Welding robot gun posture planning method based on three-dimensional model

Abstract

The invention provides a welding robot gun posture planning method based on a three-dimensional model, and the method comprises the following steps: obtaining a weldment model sample set, marking a boundary dimension on each weldment model, and extracting a welding seam structure parameter value of each welding seam in a weldment based on the boundary dimension of the weldment; according to the weldment structure parameters of each weldment in the weldment model sample set, a gun posture rule matching table is created, and the gun posture rule matching table comprises weld joint structure parameter values and corresponding welding gun posture angles; a to-be-reasoned weldment three-dimensional model is obtained, and the boundary dimension is marked on the to-be-reasoned weldment three-dimensional model; based on the boundary dimension of the weldment, extracting a welding seam structure parameter value of each welding seam in the to-be-reasoned weldment three-dimensional model; a welding gun posture inference rule table is searched according to the welding seam structure parameter values, and a target welding gun posture is matched; and based on a CAD collision detection module, performing collision simulation on the target welding gun posture, and outputting the target welding gun posture when no collision occurs.

Description

Technical Field

[0001] The invention relates to the field of welding, and in particular to a welding robot gun posture planning method based on a three-dimensional model. Background Art

[0002] In modern manufacturing, welding is a key connection process, and its quality and efficiency have a significant impact on product performance and production cycle. Welding robots, with their high efficiency, precision and stability, have gradually become the main force in the welding field.

[0003] In the actual welding process, the welding gun is the core executive component of the welding robot, and its angle adjustment is crucial to the welding quality. Therefore, it is necessary to select a suitable welding gun posture during trajectory design, otherwise it will easily lead to the difficulty in ensuring the welding quality of the welding robot.

[0004] At present, the traditional methods for setting the gun posture of welding robots include teaching programming and offline programming. Teaching programming is cumbersome and inefficient because the teaching online programming process is cumbersome; the accuracy is completely determined by the instructor's visual inspection, and it is difficult to achieve satisfactory results for complex path teaching online programming. Offline programming is done by programmers using specific programming software to plan the welding path and posture of the robot welding gun in a virtual environment, and call welding parameters, and then send the generated program to the robot controller; this programming method has the following problems: 1. It wastes manpower and material resources, and requires the purchase of special programming software and high-performance supporting hardware; 2. Programmers need to accumulate experience to improve programming efficiency. This process cycle is very long, and it also takes a lot of time to master the programming software; 3. The level of process knowledge of programmers varies, resulting in different accuracy of welding gun postures, and the confirmation of gun postures is too dependent on personnel experience.

[0005] In order to solve the above problems, people have been seeking an ideal technical solution. Summary of the invention

[0006] The purpose of the present invention is to provide a welding robot gun posture planning method based on a three-dimensional model in view of the deficiencies in the prior art.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is: a welding robot gun posture planning method based on a three-dimensional model, comprising the following steps: A sample set of weldment models is obtained, and the outer dimensions are marked on each weldment model, and the weld structure parameter value of each weld in the weldment is extracted based on the outer dimensions of the weldment; According to the weldment structure parameters of each weldment in the weldment model sample set, a gun posture rule matching table is created, wherein the gun posture rule matching table includes weld structure parameter values ​​and corresponding welding gun posture angles; Obtain a three-dimensional model of the weldment to be inferred, and mark the external dimensions on the three-dimensional model of the weldment to be inferred; Extract the weld structural parameter value of each weld in the three-dimensional model of the weld to be inferred based on the outer dimensions of the weldment; Search the welding gun posture inference rule table according to the weld structure parameter value to match the target welding gun posture; Based on the CAD collision detection module, the target welding gun posture is simulated for collision, and the target welding gun posture is output when no collision occurs.

[0008] A second aspect provides a welding robot gun posture planning device based on a three-dimensional model, comprising: A gun posture rule creation module is used to obtain historical welding data, extract the weld structure parameter value and welding gun posture angle of each weld from the historical welding data; associate the weld structure parameter value and welding gun posture angle of each weld, and create a gun posture rule matching table, wherein the gun posture rule matching table includes the weld structure parameter value and the corresponding welding gun posture angle; The annotation module is used to annotate the external dimensions on the three-dimensional model of the weldment to be inferred; A parameter acquisition module is used to extract the weld structure parameter value of each weld in the corresponding weldment based on the external dimensions of the three-dimensional model of the weldment to be inferred; The gun posture matching module is used to extract the weld structure parameter value of each weld in the three-dimensional model of the weld to be inferred based on the outer dimensions of the weldment; A collision detection module is used to perform collision simulation on the target welding gun posture based on the CAD collision detection module; The gun posture output module is used to output a target welding gun posture when the collision simulation result of the collision detection module is that no collision occurs.

[0009] A third aspect provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method described in the first aspect.

[0010] A fourth aspect provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the method described in the first aspect.

[0011] Compared with the prior art, the present invention has outstanding substantial features and significant progress. Specifically, the present invention uses three-dimensional annotation to obtain the weld structural parameter values ​​of each weld, and infers the target gun posture of welding through a pre-set gun posture rule matching table, thereby reducing the occurrence of welding defects and improving welding quality and welding efficiency; secondly, it reduces manual intervention, and the programming process is more automated and intelligent, which is in line with the development trend of modern manufacturing industry; furthermore, analysis and reasoning based on the three-dimensional model is helpful to continuously optimize and improve the welding process, and because the gun posture rule matching table is constructed based on a large amount of historical experience welding data, it can ensure that welding is performed with the optimal gun posture in different products without being affected by the welding knowledge of the programmer, thereby improving the quality level of the welded workpiece; finally, the three-dimensional model can be shared and communicated between the design, process and production departments to improve the production efficiency of the entire factory. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a flow chart of a welding robot gun posture planning method based on a three-dimensional model according to the present invention.

[0013] Figure 2 It is a weld structure parameter definition diagram described in the present invention.

[0014] FIG. 3 ( a ) and FIG. 3 ( b ) are diagrams for defining the gun posture angles according to the present invention.

[0015] Figure 4 It is a principle block diagram of a welding robot gun posture planning device based on a three-dimensional model of the present invention. DETAILED DESCRIPTION

[0016] The technical solution of the present invention is further described in detail below through specific implementation methods.

[0017] Example 1 This embodiment provides a welding robot gun posture planning method based on a three-dimensional model. Figure 1 As shown, the following steps are included: Constructing gun posture rule matching table Acquire historical welding data, extract the weld structure parameter value and welding gun posture angle of each weld from the historical welding data; associate the weld structure parameter value and welding gun posture angle of each weld, and create a gun posture rule matching table, wherein the gun posture rule matching table includes the weld structure parameter value and the corresponding welding gun posture angle.

[0018] In one embodiment, the weld structural parameters include the plate height H1 of the weld elevation, the distance L1 from the adjacent weld elevation to the weld elevation, and the height H2 of the plate adjacent to the weld elevation. Specifically, the definitions of H1, L1, and H2 are as follows: Figure 2 shown.

[0019] In one embodiment, the welding gun posture angle includes an advance angle Rx, an inclination angle Ry and a rotation angle Rz, wherein the advance angle Rx is the angle between the welding wire and the weld root in the welding plane formed by the welding wire and the weld root, and the welding direction; the inclination angle R is the angle between the welding plane formed by the welding wire and the weld root and the weld vertical plane; the rotation angle Rz is the angle of rotation of the welding gun nozzle area around the welding wire axis. The definitions of the advance angle Rx and the inclination angle Ry are shown in Figures 3 (a) and 3 (b).

[0020] In one embodiment, the created gun posture rule matching table is shown in the following table:

[0021] Among them, a1, b1, c1 and d1, e1, f1, d2, e12, f2 are all pre-set specific values.

[0022] It can be understood that in actual application, combined with the welding process requirements, the corresponding weld structure parameter values ​​can be obtained according to the different structures of the weldment, and a gun posture rule matching table can be created.

[0023] The meaning of the above gun posture rule matching table is that when H1≥a1, L1≥b1, H2≥c1 are satisfied at the same time, the corresponding target welding gun posture is Rx=d1, Ry=e1, Rz=f1. When H1≤a1, L1≥b1, H2≥c1 are satisfied at the same time, the corresponding target welding gun posture is Rx=d2, Ry=e2, Rz=f2.....

[0024] Therefore, the target welding gun posture can be determined by quickly searching in the gun posture rule matching table according to the weldment structure parameters.

[0025] When it is necessary to plan the welding robot gun posture, obtain the three-dimensional model of the weldment to be inferred, and mark the external dimensions on the three-dimensional model of the weldment to be inferred.

[0026] The weld structural parameter value of each weld in the three-dimensional model of the weld to be inferred is extracted based on the outer dimensions of the weldment.

[0027] It should be noted that extracting the weld structural parameter value of each weld in the weldment based on the outer dimensions of the weldment is a function inherent in the existing 3D software and will not be described in detail here.

[0028] According to the weld structure parameter values, the welding gun posture inference rule table is searched to match the target welding gun posture.

[0029] Since the theoretical optimal gun posture is determined by the welding gun posture inference rule table, simulation verification is needed to further verify its feasibility and effectiveness. In the virtual environment, based on the CAD collision detection module, the target welding gun posture is simulated and the target welding gun posture is output when no collision occurs.

[0030] In one embodiment, collision simulation of the generated gun posture based on the CAD collision detection module specifically refers to: in a virtual environment, simulating the entire welding process according to the generated target welding gun posture and the planned welding path, carefully checking whether the motion trajectory of the welding robot is smooth, whether the gun posture is reasonable, and whether there is a risk of collision; if the motion trajectory is smooth, the gun posture is reasonable, and there is no risk of collision, then output the welding gun posture data. If the motion trajectory is not smooth, the gun posture is unreasonable, and a collision occurs, then search the welding gun posture inference rule table again according to the weld structure parameter value.

[0031] It should be noted that CAD collision detection is a function inherent in existing 3D software and will not be explained in detail here.

[0032] It should be noted that the welding gun posture angle in the historical welding data is the target welding gun posture determined by experienced personnel in combination with the welding process requirements, with welding quality and welding efficiency as the goals; however, the welding process is affected by the welding personnel's behavioral habits, the actual weldment, and the environment. Therefore, after the optimized gun posture data is transmitted to the welding robot controller for welding operations on the weldment, the weld formation after welding is further inspected, the weld is inspected for defects, and the gun posture table is maintained and updated according to the welding effect.

[0033] In a specific implementation, the welding quality includes welding forming and welding strength; the welding efficiency includes welding speed and cladding efficiency.

[0034] Example 2 This embodiment provides a device for automatically reasoning about the welding robot gun posture based on a three-dimensional model. Figure 4 As shown, including: A gun posture rule creation module is used to obtain historical welding data, extract the weld structure parameter value and welding gun posture angle of each weld from the historical welding data; associate the weld structure parameter value and welding gun posture angle of each weld, and create a gun posture rule matching table, wherein the gun posture rule matching table includes the weld structure parameter value and the corresponding welding gun posture angle; the welding gun posture angle includes an advancing angle Rx, an inclination angle Ry and a rotation angle Rz, wherein the advancing angle Rx is the angle between the welding wire and the weld root in the welding plane formed by the welding wire and the weld root, and the welding direction; the inclination angle R is the angle between the welding plane formed by the welding wire and the weld root and the weld vertical surface; the rotation angle Rz is the angle of rotation of the welding gun nozzle area around the welding wire axis.

[0035] The annotation module is used to annotate the external dimensions on the three-dimensional model of the weldment to be inferred.

[0036] The parameter acquisition module is used to extract the weld structural parameter value of each weld in the corresponding weldment based on the external dimensions of the three-dimensional model of the weldment to be inferred; the weld structural parameters include the plate height H1 of the weld elevation, the distance L1 from the adjacent weld elevation to the weld elevation, and the height H2 of the plate adjacent to the weld elevation.

[0037] The gun posture matching module is used to extract the weld structural parameter value of each weld in the three-dimensional model of the weldment to be inferred based on the outer dimensions of the weldment.

[0038] The collision detection module is used to perform collision simulation on the target welding gun posture based on the CAD collision detection module.

[0039] The gun posture output module is used to output a target welding gun posture when the collision simulation result of the collision detection module is that no collision occurs.

[0040] Example 3 Each module in the above system can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module above.

[0041] In an exemplary embodiment, a computer device is provided, which may be a terminal. The computer device further includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, the memory, and the input / output interface are connected via a system bus, and the communication interface, the display unit, and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, the steps of the welding robot gun posture planning method based on a three-dimensional model described in Example 1 are implemented. The display unit of the computer device is used to form a visually visible picture, which may be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0042] Those skilled in the art will appreciate that the structure of the above-mentioned computer device is only a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components, or combine certain components, or have a different arrangement of components.

[0043] In an exemplary embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the welding robot gun posture planning method based on a three-dimensional model described in Example 1 are implemented.

[0044] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0045] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0046] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. A welding robot gun posture planning method based on a three-dimensional model, characterized in that: The following steps are involved: Obtain historical welding data, and extract the weld structure parameter value and welding gun posture angle of each weld from the historical welding data; Associating the weld structure parameter value and the welding gun posture angle of each weld, and creating a gun posture rule matching table, wherein the gun posture rule matching table includes the weld structure parameter value and the corresponding welding gun posture angle; Obtain a three-dimensional model of the weldment to be inferred, and mark the external dimensions on the three-dimensional model of the weldment to be inferred; Extract the weld structural parameter value of each weld in the three-dimensional model of the weld to be inferred based on the outer dimensions of the weldment; Search the welding gun posture inference rule table according to the weld structure parameter value to match the target welding gun posture; Based on the CAD collision detection module, the target welding gun posture is simulated for collision, and the target welding gun posture is output when no collision occurs.

2. A welding robot gun posture planning method based on a three-dimensional model according to claim 1, characterized in that: The weld structural parameters include the plate height H1 of the weld elevation, the distance L1 from the adjacent weld elevation to the weld elevation, and the height H2 of the plate adjacent to the weld elevation.

3. The welding robot gun posture planning method based on a three-dimensional model according to claim 1 is characterized in that: The welding gun posture angle includes an advancing angle Rx, an inclination angle Ry and a rotation angle Rz, wherein the advancing angle Rx is the angle between the welding wire and the weld root toward the welding direction in the welding plane formed by the welding wire and the weld root; the inclination angle R is the angle between the welding plane formed by the welding wire and the weld root and the weld vertical plane; the rotation angle Rz is the angle of rotation of the welding gun nozzle area around the welding wire axis.

4. A welding robot gun posture planning device based on a three-dimensional model, characterized in that: include: A gun posture rule creation module is used to obtain historical welding data and extract the weld structure parameter value and welding gun posture angle of each weld from the historical welding data; Associating the weld structure parameter value and the welding gun posture angle of each weld, and creating a gun posture rule matching table, wherein the gun posture rule matching table includes the weld structure parameter value and the corresponding welding gun posture angle; The annotation module is used to annotate the external dimensions on the three-dimensional model of the weldment to be inferred; A parameter acquisition module is used to extract the weld structure parameter value of each weld in the corresponding weldment based on the external dimensions of the three-dimensional model of the weldment to be inferred; The gun posture matching module is used to extract the weld structure parameter value of each weld in the three-dimensional model of the weld to be inferred based on the outer dimensions of the weldment; A collision detection module is used to perform collision simulation on the target welding gun posture based on the CAD collision detection module; The gun posture output module is used to output a target welding gun posture when the collision simulation result of the collision detection module is that no collision occurs.

5. A welding robot gun posture planning device based on a three-dimensional model according to claim 4, characterized in that: The weld structural parameters include the plate height H1 of the weld elevation, the distance L1 from the adjacent weld elevation to the weld elevation, and the height H2 of the plate adjacent to the weld elevation.

6. A welding robot gun posture planning device based on a three-dimensional model according to claim 5, characterized in that: The welding gun posture angle includes an advancing angle Rx, an inclination angle Ry and a rotation angle Rz, wherein the advancing angle Rx is the angle between the welding wire and the weld root toward the welding direction in the welding plane formed by the welding wire and the weld root; the inclination angle R is the angle between the welding plane formed by the welding wire and the weld root and the weld vertical plane; the rotation angle Rz is the angle of rotation of the welding gun nozzle area around the welding wire axis.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

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