CN112440018A - Welding system and welding method - Google Patents
Welding system and welding method Download PDFInfo
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- CN112440018A CN112440018A CN201910829956.5A CN201910829956A CN112440018A CN 112440018 A CN112440018 A CN 112440018A CN 201910829956 A CN201910829956 A CN 201910829956A CN 112440018 A CN112440018 A CN 112440018A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
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Abstract
The invention provides a welding system and a welding method, wherein the welding system bears a workpiece to be welded through a deflection module; acquiring welding seam information through a welding seam locating module; controlling and adjusting the angle of the displacement module through a processing module, generating station information, and processing the welding seam information to generate welding seam corresponding information and welding seam path information; welding the welding seam by the welding robot; generating a plurality of groups of welding seam related information through the information; processing the plurality of groups of welding seam related information to generate workpiece welding task information; therefore, when the welding system welds the workpieces, the welding parameters such as welding processes, welding paths and other information can be synchronously stored, classified and stored in an associated mode, and the welding parameters of the same kind of workpieces can be directly called for welding when the same kind of workpieces are subsequently welded, so that the welding operation steps are simplified, the welding quality is improved, and the requirement on the skill level of operators is lowered.
Description
Technical Field
The invention relates to the technical field of welding equipment, in particular to a welding system and a welding method.
Background
At present, robot welding mainly takes standard parts as main parts and is applied to industries such as automobile manufacturing, household appliances and the like. However, with the gradual maturity of the welding technology of robots in the automobile industry and the like, the current situations of severe working environment, difficult work recruitment and unstable quality of industries such as engineering machinery, metallurgical equipment, steel structures, special ships and the like are more and more prominent, and particularly, the robot welding field of medium plate welding also puts forward urgent demands on the robot welding. For example, the field of medium plates has the characteristics of single or small welding workpiece amount, high accurate clamping difficulty, low consistency of groove states and high filling amount, and the teaching programming method of the traditional robot has the problems of tedious teaching programming work, unstable welding quality, high requirement on the robot programming capability of an operator and the like during welding.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a welding system and a welding method, which are used to solve the problems of tedious teaching programming work and unstable welding quality when the existing welding robot performs welding.
To achieve the above and other related objects, the present invention provides a welding system comprising: the displacement module is used for bearing a workpiece to be welded; the welding seam locating module is used for acquiring the welding seam information of the workpiece to be welded; the processing module is respectively connected with the displacement module and the welding seam locating module and is used for controlling and adjusting the angle of the displacement module and generating station information according to the angle of the displacement module; processing the welding seam information to generate welding seam corresponding information and welding seam path information; the welding robot is connected with the processing module and used for welding the welding seam of the workpiece to be welded according to the welding seam corresponding information and the welding seam path information; the information matching module is used for performing correlation matching on the welding seam information, the station information, the welding seam corresponding information and the welding seam path information to generate a plurality of groups of welding seam correlation information; and processing the sets of the weld joint related information to generate workpiece welding task information.
Optionally, the weld information at least includes one of the following: the number of welding seams, the position information of the welding seams and the size of the welding seams; the weld correspondence information includes at least one of: weld type, weld process; the weld path information includes: a sequence of marker bits and a sequence of path poses.
Optionally, the weld position information includes: and the position and the attitude of the welding seam starting point and the position and the attitude of the welding seam finishing point.
Optionally, the information matching module includes a weld information matching unit, configured to perform correlation matching on station information of the displacement module, the weld information, the weld correspondence information, and the weld path information when a weld of the workpiece to be welded presents a state to be welded on the displacement module, so as to generate a set of weld correlation information; and the welding robot welds the workpiece to be welded according to the welding seam correlation information.
Optionally, the information matching module further includes a workpiece information matching unit, configured to classify the welding seam related information corresponding to each welding seam of the workpieces to be welded in the same category to generate workpiece welding task information corresponding to the workpieces to be welded; generating a plurality of groups of workpiece welding task information corresponding to the workpieces to be welded according to the workpieces to be welded of different types; and the welding robot welds the workpiece to be welded according to the workpiece welding task information.
Optionally, the flag bit sequence includes at least one of: the method comprises the following steps of (1) marking a welding serial number, a type mark, a welding completion mark, a total welding number mark of a plurality of layers of multi-channel welding seams, a welded number mark, a welding seam welding enabling mark and a welding seam tracking option mark of each welding seam; the path pose sequence comprises the sequence number of each welding line and the pose of the tail end path point of each welding line robot when the welding line robot performs welding.
Optionally, the welding system further includes a seam tracking module connected to the processing module and the welding robot, and the seam tracking module is invoked through the seam tracking option flag, and is configured to detect and acquire real-time welding state information of the welding robot on the seam of the workpiece to be welded, generate deviation correction control information, and send the deviation correction control information to the welding robot.
Optionally, the welding system further comprises a display module for displaying at least one of the following information: the station information, the weld joint correspondence information, the weld joint path information, the real-time welding state information, or the deviation rectification control information.
Optionally, the welding robot includes a multi-layer multi-pass welding unit for performing multi-layer multi-pass welding on the workpiece to be welded and/or a fillet welding unit for performing fillet welding on the workpiece to be welded.
The invention also provides a welding method, which comprises the following steps: placing a workpiece to be welded on the displacement module; adjusting the angle of the displacement module, and generating station information according to the angle of the displacement module; acquiring the welding seam information of the workpiece to be welded; processing the welding seam information and generating welding seam corresponding information and welding seam path information; welding the welding seam of the welding workpiece according to the welding seam corresponding information and the welding seam path information; performing correlation matching on the welding seam information, the station information, the welding seam corresponding information and the welding seam path information to generate a plurality of groups of welding seam correlation information; processing the plurality of groups of welding seam related information to generate workpiece welding task information; and finishing the welding of the workpieces to be welded of corresponding types according to the different workpiece welding task information.
Optionally, the weld information at least includes one of the following: the number of welding seams, the position information of the welding seams and the size of the welding seams; the weld correspondence information includes at least one of: weld type, weld process; the weld path information includes: a sequence of marker bits and a sequence of path poses.
Optionally, the welding method further includes the following steps: when a welding seam of the workpiece to be welded is in a state to be welded on the displacement module, performing correlation matching on station information, welding seam corresponding information and welding seam path information of the displacement module to generate a group of welding seam correlation information; and welding the workpiece to be welded according to the welding seam correlation information.
Optionally, the welding method further includes classifying the weld joint related information corresponding to each weld joint of the workpieces to be welded in the same category to generate workpiece welding task information corresponding to the workpieces to be welded; generating a plurality of groups of workpiece welding task information corresponding to the workpieces to be welded according to the workpieces to be welded of different types; and welding the workpiece to be welded according to the workpiece welding task information.
Optionally, the welding method further includes detecting and acquiring real-time welding state information of the welding robot on the weld joint of the workpiece to be welded.
Optionally, the welding method further includes generating deviation rectification control information according to the real-time welding state information, and sending the deviation rectification control information to the welding robot.
The present invention also provides an apparatus comprising: one or more processors; and one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the apparatus to perform one or more of the methods described above.
The present invention also provides one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause an apparatus to perform one or more of the methods described above.
As mentioned above, the invention provides a welding system and a welding method, the welding system bears the workpiece to be welded through the position changing module; acquiring weld information of the workpiece to be welded through a weld locating module; controlling and adjusting the angle of the displacement module through a processing module, generating station information according to the angle of the displacement module, and processing the welding seam information to generate welding seam corresponding information and welding seam path information; welding the welding seam of the workpiece to be welded through a welding robot; performing correlation matching on the welding seam information, the station information, the welding seam corresponding information and the welding seam path information through an information matching module to generate a plurality of groups of welding seam correlation information; processing the plurality of groups of welding seam related information to generate workpiece welding task information; therefore, when the welding system is used for welding the workpieces, the welding parameters such as welding process, welding path and the like can be synchronously associated, the associated welding parameters are classified according to different welding seams and different workpieces to be welded, and the welding parameters of the same workpiece or the same welding seam can be directly called for welding when the same type of workpieces are subsequently welded, so that the welding operation steps are simplified, the welding quality is improved, and the requirement on the skill level of operators is lowered.
Drawings
Fig. 1 is a block diagram of a welding system according to an embodiment of the present invention.
Fig. 2 is a block diagram of a welding system according to another embodiment of the present invention.
Fig. 3 is a block diagram of a welding system according to another embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a welding system according to an embodiment of the present invention.
Fig. 5 is a flow chart of a welding method according to an embodiment of the invention.
Fig. 6 is a schematic diagram of a hardware structure of a terminal device according to an embodiment of the present invention.
Fig. 7 is a schematic diagram of a hardware structure of a terminal device according to another embodiment of the present invention.
Description of the element reference numerals
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Referring to fig. 1-4, to achieve the above and other related objects, the present invention provides a welding system, comprising: the displacement module 40 is used for bearing a workpiece 41 to be welded; the welding seam locating module 50 is used for acquiring the welding seam information of the workpiece 41 to be welded; the processing module 10 is respectively connected with the displacement module 40 and the welding seam locating module 50, and is used for controlling and adjusting the angle of the displacement module 40 and generating station information according to the angle of the displacement module 40; processing the welding seam information to generate welding seam corresponding information and welding seam path information; the welding robot 30 is connected with the processing module 10 and is used for welding the welding seam of the workpiece 41 to be welded according to the welding seam corresponding information and the welding seam path information; the information matching module 20 is configured to perform correlation matching on the weld information, the station information, the weld correspondence information, and the weld path information to generate a plurality of sets of weld correlation information; and processing the sets of the weld joint related information to generate workpiece welding task information.
In certain embodiments, the weld information includes at least one of: the number of welding seams, the position information of the welding seams and the size of the welding seams; the weld correspondence information includes at least one of: weld type, weld process; the weld path information includes: a sequence of marker bits and a sequence of path poses.
It is understood that the welding system of the present invention further includes a storage module connected to the processing module 10 and the information matching module 20 for storing various weld information, weld correspondence information, station information, weld association information, workpiece welding task information, etc.
In some embodiments, the to-be-welded workpiece 41 is placed on the displacement module 40, generally, the displacement module 40 is angularly adjusted so that the weld joint of the to-be-welded workpiece 41 on the displacement module 40 is in an optimal welding state, it can be understood that the optimal welding state here may be a posture that more weld joints are in flat welding or ship-shaped welding, the station information of the displacement module 40 under such an angular condition is stored, and meanwhile, a user may name and label the station information under such a condition, and the naming may be for the purpose of distinguishing the workpiece type of the to-be-welded workpiece 41, so as to perform association matching and storage on the weld joint information, the weld joint corresponding information, the weld joint path information, and the like under such a station information condition in the subsequent process.
In some embodiments, the information matching module 20 includes a weld information matching unit 21, configured to perform correlation matching on the station information, the weld correspondence information, and the weld path information of the shift module 40 when a weld of the workpiece to be welded 41 is in a state to be welded on the shift module 40, so as to generate a set of weld correlation information; the welding robot 30 welds the workpiece 41 to be welded according to the weld-related information.
In some embodiments, the information matching module 20 further includes a workpiece information matching unit 22, configured to classify the weld joint related information corresponding to each weld joint of the workpieces to be welded 41 in the same category to generate workpiece welding task information corresponding to the workpieces to be welded 41; generating a plurality of groups of workpiece welding task information corresponding to the workpieces 41 to be welded according to the workpieces 41 to be welded of different types; the welding robot 30 welds the workpiece 41 to be welded according to the workpiece welding task information.
In some embodiments, the weld locating module 50 includes: the image collector is used for collecting the weld image of the workpiece 41 to be welded so as to obtain the weld information of the workpiece 41 to be welded; or inertial sensors, configured to place welding attitude and preset speed information at the start point and the end point of each weld to obtain the weld information of the workpiece 41 to be welded. It is understood that the weld locating module 50 may be a teach pendant, and the operator may obtain the weld information through manual teaching.
In some embodiments, the image collector may be a binocular vision camera module, wherein when the information of the weld joint is obtained based on the binocular vision camera module, the operator attaches the characteristic target point to the starting point and the end point of the weld joint, the processing module 10 triggers the binocular vision camera module to collect the image and returns the signal to the processing module 10, the processing module 10 calls a preset image processing algorithm and a coordinate calibration algorithm to obtain the position of the target point under the coordinate system of the welding robot 30, and combines manual input of the operator to set the posture of the starting point and the end point, so as to form the posture information required by path planning; it can be understood that when the weld information is obtained based on the inertial sensor, the weld information can be sequentially placed at the start point and the end point of the weld in a welding posture through the handheld sensor, the posture and the speed information of the inertial sensor are transmitted to the processing module 10, and the processing module 10 obtains the posture information of the start point and the end point through an integration algorithm.
Therefore, when a workpiece of the same type is welded, after the welding of the workpiece is completed, the station information, the number of welding seams, the type of welding seams, the welding seam information under various welding seams, the welding seam corresponding information, the welding seam path information and the like of the workpiece can be obtained, the station information, the number of welding seams, the type of welding seams, the welding seam information under various welding seams, the welding seam corresponding information, the welding seam path information and the like do not need to be obtained again when each workpiece is welded, the subsequent processing module 10 can directly call the stored information related to the welding seams and send the information to the welding robot 30, and the welding robot 30 carries out welding processing on the workpiece according to the information or the instruction sent by the processing module 10, so that the workload of manual teaching is reduced, or the workload of the welding seam locating module 50 is reduced, and the welding efficiency is improved; the welding seam locating module 50 is used for reducing the requirement on the workpiece clamping precision, and the capital investment on a high-precision tool clamp can be greatly saved.
As can be understood, the process of generating the weld path information by the processing module 10 includes performing a path planning operation; in some embodiments, path planning includes, but is not limited to: and planning the welding sequence among all the welding seams based on the manual configuration sequence of each welding seam, and planning the welding starting point and the end point of each layer of welding in the multilayer and multichannel welding seams with larger welding seam sizes, wherein the path planning of the multilayer and multichannel welding seams obtains the starting point and the end point poses of each layer of welding seams through offset calculation on the basis of the pose information of the starting point and the end point of the welding seams.
In some embodiments, the welding robot 30 includes at least a multi-layer multi-pass welding unit for multi-layer multi-pass welding the workpiece 41 to be welded or a fillet welding unit for fillet welding the workpiece 41 to be welded.
It is understood that the welding robot 30 includes a storage sub-unit and various functional units, such as, but not limited to, a main program unit, a multi-layer multi-pass welding unit, a fillet welding unit; in some embodiments, the seam tracking module 60 of the welding system may also be located on the welding robot 30, and the welding robot 30 may invoke by receiving information sent by the processing module 10. The information sent by the processing module 10 may be a flag bit sequence or a path pose sequence, which is not limited herein.
In some embodiments, the indexing module 40 may be a head-to-tail indexing module 40, which is not limited herein.
In some embodiments, the welding system further includes a seam tracking module 60 connected to the processing module 10 and the welding robot 30, and configured to detect and acquire real-time welding state information of the welding robot 30 on the seam of the workpiece 41 to be welded, generate deviation correction control information, and send the deviation correction control information to the welding robot for real-time deviation correction.
In some embodiments, the flag bit sequence comprises at least one of: the method comprises the following steps of (1) marking a welding serial number, a type mark, a welding completion mark, a total welding number mark of a plurality of layers of multi-channel welding seams, a welded number mark, a welding seam welding enabling mark and a welding seam tracking option mark of each welding seam; the path pose sequence comprises the sequence number of each welding line and the pose of the tail end path point of each welding line robot when the welding line robot performs welding. It can be understood that the information matching module 20 can match and correspond the marker bit sequence and the path pose sequence of the same weld joint through the weld joint sequence number.
It can be understood that, in some embodiments, there may be a plurality of welds under one station information, there may be a plurality of weld information correspondingly, each weld information may generate corresponding weld corresponding information and weld path information, in some embodiments, each weld may be labeled or named by the information matching module 20, and the weld information, weld corresponding information, and weld path information of various welds are associated, matched, and stored, that is, when the type of the weld is determined, and the weld information, weld corresponding information, and weld path information of such welds, etc. may be adjusted.
In some embodiments, the seam tracking module 60 generates deviation control information according to the real-time welding state information and sends the deviation control information to the welding robot 30.
Referring to fig. 4, it can be appreciated that the welding system of the present invention includes a welding power source 70, and in some embodiments, the seam tracking module 60 may be one of an arc tracker and a laser tracker, wherein the arc tracker may be installed on a ground line between the robot and the welding power source 70, and collects the current of the welding power source 70 and transmits the current to the welding robot 30 for performing a path deviation correction process; the laser tracker can be installed on the welding gun of the welding robot 30, and the collected welding seam image information is transmitted to the welding robot 30 after being processed so as to perform path deviation correction on the welding robot 30.
It can be understood that, after the welding seam at one station is welded, the shift module 40 may perform angle adjustment to add a new station to generate new station information, obtain welding seam information corresponding to the new station information, and generate welding seam corresponding information and welding seam path information.
In certain embodiments, the welding system further includes a display module 80 for displaying information on at least one of: the station information, the weld joint correspondence information, the weld joint path information, the real-time welding state information, or the deviation rectification control information. The display module 80 may display the weld information: the number of welding seams, the position information of the welding seams and the size of the welding seams; the corresponding information of the welding seam, namely the welding seam type and the welding seam process type matched with the welding seam type, can also be displayed, so that an operator or a user can conveniently observe and detect the welding seam.
In some embodiments, the welding robot 30 includes a multi-layer multi-pass welding unit for multi-layer multi-pass welding the workpiece 41 to be welded and/or a fillet welding unit for fillet welding the workpiece 41 to be welded.
In some embodiments, the processing module 10 runs automated welding software and interfaces with the indexing module 40, the weld locating module 50, the welding robot 30, and the weld tracking module 60 and interacts with the transmission of information and instructions via a communication protocol.
It can be understood that, taking the workpiece 41 to be welded as the workpiece of the guiding beam of the medium plate to be welded as an example for explanation,
s1: clamping a guide beam workpiece of the medium plate to be welded on the single-shaft head-tail frame type deflection module 40 to ensure that all welding seams of the guide beam are positioned in an effective welding working space range through deflection;
s2: adding a station 1 in a platform of a processing module 10, controlling a displacement module 40 through the platform of the processing module 10 to enable a welding line on the front side of a guide beam to be arranged at a flat welding position, clicking a displacement information storage button of the processing module 10, and storing the current position of the displacement module 40 below the station 1;
s3: and 4 welding seams are added under the station 1, the sizes of the welding seams are sequentially set corresponding to the 4 large-groove welding seams on the front surface of the guide beam, and arc tracking options are selected so as to start the welding seam tracking module 60 to track the welding seams during welding.
The size of the welding seam comprises the height of the welding seam and the angle of the groove, and the type and the process of the welding seam are automatically matched according to the size of the welding seam; the welding seam process is pre-configured in a control system of the welding robot 30, and only the code of the corresponding priming and filling process needs to be selected when the process matching is carried out on the processing module 10; meanwhile, as each welding line of the guide beam is longer and the straightness is lower, the arc tracking is additionally arranged to ensure that the welding line does not deviate from the welding line path in the welding process.
S4: the end of the welding robot 30 is controlled to move to the starting point and the end point of each welding seam through manual teaching of the welding robot 30, and a data sending program of a control system of the welding robot 30 is sequentially operated to send the pose data to the processing module 10 according to the welding seam configuration sequence;
s5: the processing module 10 calls a multi-layer and multi-channel algorithm to calculate the arc starting and arc ending positions of each channel of each welding line according to the size of the welding line, the type of the welding line and the position and posture data of the starting and stopping points, generates a mark bit sequence and a position and posture sequence, and displays the mark bit sequence in an interactive window of an upper automatic welding platform, namely a display module 80 in a three-dimensional mode, wherein the mark bit sequence comprises a plurality of layers of multi-channel marks, an arc tracking option mark and a process number selection mark;
s6: confirming that the displayed welding path is suitable for the actual welding seam layout of the guide beam, and starting the welding robot 30 end to operate a main program to wait for a signal sent by the processing module 10; clicking a welding starting instruction on the processing module 10, and sending a mark bit sequence and a pose sequence to a control system of the welding robot 30 according to a preset interaction logic;
s7: the main program of the welding robot 30 calls multilayer multi-channel welding units prestored in a control system of the welding robot 30 according to the received multilayer multi-channel mark bit sequence and operates, and the multilayer multi-channel units call arc tracking statements and process number statements according to the arc tracking option marks and the process number selection marks;
s8: and the multilayer and multi-channel unit further receives a pose sequence and places the pose sequence in an actual welding instruction, so that the robot welds in sequence according to the path.
It can be understood that after the front face of the guide beam is welded, the steps S2-S8 are repeated to sequentially complete the welding of the front side and the rear side weld joints of the guide beam until all the weld joints of the whole workpiece are welded.
In some embodiments, the displacement module 40 is controlled by a PLC and a servo driver, is controllable in angle, and interacts with an industrial control system of the processing module 10 through commands and signals based on a network communication protocol.
Thus, based on the processing module 10 to perform welding configuration and path planning, the welding robot 30, the displacement module 40, the welding seam locating module 50, the welding seam tracking module 60, the display module 80 and the like are controlled in a centralized manner, and when aiming at different non-standard welding pieces, the configuration steps are simple and convenient, complex programming work is avoided, and the requirement on the skill level of workers is low; meanwhile, a path planning algorithm aiming at the welding seam characteristics of the medium plate can plan a multilayer multi-path welding path according to a small number of teaching points, so that the teaching workload of workers is reduced, and the welding efficiency is improved; the welding system of the invention applies the welding seam locating module 50, reduces the requirement on the workpiece clamping precision, and can greatly save the capital investment on a high-precision tool clamp; through the displacement module 40 and the welding seam tracking module 60, the complexity of the welding process can be reduced, the consistency requirement of the incoming material state of the welding seam can be reduced, and the welding quality can be effectively guaranteed.
Referring to fig. 5, the present invention further provides a welding method, including the following steps:
s10: placing a workpiece 41 to be welded on the shift module 40;
s20: adjusting the angle of the displacement module 40, and generating station information according to the angle of the displacement module 40;
s30: acquiring weld information of the workpiece 41 to be welded;
s40: processing the welding seam information and generating welding seam corresponding information and welding seam path information;
s50: welding the welding seam of the workpiece to be welded according to the welding seam corresponding information and the welding seam path information;
s60: performing correlation matching on the welding seam information, the station information, the welding seam corresponding information and the welding seam path information to generate a plurality of groups of welding seam correlation information;
s70: processing the plurality of groups of welding seam related information to generate workpiece welding task information;
s80: and completing the welding of the workpieces to be welded 41 of corresponding types according to the different workpiece welding task information.
In certain embodiments, the weld information includes at least one of: the number of welding seams, the position information of the welding seams and the size of the welding seams; the weld correspondence information includes at least one of: weld type, weld process; the weld path information includes: a sequence of marker bits and a sequence of path poses.
In some embodiments, the welding method further comprises the steps of: when a welding seam of the workpiece 41 to be welded presents a state to be welded on the displacement module 40, the station information, the welding seam corresponding information and the welding seam path information of the displacement module 40 are associated and matched to generate a group of welding seam associated information; and welding the workpiece 41 to be welded according to the welding seam related information.
In some embodiments, the welding method further includes classifying the weld joint related information corresponding to each weld joint of the workpieces to be welded 41 in the same category to generate workpiece welding task information corresponding to the workpieces to be welded 41; generating a plurality of groups of workpiece welding task information corresponding to the workpieces to be welded 41 according to the workpieces to be welded 41 of different types; and welding the workpiece 41 to be welded according to the workpiece welding task information.
In some embodiments, the welding method further includes detecting and acquiring real-time welding state information of the welding robot 30 on the weld of the workpiece 41 to be welded.
In some embodiments, the welding method further includes generating deviation control information according to the real-time welding state information, and sending the deviation control information to the welding robot 30.
For the related embodiments and advantages of the welding method provided by the present invention, reference may be made to the foregoing related descriptions of the welding system provided by the present invention, and further description is omitted here.
The present invention also provides an apparatus comprising: one or more processors; and one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the apparatus to perform one or more of the methods described above.
The present invention also provides one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause an apparatus to perform one or more of the methods described above.
As described above, according to the welding system and the welding method provided by the present invention, the welding system carries the workpiece 41 to be welded by the shift module 40; acquiring the weld information of the workpiece to be welded 41 through a weld locating module 50; the angle of the displacement module 40 is controlled and adjusted through the processing module 10, station information is generated according to the angle of the displacement module 40, and the welding seam information is processed to generate welding seam corresponding information and welding seam path information; welding the welding seam of the workpiece 41 to be welded by the welding robot 30; the information matching module 20 is used for performing correlation matching on the welding seam information, the station information, the welding seam corresponding information and the welding seam path information to generate a plurality of groups of welding seam correlation information; processing the plurality of groups of welding seam related information to generate workpiece welding task information; therefore, when the welding system is used for welding the workpieces, the welding parameters such as welding process, welding path and the like can be synchronously associated, the associated welding parameters are classified according to different welding seams and different workpieces to be welded 41, and the welding parameters of the same kind of workpieces or the same kind of welding seams can be directly called for welding when the same kind of workpieces are subsequently welded, so that the welding operation steps are simplified, the welding quality is improved, and the requirement on the skill level of operators is lowered.
The present embodiment also provides a non-volatile readable storage medium, where one or more modules (programs) are stored in the storage medium, and when the one or more modules are applied to a device, the device may execute instructions (instructions) included in the data processing method in fig. 4 according to the present embodiment.
Fig. 6 is a schematic diagram of a hardware structure of a terminal device according to an embodiment of the present application. As shown, the terminal device may include: an input device 1100, a first processor 1101, an output device 1102, a first memory 1103, and at least one communication bus 1104. The communication bus 1104 is used to implement communication connections between the elements. The first memory 1103 may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk memory, and the first memory 1103 may store various programs for performing various processing functions and implementing the method steps of the present embodiment.
In some embodiments, the first processor 1101 may be, for example, a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a programmable logic device (PLC), a Field Programmable Gate Array (FPGA), a controller, a microcontroller, a microprocessor, or other electronic components, and the first processor 1101 is coupled to the input device 1100 and the output device 1102 through a wired or wireless connection.
In some embodiments, the input device 1100 may include a variety of input devices, such as at least one of a user-oriented user interface, a device-oriented device interface, a software-programmable interface, a camera, and a sensor. In some embodiments, the device-oriented device interface may be a wired interface for data transmission between devices, or may be a hardware plug-in interface (e.g., USB interface, serial port, etc.) for data transmission between devices; in some embodiments, the user-oriented user interface may be, for example, user-oriented control keys, a voice input device for receiving voice input, and a touch-sensitive device (e.g., a touch screen with touch-sensitive functionality, a touch pad, etc.) for receiving user touch input; in some embodiments, the programmable interface of the software may be, for example, an entry for a user to edit or modify a program, such as an input pin interface or an input interface of a chip; the output devices 1102 may include output devices such as a display, audio, and the like.
In this embodiment, the processor of the terminal device includes a function for executing each module of the speech recognition apparatus in each device, and specific functions and technical effects may refer to the above embodiments, which are not described herein again.
Fig. 7 is a schematic hardware structure diagram of a terminal device according to an embodiment of the present application. FIG. 7 is a specific embodiment of the implementation of FIG. 6. As shown, the terminal device of the present embodiment may include a second processor 1201 and a second memory 1202.
The second processor 1201 executes the computer program code stored in the second memory 1202 to implement the method described in fig. 5 in the above embodiment.
The second memory 1202 is configured to store various types of data to support operations at the terminal device. Examples of such data include instructions for any application or method operating on the terminal device, such as messages, pictures, videos, and so forth. The second memory 1202 may include a Random Access Memory (RAM) and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.
Optionally, a second processor 1201 is provided in the processing assembly 1200. The terminal device may further include: communication component 1203, power component 1204, multimedia component 1205, speech component 1206, input/output interfaces 1207, and/or sensor component 1208. The specific components included in the terminal device are set according to actual requirements, which is not limited in this embodiment.
The processing component 1200 generally controls the overall operation of the terminal device. The processing assembly 1200 may include one or more second processors 1201 to execute instructions to perform all or part of the steps of the data processing method described above. Further, the processing component 1200 can include one or more modules that facilitate interaction between the processing component 1200 and other components. For example, the processing component 1200 can include a multimedia module to facilitate interaction between the multimedia component 1205 and the processing component 1200.
The power supply component 1204 provides power to the various components of the terminal device. The power components 1204 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the terminal device.
The multimedia components 1205 include a display screen that provides an output interface between the terminal device and the user. In some embodiments, the display screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the display screen includes a touch panel, the display screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.
The voice component 1206 is configured to output and/or input voice signals. For example, the voice component 1206 includes a Microphone (MIC) configured to receive external voice signals when the terminal device is in an operational mode, such as a voice recognition mode. The received speech signal may further be stored in the second memory 1202 or transmitted via the communication component 1203. In some embodiments, the speech component 1206 further comprises a speaker for outputting speech signals.
The input/output interface 1207 provides an interface between the processing component 1200 and peripheral interface modules, which may be click wheels, buttons, etc. These buttons may include, but are not limited to: a volume button, a start button, and a lock button.
The sensor component 1208 includes one or more sensors for providing various aspects of status assessment for the terminal device. For example, the sensor component 1208 may detect an open/closed state of the terminal device, relative positioning of the components, presence or absence of user contact with the terminal device. The sensor assembly 1208 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact, including detecting the distance between the user and the terminal device. In some embodiments, the sensor assembly 1208 may also include a camera or the like.
The communication component 1203 is configured to facilitate communications between the terminal device and other devices in a wired or wireless manner. The terminal device may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In one embodiment, the terminal device may include a SIM card slot therein for inserting a SIM card therein, so that the terminal device may log onto a GPRS network to establish communication with the server via the internet.
As can be seen from the above, the communication component 1203, the voice component 1206, the input/output interface 1207 and the sensor component 1208 involved in the embodiment of fig. 7 can be implemented as the input device in the embodiment of fig. 6.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (16)
1. A welding system, comprising:
the displacement module is used for bearing a workpiece to be welded;
the welding seam locating module is used for acquiring the welding seam information of the workpiece to be welded;
the processing module is respectively connected with the displacement module and the welding seam locating module and is used for controlling and adjusting the angle of the displacement module and generating station information according to the angle of the displacement module; processing the welding seam information to generate welding seam corresponding information and welding seam path information;
the welding robot is connected with the processing module and used for welding the welding seam of the workpiece to be welded according to the welding seam corresponding information and the welding seam path information;
the information matching module is used for performing correlation matching on the welding seam information, the station information, the welding seam corresponding information and the welding seam path information to generate a plurality of groups of welding seam correlation information; and processing the sets of the weld joint related information to generate workpiece welding task information.
2. The welding system of claim 1, wherein the weld information comprises at least one of: the number of welding seams, the position information of the welding seams and the size of the welding seams;
the weld correspondence information includes at least one of: weld type, weld process;
the weld path information includes: a sequence of marker bits and a sequence of path poses.
3. The welding system of claim 2, wherein the information matching module comprises a weld information matching unit configured to perform correlation matching on the station information, the weld correspondence information, and the weld path information of the shift module when a weld of the workpiece to be welded is in a state to be welded on the shift module to generate a set of weld correlation information;
and the welding robot welds the workpiece to be welded according to the welding seam correlation information.
4. The welding system of claim 3, wherein the information matching module further comprises a workpiece information matching unit, configured to classify the weld joint related information corresponding to each weld joint of the workpieces to be welded in the same category to generate workpiece welding task information corresponding to the workpieces to be welded; generating a plurality of groups of workpiece welding task information corresponding to the workpieces to be welded according to the workpieces to be welded of different types;
and the welding robot welds the workpiece to be welded according to the workpiece welding task information.
5. The welding system of claim 4, wherein the sequence of flag bits comprises at least one of: the method comprises the following steps of (1) marking a welding serial number, a type mark, a welding completion mark, a total welding number mark of a plurality of layers of multi-channel welding seams, a welded number mark, a welding seam welding enabling mark and a welding seam tracking option mark of each welding seam;
the path pose sequence comprises the sequence number of each welding line and the pose of the tail end path point of each welding line robot when the welding line robot performs welding.
6. The welding system of claim 5, further comprising a seam tracking module connected to the processing module and the welding robot, and invoked by the seam tracking option flag to detect and obtain real-time welding status information of the welding robot on the seam of the workpiece to be welded and generate deviation control information to send to the welding robot.
7. The welding system of claim 6, further comprising a display module configured to display information on at least one of: the station information, the weld joint correspondence information, the weld joint path information, the real-time welding state information, or the deviation rectification control information.
8. The welding system of claim 1, wherein the welding robot comprises a multi-pass multi-welding unit for multi-pass multi-welding the workpiece to be welded and/or a fillet welding unit for fillet welding the workpiece to be welded.
9. A method of welding, comprising the steps of:
placing a workpiece to be welded on the displacement module;
adjusting the angle of the displacement module, and generating station information according to the angle of the displacement module;
acquiring the welding seam information of the workpiece to be welded;
processing the welding seam information and generating welding seam corresponding information and welding seam path information;
welding the welding seam of the welding workpiece according to the welding seam corresponding information and the welding seam path information;
performing correlation matching on the welding seam information, the station information, the welding seam corresponding information and the welding seam path information to generate a plurality of groups of welding seam correlation information;
processing the plurality of groups of welding seam related information to generate workpiece welding task information;
and finishing the welding of the workpieces to be welded of corresponding types according to the different workpiece welding task information.
10. The welding method of claim 9, wherein the weld information comprises at least one of: the number of welding seams, the position information of the welding seams and the size of the welding seams;
the weld correspondence information includes at least one of: weld type, weld process; the weld path information includes: a sequence of marker bits and a sequence of path poses.
11. The welding method of claim 10, further comprising the steps of:
when a welding seam of the workpiece to be welded is in a state to be welded on the displacement module, performing correlation matching on station information, welding seam corresponding information and welding seam path information of the displacement module to generate a group of welding seam correlation information;
and welding the workpiece to be welded according to the welding seam correlation information.
12. The welding method according to claim 11, further comprising classifying the weld joint related information corresponding to each weld joint of the workpieces to be welded of the same category to generate workpiece welding task information corresponding to the workpieces to be welded; generating a plurality of groups of workpiece welding task information corresponding to the workpieces to be welded according to the workpieces to be welded of different types;
and welding the workpiece to be welded according to the workpiece welding task information.
13. The welding method according to claim 12, further comprising detecting and acquiring real-time welding state information of the welding robot on the weld of the workpiece to be welded.
14. The welding method of claim 13, further comprising generating corrective control information based on the real-time welding status information and sending the corrective control information to the welding robot.
15. An apparatus, comprising:
one or more processors; and
one or more machine-readable media having instructions stored thereon that, when executed by the one or more processors, cause the apparatus to perform the method recited by one or more of claims 9-14.
16. One or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause an apparatus to perform the method of one or more of claims 9-14.
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