Robot welding forming method, device, equipment, medium and product

Abstract

The invention relates to a robot welding forming method, device and equipment, a medium and a product, and relates to the technical field of welding forming. On the premise that the assembly quality requirement is met, the influence factors influencing curved surface segmented rib plate welding seam forming are analyzed, the single curved surface segmented rib plate robot welding forming process is evaluated, the welding forming process is obtained, the welding forming stability of the robot is guaranteed through control over the welding posture and the welding gun angle, and the welding efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of welding forming, and in particular to a robot welding forming method, device, equipment, medium and product. Background Art

[0002] Hull sections are the core intermediate products for realizing modern shipbuilding models. They can generally be divided into two forms: flat sections and curved sections. Curved sections mainly include non-flat parts such as the bow, stern, side, and bottom. With the continuous improvement of modern ship design capabilities, the proportion of curved sections in sections has gradually increased. Therefore, the efficient and high-quality welding of curved sections directly affects the quality and efficiency of ship section construction. Domestic curved sections are mainly produced by manual and semi-automatic gas shielded welding, with low production efficiency and unstable welding quality. At present, there have been successful cases of realizing intelligent assembly line production of flat sections in the section manufacturing link, but the research on automated and intelligent welding technology for curved sections is still in its infancy. Only by breaking through the bottleneck of intelligent welding technology for curved sections can we completely open up the technical route of intelligent manufacturing of ship sections and support the high-quality development of the shipbuilding industry.

[0003] Due to the characteristics of variable line shapes, complex skeleton structures, and poor similarity, the construction of curved segmentation currently relies mainly on manual labor using traditional multi-layer and multi-pass welding. This results in low operating efficiency, the process is greatly affected by human factors, and the welding quality is unstable. The manufacturing of curved segmentation involves the connection of curved panels, longitudinal welding, rib welding, and other links, and a large number of welds exhibit large irregular curvatures. Welding construction is welding at a large inclination position, and the welding trajectory is a three-dimensional curve. The changes in weld profiling and spatial posture bring great difficulties to the mechanical automation and intelligentization of welding. This is a technical problem that has plagued the industry for many years and has not yet been realized in engineering applications. Therefore, it is necessary to focus on the key process links of curved segmentation construction, conduct targeted research on advantageous welding processes, and overcome key technologies such as the influence of large curvature on the flow and formation of the molten pool, three-dimensional curve weld identification, path planning, and welding adaptive control to meet the urgent needs of shipbuilding companies for intelligent welding of curved segmentation. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to take the weld of the curved segmented rib as the research object, analyze the welding forming process method, control the welding posture and welding gun angle, and explore the stability of robot welding forming in view of the irregular shape of the weld of the curved segmented rib, break through the process technology under the angle of the curved segmented rib, and improve the welding efficiency.

[0005] The present application provides a robot welding forming method, the method comprising the steps of: Obtain the factors affecting the weld formation of the curved surface segmented rib plate robot, take the welding posture and welding gun angle as the main influencing factors, perform the welding forming process assessment of the single curved surface segmented rib plate robot, and obtain the welding forming process; Obtain the welding direction of the curved segmented rib weld, segment the weld along the welding direction, and obtain the welding posture of each weld position, which includes flat welding, up-tilt welding, and vertical welding; With the goal of covering the curved segmented rib weld, matching the welding posture and the welding gun angle is performed, and setting the welding gun angle when the welding posture is achievable; A welding verification platform with a gantry system, electrical control system, robot welding system, and visual recognition system as the main body is established, a virtual model of the robot and welding verification platform is established, and the path of the robot is planned using the visual operation of the virtual model.

[0006] Furthermore, the influencing factors of the curved surface segmented rib plate robot for welding weld formation are obtained, and the welding posture and welding gun angle among the influencing factors are taken as the main influencing factors, and the welding forming process of the single curved surface segmented rib plate robot is evaluated. The welding forming process is obtained, and the following steps are performed: Setting the influencing factors includes welding position, processing and assembly conditions, welding method, angle form, welding materials, and welding conditions; In the robot welding of curved segmented ribs, welding speed, welding current, welding voltage, wire extension length, gas flow rate, and robot swing mode are used as input variables to predict weld formation. Taking the welding posture and welding gun angle as the main influencing factors, the robot welding forming process of single-curved segmented rib plate is analyzed to obtain the correlation between the welding posture and welding gun angle control and the robot welding forming stability, and the numerical value of the input variable is set to form the welding forming process.

[0007] Furthermore, the setting of the numerical values ​​of the input variables to form the welding forming process includes: With the welding current and welding voltage at their maximum, obtain the carbon dioxide gas flow rate; The shape formed by the motion trajectory of the welding gun end in one swing cycle is used as the swing shape, and the swing shape includes Z-shaped swing arc, V-shaped swing arc, triangular swing arc and circular motion swing arc; Combine the robot joints involved in the swing, obtain the swing width and swing height according to the swing shape and the movement space of the joint combination, and control the swing frequency so that the arc spends time in the middle of the groove to meet the welding quality; The values ​​of the determined input variables are aggregated to form the welding forming process.

[0008] Furthermore, setting the welding gun angle includes: Establishing a welding process database that meets the characteristics of curved segmented ribs, wherein the welding process database is associated with a parameter library of robot postures and a parameter library of different welding gun angles; Extract the weld properties of each weld position and combine them into weld features; The welding process parameters in the welding process database are matched according to the weld characteristics, and the welding gun angle is set according to the welding process parameters.

[0009] Furthermore, matching the welding process parameters in the welding process database according to the weld characteristics and setting the welding gun angle according to the welding process parameters includes: Obtaining the robot body posture by matching the weld seam features, and calculating the kinematics forward solution of the robot body posture to obtain the welding gun posture; By dividing the weld into sections and analyzing the requirements of the welding gun posture during welding, combined with basic welding process forming parameters, the welding process parameters that match the change of the welding angle during the welding process are obtained from the welding process database; After offsetting the welding gun posture coordinates to the welding points, the external axis values ​​of the robot are obtained, and the motion instructions of each welding point are determined; A relationship model between the surface curvature, welding gun posture and welding process parameters is established, and the welding gun angle of each welding point is determined in combination with the motion instructions.

[0010] Furthermore, the utilizing the visualization operation of the virtual model to perform path planning for the robot includes: The robot postures at different inclination angles of the curved segmented ribs are compiled into a robot posture library; Determine the welding gun posture at each position of the curved weld according to process requirements, where the position of the curved weld is 0-90°; Set the robot posture to be determined every 5°; The robot posture value is entered into the robot posture library for offline calling.

[0011] The present application also provides a robot welding forming device, comprising: A welding forming process acquisition module is used to acquire the influencing factors of weld seam formation by the curved surface segmented rib plate robot, and to evaluate the welding forming process of the single curved surface segmented rib plate robot with the welding posture and welding gun angle as the main influencing factors, and to acquire the welding forming process; The welding posture acquisition module is used to obtain the welding direction of the curved segmented rib weld, segment the weld along the welding direction, and obtain the welding posture of each weld position. The welding posture includes flat welding, up-tilt welding, and vertical welding; A welding gun angle determination module is used to match the welding posture and the welding gun angle with the goal of covering the curved segmented rib weld, and to set the welding gun angle when the welding posture is reachable; The path planning module is used to establish a welding verification platform with the gantry system, electrical control system, robot welding system, and visual recognition system as the main body, establish a virtual model of the robot and welding verification platform, and use the visualization operation of the virtual model to plan the path of the robot.

[0012] The present application also provides an electronic device, comprising: memory for storing computer programs; The processor is used to implement the steps of the robot welding forming method as described above when executing the computer program.

[0013] The present application also provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of the robot welding forming method as described above are implemented.

[0014] The present application also provides a computer program product, comprising a computer program, which implements the steps of the robot welding forming method as described above when executed by a processor.

[0015] Compared with the existing technology, it has the following beneficial effects: On the premise of meeting the assembly quality requirements, this application analyzes the factors affecting the weld formation of curved segmented ribs, evaluates the robot welding forming process of single-curved segmented ribs, obtains the welding forming process, and controls the welding posture and welding gun angle to ensure the stability of the robot welding forming and improve the welding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. Together with the implementation examples of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention.

[0017] In the attached figure: Figure 1 This is a schematic flow chart of a robot welding forming method provided in Example 1 of the present application; Figure 2 This is a schematic diagram of equidistant division provided in Example 1 of the present application; Figure 3 This application Figure 2 A partial enlarged schematic diagram of point A in the middle; Figure 4 This is a schematic diagram of welding angles provided in Example 1 of the present application; Figure 5This is a schematic flow chart of a robot welding forming method provided in Example 2 of the present application; Figure 6 It is a diagram of the internal structure of a computer device in one embodiment of the present application. DETAILED DESCRIPTION

[0018] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0019] Example 1 The welding of curved segmented ribs is far more complex than that of flat segmented ribs. The welding structure determines that the robotic welding equipment and forming process control of curved segmented ribs are different from those of flat segments. The forming process control at different positions involves aspects such as the formation of molten metal in the weld seam, the robot's posture and gun posture, and the stability of system control. The welding of curved segmented ribs requires welding equipment with greater adaptability to cover a wider range of curved segmented rib welding. The posture during welding is often limited by the workpiece structure, and conventional welding guns and robot postures cannot meet the welding requirements. Through a robotic welding forming method, a control solution is formed for the robotic welding forming process of single-curved segmented ribs, providing process support for robotic welding of curved segmented ribs.

[0020] like Figure 1 As shown, this embodiment provides a robot welding forming method, including the following steps: a. welding forming process; b. welding posture and welding gun angle control; c. robot welding forming stability.

[0021] In step a, the weld formation of curved segmented rib robot welding is related to many factors, including welding position, processing and assembly conditions, welding method, angle form, welding materials, welding conditions, etc. The welding process itself is a complex process of electrical, magnetic, and thermal interactions. Changes in welding speed, welding current, welding voltage, dry extension length, swing form, swing width, frequency and time will greatly affect the thermal process of welding and inevitably affect the weld formation quality, which is manifested in the form of changes in weld penetration, weld width, reinforcement, and even porosity and surface condition. By conducting a process analysis of the robotic welding of single-curved segmented ribs, and through research on welding posture and welding gun angle control and robot welding formation stability technology, a robotic welding formation method has been developed to provide process support for robotic welding of curved segmented ribs.

[0022] In step b, based on the actual workpiece placement characteristics of the shipyard, the welding orientation of curved segmented rib welds includes multiple welding postures, including flat welding, tilted welding, and vertical welding. To ensure both welding quality and a certain welding speed, different welding postures and torch angles are used for different welds, depending on the specific welding orientation. During the welding process, the welding torch moves relative to the weld seam in a specific posture. The selection of welding posture is critical to ensuring good weld quality. The posture of the welding robot's torch relative to the weld seam also affects welding quality. Establishing a posture model of the weld seam and torch is crucial for curved surface welding. Based on the development experience of the planar segmented intelligent welding system, the structure and layout of the torch significantly affect welding accessibility. Robotic welding of curved segmented ribs is subject to significant structural constraints. To avoid interference and collision, the robot's welding posture and torch angle are optimized, based on the optimization of the torch structure and layout to ensure maximum coverage of the curved segmented rib weld. While the welding posture is accessible, the torch angle meets the control requirements of the curved weld process. To accommodate robotic welding, a welding process database tailored to the characteristics of curved segmented ribs has been established. This includes a parameter library for robot postures and different welding gun angles for various curved segmented rib welds. When robotically welding curved segmented ribs, the system automatically matches the corresponding process in the welding process database based on the unique weld characteristics of the curved segmented rib structure.

[0023] In step c, to address the irregular weld formation of curved segmented ribs, a welding verification platform consisting of a gantry system, electrical control system, robotic welding system, and visual recognition system was established. This system forms an equipment system for intelligent robotic welding of single-curved segmented ribs, enabling efficient offline robotic welding of curved segmented ribs. The spatial distribution of welds on curved segmented ribs is far less regular than that of flat segmented ribs, and the presence of the curved surface causes welding deformation that has a greater impact on curved segmented rib welding. Effective control of the weld formation process, welding posture, and welding gun angle is key to forming stability. Research on robotic welding forming stability, addressing the matching of the forming process with the robot posture and welding gun angle, and compensating for posture angle deviations in the on-site hardware environment, is a crucial component in controlling welding forming stability and ensuring the welding quality of curved segmented ribs.

[0024] In one implementation: In step a, if the welding current is too large, during welding, the weld will be wide, the weld height margin will be large, the weld penetration will be deep, the base material will be welded through, and there will also be undercuts, pores, and welding thermal cracks. In cases of special requirements, if it is necessary to obtain the most suitable welding current, the welding process needs to be evaluated before the workpiece is welded. When the arc welding voltage is too high, the stability of the current value in the arc is reduced. At this time, it is easy to cause unstable arc burning, resulting in arc spatter, causing a series of welding defects, common problems such as undercuts and pores, which affect the welding process. When the arc welding voltage is too low, the stability of the welding current value is reduced. At this time, the welding formation is unstable, and defects such as weld nodules will occur. Therefore, during the welding process, the welding commissioning personnel will reasonably control the arc length. Under the premise of meeting the quality of the weld, the welding current and welding voltage should be increased as much as possible to obtain higher production efficiency and better welding quality. If the CO2 gas flow rate is too high, the oxidizing effect of the gas at high temperatures will exacerbate the burnout of alloying elements and weaken the deoxidation and reduction of silicon and manganese. This will result in a large slag layer of silicon dioxide and manganese oxide on the weld surface, which can easily cause defects such as porosity. If the CO2 gas flow rate is too low, the gas flow layer will be weak, effectively protecting the molten pool and droplets, which can also easily cause defects such as porosity in the weld. The welding oscillation method also has a direct impact on the welding process. Oscillation shape: The oscillation shape refers to the trajectory of the welding torch tip during a oscillation cycle. Common shapes include Z-shaped, V-shaped, triangular, and circular oscillations. Oscillation type: The oscillation type refers to the combination of robot joints involved in the oscillation. Different combinations of joints affect the robot's spatial movement. Common modes include all six axes, one to three axes, and four to six axes. Oscillation width and height: These two modes affect the oscillation coverage. Oscillation Frequency: Changes in arc oscillation frequency cause the arc to experience varying time in the groove. This, in turn, alters the heat input distributed to the workpiece surface within a cycle, affecting penetration depth. Welding process parameters significantly influence weld quality, requiring welding technicians to conduct in-depth analysis of these parameters when investigating welding phenomena and problems. Parameter determination is based on a combination of research and empirical analysis to validate the weld formation process.

[0025] Preferably, in step a, during robot welding of curved segmented ribs, parameters such as welding speed, welding current, welding voltage, wire extension length, gas flow rate, and robot swing mode are used as input variables to predict weld formation. Welding current is a key welding parameter in the welding process and affects weld formation quality. If the welding current is too low, welding may experience arc failure, arc extinction, substandard weld penetration, unstable arc, narrow welds, and excessive weld height. Furthermore, weld slag inclusions, incomplete penetration, weld bumps, and cold cracks may also occur. During welding, arc length significantly influences the selection of arc voltage. The arc voltage and arc length are linearly related; that is, as arc length increases, arc voltage also increases, and vice versa. During welding, the speed of the welding torch also significantly affects weld quality. Welding speeds that are too fast or too slow can affect weld formation efficiency.

[0026] Furthermore, in step b, based on the influencing factors of the welding process, combined with arc tracking and laser search capabilities, the applicability is fully considered while simplifying the curved weld segmentation method as much as possible, and the following are determined: 1) The curved weld is divided into equal intervals, and the segment length is set as a variable, such as Figure 2 、 Figure 3 As shown; 2) The segment length (arc length) is set to 10mm per segment. Compared with flat welds and vertical welds, the control of the robot's welding posture for curved segmented rib welds is more important and needs to be adjusted in time as the position of the welding point on the rib changes. During the entire welding process, the angle between the welding back tilt angle and the tangent line of the welding point must be maintained to meet the process requirements. The welding gun posture control includes the welding gun forward tilt angle ∠C and the angle ∠B between the welding gun and the component, as shown in the figure. Figure 4 As shown in the figure, the requirements for welding posture control (i.e., welding process angle) are as follows: 1) Lead angle ∠C: The lead angle is controllable (configurable) at every point on the curved weld. 2) Angle ∠B between the welding gun and the component: This angle is controllable at every point on the curved weld. Generally, ∠B = (∠A) / 2 (configurable). By dividing the welding path of the curved weld and analyzing the welding gun posture requirements during welding, combined with basic welding process parameters, the corresponding welding process parameters must be met to meet the requirements of the welding angle changes during the welding process. The welding process angle must meet the requirements of the welding back tilt angle ∠C within the range of 5-10° and the welding side tilt angle ∠B between 40-50°. During implementation, the characteristics of the weld and their corresponding typical robot body postures must be organized to form a welding posture library. When applied, the software combines the extracted weld properties into weld features, obtains the typical robot body posture by matching the weld features, calculates the kinematic forward solution of the robot body posture to obtain the welding gun posture, and calculates the external axis value of the robot after offsetting the coordinates to the welding point, thereby determining the motion instructions for each welding point.

[0027] Furthermore, in step b, the curved weld is segmented. During robotic welding, the weld depth and width, spatter, weld porosity, and weld appearance are often altered by adjusting the welding torch angle and position. Therefore, a relationship model between surface curvature, torch posture, and welding process parameters was established. Based on tests of welds with varying curvatures, criteria for segmenting curved welds were summarized, and a relationship model between surface curvature, torch posture, and process parameters was established to ensure optimal weld formation.

[0028] Furthermore, in step c, two commonly used path planning methods for industrial robots currently employ are to provide a set of explicit constraints on interpolation points and an analytical expression for the motion path. These can be performed in either joint variable space or Cartesian space. However, the planned path function must be continuous and smooth, meaning both kinematic and dynamic constraints must be considered. Kinematic constraints include position, velocity, and acceleration, while dynamic constraints include dynamic factors such as joint torque and inertia. Planning in joint space directly plans the joint variables by expressing them as functions of time and planning their first- and second-order time derivatives. However, in many cases, the robot path planned in joint space can differ significantly from the actual end effector motion path. There are various methods for path planning in Cartesian space, the most common of which is the teach-and-play method, which uses the robot's position and posture to determine the robot's position during the task. However, using the teach-and-play method for robot path planning requires experienced operators and is time-consuming, as is the case with the curved segment welding task in this study. Manual teaching requires repeated instruction of the motion path for each process, significantly limiting the robot's efficiency on industrial production lines. To address this issue, a virtual model of the robot and work platform can be built, allowing for visual manipulation of the virtual model to complete the path planning requirements for the robot's corresponding task. In addition to meeting the task requirements and environmental constraints of the operating space, the robot's end-effector motion path must be smooth and continuous to improve the robot's stability and safety. A comprehensive comparison of joint-space and Cartesian-space path planning methods reveals that joint-space path planning ensures smooth and continuous joint paths, maintains stable motion, and effectively avoids singular positions. Joint-space path planning is computationally simple and easy; however, it is difficult to visualize the end-effector's motion path in a Cartesian coordinate system, making operation unintuitive and hindering obstacle avoidance. Cartesian-space path planning facilitates intuitive task description and accurate paths; however, it requires extensive kinematic and dynamic calculations, resulting in high computational complexity, difficulty avoiding singular positions, and a long control cycle. In the actual operation of the robot, it is usually impossible to find a path that is both energy-efficient and smooth. Therefore, it is necessary to select the most appropriate target according to the needs of different occasions. This is the key to solving the path planning problem. In view of the workpiece style, weld distribution and welding operation requirements of curved segmented rib welding, the robot's welding gun end must perform a large number of curved and linear movements. The welding operation has high requirements for the smoothness and accuracy of the welding gun movement. In addition, the welding workload is very large, and the operation efficiency must be considered. Therefore, the smoothness and efficiency of the welding gun end movement are given priority in the robot path planning. According to the actual workpiece and different curvature welding conditions, the robot and external axis posture data are accumulated; when the welding gun posture is fixed, there are infinite combinations of the robot body posture and external axis position theory.Based on extensive testing, the robot postures for various inclination angles of curved segmented ribs were summarized and compiled into a robot posture library. When using offline programming, the software automatically matches the robot posture based on model information, and the external axis data is automatically calculated by the software. 1) The welding gun posture for different positions of the curved weld is determined based on process requirements; 2) The curved weld position is: 0-90°; 3) The robot posture is determined every 5° in the first stage; 4) The posture values ​​are entered into the posture library for offline access.

[0029] Furthermore, in step c, the robot's welding posture is determined by the robot's body posture and the external axis position. The system searches for a matching robot posture based on the weld position and preset process parameters. The external axis value is calculated by the system under the premise that the robot's body posture is determined.

[0030] On the premise of meeting the assembly quality requirements, this application analyzes the key factors affecting the formation of curved segmented rib welds, such as welding prerequisites, welding parameters, welding angle control, and robot system control stability, to form a single-curved segmented rib robot welding process control method, providing process support for the intelligent welding of curved segmented rib robots.

[0031] Example 2 Embodiment 2 includes all the technical features of embodiment 1.

[0032] like Figure 5 As shown, this embodiment provides a robot welding forming method, the method comprising the steps of: S1. Obtain influencing factors of weld formation by a curved surface segmented rib plate robot, taking welding posture and welding gun angle as the main influencing factors, and perform welding forming process assessment of the single curved surface segmented rib plate robot to obtain the welding forming process; S2. Obtain the welding direction of the curved segmented rib weld, segment the weld along the welding direction, and obtain the welding posture of each weld position, wherein the welding posture includes flat welding, upward tilt welding, and vertical welding; S3, with the goal of covering the curved segmented rib weld, matching the welding posture and the welding gun angle, and setting the welding gun angle if the welding posture is achievable; S4. Establish a welding verification platform with the gantry system, electrical control system, robot welding system, and visual recognition system as the main body, establish a virtual model of the robot and welding verification platform, and use the visualization operation of the virtual model to plan the path of the robot.

[0033] Furthermore, the influencing factors of the curved surface segmented rib plate robot for welding weld formation are obtained, and the welding posture and welding gun angle among the influencing factors are taken as the main influencing factors, and the welding forming process of the single curved surface segmented rib plate robot is evaluated. The welding forming process is obtained, and the following steps are performed: Setting the influencing factors includes welding position, processing and assembly conditions, welding method, angle form, welding materials, and welding conditions; In the robot welding of curved segmented ribs, welding speed, welding current, welding voltage, wire extension length, gas flow rate, and robot swing mode are used as input variables to predict weld formation. Taking the welding posture and welding gun angle as the main influencing factors, the robot welding forming process of single-curved segmented rib plate is analyzed to obtain the correlation between the welding posture and welding gun angle control and the robot welding forming stability, and the numerical value of the input variable is set to form the welding forming process.

[0034] Furthermore, the setting of the numerical values ​​of the input variables to form the welding forming process includes: With the welding current and welding voltage at their maximum, obtain the carbon dioxide gas flow rate; The shape formed by the motion trajectory of the welding gun end in one swing cycle is used as the swing shape, and the swing shape includes Z-shaped swing arc, V-shaped swing arc, triangular swing arc and circular motion swing arc; Combine the robot joints involved in the swing, obtain the swing width and swing height according to the swing shape and the movement space of the joint combination, and control the swing frequency so that the arc spends time in the middle of the groove to meet the welding quality; The values ​​of the determined input variables are aggregated to form the welding forming process.

[0035] Furthermore, setting the welding gun angle includes: Establishing a welding process database that meets the characteristics of curved segmented ribs, wherein the welding process database is associated with a parameter library of robot postures and a parameter library of different welding gun angles; Extract the weld properties of each weld position and combine them into weld features; The welding process parameters in the welding process database are matched according to the weld characteristics, and the welding gun angle is set according to the welding process parameters.

[0036] Furthermore, matching the welding process parameters in the welding process database according to the weld characteristics and setting the welding gun angle according to the welding process parameters includes: Obtaining the robot body posture by matching the weld seam features, and calculating the kinematics forward solution of the robot body posture to obtain the welding gun posture; By dividing the weld into sections and analyzing the requirements of the welding gun posture during welding, combined with basic welding process forming parameters, the welding process parameters that match the change of the welding angle during the welding process are obtained from the welding process database; After offsetting the welding gun posture coordinates to the welding points, the external axis values ​​of the robot are obtained, and the motion instructions of each welding point are determined; A relationship model between the surface curvature, welding gun posture and welding process parameters is established, and the welding gun angle of each welding point is determined in combination with the motion instructions.

[0037] Furthermore, the utilizing the visualization operation of the virtual model to perform path planning for the robot includes: The robot postures at different inclination angles of the curved segmented ribs are compiled into a robot posture library; Determine the welding gun posture at each position of the curved weld according to process requirements, where the position of the curved weld is 0-90°; Set the robot posture to be determined every 5°; The robot posture value is entered into the robot posture library for offline calling.

[0038] The present application also provides a robot welding forming device, comprising: A welding forming process acquisition module is used to acquire the influencing factors of weld seam formation by the curved surface segmented rib plate robot, and to evaluate the welding forming process of the single curved surface segmented rib plate robot with the welding posture and welding gun angle as the main influencing factors, and to acquire the welding forming process; The welding posture acquisition module is used to obtain the welding direction of the curved segmented rib weld, segment the weld along the welding direction, and obtain the welding posture of each weld position. The welding posture includes flat welding, up-tilt welding, and vertical welding; A welding gun angle determination module is used to match the welding posture and the welding gun angle with the goal of covering the curved segmented rib weld, and to set the welding gun angle when the welding posture is reachable; The path planning module is used to establish a welding verification platform with the gantry system, electrical control system, robot welding system, and visual recognition system as the main body, establish a virtual model of the robot and welding verification platform, and use the visualization operation of the virtual model to plan the path of the robot.

[0039] The present application also provides an electronic device, comprising: memory for storing computer programs; The processor is used to implement the steps of the robot welding forming method as described above when executing the computer program.

[0040] In one embodiment, the electronic device may be a server, and its internal structure diagram may be as follows: Figure 6 As shown. The electronic device includes a processor, a memory, a network interface, and a database connected via a system bus. The processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the electronic device is used to store robot welding forming data. The network interface of the electronic device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a robot welding forming method is implemented.

[0041] The present application also provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of the robot welding forming method as described above are implemented.

[0042] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0043] The present application also provides a computer program product, comprising a computer program, which implements the steps of the robot welding forming method as described above when executed by a processor.

[0044] Compared with the existing technology, it has the following beneficial effects: On the premise of meeting the assembly quality requirements, this application analyzes the factors affecting the weld formation of curved segmented ribs, evaluates the robot welding forming process of single-curved segmented ribs, obtains the welding forming process, and controls the welding posture and welding gun angle to ensure the stability of the robot welding forming and improve the welding efficiency.

[0045] Finally, it should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A robot welding forming method, characterized in that: The method comprises the steps of: Obtain the factors affecting the weld formation of the curved surface segmented rib plate robot, take the welding posture and welding gun angle as the main influencing factors, perform the welding forming process assessment of the single curved surface segmented rib plate robot, and obtain the welding forming process; Obtain the welding direction of the curved segmented rib weld, segment the weld along the welding direction, and obtain the welding posture of each weld position, which includes flat welding, up-tilt welding, and vertical welding; With the goal of covering the curved segmented rib weld, matching the welding posture and the welding gun angle is performed, and setting the welding gun angle when the welding posture is achievable; A welding verification platform with a gantry system, electrical control system, robot welding system, and visual recognition system as the main body is established, a virtual model of the robot and welding verification platform is established, and the path of the robot is planned using the visual operation of the virtual model.

2. A robot welding forming method according to claim 1, characterized in that: The influencing factors of the curved surface segmented rib plate robot welding weld formation are obtained, and the welding posture and welding gun angle among the influencing factors are taken as the main influencing factors, and the welding forming process of the single curved surface segmented rib plate robot is evaluated. The welding forming process is obtained, which includes: Setting the influencing factors includes welding position, processing and assembly conditions, welding method, angle form, welding materials, and welding conditions; In the robot welding of curved segmented ribs, welding speed, welding current, welding voltage, wire extension length, gas flow rate, and robot swing mode are used as input variables to predict weld formation. Taking the welding posture and welding gun angle as the main influencing factors, the robot welding forming process of single-curved segmented rib plate is analyzed to obtain the correlation between the welding posture and welding gun angle control and the robot welding forming stability, and the numerical value of the input variable is set to form the welding forming process.

3. A robot welding forming method according to claim 2, characterized in that: The setting of the numerical values ​​of the input variables to form the welding forming process includes: With the welding current and welding voltage at their maximum, obtain the carbon dioxide gas flow rate; The shape formed by the motion trajectory of the welding gun end in one swing cycle is used as the swing shape, and the swing shape includes Z-shaped swing arc, V-shaped swing arc, triangular swing arc and circular motion swing arc; Combine the robot joints involved in the swing, obtain the swing width and swing height according to the swing shape and the movement space of the joint combination, and control the swing frequency so that the arc spends time in the middle of the groove to meet the welding quality; The values ​​of the determined input variables are aggregated to form the welding forming process.

4. The robot welding forming method according to claim 1, characterized in that: The setting of the welding gun angle includes: Establishing a welding process database that meets the characteristics of curved segmented ribs, wherein the welding process database is associated with a parameter library of robot postures and a parameter library of different welding gun angles; Extract the weld properties of each weld position and combine them into weld features; The welding process parameters in the welding process database are matched according to the weld characteristics, and the welding gun angle is set according to the welding process parameters.

5. A robot welding forming method according to claim 4, characterized in that: Matching the welding process parameters in the welding process database according to the weld characteristics and setting the welding gun angle according to the welding process parameters includes: Obtaining the robot body posture by matching the weld seam features, and calculating the kinematics forward solution of the robot body posture to obtain the welding gun posture; By dividing the weld into sections and analyzing the requirements of the welding gun posture during welding, combined with basic welding process forming parameters, the welding process parameters that match the change of the welding angle during the welding process are obtained from the welding process database; After offsetting the welding gun posture coordinates to the welding points, the external axis values ​​of the robot are obtained, and the motion instructions of each welding point are determined; A relationship model between the surface curvature, welding gun posture and welding process parameters is established, and the welding gun angle of each welding point is determined in combination with the motion instructions.

6. The robot welding forming method according to claim 1, characterized in that: The method of using the visualization operation of the virtual model to perform path planning for the robot includes: The robot postures at different inclination angles of the curved segmented ribs are compiled into a robot posture library; Determine the welding gun posture at each position of the curved weld according to process requirements, where the position of the curved weld is 0-90°; Set the robot posture to be determined every 5°; The robot posture value is entered into the robot posture library for offline calling.

7. A robot welding forming device, characterized in that: include: A welding forming process acquisition module is used to acquire the influencing factors of weld seam formation by the curved surface segmented rib plate robot, and to evaluate the welding forming process of the single curved surface segmented rib plate robot with the welding posture and welding gun angle as the main influencing factors, and to acquire the welding forming process; The welding posture acquisition module is used to obtain the welding direction of the curved segmented rib weld, segment the weld along the welding direction, and obtain the welding posture of each weld position. The welding posture includes flat welding, up-tilt welding, and vertical welding; A welding gun angle determination module is used to match the welding posture and the welding gun angle with the goal of covering the curved segmented rib weld, and to set the welding gun angle when the welding posture is reachable; The path planning module is used to establish a welding verification platform with the gantry system, electrical control system, robot welding system, and visual recognition system as the main body, establish a virtual model of the robot and welding verification platform, and use the visualization operation of the virtual model to plan the path of the robot.

8. An electronic device, characterized in that: include: Memory for storing computer programs; A processor is configured to implement the steps of the robot welding forming method according to any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the steps of the robot welding forming method according to any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the robot welding forming method according to any one of claims 1 to 6 are implemented.

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