A steel structure module rapid welding method based on weld information integration

Abstract

The application discloses a kind of steel structure module fast welding methods based on weld information integration, first obtain the welding parameter information and weld basic information of steel structure module to be welded and import to the database established, the database has import / export module, model processing module and auxiliary information module, according to the numbering from 1 to n according to import order, and carry out full permutation and form N welding sequence scheme, then through process requirement, primary screening is carried out again, according to the maximum deformation of welding simulation analysis, secondary screening is carried out, finally, kinematic collision detection is carried out, and the optimal welding sequence scheme is obtained.Based on database, welding information is integrated, data import / export, viewing and modifying and other simple and fast operations are realized;Then, according to the weld information, the welding sequence planning and simulation are carried out to screen different welding sequence schemes and determine the optimal welding scheme for the welding robot to call, thereby improving the welding efficiency.

Description

Technical Field

[0001] This invention relates to a method for welding steel structure modules, and more particularly to a rapid welding method for steel structure modules based on weld information integration. Background Technology

[0002] In the construction of offshore platforms, the commonly used method for welding steel structure modules is manual welding by experienced welders. However, due to the diverse structural forms, large size, and numerous welding nodes of steel structure modules, the welding task is complex and tedious, requiring a high level of welding experience from the workers. Traditional manual welding methods not only make it difficult to guarantee welding quality and result in a low yield rate, but also lead to low welding efficiency, affecting the overall construction efficiency of the offshore platform. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a rapid welding method for steel structure modules based on weld seam information integration. This method is simple to operate and improves welding efficiency.

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

[0005] The present invention provides a rapid welding method for steel structure modules based on weld seam information integration, comprising the following steps:

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

[0007] The first step is to create 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 3D model using the target selector object and enumerator object in the 3D modeling software, and extract the information of all welds. The information of the welds includes the welding parameter information associated with the weld and the basic information of the welds automatically obtained by the software.

[0009] Step 2: Create an import / export module and a model processing module in the database software. Then import the welding parameter information and weld basic 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: Based on the weld seam basic information, plan the welding sequence scheme for the welding paths of all weld seams in the steel structure module to be welded. The specific process is as follows:

[0012] Based on the weld numbers 1 to n, the welding sequence is permuted to form multiple welding sequence schemes. The total number of welding sequence schemes is denoted as N, where the number of the i-th welding sequence scheme is denoted as Ni. i The value of i is [1, N].

[0013] n is the number of welds.

[0014] Step 4: Based on the process requirements that the steel structure of the model to be welded must meet during welding, a preliminary screening of the welding sequence scheme is conducted to obtain the preliminary screening of the welding sequence scheme.

[0015] Step 5: Perform welding simulation analysis on the initially screened welding sequence schemes to obtain the welding sequence schemes after secondary screening.

[0016] 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 step 2;

[0017] Step 7: The welding robot performs welding kinematics simulation based on the joint angle values ​​used in each welding sequence scheme obtained in Step 6. It determines whether the welding robot collides with the steel structure module to be welded during the welding process. If a collision occurs, the welding sequence scheme is deleted; otherwise, it is retained. Among the retained welding sequence schemes, the one with the shortest time is selected as the optimal welding sequence scheme.

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

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

[0020] This invention obtains weld information using 3D steel structure modeling software, integrates the welding information based on a database, and then determines the optimal welding scheme through welding sequence planning and simulation based on the weld information for use by the welding robot. This enables simple and fast operations such as data import / 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. Attached Figure Description

[0021] Figure 1 This is a flowchart of a rapid welding method for steel structure modules based on weld seam information integration according to the present invention. Detailed Implementation

[0022] The present invention will now be described in detail with reference to the accompanying drawings:

[0023] like Figure 1The present invention provides a rapid welding method for steel structure modules based on weld seam information integration, comprising the following steps:

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

[0025] The first step is to create 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] The second step involves traversing all welds in the 3D model using the target selector and enumerator objects in the 3D modeling software to extract information about all welds. This information includes welding parameter information associated with the weld and basic weld information automatically obtained by the software, such as weld start coordinates, end coordinates, and weld length.

[0027] Step 2: Create an import / export module and a model processing module in the database software. Then import the welding parameter information and weld basic 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. The auxiliary information module is used to record the data processing process of the model processing module, and data recovery can be performed based on the data processing process recorded by the auxiliary information module.

[0030] Step 3: Based on the weld seam basic information, plan the welding sequence scheme for the welding paths of all weld seams in the steel structure module to be welded. The specific process is as follows:

[0031] Based on the weld numbers 1 to n, the welding sequence is permuted to form multiple welding sequence schemes. The total number of welding sequence schemes is denoted as N, where the number of the i-th welding sequence scheme is denoted as Ni. i , where i takes the value [1, N].

[0032] n is the number of welds.

[0033] Step 4: Based on the process requirements that the steel structure of the model to be welded must meet during welding, a preliminary screening of the welding sequence scheme is conducted to obtain the preliminary screening welding sequence scheme.

[0034] The following example illustrates this: If multiple welds are made on the same steel plate, the shorter welds are welded first. Starting with welding sequence scheme N1, the schemes are checked for compliance with welding process requirements. Those that comply are retained, and those that do not are discarded. This process is repeated for all welding sequence schemes obtained in step three. The total number of welding sequence schemes after preliminary screening is denoted as W, where the number of the j-th welding sequence scheme is denoted as Wj. j j takes the value [1, W].

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

[0036] Step 1: Construct a 3D model of the steel structure to be welded in the simulation software, and set the simulation parameters and heat source model in the software. Based on the preliminary screening of welding sequence schemes obtained in Step 4, starting from welding sequence scheme W1, call the welding parameter information of the corresponding weld in the database of Step 2 for simulation, traverse all welding sequence schemes after screening in Step 4, and obtain the welding sequence scheme W for each welding sequence scheme. j The maximum deformation L of the three-dimensional model j .

[0037] The second step is to determine the maximum deformation standard D of the steel structure to be welded, as follows:

[0038] When the maximum deformation L j If the deformation exceeds the maximum deformation standard D, the proposed scheme is rejected.

[0039] When the maximum deformation L j If the maximum welding standard D is less than or equal to, retain this option.

[0040] The third step is to denote the total number of welding sequence schemes after the second step as V, where the number of the k-th welding sequence scheme is denoted as Vk. 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 of each welding sequence scheme selected in step 2.

[0042] The following example illustrates this:

[0043] Generally, the more joints a welding robot has, the more degrees of freedom it possesses. Given the diverse structural forms, large size, and numerous welding nodes of the steel structure modules to be welded, a six-joint welding robot is chosen. Therefore, 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 as follows: T is the joint transformation matrix, with the base as joint 0, and the joints sequentially designated as joint 1, joint 2, ..., joint 6 according to the connection order. The transformation matrix of joint 1 is based on the base; The transformation matrix is ​​based on joint 1, which is the transformation matrix for joint 2, and so on. Given a 6-joint transformation matrix with 5 joints as the reference, the transformation relationship from the base coordinate system to the wrist coordinate system of this welding robot is as follows:

[0046]

[0047] in It is a rotation matrix; Let n be the translation matrix. x o x a x These are the three rotational components along the x-axis; n y o y a y These are the three rotational components along the y-axis; n z o z a z These are the three rotational components along the z-axis; p x p represents the translation component along the x-axis. y p represents the translation component along the x-axis. z The x-axis translation component.

[0048] Based on the transformation relationship between the base coordinate system and the wrist coordinate system of the welding robot, the inverse kinematics of the welding robot are solved analytically to obtain the joint angles θ1, θ2, θ3, θ4, θ5, and θ7. For details, please refer to Robotics (4th Edition / Cai Zixing and Xie Bin, eds. — Beijing: Tsinghua University Press, 2022.3, ISBN 978-7-302-59822), Chapter 3, pages 51-72.

[0049] Step 7: The welding robot performs welding kinematics simulation using the joint angle values ​​obtained in Step 6 for each welding sequence scheme. It determines whether the welding robot collides with the steel structure module to be welded during the welding process. If a collision occurs, the welding sequence scheme is deleted; otherwise, it is retained. Among the retained welding sequence schemes, the one with the shortest time is selected as the optimal welding sequence scheme. The specific process is as follows:

[0050] Step 1: Use the robot toolbox in the simulation software to build the welding robot model selected in Step 6. Then, based on the welding sequence schemes selected in Step 5, proceed from Scheme V1 to Scheme V... VKinematic simulations were performed sequentially, traversing all welding sequence schemes.

[0051] The second step is to make the following judgments based on the simulation results:

[0052] If scheme V k If a collision occurs during the simulation, the proposed solution will be discarded.

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

[0054] The third step is to find the minimum total simulation time among the welding schemes selected in the second step, and then use this minimum time as the optimal welding sequence scheme.

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

[0056] The above-described embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A steel structure module rapid welding method based on weld information integration, characterized in that It comprises the following steps: Step one, obtaining the weld information of the steel structure module to be welded, the specific process is as follows: Firstly, a three-dimensional model of the steel structure module to be welded is established in a steel structure three-dimensional modeling software, and then the welding parameter information corresponding to each weld is input into the software; Secondly, all the weld information is extracted by traversing all the welds in the three-dimensional model through the target selector object and enumerator object in the three-dimensional modeling software, wherein the weld information includes the welding parameter information associated with the weld and the weld basic information automatically obtained by the software; Step two, establishing an import / export module and a model processing module in the database software, then importing the welding parameter information and the weld basic information into the import / export module, and numbering 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 three, planning a welding sequence scheme of the welding path of all the welds in the steel structure module to be welded according to the weld basic information, the specific process is as follows: According to the weld number 1~n, the welding sequence is fully arranged to form a plurality of welding sequence schemes, and the total number of welding sequence schemes is N, wherein the number of the i-th welding sequence scheme is N i , i is [1, N]. n is the number of welds Step four, preliminarily screening the welding sequence scheme according to the process requirements to be met by the steel structure model to be welded to obtain a preliminarily screened welding sequence scheme; Step five, performing welding simulation analysis on the preliminarily screened welding sequence scheme to obtain a twice-screened welding sequence scheme, the specific process is as follows: First step, build the 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 preliminary screened welding sequence scheme obtained in step four, start from the welding sequence scheme W1, call the welding parameter information of the corresponding weld in the database in step two for simulation, traverse all the welding sequence schemes screened in step four, obtain the maximum deformation L j of the three-dimensional model of each welding sequence scheme W j ; Second step, judging according to the maximum welding deformation standard D of the steel structure to be welded, the specific judgment is as follows: When the maximum deformation L j greater than the maximum deformation standard D, the scheme is rejected; When the maximum deformation L j Less than or equal to the maximum welding standard D, the scheme is retained; Third step, the total number of welding sequence schemes screened in the second step is recorded as V, wherein the number of the kth welding sequence scheme is recorded as V k , and the value of k is [1, V] Step six, selecting a welding robot in the simulation software and performing inverse kinematics solution to obtain the joint angle value of the welding robot in the welding process according to each welding sequence scheme screened in the second step; Step seven, performing welding kinematics simulation of the welding robot according to the joint angle value adopted in each welding sequence scheme obtained in step six, judging whether the welding robot collides with the steel structure module to be welded in the welding process, if so, deleting the welding sequence scheme, otherwise, retaining, and judging the scheme with the minimum time in the retained welding sequence scheme as the optimal welding sequence scheme; Step eight, welding the welding robot according to the optimal welding scheme obtained in step seven.

2. The steel structure module rapid welding method based on the weld information integration according to claim 1, characterized in that: In step two, an auxiliary information module is established in the database software, which 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.

3. The method of claim 1, wherein the method further comprises: The specific process of step seven is as follows: Firstly, the welding robot model selected in Step 6 is constructed by using the robot toolbox in the simulation software, and then the welding sequence scheme screened in Step 5 is selected from Scheme V1 to Scheme V V The kinematics simulation is sequentially performed, and all the welding sequence schemes are traversed. Second step, judging according to the simulation results as follows: If Scheme V k If a collision occurs during simulation, then reject the scheme; If Scheme V k If no collision occurs during the simulation, the scheme is retained and the total time of the simulation is recorded as t k ; Third step, solving the minimum value of the total time of the simulation process in the welding scheme screened in the second step, and taking the scheme corresponding to the minimum value as the optimal welding sequence scheme.

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