Method, device, equipment and storage medium for welding gun path planning

Abstract

The present invention discloses a method, device, equipment and storage medium for welding gun path planning, including: loading three-dimensional model data, initially configuring the welding gun, identifying all welds in the three-dimensional model, extracting welding center coordinates, identifying all parts, fixtures and welds in the three-dimensional model, dividing the area with the fixture as the partial edge, setting a transition point for each welding area, using the transition point as the starting point and the final return point to follow the RRT logic for path planning, generating a regional welding path, and integrating the regional welding paths to generate a welding gun path planning file. By using the fixture to divide the parts into multiple welding areas, the complexity of avoiding welds is reduced. After independently planning the welding path for each area and integrating it, the number of times and the moving distance of the welding gun to avoid the fixture during movement are reduced, the complexity of path planning is reduced, the risk of interference is avoided, welding efficiency is improved, and production costs are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of welding process design, and in particular to a method, device, equipment and storage medium for welding gun path planning. Background Art

[0002] Gun path design plays a crucial role in the welding process, directly impacting not only the quality and performance of welded joints but also welding efficiency and costs. A well-planned gun path ensures the continuity and uniformity of welds, avoids welding defects, and improves the strength and sealing of welded joints. Optimizing the gun path can also reduce the distance and time the gun travels, improving welding efficiency and reducing production costs. Gun path planning is also related to the degree of automation in the welding process and is key to achieving automation and intelligence. Therefore, it is crucial to prioritize the planning and execution of the gun path in the welding process to ensure welding quality, production efficiency, and costs, and to optimize and upgrade the welding process.

[0003] When planning the welding gun path, a reasonable welding path is often set based on welding requirements, as well as the spatial structure and positional relationship between the fixture and the workpiece. This allows the welding gun to complete all welds in a certain order and avoid interference with the digital model and fixtures. However, when faced with large, complex molds or molds with many fixtures, the welding gun path planning process needs to consider a large number of factors such as interference and rotation angles. If there is a long distance between two adjacent welds, a large height difference, or the need to avoid fixtures, the design complexity will be greatly increased. It is difficult to fully consider multiple factors and plan a more optimized welding gun path, resulting in the inability to achieve welding quality, production efficiency, and cost control. Summary of the Invention

[0004] Embodiments of the present invention provide a method, device, equipment and storage medium for welding gun path planning to solve the technical problems of complex welding gun path design, large changes during welding gun movement, and easy interference, which easily leads to low welding efficiency and high production costs due to interference and the welding gun moving too far.

[0005] In a first aspect, an embodiment of the present invention provides a method for welding gun path planning, comprising:

[0006] S101, loading the 3D model data to be welded and the 3D model data of the welding gun for which path planning is required, performing initial settings for the welding gun, and generating an initial configuration file for the welding gun;

[0007] S102, traversing the model structure tree of the three-dimensional model data to be welded, and identifying the weld point data set therein;

[0008] S103, based on the 3D model data to be welded, all parts, fixtures, and welds therein are identified, and based on the spatial structure and positional relationship of the parts, fixtures, and welds, the 3D model data to be welded is divided into regions, using the fixture structure as the boundary of some regions while avoiding all welds, to generate welding region data;

[0009] S104, setting at least one welding area transition point for each welding area in the welding area data, and performing welding gun path planning for each welding area according to the welding point data set, using the welding area transition point as the starting point and final return point of the welding gun path of the current welding area, and following the RRT logic to generate a regional welding path;

[0010] S105 , according to the welding gun initial configuration file, according to the distance between the welding gun initial point and the transition point of each welding area, sequentially arranging the regional welding path of each welding area, and generating a welding gun path planning file.

[0011] Furthermore, the S103 includes:

[0012] Traverse the 3D model data to be welded, identify all parts, fixtures and welding points, divide the parts into regions according to the position of the fixtures on the parts, and generate multiple part regions;

[0013] According to the outer contour of the part and the edge of the fixture, the edges of each part area are closed and connected. When closing the connection, the welding points need to be avoided to generate welding area data.

[0014] Furthermore, the S104 includes:

[0015] At least one welding zone transition point is provided in each welding zone;

[0016] According to the weld point data set and the weld area data, the weld point data respectively located in each weld area are screened to generate the regional weld point data of each weld area;

[0017] Taking the welding area transition point as the starting point and final return point of each welding area, the welding gun path is planned for each welding area according to the regional welding point data of each welding area to generate the regional welding path.

[0018] Furthermore, the welding gun path planning for each welding area to generate the regional welding path includes:

[0019] Find the welding point closest to the transition point of the welding area and generate the gun feed path;

[0020] Find the weld point closest to the current weld point and not passed through as the next weld point, and generate a weld path between the current weld point and the next weld point, and the weld path does not interfere with the parts until all weld points in the current welding area are passed through to generate a weld path;

[0021] Perform a small gun opening test between the last passed weld point and the weld area transition point. If the small gun opening test fails, perform a wide gun opening test. If the wide gun opening test still fails, return to the last passed weld point and perform the gun opening test again until the gun is successfully released. This generates a gun release path.

[0022] Generate regional welding paths for the welding area based on the gun feed path, welding path, and gun exit path.

[0023] Furthermore, the S102 includes:

[0024] Traversing the model structure tree of the three-dimensional model data to be welded, identifying the weld data set, and identifying the position nodes and model nodes of all welds in the weld data set, and identifying the missing position nodes and missing model nodes based on the corresponding relationship between the position nodes and the model nodes;

[0025] According to the missing conditions of the location nodes and the model nodes, data of the missing location nodes and the missing model nodes are recovered.

[0026] Furthermore, the data recovery of the missing position nodes and the missing model nodes according to the missing position nodes and the missing model nodes includes:

[0027] When the position node of the current weld point is identified but the model node corresponding to the current weld point is not identified, the missing condition of the current weld point is determined to be model missing, and the model of the current weld point is supplemented according to the position node of the current weld point to generate the model node corresponding to the current weld point;

[0028] When the model node of the current weld point is identified but the position node corresponding to the current weld point is not identified, the missing condition of the current weld point is determined to be position missing. The position of the current weld point is supplemented according to the model node of the current weld point to generate the position node corresponding to the current weld point.

[0029] Furthermore, the S101 includes:

[0030] Load the 3D model data to be welded and select the 3D model data of the welding gun for which path planning is required;

[0031] According to the welding gun 3D model data of the required path planning, the initial point, rotation angle and default opening size of the welding gun are set to generate the welding gun initial configuration file.

[0032] In a second aspect, an embodiment of the present invention provides a device for welding gun path planning, comprising:

[0033] The model loading module is used to load the 3D model data to be welded and the 3D model data of the welding gun that needs path planning, and perform initial settings on the welding gun;

[0034] A welding spot recognition module is used to recognize welding spot data in the three-dimensional model data to be welded;

[0035] Welding area division module, used to divide the welding 3D model data into areas;

[0036] The welding gun path planning module is used to plan the welding gun path for each welding area based on the welding point dataset;

[0037] The file output module is used to generate a welding gun path planning file according to the regional welding path of each welding area.

[0038] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0039] one or more processors;

[0040] a storage device for storing one or more programs,

[0041] When the one or more programs are executed by the one or more processors, the one or more processors implement the above-mentioned welding gun path planning method.

[0042] In a fourth aspect, an embodiment of the present invention provides a storage medium comprising computer-executable instructions, which, when executed by a computer processor, are used to perform the above-mentioned welding gun path planning method.

[0043] The embodiment of the present invention provides a method, device, equipment and storage medium for welding gun path planning. The method performs initial settings on the welding gun after loading a three-dimensional model, traverses a structure tree of the three-dimensional model to be welded to identify welding point data, uses the fixture to divide the part into regions based on the positional relationship between the fixture and the part to form multiple welding regions, sets welding region transition points for each welding region, and performs welding region path planning for the welding points in each welding region, and summarizes all welding region paths to generate a welding gun path planning file. By using the fixture to divide the part into regions, the part is divided into multiple welding regions that need to be welded, not only can the requirement of avoiding welding points during fixture design be utilized, but the complexity of avoiding welding points during region division is reduced. By independently planning the welding path for each welding region and then integrating the regional welding paths of all welding regions, the number of times and the moving distance of the welding gun avoiding the fixture during movement are reduced, the path planning complexity is reduced, the risk of interference between the welding gun and the fixture is avoided, the welding efficiency is improved, and the production cost is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which constitute part of the present invention, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0045] Figure 1 Schematic diagram of a spot welding gun with a C-shaped welding clamp according to the present invention;

[0046] Figure 1 (a) is a schematic diagram of a spot welding gun with a C-shaped welding clamp according to the present invention;

[0047] Figure 1 (b) is a schematic diagram of another spot welding gun with C-shaped welding clamps according to the present invention;

[0048] Figure 1 (c) is a schematic diagram of another spot welding gun with C-shaped welding clamps according to the present invention;

[0049] Figure 2 This is a flow chart of a method for welding gun path planning according to embodiment 1 of the present invention;

[0050] Figure 3 This is a schematic diagram of the welding gun path according to the first embodiment of the present invention;

[0051] Figure 4 This is a schematic diagram of the software interface according to the first embodiment of the present invention;

[0052] Figure 5 This is a flow chart of a method for welding gun path planning according to the second embodiment of the present invention;

[0053] Figure 6 This is a schematic diagram of the division of welding areas according to the second embodiment of the present invention;

[0054] Figure 6 (a) is a schematic diagram of a spatial grid divided by a fixture according to the second embodiment of the present invention;

[0055] Figure 6 (b) is a schematic diagram of a welding area with closed edges according to the second embodiment of the present invention;

[0056] Figure 7 A schematic diagram of a welding path according to a second embodiment of the present invention;

[0057] Figure 8 This is a flow chart of a method for welding gun path planning according to embodiment three of the present invention;

[0058] Figure 9 This is a structural schematic diagram of a device for welding gun path planning according to a fourth embodiment of the present invention;

[0059] Figure 10 This is a structural diagram of an electronic device according to a fifth embodiment of the present invention.

[0060] Description of reference numerals:

[0061] 1-first transition point; 2-second transition point; 3-space grid; 4-welding area. DETAILED DESCRIPTION

[0062] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0063] When planning the welding gun path using a 3D digital model, it is necessary to consider the shape of the 3D model to be welded, the position and shape of the fixture, and the distribution of the weld points. A reasonable welding gun path planning is required to ensure smooth welding, improve welding efficiency, and reduce production costs. When planning the welding gun path, especially the welding gun of the C-type welding clamp, such as Figure 1 As shown, Figure 1 (a) Figure 1 (b) and Figure 1 (c) shows three different spot welding guns with C-type welding clamps, namely SRTC-7304-L, SRTC-7306-L and SRTC-7307-L. Figure 1 (a) The welding gun has a throat width of 600mm, a throat depth of 300mm, a movable arm length of 428mm, a static arm length of 172mm, and an auxiliary stroke of 230mm. Figure 1 (b) The welding gun has a throat width of 650mm, a throat depth of 250mm, a movable arm length of 433mm, a static arm length of 217mm, and an auxiliary stroke of 229mm. Figure 1 (c) The welding gun has a throat width of 420mm, a throat depth of 270mm, a movable arm length of 355mm, a static arm length of 65mm, and an auxiliary stroke of 105mm. Different types of welding guns are used for different welding needs. It is necessary to design a reasonable avoidance route based on the welding gun model, throat width, throat depth and other parameters. Interference between the welding gun and parts and fixtures affects welding efficiency and quality. Especially when welding parts with large size, complex shape or many fixtures, if the welding gun path is planned from a more holistic perspective, many factors need to be considered, and the movement changes involved in the path are more frequent, which greatly increases the complexity of the path design and makes it difficult to consider it comprehensively. As a result, it is impossible to further optimize the welding quality, efficiency and cost.

[0064] Example 1

[0065] Figure 2 This is a flow chart of a method for welding gun path planning according to a first embodiment of the present invention. This embodiment divides a three-dimensional model to be welded into regions, uses a fixture to divide the three-dimensional model into multiple welding regions, and performs path planning for each region. The method specifically includes the following steps:

[0066] S101, loading the 3D model data to be welded and the 3D model data of the welding gun for which path planning is required, performing initial settings on the welding gun, and generating an initial configuration file for the welding gun.

[0067] Software such as UG, Solidworks, Proe, and CATIA are commonly used 3D design software in engineering design. The API interfaces provided by these software can be used to interact with the 3D design software through programming languages ​​to implement welding gun path planning. In this embodiment, CATIA is used as an example. Through the interactive functions developed through programming, CATIA is called to load the 3D model data to be welded and the 3D model data of the welding gun. Initial settings are performed on the welding gun, and the initial position and angle of the 3D model of the welding gun, as well as the positional relationship between the 3D model of the welding gun and the 3D model to be welded, are determined as the initial state for welding gun path planning, thereby generating an initial welding gun configuration file.

[0068] S102, traversing the model structure tree of the three-dimensional model data to be welded, and identifying the welding point data set therein.

[0069] All nodes in the model structure tree of the welding three-dimensional model data are traversed, the weld point file representing the weld point data set is identified, and then all nodes representing the weld points contained therein are identified. Under the node representing the weld point, there will be "point" information and model information of the weld point. The "point" information of the weld point represents the coordinates of the weld point and is used to record the location of the weld point. The model information of the weld point is associated with the "point" information of the weld point and is used to record the shape of the weld point that needs to be formed on the current weld point. The point center of the weld point is the center of gravity of the weld point model, and the center of gravity of the weld point model is consistent with the "point" information of the weld point, that is, the center of gravity of the weld point model coincides with the welding center coordinates, and welding operations can be performed based on the welding center coordinates and the weld point model.

[0070] S103, based on the 3D model data to be welded, identify all parts, fixtures and welding spots therein, and divide the 3D model data to be welded into regions based on the spatial structure and positional relationship of the parts, fixtures and welding spots, using the fixture structure as the boundary of some regions while avoiding all welding spots, to generate welding region data.

[0071] Based on the structure tree of the 3D model data to be welded, all parts, fixtures, and welds are identified and labeled. The fixture's position on the part is used to partition the part into multiple zones. The fixtures serve as the edges of each zone, and the portion of the part between two fixtures is considered a welding zone to generate weld zone data. Since fixtures need to avoid welds when setting up to secure parts, using fixtures to partition parts into zones can reduce the need to avoid welds, improve the rationality of zone division, and ultimately improve the rationality of weld path planning.

[0072] S104, at least one welding area transition point is set for each welding area in the welding area data, and according to the welding point data set, the welding area transition point is used as the starting point and final return point of the welding gun path of the current welding area, and the welding gun path is planned for each welding area according to the RRT logic to generate a regional welding path.

[0073] The welding zone transition point is used for the welding gun to move from the initial point to the current welding zone and stop there. It can serve as the starting point and return point for the path of the current welding zone. The welding zone transition point is set according to the characteristics of each welding zone, and the corresponding number of welding zone transition points is set according to the number of welds within each welding zone. If the number of welds within the welding zone is small, only one welding zone transition point can be set. If the number of welds within the welding zone is large, multiple transition points can be set based on the number of welds, the complexity of the assembly digital model, and the degree of regional division. This allows the welding gun to start welding in the current welding zone with appropriate parameters such as opening size and rotation angle, which helps to improve welding efficiency and reduce production costs. Based on the welds located in each welding zone in the weld point dataset, starting from the welding zone transition point, the welding points within each welding zone are sequentially passed through according to the RRT (Rapidly-Exploring Random Trees) logic. The welding gun path planning is performed for each welding zone separately, and the regional welding path is generated.

[0074] S105 , according to the welding gun initial configuration file, according to the distance between the welding gun initial point and the transition point of each welding area, sequentially arranging the regional welding path of each welding area, and generating a welding gun path planning file.

[0075] In order to connect the regional welding paths of all welding areas to form a complete welding path, according to the initial point, rotation angle, default opening size and other parameters of the welding gun initial configuration in the welding gun initial configuration file, from the welding area transition point closest to the initial point, according to the distance between the welding area transition point and the initial point from near to far, all regional welding paths are arranged in sequence to form a welding path for each welding area in sequence. Figure 3 As shown in the figure, the red line segments are welding paths of different welding areas, and the black circles represent transition points, among which the first transition point 1 and the second transition point 2 are welding area transition points of different welding areas. The transition point between the first transition point 1 and the second transition point 2 is the movement path of the welding gun from the first transition point 1 to the second transition point 2 for welding the next area. In each welding area, a complete welding path is generated based on the path planned within the welding area itself, and the paths of each welding area are different.

[0076] This embodiment performs initial settings on the welding gun after loading the three-dimensional model, traverses the structure tree of the three-dimensional model to be welded to identify the welding point data, and uses the fixture to divide the part into regions based on the positional relationship between the fixture and the part to form multiple welding areas, sets a welding area transition point for each welding area, and performs welding area path planning for the welding points in each welding area, and summarizes all welding area paths to generate a welding gun path planning file. By using the fixture to divide the part into regions and divide the part into multiple welding areas that need to be welded, not only can the need to avoid welding points during fixture design be utilized, the complexity of avoiding welding points during region division is reduced, and by independently planning the welding path for each welding area and then integrating the regional welding paths of all welding areas, the number of times and the moving distance of the welding gun avoiding the fixture during movement are reduced, the complexity of path planning is reduced, the risk of interference between the welding gun and the fixture is avoided, the welding efficiency is improved, and the production cost is reduced.

[0077] Optionally, the S101 includes:

[0078] Load the 3D model data to be welded and select the 3D model data of the welding gun for which path planning is required.

[0079] In this embodiment, CATIA is used as an example. CATIA is a 3D design software of Dassault Systemes. CATIA has an API interface provided to third parties. Through the API interface, the required functions can be developed through programming to achieve intelligent interaction with CATIA. Figure 4 As shown, the "Data Import" function jumps to CATIA, where the 3D model data to be welded is selected and loaded, and the name of the 3D model to be welded is returned. The "Torch Import" function jumps to CATIA, where the 3D model data of the welding gun is selected and loaded, and the name of the welding gun 3D model is returned. The developed software can use the API interface to call the model data loaded in CATIA based on the returned name, extracting the required information or performing the required functions.

[0080] According to the welding gun 3D model data of the required path planning, the initial point, rotation angle and default opening size of the welding gun are set to generate the welding gun initial configuration file.

[0081] Before planning the welding gun path, it is necessary to first determine the parameters and default position of the welding gun, so that the welding gun parameters can be coordinated with the three-dimensional model to be welded during path planning to design a reasonable welding gun path. For example, Figure 4 As shown in the figure, the initial settings of the welding gun are realized through "Planning Settings", the initial point, rotation angle and default opening size of the welding gun are set, the positional relationship between the 3D model to be welded and the 3D model of the welding gun is determined before the welding gun path planning, and the initial configuration file of the welding gun is generated.

[0082] Example 2

[0083] Figure 5 This is a flow chart of a method for welding gun path planning according to a second embodiment of the present invention. This embodiment is optimized based on the above embodiment. In this embodiment, S103 is specifically optimized as follows:

[0084] Traverse the 3D model data to be welded, identify all parts, fixtures and welding points, divide the parts into regions according to the position of the fixtures on the parts, and generate multiple part regions;

[0085] According to the outer contour of the part and the edge of the fixture, the edges of each part area are closed and connected. When closing the connection, the welding points need to be avoided to generate welding area data.

[0086] Accordingly, the welding gun path planning method provided in this embodiment specifically includes:

[0087] S201, loading the 3D model data to be welded and the 3D model data of the welding gun for which path planning is required, performing initial settings on the welding gun, and generating an initial configuration file for the welding gun.

[0088] S202, traversing the model structure tree of the three-dimensional model data to be welded, and identifying the welding point data set therein.

[0089] S203, traversing the three-dimensional model data to be welded, identifying all parts, fixtures and welding points therein, dividing the parts into regions according to the positions of the fixtures on the parts, and generating multiple part regions.

[0090] The model structure tree of the 3D model to be welded is traversed, and all parts, fixtures, and weld points are identified and differentiated using keywords. For the identified parts and fixtures, the relative positional relationship between the fixture and the part is determined based on the coordinates in the part parameters and fixture parameters. The parts are then divided into zones using the fixtures, with the fixture locations serving as the boundaries for the zone divisions. The parts between the fixtures are considered a zone, forming multiple part zones.

[0091] S204: Close the edges of each part area according to the outer contour of the part and the edge of the fixture. When closing the connection, avoid the welding points and generate welding area data.

[0092] According to the shape of the part, the outer contour of the part is connected with the edge of the fixture until the edge of the part area is closed, forming an area with complete and closed edges. When closing the connection, the welds need to be avoided according to the coordinates or position information of the welds to generate welding area data. For example, the fixture is used to process the parts into a spatial grid, and based on the edge of the motion envelope of the fixture and the outer contour edge of the part, the RRT algorithm is used to close the edges of the areas belonging to the same spatial grid. The avoidance position is processed through random sampling and path collision avoidance, and the nearest neighbor search is maintained within the path. Figure 6 As shown, the space grid 3 divided by the fixture is as follows Figure 6 As shown in (a), the edge of the motion envelope of the fixture and the outer contour of the part are used to close the connection, and the resulting welding area 4 is as shown in Figure 6 (b) shown.

[0093] S205, at least one welding area transition point is set for each welding area in the welding area data, and according to the welding point data set, the welding area transition point is used as the starting point and final return point of the welding gun path of the current welding area, and the welding gun path is planned for each welding area according to the RRT logic to generate a regional welding path.

[0094] S206 , according to the welding gun initial configuration file, the regional welding paths of each welding area are arranged in sequence according to the distance between the welding gun initial point and the transition point of each welding area, and a welding gun path planning file is generated.

[0095] This embodiment divides the parts to be welded into multiple part areas, uses a fixture as part of the edge of the welding area, and uses the outer contour of the part to close the edge of the welding area to form a complete welding area; independent path planning can be performed for each welding area separately, reducing interference between welding areas, reducing the factors that need to be considered when performing path planning within a single welding area, reducing the complexity of path planning, reducing the degree of change of the welding gun during movement, avoiding interference risks, and improving path planning efficiency, thereby improving welding quality and welding efficiency, and effectively reducing production costs.

[0096] In an optional implementation of this embodiment, S205 includes:

[0097] At least one welding region transition point is provided in each welding region.

[0098] During the welding process, for multiple weld zones, the welding gun must first move from the initial point to the weld zone transition point of each zone, using this point as the starting point for the current weld zone. The weld zone transition point serves as the starting point for the current weld zone and the return point for the welding gun after welding is complete. It must be set based on the characteristics of each weld zone, such as the zone shape, part shape, fixture shape, weld point distribution, and number of weld points. It also defines parameters such as the opening size and rotation angle of the welding gun at the start of the current weld zone to facilitate welding operations within the weld zone.

[0099] According to the weld point data set and the weld area data, the weld point data respectively located in each weld area are screened to generate the regional weld point data of each weld area.

[0100] Each weld point data in the weld point data set contains the coordinates of the weld point, that is, the location information of the weld point. After the weld area is formed, it also contains the coordinate range information of the weld area. According to the coordinates of the weld point and the coordinate range of the weld area, the weld point data of each weld area is screened and matched to generate the regional weld point data within each weld area.

[0101] Taking the welding area transition point as the starting point and final return point of each welding area, the welding gun path is planned for each welding area according to the regional welding point data of each welding area to generate the regional welding path.

[0102] The welding area transition point serves as the starting point and final return point of each welding area, and is a reference for planning independent welding gun paths for each welding area. The welding gun can start and end the welding operation of the current welding area by moving to the welding area transition point, so that it is not affected by other welding areas. The welding operation of each welding area is started only after the welding gun moves from the initial point to the welding area transition point of each welding area. This reduces the factors that need to be considered between the welding gun and the first welding point, improves the efficiency of welding gun movement and gun advancement, reduces interference between different welding areas, reduces the risk of interference caused by large changes in the welding gun movement process when there are large differences between welding points, and reduces the complexity of welding gun path planning. The planned welding gun path can effectively improve welding quality, welding efficiency, and reduce production costs.

[0103] Specifically, performing welding gun path planning for each welding area to generate a regional welding path includes:

[0104] Find the welding point closest to the transition point of the welding area and generate the gun feed path.

[0105] To minimize gun travel distance and improve welding efficiency, the weld point closest to the transition point is selected as the first weld point in each weld zone. A gun path is generated between the transition point and the first weld point. Gun path planning begins with a straight line selection, then considers factors like part shape that need to be avoided, and adjusts the path based on the shortest distance to create the gun path.

[0106] Find the weld point that is closest to the current weld point and has not been passed as the next weld point, generate a weld point path between the current weld point and the next weld point, and the weld point path does not interfere with the parts until all weld points in the current welding area have been passed and a welding path is generated.

[0107] When planning the welding path within the welding area, the path is followed so that the distance between welding points is shortest, there is no interference with parts, and there are no repeated welding points. That is, when the current welding point is being welded, the welding point that is closest and has not been welded before is used as the next welding point, and the shortest path is generated between the two welding points so that there is no interference. This process is repeated until all welding points in the current welding area have been welded once, and the path planning within the welding area is completed to generate the welding path. For example, if Figure 7 As shown, starting from the first transition point 1 of the welding area, the welding path planning of one area is completed through points A, B, D, C, E, F, and G in sequence, and the route is recorded to generate the welding path.

[0108] A small gun opening test is performed between the last passed weld point and the transition point of the welding area. If the small gun opening test fails, a wide gun opening test is performed. If the wide gun opening test still fails, the test returns to the last passed weld point and the gun opening test is performed again until the gun is successfully released and a gun release path is generated.

[0109] After all the weld points in the welding area have been passed through to generate the welding path, the welding gun needs to be ejected from the current welding area, return to the welding area transition point, and prepare to move to the next welding area transition point to perform the operation of the next welding area. When pulling out the gun, first consider opening the welding gun arm slightly. The wide opening and narrow opening of the welding gun arm refer to the maximum distance between the welding gun arm and the static arm. The wide opening defaults to the maximum opening, and the narrow opening is set by the user. The default is 0.5 times the wide opening size. Move directly from the last passed weld point to the welding area transition point, following the shortest distance and non-interference rule. However, due to the limited opening size of the C-type welding gun, it is difficult to avoid no interference during the return process. Therefore, if there is interference and it is impossible to return directly to the welding area transition point, open the welding gun arm widely. Wide opening of the welding gun arm means opening the welding gun arm to the maximum to maximize the opening of the C-type welding gun, and then pull out the gun with the wide opening. If the gun still cannot be pulled out, return to the last passed weld point and perform the gun pulling out test again. Repeat this process until you can return to the welding area transition point with the shortest distance without interference, complete the gun pulling out, and generate the gun pulling out path. For example, after the welding gun passes the last welding point, the welding gun arm is opened slightly and a gun-out test is performed. If it cannot directly return to the transition point of the welding area, the welding gun arm is opened widely and the gun-out test is performed again. If it still cannot return to the transition point of the welding area, it returns to the second-to-last welding point passed and performs the gun-out test with the welding gun arm opened slightly again. If it still cannot be drawn, the gun-out test with the welding gun arm opened widely is performed again. If it still cannot be drawn, it continues to return to the previous welding point and repeats the aforementioned gun-out test until the gun is drawn.

[0110] Generate regional welding paths for the welding area based on the gun feed path, welding path, and gun exit path.

[0111] The gun feed path, welding path, and gun exit path are connected in sequence. The gun feed path is the process of the welding gun entering the first weld point from the transition point of the welding area to start welding. The welding path is the process of the welding gun moving between weld points to weld. The gun exit path is the process of the welding gun returning to the transition point of the welding area after completing welding, forming a complete welding gun path for a welding area. The complete welding gun path data includes the position point sequence, coordinates, and welding gun size information report of the weld points. The complete welding gun paths of multiple areas form a complete welding gun path planning file in sequence. The welding gun can complete the welding operations of each welding area in sequence according to the file with the welding area transition point as a reference, reducing the complexity of path planning, reducing the welding gun movement distance and the degree of adjustment changes during the movement, reducing interference risks, and improving welding efficiency.

[0112] Example 3

[0113] Figure 8This is a flow chart of a method for welding gun path planning according to a third embodiment of the present invention. This embodiment is optimized based on the above embodiment. In this embodiment, S102 is specifically optimized as follows:

[0114] Traversing the model structure tree of the three-dimensional model data to be welded, identifying the weld data set, and identifying the position nodes and model nodes of all welds in the weld data set, and identifying the missing position nodes and missing model nodes based on the corresponding relationship between the position nodes and the model nodes;

[0115] According to the missing conditions of the location nodes and the model nodes, data of the missing location nodes and the missing model nodes are recovered.

[0116] Accordingly, the welding gun path planning method provided in this embodiment specifically includes:

[0117] S301, loading the 3D model data to be welded and the 3D model data of the welding gun for which path planning is required, performing initial settings for the welding gun, and generating an initial configuration file for the welding gun.

[0118] S302, traverse the model structure tree of the three-dimensional model data to be welded, identify the weld data set, and identify the position nodes and model nodes of all welds in the weld data set, and identify missing position nodes and missing model nodes based on the correspondence between the position nodes and the model nodes.

[0119] By traversing the model structure tree of the 3D model data to be welded, all nodes in the weld point file representing the weld point dataset in the structure tree are identified. Specifically, weld points can be identified by identifying keywords or node attributes in the node name. For example, when performing keyword recognition on the node name, by identifying key characters such as "hd," "wp," "two-layer weld," or "three-layer weld" (not case-sensitive), the node can be identified as a weld point. When such keywords are recognized, the identified node can be determined to be a weld point. A weld point node often includes a position node representing the weld point's location or coordinates and a model node representing the weld point model. In some 3D model data to be welded, the model structure tree also includes a "weld point file (part file)" containing all weld point information. Weld points can also be identified using the weld point file. The position node is typically represented as a "point" node, and the model node is typically represented as a "sphere" or "prism" node, depending on the shape of the weld point model. The "point" node represents the weld point's location, and the "sphere" node represents the weld point model. After the weld is identified, the "point" and model of the weld node are matched. A weld contains a pair of "points" and models with a matching relationship. In some cases due to misoperation, there may be missing "points" or models. Through the matching relationship between the "points" and the model, the missing "points" and missing models, that is, the missing position nodes and missing model nodes, are identified.

[0120] S303: Based on the missing status of the location nodes and the model nodes, data of the missing location nodes and the missing model nodes are recovered.

[0121] Based on the identified missing data, the corresponding nodes are supplemented for data recovery, completing the data content of the solder joint nodes. For missing location nodes, the coordinates of the solder joint center are determined based on the solder joint model and a location node is generated for restoration. For missing model nodes, the "point" coordinates of the solder joint are used to generate model nodes for restoration, thus recovering the missing content.

[0122] S304: Based on the three-dimensional model data to be welded, all parts, fixtures and welds therein are identified. Based on the spatial structure and positional relationship of the parts, fixtures and welds, the fixture structure is used as the boundary of some areas while avoiding all welds. The three-dimensional model data to be welded is divided into areas to generate welding area data.

[0123] S305, at least one welding area transition point is set for each welding area in the welding area data, and according to the welding point data set, the welding area transition point is used as the starting point and final return point of the welding gun path of the current welding area, and the welding gun path is planned for each welding area according to the RRT logic to generate a regional welding path.

[0124] S306 , according to the welding gun initial configuration file, the regional welding paths of each welding area are arranged in sequence according to the distance between the welding gun initial point and the transition point of each welding area, and a welding gun path planning file is generated.

[0125] This embodiment identifies all welds by nodes in the three-dimensional model structure tree, and finds the missing position nodes or model nodes under the weld node based on the one-to-one correspondence between the weld position and the model, establishes the corresponding weld model based on the position node, supplements the model node, determines the point center of the weld based on the center of gravity of the weld model body of the model node to generate a position node, supplements the position node to recover missing data, complete the weld information, and avoid affecting the welding quality and welding efficiency during path planning and welding.

[0126] Specifically, the data recovery of the missing position nodes and the missing model nodes according to the missing position nodes and the missing model nodes includes:

[0127] When the position node of the current weld point is identified but the model node corresponding to the current weld point is not identified, the missing condition of the current weld point is determined to be model missing. According to the position node of the current weld point, the model of the current weld point is supplemented to generate the model node corresponding to the current weld point.

[0128] When the position node of the weld is matched with the model node, if only the position node is identified but the model node is not identified, the missing model node needs to be supplemented. Exemplarily, based on the coordinates of the weld position node, that is, the "point" node, as the point center of the weld, a spherical model is generated through the "center of gravity command" and the "sphere generation" command, and the sphere center coordinate value is recorded. The sphere center coordinate value is adjusted to coincide with the point center of the weld, and the model node of the current weld is generated to complete the supplementary recovery of the weld information. The weld model can be a sphere, prism or other three-dimensional shape suitable for welding. When the weld model is spherical, the center of the sphere is the center of gravity of the sphere. When the weld is a prism or other shape, the center of gravity of the weld model body is determined as the point center of the weld, which is used to align with the coordinates of the "point" node.

[0129] When the model node of the current weld point is identified but the position node corresponding to the current weld point is not identified, the missing condition of the current weld point is determined to be position missing. The position of the current weld point is supplemented according to the model node of the current weld point to generate the position node corresponding to the current weld point.

[0130] When matching a weld's location node with a model node, if only the model node is identified but not the location node, the missing location node needs to be supplemented. For example, the model node, i.e., the center of gravity of the weld model, is determined as the weld's center. A "point" node is generated to record the coordinates representing the weld's center position, completing the restoration of the weld's information.

[0131] Example 4

[0132] Figure 9 This is a schematic structural diagram of a device for planning a welding gun path according to a fourth embodiment of the present invention. In this embodiment, the device for planning a welding gun path includes:

[0133] The model loading module 810 is used to load the 3D model data to be welded and the 3D model data of the welding gun for which the path needs to be planned, and to perform initial settings on the welding gun;

[0134] The welding spot identification module 820 is used to identify welding spot data in the three-dimensional model data to be welded;

[0135] The welding area division module 830 is used to divide the three-dimensional model data to be welded into areas;

[0136] A welding gun path planning module 840 is used to plan the welding gun path for each welding area based on the weld point dataset;

[0137] The file output module 850 is used to generate a welding gun path planning file according to the regional welding path of each welding area.

[0138] In this embodiment, a model loading module is used to load the three-dimensional model data to be welded and the three-dimensional model data of the welding gun and set the initial parameters of the welding gun. A welding spot identification module is used to traverse the three-dimensional model data to be welded and identify all welding spots. A welding area division module is used to divide the three-dimensional model data to be welded into regions using a fixture to obtain multiple welding regions. A welding gun path planning module is used to plan an independent regional welding path for each welding region. A file output module is used to integrate the regional welding paths of all welding regions to generate a welding gun path planning file. By using a fixture to divide the parts into regions and divide the parts into multiple welding regions to be welded, not only can the need to avoid welding spots during fixture design be utilized, but the complexity of avoiding welding spots during region division is reduced. By independently planning the welding path for each welding region and then integrating the regional welding paths of all welding regions, the number of times and the moving distance of the welding gun during movement are reduced, the path planning complexity is reduced, the risk of interference between the welding gun and the fixture is avoided, the welding efficiency is improved, and the production cost is reduced.

[0139] The device for welding gun path planning provided in the embodiment of the present invention can execute the method for welding gun path planning provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0140] Example 5

[0141] Figure 10 This is a structural diagram of an electronic device according to a fifth embodiment of the present invention. Figure 10 A block diagram of an exemplary device 12 suitable for use in implementing embodiments of the present invention is shown. Figure 10 The device 12 shown is only an example and should not bring any limitation to the functionality and scope of use of the embodiments of the present invention.

[0142] like Figure 10 As shown, device 12 is implemented as a general-purpose computing device. Components of device 12 may include, but are not limited to, one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including system memory 28 and processing unit 16).

[0143] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. Examples of these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0144] Device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by device 12, including volatile and non-volatile media, removable and non-removable media.

[0145] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be configured to read and write non-removable, non-volatile magnetic media ( Figure 10 Not shown, usually called a "hard drive"). Although Figure 10 Although not shown, a magnetic disk drive for reading and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), as well as an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present invention.

[0146] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may include an implementation of a network environment. Program modules 42 generally implement the functions and / or methodologies of the embodiments described herein.

[0147] The device 12 may also communicate with one or more external devices 14 (e.g., a keyboard, a pointing device, a display 24, etc.), one or more devices that enable a user to interact with the device 12 / server / computer, and / or any device that enables the device 12 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may occur through an input / output (I / O) interface 22. Furthermore, the device 12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 20. Figure 10 As shown, the network adapter 20 communicates with the other modules of the device 12 via the bus 18. Figure 10 Not shown, other hardware and / or software modules may be used in conjunction with device 12, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0148] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28 , such as implementing the welding gun path planning method provided in an embodiment of the present invention.

[0149] Example 6

[0150] The sixth embodiment of the present invention further provides a storage medium containing computer executable instructions, which, when executed by a computer processor, is used to execute the welding gun path planning method provided in the above embodiment.

[0151] The computer storage medium of the embodiments of the present invention may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0152] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0153] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0154] Computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0155] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for welding gun path planning, characterized in that: include: S101, loading the 3D model data to be welded and the 3D model data of the welding gun for which path planning is required, performing initial settings for the welding gun, and generating an initial configuration file for the welding gun; S102, traversing the model structure tree of the three-dimensional model data to be welded, and identifying the weld point data set therein; S103, based on the 3D model data to be welded, all parts, fixtures, and welds therein are identified, and based on the spatial structure and positional relationship of the parts, fixtures, and welds, the 3D model data to be welded is divided into regions, using the fixture structure as the boundary of some regions while avoiding all welds, to generate welding region data; S104, setting at least one welding area transition point for each welding area in the welding area data, and performing welding gun path planning for each welding area according to the welding point data set, using the welding area transition point as the starting point and final return point of the welding gun path of the current welding area, and following the RRT logic to generate a regional welding path; S105 , according to the welding gun initial configuration file, according to the distance between the welding gun initial point and the transition point of each welding area, sequentially arranging the regional welding path of each welding area, and generating a welding gun path planning file.

2. The method according to claim 1, characterized in that The S103 includes: Traverse the 3D model data to be welded, identify all parts, fixtures and welding points, divide the parts into regions according to the position of the fixtures on the parts, and generate multiple part regions; According to the outer contour of the part and the edge of the fixture, the edges of each part area are closed and connected. When closing the connection, the welding points need to be avoided to generate welding area data.

3. The method according to claim 1, characterized in that The S104 includes: At least one welding zone transition point is provided in each welding zone; According to the weld point data set and the weld area data, the weld point data respectively located in each weld area are screened to generate the regional weld point data of each weld area; Taking the welding area transition point as the starting point and final return point of each welding area, the welding gun path is planned for each welding area according to the regional welding point data of each welding area to generate the regional welding path.

4. The method according to claim 3, characterized in that The welding gun path planning for each welding area to generate a regional welding path includes: Find the welding point closest to the transition point of the welding area and generate the gun feed path; Find the weld point closest to the current weld point and not passed through as the next weld point, and generate a weld path between the current weld point and the next weld point, and the weld path does not interfere with the parts until all weld points in the current welding area are passed through to generate a weld path; Perform a small gun opening test between the last passed weld point and the weld area transition point. If the small gun opening test fails, perform a wide gun opening test. If the wide gun opening test still fails, return to the last passed weld point and perform the gun opening test again until the gun is successfully released. This generates a gun release path. Generate regional welding paths for the welding area based on the gun feed path, welding path, and gun exit path.

5. The method according to claim 1, wherein The S102 includes: Traversing the model structure tree of the three-dimensional model data to be welded, identifying the weld data set, and identifying the position nodes and model nodes of all welds in the weld data set, and identifying the missing position nodes and missing model nodes based on the corresponding relationship between the position nodes and the model nodes; According to the missing conditions of the location nodes and the model nodes, data of the missing location nodes and the missing model nodes are recovered.

6. The method according to claim 5, characterized in that The method of recovering data of the missing position nodes and the missing model nodes according to the missing position nodes and the missing model nodes includes: When the position node of the current weld point is identified but the model node corresponding to the current weld point is not identified, the missing condition of the current weld point is determined to be model missing, and the model of the current weld point is supplemented according to the position node of the current weld point to generate the model node corresponding to the current weld point; When the model node of the current weld point is identified but the position node corresponding to the current weld point is not identified, the missing condition of the current weld point is determined to be position missing. The position of the current weld point is supplemented according to the model node of the current weld point to generate the position node corresponding to the current weld point.

7. The method according to claim 1, characterized in that The S101 includes: Load the 3D model data to be welded and select the 3D model data of the welding gun for which path planning is required; According to the welding gun 3D model data of the required path planning, the initial point, rotation angle and default opening size of the welding gun are set to generate the welding gun initial configuration file.

8. A device for welding gun path planning, used to implement the welding gun path planning method according to claim 1, characterized in that: include: The model loading module is used to load the 3D model data to be welded and the 3D model data of the welding gun that needs path planning, and perform initial settings on the welding gun; A welding spot recognition module is used to recognize welding spot data in the three-dimensional model data to be welded; Welding area division module, used to divide the welding 3D model data into areas; The welding gun path planning module is used to plan the welding gun path for each welding area based on the welding point dataset; The file output module is used to generate a welding gun path planning file according to the regional welding path of each welding area.

9. An electronic device, characterized in that: The device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the welding gun path planning method according to any one of claims 1 to 7.

10. A storage medium comprising computer executable instructions, wherein the computer executable instructions are used to perform the method for welding gun path planning according to any one of claims 1 to 7 when executed by a computer processor.

Images