Multi-section welding seam track combination guiding method, welding equipment and storage medium
Through the multi-stage weld trajectory combination guidance method, the flexibility and efficiency problems of welding robots when dealing with multi-stage scanning trajectory are solved, and the welding process and algorithm configuration driven by user requirements are realized, and the flexibility and efficiency of welding are improved.
Patent Information
- Application Number
- CN202411579600.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-07
- Publication Date
- 2025-02-11
AI Technical Summary
When existing welding robots deal with multi-segment scanning trajectories, they find it difficult to meet the needs of flexible welding, and the operation is cumbersome and time-consuming.
Provide a multi-stage weld trajectory combination guidance method, by loading workpiece drawings, analyzing weld information, pre-processing weld structures, user editing weld segments, merging weld objects, filtering weld spots, calibrating weld spots, and Carry out guidance using PLC and visual guidance mechanism.
It realizes editing of different types of weld segment combinations according to user needs, and formulates different welding processes and algorithms, which improves welding flexibility and efficiency, and reduces operational complexity and time-consuming.
Smart Images
Figure CN119417940A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of weld trajectory guidance, and in particular to a multi-segment weld trajectory combined guidance method, welding equipment and storage medium. Background Art
[0002] With the continuous development of the intelligent manufacturing industry, the automation penetration rate in my country's industrial production is getting higher and higher. As the most common intelligent equipment in industrial production, welding robots are also constantly being updated and developed. Welding robots can be combined with visual guidance to achieve orderly, accurate and efficient welding. Therefore, industrial manufacturing companies are increasingly inclined to use welding robots for welding, which can not only complete welding tasks accurately and efficiently, but also are easy to operate, greatly reducing the operating threshold of welding workers and truly realizing intelligent production.
[0003] At present, there are two main methods for processing multi-segment scanning trajectories in welding robots. One is teaching programming, that is, manually teaching the robot end to the weld point, collecting weld data through sensors and processing them by the system to generate weld trajectories. This method is simple and accurate, but the operation is cumbersome and can only be applied to simple welding scenarios; the other is teaching-free welding, which generates weld information by parsing the workpiece drawing, and automatically sends the weld point information of the corresponding number by requesting the given weld number. The PLC guides after obtaining the weld point information, and implements welding after identifying the real-time weld trajectory through the system algorithm. This method is more complicated and depends heavily on the stability and algorithm capabilities of the system, but it can reduce manual intervention.
[0004] However, in the teaching-free welding operation, if the process requirements for two welds are different, they can only be distinguished through two guidances. This is not only time-consuming but also difficult to meet the flexible welding requirements in the actual production process. Summary of the invention
[0005] The purpose of this application is to provide a multi-segment weld trajectory combination guidance method, welding equipment and storage medium, so as to edit different types of weld segment combinations according to user needs, and formulate different welding processes and algorithms according to different combinations.
[0006] To solve the above technical problems, the present application provides a multi-segment weld trajectory combined guidance method, which is applied to welding equipment, wherein the welding equipment includes a host computer and a welding robot, wherein the welding robot includes a PLC and a visual guidance mechanism, and the multi-segment weld trajectory combined guidance method includes: Step 1: Use the open source library to load the drawing of the workpiece to be welded and parse the weld information; Step 2, preprocessing the weld information, specifically encapsulating the weld information into a weld structure class, the weld structure class including weld point information, weld type, weld process information and weld algorithm information, instantiating the weld structure class into a plurality of weld objects, the weld objects corresponding one to one with the line segments representing the welds in the drawings, setting a weld group, adding the weld objects to the weld group, sorting the weld objects in the weld group and setting numbers in sequence, redrawing the drawings and matching the numbers and then displaying them on the user operation interface of the host computer; Step 3, according to the weld merging operation performed by the user in the user operation interface, the weld objects in the weld group are merged, and the weld objects in the weld group are reordered and numbered, and the two merged weld objects share one number, and the two merged weld objects are still two independent weld objects in the weld group; Step 4, based on the weld point information of the weld objects in the weld group, filtering the weld points to remove the overlapping points, each weld object in the weld group corresponds to a segment number, matching the filtered weld points with the corresponding segment number and performing algorithm and process configuration; Step 5, using three-point calibration to generate a calibration matrix, and then using the calibration matrix to calibrate the weld points of the weld objects so that the weld points match the actual workpiece positions, and sending the information contained in the weld objects in the weld group to the PLC, and the PLC controls the visual guidance mechanism to perform guidance; Step 6: The visual guidance mechanism takes pictures and points in real time, and the PLC matches the corresponding algorithm and process according to the segment number of the corresponding position.
[0007] Preferably, the drawings are redrawn and matched with numbers and then displayed on the user operation interface of the host computer, including redrawing the drawings, each line type corresponds to a color during redrawing, different line types correspond to different colors, the line types include editable lines, non-editable lines and combined weld lines, and the numbers are marked on the corresponding weld line segments, and the redrawn drawings with numbers are displayed on the user operation interface of the host computer.
[0008] Preferably, step 3 includes merging the weld objects in the weld group according to the weld merging operation performed by the user in the user operation interface, merging two weld objects each time the merging operation is performed, specifically eliminating two overlapping weld points of the two weld objects, and when reordering, the two merged weld objects are sorted as a whole, and after the number is updated, the two merged weld objects share a number, and the two merged weld objects are still two independent weld objects in the weld group.
[0009] Preferably, the weld points are filtered to remove overlapping points, including if any weld object has overlapping weld points with other weld objects, then any one weld point is removed from the two overlapping weld points.
[0010] The present application also provides welding equipment, including a host computer, a welding robot, a processor and a memory, wherein the host computer includes a user operation interface, the welding robot includes a PLC and a visual guidance mechanism, the host computer can communicate with the PLC, the processor stores a computer program, and the processor calls the computer program in the memory to implement the steps of the above-mentioned multi-segment weld trajectory combination guidance method.
[0011] The present application also provides a storage medium, in which computer executable instructions are stored. When the computer executable instructions are loaded and executed by a processor, the steps of the above-mentioned multi-segment weld trajectory combination guidance method are implemented.
[0012] One or more technical solutions provided in this application have at least the following technical effects or advantages: From the perspective of user experience, this application enables users to intuitively merge weld segments through the numbering and color of weld segments, and can update the numbering and color of weld segments in real time according to user operations, which is convenient for users to further analyze and judge; at the same time, this application matches the corresponding segment numbers for weld points and performs algorithm and process configuration, which can greatly realize the flexibility of welding and realize customized welding. In short, the settings related to the numbering are convenient for users to operate, and can also prompt the weld segments that have been merged; the settings related to the segment number are helpful to realize the customization of welding. In summary, this application can edit the combination of different types of weld segments according to user needs, and formulate different welding processes and algorithms according to different combinations. The present application also provides welding equipment and storage media, which also have the above-mentioned beneficial effects, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1 It is a brief flow chart of the multi-segment weld trajectory combined guidance method provided in the embodiment of the present application; Figure 2 It is a schematic diagram of sorting and numbering the multi-segment weld trajectory combination guidance method provided in an embodiment of the present application; Figure 3 It is a schematic diagram of reordering and updating the numbering of the multi-segment weld trajectory combination guidance method provided in an embodiment of the present application; Figure 4 It is a physical schematic diagram of the multi-segment weld trajectory combination guidance method provided in an embodiment of the present application, which uses different colors to distinguish between editable lines and non-editable lines. DETAILED DESCRIPTION
[0014] The following will be combined with the drawings of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described in the present application are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.
[0015] See also Figure 1 , Figure 1 This is a simplified flowchart of the multi-segment weld trajectory combined guidance method provided in the embodiment of the present application. The brief steps may include: S1, analyzing the drawing of the workpiece to be welded to obtain weld data; S2, number and sort the weld segments in the drawing; S3, according to the user operation, the weld segments are merged or segmented, and re-ordered, and the numbers are used for display to the user; S4, assign segment numbers to the weld points of the weld segment, and configure the welding process and algorithm according to the segment numbers. The merging or segmenting of the weld segment only affects the numbering but not the segment number. S5, sending the information of welding point, process and algorithm to PLC for execution guidance; S6, reading the segment number of the corresponding weld point, and matching the process and algorithm according to the segment number; specifically, matching the welding process information and welding algorithm information of the corresponding welding object according to the segment number.
[0016] Specific steps may include: Step 1: Use the dxflib open source library to load the CAD drawing of the workpiece to be welded and parse the weld information; Among them, this embodiment can be applied to welding equipment, which includes a host computer and a welding robot, and the welding robot includes a PLC and a visual guidance mechanism; the file type of the CAD drawing is mainly a dxf type, including linear elements, two-dimensional coordinates, colors and other information.
[0017] Step 2, preprocessing the weld information, specifically encapsulating the weld information into a weld structure class, the weld structure class including weld point information, weld type, weld process information and weld algorithm information, instantiating the weld structure class into a plurality of weld objects, the weld objects corresponding one to one with the line segments representing the welds in the CAD drawings, setting a weld group, adding the weld objects to the weld group, sorting the weld objects in the weld group and setting numbers in sequence, redrawing the CAD drawings, each line type corresponding to a color during redrawing, different line types corresponding to different colors, the line types including editable lines, non-editable lines and combined weld lines, and marking the numbers at the corresponding weld line segments, and displaying the redrawn CAD drawings with numbers on the user operation interface of the host computer; Please refer to Figure 2 , take the first weld segment and the second weld segment as an example, at this time, the first weld segment is numbered 1 and the second weld segment is numbered 2, the first weld segment and the second weld segment are both editable lines, the same color, both represented by the first color, Figure 2 Displayed on the user interface of the host computer, waiting for user operation; please refer to Figure 4 , Figure 4 In the physical schematic diagram, some editable lines and some non-editable lines are marked. Figure 2 and Figure 4 In the diagram, the first color is used to represent editable lines, and the second color is used to represent non-editable lines. The first color is red, and the second color is green.
[0018] Step 3, according to the weld merging operation performed by the user in the user operation interface, the weld objects in the weld group are merged, each merging operation merges two weld objects, specifically, two overlapping weld points of the two weld objects are eliminated, and the two merged weld objects are sorted as a whole during re-sorting. After the number is updated, the two merged weld objects share a number, and the two merged weld objects are still two independent weld objects in the weld group; Please refer to Figure 3 , after step 3, Figure 2 The first weld line segment and the second weld line segment in are merged into Figure 3 The first merged weld line segment in the embodiment is a combined weld line, and the combined weld line is represented by a third color, and the third color is different from the second color and the first color. Figure 3The first color is red, the second color is green, and the third color is blue. After reordering and updating the numbers, the number of the first merged weld segment is 1. From the perspective of the weld object, the two merged weld objects are sorted as a whole during reordering. After updating the numbers, the two merged weld objects share one number. After reordering and updating the numbers, the user operation interface is updated and displayed, and the update of the numbers and colors of the weld segments can facilitate user operation.
[0019] Step 4: Based on the weld point information of the weld objects in the weld group, filter the weld points to remove the overlapping points. The specific method of removing the overlapping points is that if any weld object has overlapping weld points with other weld objects, any one weld point is removed from the two overlapping weld points; each weld object in the weld group corresponds to a segment number, and the filtered weld points are matched with the corresponding segment number and the algorithm and process configuration are performed; Among them, each weld object corresponds to a segment number, that is, multiple weld points of the same weld object correspond to a segment number.
[0020] Step 5, using three-point calibration to generate a calibration matrix, and then using the calibration matrix to calibrate the weld points of the weld objects so that the weld points match the actual workpiece positions, and sending the information contained in the weld objects in the weld group to the PLC, and the PLC controls the visual guidance mechanism to perform guidance; Among them, three-point calibration is a technology commonly used in machine vision, sensor calibration and other fields. It calibrates the device by selecting three known points to determine a calibration matrix. This method can handle multiple transformations including scaling, rotation and offset.
[0021] Step 6: The visual guidance mechanism takes pictures and points in real time, and the PLC matches the corresponding algorithm and process according to the segment number of the corresponding position.
[0022] Among them, in actual movement, PLC matches the corresponding algorithm and process according to the segment number. The specific algorithm here is configured according to the actual situation. According to the process requirements, there are positioning algorithms, fitting algorithms, starting point algorithms, etc.; according to the actual workpiece, there are corresponding corner seam algorithms, curve fitting algorithms, vertical seam algorithms, etc. Specific algorithm parameters, such as error thresholds, camera exposure parameters, etc., are established in advance by the user according to the actual situation and specified by the name. The process mainly refers to the speed, acceleration, current and voltage of the moving point. Taking the guiding corner seam as an example, a new positioning algorithm test is created, and the relevant algorithm parameters are set. At the same time, a new fitting algorithm test2 is created. When actually guiding the seam, the positioning algorithm test is executed for positioning, and the fitting algorithm test2 is executed for fitting.
[0023] The present application also provides a welding device, including a host computer, a welding robot, a processor and a memory, wherein the host computer includes a user operation interface, the welding robot includes a PLC and a visual guidance mechanism, the host computer can communicate with the PLC, the processor stores a computer program, and the processor calls the computer program in the memory to implement the steps of the above-mentioned multi-segment weld trajectory combination guidance method. Of course, the welding device can also include various network interfaces, power supplies and other components.
[0024] The present application also provides a storage medium, wherein the storage medium stores computer executable instructions, and when the computer executable instructions are loaded and executed by the processor, the steps of the above-mentioned multi-segment weld trajectory combination guidance method are implemented. The storage medium may include: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes.
[0025] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.
Claims
1. A multi-segment weld trajectory combined guidance method, characterized in that: Applied to welding equipment, the welding equipment includes a host computer and a welding robot, the welding robot includes a PLC and a visual guidance mechanism, and the multi-segment weld trajectory combined guidance method includes: Step 1: Use the open source library to load the drawing of the workpiece to be welded and parse the weld information; Step 2, preprocessing the weld information, specifically encapsulating the weld information into a weld structure class, the weld structure class including weld point information, weld type, weld process information and weld algorithm information, instantiating the weld structure class into a plurality of weld objects, the weld objects corresponding one to one with the line segments representing the welds in the drawings, setting a weld group, adding the weld objects to the weld group, sorting the weld objects in the weld group and setting numbers in sequence, redrawing the drawings and matching the numbers and then displaying them on the user operation interface of the host computer; Step 3, according to the weld merging operation performed by the user in the user operation interface, the weld objects in the weld group are merged, and the weld objects in the weld group are reordered and numbered, and the two merged weld objects share one number, and the two merged weld objects are still two independent weld objects in the weld group; Step 4, based on the weld point information of the weld objects in the weld group, filtering the weld points to remove the overlapping points, each weld object in the weld group corresponds to a segment number, matching the filtered weld points with the corresponding segment number and performing algorithm and process configuration; Step 5, using three-point calibration to generate a calibration matrix, and then using the calibration matrix to calibrate the weld points of the weld objects so that the weld points match the actual workpiece positions, and sending the information contained in the weld objects in the weld group to the PLC, and the PLC controls the visual guidance mechanism to perform guidance; Step 6: The visual guidance mechanism takes pictures and points in real time, and the PLC matches the corresponding algorithm and process according to the segment number of the corresponding position.
2. The multi-segment weld trajectory combined guiding method according to claim 1, characterized in that: The drawings are redrawn and matched with numbers and then displayed on the user operation interface of the host computer, including redrawing the drawings. When redrawing, each line type corresponds to a color, and different line types correspond to different colors. The line types include editable lines, non-editable lines, and combined weld lines. At the same time, the numbers are marked on the corresponding weld line segments, and the redrawn drawings with numbers are displayed on the user operation interface of the host computer.
3. The multi-segment weld trajectory combined guiding method according to claim 1, characterized in that: Step 3 includes merging the weld objects in the weld group according to the weld merging operation performed by the user in the user operation interface, merging two weld objects in each merging operation, specifically eliminating two overlapping weld points of the two weld objects, and the two merged weld objects are sorted as a whole during re-sorting. After the numbering is updated, the two merged weld objects share a number, and the two merged weld objects are still two independent weld objects in the weld group.
4. The multi-segment weld trajectory combined guiding method according to claim 1, characterized in that: The weld points are filtered to remove the overlapping points, including if any weld object has overlapping weld points with other weld objects, then any one weld point is removed from the two overlapping weld points.
5. Welding equipment, characterized in that The method comprises a host computer, a welding robot, a processor and a memory, wherein the host computer comprises a user operation interface, the welding robot comprises a PLC and a visual guidance mechanism, the host computer can communicate with the PLC, the processor stores a computer program, and the processor calls the computer program in the memory to implement the multi-segment weld trajectory combined guidance method as claimed in any one of claims 1 to 4.
6. A storage medium, characterized in that The storage medium stores computer executable instructions, and when the computer executable instructions are loaded and executed by the processor, the steps of the multi-segment weld trajectory combined guidance method as described in any one of claims 1 to 4 are implemented.