Impeller wear-resistant layer guide welding method, welding equipment and storage medium

Abstract

The invention discloses an impeller wear-resistant layer guide welding method, welding equipment and a storage medium, and the impeller wear-resistant layer guide welding method comprises the steps that a single-seam mark position, an abutted seam mark position and a wear-resistant plate mark position are set, the single-seam mark position is used for representing whether a single-seam feature exists or not, and the abutted seam mark position is used for representing whether an end feature exists or not; the wear-resisting plate mark position is used for indicating whether the wear-resisting plate welding section exists; the welding seam types are defined through the single seam mark position, the abutted seam mark position and the wear-resisting plate mark position, and a corresponding welding strategy is assigned for each welding seam type; and setting a single-seam mark position, a seam splicing mark position and a wear-resisting plate mark position for the welding seam, and controlling the sequence of executing the welding strategy by the welding seam through the single-seam mark position, the seam splicing mark position and the wear-resisting plate mark position. The impeller wear-resistant layer guide welding can be efficiently matched while conventional weld joint guide welding is compatible, the invention further provides welding equipment and a storage medium at the same time, and the beneficial effects are also achieved.

Description

Technical Field

[0001] The present application relates to the field of weld processing, and in particular to a guided welding method, welding equipment and storage medium for an impeller wear-resistant layer. Background Art

[0002] With the continuous advancement of industrial automation, robotic welding technology has become an indispensable part of the manufacturing industry. In robotic welding, point cloud technology is widely used. Point cloud data is obtained through laser scanning or other sensors, which can accurately represent the three-dimensional shape and position of the weld. The recognition of point cloud features is crucial for accurate welding, so the point cloud data of multiple welds are usually combined and processed to improve the efficiency and accuracy of feature recognition. At the same time, in order to ensure the efficiency and consistency of welding operations, whether it is a single seam or a group of welds, the principle of one scan or one group of scans corresponding to one welding is followed.

[0003] Therefore, in conventional weld-guided welding, welds are usually divided into single seams and patchwork seams. Although this treatment method can improve welding efficiency in most production scenarios, it still has limitations in some special production scenarios, such as impeller wear-resistant layer guided welding. In impeller wear-resistant layer guided welding, since the wear-resistant plate is long and will deform during welding, it is necessary to weld the wear-resistant plate weld section first, and then weld the impeller weld. In order to adapt to this special production scenario, it is usually necessary to redesign the program logic, which takes a lot of time. Moreover, the redesigned program is not compatible with conventional weld-guided welding, resulting in code redundancy and not conducive to code maintenance. Summary of the invention

[0004] The purpose of the present application is to provide an impeller wear-resistant layer guided welding method, welding equipment and storage medium, so as to efficiently adapt to the impeller wear-resistant layer guided welding while being compatible with conventional weld guided welding.

[0005] In order to solve the above technical problems, the present application provides a method for guiding welding of an impeller wear-resistant layer, which is applied to a welding device, wherein the welding device includes a scanning device for scanning a weld, and the method for guiding welding of an impeller wear-resistant layer includes: Set the single seam flag, joint flag and wear plate flag. The single seam flag is used to indicate whether there is a single seam feature, the joint flag is used to indicate whether there is an end feature, and the wear plate flag is used to indicate whether it is a wear plate welding section. Define the weld type through single seam mark, joint seam mark and wear plate mark, and specify the corresponding welding strategy for each weld type; Single seam marks, spliced ​​seam marks and wear-resistant plate marks are set for welds, and the order in which the welds execute welding strategies is controlled by the single seam marks, spliced ​​seam marks and wear-resistant plate marks.

[0006] Preferably, the weld types include single seam, patch seam, last patch seam, impeller weld, wear plate weld and last wear plate weld.

[0007] Preferably, the weld type is defined by a single seam mark, a patchwork seam mark and a wear plate mark, wherein the wear plate mark is 0 or 1, a wear plate mark of 0 indicates a non-wear plate welding section, and the weld types of the non-wear plate welding section include a single seam, a patchwork seam, and the last patchwork seam; a wear plate mark of 1 indicates a wear plate welding section, and the weld types of the wear plate welding section include an impeller weld, a wear plate weld and the last wear plate weld.

[0008] Preferably, defining the weld type by the single seam flag, the joint flag and the wear plate flag also includes that the single seam flag is 0 or 1, the single seam flag is 0 indicating the presence of a single seam feature, and the single seam flag is 1 indicating the absence of a single seam feature; The seam flag is 0 or 1. A seam flag of 0 indicates that there is no end feature, and a seam flag of 1 indicates that there is an end feature. When the single seam flag is 0, the seam flag is 0 or 1, which has no practical meaning, that is, the seam flag can be ignored at this time; Define the flag set F = {a, b, c}, a is the single seam flag, b is the joint flag, c is the wear-resistant plate flag; The weld type indicated by the flag bit set F being {0, 0, 1} or {0, 1, 1} is the impeller weld; The flag bit set F is {1, 0, 1}, indicating that the weld type is a wear-resistant plate weld; The weld type represented by the flag bit set F being {1, 1, 1} is the last wear-resistant plate weld; The flag bit set F is {0, 0, 0} or {0, 1, 0}, indicating that the weld type is a single weld; The flag bit set F is {1, 0, 0}, indicating that the weld type is a patchwork weld; The flag bit set F is {1, 1, 0}, indicating that the weld type is the last joint.

[0009] Preferably, the corresponding welding strategy is specified for each weld type, including that the welding strategy for a single weld is to weld immediately after the current weld scan is completed; The welding strategy of the joint seam is to save the point cloud data of the current weld seam after the current weld seam scanning is completed but not to weld; The welding strategy of the last seam is to process the point cloud data of the current weld and the point cloud data of all stored seams after the current weld scanning is completed to fit the seam group trajectory, and finally perform welding according to the seam group trajectory; The welding strategy for the impeller weld is to weld immediately after the current weld scan is completed; The welding strategy of the wear-resistant plate weld is to save the point cloud data of the current weld after the current weld scanning is completed but not to weld; The welding strategy for the last wear-resistant plate weld is to process the point cloud data of the current weld and the point cloud data of all stored wear-resistant plate welds after the current weld scan is completed to fit the wear-resistant plate weld group trajectory, and finally perform welding according to the wear-resistant plate weld group trajectory.

[0010] Preferably, the order of controlling the execution of welding strategies for welds by single seam flags, splicing seam flags and wear-resistant plate flags includes: when processing wear-resistant plate welds, first traverse the welds represented by the scan flag set F as {1, 0, 1} and execute the welding strategy for the wear-resistant plate welds; secondly, scan the welds represented by the flag set F as {1, 1, 1} and execute the welding strategy for the last wear-resistant plate weld; finally, scan the welds represented by the flag set F as {0, 0, 1} or {0, 1, 1} and execute the welding strategy for the impeller weld.

[0011] Preferably, the order of controlling the execution of the welding strategy of the weld by the single seam mark, the joint mark and the wear plate mark also includes that when processing a conventional weld, it is divided into a single seam processing flow and a joint processing flow, and the single seam processing flow and the joint processing flow are independent of each other; The single seam processing flow includes scanning the weld seam represented by the flag bit set F being {0, 0, 0} or {0, 1, 0} and executing the single seam welding strategy; The seam processing flow includes first traversing the welds represented by the scanning flag set F as {1, 0, 0} and executing the welding strategy of the seam, and then scanning the welds represented by the flag set F as {1, 1, 0} and executing the welding strategy of the last seam.

[0012] The present application also provides welding equipment, including a scanning device, a processor and a memory. The scanning device scans the weld and collects point cloud data of the weld. The processor stores a computer program. The processor calls the computer program in the memory to implement the above-mentioned impeller wear-resistant layer guided welding method.

[0013] The present application also provides a storage medium, in which computer executable instructions are stored. When the computer executable instructions are loaded and executed by a processor, the steps of the above-mentioned impeller wear-resistant layer guided welding method are implemented.

[0014] One or more technical solutions provided in this application have at least the following technical effects or advantages: 1. By setting the single seam mark and joint seam mark, it is compatible with conventional weld guide welding; 2. Further set the wear-resistant plate mark, on the one hand, to distinguish between conventional weld guide welding and impeller wear-resistant layer guide welding, on the other hand, to reuse the single seam mark and the joint mark, reduce code redundancy, and facilitate later code maintenance; 3. Based on the single seam mark, joint mark and wear-resistant plate mark, the order of executing welding strategies is controlled, that is, the processing order of different welds can be controlled. Taking the impeller wear-resistant layer guided welding as an example, the wear-resistant plate weld is processed first, then the last wear-resistant plate weld, and finally the impeller weld, so as to ensure that the wear-resistant plate related welds are processed first.

[0015] In summary, the present application can be compatible with conventional weld guide welding while efficiently adapting to impeller wear-resistant layer guide welding. The present application also provides welding equipment and storage media, which also have the above-mentioned beneficial effects, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 It is a schematic diagram of the wear-resistant plate weld processing process provided in the embodiment of the present application; Figure 2 It is a schematic diagram of a single seam processing flow provided in an embodiment of the present application; Figure 3 It is a schematic diagram of the seam processing flow provided in the embodiment of the present application. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described in the present application are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0019] The impeller wear-resistant layer guided welding method is applied to a welding device, wherein the welding device includes a scanning device for scanning a weld seam, and the impeller wear-resistant layer guided welding method includes: Set the single seam flag, joint flag and wear plate flag. The single seam flag is used to indicate whether there is a single seam feature, the joint flag is used to indicate whether there is an end feature, and the wear plate flag is used to indicate whether it is a wear plate welding section. The weld type is defined by a single seam mark, a joint seam mark and a wear plate mark, and a corresponding welding strategy is specified for each weld type. The welding strategy includes a method for collecting and processing weld data and a judgment on whether to perform welding. Specifying the corresponding welding strategy here includes designing and specifying the corresponding welding strategy; Single seam marks, spliced ​​seam marks and wear-resistant plate marks are set for welds, and the order in which the welds execute welding strategies is controlled by the single seam marks, spliced ​​seam marks and wear-resistant plate marks.

[0020] Specifically, the weld types include single seam, patch seam, last patch seam, impeller weld, wear plate weld and last wear plate weld.

[0021] Specifically, the weld type is defined by the single seam flag, the patchwork seam flag and the wear plate flag, the wear plate flag is 0 or 1, the wear plate flag is 0 indicating a non-wear plate welding section, and the weld types of the non-wear plate welding section include a single seam, a patchwork seam, and the last patchwork seam; the wear plate flag is 1 indicating a wear plate welding section, and the weld types of the wear plate welding section include impeller weld, wear plate weld and the last wear plate weld; by setting the wear plate flag, it can be distinguished whether the wear plate weld needs to be processed, and a specific wear plate weld processing process is adopted for the wear plate weld, and the wear plate weld processing process includes welding strategies and the order of executing welding strategies.

[0022] Specifically, defining the weld type by the single seam flag, the joint flag and the wear plate flag also includes that the single seam flag is 0 or 1, the single seam flag is 0 indicating the presence of a single seam feature, and the single seam flag is 1 indicating the absence of a single seam feature; The seam flag is 0 or 1. A seam flag of 0 indicates that there is no end feature, and a seam flag of 1 indicates that there is an end feature. When the single seam flag is 0, the seam flag is 0 or 1, which has no practical meaning, that is, the seam flag can be ignored at this time; The last weld is the one with the end feature in the non-wear plate welding section, and the last weld is the one with the end feature in the wear plate welding section. The end feature is used to determine the last weld in a group of welds. Define the flag set F = {a, b, c}, a is the single seam flag, b is the joint flag, c is the wear-resistant plate flag; The weld type indicated by the flag bit set F being {0, 0, 1} or {0, 1, 1} is the impeller weld; The flag bit set F is {1, 0, 1}, indicating that the weld type is a wear-resistant plate weld; The weld type represented by the flag bit set F being {1, 1, 1} is the last wear-resistant plate weld; The flag bit set F is {0, 0, 0} or {0, 1, 0}, indicating that the weld type is a single weld; The flag bit set F is {1, 0, 0}, indicating that the weld type is a patchwork weld; The flag bit set F is {1, 1, 0}, indicating that the weld type is the last joint.

[0023] Specifically, the corresponding welding strategy is specified for each weld type, including: the welding strategy for a single weld is to weld immediately after the current weld scan is completed; The welding strategy of the joint seam is to save the point cloud data of the current weld seam after the current weld seam scanning is completed but not to weld; The welding strategy of the last seam is to process the point cloud data of the current weld and the point cloud data of all stored seams after the current weld scanning is completed to fit the seam group trajectory. The seam group trajectory includes the trajectories of all seams and the trajectory of the last seam, and finally perform welding according to the seam group trajectory; The welding strategy for the impeller weld is to weld immediately after the current weld scan is completed; The welding strategy of the wear-resistant plate weld is to save the point cloud data of the current weld after the current weld scanning is completed but not to weld; The welding strategy for the last wear-resistant plate weld is to process the point cloud data of the current weld and the point cloud data of all stored wear-resistant plate welds after the current weld scan is completed to fit the wear-resistant plate weld group trajectory. The wear-resistant plate weld group trajectory includes the trajectories of all wear-resistant plate welds and the trajectory of the last wear-resistant plate weld. Finally, welding is performed according to the wear-resistant plate weld group trajectory.

[0024] For details, please refer to Figure 1 The order of controlling the execution of welding strategies for welds by single seam flags, joint flags and wear-resistant plate flags includes: when processing wear-resistant plate welds, first traverse the welds represented by the scan flag set F as {1, 0, 1} and execute the welding strategy of the wear-resistant plate welds, and each scan in the traversal process corresponds to the execution of a welding strategy; secondly, scan the welds represented by the flag set F as {1, 1, 1} and execute the welding strategy of the last wear-resistant plate weld; finally, scan the welds represented by the flag set F as {0, 0, 1} or {0, 1, 1} and execute the welding strategy of the impeller weld.

[0025] Specifically, the order of executing the welding strategy of the weld is controlled by the single seam mark, the patchwork mark and the wear plate mark. When processing a conventional weld, it is divided into a single seam processing flow and a patchwork processing flow. The single seam processing flow and the patchwork processing flow are independent of each other, that is, there is no fixed order in which the single seam processing flow and the patchwork processing flow are executed. Therefore, the single seam processing flow and the patchwork processing flow can support parallel execution; Please refer to Figure 2,The single seam processing flow includes scanning the weld seam represented by the flag bit set F as {0, 0, 0} or {0, 1, 0} and executing the single seam welding strategy; Please refer to Figure 3 The seam processing flow includes first traversing the welds represented by the scanning flag set F as {1, 0, 0} and executing the welding strategy of the seam, and then scanning the welds represented by the flag set F as {1, 1, 0} and executing the welding strategy of the last seam.

[0026] The present application also provides a welding device, including a scanning device, a processor and a memory, wherein the scanning device scans the weld and collects point cloud data of the weld, the processor stores a computer program, and the processor calls the computer program in the memory to implement the above-mentioned impeller wear-resistant layer guided welding method. Of course, the welding device may also include various network interfaces, power supplies and other components.

[0027] The present application also provides a storage medium, wherein the storage medium stores computer executable instructions, and when the computer executable instructions are loaded and executed by the processor, the steps of the impeller wear-resistant layer guided welding method are implemented. The storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0028] It should also be noted that in this specification, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. Impeller wear-resistant layer guided welding method, characterized in that: Applied to a welding device, the welding device includes a scanning device for scanning a weld, and the impeller wear-resistant layer guided welding method includes: Set the single seam flag, joint flag and wear plate flag. The single seam flag is used to indicate whether there is a single seam feature, the joint flag is used to indicate whether there is an end feature, and the wear plate flag is used to indicate whether it is a wear plate welding section. Define the weld type through single seam mark, joint seam mark and wear plate mark, and specify the corresponding welding strategy for each weld type; Single seam marks, spliced ​​seam marks and wear-resistant plate marks are set for welds, and the order in which the welds execute welding strategies is controlled by the single seam marks, spliced ​​seam marks and wear-resistant plate marks.

2. The impeller wear-resistant layer guided welding method according to claim 1, characterized in that: Weld types include single seam, patch seam, last patch seam, impeller weld, wear plate weld and last wear plate weld.

3. The impeller wear-resistant layer guide welding method according to claim 1, characterized in that: The weld types are defined by the single seam flag, patchwork flag and wear plate flag. The wear plate flag is 0 or 1. The wear plate flag is 0, which indicates a non-wear plate welding section. The weld types of the non-wear plate welding section include single seam, patchwork and the last patchwork. The wear plate flag is 1, which indicates a wear plate welding section. The weld types of the wear plate welding section include impeller weld, wear plate weld and the last wear plate weld.

4. The impeller wear-resistant layer guided welding method according to claim 3, characterized in that: Defining the weld type by the single seam flag, the joint flag and the wear plate flag also includes that the single seam flag is 0 or 1, the single seam flag is 0 indicating the existence of a single seam feature, and the single seam flag is 1 indicating the absence of a single seam feature; The seam flag is 0 or 1. A seam flag of 0 indicates that there is no end feature, and a seam flag of 1 indicates that there is an end feature. When the single seam flag is 0, the splicing seam flag is 0 or 1, which has no practical meaning; Define the flag set F = {a, b, c}, a is the single seam flag, b is the joint flag, c is the wear-resistant plate flag; The weld type indicated by the flag bit set F being {0, 0, 1} or {0, 1, 1} is the impeller weld; The flag bit set F is {1, 0, 1}, indicating that the weld type is a wear-resistant plate weld; The weld type represented by the flag bit set F being {1, 1, 1} is the last wear-resistant plate weld; The flag bit set F is {0, 0, 0} or {0, 1, 0}, indicating that the weld type is a single weld; The flag bit set F is {1, 0, 0}, indicating that the weld type is a patchwork weld; The flag bit set F is {1, 1, 0}, indicating that the weld type is the last joint.

5. The impeller wear-resistant layer guided welding method according to claim 4, characterized in that: Specify the corresponding welding strategy for each weld type, including: the welding strategy for a single weld is to weld immediately after the current weld scan is completed; The welding strategy of the joint seam is to save the point cloud data of the current weld seam after the current weld seam scanning is completed but not to weld; The welding strategy of the last seam is to process the point cloud data of the current weld and the point cloud data of all stored seams after the current weld scanning is completed to fit the seam group trajectory, and finally perform welding according to the seam group trajectory; The welding strategy for the impeller weld is to weld immediately after the current weld scan is completed; The welding strategy of the wear-resistant plate weld is to save the point cloud data of the current weld after the current weld scanning is completed but not to weld; The welding strategy for the last wear-resistant plate weld is to process the point cloud data of the current weld and the point cloud data of all stored wear-resistant plate welds after the current weld scan is completed to fit the wear-resistant plate weld group trajectory, and finally perform welding according to the wear-resistant plate weld group trajectory.

6. The impeller wear-resistant layer guided welding method according to claim 5, characterized in that: The order of controlling the execution of welding strategies for welds by single seam flags, splicing seam flags and wear-resistant plate flags includes: when processing wear-resistant plate welds, first traverse the welds represented by the scanning flag set F as {1, 0, 1} and execute the welding strategy of the wear-resistant plate welds; secondly, scan the welds represented by the flag set F as {1, 1, 1} and execute the welding strategy of the last wear-resistant plate weld; finally, scan the welds represented by the flag set F as {0, 0, 1} or {0, 1, 1} and execute the welding strategy of the impeller weld.

7. The impeller wear-resistant layer guided welding method according to claim 6, characterized in that: The order of executing the welding strategy of the weld is controlled by the single seam mark, the joint mark and the wear plate mark. When processing a conventional weld, it is divided into a single seam processing flow and a joint processing flow, and the single seam processing flow and the joint processing flow are independent of each other. The single seam processing flow includes scanning the weld seam represented by the flag bit set F being {0, 0, 0} or {0, 1, 0} and executing the single seam welding strategy; The seam processing flow includes first traversing the welds represented by the scanning flag set F as {1, 0, 0} and executing the welding strategy of the seam, and then scanning the welds represented by the flag set F as {1, 1, 0} and executing the welding strategy of the last seam.

8. Welding equipment, characterized in that It includes a scanning device, a processor and a memory, the scanning device scans the weld and collects point cloud data of the weld, the processor stores a computer program, and the processor calls the computer program in the memory to implement the impeller wear-resistant layer guided welding method as described in any one of claims 1 to 7.

9. A storage medium, characterized in that The storage medium stores computer executable instructions, and when the computer executable instructions are loaded and executed by the processor, the steps of the impeller wear-resistant layer guided welding method as claimed in any one of claims 1 to 7 are implemented.

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