Steel structure module rapid welding method based on welding seam information integration

Abstract

The invention discloses a steel structure module rapid welding method based on welding seam information integration, which comprises the following steps: firstly, obtaining welding parameter information and welding seam basic information of a to-be-welded steel structure module, and importing the information into an established database which is internally provided with an import / export module, a model processing module and an auxiliary information module; numbering from 1 to n according to an import sequence, performing full arrangement to form N welding sequence schemes, performing preliminary screening according to process requirements, performing secondary screening according to the maximum deformation of welding simulation analysis, and finally performing kinematic collision detection to obtain an optimal welding sequence scheme. Welding information is integrated based on a database, and simple and rapid operations such as data import and export, check and modification are achieved; and then welding sequence planning and simulation are conducted according to the welding seam information, different welding sequence schemes are screened to determine the optimal welding scheme for the welding robot to call, and the welding efficiency is improved.

Description

Technical Field

[0001] The invention relates to a method for welding a steel structure module, and in particular to a method for rapid welding a steel structure module based on weld information integration. Background Art

[0002] During the construction of offshore platforms, the common method of welding steel structure modules is manual welding by welding workers based on their experience. However, due to the diverse structural forms, huge volume, and numerous welding nodes of steel structure modules, the welding task is complicated and tedious, and requires high welding experience of workers. The traditional manual welding method is not only difficult to guarantee welding quality and has a low yield rate, but also has low welding efficiency, which affects the overall construction efficiency of offshore platforms. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a method for rapid welding of steel structure modules based on weld information integration, which is simple to operate and improves welding efficiency.

[0004] To achieve the above object, the technical solution adopted by the present invention is:

[0005] A rapid welding method for steel structure modules based on weld information integration of the present invention comprises the following steps:

[0006] Step 1: Obtain the weld information of the steel structure module to be welded. The specific process can be as follows:

[0007] The first step is to build a 3D model of the steel structure module to be welded in the steel structure 3D modeling software, and then input the welding parameter information corresponding to each weld into the software;

[0008] The second step is to traverse all welds in the three-dimensional model through the target selector object and the enumerator object in the three-dimensional modeling software to extract information of all welds, wherein the information of the welds includes welding parameter information associated with the welds and basic weld information automatically obtained by the software;

[0009] Step 2: Establish an import / export module and a model processing module in the database software, then import the welding parameter information and basic weld information into the import / export module, and number them according to the import order, from 1 to n;

[0010] The model processing module is used to process the data in the import / export module to modify the welding parameter information, and the processed data is synchronized to the import / export module;

[0011] Step 3: Plan a welding sequence scheme for connecting the welding paths of all the welds in the steel structure module to be welded according to the basic information of the welds. The specific process is as follows:

[0012] According to the weld numbers 1 to n, the welding sequence is fully arranged to form multiple welding sequence schemes. The total number of welding sequence schemes is recorded as N, and the number of the i-th welding sequence scheme is recorded as N i , i takes the value of [1,N];

[0013] n is the number of welds

[0014] Step 4: Preliminary screening of the welding sequence scheme is performed according to the process requirements that the steel structure of the model to be welded must meet during welding to obtain a welding sequence scheme after preliminary screening;

[0015] Step 5: Perform welding simulation analysis on the welding sequence plan after the preliminary screening to obtain the welding sequence plan after the secondary screening

[0016] Step 6: Select the welding robot in the simulation software and perform inverse kinematics solution to obtain the joint angle value of the welding robot during the welding process according to each welding sequence scheme selected in the second step;

[0017] Step 7: The welding robot performs welding kinematics simulation according to the joint angle values ​​used in each welding sequence obtained in step 6, and determines whether the welding robot collides with the steel structure module to be welded during the welding process. If so, the welding sequence is deleted, otherwise it is retained, and the scheme with the shortest time is determined as the optimal welding sequence among the retained welding sequence schemes.

[0018] Step 8: The welding robot performs welding according to the optimal welding solution obtained in step 7.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] After acquiring the weld information through the steel structure three-dimensional modeling software, the present invention integrates the welding information based on the database, and then performs welding sequence planning and simulation according to the weld information to determine the optimal welding scheme for the welding robot to call, thereby realizing simple and fast operations such as data import and export, viewing and modification; in addition, different welding sequence schemes are screened through welding simulation analysis and welding robot motion simulation analysis to determine the optimal welding scheme, thereby improving welding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The present invention is a flow chart of a method for rapid welding of steel structure modules based on weld information integration. DETAILED DESCRIPTION

[0022] The present invention is described in detail below in conjunction with the accompanying drawings:

[0023] like Figure 1The steel structure module rapid welding method based on weld information integration of the present invention comprises the following steps:

[0024] Step 1: Obtain the weld information of the steel structure module to be welded. The specific process can be as follows:

[0025] The first step is to build a 3D model of the steel structure module to be welded in the steel structure 3D modeling software, and then input the welding parameter information corresponding to each weld into the software, such as weld type, welding speed, welding direction, etc.

[0026] In the second step, all welds in the three-dimensional model are traversed through the target selector object and enumerator object in the three-dimensional modeling software to extract the information of all welds. The weld information includes welding parameter information associated with the weld and basic weld information automatically obtained by the software. The basic weld information includes: weld starting coordinates, end coordinates and weld length, etc.

[0027] Step 2: Establish an import / export module and a model processing module in the database software, then import the welding parameter information and basic weld information into the import / export module, and number them according to the import order, from 1 to n;

[0028] The model processing module is used to process the data in the import / export module to modify the welding parameter information, and the processed data is synchronized to the import / export module;

[0029] Preferably, an auxiliary information module is also established in the database software, and the auxiliary information module is used to record the data processing process of the model processing module, and data recovery can be performed according to the data processing process recorded by the auxiliary information module.

[0030] Step 3: Plan a welding sequence scheme for connecting the welding paths of all the welds in the steel structure module to be welded according to the basic information of the welds. The specific process is as follows:

[0031] According to the weld numbers 1 to n, the welding sequence is fully arranged to form multiple welding sequence schemes. The total number of welding sequence schemes is recorded as N, and the number of the i-th welding sequence scheme is recorded as N i , i takes the value of [1,N].

[0032] n is the number of welds

[0033] Step 4: Preliminary screening of the welding sequence plan is performed according to the process requirements that the steel structure of the model to be welded must meet during welding to obtain a welding sequence plan after preliminary screening.

[0034] The following is an example: if multiple welds of the same steel plate are welded, the shorter welds are welded first. Then, starting from the welding sequence plan N1, check whether it meets the welding process requirements. Those that meet the requirements are retained, and those that do not meet the requirements are eliminated. All welding sequence plans obtained in step 3 are traversed, and the total number of welding sequence plans after preliminary screening is recorded as W, where the number of the jth welding sequence plan is recorded as W j , j takes the value of [1,W].

[0035] Step 5: Perform welding simulation analysis on the welding sequence scheme after the preliminary screening to obtain the welding sequence scheme after the secondary screening. The specific process is as follows:

[0036] The first step is to build a three-dimensional model of the steel structure to be welded in the simulation software, and set the simulation parameters and heat source model in the simulation software. According to the welding sequence scheme obtained after the preliminary screening in step 4, starting from the welding sequence scheme W1, call the welding parameter information of the corresponding weld in the database of step 2 for simulation, traverse all the welding sequence schemes screened in step 4, and obtain each welding sequence scheme W j The maximum deformation L of the three-dimensional model j .

[0037] The second step is to make a judgment based on the maximum deformation standard D of the steel structure to be welded. The specific judgment is as follows:

[0038] When the maximum deformation L j If it is greater than the maximum deformation standard D, the solution is eliminated;

[0039] When the maximum deformation L j If it is less than or equal to the maximum welding standard D, the solution is retained.

[0040] Step 3: The total number of welding sequence plans selected in step 2 is recorded as V, and the number of the kth welding sequence plan is recorded as V k , the value of k is [1,V].

[0041] Step 6. Select the welding robot in the simulation software and perform inverse kinematics solution to obtain the joint angle values ​​of the welding robot during the welding process according to each welding sequence scheme selected in the second step.

[0042] Here are some examples:

[0043] Generally speaking, the more joints a welding robot has, the more degrees of freedom it has as a whole. The steel structure modules to be welded have various structures, huge volumes, and many welding nodes, so a six-joint welding robot is selected. The coordinate transformation matrix formula (i.e., the inverse kinematics solution formula) is:

[0044]

[0045] The coordinate transformation matrix of each joint from the base to the wrist of the six-joint welding robot is: T is the joint transformation matrix, with the base as joint 0, and joints 1, 2, and 6 in the order of connection. is the transformation matrix of joint 1 based on the base; is the transformation matrix of joint 2 based on joint 1, and so on is the transformation matrix of 6 joints with 5 joints as the reference, then the transformation relationship from the base coordinate system to the wrist coordinate system of the welding robot is

[0046]

[0047] in is the rotation matrix; is the translation matrix. x , o x 、a x They are the three rotation components about the x-axis; n y , o y 、a y They are the three rotation components of the y axis; n z , o z 、a z They are the three rotation components about the z axis; p x is the translation component of the x-axis; p y is the translation component of the x-axis; p z is the translation component about the x-axis.

[0048] According to the transformation relationship from the base coordinate system to the wrist coordinate system of the welding robot, the analytical method is used to solve the inverse kinematics of the welding robot to solve the joint angles θ1, θ2, θ3, θ4, θ5, and θ7. For details, see Robotics (4th edition / Cai Zixing and Xie Bin, ed.—Beijing: Tsinghua University Press, 2022.3, ISBN978-7-302-59822), Chapter 3, pages 51 to 72.

[0049] Step 7: The welding robot performs welding kinematics simulation according to the joint angle values ​​used in each welding sequence scheme obtained by simulation in step 6, and determines whether the welding robot collides with the steel structure module to be welded during the welding process. If so, the welding sequence scheme is deleted, otherwise it is retained. Among the retained welding sequence schemes, the scheme with the shortest time is determined as the optimal welding sequence scheme. The specific process can be as follows:

[0050] The first step is to use the robot toolbox in the simulation software to build the welding robot model selected in step 6, and then select the welding sequence scheme from scheme V1 to scheme V according to the welding sequence scheme selected in step 5. VKinematic simulation is carried out sequentially to traverse all welding sequence plans.

[0051] Step 2: Make the following judgments based on the simulation results:

[0052] If Scheme V k If a collision occurs during the simulation, the solution will be eliminated;

[0053] If Scheme V k If no collision occurs during the simulation, the solution is retained and the total simulation time is recorded as t k .

[0054] The third step is to solve the minimum value of the total simulation process time in the welding scheme after screening in the second step, and take the corresponding scheme as the optimal welding sequence scheme.

[0055] Step 8: The welding robot performs welding according to the optimal welding solution obtained in step 7.

[0056] The above-described embodiments are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A rapid welding method for steel structure modules based on weld information integration, characterized in that The following steps are involved: Step 1: Obtain the weld information of the steel structure module to be welded. The specific process can be as follows: The first step is to build a 3D model of the steel structure module to be welded in the steel structure 3D modeling software, and then input the welding parameter information corresponding to each weld into the software; The second step is to traverse all welds in the three-dimensional model through the target selector object and the enumerator object in the three-dimensional modeling software to extract information of all welds, wherein the information of the welds includes welding parameter information associated with the welds and basic weld information automatically obtained by the software; Step 2: Establish an import / export module and a model processing module in the database software, then import the welding parameter information and basic weld information into the import / export module, and number them according to the import order, from 1 to n; The model processing module is used to process the data in the import / export module to modify the welding parameter information, and the processed data is synchronized to the import / export module; Step 3: Plan a welding sequence scheme for connecting the welding paths of all the welds in the steel structure module to be welded according to the basic information of the welds. The specific process is as follows: According to the weld numbers 1 to n, the welding sequence is fully arranged to form multiple welding sequence schemes. The total number of welding sequence schemes is recorded as N, and the number of the i-th welding sequence scheme is recorded as N i , i takes the value of [1,N]; N=A n n , n is the number of welds Step 4: Preliminary screening of the welding sequence scheme is performed according to the process requirements that the steel structure of the model to be welded must meet during welding to obtain a welding sequence scheme after preliminary screening; Step 5: Perform welding simulation analysis on the welding sequence plan after the preliminary screening to obtain the welding sequence plan after the secondary screening Step 6: Select the welding robot in the simulation software and perform inverse kinematics solution to obtain the joint angle value of the welding robot during the welding process according to each welding sequence scheme selected in the second step; Step 7: The welding robot performs welding kinematics simulation according to the joint angle values ​​used in each welding sequence obtained in step 6, and determines whether the welding robot collides with the steel structure module to be welded during the welding process. If so, the welding sequence is deleted, otherwise it is retained, and the scheme with the shortest time is determined as the optimal welding sequence among the retained welding sequence schemes. Step 8: The welding robot performs welding according to the optimal welding solution obtained in step 7.

2. The steel structure module rapid welding method based on weld information integration according to claim 1 is characterized in that: In the step 2, an auxiliary information module is established in the database software, and the auxiliary information module is used to record the data processing process of the model processing module. Data recovery can be performed according to the data processing process recorded by the auxiliary information module.

3. The steel structure module rapid welding method based on weld information integration according to claim 1 is characterized in that: The specific process of step five is as follows: The first step is to build a three-dimensional model of the steel structure to be welded in the simulation software, and set the simulation parameters and heat source model in the simulation software; according to the welding sequence scheme obtained after the preliminary screening in step 4, starting from the welding sequence scheme W1, call the welding parameter information of the corresponding weld in the database of step 2 for simulation, traverse all the welding sequence schemes screened in step 4, and obtain each welding sequence scheme W j The maximum deformation L of the three-dimensional model j ; The second step is to make a judgment based on the maximum deformation standard D of the steel structure to be welded. The specific judgment is as follows: When the maximum deformation L j If it is greater than the maximum deformation standard D, the solution is eliminated; When the maximum deformation L j If it is less than or equal to the maximum welding standard D, the solution is retained; Step 3: The total number of welding sequence plans selected in step 2 is recorded as V, and the number of the kth welding sequence plan is recorded as V k , the value of k is [1,V].

4. The steel structure module rapid welding method based on weld information integration according to claim 3 is characterized in that: The specific process of step seven is as follows: The first step is to use the robot toolbox in the simulation software to build the welding robot model selected in step 6, and then select the welding sequence scheme from scheme V1 to scheme V according to the welding sequence scheme selected in step 5. V Carry out kinematic simulation in sequence and traverse all welding sequence schemes; Step 2: Make the following judgments based on the simulation results: If Scheme V k If a collision occurs during the simulation, the solution will be eliminated; If Scheme V k If no collision occurs during the simulation, the solution is retained and the total simulation time is recorded as t k ; The third step is to solve the minimum value of the total time of the simulation process in the welding scheme selected in the second step, and take the corresponding scheme as the optimal welding sequence scheme.

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