Industrial robot steel structure welding quality improving method and system and storage medium

Abstract

The invention discloses an industrial robot steel structure welding quality improving method and system and a storage medium. The industrial robot steel structure welding quality improving method comprises the following steps that firstly, robot coarse positioning is conducted; step 2, robot fine positioning; step 3, fine positioning cloud point processing; 4, backing welding is conducted, specifically, backing welding is conducted on all welding beads; step 5, filling and welding; the method has the following advantages that (1) the laser sensor scans the workpiece, the position is automatically identified according to the groove, and no personnel participation is needed; (2) multi-layer and multi-pass welding parameters are automatically generated through groove size recognition; (3) in the welding process, a locating and electric arc tracking or laser tracking mode is adopted, and the welding track precision is guaranteed; and (4) the welding process is adjusted, and the problem of welding deformation is solved by locating again after bottoming.

Description

Technical Field

[0001] The present invention relates to the field of industrial robots, and in particular to the technical field of industrial robot steel structure welding. Background Art

[0002] With the rapid development of modern construction, bridge engineering and heavy equipment manufacturing, steel structure components are evolving towards large-scale, complex and high-strength. With its technical advantages such as high repeatability and strong controllability of motion trajectory, industrial robots have continuously increased their penetration rate in the field of steel structure welding and have become the core equipment for realizing automated welding.

[0003] However, the application of existing industrial robot welding systems in the field of steel structures still faces some problems: first, the complex working conditions such as the large variety of steel structure components and the spatial irregularities of welds result in the traditional teaching programming mode requiring a lot of debugging time; second, the coupling effect between welding parameters and the dynamic deformation of components is significant. When the steel thickness is thicker, the thermal cumulative deformation of multi-layer and multi-pass welding can reach 2-3mm, causing the actual welding gun posture to deviate from the preset trajectory; finally, the trajectory and thermal deformation make the robot welding quality uncontrollable and unable to meet the requirements of nondestructive testing.

[0004] At present, there are also technologies for improving bridge welding, such as the public document with publication number CN115722760A (application number 202110993617.8), publication date 2023-03-03, and patent name "A method for full penetration welding of steel bridges by intelligent robots". The disclosed method for full penetration welding of steel bridges by intelligent robots includes the following steps: 1) Place the line laser sensor in front of the tip of the welding robot's welding gun; 2) Complete the teaching of the first workpiece; 3) The laser sensor scans the entire workpiece to obtain the welding trajectory and adjust the welding posture at the welding starting point; 4) Start welding. During the welding process, the robot control system tracks the position of the welding gun in real time; 5) Determine the welding end point according to the set welding length. When the welding gun moves to the welding end point or there is no laser sensor detection signal, the welding operation is ended; 6) The welding robot drives the welding gun to move to the other side of the workpiece, and repeats steps 3) to 5); complete the welding of a workpiece to be welded.

[0005] This scheme proposes some ideas and methods mainly for solving the welding of corrugated steel webs or corrugated top webs, but it still cannot meet the welding requirements of general steel structures. It also does not consider the influence of the groove size and the welding parameters caused by the point splicing error, nor the influence of welding deformation on welding. This will lead to problems in the quality of steel structure welding, and the need for first-piece demonstration will waste a lot of time. Moreover, there is only one piece of each workpiece in the building steel structure and bridge steel structure, that is, each piece is the first piece, which makes this method unusable.

[0006] Generally speaking, the following methods exist in the current market, as well as the existing problems:

[0007] 1. Manually teach the robot trajectory and manually adjust the welding parameters;

[0008] (1) It is difficult to teach the robot trajectory, and it takes 1 - 2 days of teaching time for one component;

[0009] (2) The welding parameters need to be adjusted continuously according to the welding situation, which is rather troublesome;

[0010] (3) It has relatively high requirements for operators, who need to be familiar with both the use of the robot and the welding process;

[0011] (4) Low efficiency and many workpiece specifications, not applicable to the steel structure welding industry;

[0012] 2. After laser scanning, select the position points and welding parameters from the point cloud and then perform welding;

[0013] (1) It realizes partial automation, but still requires a lot of human participation;

[0014] (2) The welding parameters are fixed and cannot be adjusted according to the actual situation, affecting the welding quality;

[0015] (3) The selected point cloud will cause welding position errors, ultimately affecting the welding quality;

[0016] 3. The method of three - dimensional modeling;

[0017] (1) It requires a complete and accurate three - dimensional model, and most steel structure manufacturers do not have drawings;

[0018] (2) There are errors between the three - dimensional model and the actual size, affecting the welding quality;

[0019] (3) The welding parameters are fixed and cannot be adjusted according to the actual situation, affecting the welding quality. Summary of the Invention

[0020] The technical problem to be solved by the present invention is to achieve a high - welding - precision method that is relatively easy to implement, can effectively reduce the requirements for welding hardware, and improve the welding quality and efficiency of industrial robots for steel structures.

[0021] To achieve the above object, the technical solution adopted by the present invention is: a method for improving the welding quality of industrial robot steel structures, including the following steps:

[0022] Step 1. Coarse positioning of the robot. After the industrial robot carries the laser sensor to the scanning posture for coarse positioning, the laser sensor uses the large - field - of - view mode, and the industrial robot scans the workpiece from head to tail by displacement;

[0023] Step 2: Fine positioning of the robot. Based on the rough positioning of the robot, the industrial robot slowly scans the weld bead position of the workpiece with a laser sensor to obtain accurate point cloud data of the groove.

[0024] Step 3: Processing of the fine positioning cloud points. Segment the weld beads to generate multiple weld beads to be welded.

[0025] Step 4: Root welding. Perform root welding on all weld beads.

[0026] Step 5: Fill welding. Perform fill welding on all weld beads to complete the welding of the workpiece.

[0027] In the above-mentioned Step 1, the industrial robot controls the robotic arm to adjust the distance from the workpiece, and cooperates with the large-field-of-view mode laser sensor to obtain the scanning information of the workpiece over a large range. During scanning, the industrial robot is translated to make the laser sensor scan from the head to the tail of the workpiece, and multiple scans are performed back and forth to obtain the rough positioning point cloud of the welding working area.

[0028] The rough positioning of the robot transmits the obtained rough positioning point cloud of the scan to the control system, and the control system processes the rough positioning point cloud of the scan to obtain the rough positioning positions and directions of all the weld beads of the workpiece.

[0029] In the above-mentioned Step 2, based on the rough positioning point cloud of the scan, obtain the scanning trajectory and posture of the industrial robot's precision position, and generate a teaching program for fine positioning. The industrial robot carries the laser sensor and slowly scans the weld bead position according to the teaching program for fine positioning to obtain accurate point cloud data of the groove.

[0030] In the above-mentioned Step 3, process the fine positioning point cloud, and according to the size of the groove and the actual situation of the weld bead, segment the weld bead to generate multiple weld beads to be welded. At the same time, identify and process the groove of the weld bead to obtain the size information of the groove, including groove width, groove depth, and groove angle parameters. When processing the groove of the weld bead, perform weld bead marking according to the changes of the groove and actual situations such as welding points.

[0031] When processing each groove segment, calculate the change situation of each weld bead segment, record the groove data deviation of the starting point, middle point, and ending point of the weld bead, and finally generate a queue of the processing results of the weld bead, including the position of the weld bead, groove size, and abnormal information.

[0032] The above-mentioned Step 4 includes the following steps:

[0033] 1) Call the parameters of one weld bead segment from the queue of weld beads.

[0034] 2) According to the position of the weld bead, the installation position of the laser sensor, and the parameter configuration, generate a searching trajectory program for root welding of the weld bead. Select the searching method and searching parameters of the laser sensor according to the groove type of the weld bead.

[0035] 3) Calculate the robotic welding posture for the root pass of the weld bead based on the groove parameters and position of the weld bead;

[0036] 4) The laser sensor performs root pass position finding for the weld bead to obtain the actual welding position;

[0037] 5) Calculate and generate the actual welding position and posture of the robot based on the robotic welding posture and welding position for the root pass of the weld bead;

[0038] 6) Call the groove parameters of the weld bead to generate the welding parameters for the root pass;

[0039] 7) Generate the welding program for the root pass of the weld bead based on the position and posture of the welding trajectory, as well as the welding parameters, etc.;

[0040] 8) Run the welding program for the root pass, and the welding equipment starts to strike an arc for welding until the end point of the weld bead.

[0041] Step 6) in the said step 4 includes the following steps:

[0042] Confirm the generation method of the welding parameters according to the form and orientation of the actual groove;

[0043] Calculate the cross-sectional area of the groove according to the groove parameters;

[0044] Calculate the cross-sectional area that needs to be welded for the root pass according to the layer height of the weld bead;

[0045] Calculate the speed required for welding according to the wire feeding speed corresponding to the welding parameters;

[0046] Calculate the amplitude of oscillation according to the bottom width of the weld bead;

[0047] Organize and generate the actual welding parameters for the root pass according to the above welding parameters.

[0048] The said step 5 includes the following steps:

[0049] 1) Call the parameters of one section of the weld bead from the queue of weld beads;

[0050] 2) Generate the position finding trajectory program for the weld bead filling according to the position of the weld bead, the installation position of the laser sensor, and the parameter configuration. Select the position finding method and position finding parameters of the laser sensor according to the groove type for the weld bead;

[0051] 3) Calculate the robotic welding posture for the weld bead filling according to the groove parameters and position of the weld bead;

[0052] 4) Run the position finding program for the weld bead filling, obtain the actual welding position through the laser sensor, and re-perform secondary position finding before the weld bead filling welding to obtain the actual groove parameters of the deformation after the root pass welding of the weld bead;

[0053] 5) Calculate and generate the actual welding position and posture of the robot based on the posture of the robot for filling the weld bead and the actual position obtained by the laser sensor.

[0054] 6) Call the groove parameters of the weld bead to generate the welding parameters for backing welding.

[0055] 7) Generate a multi-layer and multi-pass welding program for filling the weld bead based on the position and posture of the welding trajectory, welding parameters, etc.

[0056] 8) Run the filling welding program, start arc welding from the starting point of the weld bead, and weld until the end point of the weld bead. Then, perform multi-layer and multi-pass welding according to the settings of the multi-layer and multi-pass welding parameters.

[0057] Step 6) in the above step 5 includes the following steps:

[0058] Confirm the generation method of welding parameters according to the form and orientation of the actual groove.

[0059] Calculate the cross-sectional area of the groove according to the groove parameters.

[0060] Calculate the cross-sectional area to be welded for each layer of filling according to the layer height of the weld bead, divide the specific cross-sectional area into passes, and calculate the positions of multi-layer and multi-pass.

[0061] Calculate the welding speed required according to the wire feeding speed corresponding to the welding parameters.

[0062] Calculate the swing amplitude according to the width of multi-layer and multi-pass of each layer of weld bead.

[0063] Sort out and generate the actual welding parameters for multi-layer and multi-pass filling according to the above welding parameters.

[0064] An industrial robot system is provided with a robot walking axis fixed beside the workpiece placement area. The robot bracket is installed on the robot walking axis through a walking mechanism. A boom is provided at the top of the robot bracket. A multi-axis robotic arm type industrial robot is fixed on the boom. A laser sensor is provided at the end of the industrial robot. The welding equipment is fixed on the walking mechanism or the robot bracket. The system is provided with a control system. The control system is connected to the industrial robot, the walking mechanism, the welding equipment, and the laser sensor. The system executes the method for improving the welding quality of industrial robot steel structures as described in any one of claims 1-7.

[0065] A hanging rail is provided on the bottom surface of the boom. The industrial robot on the hanging rail is fixed on the hanging rail through a suspension moving mechanism. The suspension moving mechanism is connected to the control system.

[0066] Industrial robot storage medium, the storage medium being a computer-readable storage medium for storing software program code, characterized in that: the software program code is for executing the method for improving the welding quality of the steel structure of the industrial robot.

[0067] The present invention has the following advantages:

[0068] (1) The laser sensor scans the workpiece and automatically identifies the position according to the groove, without the need for personnel to participate;

[0069] (2) Automatically generate multi-layer and multi-pass welding parameters through groove size recognition;

[0070] (3) During the welding process, the method of position seeking and arc tracking or laser tracking is adopted to ensure the accuracy of the welding trajectory;

[0071] (4) Adjust the welding process, and perform position seeking again after backgouging to solve the problem of welding deformation. Description of the Drawings

[0072] The following briefly describes the content expressed in each drawing in the specification of the present invention and the marks in the drawings:

[0073] Figure 1 It is a schematic diagram of the industrial robot system structure;

[0074] Figure 2 It is an architecture diagram of the industrial robot system;

[0075] Figure 3 It is a process flow diagram of the method for improving the welding quality of the steel structure of the industrial robot;

[0076] Figure 4 It is an overall flow diagram of the method for improving the welding quality of the steel structure of the industrial robot;

[0077] The marks in the above drawings are all: 1. Industrial robot; 2. Robot walking axis, 3. Laser sensor; 4. Welding equipment; 5. Control system. Detailed Embodiments

[0078] The following, with reference to the drawings, through the description of the embodiments, the specific embodiments of the present invention, such as the shapes, structures of the various components involved, the mutual positions and connection relationships between the various parts, the functions and working principles of the various parts, the manufacturing process, and the operation and use methods, are further described in detail to help those skilled in the art have a more complete, accurate, and in-depth understanding of the inventive concept and technical solution of the present invention.

[0079] The welding control system 5 of the industrial robot 1 is as shown in the attached Figure 1 overall layout diagram and Figure 2As shown in the system composition diagram, it includes an industrial robot 1, a robot walking axis 2, a laser sensor 3, a welding device 4, and a control system 5;

[0080] The industrial robot 1 is used for welding trajectory operation and control, coordinating the walking axis, laser sensor 3, welding device 4, etc.; the robot walking axis 2 is used to expand the operating space of the robot and ensure the reach of the robot to the position of the workpiece; the laser sensor 3 is used for weld seam searching, point cloud acquisition, and groove recognition, and is the "eye" of the system; the welding device 4 is an actuator for welding, including a welding machine, a welding torch, a wire feeder, a water tank, etc.; the control system 5 is the core of the entire system, used for the control and coordination of the overall process, point cloud and trajectory calculation, etc.

[0081] The robot walking axis 2 is installed on one side of the workpiece placement area. The robot bracket is installed on the robot walking axis 2 through a walking mechanism, so that the robot bracket can be controlled by the walking mechanism to move along the robot walking axis 2, that is, it can operate along the workpiece. A boom is provided at the top of the robot bracket. The boom is located above the workpiece placement area. A multi-axis robotic industrial robot 1 is fixed on the boom. Through the multi-axis robot, the laser sensor 3 at the end of the industrial robot 1 can scan the workpiece from any angle. A hanging rail is provided on the bottom surface of the boom. The industrial robot 1 on the hanging rail is fixed on the hanging rail through a suspension moving mechanism. The suspension moving mechanism is connected to the control system 5, and the horizontal position of the industrial robot 1 can be controlled through the suspension moving mechanism. Generally speaking, the hanging rail and the robot walking axis 2 are relatively perpendicular to achieve the movement of the industrial robot 1 at any position on the plane. The welding device 4 is fixed on the walking mechanism or the robot bracket, so that the welding device 4 can also move with the industrial robot 1 to perform mobile welding. The system is provided with a control system 5. The control system 5 is connected to the industrial robot 1, the walking mechanism, the welding device 4, and the laser sensor 3, and is the core control device of the entire system. The control system 5 executes the welding control method of the industrial robot 1, and it has a storage medium for storing relevant control methods inside. The storage medium is a computer-readable storage medium for storing software program codes, and the software program codes are used to execute the welding control method of the industrial robot 1.

[0082] Based on the above industrial robot 1 welding control system 5, the welding control method of the industrial robot 1 includes the following steps:

[0083] 1. Manual loading;

[0084] The operator places the workpiece to be welded into the welding working area and starts the control system 5 to begin the overall welding process.

[0085] 2. Robot rough positioning;

[0086] After the industrial robot 1 moves to the scanning posture for rough positioning, the laser sensor 3 switches to the large field of view mode, and the robot walking axis 2 drives the laser sensor 3 on the industrial robot 1 to quickly scan the entire workpiece. When the industrial robot 1 scans from head to tail, it changes the scanning posture and returns to scan. After multiple scans, the rough positioning point cloud of the welding working area is obtained;

[0087] Process the rough positioning point cloud to obtain the approximate positions and directions of all the weld beads of the workpiece.

[0088] 3. Robot fine positioning;

[0089] According to the processing result of the rough positioning point cloud, calculate the scanning trajectory and posture of the robot's precise position, and generate a teaching program for fine positioning. After the industrial robot 1 moves to the scanning posture for fine positioning, the laser sensor 3 switches to the high-precision mode, and the robot walking axis 2 drives the laser sensor 3 on the robot to slowly scan the weld bead position to obtain the precise point cloud data of the groove.

[0090] 4. Fine positioning point cloud processing;

[0091] Process the fine positioning point cloud. According to the size of the groove and the actual situation of the weld bead, segment the weld bead to generate multiple segments of weld beads to be welded. At the same time, identify and process the groove of the weld bead to obtain the size information of the groove, such as parameters like groove width, groove depth, and groove angle. When processing the groove of the weld bead, according to the changes of the groove and actual situations such as welding spots, perform weld bead marking to facilitate later processing.

[0092] At the same time, when processing each groove segment, it is necessary to calculate the change situation of each weld bead segment, record the groove data deviation of the starting point, middle point, and ending point of the weld bead, which is convenient for later adjustment of welding parameters according to the groove deviation. Finally, generate a queue of the processing results of the weld bead, including information such as the position of the weld bead (starting point, middle point, end point, etc.), groove size (average groove size, groove deviation at the weld bead position, etc.), and abnormal information (welding spots, groove mutation points, etc.).

[0093] 5. Root pass welding;

[0094] To ensure the welding deformation of the workpiece to the greatest extent, after root pass welding of all weld beads, fill welding is carried out, including the following steps:

[0095] (1) Call the parameters of one weld bead segment from the queue of weld beads.

[0096] (2) According to the position of the weld bead, the installation position of the laser sensor 3, and the parameter configuration, generate a positioning trajectory program for root pass welding of the weld bead. The positioning method and positioning parameters of the laser sensor 3 are selected according to the groove type of the weld bead to ensure meeting the positioning requirements.

[0097] (3) Calculate the robotic welding posture for the root pass of the weld bead based on the groove parameters and position of the weld bead.

[0098] (4) The robotic walking axis 2 drives the laser sensor 3 on the industrial robot 1 to run the position-finding program for the root pass of the weld bead, and obtains the actual welding points (starting point, intermediate point, ending point) through the laser sensor 3.

[0099] (5) Calculate and generate the actual welding position and posture of the robot based on the robotic posture for the root pass of the weld bead and the actual position obtained by the laser sensor 3, which is specifically divided into the following steps:

[0100] (5.1) Call the groove parameters of the weld bead to generate the welding parameters for the root pass.

[0101] (5.2) Confirm the generation method of the welding parameters according to the form and orientation of the actual groove.

[0102] (5.3) Calculate the cross-sectional area of the groove according to the groove parameters.

[0103] (5.4) Calculate the cross-sectional area required for welding the root pass according to the layer height of the weld bead.

[0104] (5.5) Calculate the speed required for welding according to the wire feeding speed corresponding to the welding parameters.

[0105] (5.6) Calculate the amplitude of oscillation according to the bottom width of the weld bead.

[0106] (5.7) Finally, organize and generate the actual welding parameters for the root pass according to the above welding parameters.

[0107] (6) Generate the welding program for the root pass of the weld bead according to the position and posture of the welding trajectory, as well as the welding parameters, etc.

[0108] (7) Run the welding program for the root pass. The robotic walking axis 2 drives the industrial robot 1 to move to the starting point of the weld bead, and the welding equipment 4 starts to strike an arc for welding, and keeps welding until the ending point of the weld bead. After welding is completed, it moves to the transition point and waits for the next step, etc.

[0109] (8) Repeat the above steps until all the weld beads are completed with root pass welding.

[0110] 6. Fill welding;

[0111] (1) After the root pass welding of the weld beads is completed, perform fill welding on all the weld beads to complete the welding of the workpiece.

[0112] (2) Call the parameters of one section of the weld bead from the queue of the weld beads.

[0113] (3) Generate a positioning trajectory program for bead filling based on the position of the bead, the installation position of the 3 laser sensors 3, and the parameter configuration. The positioning method and parameters of the 3 laser sensors 3 are selected according to the groove type of the bead to ensure that the positioning requirements are met.

[0114] (4) Calculate the robotic welding posture for bead filling based on the groove parameters of the bead and the position of the bead.

[0115] (5) The robotic walking axis 2 drives the 3 laser sensors 3 on the 1 industrial robot 1 to run the positioning program for bead filling. The actual welding points (starting point, intermediate points, ending point) are obtained through the 3 laser sensors 3. Before bead filling welding, a secondary positioning is performed again to obtain the actual groove parameters deformed after the root pass welding, meeting the welding requirements.

[0116] (6) Calculate and generate the actual welding position and posture of the robot based on the robotic posture for bead filling and the actual positions obtained by the 3 laser sensors 3. Specifically, it is divided into the following steps:

[0117] (6.1) Call the groove parameters of the bead to generate the welding parameters for the root pass.

[0118] (6.2) Confirm the generation method of the welding parameters according to the form and orientation of the actual groove.

[0119] (6.3) Calculate the cross-sectional area of the groove according to the groove parameters.

[0120] (6.4) Calculate the cross-sectional area to be welded for each layer of filling according to the layer height of the bead. Specifically, the size of the cross-sectional area is divided into lanes, and the positions of multiple layers and multiple lanes are calculated.

[0121] (6.5) Calculate the speed required for welding according to the wire feeding speed corresponding to the welding parameters.

[0122] (6.6) Calculate the amplitude of oscillation according to the width of multiple layers and multiple lanes of each layer of bead.

[0123] (6.7) Finally, organize and generate the welding parameters for the actual filling of multiple layers and multiple lanes according to the above welding parameters.

[0124] (7) Generate a multi-layer and multi-pass welding program for this bead filling based on the position and posture of the welding trajectory, as well as the welding parameters, etc.

[0125] (8) Run the filling welding program. The robotic walking axis 2 drives the industrial robot 1 to move to the starting point of the bead, and the welding equipment 4 starts arc welding and welds until the end point of the bead. Then, according to the settings of the multi-layer and multi-pass welding parameters, multi-layer and multi-pass welding is performed to ensure the welding dimensions and requirements of the groove and the welding. After the multi-layer and multi-pass is completed, it runs to the transition point and waits for the next step, etc.

[0126] (9) Repeat the above steps until all the weld beads are filled and welded.

[0127] 7. Manual blanking;

[0128] The operator hoists the welded workpiece out of the welding work area and waits for the next workpiece to be hoisted in for welding.

[0129] The present invention has been described exemplarily in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited by the above methods. As long as various non-substantive improvements are made by adopting the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. Method for improving the welding quality of the steel structure of an industrial robot, characterized in that, Including the following steps: Step 1: Coarse positioning of the robot. After the industrial robot carries the laser sensor to the scanning posture for coarse positioning, the laser sensor uses the large field of view mode, and the industrial robot scans the workpiece from head to tail by displacement; Step 2: Fine positioning of the robot. Based on the coarse positioning of the robot, the industrial robot carries the laser sensor to slowly scan the weld bead position of the workpiece to obtain accurate point cloud data of the groove; Step 3: Processing of the fine positioning cloud points, segmenting the weld beads to generate multiple weld beads to be welded; Step 4: Backing welding, performing backing welding on all weld beads; Step 5: Filling welding, performing filling welding on all weld beads to complete the welding of the workpiece.

2. The method for improving the welding quality of the steel structure of an industrial robot according to claim 1, wherein In the above Step 1, the industrial robot controls the robotic arm to adjust the distance from the workpiece, and cooperates with the large field of view mode laser sensor to obtain the scanning information of the workpiece in a large range. During scanning, the industrial robot is translated to make the laser sensor scan along the workpiece from head to tail, and scans back and forth multiple times to obtain the scanning coarse positioning point cloud of the welding working area; The coarse positioning of the robot conveys the obtained scanning coarse positioning point cloud to the control system, and the control system processes the scanning coarse positioning point cloud to obtain the coarse positioning positions and directions of all weld beads of the workpiece.

3. The method for improving the welding quality of the steel structure of an industrial robot according to claim 1, wherein In the above Step 2, according to the scanning coarse positioning point cloud, the scanning trajectory and posture of the precision position of the industrial robot are obtained, and a teaching program for fine positioning is generated. The industrial robot carries the laser sensor to slowly scan the weld bead position according to the teaching program for fine positioning to obtain accurate point cloud data of the groove.

4. The method for improving the welding quality of the steel structure of an industrial robot according to claim 1, wherein In the above Step 3, the fine positioning point cloud is processed, and according to the size of the groove and the actual situation of the weld bead, the weld bead is segmented to generate multiple weld beads to be welded. At the same time, the groove of the weld bead is identified and processed to obtain the size information of the groove, including groove width, groove depth, and groove angle parameters. When processing the groove of the weld bead, according to the changes of the groove and actual situations such as welding spots, the weld bead is marked; When processing each section of the groove, calculate the change situation of each section of the weld bead, record the deviation of the groove data at the starting point, middle point, and ending point of the weld bead, and finally generate a queue of the processing results of the weld bead, including the position of the weld bead, groove size, and abnormal information.

5. The method for improving the welding quality of the steel structure of an industrial robot according to claim 1, characterized in that The above Step 4 includes the following steps: 1) Call the parameters of one section of the weld bead from the queue of the weld bead; 2) Generate a searching trajectory program for backing welding of the weld bead according to the position of the weld bead, the installation position of the laser sensor, and parameter configuration, and select the searching method and searching parameters of the laser sensor according to the groove type of the weld bead; 3) Calculate the robotic welding posture for backing welding of the weld bead according to the groove parameters of the weld bead and the position of the weld bead; 4) The laser sensor performs searching for backing welding of the weld bead to obtain the actual welding points; 5) Calculate and generate the actual welding position and posture of the robot according to the robotic welding posture and welding points for backing welding of the weld bead; 6) Call the groove parameters of the weld bead to generate the welding parameters for backing welding; 7) Generate the welding program for backing welding of this weld bead according to the position and posture of the welding trajectory, welding parameters, etc.; 8) Run the welding program for backing welding, and the welding equipment starts to arc weld until the end point of the weld bead.

6. The method for improving the welding quality of the steel structure of an industrial robot according to claim 5, characterized in that, In step 6) of the above Step 4, it includes the following steps: Confirm the generation method of welding parameters according to the form and orientation of the actual groove; Calculate the cross-sectional area of the groove according to the groove parameters; Calculate the cross-sectional area that needs to be welded for backing according to the layer height of the weld bead; Calculate the welding speed required according to the wire feeding speed corresponding to the welding parameters; Calculate the swing amplitude according to the bottom width of the weld bead; Sort out and generate the welding parameters for actual backing according to the above welding parameters.

7. The method for improving the welding quality of the steel structure of an industrial robot according to claim 1, wherein, Step 5 includes the following steps: 1) Call the parameters of one weld bead from the queue of weld beads; 2) Generate a positioning trajectory program for weld bead filling according to the position of the weld bead, the installation position of the laser sensor, and the parameter configuration. Select the positioning method and positioning parameters of the laser sensor according to the groove type according to the weld bead; 3) Calculate the robotic welding posture for weld bead filling according to the groove parameters and the position of the weld bead; 4) Run the positioning program for weld bead filling, obtain the actual welding points through the laser sensor, and re-perform secondary positioning before weld bead filling welding to obtain the actual groove parameters deformed after backing welding of the weld bead; 5) Calculate and generate the actual welding position and posture of the robot based on the robotic posture of the above weld bead filling and the actual position obtained by the laser sensor; 6) Call the groove parameters of the weld bead to generate the welding parameters for backing; 7) Generate a multi-layer and multi-pass welding program for this weld bead filling according to the position and posture of the welding trajectory, as well as the welding parameters, etc.; 8) Run the welding program for filling, start arc welding from the starting point of the weld bead, and weld until the end point of the weld bead. Then, perform multi-layer and multi-pass welding according to the settings of the multi-layer and multi-pass welding parameters; Step 6) in Step 5 includes the following steps: Confirm the generation method of welding parameters according to the form and orientation of the actual groove; Calculate the cross-sectional area of the groove according to the groove parameters; Calculate the cross-sectional area that needs to be welded for each layer of filling according to the layer height of the weld bead, divide the specific cross-sectional area into passes, and calculate the positions of multi-layers and multi-passes; Calculate the welding speed required according to the wire feeding speed corresponding to the welding parameters; Calculate the swing amplitude according to the width of each layer of weld bead in multi-layers and multi-passes; Sort out and generate the welding parameters for actual filling of multi-layers and multi-passes according to the above welding parameters.

8. An industrial robot system, characterized in that, The system is provided with a robot walking axis fixed beside the workpiece placement area. The robot bracket is installed on the robot walking axis through a walking mechanism. A lifting arm is provided at the top of the robot bracket. A multi-axis robotic industrial robot is fixed on the lifting arm. A laser sensor is provided at the end of the industrial robot. The welding equipment is fixed on the walking mechanism or the robot bracket. The system is provided with a control system. The control system is connected to the industrial robot, the walking mechanism, the welding equipment, and the laser sensor. The system executes the method for improving the welding quality of industrial robot steel structures as described in any one of claims 1-7.

9. The industrial robot system according to claim 8, wherein A lifting rail is provided on the bottom surface of the lifting arm. The industrial robot on the lifting rail is fixed on the lifting rail through a suspension moving mechanism. The suspension moving mechanism is connected to the control system.

10. Industrial robot storage medium, the storage medium being a computer-readable storage medium for storing software program code, characterized in that: The software program code is used to execute the method for improving the welding quality of industrial robot steel structures as described in any one of claims 1-7.

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