Welding robot system based on visual guidance

Abstract

The invention discloses a welding robot system based on visual guidance, which comprises an artificial potential field welding robot path planning algorithm, the artificial potential field welding robot path planning algorithm is combined with an ant colony algorithm, and the artificial potential field welding robot path planning algorithm and the ant colony algorithm comprise artificial potential field function simulation, ant colony algorithm simulation and path search, pruning strategy and path optimization mechanism. And the step operation system (GBOS) comprises three-dimensional model importing and welding seam positioning. According to the method, the welding path planning technology of the ant colony algorithm of the artificial potential field function is fused, the welding robot is guided to avoid obstacles by simulating attraction force and repulsive force, the optimal path can be accurately recognized, the coverage rate of the searched path to the environment can reach 74.63%, a good convergence curve can be obtained, and after the pruning strategy is introduced, the optimal path can be obtained. According to the method, the path can be optimized, redundant broken lines or path sections are removed, and optimization of the path length and complexity is achieved, so that the welding time and cost are reduced, and the welding efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of welding robots, and in particular to a welding robot system based on vision guidance. Background Art

[0002] Welding robot is a kind of industrial robot, which is mainly composed of robot body, control system, welding power supply and welding head to realize welding function. In the production of new energy batteries, welding is a crucial link. Poor welding quality and incomplete welding can easily lead to leakage and even explosion and other safety problems. Welding robots have been widely used in new energy vehicles, photovoltaic power generation and other fields, including welding of various types of battery components such as lithium titanate batteries and lithium cobalt oxide batteries.

[0003] Existing robot welding often requires manual teaching of points and writing of robot programs. When the clamping position of the workpiece shifts, there is an assembly error in the workpiece itself, or the type of workpiece changes, re-teaching and programming are required. This process is very complicated and time-consuming. The situation of "two hours of programming and five minutes of welding" has restricted the promotion and use of robots in this field.

[0004] For example, the welding path control method and device of a welding robot disclosed in the announcement number CN111300417B, the welding robot in this patent mainly relies on precise preset programs and paths to work, does not have a visual guidance function, and mainly predicts and corrects future position deviations through historical position data. This method relies on precise preset programs and algorithms and lacks a real-time feedback mechanism. During the welding process, if an emergency occurs (such as workpiece deformation, weld deviation, etc.), the robot may not be able to make timely adjustments. At the same time, for welds with complex shapes and changeable curves, it may be difficult to achieve precise welding path control by relying solely on preset programs and historical data, thereby affecting the welding effect and causing a decrease in welding quality.

[0005] Therefore, it is necessary to invent a welding robot system based on vision guidance to solve the above problems. Summary of the invention

[0006] The purpose of the present invention is to provide a welding robot system based on vision guidance to solve the problem in the technology that manual teaching of points and programming of robot functions are required.

[0007] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a welding robot system based on vision guidance, including an artificial potential field welding robot path planning algorithm, an ant colony algorithm and a work step operation system (GBOS). The combination of the artificial potential field welding robot path planning algorithm and the ant colony algorithm includes artificial potential field function simulation, ant colony algorithm simulation and path search, pruning strategy and path optimization mechanism. The work step operation system (GBOS) includes three-dimensional model import and weld positioning.

[0008] Preferably, the artificial potential field function simulation is based on the principle of the artificial potential field function to calculate the potential energy at each point and determine the direction and speed of the welding robot when moving, so as to guide the robot to avoid obstacles and move toward the target point.

[0009] Preferably, the ant colony algorithm simulation and path search are in welding path planning, the ant colony algorithm is used to search for the optimal path, ants release pheromones, and select the path according to the pheromone concentration and the path length. The entire path search process has a certain randomness and global search capability. After the ant colony algorithm and the artificial potential field force are integrated with each other, the improved probability transfer function expression is as follows:

[0010]

[0011] Preferably, the pruning strategy and the pruning strategy in the path optimization mechanism can obtain a better path by identifying the local optimal solution in the path and pruning it according to certain rules. This can be achieved by analyzing the geometric characteristics of the path and considering the constraints of the welding task.

[0012] Preferably, the process operation system (GBOS) can deeply integrate the welding process, allowing the user to import a three-dimensional model and use a visual system to determine the position of the weld of the entire component, automatically generate a welding program based on the actual contour of the position in the model, and realize automated planning of the welding path.

[0013] Preferably, the GBOS also includes remote control, human-computer interaction and efficient and stable working modes.

[0014] Preferably, the remote control and human-computer interaction utilize the TCP / IP protocol to realize remote control of the robot, that is, the on-site equipment can be directly operated to perform welding in the office, and the welding process can be remotely monitored and controlled. At the same time, the system provides an intuitive human-computer interaction interface, which is convenient for operators to manage and adjust welding tasks. The efficient and stable working mode can meet the needs of two shifts (8 hours per shift) of continuous work per day, and maintain stable accuracy and performance during long-term operation. Through optimized workflow and efficient algorithm design, it ensures the rapid completion of welding tasks and high-quality output.

[0015] Preferably, it comprises a robot control cabinet and a robot body, wherein the robot control cabinet is connected to the control system of the welding machine and the robot body through a communication interface, the robot body comprises a welding gun, a wire feeding reel and a wire feeder are arranged on the robot body, and a welding platform is arranged below the welding gun.

[0016] Preferably, an anti-collision sensor is provided at a position near the welding gun at the end of the robot body arm, and the anti-collision sensor is connected to the control system in the robot control cabinet by wireless means.

[0017] Preferably, a special gas path is provided inside the robot body, and a gas delivery pipeline is passed through the channel, one end of the pipeline is connected to the air vent of the protective gas mechanism, and the other end leads to the vicinity of the welding gun.

[0018] In the above technical solution, the technical effects and advantages provided by the present invention are:

[0019] 1. The present invention integrates the welding path planning technology of the ant colony algorithm of the artificial potential field function, guides the welding robot to avoid obstacles by simulating attraction and repulsion, can accurately identify the optimal path, and the coverage rate of the path to the environment can reach 74.63%, and a good convergence curve can be obtained. After introducing the pruning strategy, the path can be optimized, and redundant broken lines or path segments can be removed to achieve the optimization of path length and complexity, thereby reducing welding time and cost and improving welding efficiency;

[0020] 2. The present invention utilizes the research and development technology of the welding robot's work step operating system (GBOS), which can realize intelligent welding functions such as workstation visual interaction, three-dimensional digital model driving, intelligent planning of welding paths, visual scanning correction paths, matching parameters and process library to automatically create welding programs, etc. It also provides a statistical module to facilitate the query of project statistical data, real-time welding status, performance indicators of welded materials and other data, so that the multi-station welding robot can realize multi-angle, multi-directional and fully automated welding functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 It is the optimal path diagram in the welding detection of the present invention;

[0023] Figure 3 It is the optimal path diagram in the welding detection of the present invention;

[0024] Figure 4 This is a schematic diagram of the visual interaction interface of the Gongbu operating system of the present invention;

[0025] Figure 5This is a schematic diagram of the GBOS operating system model driver interface of the present invention;

[0026] Figure 6 It is a layout elevation view of the present invention.

[0027] Description of reference numerals:

[0028] 1. Robot control cabinet; 2. Welding machine; 3. Robot body; 4. Welding gun; 5. Anti-collision sensor; 6. Wire feeder rack; 7. Wire feeder; 8. Protective gas mechanism; 9. Welding platform. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0030] The present invention provides Figure 1-6 A welding robot system based on vision guidance is shown, including an artificial potential field welding robot path planning algorithm, an ant colony algorithm and a step operation system (GBOS). The combination of the artificial potential field welding robot path planning algorithm and the ant colony algorithm includes artificial potential field function simulation, ant colony algorithm simulation and path search, pruning strategy and path optimization mechanism. The step operation system (GBOS) includes three-dimensional model import and weld positioning.

[0031] Artificial potential field function simulation is based on the principle of artificial potential field function to calculate the potential energy at each point and determine the direction and speed of the welding robot when it moves, so as to guide the robot to avoid obstacles and move towards the target point.

[0032] Ant colony algorithm simulation and path search. In welding path planning, the ant colony algorithm is used to search for the optimal path. Ants release pheromones and select paths based on pheromone concentration and path length. The entire path search process has a certain degree of randomness and global search capabilities. After integrating the ant colony algorithm and artificial potential field force, the improved probability transfer function expression is as follows:

[0033]

[0034] Pruning strategy and path optimization mechanism,The pruning strategy obtains a better path by identifying the local optimal solution in the path, and pruning it according to certain rules.,This can be achieved by analyzing the geometric characteristics of the path and considering the constraints of the,welding task.

[0035] The GBOS can deeply integrate the welding process, allowing users to import 3D models and use the visual system to determine the position of the weld of the entire component. It can automatically generate welding procedures based on the actual contour of the position in the model to achieve automated planning of the welding path.

[0036] The GBOS also includes remote control, human-computer interaction and efficient and stable working modes.

[0037] Remote control and human-computer interaction use the TCP / IP protocol to remotely control the robot, that is, you can directly operate the on-site equipment for welding in the office, and realize remote monitoring and control of the welding process. At the same time, the system provides an intuitive human-computer interaction interface to facilitate operators to manage and adjust welding tasks. The efficient and stable working mode can meet the needs of two shifts per day (8 hours per shift) and maintain stable accuracy and performance during long-term operation. Through optimized workflow and efficient algorithm design, it ensures the rapid completion of welding tasks and high-quality output.

[0038] A robot control cabinet 1 and a robot body 3, the robot control cabinet 1 is connected to the control system of the welding machine 2 and the robot body 3 through a communication interface, the robot body 3 includes a welding gun 4, a wire feeding disc rack 6 and a wire feeder 7 are arranged on the robot body 3, a welding platform 9 is arranged below the welding gun 4, an anti-collision sensor 5 is arranged at the end of the arm of the robot body 3 near the welding gun 4, the anti-collision sensor 5 is connected to the control system in the robot control cabinet 1 by wireless means, a special gas path is arranged inside the robot body 3, a gas delivery pipeline is passed through the channel, one end of the pipeline is connected to the air vent of the protective gas mechanism 8, and the other end leads to the vicinity of the welding gun 4.

[0039] Working principle of the present invention:

[0040] Refer to the instruction manual Figure 1-3 When using the present invention, firstly, the component to be welded is placed on the welding platform 9, and the three-dimensional model of the welded component is imported into the work step operating system (GBOS), and the relevant parameters of the welding task are set, and the visual system is started, and the position of the weld of the entire component is determined by the visual system. According to the actual contour of the position in the model, the welding program is automatically generated. The system combines the artificial potential field welding robot path planning algorithm and the ant colony algorithm. The system calculates the optimal path to avoid obstacles and head toward the target weld. The artificial potential field function simulates the potential energy of each point to guide the robot to move; the ant colony algorithm searches for the optimal path through the pheromone concentration and the path length, and applies the pruning strategy to remove the local optimal solution to further optimize the path. The work step operating system (GBOS) automatically generates the welding program according to the weld position and the path planning results;

[0041] Then, check whether the welding machine 2, wire feeding system (wire feeding reel 6 and wire feeder 7), shielding gas mechanism 8 and anti-collision sensor 5 and other equipment are working normally, and then start the welding robot. The robot body 3 drives the welding gun 4 to perform welding operations on the components on the welding platform 9 according to the welding procedure. The welding gun 4 moves along the planned path, the wire feeding system supplies welding wire, the shielding gas mechanism 8 provides a protective atmosphere, and the anti-collision sensor 5 monitors the position of the robot body 3 and the welding gun 4 in real time. Once a collision occurs, it can start the shutdown protection within 0.02s.

[0042] Refer to the instruction manual Figure 4-6 When using the present invention, the system mode driving method first transfers the component to be welded to the workbench manually or by a conveyor chain, close to the positioning point P. The operator rotates the model to be consistent and creates nodes according to the component number and the component placement method at the same time or in advance; if the placement position deviation is too large, the system automatically starts the camera to identify and build the positioning point P. If the placement position is close, the operator directly loads the model to start scanning (at this time, the operator can hoist another component to the second set of equipment stand or another workstation of this equipment). After the scanning is completed, the system starts the welding program. After the entire construction is completed and the welding is completed, the component will be transferred to the subsequent workstation.

[0043] Through this operating system, one person can operate multiple sets of equipment at the same time and cooperate with the component model to complete automated welding. If the component is complex, visual interaction can be used to operate the equipment welding. After the component is placed on the bench, the operator uses the camera to scan the parts to be welded, matches the process, and starts scanning welding.

Claims

1. A welding robot system based on vision guidance, characterized in that: It includes an artificial potential field welding robot path planning algorithm, an ant colony algorithm and a work step operating system (GBOS). The combination of the artificial potential field welding robot path planning algorithm and the ant colony algorithm includes artificial potential field function simulation, ant colony algorithm simulation and path search, pruning strategy and path optimization mechanism. The work step operating system (GBOS) includes three-dimensional model import and weld positioning.

2. A vision-guided welding robot system according to claim 1, characterized in that: The artificial potential field function simulation is based on the principle of the artificial potential field function to calculate the potential energy at each point, determine the direction and speed of the welding robot when it moves, so as to guide the robot to avoid obstacles and move toward the target point.

3. The vision-guided welding robot system according to claim 1, characterized in that: The ant colony algorithm simulation and path search are in welding path planning. The ant colony algorithm is used to search for the optimal path. Ants release pheromones and select paths according to pheromone concentration and path length. The entire path search process has a certain randomness and global search capability. After integrating the ant colony algorithm and artificial potential field force, the improved probability transfer function expression is as follows:

4. The vision-guided welding robot system according to claim 1, characterized in that: The pruning strategy in the pruning strategy and path optimization mechanism can obtain a better path by identifying the local optimal solution in the path and pruning it according to certain rules. This can be achieved by analyzing the geometric characteristics of the path and considering the constraints of the welding task.

5. The vision-guided welding robot system according to claim 1, characterized in that: The GBOS can deeply integrate the welding process, allowing users to import three-dimensional models and use the visual system to determine the position of the weld of the entire component. According to the actual contour of the position in the model, the welding program is automatically generated to realize the automated planning of the welding path.

6. A vision-guided welding robot system according to claim 5, characterized in that: The GBOS also includes remote control, human-computer interaction and efficient and stable working modes.

7. A vision-guided welding robot system according to claim 6, characterized in that: The remote control and human-computer interaction utilize the TCP / IP protocol to realize remote control of the robot, that is, the on-site equipment can be directly operated to perform welding in the office, and the remote monitoring and control of the welding process can be realized. At the same time, the system provides an intuitive human-computer interaction interface, which is convenient for operators to manage and adjust welding tasks. The efficient and stable working mode can meet the needs of two shifts (8 hours per shift) of continuous work per day, and maintain stable accuracy and performance during long-term operation. Through optimized workflow and efficient algorithm design, it ensures the rapid completion of welding tasks and high-quality output.

8. The vision-guided welding robot system according to claim 1, characterized in that: The invention comprises a robot control cabinet (1) and a robot body (3); the robot control cabinet (1) is connected to a control system of a welding machine (2) and a robot body (3) via a communication interface; the robot body (3) comprises a welding gun (4); a wire feeding disc frame (6) and a wire feeding machine (7) are arranged on the robot body (3); and a welding platform (9) is arranged below the welding gun (4).

9. A vision-guided welding robot system according to claim 8, characterized in that: An anti-collision sensor (5) is provided at a position near the welding gun (4) at the end of the arm of the robot body (3), and the anti-collision sensor (5) is connected to a control system in the robot control cabinet (1) in a wireless manner.

10. A vision-guided welding robot system according to claim 9, characterized in that: A special gas passage is provided inside the robot body (3), and a gas delivery pipeline is passed through the passage. One end of the pipeline is connected to the air vent of the protective gas mechanism (8), and the other end leads to the vicinity of the welding gun (4).

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