A dual-robot synchronous processing planning method for internal and external welding of complex curved surface components

Abstract

This invention belongs to the technical field of processing planning methods, specifically relating to a dual-robot synchronous processing planning method for welding complex curved surface components internally and externally. The method includes two robots, Robot 1 and Robot 2, with an infrared rangefinder and a wire-tracking probe installed inside the lens of a tracking camera. This invention can analyze the laser welder movement strategy with the highest welding efficiency while minimizing the mutual influence of internal and external synchronous welding. Furthermore, it can provide the most efficient welding strategy for different profiles and curved paths under different conditions, minimizing the welding time per weld while ensuring optimal welding results and minimizing influencing factors. In addition, it can adaptively change the reference equation and allowable error range of the movement path when installation deviations occur, and can record, save, and replay the sections of the unreasonable path that occurred, facilitating timely repairs.

Description

Technical Field

[0001] The invention belongs to the technical field of processing planning methods, and in particular relates to a dual-robot synchronous processing planning method for internal and external welding of complex curved surface components. Background Art

[0002] The welding work planning method is a method of systematic and scientific management of the welding process, aiming to improve welding quality and efficiency and reduce production costs. The following is a brief description of the welding work planning method: process analysis, welding process design, welding equipment and tool selection, welding personnel training and assessment, welding quality control, welding safety production, welding cost control, welding process improvement. In short, the welding work planning method is a systematic and scientific management method. Through comprehensive planning and management of the welding process, the welding quality and efficiency can be improved and the production cost can be reduced.

[0003] Problems with existing technologies:

[0004] In the hyperbolic surface welding work, some manufacturers will shorten the gap between the inner and outer double welding as much as possible in order to improve the yield rate, and even have the method of simultaneous inner and outer welding at the same point. However, if the distance between the two welding work is too close, it may cause problems such as poor weld forming, stress concentration and deformation, which will directly affect the quality of the finished profile. Therefore, how to ensure the welding quality of the profile while ensuring the yield rate is a difficult problem that needs to be solved at present; in addition, although the profiles are fixed with corresponding fixtures, there will still be situations where the profiles are translated in the coordinate system of the processing system due to clamping errors. In view of this situation, how to continue to weld the adaptive path under the premise of offset and how to detect abnormal welding conditions other than translation are technologies that urgently need to be improved. Summary of the invention

[0005] The purpose of the present invention is to provide a dual-robot synchronous processing planning method for internal and external welding of complex curved surface components, which can analyze the laser welder movement strategy with the fastest welding efficiency under the premise of minimizing the mutual influence of internal and external synchronous welding, and can adaptively change the reference equation of the movement path and the range of allowable errors when installation deviations occur, and can record, save and replay the sections where unreasonable paths occur.

[0006] The technical solution adopted by the present invention is as follows:

[0007] A dual-robot synchronous processing planning method for internal and external welding of complex curved surface components, the specific steps are as follows:

[0008] S1: Fix the profile to be processed, use the routing probe to simulate the direction of the laser welder along the welding path in space, and divide the simulation process into two batches: external welding path and internal welding path;

[0009] S2: Integrate the welding path and make the motion equation of the path in the space coordinate system , where the motion equation of the external welding path is integrated into The motion equation of the internal welding path is integrated into , this equation of motion The standard motion equations are set for the standard part welding path, and the actual welding path is determined based on the welding parameters. With welding path The allowable deviation range between ;

[0010] S3: Establish a heat transfer model to study the coupling effect of the heat source and analyze the temperature distribution and the length of the heat affected zone (HAZ) during welding;

[0011] S4: With the help of the analysis results in S3, the welding speed, feed rate and the distance between the two welding tools are adjusted to obtain the welding path distribution with the minimum input energy and the fastest efficiency;

[0012] S5: Determine the placement and movement strategy of dual welding equipment;

[0013] S6: Routing debugging, driving the robot to make the laser welder pre-route along the standard profile to be processed normally, fine-tuning the angle of the laser welder when it moves along the weld, the range tracking camera rotates to follow the changes of the weld, and implements the survey of the distance size to the surface of the profile to be processed. After the debugging is completed, the corresponding information is integrated and saved;

[0014] S7: Integrate the preliminary planning of S1-S6 for the welding work of the designated profile to be processed, and use it as a standard to drive Robot 1 and Robot 2 to perform a large number of welding operations on the profile to be processed;

[0015] S8: The range tracking camera is located in front of the laser welder's path, and it first conducts real-time survey of the distance to the profile surface along the welding path. When translating, the new curve equation is directly derived , allowable deviation range It also changes;

[0016] S9: Use the range tracking camera to observe the changes in the actual welding path in real time in advance, and adaptively adjust the focal length of the lens inside the laser welder, integrate the actual welding path and deduce the curve equation of the actual welding path , when calculated The coordinates of a point on the The allowable deviation range of the benchmark When welding, the unreasonable path should be recorded and archived under the premise of ensuring normal welding;

[0017] S10: When the staff examines the unreasonable welding path, they use the robot to make the laser welder perform secondary action deduction along the unreasonable path without welding based on the archived records.

[0018] A space curve can be viewed as the trajectory of a point in three-dimensional space over time, usually represented by a set of parametric equations: In the rectangular coordinate system of three-dimensional space R3, the motion of a point can be described by parametric equations of the following form:

[0019] ,in, is a parameter, usually representing time, and , as well as and respectively represent the point Time along axis, Axis and The position of the axis, in summary, It can be expressed by this parametric equation;

[0020] A relatively simple curve path can be represented by a set of equations Expression, such as different sides and and different sides and ;

[0021] For complex welding paths, the paths can be decomposed and then expressed by the corresponding set of equations, for example: , .

[0022] It also includes the welding speed adjustment process, including:

[0023] In S4, the welding speed is adjusted. Under the premise that the laser power and welding path are known, the formula for calculating the welding speed usually involves the concept of line energy. Line energy refers to the energy received by the weld per unit length during the welding process, which is related to the laser power, welding speed and spot diameter.

[0024] A commonly used formula for calculating welding speed is:

[0025] in: is the welding speed (mm / s or in / min); is the laser power (Watts); is the linear energy (joules / mm or joules / inch), linear energy It can be selected according to the required weld geometry and material properties. For specific materials and weld requirements, the line energy is usually an empirical value that can be determined by experiment.

[0026] It also includes the process of adjusting the distance between the two welding tools, including:

[0027] In S4, the distance between the two welding tools is adjusted. First, the distance from the laser head (or welding tool) to the workpiece surface is determined based on the laser power, spot diameter (the diameter of the laser beam after focusing), welding speed, material type and its thermophysical properties. Then, by integrating the energy distribution characteristics of the laser beam and the melting threshold and thermal conductivity characteristics of the material, the energy input and molten pool dynamics in the laser welding process are analyzed and obtained, and then the optimal distance between the two welding tools is determined.

[0028] It also includes the placement process of the dual welding equipment, including:

[0029] In S5, the influence of complex welding paths on the distance between the dual welding tools is analyzed, and the entered welding paths are analyzed to find out the section where the distance between the two points before and after the bend is less than the optimal distance between the dual welding tools. Then, the distance between the two welding tools is increased accordingly to compensate for the influence of complex welding paths on the distance between the dual welding tools.

[0030] It also includes the process of selecting a mobile strategy, including:

[0031] Selection of the best moving strategy under different welding paths;

[0032] Case 1: Internal and external closed curves. Robot 1 and Robot 2 are selected to start from and The movement strategy starts from the same starting point and in the same direction, and ensures that the distance between robot 1 and robot 2 is at the optimal distance with the least mutual influence;

[0033] Case 2: single inner and outer curves, the movement strategy is the same as case 1;

[0034] Case 3: Multiple internal and external curves, choose to complete the robot first Welding, then complete The welding of robot 2 is completed first. Welding, then complete Welding is carried out simultaneously with internal and external welding.

[0035] The rectangular coordinate equation of a curve is , after detecting the starting point with vector When translation occurs, any point on the new curve Points on the original curve The relationship can be expressed as:

[0036]

[0037] Therefore, we can replace the original curve equation with Replace with To get the equation of the new curve: .

[0038] The invention comprises a robot 1 and a robot 2, wherein the ends of the working ends of the robot 1 and the robot 2 are both installed with servo motors, an assembly frame is fixedly installed at the output end of the servo motor, a laser welder for completing laser welding work is fixedly assembled on one side of the assembly frame, a steering motor is fixedly assembled on the other side of the assembly frame, and a range tracking camera for tracking welds for shooting and surveying is fixedly assembled on the output end of the steering motor.

[0039] An infrared rangefinder is installed inside the lens of the range tracking camera, and the lens of the range tracking camera is tilted toward the laser welder.

[0040] The invention comprises a wiring probe pen, wherein a gyroscope chamber 2 and a gyroscope chamber 1 are respectively arranged inside the top and bottom ends of the wiring probe pen, and gyroscopes are installed inside the gyroscope chamber 1 and the gyroscope chamber 2.

[0041] The technical effects achieved by the present invention are:

[0042] The present invention, in the preliminary planning of the welding work of the designated profile to be processed, firstly inputs the corresponding internal and external welding paths in advance through the routing probe, then analyzes the welding speed and the spacing between the laser welders in the two welding devices, and finally analyzes the laser welder movement strategy with the fastest welding efficiency under the premise of minimizing the mutual influence of the internal and external synchronous welding, and can give the most efficient welding strategy for the curved paths of different profiles and different situations respectively, and shortens the single welding period as much as possible and improves the output under the premise of ensuring the best welding effect and minimizing the influencing factors.

[0043] The present invention, in the analysis of actual welding conditions, can adaptively change the reference equation of the moving path and the range of allowable errors when installation deviations occur, so that the laser welder can perform mobile welding in the general direction of the new reference equation. When it is detected that the actual welding path exceeds the range of allowable errors, the section where the unreasonable path occurs is recorded and saved.

[0044] The present invention also gives the welding process a function of replaying an unreasonable path. With the help of a laser welder, a second action is performed along the unreasonable path without performing welding work, so that the staff can directly observe the abnormal welding section on the surface of the profile to be processed, so as to repair the abnormal profile in time. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a flow chart of a planning method provided by an embodiment of the present invention;

[0046] Figure 2 is a schematic diagram of a robot 1 and a robot 2 provided in an embodiment of the present invention performing welding on a profile to be processed;

[0047] Figure 3 is a structural diagram of a robot 1 provided by an embodiment of the present invention;

[0048] Figure 4 is a structural diagram of a wiring probe provided by an embodiment of the present invention;

[0049] Figure 5 is a schematic diagram of a profile to be processed provided by an embodiment of the present invention in a system space coordinate system;

[0050] Figure 6 is a schematic diagram of spatial coordinates of a closed welding route provided by an embodiment of the present invention;

[0051] Figure 7 is a schematic diagram of spatial coordinates of multiple welding routes provided by an embodiment of the present invention;

[0052] Figure 8 It is a schematic diagram of a new curve equation derived after the welding starting point is offset provided by an embodiment of the present invention;

[0053] Fig. 9 It is a schematic diagram showing that the actual welding route provided by the embodiment of the present invention exceeds the allowable error of the new curve equation.

[0054] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0055] 1. Robot 1; 101. Servo motor; 102. Assembly frame; 103. Laser welder; 104. Steering motor; 105. Range tracking camera; 2. Robot 2; 3. Profile to be processed; 4. Routing probe pen; 401. Gyroscope chamber 1; 402. Gyroscope chamber 2. DETAILED DESCRIPTION

[0056] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present invention, and does not strictly limit the scope of protection of the specific claims of the present invention.

[0057] like Figure 1-9 As shown, a dual-robot synchronous processing planning method for internal and external welding of complex curved surface components is shown, and the specific steps are as follows:

[0058] S1: Fix the profile 3 to be processed, use the routing probe 4 to simulate the direction of the laser welder 103 along the welding path in space, and divide the simulation process into two batches: the external welding path and the internal welding path;

[0059] Among them, the top and bottom ends of the wiring probe 4 are respectively provided with a gyroscope chamber 2 402 and a gyroscope chamber 1 401. The gyroscope located in the gyroscope chamber 1 401 is used to simulate the wiring path of the laser welder 103 lens. The gyroscope located in the gyroscope chamber 2 402 cooperates with the former gyroscope to simulate the tilt direction of the laser welder 103 itself during welding. The specific process is as follows: the moving path of the wiring probe 4 is analyzed frame by frame. At the corresponding time t, the gyroscope chamber 1 401 and the gyroscope chamber 2 402 are respectively regarded as a pixel point. The coordinates of the gyroscope chamber 1 401 in the space coordinate system are ( ), the coordinates of the gyroscope chamber 2 402 in the space coordinate system are ( ), then the parametric equation of the line formed by these two points is The parametric equation of the straight line can be used to describe the direction of the straight line where the laser welder 103 is located at that moment, and cooperate with the robot 1 to adjust the position and tilt direction of the laser welder 103 in real time.

[0060] S2: Integrate the welding path and make the motion equation of the path in the space coordinate system , where the motion equation of the external welding path is integrated into The motion equation of the internal welding path is integrated into , this equation of motion The standard motion equations are set for the standard part welding path, and the actual welding path is determined based on the welding parameters. With welding path The allowable deviation range between ;

[0061] Among them, the space curve can be regarded as the trajectory of a point in three-dimensional space changing over time, which is usually represented by a set of parametric equations: In the rectangular coordinate system of three-dimensional space R3, the movement of a point can be described by the following parametric equations:

[0062] ,in, is a parameter representing time, and , as well as and respectively represent the point Time along axis, Axis and The position of the axis, in summary, It can be expressed by this parametric equation;

[0063] Alternatively, a relatively simple curve path can be expressed by a set of equations, such as Figure 7 Different sides of and and different sides and For complex welding paths, the path can be decomposed and then expressed by the corresponding set of equations, such as Figure 6 middle, , .

[0064] S3: Establish a heat transfer model to study the coupling effect of the heat source and analyze the temperature distribution and the length of the heat affected zone (HAZ) during welding;

[0065] Among them, it is known that three-dimensional curve welding is suitable for the dynamic moving heat source model in numerical simulation. In addition, the temperature distribution of different materials during welding and the specific conditions of the heat affected zone (HAZ) are usually known. This information can be obtained through welding manuals, material databases or professional welding literature.

[0066] S4: With the help of the analysis results in S3, the welding speed, feed rate and the distance between the two welding tools are adjusted to obtain the welding path distribution with the minimum input energy and the fastest efficiency;

[0067] The specific adjustment process is as follows:

[0068] S401: In the welding process, the welding speed is equivalent to the feed rate. When adjusting the welding speed, the formula for calculating the welding speed usually involves the concept of line energy, which refers to the energy received by the weld per unit length during the welding process. It is related to the laser power, welding speed and spot diameter.

[0069] A commonly used formula for calculating welding speed is: ;

[0070] in: is the welding speed (mm / s or in / min); is the laser power (Watts); is the linear energy (joules / mm or joules / inch), linear energy It can be selected according to the required weld geometry and material properties. For specific materials and weld requirements, the line energy is usually an empirical value that can be determined by experiment.

[0071] In addition, the spot diameter also affects the welding speed because it determines the distribution of laser energy on the material surface; a smaller spot diameter concentrates more energy, which may allow higher welding speeds;

[0072] It should be noted that this formula provides a basic method to estimate the welding speed, but the actual welding speed may also be affected by other factors, such as the thermophysical properties of the material, welding technology, joint design, etc. Therefore, in actual applications, welding engineers usually adjust the parameters based on experience and specific welding conditions to obtain the best welding results.

[0073] S403: Adjust the distance between the two welding tools. First, determine the distance from the laser head (or welding tool) to the workpiece surface based on the laser power, spot diameter (the diameter of the laser beam after focusing), welding speed, material type and its thermophysical properties. Then, by integrating the energy distribution characteristics of the laser beam and the melting threshold and thermal conductivity characteristics of the material, analyze and derive the energy input and molten pool dynamics during laser welding, and then determine the optimal distance between the two welding tools.

[0074] S5: Determine the placement and movement strategy of dual welding equipment;

[0075] The specific process is as follows:

[0076] S501: analyzing the influence of the complex welding path on the distance between the two welding tools, analyzing the input welding path, finding out the section where the distance between the two points before and after the bend is less than the optimal distance between the two welding tools, and then increasing the distance between the two welding tools accordingly to compensate for the influence of the complex welding path on the distance between the two welding tools;

[0077] S502: selection of the best moving strategy under different welding paths;

[0078] Case 1, internal and external closed curves, such as Figure 6 , select robot 1 and robot 2 from and A moving strategy that starts from the same starting point and in the same direction, and ensures that the distance between robot 1 and robot 2 is at the optimal distance with the least mutual influence;

[0079] Case 2: single inner and outer curves, the movement strategy is the same as case 1;

[0080] Case 3, multiple curves inside and outside, such as Figure 7 , choose to complete the robot first Welding, then complete The welding of robot 2 is completed first. Welding, then complete Welding is carried out simultaneously with internal and external welding.

[0081] S6: Routing debugging, drive robot 1 to make the laser welder 103 pre-route normally along the standard profile 3 to be processed, fine-tune the angle of the laser welder 103 when moving along the weld, the range tracking camera 105 rotates to follow the changes in the weld, and implements the survey of the distance size to the surface of the profile 3 to be processed. After the debugging is completed, the corresponding information is integrated and saved.

[0082] S7: Integrate the preliminary planning of the welding work of the designated profile 3 to be processed by S1-S6, and use it as a standard to drive the robot 1 and the robot 2 to perform a large-scale welding operation on the profile 3 to be processed;

[0083] It is ensured that each profile 3 to be processed is installed at the same position as much as possible, and each time welding starts, the starting point of the corresponding welding needs to be found by the range tracking camera 105 .

[0084] S8: The range tracking camera 105 is located in front of the action path of the laser welder 103, and preferentially performs real-time survey of the distance of the profile surface along the welding path. When the starting point position is surveyed, the vector When translating, the new curve equation is directly derived , allowable deviation range It also changes;

[0085] In the process of the tracking camera 105 finding the welding starting point, the infrared rangefinder installed inside the tracking camera 105 is used to monitor the change in the distance between the lens of the laser welder 103 and the surface of the profile 3 to be processed. When the starting point position is detected to be offset (this may be because the installation position is deviated, causing the profile 3 to be processed as a whole to shift), the new curve equation with the offset starting point as the starting point is immediately calculated. ,like Figure 8 As shown in the figure is the standard path range planned previously, assuming that the rectangular coordinate system equation of the curve is , after detecting the starting point with vector When translation occurs, any point on the new curve Points on the original curve The relationship can be expressed as:

[0086] ;

[0087] Therefore, we can replace the original curve equation with Replace with To get the equation of the new curve: ;

[0088] This is the vector The new curve equation after translation;

[0089] Finally, the laser welder 103 is made to follow the new curve equation Use the reference for mobile welding.

[0090] S9: Use the range tracking camera 105 to observe the changes of the actual welding path in real time in advance, and adaptively adjust the focal length of the lens inside the laser welder 103, integrate the actual welding path and deduce the curve equation of the actual welding path , when calculated The coordinates of a point on the The allowable deviation range of the benchmark When welding, the unreasonable path should be recorded and archived under the premise of ensuring normal welding;

[0091] in, The starting point and The starting points of are coincident, such as Fig. 9 As shown in the figure, according to the actual survey The direction of Go beyond The allowable deviation range of the benchmark , it is determined that there is a problem with the welding path of the profile 3 to be processed, and the problem is that the profile manufacturing error of the profile 3 to be processed itself is large, which is determined on the premise that the deviation of the installation position is excluded.

[0092] S10: When the staff examines the unreasonable welding path, according to the archived records, the staff uses the robot 1 to make the laser welder 103 perform secondary action deduction along the unreasonable path without welding;

[0093] Among them, under the premise of keeping the profile 3 to be processed in the original holding state, the driving robot 1 makes the laser welder 103 move twice from the starting point to the end point where the unreasonable path occurs, and during this secondary movement, the laser welding is not started.

[0094] The working principle of the present invention is as follows: in the preliminary planning of the welding work of the designated profile 3 to be processed in steps S1-S6, the corresponding internal and external welding paths are first entered in advance through the routing probe 4, and then the welding speed and the spacing between the laser welders 103 in the two welding devices are analyzed, and finally the moving strategy of the laser welder 103 with the fastest welding efficiency is analyzed under the premise of minimizing the mutual influence of the internal and external synchronous welding, and the most efficient welding strategy is given for the curved paths in different situations, so as to shorten the single welding period as much as possible and improve the output under the premise of ensuring the best welding effect and minimizing the influencing factors;

[0095] Furthermore, in the analysis of the actual welding situation in steps S7-S10, when the installation deviates, the reference equation of the moving path and the range of the allowable error can be adaptively changed, so that the laser welder 103 can move and weld in the general direction of the new reference equation, and when it is detected that the actual welding path exceeds the range of the allowable error, the section where the unreasonable path occurs is recorded and saved;

[0096] Finally, the welding process is given the function of replaying the unreasonable path. With the help of the laser welder 103, a second action is performed along the unreasonable path without performing welding work, so that the staff can directly observe the abnormal welding section on the surface of the profile 3 to be processed, so as to repair the abnormal profile in time.

[0097] Refer to the attached Figure 4 , including a wiring probe 4, wherein a gyroscope compartment 2 402 and a gyroscope compartment 1 401 are respectively arranged inside the top and bottom ends of the wiring probe 4, and gyroscopes are installed inside both the gyroscope compartment 1 401 and the gyroscope compartment 2 402.

[0098] Refer to the attached Figure 3 , including robot 1 and robot 2 2, the ends of the working ends of robot 1 and robot 2 2 are both installed with servo motors 101, the output end of the servo motor 101 is fixedly installed with an assembly frame 102, one side of the assembly frame 102 is fixedly assembled with a laser welder 103 for completing laser welding work, the other side of the assembly frame 102 is fixedly assembled with a steering motor 104, the output end of the steering motor 104 is fixedly assembled with a range tracking camera 105 for tracking the weld for shooting and surveying, and an infrared rangefinder is installed inside the lens of the range tracking camera 105, and the lens of the range tracking camera 105 is tilted toward the laser welder 103.

[0099] According to the above structure, the steering motor 104 is used to drive the range tracking camera 105 to rotate, so that the range tracking camera 105 can twist and change direction along the weld before the laser welder 103.

[0100] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. A dual-robot synchronous processing planning method for internal and external welding of complex curved surface components, characterized in that: The specific steps are as follows: S1: Fixing the profile to be processed (3), using the routing probe (4) to simulate the direction of the laser welder (103) along the welding path in space, and dividing the simulation process into two batches: an external welding path and an internal welding path; S2: Integrate the welding path and make the motion equation of the path in the space coordinate system , where the motion equation of the external welding path is integrated into The motion equation of the internal welding path is integrated into , this equation of motion The standard motion equations are set for the standard part welding path, and the actual welding path is determined based on the welding parameters. With welding path The allowable deviation range between ; S3: Establish a heat transfer model to study the coupling effect of the heat source and analyze the temperature distribution and the length of the heat affected zone during welding; S4: With the help of the analysis results in S3, the welding speed, feed rate and the distance between the two welding tools are adjusted to obtain the welding path distribution with the minimum input energy and the fastest efficiency; S5: Determine the placement and movement strategy of dual welding equipment; S6: Wire alignment debugging, driving robot 1 (1) to make the laser welder (103) normally pre-align along the standard profile to be processed (3), fine-tuning the angle of the laser welder (103) when moving along the weld, the range tracking camera (105) rotates along the change of the weld, and implements the survey of the distance size with the surface of the profile to be processed (3). After the debugging is completed, the corresponding information is integrated and saved; S7: integrating the preliminary planning of the welding work of the designated profile to be processed (3) from S1 to S6, and using it as a standard, driving the robot 1 (1) and the robot 2 (2) to perform a large-scale welding operation on the profile to be processed (3); S8: The range tracking camera (105) is located in front of the action path of the laser welder (103), and preferentially performs real-time survey of the distance of the profile surface along the welding path. When the starting point position is surveyed, a vector When translating, the new curve equation is directly derived , allowable deviation range It also changes; S9: Using the range tracking camera (105) to observe the changes of the actual welding path in real time in advance, and adaptively adjust the focal length of the internal lens of the laser welder (103), integrate the actual welding path and deduce the curve equation of the actual welding path , when calculated The coordinates of a point on the The allowable deviation range of the benchmark When welding, the path that exceeds the allowable deviation range shall be recorded and archived under the premise of ensuring normal welding; S10: When the staff examines the unreasonable welding path, based on the archived records, the staff uses robot one (1) to make the laser welder (103) perform a secondary action deduction along the unreasonable path without welding.

2. According to claim 1, a dual-robot synchronous processing planning method for internal and external welding of complex curved surface components is characterized by: A space curve is regarded as the trajectory of a point in three-dimensional space changing over time, usually represented by a set of parametric equations: In the rectangular coordinate system of three-dimensional space R3, the motion of a point is described by parametric equations of the following form: ,in, is a parameter, usually representing time, and , as well as and respectively represent the point Time along axis, Axis and The position of the axis, in summary, Expressed by this parametric equation; A relatively simple curve path can be represented by a set of equations Expression, different sides and and different sides and ; For complex welding paths, the paths can be decomposed and then expressed by the corresponding set of equations: , .

3. The dual-robot synchronous processing planning method for internal and external welding of complex curved surface components according to claim 1 is characterized in that: It also includes the welding speed adjustment process, including: In S4, the welding speed is adjusted. Under the premise that the laser power and welding path are known, the formula for calculating the welding speed usually involves the concept of line energy. Line energy refers to the energy received by the weld per unit length during the welding process, which is related to the laser power, welding speed and spot diameter. A commonly used formula for calculating welding speed is: in: is the welding speed; is the laser power; It is line energy, line energy It is selected according to the required weld geometry and material properties. For specific materials and weld requirements, the line energy is usually an empirical value determined by experiments.

4. The dual-robot synchronous processing planning method for internal and external welding of complex curved surface components according to claim 1 is characterized in that: It also includes the process of adjusting the distance between the two welding tools, including: In S4, the distance between the two welding tools is adjusted. First, the distance from the laser head to the workpiece surface is determined according to the laser power, spot diameter, welding speed, material type and its thermophysical properties. Then, by integrating the energy distribution characteristics of the laser beam and the melting threshold and thermal conductivity characteristics of the material, the energy input and molten pool dynamics in the laser welding process are analyzed and obtained, and then the optimal distance between the two welding tools is determined.

5. The dual-robot synchronous processing planning method for internal and external welding of complex curved surface components according to claim 1 is characterized in that: It also includes the placement process of the dual welding equipment, including: In S5, the influence of complex welding paths on the distance between the dual welding tools is analyzed, and the entered welding paths are analyzed to find out the section where the distance between the two points before and after the bend is less than the optimal distance between the dual welding tools. Then, the distance between the two welding tools is increased accordingly to compensate for the influence of complex welding paths on the distance between the dual welding tools.

6. The dual-robot synchronous processing planning method for internal and external welding of complex curved surface components according to claim 2 is characterized in that: It also includes the process of selecting a mobile strategy, including: Selection of the best moving strategy under different welding paths; Case 1: Internal and external closed curves. Robot 1 (1) and Robot 2 (2) are selected to start from and A movement strategy that starts from the same starting point and in the same direction, and ensures that the distance between robot 1 (1) and robot 2 (2) is at an optimal distance with minimal mutual influence; Case 2: single inner and outer curves, the movement strategy is the same as case 1; Case 3: Multiple internal and external curves, choose robot one (1) to complete first Welding, then complete The welding of robot two (2) is completed first. Welding, then complete Welding is carried out simultaneously with internal and external welding.

7. The dual-robot synchronous processing planning method for internal and external welding of complex curved surface components according to claim 1 is characterized in that: The rectangular coordinate equation of a curve is , after detecting the starting point with vector When translation occurs, any point on the new curve Points on the original curve The relationship is expressed as: Therefore, the original curve equation Replace with To get the equation of the new curve: .

8. The dual-robot synchronous processing planning method for internal and external welding of complex curved surface components according to claim 1 is characterized in that: The invention comprises a robot 1 (1) and a robot 2 (2), wherein the ends of the working ends of the robot 1 (1) and the robot 2 (2) are both equipped with a servo motor (101), an assembly frame (102) is fixedly installed at the output end of the servo motor (101), a laser welder (103) for completing laser welding is fixedly assembled on one side of the assembly frame (102), a steering motor (104) is fixedly assembled on the other side of the assembly frame (102), and a range tracking camera (105) for tracking welding seams for photographing and surveying is fixedly assembled on the output end of the steering motor (104).

9. The dual-robot synchronous processing planning method for internal and external welding of complex curved surface components according to claim 8, characterized in that: An infrared rangefinder is installed inside the lens of the range-finding tracking camera (105), and the lens of the range-finding tracking camera (105) is tilted toward the laser welder (103).

10. The dual-robot synchronous processing planning method for internal and external welding of complex curved surface components according to claim 1, characterized in that: The wiring probe comprises a wiring probe (4), wherein a gyroscope compartment 2 (402) and a gyroscope compartment 1 (401) are respectively arranged at the top and bottom ends of the wiring probe (4), and gyroscopes are installed inside the gyroscope compartment 1 (401) and the gyroscope compartment 2 (402).

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