a relationship library Lia1, and based on the diagonal length of the diamond of the current weld bead , traverse all the diagonal lengths of diamonds in the relational library Lia1, select the closest set of correction results as the final planning value, and calculate the span angle of the current pattern on the roller surface , so as to calculate the starting angle of the next pattern ;

[0013] S13, the welding gun performs the welding pattern task according to the calculation results of steps S11 to S12, and records and saves the current pattern starting angle according to the feedback value of the encoder on the roller surface , turning point angle ,in , record the position of the welding gun head and welding gun end position , The total number of final roller surface patterns in the final planning value;

[0014] S14, taking the next pattern welding as the current pattern, and repeating step S13 until the pattern welding tasks of all welds are completed;

[0015] Step 2: Plan the roller surface hard spot welding path based on the parameters of step 1 to achieve hard spot welding.

[0016] Further, in step 2, steps S21 to S24 are specifically included;

[0017] S21, based on the parameters of step 1, construct the pattern starting point position and welding gun position correspondence library Lia2, and at the same time establish the pattern turning point position and welding gun position correspondence library Lia3, compare the pattern starting point angle in Lia2 and the turning point angle in Lia3 , sort Lia2 and Lia3 in ascending order to generate the relationship library Lia4;

[0018] S22, reading pattern parameters and hard point size, calculating the distance between adjacent hard points and the total number of hard points in each row, reading the position information of each pattern, outputting the total number of hard point rows and row position information parameters, and performing position sorting;

[0019] S23, according to the parameters in step S22, the position is searched according to the current position and the position in the relationship library Lia4, and after reaching the hard point position, the hard point search welding task is started;

[0020] S24, taking the next hard point position as the current position, repeating step S23 until the hard point is completely welded.

[0021] Furthermore, in step S12, the construction process of the final planning value is specifically as follows:

[0022] Calculate the angle value of the diamond pattern , Total number of roller surface patterns , Angular velocity of roller surface rotation during welding pattern ;

[0023] Based on the total number of roller surface patterns Rounding and pattern interval angle value Take the integer or finite decimal correction results to obtain multiple groups of correction results. The group correction results include the pattern interval angle value , Total number of roller surface patterns , Angular velocity of roller surface rotation during welding pattern , the diagonal length of the rhombus , thus establishing The relationship library Lia1, , is the number of groups of correction results;

[0024] The diagonal length of the diamond based on the current weld bead , traverse all the diagonal lengths of the rhombuses in the relation library Lia1, and select the closest set of correction results from the relation library Lia1 As the final planning value, , is the final pattern interval angle value, is the final diagonal length of the rhombus, is the angular velocity of the roller surface when the final welding pattern is formed;

[0025] Among them, the pattern interval angle value , Angular velocity of roller surface rotation during welding pattern The calculation formula is as follows:

[0026] ;

[0027] .

[0028] Furthermore, the construction process of the relationship library Lia1 is as follows:

[0029] Total number of patterns on the entire roller surface In order to make the pattern distribution on the roller surface uniform and complete, the number of pattern tracks It needs to be an integer, and the pattern interval angle value It must be an integer or a finite decimal;

[0030] Based on the total number of roller surface patterns Round off, pattern interval angle value Round off or round off to a finite decimal to get the total number of corrected roller surface patterns and multiple pattern spacing angle values , thus obtaining the corresponding corrected diagonal length of the rhombus And the roller rotation angular velocity , to construct The relationship library Lia1.

[0031] Further, in step S12: calculating the span angle of the current pattern on the roller surface , so as to calculate the starting angle of the next pattern Specifically:

[0032] Make the pattern on the roller surface evenly distributed and complete, set the solution conditions: the span angle of the roller surface pattern The angle value of the pattern interval Divide equally;

[0033] The starting position of the first pattern is set to zero, and the encoder feedback value is cleared and recorded as 0, which is used as the initial position of the roller surface. =0;

[0034] In order to quickly realize automatic welding positioning and continuous welding of patterns without repetition, the starting position of the next pattern must meet two conditions: one is the starting position is the pattern interval angle value , secondly, the intervals between the starting points of all the remaining patterns and the ending points of the previous pattern are all integer multiples of the pattern interval angle value;

[0035] Calculation , , is the index of the number of roller pattern tracks, and we get The data results are recorded as ,extract The decimal part is recorded as , traverse The data result equal to 0 is taken so that The minimum value, and calculate it based on this As the starting angle of the next pattern .

[0036] Furthermore, in step S13, specifically:

[0037] Read the pattern starting angle , the main controller controls the roller surface to rotate, when the encoder feedback value is When , it is recorded as the starting point of each pattern, and the welding gun moves to the end position of the roller surface, which is recorded as the first end position of the welding gun;

[0038] Read the pattern width, i.e. the roller surface width ;

[0039] Control the roller surface to rotate at an angular velocity Rotate, with the roller surface axis as the Y direction, and the welding gun at a speed of Move along +Y, moving distance After that, record the turning point of each pattern and the position of the welding gun tail end, and then control the welding gun at a speed of Distance moved along the -Y direction ;

[0040] After the welding gun moves to the welding gun head end position, welding stops and the current pattern welding is completed.

[0041] Furthermore, in order to accurately record and distinguish the pattern position and the welding gun position, the pattern position is recorded by combining the corner position and the mark position, specifically:

[0042] The feedback value of the encoder corresponding to the starting point of each pattern is recorded as , while marking the bit Set to 1, the welding gun head end position is recorded as , , Indicates the index of the number of roller surface pattern tracks;

[0043] The encoder feedback value corresponding to each pattern turning point is recorded as , while marking the bit Set to 2, the position of the welding gun tail end is recorded as .

[0044] Furthermore, in step S21, the relationship library Lia4 is generated as follows:

[0045] In order to realize the hard spot welding positioning, the relationship library Lia2 corresponding to the pattern starting point position and the welding gun position is established, and the relationship library Lia3 corresponding to the pattern turning point position and the welding gun position is established. The relationship library Lia2 is recorded as , the relational database Lia3 is recorded as ,;

[0046] Read the relationship library Lia2 and Lia3, pattern starting angle ,along with The value increases, Increase successively, which is the pattern interval angle value multiples of;

[0047] In order to achieve fast positioning in hard spot welding, the data in the relationship library Lia2 and Lia3 are merged and compared. and Value size, in ascending order and The sorting generates the database Lia4, which is denoted as , ,in, is the angle value, It is the welding gun direction mark. is the welding gun position information, when for hour, for , for ,when for hour, for , for .

[0048] Further, in step S23, the hard spot positioning welding is specifically as follows:

[0049] S231, read the angle value of encoder feedback , welding gun direction mark And welding gun position information , control the roller surface to rotate until the encoder is Position, control the welding gun to move to Position, read the hard point interval length ;

[0050] S232, weld the current row of hard points, and complete the number of hard points in the next row Add 1, according to the welding gun direction mark , control the moving direction of welding gun, when , controls the welding gun to move the hard point interval length from the current position along the +Y direction ,when , controls the welding gun to move the hard point interval length from the current position along the -Y direction , after reaching the position, the welding gun starts welding;

[0051] S233, repeat step S232 until , row hard point number Zero, hard point row number Add 1, is the total number of hard points in each row;

[0052] In step SS4, step SS3 is repeated. Finally, the hard spot welding is completed. is the total number of hard particle rows, .

[0053] Further, roller surface rotation and welding with a welding gun are realized based on a welding system, the welding system comprising a wire feeder, a welding gun, a robot arm, a robot arm controller, a roller frame, a roller frame controller, an encoder and a main controller;

[0054] The wire feeder is used to feed welding wire to the welding gun at a set speed;

[0055] The welding gun is fixed on the end joint of the robot arm, based on the welding wire delivered by the wire feeder, and conducts welding current and delivers and sprays shielding gas;

[0056] The robot arm is used for the fixed installation of welding guns and wire feeders, and performs positioning and positioning tasks;

[0057] The robot controller is used to execute the control instructions of the robot to control the movement of the robot, and communicate with the main controller to realize the sending and receiving of data;

[0058] The roller frame is used to support the roller surface of the roller press and install the workpiece. It is the actuator to realize the rotation of the roller surface.

[0059] The roller frame controller realizes the task of receiving and sending data with the main controller, and finally realizes the rotation drive, speed adjustment and stop control of the roller frame;

[0060] The encoder is used to record the current angle value of the roller surface of the roller press and feed it back to the main controller, which then sends control tasks to the robot arm controller, roller frame controller and welding gun to achieve the linkage of the roller frame, robot arm and welding gun;

[0061] The main controller is used to send and receive data with the robot arm controller, roller frame controller, and welding gun, and read the angle value fed back by the encoder to achieve linkage control of the entire welding system.

[0062] The advantages of the automatic welding path planning method for diamond patterns and hard points on the roller surface of a roller press provided by the present invention are as follows: the automatic welding path planning method for diamond patterns and hard points on the roller surface of a roller press provided in the structure of the present invention can automatically plan the pattern according to the roller surface size based on the automatic welding path planning for diamond patterns on the roller surface, and calculate the corresponding welding starting position of the welding gun, so that the system can quickly locate and locate, and realize the welding task, wherein the planning algorithm for the pattern path parameters can be applicable to roller surfaces of different specifications; based on the automatic welding path planning for hard points on the surface, it can automatically plan the pattern according to the roller surface size and the planned diamond patterns. The diamond pattern parameters can be calculated automatically to automatically plan the position information of the hard points, so as to realize the accurate positioning and finding of the welding position of the welding gun; a welding system is proposed to replace manual welding and semi-automatic welding, realize full automation of the process, improve welding efficiency, ensure welding quality and consistency of the welding process, avoid the adverse effects of human factors, and avoid personnel from being in a working environment of smoke, noise and arc for a long time; at the same time, the problems that the planning of diamond patterns and hard points is relatively large, the planning workload is large and difficult to operate, and the cooperation of many aspects is required, and the planning process is time-consuming are improved, and the welding efficiency is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 It is a schematic diagram of the process of the present invention;

[0064] Figure 2 This is the automatic welding flow chart of diamond pattern on roller surface of roller press;

[0065] Figure 3 This is the automatic welding flow chart for hard points;

[0066] Figure 4 It is a schematic diagram of the structure of the diamond pattern roller surface;

[0067] Figure 5 It is a schematic diagram of the diamond pattern roller surface, its development and partial enlargement;

[0068] Figure 6 for Figure 5 Schematic diagram of the roller surface with a medium diamond pattern;

[0069] Figure 7 It is the structural diagram of the welding system;

[0070] Figure 8 This is a schematic diagram of the working principle of the roller press;

[0071] Among them, 1-wire feeder, 2-welding gun, 3-mechanical arm, 4-mechanical arm controller, 5-roller frame, 6-roller frame controller, 7-encoder, 8-main controller, 11-movable roller, 12-fixed roller, 13-hydraulic cylinder, 14-feed port, 15-discharge port, 16-accumulator, 17-frame. DETAILED DESCRIPTION

[0072] Below, the technical solution of the present invention is described in detail through specific embodiments. Many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific implementation disclosed below.

[0073] like Figure 7 As shown, this embodiment provides a welding system for realizing roller surface rotation and welding with a welding gun 2, the welding system includes a wire feeder 1, a welding gun 2, a robot arm 3, a robot arm controller 4, a roller frame 5, a roller frame controller 6, an encoder 7 and a main controller 8;

[0074] The wire feeder 1 is used to feed welding wire to the welding gun 2 at a set speed;

[0075] The welding gun 2 is fixed on the end joint of the robot arm 3, based on the welding wire delivered by the wire feeder 1, and conducts welding current and delivers and sprays shielding gas;

[0076] The robot arm 3 is used for the fixed installation of the welding gun 2 and the wire feeder 1, and performs the positioning and locating tasks;

[0077] The robot controller 4 is used to execute the control instructions of the robot 3 to control the movement of the robot 3, and communicate with the main controller 8 to realize the sending and receiving of data;

[0078] The roller frame 5 is used to support the roller surface of the roller press and install the workpiece, and is an actuator to realize the rotation of the roller surface;

[0079] The roller frame controller 6 realizes the task of receiving and sending data with the main controller 8, and finally realizes the rotation drive, speed adjustment and stop control of the roller frame 5;

[0080] The encoder 7 is used to record the current angle value of the roller surface of the roller press and feed it back to the main controller 8. The main controller 8 sends the control task to the robot arm controller 4, the roller frame controller 6 and the welding gun 2 to realize the linkage of the roller frame 5, the robot arm 3 and the welding gun 2;

[0081] The main controller 8 is used to send and receive data with the robot arm controller 4, the roller frame controller 6, and the welding machine, and read the angle value fed back by the encoder 7 to achieve linkage control of the entire welding system.

[0082] Based on the above-mentioned welding system, automatic welding of diamond patterns and hard spots on the roller surface of a roller press is realized. During the welding process, this embodiment proposes an automatic welding path planning method, thereby replacing manual and semi-automatic equipment to achieve fully automatic, efficient, and high-quality welding tasks of diamond patterns and hard spots.

[0083] like Figures 1 to 8 As shown, the present invention proposes a method for automatic welding path planning of diamond patterns and hard points on the roller surface of a roller press, comprising the following steps:

[0084] Step 1: planning the welding path of the diamond pattern on the roller surface;

[0085] S11. For the current pattern welding, obtain the roller surface diameter , Roller surface width , the length of the diagonal of the rhombus Length between hard points , get the welding gun weld width in the welding database And the speed of welding gun 2 moving along the roller surface axially ;

[0086] like Figure 5 and 6 The diamond pattern roller surface, the roller surface development diagram, the local enlarged diagram and the coordinate system are shown in the figure. , , , ( , See the enlarged view of the roller surface for details) to obtain the weld width in the welding database ( Figure 5 The width of the pattern line is shown in the figure), the moving speed of welding gun 2 along the Y direction (i.e. the axial direction of the roller surface) .

[0087] S12, based on the parameters of step S11, multiple groups of correction results are calculated to construct a relationship library Lia1, and based on the diagonal length of the diamond of the current weld bead , traverse all the diagonal lengths of diamonds in the relational library Lia1, select the closest set of correction results as the final planning value, and calculate the span angle of the current pattern on the roller surface , so as to calculate the starting angle of the next pattern ;

[0088] (a) The construction process of the relationship library Lia1 and the final planning value is as follows:

[0089] (a1) Calculate the angle value of the diamond pattern , Total number of roller surface patterns , Angular velocity of roller surface rotation during welding pattern ;

[0090] ;

[0091] ;

[0092] Corresponding Figure 5 and 6 ∠COD in.

[0093] (a2) Based on the total number of roller surface patterns Rounding and pattern interval angle value Take the integer or finite decimal correction results to obtain multiple groups of correction results. The group correction results include the pattern interval angle value , Total number of roller surface patterns , Angular velocity of roller surface rotation during welding pattern , the diagonal length of the rhombus , thus establishing The relationship library Lia1, , is the number of groups of correction results.

[0094] For the construction of the relational library Lia1, the total number of patterns on the entire roller surface In order to make the pattern distribution on the roller surface uniform and complete, the number of pattern tracks It needs to be an integer, and the pattern interval angle value It must be an integer or a finite decimal; based on the total number of roller surface patterns Round off, pattern interval angle value Round off or round off to a finite decimal to get the total number of corrected roller surface patterns and multiple pattern spacing angle values , thus obtaining the corresponding corrected diagonal length of the rhombus And the roller rotation angular velocity , to construct The relationship library Lia1.

[0095] It should be noted that The value is based on the number of treads It needs to be an integer, and the pattern interval angle value It must be an integer or a finite decimal. and The number of different values ​​of and The different values ​​of determine the pattern interval angle value , Total number of roller surface patterns Different values ​​of and The different values ​​of will directly determine the angular velocity of the roller surface during welding pattern , the diagonal length of the rhombus Different values ​​of , thus we get , , …, , …, The corresponding relationship library is Lia1.

[0096] (a3) Based on the diagonal length of the current weld bead , traverse all the diagonal lengths of the rhombuses in the relation library Lia1, and select the closest set of correction results from the relation library Lia1 As the final planning value, , is the total number of final roller surface patterns in the final planning value, is the final pattern interval angle value, is the final diagonal length of the rhombus, It is the angular velocity of roller surface rotation when the final welding pattern is formed.

[0097] (b) For cross angle and the starting angle of the next pattern The calculation process is as follows:

[0098] (b1) Make the pattern on the roller surface evenly distributed and complete, and set the solution conditions: the span angle of the roller surface pattern The angle value of the pattern interval Equally divided; That is, the corresponding Figure 5 and 6 ∠S1OE1 in.

[0099] , and then get , The result is an integer, which satisfies the span angle of the roller surface pattern. The angle value of the pattern interval Equal distribution requirement.

[0100] (b2) The starting position of the first pattern is set to zero, and the feedback value of encoder 7 is cleared to zero and recorded as 0, which is used as the initial position of the roller surface. =0;

[0101] (b3) In order to quickly realize automatic welding positioning and continuous welding of patterns without repetition, the starting position of the next pattern must meet two conditions: one is the starting position is the pattern interval angle value , secondly, the intervals between the starting points of all the remaining patterns and the ending points of the previous pattern are all integer multiples of the pattern interval angle value;

[0102] (b4) Calculation formula , , are the indexes of the number of roller surface patterns, and we get The data results are recorded as ,extract The decimal part is recorded as , traverse The data result equal to 0 is taken so that The minimum value, and calculate it based on this As the starting angle of the next pattern ;

[0103] In calculation middle, According to 1 to Value, According to 1 to Get the value The data results are recorded as ,extract The decimal part is recorded as , and traverse The data result equal to 0 (the data result corresponds to a specific and value), when the number of data results is 1, the corresponding and The value is the required value. When the number of data results is greater than 1, take the smallest one. As the required value, we can get Corresponding value.

[0104] S13, the welding gun 2 performs the welding pattern task according to the calculation results of steps S11 to S12, and records and saves the current pattern starting angle according to the feedback value of the encoder 7 on the roller surface , turning point angle ,in , Indicates the index of the roller surface pattern number and records the position of the welding gun head end and welding gun 2 end position ;

[0105] The specific welding pattern tasks are (c1) to (c4):

[0106] (c1) Read the pattern starting angle , the main controller 8 controls the roller surface to rotate, when the encoder 7 feedback value is When , it is recorded as the starting point of each pattern, and welding gun 2 moves to the end position of the roller surface, which is recorded as the welding gun head end position;

[0107] (c2) Read the pattern width, i.e. the roller surface width ;

[0108] (c3) Control the roller surface to rotate at an angular velocity Rotate, with the roller surface axis as the Y direction, welding gun 2 at a speed of Move along +Y, moving distance After that, record the turning point of each pattern and the position of the welding gun tail end, and then control the welding gun 2 at a speed of Distance moved along the -Y direction ;

[0109] (c4) After welding gun 2 moves to the welding gun head end position, welding is stopped to complete the current pattern welding.

[0110] For (c1) to (c4), in order to accurately record and distinguish the pattern position and the welding gun position, the pattern position is recorded by combining the corner position and the mark position. Specifically, the feedback value of the encoder 7 corresponding to the starting point of each pattern is recorded as , while marking the bit Set to 1, the welding gun head end position is recorded as ; The feedback value of encoder 7 corresponding to each pattern turning point is recorded as , while marking the bit Set to 2, the position of the welding gun tail end is recorded as .

[0111] S14, taking the next pattern welding as the current pattern welding, and repeating step S13 until the pattern welding tasks of all welds are completed.

[0112] Through S11 to S14, based on the automatic path planning of diamond pattern welding on the roller surface, the pattern can be automatically planned according to the roller surface size, and the corresponding welding starting position of the welding gun can be calculated, so that the system can quickly locate and search, and realize the welding task. The planning algorithm for the pattern path parameters can be applicable to roller surfaces of different specifications.

[0113] Step 2: planning the welding path of the hard spots on the roller surface, including S21 to S24;

[0114] S21, based on the parameters of step 1, construct the pattern starting point position and welding gun position correspondence library Lia2, and at the same time establish the pattern turning point position and welding gun position correspondence library Lia3, compare the pattern starting point angle in Lia2 and the turning point angle in Lia3 , sort Lia2 and Lia3 in ascending order to generate the relationship library Lia4, specifically (d1) to (d3);

[0115] (d1) To realize the hard spot welding positioning, the relationship library Lia2 corresponding to the pattern starting point position and the welding gun position is established, and the relationship library Lia3 corresponding to the pattern turning point position and the welding gun position is established. The relationship library Lia2 is recorded as , the relational database Lia3 is recorded as , ;

[0116] (d2) Read the relationship library Lia2 and Lia3, pattern starting angle ,along with The value increases, Increase successively, which is the pattern interval angle value multiples of;

[0117] (d3) In order to achieve fast positioning in hard spot welding, the data in the relationship library Lia2 and Lia3 are merged and compared. and Value size, in ascending order and The sorting generates the database Lia4, which is denoted as , ,in, is the angle value, It is the welding gun direction mark. is the welding gun position information, when for hour, for , for ,when for hour, for , for .

[0118] S22, reading pattern parameters and hard point size, calculating the distance between adjacent hard points and the total number of hard points in each row, reading the position information of each pattern, outputting the total number of hard point rows and row position information parameters, and performing position sorting;

[0119] Depend on Figure 5 It can be seen that the spacing size of the hard points in the Y direction is , the total number of hard points in each row The number of hard points in each row is between 1 and Take a value between.

[0120] S23, according to the parameters in step S22, according to the current position and the position in the relationship library Lia4, after reaching the hard point position, start to execute the hard point positioning welding task, wherein the hard point positioning welding task specifically includes steps S231 to S233:

[0121] S231, read the angle value fed back by encoder 7 , welding gun direction mark And welding gun position information The roller frame controller 6 controls the roller frame 5 to rotate so that the roller surface rotates to the encoder 7. Position, the robot controller 4 controls the robot 3 to move the welding gun 2 to Position, read the hard point interval length ;

[0122] S232, weld the current row of hard points, and complete the number of hard points in the next row Add 1, according to the welding gun direction mark , the robot controller 4 controls the robot 3 to move the welding gun 2 in the set direction. , the robot controller 4 controls the robot 3 to carry the welding gun 2 and move the hard point interval length from the current position along the +Y direction ,when , the robot controller 4 controls the robot 3 to carry the welding gun 2 and move the hard point interval length along the -Y direction from the current position , after reaching the position, the main controller 8 controls the welding gun 2 to start welding;

[0123] S233, repeat step S232 until , row hard point number Zero, hard point row number Add 1, is the total number of hard points in each row.

[0124] According to S231 to S233, automatic spot finding and welding of hard points is realized.

[0125] S24, taking the next hard point position as the current position, repeating step S23. Finally, the hard spot welding is completed. is the total number of hard particle rows, .

[0126] According to steps S21 to S24, based on the automatic path planning of the roller surface hard spot welding, the hard spot position information can be automatically planned according to the roller surface size and the planned diamond pattern parameters, so as to realize the precise positioning and location of the welding position of the welding gun.

[0127] Based on the automatic welding path planning of the diamond pattern and hard points on the roller surface of the roller press, this embodiment proposes a welding system to replace manual welding and semi-automatic welding, realize full automation of the process, improve welding efficiency, ensure welding quality and consistency of the welding process, avoid the adverse effects of human factors, and avoid personnel from being in a working environment of smoke, noise and arc light for a long time; at the same time, it improves the problem that the planning of manual or semi-automatic diamond patterns and hard points is relatively large in size and difficult to operate due to the relatively large size of the roller surface of the roller press, and the planning process is time-consuming and requires cooperation from many aspects, and the welding efficiency is high.

[0128] In addition, based on the automatic welding path planning method for diamond patterns and hard points on the roller surface of the roller press, the welding quality is consistent, the stability of roller surface welding is improved, and the related problems caused by the inevitable human factors in the manual or semi-automatic method are avoided. Therefore, this embodiment replaces manual and semi-automatic equipment to achieve fully automatic, high-efficiency, and high-quality diamond pattern and hard point welding tasks.

[0129] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A method for automatic welding path planning of diamond patterns and hard points on the roller surface of a roller press, comprising the following steps: Step 1: Roller surface diamond pattern welding path planning, including steps S11 to S14; S11. For the current pattern welding, obtain the roller surface diameter , Roller surface width , the diagonal length of the rhombus Length between hard points , get the welding gun weld width in the welding database and the speed at which the welding gun (2) moves along the roller surface axially ; S12, based on the parameters of step S11, multiple groups of correction results are calculated to construct a relationship library Lia1, and based on the diagonal length of the diamond of the current weld bead , traverse all the diagonal lengths of diamonds in the relational library Lia1, select the closest set of correction results as the final planning value, and calculate the span angle of the current pattern on the roller surface , so as to calculate the starting angle of the next pattern ; S13, the welding gun (2) performs the welding pattern task according to the calculation results of steps S11 to S12, and records and saves the current pattern starting angle according to the feedback value of the encoder (7) on the roller surface. , turning point angle ,in , record the position of the welding gun head and welding gun (2) end position , The total number of final roller surface patterns in the final planning value; S14, taking the next pattern welding as the current pattern, and repeating step S13 until the pattern welding tasks of all welds are completed; Step 2: Plan the roller surface hard spot welding path based on the parameters of step 1 to achieve hard spot welding.

2. The method for automatic welding path planning of diamond pattern and hard points on roller surface of roller press according to claim 1 is characterized in that: In step 2, specifically including steps S21 to S24; S21, based on the parameters of step 1, construct the pattern starting point position and welding gun position correspondence library Lia2, and at the same time establish the pattern turning point position and welding gun position correspondence library Lia3, compare the pattern starting point angle in Lia2 and the turning point angle in Lia3 , sort Lia2 and Lia3 in ascending order to generate the relationship library Lia4; S22, reading pattern parameters and hard point size, calculating the distance between adjacent hard points and the total number of hard points in each row, reading the position information of each pattern, outputting the total number of hard point rows and row position information parameters, and performing position sorting; S23, according to the parameters in step S22, the position is searched according to the current position and the position in the relationship library Lia4, and after reaching the hard point position, the hard point search welding task is started; S24, taking the next hard point position as the current position, repeating step S23 until the hard point is completely welded.

3. The method for automatic welding path planning of diamond pattern and hard points on roller surface of roller press according to claim 2 is characterized in that: In step S12, the construction process of the final planning value is specifically as follows: Calculate the angle value of the diamond pattern , Total number of roller surface patterns , Angular velocity of roller surface rotation during welding pattern ; Based on the total number of roller surface patterns Rounding and pattern interval angle value Take the integer or finite decimal correction results to obtain multiple groups of correction results. The group correction results include the pattern interval angle value , Total number of roller surface patterns , Angular velocity of roller surface rotation during welding pattern , the diagonal length of the rhombus , thus establishing The relationship library Lia1, , is the number of groups of correction results; The diagonal length of the diamond based on the current weld bead , traverse all the diagonal lengths of the rhombuses in the relation library Lia1, and select the closest set of correction results from the relation library Lia1 As the final planning value, , is the final pattern interval angle value, is the final diagonal length of the rhombus, is the angular velocity of the roller surface when the final welding pattern is formed; Among them, the pattern interval angle value , Angular velocity of roller surface rotation during welding pattern The calculation formula is as follows: ； 。 4. The method for automatic welding path planning of diamond pattern and hard points on roller surface of roller press according to claim 3 is characterized in that: The construction process of the relationship library Lia1 is as follows: Total number of patterns on the entire roller surface In order to make the pattern on the roller surface evenly distributed and complete, the total number of roller surface patterns It needs to be an integer, and the pattern interval angle value It must be an integer or a finite decimal; Based on the total number of roller surface patterns Round off, pattern interval angle value Round off or round off to a finite decimal to get the total number of corrected roller surface patterns and multiple pattern spacing angle values , thus obtaining the corresponding corrected diagonal length of the rhombus And the roller surface rotation angular velocity , to construct The relationship library Lia1.

5. The method for automatic welding path planning of diamond pattern and hard points on roller surface of roller press according to claim 4 is characterized in that: In step S12: Calculate the span angle of the current pattern on the roller surface , so as to calculate the starting angle of the next pattern Specifically: Make the pattern on the roller surface evenly distributed and complete, set the solution conditions: the span angle of the roller surface pattern The final pattern spacing angle value should be Divide equally; The starting position of the first pattern is set to zero, and the feedback value of the encoder (7) is cleared to zero and recorded as 0, which is used as the initial position of the roller surface. =0; In order to quickly realize automatic welding positioning and continuous welding of patterns without repetition, the starting position of the next pattern must meet two conditions: one is the starting position is the pattern interval angle value , secondly, the intervals between the starting points of all the remaining patterns and the ending points of the previous pattern are all integer multiples of the pattern interval angle value; Calculation , , are the indexes of the number of roller surface patterns, and we get The data results are recorded as ,extract The decimal part is recorded as , traverse The data result equal to 0 is taken so that The minimum value, and calculate it based on this As the starting angle of the next pattern .

6. The method for automatic welding path planning of diamond pattern and hard points on roller surface of roller press according to claim 4, characterized in that: In step S13, specifically: Read the pattern starting angle , the main controller (8) controls the roller surface to rotate. When the encoder (7) feedback value is When , it is recorded as the starting point of each pattern, and the welding gun (2) moves to the end position of the roller surface, which is recorded as the welding gun head end position; Read the pattern width, i.e. the roller surface width ; Control the roller surface rotation angular velocity when the roller surface is in the final welding pattern Rotate, with the roller surface axis as the Y direction, and the welding gun (2) at a speed of Move along +Y, moving distance After that, record the turning point of each pattern and the position of the welding gun tail end, and then control the welding gun (2) at a speed of Distance moved along the -Y direction ; After the welding gun (2) moves to the welding gun head end position, welding is stopped and the current pattern welding is completed.

7. The method for automatic welding path planning of diamond pattern and hard points on roller surface of roller press according to claim 6, characterized in that: In order to accurately record and distinguish the pattern position and welding gun position, the pattern position is recorded by combining the corner position and the mark position, specifically: The feedback value of the encoder (7) corresponding to the starting point of each pattern is recorded as , while marking the bit Set to 1, the welding gun head end position is recorded as , , Indicates the index of the number of roller surface pattern tracks; The feedback value of encoder (7) corresponding to each pattern turning point is recorded as , while marking the bit Set to 2, the position of the welding gun tail end is recorded as .

8. The method for automatic welding path planning of diamond pattern and hard points on roller surface of roller press according to claim 7, characterized in that: In step S21, the relationship library Lia4 is generated as follows: In order to realize the hard spot welding positioning, the relationship library Lia2 corresponding to the pattern starting point position and the welding gun position is established, and the relationship library Lia3 corresponding to the pattern turning point position and the welding gun position is established. The relationship library Lia2 is recorded as , the relational database Lia3 is recorded as ; Read the relationship library Lia2 and Lia3, pattern starting angle ,along with The value increases, It increases successively, which is the final pattern interval angle value multiples of; In order to achieve fast positioning in hard spot welding, the data in the relationship library Lia2 and Lia3 are merged and compared. and Value size, in ascending order and The sorting generates the database Lia4, which is denoted as , ,in, is the angle value, It is the welding gun direction mark. is the welding gun position information, when for hour, for , for ,when for hour, for , for .

9. The method for automatic welding path planning of diamond patterns and hard points on the roller surface of a roller press according to claim 8, characterized in that: In step S23, the hard spot welding is specifically as follows: S231, read the angle value fed back by the encoder (7) , welding gun direction mark And welding gun position information , control the roller surface to rotate until the encoder (7) is Position, control the welding gun (2) to move to Position, read the hard point interval length ; S232, weld the current row of hard points, and complete the number of hard points in the next row Add 1, according to the welding gun direction mark , control the moving direction of welding gun (2), when , control the welding gun (2) to move the hard point interval length from the current position along the +Y direction ,when , control the welding gun (2) to move the hard point interval length from the current position along the -Y direction , after reaching the position, the welding gun (2) starts welding; S233, repeat step S232 until , row hard point number Zero, hard point row number Add 1, is the total number of hard points in each row; In step SS4, step SS3 is repeated. Finally, the hard spot welding is completed. is the total number of hard particle rows, .

10. The method for automatic welding path planning of diamond pattern and hard points on roller surface of roller press according to claim 1, characterized in that: Roller surface rotation and welding with a welding gun (2) are achieved based on a welding system, the welding system comprising a wire feeder (1), a welding gun (2), a robot arm (3), a robot arm controller (4), a roller frame (5), a roller frame controller (6), an encoder (7) and a main controller (8); The wire feeder (1) is used to feed welding wire to the welding gun (2) at a set speed; The welding gun (2) is fixed on the end joint of the robot arm (3), based on the welding wire delivered by the wire feeder (1), and conducts welding current and delivers and sprays shielding gas; The mechanical arm (3) is used for fixing and installing the welding gun (2) and the wire feeder (1), and performing positioning and locating tasks; The robot arm controller (4) is used to execute control instructions of the robot arm (3) to control the movement of the robot arm (3) and communicate with the main controller (8) to realize the sending and receiving of data; The roller frame (5) is used to support the roller surface of the roller press and to mount workpieces, and is an actuator for realizing the rotation of the roller surface; The roller frame controller (6) realizes the task of receiving and sending data with the main controller (8), and finally realizes the rotation drive, speed adjustment and stop control of the roller frame (5); The encoder (7) is used to record the current angle value of the roller surface of the roller press and feed it back to the main controller (8). The main controller (8) sends the control task to the robot arm controller (4), the roller frame controller (6) and the welding gun (2), so as to realize the linkage of the roller frame (5), the robot arm (3) and the welding gun (2); The main controller (8) is used to send and receive data with the robot arm controller (4), the roller frame controller (6), and the welding gun (2), and read the angle value fed back by the encoder (7), so as to realize the linkage control of the entire welding system.

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