CN114888495B - Welding control method and system based on intermediate assembly model - Google Patents

Welding control method and system based on intermediate assembly model Download PDF

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Publication number
CN114888495B
CN114888495B CN202210763260.9A CN202210763260A CN114888495B CN 114888495 B CN114888495 B CN 114888495B CN 202210763260 A CN202210763260 A CN 202210763260A CN 114888495 B CN114888495 B CN 114888495B
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welding
weld
cabin
robots
model
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CN114888495A (en
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苏士斌
向辉明
黄楚畅
梁建辉
罗进友
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CSSC Huangpu Wenchong Shipbuilding Co Ltd
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CSSC Huangpu Wenchong Shipbuilding Co Ltd
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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
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • 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
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • 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
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Automation & Control Theory (AREA)
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Abstract

The invention discloses a welding control method and a system based on a middle assembly model, wherein the method comprises the following steps: acquiring hull weld parameters of the intermediate assembly model, and generating a weld welding task based on the hull weld parameters, wherein the weld welding task is about the welding tasks of a plurality of cabin weld units in the area where the intermediate assembly model is located; distributing a welding seam welding task to the welding robot in the area where the middle assembled model is located; symmetrically grouping the cabin welding line units based on the central point of the middle assembly model to obtain a plurality of welding line groups; and planning the welding logics of the plurality of welding line groups according to the number of the welding robots, and controlling the welding robots to carry out welding operation on the ship body by utilizing the welding logics. The invention can distribute welding tasks to the welding robots based on the intermediate assembly model, and plan the control logic of the welding robots according to the number of the welding robots, so as to realize the cooperative control of the welding robots and improve the welding precision and efficiency.

Description

Welding control method and system based on intermediate assembly model
Technical Field
The invention relates to the technical field of ship welding, in particular to a welding control method and system based on a middle assembly model.
Background
With the development of shipping industry, the shipping market is gradually flourishing, the demand for marine transportation and transportation is gradually increased, and in order to meet the shipping demand, a ship body with larger storage capacity and more equipment needs to be built. Due to the fact that the size of the ship body is large, the ship body needs to be split into a plurality of small group plates to be manufactured independently in the ship building process, and then devices of the small group plates are welded through assembly welding seams to form the ship body.
The welding mode commonly used at present calls a plurality of different welding robots, and a plurality of different welding robots are controlled respectively to weld the small group plate to be welded from different angles, so that the small group plate is fixed together.
However, the welding method commonly used at present has the following technical problems: when welding, the welding efficiency and the welding precision of different welding robots are different, so that the welding error is larger, and the welding time is long.
Disclosure of Invention
The invention provides a welding control method and a welding control system for a ship robot.
A first aspect of an embodiment of the present invention provides a welding control method based on a medium-stack model, where the method includes:
acquiring hull weld parameters of the intermediate assembly model, and generating a weld welding task based on the hull weld parameters, wherein the weld welding task is about the welding tasks of a plurality of cabin weld units in the area where the intermediate assembly model is located;
distributing a welding seam welding task to the welding robot in the area where the middle assembled model is located;
symmetrically grouping the cabin welding line units based on the central point of the middle assembly model to obtain a plurality of welding line groups;
and planning the welding logics of the plurality of welding line groups according to the number of the welding robots, and controlling the welding robots to carry out welding operation on the ship body by utilizing the welding logics.
In a possible implementation manner of the first aspect, the planning the welding logic of the plurality of weld groups according to the number of welding robots includes:
when one welding robot is adopted, determining the spacing distance between each grid welding line unit in the plurality of welding line groups and the central point of the assembled model to obtain a plurality of spacing distance values;
and planning the welding logic of the plurality of welding line groups according to the plurality of spacing distance values.
In a possible implementation manner of the first aspect, the logic for planning welding of the plurality of cabin weld units according to the plurality of separation distance values includes:
and sequencing the plurality of cabin welding line units corresponding to the plurality of spacing distance values according to an arrangement mode from small to large to obtain the welding logic of the plurality of cabin welding line units.
In a possible implementation manner of the first aspect, the planning the welding logic of the plurality of weld groups according to the number of welding robots includes:
and when the welding robots are multiple, distributing two corresponding welding robots to each welding line group to obtain welding logic, wherein each welding robot corresponds to one cabin welding line unit in the welding line group.
In one possible implementation manner of the first aspect, the controlling, by the welding logic, the welding robot to perform the welding operation on the ship hull includes:
controlling two welding robots to each two grid welding seam units of the welding seam group to respectively perform welding operation, and waiting for each welding robot to be the same after another welding robot of the welding seam group completes the welding operation, and then simultaneously moving to another welding seam group performs the welding operation.
In a possible implementation manner of the first aspect, the assigning a welding task to the welding robot in the area where the intermediate assembly model is located includes:
acquiring a reachable working area at the periphery of the area where the middle assembled model is located, wherein the reachable working area is a welding space of the welding robot;
assigning a corresponding weld welding task to each welding robot of the accessible work area.
In one possible implementation manner of the first aspect, the symmetrically grouping the plurality of cabin weld units based on the central point includes:
establishing a welding model coordinate system by taking the central point as a coordinate origin;
and dividing two symmetrical cabin welding line units into a group by using the center of the welding model coordinate system.
In a possible implementation manner of the first aspect, a central point of the intermediate assembly model is specifically: and (4) assembling the center of the bottom plane of the model.
In one possible implementation manner of the first aspect, the hull weld parameters include: the number of the welding line, the starting point of the welding line, the end point of the welding line, the parameters of the welding line connecting plate and the number of the welding line unit of the compartment where the welding line is located.
A second aspect of an embodiment of the present invention provides a welding control system based on a neutral assembly model, the system including:
the acquisition module is used for acquiring the hull weld parameters of the intermediate assembly model and generating a weld welding task based on the hull weld parameters, wherein the weld welding task is about the welding tasks of a plurality of cabin weld units in the area where the intermediate assembly model is located;
the distribution module is used for distributing a welding seam welding task to the welding robot in the area where the middle assembly model is located;
the grouping module is used for symmetrically grouping the cabin welding line units based on the central point of the middle assembly model to obtain a plurality of welding line groups;
and the planning control module is used for planning the welding logics of the plurality of welding line groups according to the number of the welding robots and controlling the welding robots to carry out welding operation on the ship body by utilizing the welding logics.
Compared with the prior art, the welding control method and the welding control system based on the intermediate assembly model have the advantages that: the invention can set a middle assembly model in the welding area, distribute welding tasks to the welding robots in the area based on the middle assembly model, and plan the control logic of the welding robots according to the number of the welding robots, so as to realize the cooperative control of the welding robots and improve the welding precision and efficiency.
Drawings
Fig. 1 is a schematic flowchart of a welding control method based on a medium-stack model according to an embodiment of the present invention;
FIG. 2 is a schematic plan view of a center point of a central assembly model according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a welding control system based on a medium-stack model according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The welding mode commonly used at present has the following technical problems: when the welding, the welding robot welding's of being responsible for different angles precision has the difference, probably the welding of upper left corner is thicker, the welding of lower right corner is handed over thinly, in case the welding robot welding of arbitrary angle makes mistakes, make its actual size of plate that needs the welding after and the model size that welding robot consulted when the welding differs great, and then lead to behind welding robot welding accumulation stack mistake such as diagonal position or side position, further let the constantly accumulative increase of welded deviation, thereby greatly reduced shipbuilding precision.
In order to solve the above problem, a welding control method based on a medium-group model provided in the embodiments of the present application will be described and explained in detail by the following specific embodiments.
Referring to fig. 1, a flowchart of a welding control method based on a medium-stack model according to an embodiment of the present invention is shown.
In an embodiment, the method involves a plurality of welding robots, each of which can be arranged at a side of the component to be welded for performing a welding operation on the component to be welded.
By way of example, the welding control method based on the intermediate combination model may include:
s11, obtaining hull weld parameters of the intermediate assembly model, and generating a weld welding task based on the hull weld parameters, wherein the weld welding task is about the welding tasks of a plurality of cabin weld units in the area where the intermediate assembly model is located.
In this embodiment, the hull weld parameters required for welding can be obtained from the assemblage model, and then the weld welding task is generated based on the hull weld parameters, so that the welding robot can perform welding operation by using the parameters in the task.
In one embodiment, the cabin welding seam unit is a welding unit obtained by dividing a plurality of ship welding seams by taking the ship cabin as a unit, and the ship welding seam parameters can include welding parameters required by each cabin welding seam unit so that a welding robot can perform related welding operation.
In one embodiment, the hull weld parameters include: the number of the welding line, the starting point of the welding line, the end point of the welding line, the parameters of the welding line connecting plate and the number of the welding line unit of the compartment where the welding line is located.
And S12, distributing a welding seam welding task to the welding robot in the area where the middle assembled model is located.
In one embodiment, an intermediate assembly module can be used for welding an area, and one or more welding robots can be contained in a welding area, and the intermediate assembly module distributes welding tasks to the welding robots in the area, so that the welding robots can be simultaneously responsible for the welding operation of the area, and the cooperative control of the welding robots is realized.
In an alternative embodiment, step S12 may comprise the following sub-steps:
and S121, acquiring a reachable working area at the periphery of the area where the middle assembled model is located, wherein the reachable working area is a welding space of the welding robot.
And S122, distributing corresponding welding seam welding tasks to the welding robots in each reachable working area.
Specifically, in the design of the construction of the welding line of the welding robots, each robot has a suitable welding space in the space, and the whole welding space is composed of the welding spaces of a plurality of robots, and the welding spaces of the welding robots are crossed and covered by a working area.
The central model can be placed in the entire weldable space and the individual parts of the central model fall within the welding space of several robots, so that a distribution is achieved.
And S13, symmetrically grouping the cabin welding line units based on the central point of the middle assembly model to obtain a plurality of welding line groups.
The central point of the intermediate assembly model is specifically as follows: and (4) assembling the center of the bottom plane of the model.
Referring to fig. 2, a schematic plan view of a center point of the intermediate assemblage model provided by the embodiment of the present invention is shown.
Specifically, the central point in fig. 2 is the central point of the central assemblage model, and the grids at the periphery are the grid welding line units. Taking fig. 2 as an example, there are 4 grid weld units each.
In one embodiment, step S13 may include the following sub-steps:
and S131, establishing a welding model coordinate system by taking the central point as a coordinate origin.
And S132, dividing the two symmetrical cabin welding line units into a group by using the center of the welding model coordinate system.
Specifically, two grid welding line units can be connected diagonally in pairs with the central point as the center, and the two grid welding line units are used as a group. For convenience of handling, each bay weld unit may also be assigned a number.
Referring to fig. 2, the cabin lattice welding line unit 1 is connected with the cabin lattice welding line unit 3, and the cabin lattice welding line unit 2 is connected with the cabin lattice welding line unit 4, so that the cabin lattice welding line unit 1 and the cabin lattice welding line unit 3 form one group, and the cabin lattice welding line unit 2 and the cabin lattice welding line unit 4 form another group.
And S14, planning the welding logics of the plurality of welding line groups according to the number of the welding robots, and controlling the welding robots to perform welding operation on the ship body by using the welding logics.
After the combination is determined, logic for controlling the welding robots needs to be planned, and the welding robots are controlled through the logic to carry out synchronous welding so as to improve the welding efficiency and the welding precision.
After the control logic is planned, the welding robot can be controlled to perform corresponding welding operation according to the control logic.
Alternatively, the welding robot may be one, wherein, as an example, the step S14 may include the following sub-steps:
and S141, when one welding robot is adopted, determining the spacing distance between each cabin welding line unit in the plurality of welding line groups and the central point of the assembled model to obtain a plurality of spacing distance values.
And S142, planning the welding logics of the plurality of welding line groups according to the plurality of spacing distance values.
In an embodiment, the substep S142 is specifically:
and sequencing the plurality of cabin welding line units corresponding to the plurality of spacing distance values according to an arrangement mode from small to large to obtain the welding logic of the plurality of cabin welding line units.
By way of example, fig. 2 illustrates a group a of the cell weld units 1 and 3 and another group B of the cell weld units 2 and 4.
The distance between each compartment welding line unit in each group and the central point can be calculated to obtain a plurality of spacing distances, and then the compartment welding line units are arranged according to the rule from small to large.
Referring to fig. 2, the cell weld units 1, 3, 2 and 4 are arranged in order of small to large distances from the center point, and can be used as the welding logic of the welding robot in the order of 1 → 3 → 2 → 4, thereby controlling the robot to perform the corresponding welding operation according to the welding logic.
Alternatively, there may be a plurality of welding robots, wherein, as an example, the step S14 may include the following sub-steps:
s143, when the number of the welding robots is multiple, distributing two corresponding welding robots to each welding line group to obtain welding logic, wherein each welding robot corresponds to one grid welding line unit in the welding line group.
Taking fig. 2 as an example, there are 4 grid weld units, 1, 2, 3, 4 respectively. The number of the welding robots can be 4, every two welding robots are in one group, and the cabin welding seam units of one group are welded. I.e. each welding robot welds one bay weld unit.
Alternatively, if there are 8 grid weld units, which can be divided into 4 groups, and the number of welding robots can also be 4, then each welding robot welds two grid weld units, and so on.
As described in the above example, if there is one robot and the planned welding logic is 1 → 3 → 2 → 4, the welding robot performs welding on the cell weld unit 1, the cell weld unit 3, the cell weld unit 2 and the cell weld unit 4, respectively, in the order of the welding logic.
If a plurality of welding robots are provided, each group of welding robots can be started synchronously to perform welding. For example, the two welding robots of the cell weld unit 1 and the cell weld unit 3 weld at the same time, and the two welding robots of the cell weld unit 2 and the cell weld unit 4 weld at the same time.
In practice, if the welding robot completes the welding of the current compartment welding seam unit, the welding robot may move to the position of the next compartment welding seam unit, and may collide with another welding robot during the moving process, resulting in the error of the welding robot which does not complete the welding, and in order to avoid the above situation, in one embodiment, step S14 may include the following sub-steps:
s144, controlling two welding robots to respectively perform welding operation on two cabin welding line units of each welding line group, and enabling each welding robot to simultaneously move to another welding line group to perform welding operation after another welding robot of the same welding line group completes the welding operation.
Specifically, when two welding robots of the same group are used for welding, after one welding robot finishes welding, the welding robots of the same group of the welding line units of the symmetrical compartments are used for welding, and the welding robots which finish welding can be in a waiting state; after the welding robots of the same group also finish welding, the two welding robots move to the other two cabin welding line units which are symmetrically distributed at the same time, and the next welding is continued.
In this embodiment, an embodiment of the present invention provides a welding control method based on a medium-stack model, which has the following beneficial effects: the invention can set a middle assembly model in the welding area, distribute welding tasks to the welding robots in the area based on the middle assembly model, and plan the control logic of the welding robots according to the number of the welding robots, so as to realize the cooperative control of the welding robots and improve the welding precision and efficiency.
An embodiment of the present invention further provides a welding control system based on the neutral assembly model, and referring to fig. 3, a schematic structural diagram of the welding control system based on the neutral assembly model according to an embodiment of the present invention is shown.
Wherein, as an example, the welding control system based on the intermediate assemblage model may comprise:
an obtaining module 301, configured to obtain a hull weld parameter of the intermediate assembly model, and generate a weld welding task based on the hull weld parameter, where the weld welding task is a welding task for a plurality of bay weld units in an area where the intermediate assembly model is located;
an allocation module 302, configured to allocate a welding task to a welding robot in an area where the intermediate assembly model is located;
the grouping module 303 is configured to symmetrically group the multiple cabin welding line units based on a central point of the middle assembly model to obtain multiple welding line groups;
and the planning control module 304 is used for planning the welding logics of the plurality of welding groups according to the number of the welding robots and controlling the welding robots to perform welding operation on the ship body by using the welding logics.
Optionally, the planning control module is further configured to:
when one welding robot is adopted, determining the spacing distance between each grid welding line unit in the plurality of welding line groups and the central point of the assembled model to obtain a plurality of spacing distance values;
and planning the welding logic of the plurality of welding line groups according to the plurality of spacing distance values.
Optionally, the planning control module is further configured to:
and sequencing the plurality of cabin welding line units corresponding to the plurality of spacing distance values according to an arrangement mode from small to large to obtain the welding logic of the plurality of cabin welding line units.
Optionally, the planning control module is further configured to:
and when the welding robots are multiple, distributing two corresponding welding robots to each welding line group to obtain welding logic, wherein each welding robot corresponds to one cabin welding line unit in the welding line group.
Optionally, the planning control module is further configured to:
controlling two welding robots to each two grid welding seam units of the welding seam group to respectively perform welding operation, and waiting for each welding robot to be the same after another welding robot of the welding seam group completes the welding operation, and then simultaneously moving to another welding seam group performs the welding operation.
Optionally, the allocating module is further configured to:
acquiring a reachable working area at the periphery of the area where the middle assembled model is located, wherein the reachable working area is a welding space of the welding robot;
assigning a corresponding weld welding task to each welding robot of the accessible work area.
Optionally, the grouping module is further configured to:
establishing a welding model coordinate system by taking the central point as a coordinate origin;
and dividing two symmetrical cabin welding line units into a group by using the center of the welding model coordinate system.
Optionally, the central point of the intermediate assembly model specifically includes: and (4) assembling the center of the bottom plane of the model.
Optionally, the hull weld parameters include: the number of the welding line, the starting point of the welding line, the end point of the welding line, the parameters of the welding line connecting plate and the number of the welding line unit of the compartment where the welding line is located.
It can be clearly understood by those skilled in the art that, for convenience and brevity, the specific working process of the system described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
Further, an embodiment of the present application further provides an electronic device, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the program implementing the welding control method based on the medium assemblage model as described in the embodiments above.
Further, the present application also provides a computer-readable storage medium storing computer-executable instructions for causing a computer to execute the welding control method based on the medium group model according to the above embodiment.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.

Claims (5)

1. A welding control method based on a medium-group model is characterized by comprising the following steps:
s11, obtaining hull weld parameters of the intermediate assembly model, and generating a weld welding task based on the hull weld parameters, wherein the weld welding task is about the welding task of a plurality of cabin weld units in the area where the intermediate assembly model is located, and the cabin weld units are obtained by dividing a plurality of hull welds by taking hull cabins as units;
s12, distributing a welding seam welding task to the welding robot in the area where the middle assembled model is located;
s13, symmetrically grouping the cabin welding line units based on the central point of the middle assembly model to obtain a plurality of welding line groups; wherein, step S13 includes: s131, establishing a welding model coordinate system by taking the central point as a coordinate origin; s132, dividing two symmetrical compartment welding line units into a group according to the center of the welding model coordinate system, specifically, connecting the two compartment welding line units in a pairwise opposite angle mode by taking the center point as the center, and taking the two compartment welding line units as a group;
s14, planning the welding logics of the plurality of welding line groups according to the number of the welding robots, and controlling the welding robots to perform welding operation on the ship body by using the welding logics; wherein, step S14 includes: s141, when one welding robot is adopted, determining the spacing distance between each cabin grid welding line unit in the plurality of welding line groups and the central point of the intermediate assembly model to obtain a plurality of spacing distance values; s142, planning welding logic according to the plurality of interval distance values; sequencing the plurality of cabin welding line units corresponding to the plurality of interval distance values according to an arrangement mode from small to large to obtain welding logics of the plurality of cabin welding line units; s143, when a plurality of welding robots are arranged, distributing two corresponding welding robots to each welding line group to obtain a welding logic, wherein each welding robot corresponds to one bay welding line unit in the welding line group, and the welding robots of each group are synchronously started to weld; s144, controlling two welding robots to respectively perform welding operation on the two cabin welding line units of each welding line group, and enabling each welding robot to simultaneously move to another welding line group to perform welding operation after another welding robot of the same welding line group completes the welding operation.
2. The welding control method based on the intermediate assembly model according to claim 1, wherein the assigning the welding robot to the welding task of the area where the intermediate assembly model is located comprises:
acquiring an accessible working area at the periphery of the area where the middle assembly model is located, wherein the accessible working area is a welding space of the welding robot;
assigning a corresponding weld welding task to each welding robot of the accessible work area.
3. The welding control method based on the intermediate assembly model according to claim 1, wherein the central point of the intermediate assembly model is specifically: and (4) assembling the center of the bottom plane of the model.
4. The welding control method based on the intermediate assemblage model according to claim 1, wherein the welding parameters of the ship hull comprise: the number of the welding line, the starting point of the welding line, the end point of the welding line, the parameters of the welding line connecting plate and the number of the welding line unit of the compartment where the welding line is located.
5. A welding control system based on a medium group model, the system comprising:
the acquisition module is used for acquiring hull weld parameters of the intermediate assembly model and generating a weld welding task based on the hull weld parameters, wherein the weld welding task is about the welding task of a plurality of cabin weld units in the area where the intermediate assembly model is located, and the cabin weld units are obtained by dividing a plurality of hull welds by taking the hull cabins as units;
the distribution module is used for distributing a welding seam welding task to the welding robot in the area where the middle assembly model is located;
the grouping module is used for symmetrically grouping the cabin welding line units based on the central point of the middle assembly model to obtain a plurality of welding line groups; the grouping module is also used for establishing a welding model coordinate system by taking the central point as a coordinate origin; dividing two symmetrical cabin welding line units into a group according to the center of the welding model coordinate system;
the planning control module is used for planning the welding logics of the plurality of welding line groups according to the number of the welding robots and controlling the welding robots to carry out welding operation on the ship body by utilizing the welding logics; the planning control module is further used for determining the spacing distance between each cabin welding line unit in the plurality of welding line groups and the central point of the assembling model when one welding robot is used, so as to obtain a plurality of spacing distance values; planning a welding logic according to the plurality of separation distance values; sequencing the plurality of cabin welding line units corresponding to the plurality of interval distance values according to an arrangement mode from small to large to obtain welding logics of the plurality of cabin welding line units; when a plurality of welding robots are arranged, two corresponding welding robots are distributed to each welding line group to obtain a welding logic; each welding robot corresponds to one cabin welding line unit in the welding line group; controlling two welding robots to each two grid welding seam units of the welding seam group to respectively perform welding operation, and waiting for each welding robot to be the same after another welding robot of the welding seam group completes the welding operation, and then simultaneously moving to another welding seam group performs the welding operation.
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