Intelligent planning method for flat fillet welding, welding robot and machine-readable storage medium

Abstract

This application relates to the field of welding and discloses an intelligent planning method for fillet welds, a welding robot, and a machine-readable storage medium. The method includes: determining the inner surface width, number of weld passes, and initial welding parameters of each weld pass in the target weld joint; determining the cross-sectional area of ​​the target weld layer and the cross-sectional area of ​​each weld pass based on the number of weld passes and the initial welding parameters of each weld pass; determining the position offset of the m-th weld pass based on the inner surface width of the target weld layer, the ratio of the cross-sectional area of ​​the m-th weld pass to the cross-sectional area of ​​the weld layer, and the preset forming compensation coefficient corresponding to the m-th weld pass; and determining the position of the m-th weld pass based on the position of the (m-1)-th weld pass and the position offset of the m-th weld pass, where m is an integer greater than 1. This application enables automated and intelligent welding planning for fillet weld joints, greatly improving welding planning efficiency and demonstrating strong practicality and adaptability.

Description

Technical Field

[0001] This application belongs to the field of welding technology, specifically relating to an intelligent planning method for fillet welds, a welding robot, and a machine-readable storage medium. Background Technology

[0002] Multi-layer multi-pass welding is a welding method that divides the target welding position into multiple layers, and each layer is further divided into multiple passes. It is used in various types of joints, such as flat butt joints and fillet welds. Currently, in order to achieve automated welding, welding planning of the joint is required before welding.

[0003] However, there is currently no method to automatically plan the welding of flat-face welded joints. Welding robots still require manual instruction based on experience, which is extremely inefficient. Furthermore, due to the differences in weld morphology and welding processes between flat-face welded butt joints and flat-face welded joints, the welding planning methods for flat-face welded butt joints are not applicable to flat-face welded joints.

[0004] Therefore, it is necessary to design a welding planning method specifically for flat angle welded joints at this stage in order to better meet the needs of automated welding of flat angle welded joints. Summary of the Invention

[0005] The purpose of this application is to provide a method for intelligent planning of fillet welds, a welding robot, and a machine-readable storage medium to achieve automated and intelligent welding planning for fillet weld joints.

[0006] To achieve the above objectives, this application provides a method for intelligent planning of fillet welds, comprising:

[0007] Determine the inner surface width, number of weld passes, and initial welding parameters for each weld pass of the target weld layer to be welded in the flat angle weld joint;

[0008] The cross-sectional area of ​​the target weld layer and the cross-sectional area of ​​each weld bead are determined based on the number of weld beads in the target weld layer and the initial welding parameters of each weld bead.

[0009] The position offset corresponding to the m-th weld bead is determined based on the inner surface width of the target weld layer, the ratio of the cross-sectional area of ​​the m-th weld bead to the cross-sectional area of ​​the weld layer, and the preset forming compensation coefficient corresponding to the m-th weld bead.

[0010] The position of the m-th weld bead is determined based on the position of the (m-1)-th weld bead of the target weld layer and the position offset corresponding to the m-th weld bead, where m is an integer greater than 1.

[0011] In some embodiments, the intelligent planning method for fillet welds further includes:

[0012] Based on the flat angle weld joint, a joint coordinate system is constructed such that the origin of the joint coordinate system is located at the root of the bevel of the flat angle weld joint, the x-axis is parallel to the welding direction, the y-axis and z-axis are on a plane perpendicular to the x-axis, and the z-axis is located between the two corner edges of the bevel.

[0013] In the joint coordinate system, the angle γ between the inner surface of the target weld layer and the y-axis is determined;

[0014] The y-coordinate and z-coordinate of the tool center point at the (m-1)th weld bead are calculated based on the position offset of the mth weld bead and the included angle γ.

[0015] In some embodiments, the intelligent planning method for fillet welds further includes:

[0016] Determine the plate thickness t and the desired weld leg size L of the angle weld joint. f The angle θ is half the bevel angle, and the angle α between the outer surface of the weld of the flat angle weld joint and the vertical direction is calculated according to the geometric relationship.

[0017] The joint coordinate system constructed based on the aforementioned angle weld joint includes:

[0018] The half-angle θ of the bevel is taken as the angle between the z-axis and the top surface of the bottom plate of the flat angle weld joint, such that γ = α - θ.

[0019] In some embodiments, the intelligent planning method for fillet welds further includes:

[0020] In the joint coordinate system, the position coordinates of the tool center point at the first weld bead of the target weld layer are located at the intersection of the inner surface of the target weld layer and the top surface of the bottom plate of the flat angle weld joint;

[0021] And / or, in the joint coordinate system, the position coordinates of the tool center point at the last weld bead of the target weld layer are determined to be located at the midpoint of the inner surface of the last weld bead along the width direction.

[0022] In some embodiments, the intelligent planning method for fillet welds further includes:

[0023] Determine whether the welding torch will collide with the base material when the tip of the welding wire moves to any position of the weld bead of the target weld layer;

[0024] When it is determined that the welding torch will collide with the base material, the angle between the welding torch and the top surface of the base plate of the flat angle welding head and / or the dry extension of the welding wire are adjusted.

[0025] In some implementations, determining whether the welding torch will collide with the base material when the welding wire tip moves to the position of any weld bead of the target weld layer includes:

[0026] Compare L when the tip of the welding wire moves to the position of any weld bead in the target weld layer. E With L E_min The size, where L E_min By welding torch nozzle width B T The preset minimum allowable distance g between the welding torch (201) and the base material min The angle λ between the welding torch (201) and the top surface of the base plate (102) of the flat angle welding head is determined, L E The standard dry extension of the welding wire is preset;

[0027] When L E <L E_min At that time, it is determined that the welding torch will collide with the base material;

[0028] When L E ≥L E_min At that time, it is determined that the welding torch will not collide with the base material.

[0029] In some implementations, determining the inner surface width of the target weld layer includes:

[0030] Based on the cross-sectional area of ​​the i-th target weld layer, the pre-defined cross-sectional area of ​​the weld of the angled weld joint, and the outer surface width b of the weld. top Determine the outer surface width b of the i-th target weld layer. i ;

[0031] The outer surface width b of the i-th target weld layer i The width of the inner surface of the (i+1)th target weld layer.

[0032] In some embodiments, the intelligent planning method for fillet welds further includes:

[0033] After determining the outer surface width b of the i-th target weld layer i The width b of the outer surface of the weld is less than top In the case of i+1, it is determined that an additional target weld layer will be added;

[0034] After determining the outer surface width b of the i-th target weld layer i Not less than the width b of the outer surface of the weld top In the case of i, the target weld layer is determined as the last weld layer of the flat angle weld joint, and the number of weld layers of the flat angle weld joint is determined.

[0035] In some implementations, determining the number of weld passes in the target weld layer includes:

[0036] Calculate the ratio n of the inner surface width of the target weld layer to the weld width under the current welding parameters;

[0037] When the value of the decimal part of n is less than the preset value, the value of the integer part of n is used as the number of weld passes in the target weld layer.

[0038] When the value of the decimal part of n is not less than a preset value, the value of the integer part of n is increased by one to obtain the number of weld passes of the target weld layer.

[0039] In some implementations, determining the initial welding parameters for each weld pass of the target weld layer includes:

[0040] It was determined that when welding multiple weld passes in the target weld layer sequentially from bottom to top, the welding speed of the multiple weld passes increases uniformly.

[0041] And / or, determine that when welding multiple weld passes in the target weld layer sequentially from bottom to top, the angle between the welding torch and the top surface of the base plate of the flat angle weld head decreases uniformly.

[0042] A second aspect of this application also provides a welding robot for performing the above-described intelligent planning method for fillet welds.

[0043] A third aspect of this application also provides a machine-readable storage medium storing instructions that cause a machine to execute the above-described intelligent planning method for fillet welding.

[0044] Through the above technical solution, this application, considering the characteristics of the fillet welding process, for a target weld layer that needs to be formed sequentially from bottom to top, in order to ensure that the lower weld bead can support the upper weld bead to prevent the upper molten pool from flowing downwards and affecting the welding quality, the initial welding parameters of each weld bead can be set independently during welding planning, without the need to limit the initial welding parameters of each weld bead to be the same. This allows each weld bead of the target weld layer to have a different weld bead cross-sectional area, thereby meeting the requirement that the lower weld bead can support the upper weld bead. In addition, when determining the position offset corresponding to the m-th weld bead of the target weld layer, this application considers the influence of other factors on the welding formation and sets a corresponding preset forming compensation coefficient, which can better fit the actual working conditions of the fillet welding process and improve the planning accuracy of the position offset. In summary, this application can effectively realize the automated and intelligent welding planning of fillet welded joints, greatly improve the welding planning efficiency and welding efficiency, and has strong practicality and adaptability.

[0045] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0046] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings:

[0047] Figure 1 This is a flowchart of a smart planning method for fillet welding according to a specific embodiment of this application;

[0048] Figure 2 This is a schematic diagram of a flat-angle welded joint to be welded according to a specific embodiment of this application;

[0049] Figure 3 This is a schematic diagram of the joint features obtained on a fillet weld head using a fillet weld intelligent planning method according to a specific embodiment of this application;

[0050] Figure 4 This is a schematic diagram illustrating the construction of a joint coordinate system on a fillet weld head using a fillet weld intelligent planning method according to a specific embodiment of this application.

[0051] Figure 5 This is a schematic diagram of constructing a welding torch coordinate system on the welding torch using a flat fillet welding intelligent planning method according to a specific embodiment of this application;

[0052] Figure 6 This is a schematic diagram illustrating the detection of whether the welding torch collides with the base material using a smart planning method for fillet welding according to a specific embodiment of this application.

[0053] Explanation of reference numerals in the attached figures

[0054] 101 Vertical plate 102 Base plate

[0055] 103 Target weld 201 Welding torch

[0056] 202 welding wire Detailed Implementation

[0057] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0058] Reference Figure 1 and Figure 2 The first exemplary embodiment of this application provides a smart planning method for fillet welds, which includes:

[0059] Step S1: Determine the inner surface width, number of weld passes, and initial welding parameters for each weld pass of the target weld layer to be welded in the flat angle weld joint;

[0060] Step S2: Determine the cross-sectional area of ​​the target weld layer and the cross-sectional area of ​​each weld bead based on the number of weld beads in the target weld layer and the initial welding parameters of each weld bead.

[0061] Step S3: Determine the position offset of the m-th weld bead based on the inner surface width of the target weld layer, the ratio of the cross-sectional area of ​​the m-th weld bead to the cross-sectional area of ​​the weld layer, and the preset forming compensation coefficient corresponding to the m-th weld bead.

[0062] Step S4: Determine the position of the m-th weld bead based on the position of the (m-1)-th weld bead of the target weld layer and the position offset corresponding to the m-th weld bead, where m is an integer greater than 1.

[0063] It should be noted that the flat-angle weld joint to be welded includes a vertical plate 101 and a bottom plate 102. A bevel is formed between the vertical plate 101 and the bottom plate 102. This bevel is used to weld and form the target weld 103. The target weld layer refers to the weld layer with multiple weld passes in the target weld 103, and the multiple weld passes in the target weld layer need to be welded sequentially from bottom to top. For example, refer to... Figure 2 Weld passes 2 and 3 form the first target weld layer, and they need to be welded sequentially from bottom to top. Weld passes 4, 5, and 6 form the second target weld layer, and they also need to be welded sequentially from bottom to top, and so on. In addition, the target weld 103 typically includes a root pass located at the root of the bevel, which usually consists of one weld pass (e.g., ...). Figure 2 In some flat-corner welds, weld bead 1 is directly used as the root pass, and in some flat-corner welds, in addition to the root pass, there may be other single-pass welds consisting of a single weld bead.

[0064] As described above, the target weld layer mentioned in step S1 specifically refers to a weld layer with multiple weld passes that need to be welded sequentially from bottom to top. More specifically, the inner surface of this target weld layer refers to its surface facing the root of the bevel. For example, referring to... Figure 2 The inner surface of the first target weld layer, which is composed of weld bead 2 and weld bead 3, is the surface on which the first target weld layer connects with weld bead 1. Alternatively, the outer surface of weld bead 1 can be considered as the inner surface of the first target weld layer. The width of the inner surface of the target weld layer refers to the distance between the intersection of the inner surface of the target weld layer and the vertical plate 101 and the intersection of the inner surface of the target weld layer and the bottom plate 102.

[0065] Furthermore, in step S1, the welding parameters may include wire feed speed (i.e., the speed at which the welding wire is fed during welding), welding wire radius, welding speed (i.e., the speed at which the welding torch advances during welding), and the angle between the welding torch and the top surface of the base plate 102. The welding parameters of the weld bead (especially the welding speed) directly affect the filler volume of the weld bead, and thus also directly affect the cross-sectional area of ​​the weld bead. The cross-sectional area of ​​the weld bead can be determined by analyzing the welding parameters of the weld bead.

[0066] Therefore, in step S2, the cross-sectional area of ​​each weld bead can be determined based on the number of weld beads in the target weld layer and the initial welding parameters of each weld bead. Then, the cross-sectional area of ​​the target weld layer is determined by summing the cross-sectional areas of multiple weld beads.

[0067] It should be noted that, considering the characteristics of the fillet welding process, for a target weld layer that needs to be formed sequentially from bottom to top, in order to ensure that the lower weld bead can support the upper weld bead to prevent the upper molten pool from flowing downwards and affecting the welding quality, the initial welding parameters of each weld bead can be set independently during welding planning, without the need to limit the initial welding parameters of each weld bead to be the same. This allows each weld bead of the target weld layer to have a different weld bead cross-sectional area, thereby meeting the requirement that the lower weld bead can support the upper weld bead.

[0068] In contrast, the weld shape of existing flat butt welds is symmetrical along the angle bisector of the bevel. However, based on the aforementioned, the shape of the target weld 103 in a fillet weld is not symmetrical along the angle bisector of the bevel. Furthermore, the gravity direction of the weld bead produced using existing flat butt welds is aligned with the droplet direction, thus allowing the weld bead to approximate a parallelogram or trapezoid. However, the gravity direction of the weld bead produced using fillet welds is approximately at a 90° angle to the droplet direction, making an approximation strategy similar to that used for flat butt welds unsuitable. In other words, the welding planning methods used in existing flat butt welds are not applicable to fillet welds.

[0069] Figure 2 To simplify the illustration of each weld bead, it approximates each weld bead as a parallelogram and a trapezoid. However, as can be seen from the above, these weld beads produced using the fillet weld process cannot be approximated as parallelograms and trapezoids.

[0070] Because each weld bead in the target weld layer can have a different cross-sectional area, the offset between adjacent weld beads in each group is not consistent. For example, it can be referenced... Figure 2 The offset between the second target weld layer, weld 4 and weld 5, is not consistent with the offset between weld 5 and weld 6.

[0071] At this point, in order to accurately plan the position of each weld bead in the target weld layer, after determining the cross-sectional area of ​​each weld bead and the cross-sectional area of ​​the target weld layer in step S2, step S3 can be used to further determine the ratio of the cross-sectional area of ​​a certain weld bead in the target weld layer to the cross-sectional area of ​​the weld layer to quantify the inconsistency of the weld bead offset. Furthermore, in step S3, the influence of gravity on weld formation is considered, and corresponding preset forming compensation coefficients are set for different weld beads, which can better fit the actual working conditions of the fillet welding process and improve the planning accuracy of the weld bead position. For example, the preset forming compensation coefficient can be obtained through multiple sets of process experiments and numerical fitting methods. More specifically, the difference between the actual weld bead size and the set weld bead size after welding can characterize the correctness of the forming compensation coefficient. The forming compensation coefficient is taken from each set of experiments with the same welding speed and wire feed speed. Finally, the preset forming compensation coefficients under different welding speeds and wire feed speeds are obtained through polynomial fitting or artificial neural networks.

[0072] Based on the above analysis, it can be seen that when executing step S3, the position offset corresponding to the m-th weld bead can be accurately determined according to the inner surface width of the target weld layer, the ratio of the cross-sectional area of ​​the m-th weld bead to the cross-sectional area of ​​the weld layer, and the preset forming compensation coefficient corresponding to the m-th weld bead. Thus, step S4 can be further executed, and the position of the m-th weld bead can be accurately determined according to the position of the (m-1)-th weld bead of the target weld layer and the position offset corresponding to the m-th weld bead determined in step S2.

[0073] It should be noted that when planning the position of each weld bead in the target weld layer, the position of the first weld bead can be preset (i.e., when m=2, the position of the (m-1)th weld bead can be preset). Then, by executing the above steps S1-S4 multiple times, the positions of the other weld beads in the target weld layer can be accurately determined.

[0074] In summary, the intelligent planning method for fillet welds in this application fully considers the characteristics of the fillet weld process (including the requirement that the lower weld bead can support the upper weld bead, the influence of gravity, etc.), and can effectively realize the automated and intelligent welding planning of fillet weld joints, which can greatly improve the welding planning efficiency and welding efficiency, while having strong practicality and adaptability.

[0075] In some embodiments, refer to Figure 4 The intelligent planning method for fillet welds may also include:

[0076] A joint coordinate system is constructed based on the flat angle weld joint, such that the origin of the joint coordinate system is located at the root of the bevel of the flat angle weld joint, the x-axis is parallel to the welding direction, the y-axis and z-axis are on a plane perpendicular to the x-axis, and the z-axis is located between the two corner edges of the bevel.

[0077] In the joint coordinate system, determine the angle γ between the inner surface of the target weld layer and the y-axis;

[0078] Based on the y and z coordinates of the tool center point at the (m-1)th weld bead, the position offset of the mth weld bead, and the included angle γ, the y and z coordinates of the tool center point at the mth weld bead are calculated.

[0079] It should be noted that, in Figure 4 In this system, the inner surface of any target weld layer can be represented by a K-line, and the M-line is a line parallel to the y-axis of the joint coordinate system. Therefore, the included angle γ is equivalent to the angle between the K-line and the M-line. The included angle γ can be determined through different methods such as preset determination, real-time detection (e.g., through visual inspection), or calculation; the K-line can be... Figure 4 The coordinate system can be located to the left of the M-line or to the right of the M-line; the construction method of the joint coordinate system (such as the direction of the x-axis, y-axis and z-axis) can also be adjusted; in addition, when the tool center point is offset between different weld beads, the tool center point can be limited to always being on the inner surface of the target weld layer, or it can be not limited to the tool center point being on the inner surface of the target weld layer; this application does not impose any restrictions on these settings.

[0080] Based on the settings of this embodiment, the y-coordinate value of the tool center point at the (m-1)th weld bead (hereinafter referred to as y) is determined. m－1 ) and z-coordinate value (hereinafter referred to as z) m－1 In the case of ), the y-coordinate value of the tool center point at the m-th weld bead (hereinafter referred to as y) can be calculated using the following relationship: m ) and z-coordinate value (hereinafter referred to as z) m The first relation is:

[0081] y m =y m－1 -cosγ×c×b×S m / S;

[0082] z m =z m－1 -sinγ×c×b×S m / S;

[0083] Where c is the preset forming compensation coefficient corresponding to the m-th weld bead of the target weld layer, b is the inner surface width of the target weld layer, and S m Let S be the cross-sectional area of ​​the m-th weld bead in the target weld layer, and let S be the cross-sectional area of ​​the weld layer in the target weld layer.

[0084] The method in this embodiment can be used to plan the position coordinates of the tool center point of the welding robot at different weld passes of the target weld layer, thereby determining the movement path of the tool center point, so that automatic fillet welding can be achieved by the welding robot.

[0085] Furthermore, referring to Figure 3 and Figure 4 The intelligent planning method for fillet welds may also include:

[0086] Determine the plate thickness t and desired weld leg size L of the vertical plate 101 for the flat angle weld joint. f The angle θ is half the bevel angle, and the angle α between the outer surface of the target weld 103 of the fillet weld joint and the vertical direction is calculated based on geometric relationships. At this point, constructing the joint coordinate system based on the fillet weld joint can include:

[0087] Take the half angle θ of the bevel as the angle between the z-axis and the top surface of the base plate 102 of the flat angle weld joint, so that the relationship 2 is satisfied: γ=α-θ.

[0088] With this configuration, the included angle γ can be determined through calculation. Therefore, the intelligent planning method for fillet welds in this application does not require the use of visual inspection equipment to detect the included angle γ, saving costs, simplifying the welding planning process, and further improving welding planning efficiency. Furthermore, when the shape and size of the fillet weld joint are different, it means that the desired weld leg size L... f They may also differ, and the method of this application is for applications with different desired solder pad sizes L. f It is applicable to all flat angle welding heads, so it has a wide range of applications.

[0089] In some embodiments, the intelligent planning method for fillet welds may further include:

[0090] In the joint coordinate system, the coordinates of the tool center point at the first weld bead of the target weld layer are located at the intersection of the inner surface of the target weld layer and the top surface of the base plate 102 of the flat angle weld joint.

[0091] In other words, when m=2, the position coordinates of the (m-1)th weld bead (i.e. the first weld bead) of the target weld layer can be preset, so that the position coordinates of the tool center point at the other weld beads of the target weld layer can be calculated sequentially according to the aforementioned relation 1.

[0092] In some embodiments, the intelligent planning method for fillet welds may further include:

[0093] In the joint coordinate system, the coordinates of the tool center point at the last weld bead of the target weld layer are located at the midpoint of the inner surface of the last weld bead along the width direction.

[0094] In other words, the coordinates of the tool center point at the last weld bead of the target weld layer can be set independently. As mentioned earlier, given the cross-sectional areas of each weld bead in the target weld layer and the overall weld layer cross-sectional area, the width of a particular weld bead on the inner surface of the target weld layer can be determined by the ratio of its cross-sectional area to the total weld layer cross-sectional area, combined with the width of the inner surface of the target weld layer. Therefore, the width of the last weld bead on the inner surface of the target weld layer can be determined, thus determining the midpoint of the inner surface of the last weld bead along its width direction, and consequently, the coordinates of the tool center point at the last weld bead.

[0095] In some embodiments, when more than one single-pass weld layer needs to be provided in the target weld 103, since the number of weld passes gradually increases further away from the root of the groove, these single-pass weld layers should be arranged sequentially and adjacently. In this case, the intelligent planning method for fillet welds may further include:

[0096] When welding two adjacent weld layers with single weld passes sequentially from the inside out, the position coordinates of the welding robot's tool center point in the joint coordinate system are offset along the bisector of the bevel angle of the flat angle weld joint.

[0097] For example, when the bevel half angle θ is the angle between the z-axis of the joint coordinate system and the top surface of the base plate 102 of the flat angle welded joint, it is equivalent to shifting the position coordinates of the tool center point in the joint coordinate system along the z-axis. At this time, the y-coordinate value of the tool center point in the joint coordinate system does not change.

[0098] In some embodiments, refer to Figure 6 The intelligent planning method for fillet welds may also include:

[0099] Determine whether the welding torch 201 will collide with the base material when the tip of the welding wire 202 moves to any position of the weld bead of the target weld layer;

[0100] When it is determined that the welding torch 201 will collide with the base material (including the vertical plate 101 and the base plate 102), the angle between the welding torch 201 and the top surface of the base plate 102 of the flat angle welding head and / or the dry extension of the welding wire 202 are adjusted.

[0101] In other words, after planning each weld pass of the target weld layer, the position of the welding torch can be detected and corrected using the method of this embodiment to prevent collisions or interference between the welding torch and the base material during automated welding. Since changes in the welding wire extension may cause changes in welding current, gas shielding, etc., when it is determined that the welding torch 201 will collide with the base material, the angle between the welding torch 201 and the top surface of the base plate 102 can be adjusted first. When adjusting the welding torch posture cannot eliminate the risk of collision between the welding torch and the base material, the welding wire extension can be increased to solve the problem.

[0102] Furthermore, referring to Figure 5 and Figure 6 Determining whether the welding torch 201 will collide with the base material when the welding wire tip moves to any position of the target weld layer may include the following steps:

[0103] Compare L when the welding wire tip moves to any position of the target weld layer. E With L E_min The size, where L E_min By welding torch nozzle width B T The preset minimum allowable distance g between the welding torch 201 and the base material min (Right now Figure 6 The distance between the dashed line and the surface of the base material (L) and the angle λ between the welding torch 201 and the top surface of the base plate 102 are determined. E The standard dry extension of the welding wire is preset;

[0104] When L E <L E_min At that time, it was determined that the welding torch 201 would collide with the base material;

[0105] When L E ≥L E_min At that time, it was determined that the welding torch 201 would not collide with the base material.

[0106] More specifically, for L E_min It satisfies:

[0107] With the settings in this embodiment, the wire extension length can be preset to the standard wire extension length L. E When L is determined E ≥L E_min This means that there is no need to adjust the current welding torch posture and the standard wire extension L. E Adjustments will be made; when L is determined E <L E_min When, it indicates that the standard wire extension L is used. E In such cases, it is necessary to adjust the welding torch posture and / or increase the welding wire extension; otherwise, the welding torch may collide with the base material.

[0108] In some embodiments, refer to Figure 5 The intelligent planning method for fillet welds may also include:

[0109] A welding torch coordinate system is constructed based on the welding torch 201, such that the z1 axis of the welding torch coordinate system extends along the axial direction of the welding torch 201, and the y1 axis extends along the radial direction of the welding torch 201 and coincides with the end face of the welding torch nozzle.

[0110] Based on the spatial relationship between the welding torch coordinate system and the joint coordinate system, calculate the current position coordinates of the tool center point in the welding torch coordinate system when the welding wire tip moves to the position coordinates of the tool center point of the welding robot in the joint coordinate system.

[0111] After determining that the welding torch 201 will collide with the base material, and adjusting the angle between the welding torch 201 and the top surface of the base plate 102 and / or the wire extension, the current tool center point position coordinates in the welding torch coordinate system are corrected accordingly.

[0112] In other words, after adjusting the welding torch posture and / or the welding wire extension, it is necessary to simultaneously correct the position coordinates of the tool center point in the welding torch coordinate system to ensure that the welding robot can control the welding torch to perform automated welding in the accurate position.

[0113] In some embodiments, refer to Figure 2 and Figure 3 When determining the inner surface width of the target weld layer, the following steps may be included:

[0114] Based on the cross-sectional area of ​​the i-th target weld layer, the cross-sectional area of ​​the pre-set flat-angle weld joint (i.e., the total cross-sectional area of ​​the target weld 103), and the width b of the weld outer surface... top Determine the outer surface width b of the i-th target weld layer. i ;

[0115] The outer surface width b of the i-th target weld layer i The width of the inner surface of the (i+1)th target weld layer.

[0116] In this embodiment, the outer surface of each target weld layer can be regarded as the outer surface of the weld parallel to the target weld 103. Therefore, based on the ratio of the cross-sectional area of ​​the i-th target weld layer to the cross-sectional area of ​​the target weld 103, and combined with the preset weld outer surface width b, the... top Based on geometric relationships, the outer surface width b of the i-th target weld layer is calculated. i This allows us to determine the inner surface width of the (i+1)th target weld layer.

[0117] Furthermore, in order to determine the cross-sectional area of ​​the target weld 103 and the width b of the weld outer surface... top , refer to Figure 2 The intelligent planning method for fillet welds may also include:

[0118] Determine the plate thickness t and desired weld leg size L of the angle weld joint. f The angle θ is half the bevel angle, and the cross-sectional area and outer surface width b of the weld are calculated based on geometric relationships. top .

[0119] It is evident that when the shape and dimensions of the flat-angle weld joint are different, it means that the desired weld leg size L... f They may also differ, and the method of this application is for applications with different desired solder pad sizes L. f It is applicable to all flat angle welding heads, so it has a wide range of applications.

[0120] In some embodiments, in order to automatically plan the number of weld layers in the target weld 103, the fillet weld intelligent planning method may further include:

[0121] After determining the outer surface width b of the i-th target weld layer i Less than the width b of the outer surface of the weld top In this case, it is determined that the (i+1)th target weld layer will be added;

[0122] After determining the outer surface width b of the i-th target weld layer i Not less than the width b of the outer surface of the weld top In the case of i, the i-th target weld layer is determined as the last weld layer of the flat corner weld joint, and the number of weld layers of the flat corner weld joint is determined.

[0123] By repeatedly executing the steps of this embodiment, the outer surface width of the target weld layer can be gradually brought close to the outer surface width b of the weld. top During the process, the number of weld layers in the target weld 103 is determined accordingly. This method does not require the weld bead to be equivalent to a parallelogram or trapezoid, thus meeting the welding planning requirements of the flat corner weld joint and having strong feasibility.

[0124] In some embodiments, determining the number of weld passes for the target weld layer may include the following steps:

[0125] Calculate the ratio n of the inner surface width of the target weld layer to the weld width under the current welding parameters;

[0126] When the value of the decimal part of n is less than the preset value, the value of the integer part of n is used as the number of weld passes in the target weld layer.

[0127] If the value of the decimal part of n is not less than the preset value, the value of the integer part of n is increased by one to obtain the number of weld passes in the target weld layer.

[0128] For example, the above preset value can be set to 0.4. When the decimal part of n is less than 0.4, the integer part of n is used as the number of weld beads in the target weld layer according to rounding. When the decimal part of n is not less than 0.4, the integer part of n is added to one according to rounding as the number of weld beads in the target weld layer.

[0129] It should be added that, for each single weld bead in the target weld 103, its initial welding parameters can be preset, so that the cross-sectional area of ​​these single weld beads can be determined in advance (which is also equivalent to the cross-sectional area of ​​the weld bead).

[0130] In addition, you can refer to Figure 2 Given that the cross-sectional area of ​​the root pass weld layer (containing only weld bead 1) and the cross-sectional area of ​​the target weld 103 are determined, and considering the outer surface of the root pass weld layer as parallel to the outer surface of the target weld 103, the ratio of the cross-sectional area of ​​the root pass weld layer to the cross-sectional area of ​​the target weld 103, combined with the width b of the outer surface of the weld, can be used to determine the cross-sectional area. top The outer surface width of the root pass is calculated based on geometric relationships, and the inner surface width of the first target pass with pass 2 and pass 3 can then be determined.

[0131] Of course, other methods can also be used to determine the inner surface width of the first target weld layer, such as visual inspection or manual preset, and this application does not limit this.

[0132] In some embodiments, determining the initial welding parameters for each weld pass of the target weld layer may include the following steps:

[0133] It was determined that when welding multiple weld passes in the target weld layer sequentially from bottom to top, the welding speed of the multiple weld passes increases uniformly.

[0134] And / or, determine that when welding multiple weld passes in the target weld layer sequentially from bottom to top, the angle between the welding torch 201 and the top surface of the base plate 102 of the flat angle welding head decreases uniformly.

[0135] For example, when planning the welding of a flat-angle weld joint, the welding speed of the top and bottom passes of each target weld layer can be preset. Then, based on the requirement of uniformly increasing welding speed, the welding speed of the remaining passes can be automatically planned. This planning method is applicable to flat-angle weld joints with different shapes and sizes, making the method of this application more versatile.

[0136] Similarly, when planning the welding of the flat angle weld joint, the angle between the welding torch 201 and the top surface of the base plate when welding the uppermost and lowermost passes of each target weld layer can be preset. Then, based on the requirement of uniformly decreasing angle, the angle between the welding torch 201 and the top surface of the base plate when welding the remaining passes can be automatically planned. This method is also applicable to flat angle weld joints with different shapes and sizes, and can make the method of this application more versatile.

[0137] Of course, in some other embodiments, the welding speed of each weld bead can be set separately, and it is not necessary to meet the above-mentioned uniform increase requirement; similarly, the angle between the welding torch 201 and the top surface of the base plate 102 does not have to be set to decrease uniformly, as long as the welding torch 201 does not collide or interfere with the base material.

[0138] A second exemplary embodiment of this application also provides a welding robot capable of performing the above-described intelligent planning method for fillet welds.

[0139] A third exemplary embodiment of this application also provides a machine-readable storage medium storing instructions for causing a machine to execute the above-described fillet weld intelligent planning method.

[0140] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0141] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0142] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0143] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0144] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0145] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0146] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0147] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0148] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0149] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0150] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0151] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for intelligent planning of fillet welds, characterized in that, include: Determine the inner surface width, number of weld passes, and initial welding parameters for each weld pass of the target weld layer to be welded in the flat angle weld joint; The cross-sectional area of ​​the target weld layer and the cross-sectional area of ​​each weld bead are determined based on the number of weld beads in the target weld layer and the initial welding parameters of each weld bead. The position offset of the m-th weld bead is determined based on the inner surface width of the target weld layer, the ratio of the cross-sectional area of ​​the m-th weld bead to the cross-sectional area of ​​the weld layer, and the preset forming compensation coefficient corresponding to the m-th weld bead. The preset forming compensation coefficient corresponding to each weld bead is set according to the influence of gravity on the welding forming. The position of the m-th weld bead is determined based on the position of the (m-1)-th weld bead of the target weld layer and the position offset corresponding to the m-th weld bead, where m is an integer greater than 1; the intelligent planning method for fillet welds further includes: Based on the flat angle weld joint, a joint coordinate system is constructed such that the origin of the joint coordinate system is located at the root of the bevel of the flat angle weld joint, the x-axis is parallel to the welding direction, the y-axis and z-axis are on a plane perpendicular to the x-axis, and the z-axis is located between the two corner edges of the bevel. In the joint coordinate system, the angle γ between the inner surface of the target weld layer and the y-axis is determined; The y-coordinate and z-coordinate of the tool center point at the (m-1)th weld bead are calculated based on the position offset of the mth weld bead and the included angle γ.

2. The intelligent planning method for fillet welding according to claim 1, characterized in that, The intelligent planning method for fillet welds also includes: Determine the plate thickness t and the desired weld leg size L of the angle weld joint. f The angle θ is half the bevel angle, and the angle α between the outer surface of the weld of the flat angle weld joint and the vertical direction is calculated according to the geometric relationship. The joint coordinate system constructed based on the aforementioned angle weld joint includes: The half angle θ of the bevel is taken as the angle between the z-axis and the top surface of the bottom plate (102) of the flat angle weld joint, such that γ = α - θ.

3. The intelligent planning method for fillet welding according to claim 1, characterized in that, The intelligent planning method for fillet welds also includes: In the joint coordinate system, the position coordinates of the tool center point at the first weld bead of the target weld layer are located at the intersection of the inner surface of the target weld layer and the top surface of the base plate (102) of the flat angle weld joint; And / or, in the joint coordinate system, the position coordinates of the tool center point at the last weld bead of the target weld layer are determined to be located at the midpoint of the inner surface of the last weld bead along the width direction.

4. The intelligent planning method for fillet welding according to claim 1, characterized in that, The intelligent planning method for fillet welds also includes: Determine whether the welding torch (201) will collide with the base material when the tip of the welding wire moves to any weld bead of the target weld layer; When it is determined that the welding torch (201) will collide with the base material, the angle between the welding torch (201) and the top surface of the base plate (102) of the flat angle welding head and / or the dry extension of the welding wire are adjusted.

5. The intelligent planning method for fillet welding according to claim 4, characterized in that, Determining whether the welding torch (201) will collide with the base material when the welding wire tip moves to any weld bead of the target weld layer includes: Compare L when the tip of the welding wire moves to the position of any weld bead in the target weld layer. E With L E_min The size, where L E_min By welding torch nozzle width B T The preset minimum allowable distance g between the welding torch (201) and the base material min The angle λ between the welding torch (201) and the top surface of the base plate (102) of the flat angle welding head is determined, L E The standard dry extension of the welding wire is preset; When L E <L E_min At that time, it is determined that the welding torch (201) will collide with the base material; When L E ≥L E_min At that time, it is determined that the welding torch (201) will not collide with the base material.

6. The intelligent planning method for fillet welding according to claim 1, characterized in that, Determining the inner surface width of the target weld layer includes: Based on the cross-sectional area of ​​the i-th target weld layer, the pre-defined cross-sectional area of ​​the weld of the angled weld joint, and the outer surface width b of the weld. top Determine the outer surface width b of the i-th target weld layer. i ; The outer surface width b of the i-th target weld layer i The width of the inner surface of the (i+1)th target weld layer.

7. The intelligent planning method for fillet welding according to claim 6, characterized in that, The intelligent planning method for fillet welds also includes: After determining the outer surface width b of the i-th target weld layer i The width b of the outer surface of the weld is less than top In the case of i+1, it is determined that an additional target weld layer will be added; After determining the outer surface width b of the i-th target weld layer i Not less than the width b of the outer surface of the weld top In the case of i, the target weld layer is determined as the last weld layer of the flat angle weld joint, and the number of weld layers of the flat angle weld joint is determined.

8. The intelligent planning method for fillet welding according to claim 1, characterized in that, Determining the number of weld passes for the target weld layer includes: Calculate the ratio n of the inner surface width of the target weld layer to the weld width under the current welding parameters; When the value of the decimal part of n is less than the preset value, the value of the integer part of n is used as the number of weld passes in the target weld layer. When the value of the decimal part of n is not less than a preset value, the value of the integer part of n is increased by one to obtain the number of weld passes of the target weld layer.

9. The intelligent planning method for fillet welding according to any one of claims 1 to 8, characterized in that, Determining the initial welding parameters for each weld pass of the target weld layer includes: It was determined that when welding multiple weld passes in the target weld layer sequentially from bottom to top, the welding speed of the multiple weld passes increases uniformly. And / or, determine that when welding multiple weld passes in the target weld layer sequentially from bottom to top, the angle between the welding torch (201) and the top surface of the base plate (102) of the flat angle weld head decreases uniformly.

10. A welding robot, characterized in that, Used to execute the intelligent planning method for fillet welds according to any one of claims 1 to 9.

11. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to execute the intelligent planning method for fillet welds according to any one of claims 1 to 9.

Images