CN115365695B - Intelligent welding method - Google Patents
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- CN115365695B CN115365695B CN202211314385.XA CN202211314385A CN115365695B CN 115365695 B CN115365695 B CN 115365695B CN 202211314385 A CN202211314385 A CN 202211314385A CN 115365695 B CN115365695 B CN 115365695B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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Abstract
The invention discloses an intelligent welding method, which relates to the technical field of intelligent welding and comprises the following steps: constructing a theoretical three-dimensional model and a theoretical three-dimensional welding model; acquiring theoretical weld joint information; acquiring point cloud data of each welding part; comparing the point cloud data with the theoretical three-dimensional model to obtain an error amount; fixing one of the plurality of welding parts; determining the positions of a theoretical three-dimensional welding model and theoretical welding line information according to the fixed positions of the welding parts; pre-fixing the other welding parts to ensure that each welding part in the other welding parts has a welding end face which is superposed with theoretical welding seam information; adjusting the positions of the other welding parts according to the error amount to enable the width of the welding seam on the two sides of each of the other welding parts to be consistent; the problem of large-scale welding part be difficult to accurately fix a position each welding part in assembling and welding process, be difficult to satisfy the homogeneity requirement in each welding seam clearance is solved.
Description
Technical Field
The invention belongs to the technical field of intelligent welding, and particularly relates to an intelligent welding method.
Background
In the prior art, when the object to be welded is a large structural member, the large structural member is formed by assembling a plurality of large welding parts and welding the large structural member to form a welded part. The single welding part of the welding part has heavier mass, and the relative position between the single welding part and the single welding part is mostly adjusted by adopting a crown block and a rough mode in the assembling process. Meanwhile, the existing assembly means is simple and only simple supporting tools, and under the conditions that the blanking precision of a single welded part to be welded is not high and the supporting tools are simple and crude, a set of structural parts with the outline size meeting the tolerance requirement and the uniformity of weld joint gaps meeting the welding requirement is assembled before welding, so that the assembly is very difficult. Therefore, in the existing operation mode, an operator continuously tries on each welding part, and if repeated trial assembly cannot meet the requirement on the overall dimension or the requirement on the uniformity of a welding seam gap, a large amount of cutting and polishing work for the welding part is needed; in the existing mode, the labor intensity of an operator is very high, and the assembling and welding efficiency is also very low.
Disclosure of Invention
The invention aims to provide an intelligent welding method aiming at the defects in the prior art, and solves the problems that each welding part is difficult to accurately position in the assembling and welding process of a large-sized welding part, and the uniformity requirement of each welding seam gap is difficult to meet.
In order to achieve the above object, the present invention provides an intelligent welding method for welding a plurality of welded parts into a welded component, the method comprising:
respectively constructing theoretical three-dimensional models of a plurality of welding parts, and establishing the theoretical three-dimensional welding model of the welding part according to the welding relation of the plurality of welding parts;
obtaining theoretical weld joint information according to the theoretical three-dimensional welding model;
scanning a plurality of welding parts respectively to obtain point cloud data of each welding part;
comparing the point cloud data of each welding part with the corresponding theoretical three-dimensional model to obtain the error amount of each welding part;
fixing one of the welding parts, wherein at least one end face of the fixed welding part is a first welding end face which corresponds to first theoretical welding seam information in the theoretical welding seam information;
determining the positions of the theoretical three-dimensional welding model and the theoretical welding seam information according to the position of the first welding end face;
pre-fixing the rest of the welding parts to ensure that each welding part in the rest of the welding parts has a welding end face which is superposed with theoretical welding seam information;
adjusting the positions of the rest of the welding parts according to the error amount to enable the width of the welding seam on two sides of each of the rest of the welding parts to be consistent;
and welding a plurality of welding parts to form the welding part.
Optionally, the error amounts are both negative values.
Alternatively, each of the two sides of each of the welded parts forms a welded end face, and a plurality of the welded parts are welded to form a ring-shaped welded component.
Optionally, the end surfaces of the two ends of the fixed welding part are respectively a first welding end surface and a second welding end surface, and the first welding end surface and the second welding end surface respectively correspond to first theoretical weld information and second theoretical weld information in the theoretical weld information;
determining the positions of the theoretical three-dimensional welding model and the theoretical weld joint information according to the position of the first welding end face, including:
such that a distance between the first theoretical weld information and the first welding end face is equal to a distance between the second theoretical weld information and the second welding end face.
Optionally, when the positions of the rest of the welding parts are adjusted according to the error amount, the adjustment amount is half of the error amount.
Optionally, the obtaining an error amount for each of the welded parts comprises: and acquiring the error amount of each welding part in the direction from one welding end face to the other welding end face of the welding part.
Optionally, after fixing one of the plurality of welding parts, the method further includes: and aligning the bottom surface of the theoretical three-dimensional model of the corresponding welding part in the theoretical three-dimensional welding model with the bottom surface of the fixed welding part.
Optionally, when the remaining welding parts are pre-fixed, the bottom surface of each of the remaining welding parts is aligned with the bottom surface of the corresponding theoretical three-dimensional model of the theoretical three-dimensional welding part.
Optionally, welding a plurality of welded parts, before forming the welded component, further includes: and fixing the rest of the welding parts.
Optionally, a plurality of the welded parts are scanned individually by a workpiece scanner.
The invention provides an intelligent welding method, which has the beneficial effects that: the method forms a theoretical three-dimensional welding model through virtual assembly, further can obtain theoretical welding seam information according to the theoretical three-dimensional welding model, determines the position where each welding seam should be located theoretically, then obtains point cloud data of each welding part through scanning a plurality of welding parts, and the point cloud data can be compared with the theoretical three-dimensional model to obtain the error amount of each welding part, so that the method can be used for detecting each welding part on one hand, can be convenient for positioning each welding part before welding on the other hand, and ensures the uniformity of actual welding seam gaps; when a plurality of welding parts are positioned, one of the welding parts is fixed, then the theoretical three-dimensional welding model and the theoretical welding seam information are virtually positioned based on the fixed welding parts, so that the positions of all the theoretical three-dimensional models and the theoretical welding seam information in the theoretical three-dimensional welding model can be determined, the rest welding parts can be pre-fixed conveniently based on the theoretical welding seam information determined by the positions, after the rest welding parts are pre-fixed, the positions of the welding parts are adjusted according to the error of each welding part in the rest welding parts, the welding seam widths of two sides of each welding part in the rest welding parts can be conveniently consistent, the uniformity of the widths of all the welding seams is realized, and the welding quality is improved.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
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The above and other objects, features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings, wherein like reference numerals generally represent like parts in the exemplary embodiments of the present invention.
FIG. 1 shows a flow diagram of an intelligent welding method according to one embodiment of the invention.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the following describes preferred embodiments of the present invention, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
As shown in fig. 1, the present invention provides an intelligent welding method for welding a plurality of large-sized welding parts into one large-sized welded component, the method including:
respectively constructing theoretical three-dimensional models of a plurality of welding parts, and establishing the theoretical three-dimensional welding models of the welding parts according to the welding relation of the plurality of welding parts;
obtaining theoretical weld joint information according to a theoretical three-dimensional welding model;
scanning a plurality of welding parts respectively to obtain point cloud data of each welding part;
comparing the point cloud data of each welding part with the corresponding theoretical three-dimensional model to obtain the error amount of each welding part;
fixing one of the welding parts, wherein at least one end face of the fixed welding part is a first welding end face which corresponds to first theoretical welding seam information in the theoretical welding seam information;
determining the positions of a theoretical three-dimensional welding model and theoretical welding line information according to the position of the first welding end face;
pre-fixing the other welding parts to ensure that each welding part in the other welding parts has a welding end face to be superposed with theoretical welding seam information;
adjusting the positions of the other welding parts according to the error amount to enable the width of the welding seam on the two sides of each of the other welding parts to be consistent;
and welding the plurality of welding parts to form a welding part.
Specifically, for solving among the prior art to the welding process of large-scale welded part, the means of assembling is fairly simple, support the frock also relatively crude, if want to assemble a set of overall dimension and satisfy tolerance requirement before the welding, the homogeneity in welding seam clearance satisfies the structure of welding demand, often need the continuous trial assembly of each welded part of operator, sometimes even need to carry out work such as cutting, polishing to the welded part, intensity of labour is big, work efficiency is low, cause large-scale welded part to be difficult to carry out accurate location to each welded part assembling and welding process, be difficult to satisfy the problem of the homogeneity requirement in each welding seam clearance. The intelligent welding method provided by the invention forms a theoretical three-dimensional welding model through virtual assembly, further can obtain theoretical welding seam information according to the theoretical three-dimensional welding model, determines the position where each welding seam should be theoretically located, and then obtains point cloud data of each welding part through scanning a plurality of welding parts, wherein the point cloud data can be compared with the theoretical three-dimensional welding model to obtain the error amount of each welding part, and can be used for detecting each welding part on one hand, and can be convenient for positioning each welding part before welding on the other hand, thereby ensuring the uniformity of actual welding seam gaps; when a plurality of welding parts are positioned, one of the welding parts is fixed, then the theoretical three-dimensional welding model and the theoretical welding seam information are virtually positioned based on the fixed welding parts, so that the positions of all the theoretical three-dimensional models and the theoretical welding seam information in the theoretical three-dimensional welding model can be determined, the rest welding parts can be pre-fixed conveniently based on the theoretical welding seam information determined by the positions, after the rest welding parts are pre-fixed, the positions of the welding parts are adjusted according to the error of each welding part in the rest welding parts, the welding seam widths of two sides of each welding part in the rest welding parts can be conveniently consistent, the uniformity of the widths of all the welding seams is realized, and the welding quality is improved.
Further, the theoretical weld joint information is the position of each weld joint in the theoretical three-dimensional welding model, the theoretical three-dimensional welding model and the theoretical weld joint information are virtually positioned based on the fixed welding parts, the fixed welding parts are bound to have at least one first welding end face, the first welding end faces correspond to the first theoretical weld joint information in the theoretical weld joint information, and in the process of determining the position of the theoretical weld joint information according to the position of the first welding end faces, the first welding end faces can be overlapped with the first theoretical weld joint information, and the distance between the first welding end faces and the first theoretical weld joint information can also be set, so that the positions of all the theoretical three-dimensional models and the theoretical weld joint information in the theoretical three-dimensional welding model are determined, and the theoretical weld joint information determined based on the positions can be used for pre-fixing the rest welding parts; when in pre-fixing, except for the fixed welding parts, each of the other welding parts has a welding end face superposed with theoretical welding seam information, so that pre-positioning of each of the other welding parts is realized, and on the basis of the pre-positioning, the position of each welding part is adjusted according to the error of each of the other welding parts, for example, the error is uniformly distributed on two sides of each welding part, so that the widths of the welding seams on the two sides of each welding part are consistent.
Alternatively, the error amounts are both negative values.
Specifically, the error amount is a size error of the welded part compared with the theoretical three-dimensional model, for example, a difference between the width of the welded part and the width of the theoretical three-dimensional model, and the error amount of the welded part is a negative value, so that each welded part has a certain adjustable space, and the condition that the edges of two adjacent welded parts interfere with each other cannot occur.
Alternatively, each of the two sides of each of the welded parts forms a welding end face, and the plurality of welded parts are welded to form a ring-shaped welded component.
Specifically, the welding end faces of two adjacent welding parts, which are close to each other, are welded to form a welding seam, so that when the welding part is pre-fixed, for example, one welding end face of the welding part is overlapped with theoretical welding seam information, then the position of the welding part is adjusted according to the transverse error of the welding part, and then the position of the other welding part is adjusted in a similar manner.
Optionally, the end surfaces of the two ends of the fixed welding part are respectively a first welding end surface and a second welding end surface, and the first welding end surface and the second welding end surface respectively correspond to first theoretical weld information and second theoretical weld information in the theoretical weld information;
determining the positions of a theoretical three-dimensional welding model and theoretical welding seam information according to the position of the first welding end face, and the method comprises the following steps:
and enabling the distance between the first theoretical welding seam information and the first welding end face to be equal to the distance between the second theoretical welding seam information and the second welding end face.
Specifically, the end faces of the two transverse ends of the fixed welding part are respectively a first welding end face and a second welding end face, and the first welding end face and the second welding end face are respectively used for welding with one of the rest welding parts, so that when the positions of a theoretical three-dimensional welding model and theoretical welding line information are determined according to the position of the first welding end face, the distance between the first theoretical welding line information and the first welding end face is equal to the distance between the second theoretical welding line information and the second welding end face, the fixed welding part is ensured to be centered relative to the position between the first theoretical welding line information and the second theoretical welding line information, and the transverse error amount of the fixed welding part is uniformly distributed at the two ends of the fixed welding part.
Alternatively, when the positions of the remaining welded parts are adjusted according to the error amount, the adjustment amount is half of the error amount.
Specifically, for each of the other welded parts, the position of the welded part is adjusted according to half of the error amount, so that the theoretical weld joint information at the two ends of the welded part is equal to the distance between the two welded end faces at the two ends of the welded part.
Optionally, obtaining the error amount for each welded part comprises: an error amount in a direction from one welding end face to the other welding end face of each of the welded parts is obtained.
Specifically, the error amount in the direction from one welding end face to the other welding end face of each welded part, that is, the error amount in the lateral direction thereof is acquired.
Optionally, after fixing one of the plurality of welded parts, the method further includes: and aligning the bottom surface of the theoretical three-dimensional model of the corresponding welding part in the theoretical three-dimensional welding model with the bottom surface of the fixed welding part.
Specifically, for a plurality of welding parts of which two sides respectively form a welding end face to be welded to form an annular welding part, the errors of the plurality of welding parts in the height direction are all ensured to be above the welding parts before welding; after one of the welding parts is fixed, the bottom surface of the theoretical three-dimensional model of the corresponding welding part in the theoretical three-dimensional welding model is aligned with the bottom surface of the fixed welding part, and the positions of the theoretical three-dimensional welding model and the theoretical welding line information are further determined in such a way, so that a reference is provided for the subsequent positioning of the rest welding parts in the height direction.
Optionally, when the remaining welded parts are pre-fixed, the bottom surface of each of the remaining welded parts is aligned with the bottom surface of the theoretical three-dimensional model of the corresponding welded part in the theoretical three-dimensional welded model.
Specifically, based on the above-mentioned reference provided for the positioning of the remaining welded parts in the height direction, when the remaining welded parts are pre-fixed, the bottom surface of each of the remaining welded parts is aligned with the bottom surface of the theoretical three-dimensional model corresponding thereto.
Furthermore, a tool can be used for providing support at the bottom of each welding part, the tool can be designed based on a theoretical three-dimensional welding model, and the bottom surface of each welding part arranged on the upper side of the tool and the bottom surface of the corresponding theoretical three-dimensional model are ensured to be in an aligned state; certainly, the frock can carry out the centre gripping to every welding part and fix, and in order to be convenient for the adjustment measurement to every welding part, can also set up the adjustment measurement chi on the frock, and the size of the measurement adjustment of being convenient for guarantees the accuracy of adjustment.
Optionally, welding a plurality of welded parts, before forming the welded component, further comprises: and fixing the rest welding parts.
Specifically, each welding part with the adjusted position can be fixed through the tool and then welded, welding accuracy is guaranteed, and uniformity requirements of each welding seam gap are met.
Optionally, the plurality of welded parts are scanned individually by a workpiece scanner.
Specifically, the workpiece scanner can be an industrial-grade three-dimensional workpiece scanner, and a theoretical three-dimensional model of each welding part is produced by scanning each welding part; furthermore, theoretical three-dimensional models of a plurality of welding parts are utilized, a dragon theoretical three-dimensional welding model is built according to the welding relation of the welding parts, virtual assembly is carried out through virtual assembly software, and theoretical welding seam information is naturally obtained after the virtual assembly.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (10)
1. An intelligent welding method for welding a plurality of weld components into a welded assembly, the method comprising:
respectively constructing theoretical three-dimensional models of a plurality of welding parts, and establishing the theoretical three-dimensional welding model of the welding part according to the welding relation of the plurality of welding parts;
obtaining theoretical welding seam information according to the theoretical three-dimensional welding model;
respectively scanning a plurality of welding parts to obtain point cloud data of each welding part;
comparing the point cloud data of each welding part with the corresponding theoretical three-dimensional model to obtain the error amount of each welding part;
fixing one of the welding parts, wherein at least one end face of the fixed welding part is a first welding end face which corresponds to first theoretical welding seam information in the theoretical welding seam information;
determining the positions of the theoretical three-dimensional welding model and the theoretical welding seam information according to the position of the first welding end face;
pre-fixing the rest of the welding parts to ensure that each welding part in the rest of the welding parts has a welding end face which is superposed with theoretical welding seam information;
adjusting the positions of the rest of the welding parts according to the error amount to enable the width of the welding seam on two sides of each of the rest of the welding parts to be consistent;
and welding the plurality of welding parts to form the welding part.
2. The intelligent welding method of claim 1, wherein the error amounts are negative values.
3. The intelligent welding method of claim 1, wherein each welding part has a welding end face formed on both sides thereof, and a plurality of welding parts are welded to form a ring-shaped welding part.
4. The intelligent welding method according to claim 1, wherein end faces of two ends of the fixed welding part are a first welding end face and a second welding end face respectively, and the first welding end face and the second welding end face correspond to first theoretical weld information and second theoretical weld information in the theoretical weld information respectively;
the determining the positions of the theoretical three-dimensional welding model and the theoretical welding seam information according to the position of the first welding end face comprises the following steps:
such that a distance between the first theoretical weld information and the first welding end face is equal to a distance between the second theoretical weld information and the second welding end face.
5. The intelligent welding method according to claim 1, wherein when the positions of the remaining welding parts are adjusted according to the error amount, the adjustment amount is half of the error amount.
6. The intelligent welding method of claim 3, wherein the obtaining an error amount for each of the welded parts comprises: and acquiring the error amount of each welding part in the direction from one welding end surface to the other welding end surface.
7. The intelligent welding method of claim 3, further comprising, after securing one of the plurality of welded parts: and aligning the bottom surface of the theoretical three-dimensional model of the corresponding welding part in the theoretical three-dimensional welding model with the bottom surface of the fixed welding part.
8. The intelligent welding method of claim 7, wherein the pre-fixing of the remaining welded parts is performed such that a bottom surface of each of the remaining welded parts is aligned with a bottom surface of a theoretical three-dimensional model of a corresponding one of the theoretical three-dimensional welded models, respectively.
9. The intelligent welding method of claim 1, wherein welding a plurality of welded parts prior to forming the welded component further comprises: and fixing the rest of the welding parts.
10. The intelligent welding method of claim 1, wherein a plurality of the welded parts are separately scanned by a workpiece scanner.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110227876A (en) * | 2019-07-15 | 2019-09-13 | 西华大学 | Robot welding autonomous path planning method based on 3D point cloud data |
| CN113192054A (en) * | 2021-05-20 | 2021-07-30 | 清华大学天津高端装备研究院 | Method and system for detecting and positioning complex parts based on 2-3D vision fusion |
| CN113333998A (en) * | 2021-05-25 | 2021-09-03 | 绍兴市上虞区武汉理工大学高等研究院 | Automatic welding system and method based on cooperative robot |
| WO2022213374A1 (en) * | 2021-04-09 | 2022-10-13 | 迅智自动化科技股份有限公司 | Welding system and welding parameter optimization method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US10083627B2 (en) * | 2013-11-05 | 2018-09-25 | Lincoln Global, Inc. | Virtual reality and real welding training system and method |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110227876A (en) * | 2019-07-15 | 2019-09-13 | 西华大学 | Robot welding autonomous path planning method based on 3D point cloud data |
| WO2022213374A1 (en) * | 2021-04-09 | 2022-10-13 | 迅智自动化科技股份有限公司 | Welding system and welding parameter optimization method |
| CN113192054A (en) * | 2021-05-20 | 2021-07-30 | 清华大学天津高端装备研究院 | Method and system for detecting and positioning complex parts based on 2-3D vision fusion |
| CN113333998A (en) * | 2021-05-25 | 2021-09-03 | 绍兴市上虞区武汉理工大学高等研究院 | Automatic welding system and method based on cooperative robot |
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