CN115488535A - Welding gun track generation method and device for medium-assembly welding seam - Google Patents
Welding gun track generation method and device for medium-assembly welding seam Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention discloses a welding gun track generation method and a welding gun track generation device for a medium-assembly welding seam, wherein a medium-assembly segmented model is constructed by acquiring medium-assembly segmented model data, and the medium-assembly segmented model is subjected to structural analysis to obtain the types and the number of parts corresponding to all parts forming the medium-assembly segmented model; judging whether gaps exist among all parts, if so, setting gap welding lines based on the gaps until all parts are traversed to obtain all gap welding lines in the assembly subsection model; and selecting any gap welding line, obtaining and obtaining the welding line track parameter of any gap welding line according to the gap welding line type of any gap welding line, and obtaining the welding line welding gun track based on the welding line track parameter. Compared with the prior art, the technical scheme of the invention can solve the problem that the welding line cannot be generated due to the existence of the gaps between the parts, realize the calculation of the gap welding line corresponding to the gaps and improve the accuracy of the subsequent simulation result of the software.
Description
Technical Field
The invention relates to the technical field of intelligent ship manufacturing, in particular to a welding gun track generation method and device for a middle-assembled welding seam.
Background
With the continuous development of industrial robot technology, advanced shipbuilding process equipment is also developed, various advanced shipbuilding enterprises continuously develop the research of shipbuilding intelligent manufacturing technology in the recent period, corresponding robot equipment and production lines are put into use, particularly in the middle and small group vertical welding processes, the application of a 3D online scanning technology is basically realized in the small group vertical welding process, and in the middle group vertical welding process, due to the existence of multi-dimensional complex welding seams, the welding gun track planning of the welding seams is mainly completed in a model-driven mode, namely, simulation is carried out through robottsudio simulation software.
In robottsudi simulation software, seamless joint of parts is required, otherwise automatic calculation of a welding seam is influenced, but in the process of constructing a three-dimensional ship model by SPD modeling software, gaps may exist among segmented parts, so that calculation of the welding seam cannot be automatically completed, and accuracy of planning of a welding gun track of the simulated welding seam is low.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the welding gun track generation method and device for the intermediate assembly welding seam are provided, calculation of the gap welding seam corresponding to the gap is achieved, and accuracy of a subsequent simulation result of software is improved.
In order to solve the technical problem, the invention provides a welding gun track generation method for assembling welding seams, which comprises the following steps:
acquiring intermediate assembly segmented model data, constructing an intermediate assembly segmented model, and performing structural analysis on the intermediate assembly segmented model to obtain part types and quantity corresponding to all parts forming the intermediate assembly segmented model;
judging whether gaps exist among all parts, if so, setting gap welding seams based on the gaps until all parts are traversed to obtain all gap welding seams in the intermediate assembly segmented model;
selecting any gap welding line, obtaining and obtaining the welding line track parameter of any gap welding line according to the gap welding line type of any gap welding line, and obtaining the welding line welding gun track based on the welding line track parameter.
In a possible implementation manner, the determining whether there is a gap between all the parts specifically includes:
acquiring weld parameters corresponding to all welds in the intermediate assembly segmented model, wherein the weld parameters comprise a first weld part and a second weld part;
based on the welding seam parameters corresponding to all the welding seams, obtaining and generating a welding seam part combination set based on the welding seam part combination corresponding to each welding seam; wherein the weld part combination is a combination of the first weld part and the second weld part;
based on the welding seam part combination set, combining all the parts pairwise to obtain a first part combination set based on a first part combination, and calculating a first part distance of each pair of first part combinations in the first part combination set;
and judging whether the first part distance is zero or not, if not, considering that a gap exists between the first part combinations corresponding to the first part distance, and if so, considering that a gap does not exist between the first part combinations corresponding to the first part distance.
In a possible implementation manner, performing structural analysis on the intermediate assembly segmentation model to obtain the part types and the number corresponding to all parts forming the intermediate assembly segmentation model, specifically including:
carrying out structural analysis on the intermediate assembly segmented model to obtain all parts forming the intermediate assembly segmented model;
acquiring part names of all parts, classifying all the parts based on the part names to obtain part types corresponding to all the parts, wherein the part types comprise a middle assembly bottom plate, a middle assembly longitudinal and transverse partition plate, a middle assembly longitudinal frame and an inner member;
and counting all the parts based on the part types to obtain the part number corresponding to different part types.
In a possible implementation manner, after constructing the intermediate assembly segmentation model, the method further includes:
acquiring a first position direction of the middle assembly segmented model, judging whether the first position direction is consistent with an actually-built second position direction or not, if not, resetting the first position direction, and taking the second position direction as the first position direction;
and simultaneously acquiring a first coordinate system of the intermediate assembly segmented model, judging whether the first coordinate system is the same as a second coordinate system used in simulation software, and if not, resetting the first coordinate system so as to convert the first coordinate system into the second coordinate system.
The invention also provides a welding gun track generation device for the intermediate assembly welding seam, which comprises the following components: the welding line welding system comprises a structure analysis module, a gap welding line acquisition module and a welding line welding gun track acquisition module;
the structural analysis module is used for acquiring the data of the intermediate assembly subsection model, constructing the intermediate assembly subsection model, and performing structural analysis on the intermediate assembly subsection model to obtain the part types and the number corresponding to all parts forming the intermediate assembly subsection model;
the gap weld acquiring module is used for judging whether gaps exist among all the parts, if so, setting gap welds based on the gaps until all the parts are traversed, and obtaining all the gap welds in the intermediate assembly segmented model;
the welding seam welding gun track acquiring module is used for selecting any gap welding seam, acquiring and obtaining the welding seam track parameter of any gap welding seam according to the gap welding seam type of any gap welding seam, and obtaining the welding seam welding gun track based on the welding seam track parameter.
In a possible implementation manner, the gap weld obtaining module is configured to determine whether gaps exist among all the parts, and specifically includes:
acquiring weld parameters corresponding to all welds in the intermediate assembly segmented model, wherein the weld parameters comprise a first weld part and a second weld part;
based on the welding seam parameters corresponding to all the welding seams, obtaining and generating a welding seam part combination set based on the welding seam part combination corresponding to each welding seam; wherein the weld part combination is a combination of the first weld part and the second weld part;
based on the welding seam part combination set, combining all the parts pairwise to obtain a first part combination set based on a first part combination, and calculating a first part distance of each pair of first part combinations in the first part combination set;
and judging whether the first part distance is zero or not, if not, considering that a gap exists between the first part combinations corresponding to the first part distance, and if so, considering that a gap does not exist between the first part combinations corresponding to the first part distance.
In a possible implementation manner, the structural analysis module is configured to perform structural analysis on the middle assembly segmentation model to obtain types and numbers of parts corresponding to all parts that form the middle assembly segmentation model, and specifically includes:
carrying out structural analysis on the intermediate assembly segmented model to obtain all parts forming the intermediate assembly segmented model;
acquiring part names of all parts, classifying all the parts based on the part names to obtain part types corresponding to all the parts, wherein the part types comprise a middle assembly bottom plate, a middle assembly longitudinal and transverse partition plate, a middle assembly longitudinal frame and an inner member;
and counting all the parts based on the part types to obtain the part number corresponding to different part types.
In a possible implementation manner, the structural analysis module, after being configured to construct the intermediate assembly segmentation model, is further configured to:
acquiring a first position direction of the middle assembly segmented model, judging whether the first position direction is consistent with an actually-built second position direction or not, if not, resetting the first position direction, and taking the second position direction as the first position direction;
and simultaneously acquiring a first coordinate system of the assembled segmental model, judging whether the first coordinate system is the same as a second coordinate system used in simulation software, and if not, resetting the first coordinate system so as to convert the first coordinate system into the second coordinate system.
The invention also provides a terminal device, which comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to realize the welding gun track generation method for assembling the welding seam.
The invention also provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program runs, the apparatus where the computer-readable storage medium is located is controlled to execute the welding gun track generation method for assembling the welding seam as described in any one of the above.
Compared with the prior art, the welding gun track generation method and device for the intermediate assembly welding seam have the following beneficial effects:
constructing a middle assembly subsection model by acquiring data of the middle assembly subsection model, and performing structural analysis on the middle assembly subsection model to obtain the part types and the number corresponding to all parts forming the middle assembly subsection model; judging whether gaps exist among all parts, if so, setting gap welding seams based on the gaps until all parts are traversed to obtain all gap welding seams in the intermediate assembly segmented model; selecting any gap welding line, obtaining and obtaining the welding line track parameter of any gap welding line according to the gap welding line type of any gap welding line, and obtaining the welding line welding gun track based on the welding line track parameter. Compared with the prior art, the technical scheme of the invention obtains the gaps among all parts by carrying out result analysis on the intermediate assembly segmented model, correspondingly generates the gap welding line, realizes the calculation of the gap welding line corresponding to the gaps, and simultaneously sets the welding line welding gun track based on the gap welding line, thereby improving the accuracy of the software simulation result.
Drawings
FIG. 1 is a schematic flow chart diagram illustrating one embodiment of a method for generating a trajectory of a welding gun for assembling a weld bead according to the present invention;
fig. 2 is a schematic structural diagram of an embodiment of a welding gun trajectory generation device for assembling a welding seam according to 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 present application, 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.
Example 1
Referring to fig. 1, fig. 1 is a schematic flowchart of a method for generating a welding gun trajectory of a medium-stack welding seam according to an embodiment of the present invention, as shown in fig. 1, the method includes steps 101 to 103, and specifically includes the following steps:
step 101: acquiring intermediate assembly segmented model data, constructing an intermediate assembly segmented model, and performing structural analysis on the intermediate assembly segmented model to obtain the part types and the quantity corresponding to all parts forming the intermediate assembly segmented model.
In one embodiment, an XML file of a medium-sized fragment generated by shipbuilding modeling software such as SPD is obtained, the XML file is imported into robotsutio simulation software, so that the robotsutio simulation software obtains medium-sized fragment model data from the XML file, and a medium-sized fragment model is constructed based on the medium-sized fragment model data; the well assemblage segmentation model data include data such as part name, plate thickness, material, welding leg, structure space position and the like.
In one embodiment, when modeling is performed by using shipbuilding modeling software such as SPD, the coordinates of the intermediate assembly segment model adopt a coordinate system unified by SPD, so that the position direction of the intermediate assembly segment model may not be consistent with the position direction actually manufactured on site, and the scene in robottsudi simulation software is a virtual simulation of an actual production site on site.
Specifically, for the position direction: and acquiring a first position direction of the middle assembly segmented model, judging whether the first position direction is consistent with a second position direction actually built, if not, resetting the first position direction, and taking the second position direction as the first position direction.
In one embodiment, in the simulation software, the coordinate system adopted by the central assembly robot is not consistent with the coordinate system adopted by the shipbuilding three-dimensional modeling software, and after the position direction of the central assembly segmented model is rotated to be consistent with the actual direction of the production field through the steps, the coordinates of the central assembly segmented model and the coordinates of the central assembly welding robot are not consistent, so that the central assembly segmented model needs to be uniformly set.
Specifically, for the coordinate system: and simultaneously acquiring a first coordinate system of the assembled segmental model, judging whether the first coordinate system is the same as a second coordinate system used in simulation software, and if not, resetting the first coordinate system so as to convert the first coordinate system into the second coordinate system.
In one embodiment, during structural analysis, the structural type is judged by identifying codes of part names and component names; specifically, structural analysis is performed on the intermediate assembly segmented model to obtain all parts forming the intermediate assembly segmented model; acquiring part names of all parts, classifying all the parts based on the part names to obtain part types corresponding to all the parts, wherein the part types comprise a middle assembly bottom plate, a middle assembly longitudinal and transverse partition plate, a middle assembly longitudinal frame and an inner member; and counting all the parts based on the part types to obtain the part number corresponding to different part types.
In an embodiment, the parts are classified based on the part names, specifically, a code in the part name of each part is obtained, whether the code contains a first preset code is judged, if yes, the part is considered to be a middle assembly bottom plate, if not, whether the code contains a second preset code is judged, if yes, the part is considered to be a middle assembly longitudinal and transverse partition plate, if not, whether the code contains a third preset code is judged, and if yes, the part is considered to be a middle assembly longitudinal and inner member.
Preferably, the first preset code may be IB and BS, where IB corresponds to the inner bottom plate and BS corresponds to the outer bottom plate; the second preset code can be FR, and the FR corresponds to a common longitudinal and transverse plate; the third preset code may be a DK, which corresponds to a deck class.
In one embodiment, the intermediate assembly segmental model is subjected to structural analysis, so that the part types and the number of all parts forming the intermediate assembly segmental model can be obtained, and parts of different part types are distinguished by adopting different colors.
Step 102: and judging whether gaps exist among all the parts, if so, setting gap welding seams based on the gaps until all the parts are traversed, and obtaining all the gap welding seams in the intermediate assembly subsection model.
In an embodiment, when the robotsutio simulation software is used to import the XML file of the intermediate assembly segmentation model generated by the SPD modeling software into the robotsutio simulation software, the robotsutio simulation software cannot extract all the weld data in the XML file of the intermediate assembly segmentation model, which may cause miscalculation of the number of welds.
In one embodiment, weld parameters corresponding to all welds in the intermediate assembly segmented model are obtained, wherein the weld parameters comprise a first weld part and a second weld part; based on the welding seam parameters corresponding to all the welding seams, obtaining and generating a welding seam part combination set based on the welding seam part combination corresponding to each welding seam; wherein the weld part combination is a combination of the first weld part and the second weld part.
In one embodiment, based on the welding seam part combination set, pairwise combination is performed on all parts, a first part combination set is generated based on first part combinations, and a first part distance of each pair of first part combinations in the first part combination set is calculated; and judging whether the first part distance is zero or not, if not, considering that a gap exists between the first part combinations corresponding to the first part distance, and if so, considering that a gap does not exist between the first part combinations corresponding to the first part distance.
In one embodiment, since robotsutio simulation software requires seamless joint between parts, the distance between two parts constituting a weld is considered to be 0; all welding seam parameters in the assembled section are obtained, all parts are combined based on all welding seam parameters, corresponding part distances are calculated, when the part distances are not 0, gaps among the section parts are considered to be caused in the process of constructing the ship three-dimensional model by adopting SPD modeling software, and the number of the gap welding seams with the gaps can be obtained by counting the number of the part distances which are not 0.
In one embodiment, a technician is required to manually generate a gap weld when a gap is detected between two parts in the first combination of parts. Specifically, when a gap is detected between first part combinations, a first endpoint of the gap is selected, and a first endpoint coordinate of the first endpoint is obtained; acquiring a second end point of the gap, and acquiring second end point coordinates of the second end point; obtaining the gap weld based on the first endpoint and the second endpoint.
As an illustration in this embodiment: when a gap exists between a first diaphragm plate and a first longitudinal diaphragm plate in an intermediate assembly segmented model in the weldable range of an intermediate assembly welding robot, selecting a first end point at the lowest part (leftmost end) of the gap existing between the first diaphragm plate and the first longitudinal diaphragm plate to obtain X-axis coordinates, Y-axis coordinates and Z-axis coordinates of the first end point; and simultaneously selecting a second end point at the uppermost part (the rightmost end) of a gap between the first diaphragm plate and the first longitudinal diaphragm plate, acquiring X, Y and Z axis coordinates of the second end point, and connecting the first end point and the second end point to obtain a gap welding seam between the first diaphragm plate and the first longitudinal diaphragm plate based on the X, Y and Z axis coordinates of the first end point and the X, Y and Z axis coordinates of the second end point. By repeating the above steps, gap welds between other segmented parts can continue to be generated.
In one embodiment, the gap weld may be a vertical fillet weld, and the gap weld may also be a flat fillet weld.
Step 103: selecting any gap welding line, obtaining and obtaining the welding line track parameter of any gap welding line according to the gap welding line type of any gap welding line, and obtaining the welding line welding gun track based on the welding line track parameter.
In one embodiment, any gap weld is selected, the gap weld spatial position of any gap weld is obtained, the gap weld type corresponding to any gap weld is obtained based on the gap weld spatial position, and the weld track parameter is obtained according to the gap weld type; wherein the gap weld spatial position may be derived based on coordinate positions of a first endpoint and a second endpoint corresponding to the gap weld.
In one embodiment, based on the spatial position of the gap weld, the gap weld type corresponding to any gap weld is obtained, specifically, a second coordinate system in simulation software is divided into four quadrants, and two gap weld types are set for each quadrant, so that an L3-type weld and an L8-type weld in a first quadrant are obtained; an L2-shaped weld and an L7-shaped weld in a second quadrant; an L1-shaped weld and an L5-shaped weld in a third quadrant; an L4-shaped weld and an L6-shaped weld in a fourth quadrant; the L1-shaped welding seam, the L2-shaped welding seam, the L3-shaped welding seam and the L4-shaped welding seam are flat fillet welding seams; the L5-shaped welding seam, the L6-shaped welding seam, the L7-shaped welding seam and the L8-shaped welding seam are vertical fillet welding seams.
After the gap weld space position of any gap weld is obtained, obtaining a quadrant region where any gap weld is located based on the gap weld space position; meanwhile, whether any gap welding line is a flat fillet welding line or not is judged according to the space position of the gap welding line, or whether any gap welding line is a vertical fillet welding line or not is judged, and the type of the gap welding line of any gap welding line is obtained.
In one embodiment, the weld track parameters include a welding gun angular attitude and a welding gun track line, and therefore, a welding gun track corresponding to any gap weld can be obtained based on the welding gun track line in the weld track parameters.
In one embodiment, a definite locating tool is further needed, two main locating modes of the assembly robot for welding are provided, one is locating by laser, the other is locating by welding wires, the two modes can achieve locating by welding by the robot, and preferably, the locating mode of welding adopted in the embodiment is locating by laser.
In one embodiment, a welding position searching mode and a welding position searching parameter are set, wherein the welding position searching mode is laser position searching; the welding locating parameters comprise locating safety distance, welding gun starting point height and welding gun end point height.
Preferably, the setting of the welding locating parameter is determined according to a test on a practical construction site so as to ensure the locating accuracy.
In one embodiment, any selected gap welding line is located according to the welding locating mode and the welding locating parameter, so that the welding robot can weld the gap welding line based on the welding line track parameter, the accurate locating of the welding robot is realized, and the welding operation of the horizontal fillet welding line is automatically completed.
Example 2
Referring to fig. 2, fig. 2 is a schematic structural diagram of an embodiment of a welding gun trajectory generating device for assembling a welding seam in the present invention, as shown in fig. 2, the device includes a structural analysis module 201, a gap seam acquisition module 202, and a welding gun trajectory acquisition module 203, which are specifically as follows:
the structural analysis module 201 is configured to obtain intermediate assembly segmentation model data, construct an intermediate assembly segmentation model, and perform structural analysis on the intermediate assembly segmentation model to obtain part types and numbers corresponding to all parts that constitute the intermediate assembly segmentation model;
the gap weld acquiring module 202 is configured to determine whether gaps exist among all the parts, and if so, set a gap weld based on the gaps until all the parts are traversed to obtain all the gap welds in the intermediate assembly segmented model;
the welding seam welding gun track acquiring module 203 is used for selecting any gap welding seam, acquiring and obtaining a welding seam track parameter of any gap welding seam according to the gap welding seam type of any gap welding seam, and obtaining a welding seam welding gun track based on the welding seam track parameter.
In an embodiment, the gap weld obtaining module 202 is configured to determine whether gaps exist between all the parts; specifically, welding seam parameters corresponding to all welding seams in the intermediate assembling segmented model are obtained, wherein the welding seam parameters comprise a first welding seam part and a second welding seam part; based on the welding seam parameters corresponding to all the welding seams, obtaining and generating a welding seam part combination set based on the welding seam part combination corresponding to each welding seam; wherein the weld part combination is a combination of the first weld part and the second weld part; based on the welding seam part combination set, combining all the parts pairwise to obtain a first part combination set based on a first part combination, and calculating a first part distance of each pair of first part combinations in the first part combination set; and judging whether the first part distance is zero or not, if not, considering that a gap exists between the first part combinations corresponding to the first part distance, and if so, considering that a gap does not exist between the first part combinations corresponding to the first part distance.
In an embodiment, the structural analysis module 201 is configured to perform structural analysis on the intermediate assembly segmentation model to obtain types and numbers of parts corresponding to all parts constituting the intermediate assembly segmentation model; specifically, structural analysis is performed on the intermediate assembly segmented model to obtain all parts forming the intermediate assembly segmented model; acquiring part names of all parts, classifying all the parts based on the part names to obtain part types corresponding to all the parts, wherein the part types comprise a middle assembly bottom plate, a middle assembly longitudinal and transverse partition plate, a middle assembly longitudinal frame and an inner member; and counting all the parts based on the part types to obtain the part number corresponding to different part types.
In an embodiment, the structural analysis module 201 is configured to, after constructing an intermediate assembly section model, further obtain a first position direction of the intermediate assembly section model, determine whether the first position direction is consistent with an actually constructed second position direction, and if not, reset the first position direction and use the second position direction as the first position direction; and simultaneously acquiring a first coordinate system of the intermediate assembly segmented model, judging whether the first coordinate system is the same as a second coordinate system used in simulation software, and if not, resetting the first coordinate system so as to convert the first coordinate system into the second coordinate system.
It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working process of the apparatus described above may refer to the corresponding process in the foregoing method embodiment, and details are not described herein.
It should be noted that the above embodiments of the welding gun trajectory generation device for assembling the welding seam are merely illustrative, wherein the modules described as separate parts may or may not be physically separate, and the parts displayed as the modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
On the basis of the above embodiment of the welding gun trajectory generation method for the assembly welding seam, another embodiment of the present invention provides a welding gun trajectory generation terminal device for the assembly welding seam, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the welding gun trajectory generation method for the assembly welding seam according to any one of the embodiments of the present invention is implemented.
Illustratively, the computer program may be partitioned in this embodiment into one or more modules that are stored in the memory and executed by the processor to implement the invention. The one or more modules may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program in the gun trajectory generation terminal device for assembling the weld bead.
The welding gun track generation terminal device of the middle assembly welding seam can be a desktop computer, a notebook computer, a palm computer, a cloud server and other computing devices. The welding gun track generation terminal device for the assembly welding seam can comprise, but is not limited to, a processor and a memory.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor is a control center of the gun trajectory generation terminal for the center assembly weld and various interfaces and lines are used to connect various parts of the gun trajectory generation terminal for the entire center assembly weld.
The memory may be configured to store the computer program and/or the module, and the processor may implement various functions of the welding gun trajectory generation terminal device for assembling the welding seam by executing or executing the computer program and/or the module stored in the memory and calling the data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to the use of the mobile phone, and the like. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
On the basis of the embodiment of the welding gun track generation method for assembling the welding seam, another embodiment of the present invention provides a storage medium, where the storage medium includes a stored computer program, and when the computer program runs, the apparatus on which the storage medium is located is controlled to execute the welding gun track generation method for assembling the welding seam according to any embodiment of the present invention.
In this embodiment, the storage medium is a computer-readable storage medium, and the computer program includes computer program code, which may be in source code form, object code form, executable file or some intermediate form, and so on. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer-readable medium may contain suitable additions or subtractions depending on the requirements of legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer-readable media may not include electrical carrier signals or telecommunication signals in accordance with legislation and patent practice.
In summary, according to the welding gun track generation method and device for the intermediate assembly welding seam provided by the invention, the intermediate assembly segmented model is constructed by acquiring the intermediate assembly segmented model data, and the intermediate assembly segmented model is subjected to structural analysis to obtain the part types and the number corresponding to all parts forming the intermediate assembly segmented model; judging whether gaps exist among all parts, if so, setting gap welding seams based on the gaps until all parts are traversed, and obtaining all gap welding seams in the intermediate assembly segmented model; and selecting any gap welding line, obtaining a welding line track parameter of any gap welding line according to the gap welding line type of any gap welding line, and obtaining a welding line welding gun track based on the welding line track parameter. Compared with the prior art, the technical scheme of the invention can solve the problem that the welding line cannot be generated due to the existence of the gaps between the parts, realize the calculation of the gap welding line corresponding to the gaps and improve the accuracy of the subsequent simulation result of the software.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. A welding gun track generation method for assembling welding seams is characterized by comprising the following steps:
acquiring intermediate assembly segmented model data, constructing an intermediate assembly segmented model, and performing structural analysis on the intermediate assembly segmented model to obtain part types and quantity corresponding to all parts forming the intermediate assembly segmented model;
judging whether gaps exist among all parts, if so, setting gap welding seams based on the gaps until all parts are traversed to obtain all gap welding seams in the intermediate assembly segmented model;
selecting any gap welding line, obtaining and obtaining the welding line track parameter of any gap welding line according to the gap welding line type of any gap welding line, and obtaining the welding line welding gun track based on the welding line track parameter.
2. The method for generating a welding gun track for a medium group welding seam according to claim 1, wherein the step of judging whether gaps exist among all parts specifically comprises the steps of:
acquiring weld parameters corresponding to all welds in the intermediate assembly segmented model, wherein the weld parameters comprise a first weld part and a second weld part;
based on the welding seam parameters corresponding to all the welding seams, obtaining and generating a welding seam part combination set based on the welding seam part combination corresponding to each welding seam; wherein the weld part combination is a combination of the first weld part and the second weld part;
based on the welding seam part combination set, combining all the parts pairwise to obtain a first part combination set based on a first part combination, and calculating a first part distance of each pair of first part combinations in the first part combination set;
and judging whether the first part distance is zero or not, if not, considering that a gap exists between the first part combinations corresponding to the first part distance, and if so, considering that a gap does not exist between the first part combinations corresponding to the first part distance.
3. The method for generating the welding gun track of the intermediate assembly welding seam according to claim 1, wherein the structural analysis is performed on the intermediate assembly segmental model to obtain the part types and the number corresponding to all parts forming the intermediate assembly segmental model, and specifically comprises:
carrying out structural analysis on the intermediate assembly segmented model to obtain all parts forming the intermediate assembly segmented model;
acquiring part names of all parts, classifying all the parts based on the part names to obtain part types corresponding to all the parts, wherein the part types comprise a middle assembly bottom plate, a middle assembly longitudinal and transverse partition plate, a middle assembly longitudinal frame and an inner member;
and counting all the parts based on the part types to obtain the part number corresponding to different part types.
4. The method for generating a trajectory of a welding gun for a neutral welding seam according to claim 1, wherein after constructing the neutral segmentation model, the method further comprises:
acquiring a first position direction of the middle assembly segmented model, judging whether the first position direction is consistent with an actually-built second position direction or not, if not, resetting the first position direction, and taking the second position direction as the first position direction;
and simultaneously acquiring a first coordinate system of the assembled segmental model, judging whether the first coordinate system is the same as a second coordinate system used in simulation software, and if not, resetting the first coordinate system so as to convert the first coordinate system into the second coordinate system.
5. A welding gun track generation device for assembling welding seams, which is characterized by comprising: the welding line welding system comprises a structure analysis module, a gap welding line acquisition module and a welding line welding gun track acquisition module;
the structural analysis module is used for acquiring the data of the intermediate assembly subsection model, constructing the intermediate assembly subsection model, and performing structural analysis on the intermediate assembly subsection model to obtain the part types and the number corresponding to all parts forming the intermediate assembly subsection model;
the gap weld acquiring module is used for judging whether gaps exist among all parts, if so, setting gap welds based on the gaps until all parts are traversed, and obtaining all gap welds in the intermediate assembly segmented model;
the welding seam welding gun track acquiring module is used for selecting any gap welding seam, acquiring and obtaining the welding seam track parameter of any gap welding seam according to the gap welding seam type of any gap welding seam, and obtaining the welding seam welding gun track based on the welding seam track parameter.
6. The welding gun track generation device for the intermediate assembly welding seam according to claim 5, wherein the gap seam acquisition module is configured to determine whether gaps exist among all the parts, and specifically includes:
acquiring weld parameters corresponding to all welds in the intermediate assembly segmented model, wherein the weld parameters comprise a first weld part and a second weld part;
based on the welding seam parameters corresponding to all the welding seams, obtaining and generating a welding seam part combination set based on the welding seam part combination corresponding to each welding seam; wherein the weld part combination is a combination of the first weld part and the second weld part;
based on the welding seam part combination set, combining all the parts pairwise to obtain a first part combination set based on a first part combination, and calculating a first part distance of each pair of first part combinations in the first part combination set;
and judging whether the first part distance is zero or not, if not, considering that a gap exists between the first part combinations corresponding to the first part distance, and if so, considering that a gap does not exist between the first part combinations corresponding to the first part distance.
7. The welding gun track generation device for the intermediate assembly welding seam according to claim 5, wherein the structural analysis module is configured to perform structural analysis on the intermediate assembly segmentation model to obtain the part types and the number corresponding to all parts forming the intermediate assembly segmentation model, and specifically includes:
performing structural analysis on the assembling segmented model to obtain all parts forming the assembling segmented model;
acquiring part names of all parts, classifying all the parts based on the part names to obtain part types corresponding to all the parts, wherein the part types comprise a middle assembly bottom plate, a middle assembly longitudinal and transverse partition plate, a middle assembly longitudinal frame and an inner member;
and counting all the parts based on the part types to obtain the part number corresponding to different part types.
8. The apparatus of claim 5, wherein the structural analysis module, after being configured to construct the intermediate assembly segmentation model, further comprises:
acquiring a first position direction of the middle assembly subsection model, judging whether the first position direction is consistent with a second position direction actually built, if not, resetting the first position direction, and taking the second position direction as the first position direction;
and simultaneously acquiring a first coordinate system of the intermediate assembly segmented model, judging whether the first coordinate system is the same as a second coordinate system used in simulation software, and if not, resetting the first coordinate system so as to convert the first coordinate system into the second coordinate system.
9. A terminal device comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the method of generating a weld gun trajectory for assembling a weld bead according to any one of claims 1 to 4 when executing the computer program.
10. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the method for generating a welding gun trajectory for assembling a welding weld according to any one of claims 1 to 4.
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Application publication date: 20221220 Assignee: Zhanjiang Nanhai Shipbuilding High tech Service Co.,Ltd. Assignor: CSSC HUANGPU WENCHONG SHIPBUILDING Co.,Ltd. Contract record no.: X2023980048822 Denomination of invention: A welding gun trajectory generation method and device for intermediate assembly welding seams Granted publication date: 20230829 License type: Common License Record date: 20231130 |
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