CN113118675B - Robot welding system task allocation and path planning method based on mobile platform - Google Patents
Robot welding system task allocation and path planning method based on mobile platform Download PDFInfo
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- CN113118675B CN113118675B CN202110416522.XA CN202110416522A CN113118675B CN 113118675 B CN113118675 B CN 113118675B CN 202110416522 A CN202110416522 A CN 202110416522A CN 113118675 B CN113118675 B CN 113118675B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The invention provides a task allocation and method of a robot welding system based on a mobile platform. The robotic welding system can operate in three modes, a pure robot mode, an AGV/gantry mode, and a collaboration mode. Tasks are assigned to different welded components based on the characteristics of the different welding modes and the geometric characteristics of the workpieces. After the welding task is distributed, the welding path of each movable part is optimized through a genetic algorithm, so that the welding time is reduced, and the welding process is simplified.
Description
Technical Field
The invention belongs to the field of industrial robot welding, and particularly relates to a robot welding system task allocation and path planning method based on a mobile platform.
Background
In the ship manufacturing industry, a welding workpiece has a series of characteristics of large size span, complex and various shapes, high process quality requirement, no batch of workpieces, poor assembly precision, serious welding thermal deformation, incapability of positioning by using a special clamp and the like, thereby causing a great deal of difficulty for the automatic welding of the ship workpiece. The single welding robot base is fixed, can only be responsible for a station, only is applicable to the condition that all welds all are located the working space of robot. Although the robot may be repositioned by moving the platform when the weld is out of range of the welding gun, this repositioning process can result in weld line discontinuities that negatively impact the ultimate quality of the weld. Therefore, pure robot welding cannot meet the welding requirement of large-size workpieces in the field of ship hull welding.
With the AGV/gantry based welding mode, the position of the welding gun is changed only by the mobile platform. After the welding gun reaches the welding seam starting point, the posture of the robot is kept unchanged, the position of the welding gun only completes the real-time track generation and interpolation functions through the PLC, and the control is realized through the movement of the AGV/gantry. The operation mode is not limited by the working space of robots and has high efficiency on long and straight welding seams. However, it is difficult to control the curvilinear movement of the mobile platform. Therefore, this mode of operation does not enable an arc or full weld process.
The welding mode based on the cooperative motion of the mobile operation platform and the industrial robot is adopted, the advantage that the mobile operation platform can move in a large span is combined with the advantage that the industrial robot flexibly moves in a small range, and the welding gun can move along a complex track. This synergistic welding mode is considered an effective solution to increase the flexibility of the welding process. But the generation of the program takes a long time since more attention needs to be paid to the interaction between the robot and the gantry. Therefore, welding tasks should be reasonably distributed according to the actual conditions of the workpieces so as to improve the welding efficiency to the maximum extent. After the welding task assignment is completed, the welding path of each movable part should be planned. For path planning, three objective functions, namely minimum welding time, balanced welding task and maximum welding efficiency ratio, need to be considered simultaneously. Therefore, weld path planning can be viewed as a multi-objective optimization problem.
Disclosure of Invention
The technical problem solved by the invention is as follows: in order to solve the defects of the prior art, the invention provides a robot welding system task allocation and path planning method based on a mobile platform.
The technical scheme of the invention is as follows: a task allocation and path planning method for a robot welding system based on a mobile platform is characterized by comprising the following steps:
step 1: and performing workpiece reference detection to determine the position of the workpiece on the workbench. A three-dimensional model of the workpiece is constructed, and initial setup parameters are determined.
Step 2: and calculating the working space of the welding robot through off-line simulation software. Judging whether the welding seam of the workpiece can be completely contained in the working space of the robot or not by combining the workpiece position information and the geometric characteristic information extracted in the step 1, if so, selecting a pure robot mode, moving the robot into the working space of the workpiece, which can be reached by the robot, through the rack before the welding task is carried out by the robot, and keeping the position of the rack unchanged in the welding process; once the welding task is completed, the robot moves to the next working space through the gantry to perform a subsequent welding task; if not, the next step is carried out.
And 3, step 3: judging whether the welding seam is a curve welding seam or a comprehensive type welding seam or not according to the geometric feature information extracted in the first step, if so, selecting a cooperation mode, and enabling the robot and the mobile platform to move simultaneously; if not, selecting an AGV/gantry mode, and changing the position of the welding gun only by the AGV/gantry;
and 4, step 4: calculating the length l of the ith welding seam according to the geometric characteristic information of the welding seam of the jth workpiece i And the linear distance d between the ith welding seam terminal point and the (i + 1) th welding seam starting point i Further, in combination with the welding speed V 1 And the moving speed V of the welding gun between the adjacent welding seams 2 T for obtaining integral welding time j The function expression:
wherein n is the total number of welding seams of the current workpiece;
taking the welding time as a first objective function:
F 1 ＝Max{T j ，j＝1，2，...，m} (2)
and 5: calculating a variance function of the length of the welding path of the workpiece according to the geometric characteristic information extracted in the first step, and taking the variance function of the welding path as a second objective function:
wherein L is ij The linear length of the ith welding seam of the jth workpiece;
step 6: calculating a welding efficiency ratio, namely the sum of the ratio of the single weld length to the whole welding path length, according to the geometric characteristic information extracted in the first step, and taking the sum as a third objective function for optimizing the welding path:
wherein d is ij The linear distance between the ith welding seam end point and the (i + 1) th welding seam start point of the jth workpiece is defined;
and 7: adding constraints, constraint C 1 Stipulating that two adjacent asymmetric welding lines cannot be welded simultaneously, and the constraint condition C 2 It is specified that two adjacent symmetrical welds should be welded simultaneously;
and step 8: solving to obtain an optimal welding path through the three objective functions and the two constraint conditions
The further technical scheme of the invention is as follows: in the step 1, geometric characteristic information including the thickness of the workpiece, the number of welding seams, the shape of the welding seams, and coordinates of a starting point and an end point of the welding seams is extracted through computer aided design software, and specific welding seam types and welding parameters are determined according to the information.
The further technical scheme of the invention is as follows: before the welding task is performed, the robot is moved through the frame into the work space that the robot can reach, the position of the frame being unchanged during the welding process. Once the welding task is completed, the robot will move through the gantry to the next workspace for a subsequent welding task.
The further technical scheme of the invention is as follows: the position of the welding gun is changed only by the AGV/gantry. After the welding gun reaches the welding seam starting point, the posture of the robot is kept unchanged, the position of the welding gun only completes the real-time track generation and interpolation functions through a PLC (programmable logic controller), and the control is realized through the motion of the mobile platform.
The further technical scheme of the invention is as follows: combining the two welding modes requires simultaneous movement of the robot and the mobile platform, enabling the welding gun to move along a complex trajectory. And for arc-shaped or comprehensive welding seams which cannot be realized by pure robots and AGV/gantry modes, a cooperation mode is adopted.
Effects of the invention
The invention has the technical effects that: the welding system task allocation and path planning method provided by the invention overcomes the limitation of the traditional robot welding method in the ship manufacturing industry, combines the advantage that the movable operation platform can move in a large span with the advantage that an industrial robot can move flexibly in a small range, flexibly allocates welding tasks to different welding components according to the actual condition of a workpiece, ensures that the robot and the movable platform can work efficiently and cooperatively, and thus improves the welding efficiency to the maximum extent. The welding path is planned through a multi-objective problem optimization method, so that the welding time is further reduced, and the welding process is simplified. The team has integrated the proposed welding task assignment and path planning method into a sub-assembly welding robot system, verifying the effectiveness of the method. Experimental results show that the method can remarkably improve the welding efficiency, the welding precision and the welding flexibility of the welding system.
Drawings
FIG. 1 is a flow chart of task allocation and path planning for a robotic welding system based on a mobile platform
FIG. 2 is a diagram of a determination of whether a weld is in the robot workspace, (a) is the robot workspace, and (b) is the CAD model of the workpiece
FIG. 3 Multi-objective optimization problem for weld Path planning
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Referring to fig. 1-3, the invention provides a task allocation and path planning method for a robot welding system based on a mobile platform. The robotic welding system of the present invention can operate in three modes, a pure robot mode, an AGV/gantry mode, and a collaboration mode. The system changes the position of the welding gun through various moving parts, such as a robot, a gantry and an AGV, and distributes tasks to different welding parts according to the characteristics of different welding operation modes and the geometrical characteristics of workpieces. After the weld assignment is complete, a weld path for each movable component is planned. The method comprises the following steps:
first, workpiece reference detection is performed to specify the position of the workpiece on the table. Furthermore, a three-dimensional model of the workpiece is constructed, geometric characteristic information including the thickness of the workpiece, the number of welding seams, the shape of the welding seams, and coordinates of the starting point and the end point of the welding seams is extracted through computer aided design software, and the type of the welding seams, the welding current, the voltage and the welding speed are determined according to the information.
Further, the working space of the welding robot is calculated through off-line simulation software. And judging whether the welding seam of the workpiece can be completely contained in the working space of the robot or not by combining the workpiece position information and the geometric characteristic information obtained by the reference detection, if so, selecting a pure robot mode, moving the robot into the working space of the workpiece which can be reached by the robot through the rack before the robot performs a welding task, and keeping the position of the rack unchanged in the welding process. After the welding task is completed, the robot moves to the next working space through the gantry to perform the subsequent welding task. If not, the next step is carried out.
And further, judging whether the welding line is a curve welding line or a comprehensive type welding line according to the extracted geometric characteristic information of the welding line, if so, selecting a cooperation mode, and enabling the robot and the mobile platform to move simultaneously so that the welding gun can move along a complex track. And for arc-shaped or comprehensive welding seams which can not be realized by pure robots and AGV/gantry modes, a cooperation mode is adopted. If not, an AGV/gantry mode is selected, and the position of the welding gun is changed only by the AGV/gantry. After the welding gun reaches the welding seam starting point, the posture of the robot is kept unchanged, the position of the welding gun only completes the real-time track generation and interpolation functions through a PLC (programmable logic controller), and the control is realized through the motion of the mobile platform.
And calculating the length of the welding seam and the linear distance between the starting point and the end point of the adjacent welding seam according to the coordinates of the starting point and the end point of the welding seam, and combining the welding speed and the moving speed of the welding gun between the adjacent welding seams to obtain an objective function of the whole welding time. Further, a variance objective function for each robot weld path length is calculated. Further, an objective function of the welding efficiency ratio, i.e. the sum of the ratios of the single weld length to the overall weld path length, is calculated. Further, constraints are added that specify that two adjacent asymmetric welds cannot be welded simultaneously, and that two adjacent symmetric welds should be welded simultaneously. And further, solving the welding path according to the three objective functions and the two constraint conditions.
The invention is further explained with reference to the accompanying drawings, and provides a task allocation and path planning method for a robot welding system based on a mobile platform, which refers to fig. 1. The specific scheme is as follows:
step 1: and performing workpiece reference detection to determine the position of the workpiece on the workbench. And constructing a three-dimensional model of the workpiece, extracting geometrical characteristic information comprising the thickness of the workpiece, the number of welding seams, the shape of the welding seams, and coordinates of a starting point and an end point of the welding seams through computer aided design software, and determining specific welding seam types and welding parameters according to the information.
Step 2: and calculating the working space of the welding robot through off-line simulation software. And (3) combining the workpiece position information and the geometric characteristic information extracted in the step (1) to judge whether the workpiece weld can be completely contained in the working space of the robot, wherein the process is shown in the attached figure 2. If so, a pure robot mode is selected, and the robot moves into the workpiece working space which can be reached by the robot through the rack before the welding task is carried out, and the position of the rack is unchanged in the welding process. Once the welding task is completed, the robot will move through the gantry to the next workspace for a subsequent welding task. If not, the next step is carried out.
And step 3: and judging whether the welding line is a curve welding line or a comprehensive type welding line according to the geometric characteristic information extracted in the first step, if so, selecting a cooperation mode, and enabling the robot and the mobile platform to move simultaneously so that the welding gun can move along a complex track. And for arc-shaped or comprehensive welding seams which cannot be realized by pure robots and AGV/gantry modes, a cooperation mode is adopted. Otherwise, an AGV/gantry mode is selected, and the position of the welding gun is changed only by the AGV/gantry. After the welding gun reaches the starting point of the welding seam, the posture of the robot is kept unchanged, the position of the welding gun is controlled by the motion of the mobile platform, and the real-time track generation and interpolation functions are completed only through the PLC.
And 4, step 4: calculating the length l of the ith welding seam according to the geometric characteristic information of the welding seam of the jth workpiece i And the linear distance d between the ith welding seam terminal and the (i + 1) th welding seam starting point i Further, in combination with the welding speed V 1 And the moving speed V of the welding gun between the adjacent welding seams 2 T for obtaining integral welding time j The function expression:
wherein n is the total number of welding seams of the current workpiece.
Taking the welding time as a first objective function:
F 1 ＝ M ax{T j ，j＝1，2，...，m} (2)
and 5: calculating a variance function of the length of the welding path of the workpiece according to the geometric characteristic information extracted in the first step, and taking the variance function of the welding path as a second objective function:
wherein L is ij Is the linear length of the ith weld of the jth workpiece.
Step 6: calculating a welding efficiency ratio, namely the sum of the ratios of the length of the single welding seam to the length of the whole welding path according to the geometric characteristic information extracted in the first step, and taking the sum as a third objective function for optimizing the welding path:
wherein d is ij Is the straight-line distance between the ith welding seam terminal point and the (i + 1) th welding seam starting point of the jth workpiece.
And 7: a constraint is added. Constraint C 1 Stipulating that two adjacent asymmetric welding seams can not be welded at the same time, and the constraint condition C 2 It is specified that two adjacent symmetrical welds should be welded simultaneously so that the deformation of the sheet can be controlled within an acceptable range.
And step 8: and solving to obtain an optimal welding path through the three objective functions and the two constraint conditions, and referring to the attached figure 3.
Claims (2)
1. A task allocation and path planning method for a robot welding system based on a mobile platform is characterized by comprising the following steps:
step 1: performing workpiece reference detection to determine the position of the workpiece on the workbench; building a three-dimensional model of a workpiece, and determining initial setting parameters; extracting geometric characteristic information including the thickness of a workpiece, the number of welding seams, the shape of the welding seams, and coordinates of a starting point and an end point of the welding seams by computer aided design software, and determining specific welding seam types and welding parameters according to the information;
and 2, step: calculating the working space of the welding robot through off-line simulation software; judging whether the welding seam of the workpiece can be completely contained in the working space of the robot or not by combining the workpiece position information and the geometric characteristic information extracted in the step 1, if so, selecting a pure robot mode, moving the robot into the working space of the workpiece, which can be reached by the robot, through the rack before the welding task is carried out by the robot, and keeping the position of the rack unchanged in the welding process; once the welding task is completed, the robot moves to the next working space through the gantry to perform a subsequent welding task; if not, entering the next step;
and step 3: judging whether the welding line is a curve welding line or a comprehensive type welding line according to the geometric characteristic information extracted in the first step, if so, selecting a cooperation mode, and enabling the robot and the mobile platform to move simultaneously; if not, selecting an AGV/gantry mode, and changing the position of the welding gun only by the AGV/gantry;
and 4, step 4: calculating the length l of the ith welding seam according to the geometric characteristic information of the welding seam of the jth workpiece i And the linear distance d between the ith welding seam terminal point and the (i + 1) th welding seam starting point i Further, in combination with the welding speed V 1 And the moving speed V of the welding gun between the adjacent welding seams 2 T for obtaining integral welding time j The function expression:
wherein n is the total number of welding seams of the current workpiece;
taking the welding time as a first objective function:
F 1 ＝Max{T j ，j＝1，2，...，m} (2)
and 5: calculating a variance function of the length of the welding path of the workpiece according to the geometric characteristic information extracted in the first step, and taking the variance function of the welding path as a second objective function:
wherein L is ij The linear length of the ith welding seam of the jth workpiece;
step 6: calculating a welding efficiency ratio, namely the sum of the ratio of the single weld length to the whole welding path length, according to the geometric characteristic information extracted in the first step, and taking the sum as a third objective function for optimizing the welding path:
wherein, d ij Is the ith strip of the jth workpieceThe linear distance between the weld joint end point and the (i + 1) th weld joint starting point;
and 7: adding constraints, constraint C 1 Stipulating that two adjacent asymmetric welding lines cannot be welded simultaneously, and the constraint condition C 2 It is specified that two adjacent symmetrical welds should be welded simultaneously;
and step 8: and solving to obtain the optimal welding path through the three objective functions and the two constraint conditions.
2. A mobile platform based robotic welding system task allocation and path planning method as claimed in claim 1 wherein the position of the welding gun is changed only by AGV/gantry; after the welding gun reaches the starting point of the welding seam, the posture of the robot is kept unchanged, the position of the welding gun is controlled by the motion of the mobile platform, and the real-time track generation and interpolation functions are completed only through the PLC.
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| CN114460904B (en) * | 2022-01-25 | 2024-02-02 | 燕山大学 | Digital twin system for gantry robot |
| CN115415694B (en) * | 2022-08-29 | 2024-01-12 | 无锡达诺精密钣金有限公司 | Welding method, system and device for sheet metal process |
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