Auxiliary system of collaborative welding robot

Abstract

The invention discloses an auxiliary system of a collaborative welding robot, relates to the technical field of intelligent welding, and aims to scan a to-be-welded area through a visual positioning technology, extract a scanning image and perform shape recognition through a Pearson coefficient, so that the type of a welding seam can be recognized, parameter reference is provided for a subsequent auxiliary welding robot to perform a welding process, and meanwhile, the welding quality is improved. According to the method, different types of welding seams are subjected to welding grade evaluation to obtain grade evaluation values, so that the complexity and uniformity of the shapes of the welding seams are reflected through the grade evaluation values, and the difficulty of welding the welding seams according to the welding paths of the welding seams can be comprehensively evaluated.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent welding, and particularly to an auxiliary system for a collaborative welding robot. Background Art

[0002] In welding operations, with the continuous improvement of industrial production requirements for welding quality and efficiency, the application of welding robots is becoming increasingly widespread. However, there are many interference factors in the actual welding process, such as machining errors of workpieces, assembly deviations, thermal deformations during welding, and motion errors of the robot itself. These factors often cause the welding path of the welding robot to deviate from the predetermined trajectory, thereby affecting the welding quality and resulting in problems such as weld defects and insufficient welding strength.

[0003] In the prior art, traditional welding robots often have difficulty performing flexible and precise welding operations for different weld types and lack effective auxiliary means to improve the adaptability and stability of welding. Therefore, in this application, shape recognition is carried out through the Pearson coefficient, which helps to identify the weld type, provides parameter references for subsequent auxiliary welding robots to perform welding processes, and at the same time, evaluates the difficulty of welding different types of welds. During the actual welding process, comparing and analyzing the weld welding path with the actual welding path helps to identify the differences between the actual welding path and the planned path, and enables the robot to promptly detect abnormalities in the welding path. By accurately calculating the actual compensation amount and performing path translation compensation, the welding head on the welding robot can always weld along the predetermined weld welding path, improving the accuracy of the welding robot during welding. Summary of the Invention

[0004] The purpose of the present invention is to provide an auxiliary system for a collaborative welding robot to solve at least one of the above-mentioned prior art problems.

[0005] In a first aspect, an auxiliary system for a collaborative welding robot includes: A scanning and recognition module: scanning the area to be welded and performing shape recognition on the scanned image to obtain type recognition information of the welds in the area to be welded; Among them, the type recognition information includes approximate linear welds or non-linear welds; A grade evaluation module: scanning the three-dimensional weld welding path onto the XY, XZ, and YZ planes respectively to obtain XY, XZ, and YZ scanning curves in sequence, and sequentially obtaining the inflection point quantity ratios and weld smoothness degrees on the XY, XZ, and YZ scanning curves. Based on the inflection point quantity ratios and weld smoothness degrees of all scanning curves, comprehensively evaluate the grade of the welding path; Comparison and analysis module: Project the three-dimensional actual welding path onto the XY, XZ, and YZ planes respectively to obtain the XY, XZ, and YZ projection curves, and then compare them with the XY, XZ, and YZ scanning curves in the same plane in sequence to obtain the curve point distance difference and curve curvature difference, and comprehensively evaluate the differences between the curves. If the differences are large, generate a dynamic adjustment signal; Dynamic compensation module: Based on the dynamic adjustment signal, obtain the compensation amounts under different difference conditions and perform translation compensation.

[0006] Advantages of the present invention: 1. The present invention scans the area to be welded through visual positioning technology, extracts the scanned image, and performs shape recognition through the Pearson coefficient, which helps to identify the weld type, provides parameter references for subsequent auxiliary welding robots to perform welding processes. At the same time, it evaluates the welding grades of different types of welds to obtain grade evaluation values, thereby reflecting the complexity and uniformity of the weld shape through the grade evaluation values, and can comprehensively evaluate the difficulty of welding the weld according to the weld welding path; 2. Based on the weld welding path, the present invention uses laser weld tracking technology to monitor the actual welding path of the welding robot during the welding process in real time, compares and analyzes the weld welding path with the actual welding path to obtain a path comparison value, thereby reflecting the difference degree between the actual welding path and the preset path, which helps to identify the difference between the actual welding path and the planned path, and enables the robot to detect the abnormality of the welding path in a timely manner, providing a basis for subsequent adjustments; 3. The present invention obtains the actual compensation amount and collaborates with the welding robot to complete the welding work according to the actual compensation amount. By accurately calculating the actual compensation amount and performing path translation compensation, the welding head on the welding robot can always weld along the predetermined weld welding path, improving the welding accuracy of the welding robot, and eliminating the need for manual frequent adjustment of the position of the welding robot. The robot can automatically compensate according to the actual offset situation, improving the welding efficiency. Description of the drawings

[0007] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0008] Figure 1 is a flowchart of an auxiliary method for a collaborative welding robot of the present invention; Figure 2 is a schematic diagram of an auxiliary system for a collaborative welding robot of the present invention. Detailed implementation manners

[0009] To enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solution in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0010] Embodiment 1 Figure 1 It is a flowchart of an auxiliary method for a collaborative welding robot provided in Embodiment 1 of the present invention. The embodiments of the present invention are applicable to identifying the type of weld seam and evaluating the difficulty when welding the weld seam according to the welding path of the weld seam.

[0011] As Figure 1 shown, an auxiliary method for a collaborative welding robot provided in an embodiment of the present invention specifically includes the following steps: Step 1: Scan the area to be welded through visual positioning technology, extract the scanned image, and perform shape recognition on the scanned image to obtain the type recognition information of the weld seam in the area to be welded; Among them, the type recognition information includes approximate linear weld seams or non-linear weld seams; In some embodiments, edge detection is performed on the area to be welded through the edge algorithm in visual positioning technology to obtain a weld seam image, and on the basis of edge detection, weld seam image information is obtained through a contour extraction algorithm; Among them, the weld seam image information includes but is not limited to the starting point of the weld seam, the inflection point of the weld seam, and the end point of the weld seam, etc.; Substitute the weld seam image into a three-dimensional Cartesian coordinate system to obtain a three-dimensional change curve of the weld seam; It should be noted that the X-axis represents the position in the horizontal direction of the weld seam, that is, the position in the left-right direction on the surface of the workpiece, the Y-axis represents the height dimension of the weld seam in the direction perpendicular to the surface of the workpiece, that is, the degree of bulge or depression of the weld seam relative to the surface of the workpiece, and the Z-axis represents the position dimension of the weld seam in the length direction of the workpiece, that is, the direction along which the weld seam extends; Analyze the three-dimensional change curve of the weld seam through the Pearson coefficient, and the process is as follows: A1. Calculate the mean value of the coordinates on the X-axis respectively 、the mean value of the coordinates on the Y-axis 、the mean value of the coordinates on the Z-axis ; Among them, calculate respectively through the mean value calculation formula: ; ; ; It should be noted that represents the coordinate of the weld on the X-axis, represents the coordinate of the weld on the Y-axis, represents the coordinate of the weld on the Z-axis; A2, calculate the covariance of X and Y respectively , the covariance of X and Z , the covariance of Y and Z ; Among them, calculate respectively through the covariance calculation formula: ; ; ; A3, calculate the standard deviation of the coordinates on the X-axis , the standard deviation of the coordinates on the Y-axis , the standard deviation of the coordinates on the Z-axis ; Among them, calculate respectively through the standard deviation calculation formula: ; ; ; It should be noted that represents the coordinate of the weld on the X-axis, represents the coordinate of the weld on the Y-axis, represents the coordinate of the weld on the Z-axis, represents the mean value of the coordinates on the X-axis, represents the mean value of the coordinates on the Y-axis, represents the mean value of the coordinates on the Z-axis; A4, calculate the Pearson coefficient of X and Y respectively , the Pearson coefficient of X and Z , the Pearson coefficient of Y and Z ; Among them, calculate respectively through the Pearson coefficient calculation formula: ; ; ; It should be noted that represents the standard deviation of the coordinates on the X-axis, represents the standard deviation of the coordinates on the Y-axis, represents the standard deviation of the coordinates on the Z-axis; If and and are all close to 1, it indicates that the analyzed weld seam has a high linear approximation degree in three-dimensional space and is marked as an approximately linear weld seam; If or and one of them is far from 1, it indicates that the analyzed weld seam has a low linear approximation degree in three-dimensional space and is marked as a non-linear weld seam; It can be understood that when judging the linear relationship, the value range of the Pearson coefficient is in , specifically, if the absolute value of the Pearson coefficient is closer to 1, it indicates a stronger linear relationship, and if the absolute value of the Pearson coefficient is closer to 0, it indicates a weaker linear relationship; The purpose of using the Pearson coefficient is to quantify the linear approximation degree of the weld seam in three-dimensional space, which helps to identify the weld seam type, provides parameter references for the subsequent auxiliary welding robot to perform welding processes, and thus realizes the dynamic adjustment of the welding robot during welding work; Step 2: Based on the weld seam type recognition information, plan the weld seam welding path and obtain the grade evaluation value to evaluate the welding grade of the welding path; In some embodiments, extract the three-dimensional change curve corresponding to the weld seam, and use the line segment between two adjacent inflection points on the three-dimensional change curve of the weld seam as the local welding path; Integrate all local welding paths in the order from the starting point to the ending point of the three-dimensional change curve of the weld seam to obtain the weld seam welding path; In the seam welding path, extract the XY weld curve on the X and Y axis dimensions, the XZ weld curve on the X and Z axis dimensions, and the YZ weld curve on the Y and Z axis dimensions respectively; Based on the XY weld curve, obtain the inflection point quantity ratio on the XY weld curve, and perform a ratio calculation with the total number of inflection points on the three-dimensional change curve of the weld seam to obtain the XY inflection point quantity ratio; Extract the standard deviation on the X axis and the standard deviation on the Y axis and sum them up to obtain the XY standard deviation; Extract the mean value on the X axis and the mean value of the coordinates on the Y axis and sum them up to obtain the XY mean value; Use the coefficient of variation calculation formula for the XY standard deviation and the XY mean value to obtain the XY weld seam smoothness; Based on the XZ weld curve, obtain the inflection point quantity ratio on the XZ weld curve, and perform a ratio calculation with the total number of inflection points on the three-dimensional change curve of the weld seam to obtain the XZ inflection point quantity ratio; Extract the standard deviation on the X axis and the standard deviation of the Z-axis Sum them up to obtain the XZ standard deviation; Extract the mean value on the X-axis and the mean value of the coordinates on the Z-axis Sum them up to obtain the XZ mean value; Use the coefficient of variation calculation formula for the XZ standard deviation and the XZ mean value to obtain the smoothness of the XZ weld; Based on the YZ weld curve, obtain the ratio of the number of inflection points on the YZ weld curve, and calculate the ratio with the total number of inflection points on the three-dimensional change curve of the weld to obtain the YZ inflection point ratio; Extract the standard deviation on the Y-axis and the standard deviation of the Z-axis Sum them up to obtain the YZ standard deviation; Extract the mean value on the Y-axis and the mean value of the coordinates on the Z-axis Sum them up to obtain the YZ mean value; Use the coefficient of variation calculation formula for the YZ standard deviation and the YZ mean value to obtain the smoothness of the YZ weld; It should be noted that the purpose of using the coefficient of variation formula is as follows: by considering the relative relationship between the dispersion degree (standard deviation) of the data and the data mean value, to measure the relative stability of the weld path. By dividing the standard deviation by the mean value to obtain the coefficient of variation, the influence caused by different mean values can be eliminated, providing a relatively unified measurement standard, reflecting the relative dispersion degree of the fluctuation of the weld path in each dimension relative to its average position, that is, the linear uniformity of the weld path in different dimensions; Sum up the XY inflection point ratio and the smoothness of the XY weld to obtain the XY evaluation value; Sum up the XZ inflection point ratio and the smoothness of the XZ weld to obtain the XZ evaluation value; Sum up the YZ inflection point ratio and the smoothness of the YZ weld to obtain the YZ evaluation value; Sum up the XY evaluation value, the XZ evaluation value, and the YZ evaluation value to obtain the grade evaluation value; It can be understood that the meaning represented by the grade evaluation value is: reflecting the complexity and uniformity of the shape of the weld path, and being able to comprehensively evaluate the difficulty during welding according to the weld path. Specifically, the inflection point ratio reflects the complexity of the weld path. The more the inflection point ratio, the less smooth the weld path, while the smoothness of the weld reflects the uniformity degree of the weld curve in each dimension, thus being used to evaluate the welding grade of the weld path; Extract the grade evaluation values corresponding to all weld paths and compare their magnitudes; Exemplarily, the weld welding path corresponding to the maximum value of the grade evaluation is marked as the highest welding grade, and the weld welding path corresponding to the minimum value of the grade evaluation is marked as the lowest welding grade; The specific implementation scheme of the embodiment of the present invention is as follows: scanning the area to be welded through visual positioning technology, extracting the scanned image, and performing shape recognition through the Pearson coefficient, which helps to identify the type of weld seam, provides parameter reference for the subsequent auxiliary welding robot to perform the welding process. At the same time, the welding grade of different types of weld seams is evaluated to obtain the grade evaluation value, so as to reflect the complexity and uniformity of the weld seam shape through the grade evaluation value, and can comprehensively evaluate the difficulty of welding the weld seam according to the weld welding path; Embodiment Two Step Three: Based on the weld welding path, the actual welding path of the welding robot during the welding process is monitored in real time through laser weld seam tracking technology, and the weld welding path is compared and analyzed with the actual welding path to obtain path comparison data. Among them, the path comparison data includes the curve point distance difference and the curve curvature difference. The curve point distance difference and the curve curvature difference are quantified to obtain a path comparison value, which is compared with the path comparison threshold to generate a dynamic adjustment signal; In some embodiments, the laser weld seam tracking system uses a laser displacement sensor to irradiate the laser on the surface of the welded part, and the reflected light is received by the sensor. The time difference between the emission and reception of the laser is measured, and the actual welding path of the welding head of the welding robot is calculated; Substitute the actual welding path into the three-dimensional Cartesian coordinate system to obtain the actual three-dimensional change curve; Based on the actual three-dimensional change curve, the XY actual curve in the X and Y axis dimensions, the XZ actual curve in the X and Z axis dimensions, and the YZ actual curve in the Y and Z axis dimensions are respectively extracted; Respectively extract the coordinates on the XY actual curve and the coordinates on the XY weld curve; The coordinates on the XY actual curve ( , ) and the coordinates on the XY weld curve ( , ) are combined to obtain multiple groups of XY point distance groups; Among them, is the coordinate of the actual three-dimensional change curve on the X axis, is the coordinate of the actual three-dimensional change curve on the Y axis; Exemplarily, the coordinates on the XY actual curve ( , ) and the coordinates on the XY weld curve ( , ) form a group of XY point distance groups. The coordinates on the XY actual curve ( , ), and the coordinates on the XY weld curve ( , ) form a set of XY point distance groups. The coordinates on the actual XY curve ( , ) and the coordinates on the XY weld curve ( , ) form a set of XY point distance groups; Substitute the coordinates in multiple sets of XY point distance groups into the Manhattan distance formula: ; Calculate the XY point distance difference , where represents the distance between the coordinates ( , ) on the actual XY curve and the coordinates ( , ) on the XY weld curve, and m represents the total number of XY point distance groups; Extract the coordinates on the actual XZ curve and the coordinates on the XZ weld curve respectively; Combine the coordinates ( , ) on the actual XZ curve and the coordinates ( , ) on the XZ weld curve to obtain multiple sets of XZ point distance groups; Among them, is the coordinate of the actual three-dimensional change curve on the X-axis, is the coordinate of the actual three-dimensional change curve on the Z-axis; Exemplarily, the coordinates ( , ) on the actual XZ curve and the coordinates ( , ) on the XZ weld curve form a set of XZ point distance groups. The coordinates ( , ) on the actual XZ curve and the coordinates ( , ) on the XZ weld curve form a set of XZ point distance groups. The coordinates ( , ) on the actual XZ curve and the coordinates ( , ) on the XZ weld curve form a set of XZ point distance groups; Substitute the coordinates in multiple sets of XZ point distance groups into the Manhattan distance formula: ; Calculate the XZ point distance difference , where represents the coordinates ( , The distance between the coordinates on the XZ weld curve ( , ), where m represents the total number of XZ point distance groups; Extract the coordinates on the actual YZ curve and the coordinates on the YZ weld curve respectively; The coordinates on the actual YZ curve ( , ) and the coordinates on the YZ weld curve are combined to obtain multiple groups of YZ point distance groups; Among them, is the coordinate of the actual three-dimensional change curve on the Y-axis, is the coordinate of the actual three-dimensional change curve on the Z-axis; Exemplarily, the coordinates on the actual YZ curve ( , ) and the coordinates on the YZ weld curve ( , ) form a group of YZ point distance groups, the coordinates on the actual YZ curve ( , ) and the coordinates on the YZ weld curve ( , ) form a group of YZ point distance groups, the coordinates on the actual YZ curve ( , ) and the coordinates on the YZ weld curve ( , ) form a group of YZ point distance groups; Substitute the coordinates in multiple groups of YZ point distance groups into the Manhattan distance formula: ; Calculate to obtain the YZ point distance difference , where represents the distance between the coordinates on the actual YZ curve ( , ) and the coordinates on the YZ weld curve ( , ), and m represents the total number of YZ point distance groups; Sum the XY point distance difference , the XZ point distance difference and the YZ point distance difference to obtain the curve point distance difference; It should be noted that the purpose of using the Manhattan distance formula is mainly to calculate the distance difference between the corresponding points of the actual welding path and the weld seam welding path in different dimensions. The Manhattan distance formula itself calculates the distance between two points. Therefore, through the Manhattan distance formula, the overall difference degree between the coordinate points on the actual curve and the corresponding points on the weld seam curve in the corresponding dimension can be measured; The line segment between adjacent coordinates on the actual XY curve is taken as an actual XY sub-line; The line segment between adjacent coordinates on the XY weld seam curve is taken as an XY weld seam sub-line; It should be noted that the division methods of the actual XY curve and the XY weld seam curve are the same, and the total number of actual XY sub-lines is the same as the total number of XY weld seam sub-lines; The actual XY sub-lines and the XY weld seam sub-lines are combined to obtain multiple groups of XY curvature groups; Exemplarily, the line segment between the coordinates ( , ) and ( , ) on the actual XY curve, and the line segment between the coordinates ( , ) and ( , ) on the actual XY curve are taken as a group of XY curvature groups. The line segment between the coordinates ( , ) and ( , ) on the actual XY curve, and the line segment between the coordinates ( , ) and ( , ) on the actual XY curve are taken as a group of XY curvature groups. The line segment between the coordinates ( , ) and ( , ) on the actual XY curve, and the line segment between the coordinates ( , ) and ( , ) on the actual XY curve are taken as a group of XY curvature groups; Within the XY curvature group, obtain the slope corresponding to the actual XY sub-line and the slope corresponding to the XY weld seam sub-line, and substitute the slopes corresponding to the actual XY sub-line and the XY weld seam sub-line in multiple groups of XY curvature groups into the Manhattan distance calculation formula: , and calculate the XY curvature difference; Among them, represents the total number of XY curvature groups, is expressed as the slope corresponding to the XY actual sub-line, is expressed as the slope corresponding to the XY weld sub-line; The line segment between adjacent coordinates on the XZ actual curve is taken as an XZ actual sub-line; The line segment between adjacent coordinates on the XZ weld curve is taken as an XZ weld sub-line; It should be noted that the division methods of the XZ actual curve and the XZ weld curve are the same, and the total number of XZ actual sub-lines is the same as the total number of XZ weld sub-lines. Among them, the division methods of the XZ actual curve and the XY actual curve are the same, and the division methods of the XZ weld curve and the XY weld curve are the same; The XZ actual sub-lines and the XZ weld sub-lines are combined to obtain multiple groups of XZ curvature groups; Exemplarily, the line segment between the coordinates ( , ) and ( , ) on the XZ actual curve, and the line segment between the coordinates ( , ) and ( , ) on the XZ actual curve are taken as a group of XZ curvature groups. The line segment between the coordinates ( , ) and ( , ) on the XZ actual curve, and the line segment between the coordinates ( , ) and ( , ) on the XZ actual curve are taken as a group of XZ curvature groups. The line segment between the coordinates ( , ) and ( , ) on the XZ actual curve, and the line segment between the coordinates ( , ) and ( , ) on the XZ actual curve are taken as a group of XZ curvature groups; Within the XZ curvature group, obtain the slope corresponding to the XZ actual sub-line and the slope corresponding to the XZ weld sub-line, and substitute the slopes corresponding to the XZ actual sub-line and the XZ weld sub-line in multiple groups of XZ curvature groups into the Manhattan distance calculation formula: , and calculate to obtain the XZ curvature difference; Among them, represents the total number of XZ curvature groups, represents the slope corresponding to the XZ actual sub-line, Denoted as the slope corresponding to the XZ weld sub-line; Take the line segment between adjacent coordinates on the YZ actual curve as a YZ actual sub-line; Take the line segment between adjacent coordinates on the YZ weld curve as a YZ weld sub-line; It should be noted that the division methods of the YZ actual curve and the YZ weld curve are the same, and the total number of YZ actual sub-lines is the same as the total number of YZ weld sub-lines. Among them, the division methods of the YZ actual curve and the XY actual curve are the same, and the division methods of the YZ weld curve and the XY weld curve are the same; Combine the YZ actual sub-line and the XZ weld sub-line to obtain multiple groups of YZ curvature groups; Exemplarily, take the line segment between the coordinates ( , ) and ( , ) on the YZ actual curve, and the line segment between the coordinates ( , ) and ( , ) on the YZ actual curve as a group of YZ curvature groups. Take the line segment between the coordinates ( , ) and ( , ) on the YZ actual curve, and the line segment between the coordinates ( , ) and ( , ) on the YZ actual curve as a group of YZ curvature groups. Take the line segment between the coordinates ( , ) and ( , ) on the YZ actual curve, and the line segment between the coordinates ( , ) and ( , ) on the YZ actual curve as a group of YZ curvature groups; Within the YZ curvature group, obtain the slope corresponding to the YZ actual sub-line and the slope corresponding to the YZ weld sub-line, and substitute the slopes corresponding to the YZ actual sub-line and the YZ weld sub-line in multiple groups of YZ curvature groups into the Manhattan distance calculation formula: , and calculate to obtain the YZ curvature difference; Among them, Denoted as the total number of YZ curvature groups, Denoted as the slope corresponding to the YZ actual sub-line, Denoted as the slope corresponding to the YZ weld sub-line; Sum the XY curvature difference, XZ curvature difference, and YZ curvature difference to obtain the curve curvature difference; Sum the curve curvature difference and the curve point distance difference to obtain the path comparison value; It can be understood that the meaning represented by the path comparison value is: it reflects the degree of difference between the actual welding path and the preset path. Specifically, the overall difference in spatial position between the coordinate points on the actual curve and the corresponding points on the weld curve is measured by the curve point distance difference, which reflects the deviation degree of the actual path and the preset path in different dimensions. The difference in the curve bending degree of the actual path and the preset path in different dimensions is reflected by the curve curvature difference. Therefore, it helps to identify the difference between the actual welding path and the planned path, and enables the robot to promptly detect the abnormality of the welding path, providing a basis for subsequent adjustment; Compare the path comparison value with the path comparison threshold, and the process is as follows: If the path comparison value is greater than the path comparison threshold, it indicates that the deviation degree of the actual path and the preset path in different dimensions is relatively large, and a dynamic adjustment signal is generated; If the path comparison value is less than or equal to the path comparison threshold, it indicates that the deviation degree of the actual path and the preset path in different dimensions is relatively small, and a real-time tracking signal is generated; The specific implementation scheme of the embodiment of the present invention is: based on the weld welding path, the actual welding path of the welding robot during the welding process is monitored in real time through the laser weld tracking technology, and the weld welding path and the actual welding path are compared and analyzed to obtain the path comparison value, thereby reflecting the degree of difference between the actual welding path and the preset path, helping to identify the difference between the actual welding path and the planned path, and enabling the robot to promptly detect the abnormality of the welding path, providing a basis for subsequent adjustment.

[0012] Embodiment III Step 4: Based on the dynamic adjustment signal, obtain the actual compensation amount, and cooperate with the welding robot to complete the welding work according to the actual compensation amount; In some embodiments, if the dynamic adjustment signal of the welding robot is generated in the XY plane, then obtain the distance between the coordinate on the X axis of the actual welding path and the coordinate on the X axis of the weld welding path, and obtain the distance between the coordinate on the Y axis of the actual welding path and the coordinate on the Y axis of the weld welding path, and substitute them into the formula: ; Calculate to obtain the actual compensation amount , where represents the coordinate on the X axis of the actual welding path, represents the coordinate on the Y axis of the actual welding path, represents the coordinate on the X axis of the weld welding path, Denoted as the coordinate on the Y-axis of the weld path Exemplarily, if the dynamic adjustment signal of the welding robot is generated in the XZ plane, then obtain the distance between the coordinate on the X-axis of the actual welding path and the coordinate on the X-axis of the weld path, and obtain the distance between the coordinate on the Z-axis of the actual welding path and the coordinate on the Z-axis of the weld path, and substitute them into the formula: ; Calculate the actual compensation amount , where Denoted as the coordinate on the X-axis of the actual welding path Denoted as the coordinate on the Z-axis of the actual welding path Denoted as the coordinate on the X-axis of the weld path Denoted as the coordinate on the Z-axis of the weld path Exemplarily, if the welding robot deviates from the welding path on the X and Z axes; If the dynamic adjustment signal of the welding robot is generated in the YZ plane, then obtain the distance between the coordinate on the Y-axis of the actual welding path and the coordinate on the Y-axis of the weld path, and obtain the distance between the coordinate on the Z-axis of the actual welding path and the coordinate on the Z-axis of the weld path, and substitute them into the formula: ; Calculate the actual compensation amount , where Denoted as the coordinate on the Y-axis of the actual welding path Denoted as the coordinate on the Z-axis of the actual welding path Denoted as the coordinate on the Y-axis of the weld path Denoted as the coordinate on the Z-axis of the weld path At the actual deviation coordinate point, perform translation according to the actual compensation amount to complete the welding work; The specific implementation of this embodiment of the present invention is: obtain the actual compensation amount, and cooperate with the welding robot to complete the welding work according to the actual compensation amount. By accurately calculating the actual compensation amount and performing path translation compensation, the welding head on the welding robot can always weld along the predetermined weld path, improving the welding accuracy of the welding robot, and there is no need for manual frequent adjustment of the position of the welding robot. The robot can automatically compensate according to the actual deviation situation, improving the welding efficiency.

[0013] Embodiment 4 As Figure 2 shown, an auxiliary system for a collaborative welding robot provided by an embodiment of the present invention specifically includes the following modules: Scanning and recognition module: Scan the area to be welded, and perform shape recognition on the scanned image to obtain the type recognition information of the weld seam within the area to be welded; Among them, the type recognition information includes approximately linear weld seams or non-linear weld seams; Grade evaluation module: Scan the three-dimensional weld path to the XY, XZ, and YZ planes respectively, obtain the XY, XZ, and YZ scanning curves in sequence, and obtain the inflection point quantity ratio and weld seam smoothness on the XY, XZ, and YZ scanning curves in sequence. Based on the inflection point quantity ratio and weld seam smoothness of all scanning curves, comprehensively evaluate the grade of the welding path; Comparison and analysis module: Project the three-dimensional actual welding path to the XY, XZ, and YZ planes respectively, obtain the XY, XZ, and YZ projection curves in sequence, then compare them with the XY, XZ, and YZ scanning curves in the same plane in sequence to obtain the curve point distance difference and curve curvature difference, and comprehensively evaluate the difference between the curves. If the difference is large, generate a dynamic adjustment signal; Dynamic compensation module: Based on the dynamic adjustment signal, obtain the compensation amount under different difference conditions and perform translation compensation.

[0014] The above formulas are all dimensionless and take their numerical values for calculation. The formulas are obtained by collecting a large amount of data for software simulation to get a formula closest to the actual situation. The preset parameters in the formulas are set by those skilled in the art according to the actual situation.

[0015] The above has described an embodiment of the present invention in detail, but the content described is only a preferred embodiment of the present invention and cannot be considered as limiting the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of the present invention application should still fall within the patent coverage scope of the present invention.

Claims

1. An auxiliary system for a collaborative welding robot, characterized in that, Including: Level evaluation module: Scanning the three-dimensional planned welding path onto the XY, XZ, and YZ planes respectively to obtain the planned curves on different two-dimensional planes, and obtaining the ratio of the number of inflection points and the smoothness of the weld seam of the XY, XZ, and YZ scanning curves to comprehensively evaluate the level of the welding path; Comparison and analysis module: Projecting the three-dimensional actual welding path onto the XY, XZ, and YZ planes respectively to obtain the actual curves on different two-dimensional planes, and comparing them with the planned curves on different two-dimensional planes respectively to obtain the curve point distance difference and curve curvature difference on different two-dimensional planes to comprehensively evaluate the difference degree between the welding paths. If the difference degree between the welding paths exceeds the preset difference threshold, a dynamic adjustment signal is generated; Dynamic compensation module: Based on the dynamic adjustment signal, obtaining the compensation amount under different difference conditions and performing translation compensation.

2. The auxiliary system of a collaborative welding robot according to claim 1, characterized in that, The way to obtain the ratio of the number of inflection points of XY is as follows: Obtaining the ratio of the number of inflection points of the XY planned curve in the total number of inflection points of the planned curves on all two-dimensional planes to obtain the ratio of the number of inflection points of XY; The way to obtain the smoothness of the XY weld seam is as follows: Outputting the smoothness of the XY weld seam through the coefficient of variation of the XY planned curve.

3. The auxiliary system of a collaborative welding robot according to claim 1, wherein, The way to obtain the ratio of the number of inflection points of XZ is as follows: Obtaining the ratio of the number of inflection points of the XZ planned curve in the total number of inflection points of the planned curves on all two-dimensional planes to obtain the ratio of the number of inflection points of XZ; The way to obtain the smoothness of the XZ weld seam is as follows: Outputting the smoothness of the XZ weld seam through the coefficient of variation of the XZ planned curve.

4. The auxiliary system of a collaborative welding robot according to claim 1, characterized in that, The way to obtain the ratio of the number of inflection points of YZ is as follows: Obtaining the ratio of the number of inflection points of the YZ planned curve in the total number of inflection points of the planned curves on all two-dimensional planes to obtain the ratio of the number of inflection points of YZ; The way to obtain the smoothness of the YZ weld seam is as follows: Outputting the smoothness of the YZ weld seam through the coefficient of variation of the YZ planned curve.

5. The auxiliary system of a collaborative welding robot according to claim 1, characterized in that, The process of welding level evaluation is as follows: Calculating the sum value of the ratio of the number of inflection points and the smoothness of the weld seam of the planned curves on different two-dimensional planes, and outputting the evaluation value of the planned curves on different two-dimensional planes; Then calculating the sum value of the evaluation values of the planned curves on all different two-dimensional planes to obtain the level evaluation value, and obtaining the welding level of the planned welding path in descending order.

6. The auxiliary system of a collaborative welding robot according to claim 1, characterized in that The way to obtain the curve point distance difference is as follows: Extracting the coordinate points on the planned curves of different two-dimensional planes and the coordinate points on the corresponding actual curves of different two-dimensional planes for combination, and obtaining the distance between the combined coordinate points; Calculating the distance between all combined coordinate points through the Manhattan distance formula and outputting the curve point distance difference.

7. The auxiliary system of a collaborative welding robot according to claim 1, characterized in that The way to obtain the curve curvature difference is as follows: Extracting the slopes between adjacent coordinates on the planned curves of different two-dimensional planes and the slopes between adjacent coordinates on the corresponding actual curves of different two-dimensional planes for combination, and obtaining the deviation between the combined slopes; Calculating the deviation between all combined slopes through the Manhattan distance formula and outputting the curve curvature difference.

8. The auxiliary system of a collaborative welding robot according to claim 1, characterized in that, The process of evaluating the difference degree between welding paths is as follows: Calculating the sum value of the curve point distance difference and the curve curvature difference to obtain the path comparison value.

9. The auxiliary system of a collaborative welding robot according to claim 1, characterized in that, The process of generating the dynamic adjustment signal is as follows: If the path comparison value is greater than the path comparison threshold, a dynamic adjustment signal is generated.

10. The auxiliary system of a collaborative welding robot according to claim 1, characterized in that, The process of obtaining the actual compensation amount is as follows: If the dynamic adjustment signal is generated in the XY plane, the XY compensation amount is calculated according to the XY curve point distance difference; If the dynamic adjustment signal is generated in the XZ plane, the XZ compensation amount is calculated according to the XZ curve point distance difference; If the dynamic adjustment signal is generated in the YZ plane, the YZ compensation amount is calculated according to the YZ curve point distance difference.

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