CN113894805B - Cooperative welding method, device, terminal and storage medium - Google Patents
Cooperative welding method, device, terminal and storage medium Download PDFInfo
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- CN113894805B CN113894805B CN202111137174.9A CN202111137174A CN113894805B CN 113894805 B CN113894805 B CN 113894805B CN 202111137174 A CN202111137174 A CN 202111137174A CN 113894805 B CN113894805 B CN 113894805B
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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
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The disclosure provides a cooperative welding method, a cooperative welding device, a terminal and a storage medium. The method comprises the following steps: acquiring a teaching point, and determining a virtual forward direction vector and a virtual swing direction vector according to the teaching point; outputting a first signal to the external device, the first signal being used to cause the external device to move according to the virtual heading vector; make welder end swing along the swing direction with instruction control robot and carry out welding work, rectify in real time with arc tracking technique among the welding work motion process, export first signal for external equipment after the start of welding, make current external equipment drive the work piece and begin to remove, simultaneously, make welder end swing along the swing direction with instruction control robot and carry out welding work, thereby realize the compatibility to multiple outside frock equipment, rectify in real time with arc tracking technique in the welding work motion process simultaneously, realize effectively tracking to irregular welding seam, improve welding effect.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a cooperative welding method, a cooperative welding device, a terminal and a storage medium.
Background
With the application of industrial robots to various fields, particularly to the welding field, the welding environment is severe, high temperature and high radiation, the physical and mental health of workers can be damaged when the industrial robots work in the environment for a long time, and on the other hand, the efficiency of manual welding is low, the welding quality is poor, and the requirements of welding manufacturing industry on the welding quality which is higher and higher cannot be met, so that the robot automatic welding workstation gradually replaces manual welding.
In the prior art, for continuous welding of medium and large fillet welding workpieces, external shafts are mostly added by a robot, such as a rotary external shaft and a linear external shaft, the workpieces are arranged on the external shafts, the robot and the external shafts are cooperatively controlled, large working space welding is realized, the existing scheme has high requirements on field working conditions, a robot body and the external shafts are required to be used in a complete set, the existing external movable/rotatable tooling equipment of a working field cannot be compatible, the construction cost is high, the use cost of a user is high, the use is inconvenient, external calibration is required, the tooling requirements are high, and the like, and the large limitation is realized.
Disclosure of Invention
The invention aims to provide a cooperative welding method, a device, a terminal and a storage medium, aiming at solving the problems proposed in the background technology: in the prior art, the robot body and the external shaft are required to be used in a complete set, the existing external moving/rotating tool equipment in a working site cannot be compatible, the building cost is high, the use cost of a user is high, the use is inconvenient, external calibration is required if needed, the tool requirement is high, and the like, so that the technical problem of great limitation is solved.
To achieve the above object, according to one aspect of the present disclosure, there is provided a cooperative welding method including:
acquiring a teaching point, and determining a virtual forward direction vector and a virtual swing direction vector according to the teaching point;
outputting a first signal to an external device, the first signal being used to move the external device according to the virtual heading vector;
and controlling the robot by an instruction to enable the welding gun end to swing along the swinging direction to perform welding work, and correcting the deviation in real time by an arc tracking technology in the welding work movement process.
In a possible implementation manner, the determining a virtual forward direction vector according to the teach point specifically includes:
acquiring a current point of the welding gun end, and obtaining a virtual advancing direction vector through a first algorithm according to the teaching point and the current point;
the first algorithm is as follows:
Vector forward ＝point recode -point cur (1)
wherein, vector forward Representing a virtual forward direction vector, point recode Indicating a point of teaching cur Indicating the current point.
In a possible implementation manner, the determining and swinging a direction vector according to the teach point specifically includes:
acquiring a Z-axis vector of a tool coordinate system, and obtaining the swing direction vector through a second algorithm according to the Z-axis vector of the tool coordinate system and the virtual forward direction vector;
the second algorithm is:
V weave ＝cross(Vector z ，Vector forward ) (2)
wherein, V weave Representing the Vector of the direction of oscillation, vector z Z-axis Vector, representing the tool coordinate system forward Representing a virtual heading vector.
In a possible implementation manner, the controlling the robot with the instruction to make the welding gun end swing along the swing direction to perform welding work specifically includes: and the welding gun end swings along a specified swing track according to the swing direction vector.
In one possible implementation manner, the wobble track includes a sinusoidal wobble track, and the method for implementing the sinusoidal wobble track specifically includes:
presetting values of a swing frequency and a swing amplitude by a user;
obtaining a swing period through a third algorithm according to the swing frequency;
the third algorithm is:
wherein T represents a wobble period, freq represents a wobble frequency;
according to the swing period, obtaining an included angle at any moment through a fourth algorithm, wherein the fourth algorithm is as follows:
where θ represents the angle, T represents the time at the angle, and T represents the period. In the moment, the swinging direction is the perpendicular direction of the virtual advancing direction in the plane, and a sinusoidal swinging track is obtained through a fifth algorithm according to the included angle and the swinging amplitude;
the fifth algorithm is:
y＝amplitude*sin(θ) (5)
where y denotes a sinusoidal wobble track and amplitude denotes the wobble amplitude.
In a possible implementation manner, the controlling the robot with the instruction to swing the welding gun end along the swing direction for welding, after performing real-time deviation correction by using an arc tracking technology during the welding motion process, further includes:
waiting for a defined second signal input, and monitoring that the second signal input is valid, the robot ends the welding operation, or
And stopping the welding motion after the specified motion time is executed.
In a possible implementation manner, the real-time deviation correction is performed by an arc tracking technology during the welding work movement process, and the method specifically includes:
collecting welding current data and transmitting the current data to a controller;
the current data is used for enabling the controller to calculate path correction data in the horizontal direction and the vertical direction, and correcting the motion trail of the welding gun end in real time.
According to another aspect of the present disclosure, there is provided a cooperative welding apparatus, the apparatus comprising:
a first execution unit configured to: acquiring a teaching point, and determining a virtual forward direction vector and a virtual swing direction vector according to the teaching point;
a second execution unit configured to: outputting a first signal to an external device, the first signal being used to move the external device according to the virtual heading vector;
a third execution unit configured to: and controlling the robot by an instruction to enable the welding gun end to swing along the swinging direction to perform welding work, and correcting the deviation in real time by an arc tracking technology in the movement process of the welding work.
According to another aspect of the embodiments of the present disclosure, there is provided a terminal, which includes a processor and a memory, where at least one program code is stored in the memory, and the at least one program code is loaded and executed by the processor to implement the cooperative welding method according to any one of the above possible implementation manners.
According to another aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium having at least one program code stored therein, the at least one program code being loaded and executed by a processor to implement the cooperative welding method according to any one of the above possible implementation manners.
According to another aspect of embodiments of the present disclosure, there is provided a computer program product or a computer program comprising computer program code stored in a computer readable storage medium, the computer program code being read by a processor of a computer device from the computer readable storage medium, the processor executing the computer program code to cause the computer device to perform the operations performed in the above-mentioned cooperative welding method.
One or more technical solutions in the embodiments of the present application have at least one or more of the following technical effects:
the embodiment of the invention provides a cooperative welding method, which comprises the following steps: acquiring a teaching point, and determining a virtual forward direction vector and a virtual swing direction vector according to the teaching point; outputting a first signal to an external device, the first signal being used to move the external device according to the virtual heading vector; make the welder end follow with instruction control robot the swing direction swing carries out weldment work, rectifies in real time with electric arc tracking technique among the weldment work motion process, and the first signal of export is given external equipment after beginning to weld, makes current external equipment drive the work piece and begins to move, simultaneously, makes the welder end follow with instruction control robot the swing direction swing carries out weldment work to the realization is to the compatibility of multiple outside construction installation equipment, improves the robot and deploys installation debugging efficiency to and the welding efficiency of multiple different work pieces, realizes the cooperation welding with multiple outside construction installation equipment, has improved the universality of welding robot in the welding field, rectifies in real time with electric arc tracking technique in the weldment work motion process simultaneously, realizes effectively tracking to irregular welding seam, improves welding effect.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
FIG. 1 is a flow chart of a first method of collaborative welding provided in accordance with an exemplary embodiment;
FIG. 2 is a schematic diagram of a welding point location of a cooperative welding method provided in accordance with an exemplary embodiment
FIG. 3 is a flow chart of a second method of collaborative welding provided in accordance with an exemplary embodiment.
Detailed Description
To make the objects, technical solutions and advantages of the present disclosure more apparent, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the disclosure, as detailed in the appended claims.
Fig. 1 is a flowchart of a cooperative welding method, as shown in fig. 1, according to an exemplary embodiment, the method including the steps of:
in step S100, a teaching point is acquired, and a virtual forward direction vector and a virtual swing direction vector are determined according to the teaching point;
in step S200, outputting a first signal to an external device, where the first signal is used to make the external device move according to the virtual forward direction vector;
in step S300, the robot is controlled by the command to swing the welding gun end along the swing direction to perform welding work, and the deviation is corrected in real time by the arc tracking technology during the movement of the welding work.
Specifically, the robot welding gun end uses the current point as a central point in a tool coordinate system, uses the perpendicular line direction of the virtual advancing direction in the coordinate plane as a swinging direction, swings at a fixed point, outputs a first signal to external equipment after welding is started, drives a workpiece to start moving or rotating by the existing external equipment, and finishes swinging welding after welding for a specified time or receiving an external stop signal.
In step S100, determining a virtual forward direction vector from the teaching points specifically includes:
acquiring a current point of a welding gun end, and obtaining a virtual advancing direction vector through a first algorithm according to the teaching point and the current point;
the first algorithm is:
Vector forward ＝point recode -point cur (1)
wherein, vector forward Representing a virtual forward direction vector, point recode Indicating a point of teaching cur The current point is indicated.
In step S100, determining and swinging a direction vector according to the teaching point specifically includes:
acquiring a Z-axis vector of a tool coordinate system, and obtaining a swing direction vector through a second algorithm according to the Z-axis vector of the tool coordinate system and the virtual forward direction vector;
the second algorithm is:
V weave ＝cross(Vector z ，Vector forward ) (2)
wherein, V weave Representing the Vector of the direction of oscillation, vector z Z-axis Vector, representing the tool coordinate system forward The virtual heading direction vector is represented, i.e. the swing direction vector is obtained by cross multiplication of the Z-axis vector of the known tool coordinate system and the virtual heading direction vector.
In a possible implementation mode, the robot is controlled by a command to enable the welding gun end to swing along the swinging direction to perform welding work, and the method specifically comprises the following steps: and the welding gun end swings along a specified swing track according to the swing direction vector.
Specifically, referring to fig. 2, the wobble track includes a sinusoidal wobble track, wherein the method for implementing the sinusoidal wobble track includes:
presetting numerical values of the swing frequency and the swing amplitude by a user;
obtaining a swing period through a third algorithm according to the swing frequency;
the third algorithm is:
wherein, T represents a swing period, freq represents a swing frequency;
according to the swing period, an included angle at any time is obtained through a fourth algorithm, wherein the fourth algorithm is as follows:
where θ represents the angle, T represents the time at the angle, and T represents the period. In the moment, the swinging direction is the perpendicular direction of the virtual advancing direction in the plane, and a sinusoidal swinging track is obtained through a fifth algorithm according to the included angle and the swinging amplitude;
the fifth algorithm is:
y＝amplitude*sin(θ) (5)
where y denotes a sinusoidal wobble track and amplitude denotes the wobble amplitude.
In a possible embodiment, referring to fig. 3, according to step S300, the method for controlling the robot to swing the welding gun end along the swing direction to perform the welding operation further includes, after performing real-time deviation correction by using an arc tracking technique during the welding operation movement:
s400: waiting for a defined second signal input, and monitoring that the second signal input is valid, the robot ends the welding operation, or
And stopping the welding motion after the specified motion time is executed.
Specifically, the first signal is output, the robot sends the external device to inform the external device of starting motion synchronously, and the second signal is input, and the external device sends the robot to inform the external device of finishing work synchronously.
In one embodiment, referring to fig. 3, the real-time deviation correction by the arc tracking technology in the welding operation process specifically includes:
collecting welding current data and transmitting the current data to a controller;
the current data is used for enabling the controller to calculate path correction data in the horizontal direction and the vertical direction and correct the motion trail of the welding gun end in real time;
specifically, due to the reasons of irregular workpieces, inaccurate workpiece advancing directions and the like, welding current data need to be acquired in the moving process, the controller calculates path correction data in the horizontal direction and the vertical direction by using an arc tracking technology, and the moving track of the welding gun end is continuously corrected, namely, the arc tracking technology is used in a matching mode in the welding process, so that the irregular welding seam is effectively tracked, and the welding effect is improved.
The present disclosure also provides a cooperative welding apparatus, comprising:
a first execution unit configured to: acquiring a teaching point, and determining a virtual forward direction vector and a virtual swing direction vector according to the teaching point;
a second execution unit configured to: outputting a first signal to an external device, the first signal being used to move the external device according to the virtual heading vector;
a third execution unit configured to: and controlling the robot by an instruction to enable the welding gun end to swing along the swinging direction to perform welding work, and correcting the deviation in real time by an arc tracking technology in the welding work movement process.
In an exemplary embodiment, there is also provided a cooperative welding terminal, which may be: a smart phone, a tablet, a notebook or a desktop computer, a terminal may also be referred to by other names as user equipment, portable terminal, laptop terminal, desktop terminal, etc.
Generally, a terminal includes: a processor and a memory.
The processor may include one or more Processing cores, such as a 4-core processor, an 8-core processor, and the like, and the processor may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field Programmable Gate Array), PLA (Programmable Logic Array), and the like. The processor may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state.
The memory may include one or more computer-readable storage media, which may be non-transitory. The memory may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices.
In an exemplary embodiment, a storage medium comprising instructions, such as a memory comprising instructions, executable by a processor of a terminal to perform the above-described cooperative welding method is also provided. Alternatively, the storage medium is a non-transitory computer-readable storage medium, which may be, for example, a ROM (Read-Only Memory), a RAM (Random Access Memory), a CD-ROM (Compact Disc Read-Only Memory), a magnetic tape, a floppy disk, an optical data storage device, and the like.
In an exemplary embodiment, a computer program product is also provided, which includes computer program code stored in a computer-readable storage medium, which is read by a processor of a computer apparatus from the computer-readable storage medium and executed by the processor, so that the computer apparatus performs the operations performed in the above-described cooperative welding method
The invention is not described in detail, but is well known to those skilled in the art.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. A collaborative welding method, characterized in that the method comprises:
acquiring a teaching point, and determining a virtual forward direction vector and a virtual swing direction vector according to the teaching point;
outputting a first signal to an existing external device on a working site, wherein the first signal is used for enabling the external device to move according to the virtual advancing direction vector, and enabling the existing external device to drive a workpiece to start moving;
and controlling the robot by an instruction to enable the welding gun end to swing along the swinging direction to perform welding work, and correcting the deviation in real time by an arc tracking technology in the movement process of the welding work.
2. The cooperative welding method according to claim 1, wherein said determining a virtual heading vector based on said teach points specifically comprises:
acquiring a current point of the welding gun end, and obtaining a virtual advancing direction vector through a first algorithm according to the teaching point and the current point;
the first algorithm is as follows:
wherein the content of the first and second substances,
a virtual heading vector is represented that represents a virtual heading vector,
the teaching points are shown as being at the same time,
the current point is indicated.
3. The cooperative welding method according to claim 1, wherein the determining and swinging direction vectors according to the teach points specifically comprises:
acquiring a Z-axis vector of a tool coordinate system, and obtaining the swing direction vector through a second algorithm according to the Z-axis vector of the tool coordinate system and the virtual forward direction vector;
the second algorithm is:
wherein, the first and the second end of the pipe are connected with each other,
which represents a vector of the direction of the swing,
a Z-axis vector representing the tool coordinate system,
representing a virtual heading vector.
4. The cooperative welding method according to claim 1, wherein the controlling the robot with the command to swing the welding gun end in the swing direction to perform the welding work specifically comprises: and the welding gun end swings along a specified swing track according to the swing direction vector.
5. The cooperative welding method according to claim 4, wherein the wobble trajectory comprises a sinusoidal wobble trajectory, wherein the method of achieving the sinusoidal wobble trajectory comprises in particular:
presetting values of a swing frequency and a swing amplitude by a user;
obtaining a swing period through a third algorithm according to the swing frequency;
the third algorithm is:
wherein, T represents the period of the wobble,
represents the wobble frequency;
according to the swing period, obtaining an included angle at any moment through a fourth algorithm, wherein the fourth algorithm is as follows:
the method comprises the following steps that A, a sine swing track is obtained through a fifth algorithm according to an included angle, T represents time at the included angle, T represents a period, and a swing direction is a perpendicular line direction of a virtual advancing direction in a plane in a moment;
the fifth algorithm is:
wherein, y denotes a sinusoidal wobble track,
indicating the wobble amplitude.
6. The cooperative welding method as claimed in claim 1, wherein the robot is controlled by the command to swing the welding torch end along the swing direction for welding operation, and after the arc tracking technology is used to correct the deviation in real time during the welding operation, the method further comprises:
waiting for a defined second signal input, and monitoring that the second signal input is valid, the robot ends the welding operation, or
And stopping the welding motion after the specified motion time is executed.
7. The cooperative welding method according to claim 1, wherein the arc tracking technology is used for correcting the deviation in real time during the welding operation, and the method specifically comprises the following steps:
collecting welding current data and transmitting the current data to a controller;
and the current data is used for enabling the controller to calculate path correction data in the horizontal and vertical directions and correcting the motion track of the welding gun end in real time.
8. A cooperative welding apparatus, said apparatus comprising:
a first execution unit configured to: acquiring a teaching point, and determining a virtual forward direction vector and a virtual swing direction vector according to the teaching point;
a second execution unit configured to: outputting a first signal to an existing external device on a working site, wherein the first signal is used for enabling the external device to move according to the virtual advancing direction vector, and enabling the existing external device to drive a workpiece to start moving;
a third execution unit configured to: and controlling the robot by an instruction to enable the welding gun end to swing along the swinging direction to perform welding work, and correcting the deviation in real time by an arc tracking technology in the movement process of the welding work.
9. A terminal, characterized in that the terminal comprises a processor and a memory, the memory having stored therein at least one program code, the at least one program code being loaded and executed by the processor to implement the cooperative welding method according to any of the claims 1 to 7.
10. A computer-readable storage medium having at least one program code stored therein, the at least one program code being loaded into and executed by a processor to implement the collaborative welding method according to any of claims 1-7.
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| CN114985868B (en) * | 2022-07-19 | 2024-06-11 | 成都卡诺普机器人技术股份有限公司 | Swing arc welding method and welding robot |
| CN117655601A (en) * | 2023-12-12 | 2024-03-08 | 中船舰客教育科技(北京)有限公司 | MR-based intelligent welding method, MR-based intelligent welding device, MR-based intelligent welding computer equipment and MR-based intelligent welding medium |
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