CN114789442A - Self-adaptive path planning algorithm for welding robot - Google Patents
Self-adaptive path planning algorithm for welding robot Download PDFInfo
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- CN114789442A CN114789442A CN202210453905.9A CN202210453905A CN114789442A CN 114789442 A CN114789442 A CN 114789442A CN 202210453905 A CN202210453905 A CN 202210453905A CN 114789442 A CN114789442 A CN 114789442A
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- 238000003466 welding Methods 0.000 title claims abstract description 173
- 238000000034 method Methods 0.000 claims abstract description 86
- 230000003993 interaction Effects 0.000 claims abstract description 15
- 238000011160 research Methods 0.000 claims abstract description 13
- 238000012795 verification Methods 0.000 claims abstract description 11
- 238000004891 communication Methods 0.000 claims abstract description 6
- 230000003044 adaptive effect Effects 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 230000007547 defect Effects 0.000 claims description 4
- 238000005265 energy consumption Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000005070 sampling Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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Abstract
The invention discloses a self-adaptive path planning algorithm of a welding robot, which comprises a research welding seam reconstruction method (1), wherein the research welding seam reconstruction method (1) is used for researching the reconstruction of a welding seam by carrying out locating and tracking on the welding seam; the multi-layer and multi-pass welding autonomous motion planning algorithm of the robot is researched, welding processes of various plate thicknesses are analyzed, and rapid process proofing verification is completed; the vision-assisted teaching system (3) realizes automatic teaching of the position of the welding line through a vision system of a machine; the human-computer interaction system (4) is used for enabling interaction and communication between people and a computer system; the welding process system is used for improving operation debugging efficiency; and (6) establishing a medium plate welding operation instruction library for realizing rapid path planning of the robot.
Description
Technical Field
The invention relates to the technical field of welding robots, in particular to a self-adaptive path planning algorithm for a welding robot.
Background
With the progress of the current science and technology, more and more industrial robots are used for processing and welding parts or components, the invention researches an adaptive path planning algorithm of a welding robot, the welding robot is used for welding medium and thick plates, and further develops an intelligent medium and thick plate welding robot system, develops popularization and application for welding medium and thick plates in the automobile industry, establishes a demonstration marker post, and gradually extends to various fields such as building steel structure, shipbuilding, petrochemical industry, heavy machinery and the like.
The self-adaptive path planning algorithm of the welding robot in the prior art has the defects that:
1. in the prior art, a self-adaptive path planning algorithm of a welding robot cannot realize rapid path planning and operation execution of the robot;
2. in the prior art, welding processes of various plate thickness materials are not analyzed, so that the parameter configuration efficiency of the welding process cannot be improved;
3. a visual auxiliary teaching system is not installed in the prior art, so that the automatic identification and positioning of the welding line cannot be realized, and an operator needs to manually teach the position of the welding line.
The invention aims to provide a self-adaptive path planning algorithm for a welding robot to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme, and the self-adaptive path planning algorithm for the welding robot comprises a research welding seam reconstruction method (1), wherein in the research welding seam reconstruction method (1), the reconstruction of the welding seam is researched by carrying out position searching and tracking on the welding seam; the multi-layer multi-pass welding autonomous motion planning algorithm of the robot is researched, welding processes of various plate thickness materials are analyzed, and rapid process proofing verification is completed; the vision-assisted teaching system (3) realizes automatic teaching of the position of the welding line through a vision system of a machine; the human-computer interaction system (4) is used for enabling interaction and communication between people and a computer system; the welding process system is used for improving operation debugging efficiency; and (6) establishing a medium plate welding operation instruction library for realizing rapid path planning of the robot.
Preferably, the weld reconstruction system is assisted by a visual auxiliary teaching system to identify and position the weld.
Preferably, the research robot multi-layer multi-pass welding autonomous motion planning algorithm analyzes welding processes of various plate thicknesses to complete rapid process proofing verification, and synchronously designs an integral welding process technical scheme to optimize and rapidly match the existing process so as to improve the parameter configuration efficiency of the welding process.
Preferably, the vision-assisted teaching system develops a machine vision system required by a welding process of a high-strength steel member of a power transmission tower according to the characteristics of a working environment, realizes welding seam identification and positioning without welding members, guides the tail end of a welding gun of a robot to move to a working position, realizes an assisted teaching function, does not need an operator to manually teach the position of a welding seam, researches an image processing and welding seam locating algorithm based on machine vision, and forms welding seam teaching information by carrying out image processing on a welding seam image of a workpiece to be welded and calculating coordinates of the initial position and the final position of the welding seam. The key point position spatial position coordinates are processed into robot teaching information through the upper computer, the tail end of a welding gun of the robot is guided to move to a position to be welded, the welding robot has the self-adaptive capacity of the spatial position of a workpiece to be welded, and the robot vision intelligent welding seam locating of the welding robot is achieved.
Preferably, the human-computer interaction system is that a user can control the machine, so that the machine can work according to instructions input by the user, and the intelligent degree is higher.
Preferably, the welding process system researches the welding process technology of the components such as the tower foot of the power transmission tower and the like, and establishes a welding process knowledge model according to different welding process adaptive parameters and welder experiences according to the welding process requirements of various components to form a robot intelligent welding database and a process package so as to guide an operator to select proper process parameters according to process requirements and realize the rapid calling and configuration of the welding process parameters.
Preferably, the medium plate welding operation instruction library is established, based on an autonomous motion planning result, a complete robot motion control instruction and an operation execution instruction are automatically generated by calling corresponding instructions in the instruction library, the robot rapid path planning, teaching and operation execution are realized, the defects of plate oil stain, large gap and the like can be adapted by adopting the medium plate self-adaptive welding, the welding quality is ensured, the welding spatter rate is reduced by 10%, the quality of a welding spot is improved by 15%, and the energy consumption is reduced by 20% compared with that of constant current.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, a power transmission tower high-strength steel component welding operation instruction library is established, and based on an autonomous motion planning result, a complete robot motion control instruction and an operation execution instruction are automatically generated by calling corresponding instructions in the instruction library, so that the robot rapid path planning, teaching and operation execution are realized.
2. The invention completes the rapid process sampling verification by analyzing the welding processes of various plate thicknesses, synchronously designs the technical scheme of the integral welding process to optimize and rapidly match the prior process, and improves the parameter configuration efficiency of the welding process.
3. According to the invention, by installing the vision auxiliary teaching system, a machine vision system required by the welding process of the high-strength steel member of the power transmission tower is developed according to the characteristics of the operation environment, the welding seam identification and positioning without welding members are realized, the tail end of a welding gun of the robot is guided to move to the operation position, the auxiliary teaching function is realized, and the manual teaching of the welding seam position by an operator is not needed.
Drawings
FIG. 1 is a flow chart of a robot path planning study of the present invention;
fig. 2 is a flow chart of the adaptive path planning algorithm 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.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
Referring to fig. 1 and 2, an adaptive path planning algorithm for a welding robot includes a research weld reconstruction method (1), (1) a research weld reconstruction method for researching weld reconstruction by locating and tracking a weld; (2) the robot multilayer multi-pass welding autonomous motion planning algorithm is researched, welding processes of various plate thicknesses are analyzed, and rapid process proofing verification is completed; (3) the vision auxiliary teaching system realizes automatic teaching of the welding seam position through a vision system of the machine; (4) the human-computer interaction system is used for enabling interaction and communication between people and the computer system; (5) the welding process system is used for improving the operation debugging efficiency; (6) establishing a medium plate welding operation instruction library for realizing rapid path planning of a robot, wherein a welding seam reconstruction system is assisted by a vision-assisted teaching system to identify and position a welding seam, researching a multilayer multi-pass welding autonomous motion planning algorithm of the robot, analyzing welding processes of various plate thicknesses and finishing rapid process sampling verification, synchronously designing a whole welding process technical scheme to optimize and rapidly match the existing process so as to improve the parameter configuration efficiency of the welding process, developing a machine vision system required by the welding process of a high-strength steel member of a power transmission tower according to the characteristics of the working environment, realizing the identification and positioning of the welding seam without welding members, guiding the tail end of a welding gun of the robot to move to the working position, realizing an assisted teaching function, needing no manual teaching of operators to the welding seam position, researching image processing and a welding seam locating algorithm based on machine vision, and carrying out image processing on the welding seam image of the workpiece to be welded, and calculating coordinates of the initial position and the final position of the welding seam to form welding seam teaching information. The spatial position coordinates of key point positions are processed into robot teaching information through an upper computer, the tail end of a welding gun of the robot is guided to move to a position to be welded, the welding robot has the spatial position self-adaptive capacity of a workpiece to be welded, the robot vision intelligent welding seam locating of the welding robot is realized, a human-computer interaction system is a system which can be controlled by a user, the machine can work according to instructions input by the user, the degree of intelligence is higher, a welding process system is used for researching the welding process technology of components such as tower legs of a power transmission tower and the like, a welding process knowledge model is established according to different welding process adaptive parameters and welder experiences to form a robot intelligent welding database and a process package aiming at the welding process requirements of various components, so as to guide an operator to select proper process parameters according to the process requirements, realize the rapid calling and configuration of the welding process parameters, and establish a medium plate welding operation instruction library, based on an autonomous motion planning result, a complete robot motion control instruction and an operation execution instruction are automatically generated by calling corresponding instructions in an instruction library, rapid path planning, teaching and operation execution of the robot are realized, the defects of plate oil stain, large gap and the like can be adapted by adopting adaptive welding of a medium plate, the welding quality is ensured, the welding spatter rate is reduced by 10%, the quality of a welding spot is improved by 15%, and the energy consumption is reduced by 20% compared with the constant current.
The first embodiment is as follows:
(1) researching a welding seam reconstruction method, namely researching the reconstruction of the welding seam by carrying out locating and tracking on the welding seam;
(2) the robot multilayer multi-pass welding autonomous motion planning algorithm is researched, welding processes of various plate thicknesses are analyzed, and rapid process proofing verification is completed;
(3) the vision auxiliary teaching system realizes automatic teaching of the welding seam position through a vision system of the machine;
(4) the human-computer interaction system is used for enabling interaction and communication between a person and the computer system;
(5) the welding process system is used for improving the operation debugging efficiency;
(6) and establishing a medium plate welding operation instruction library for realizing rapid path planning of the robot.
Example two:
(1) researching a multilayer multi-pass welding autonomous motion planning algorithm of the robot, analyzing the welding process of various plate thickness materials, and completing rapid process proofing verification;
(2) the vision auxiliary teaching system realizes automatic teaching of the welding seam position through a vision system of the machine;
(3) the human-computer interaction system is used for enabling interaction and communication between people and the computer system;
(4) the welding process system is used for improving the operation debugging efficiency;
(5) and establishing a medium plate welding operation instruction library for realizing rapid path planning of the robot.
Example three:
(1) researching a welding seam reconstruction method, namely researching the reconstruction of the welding seam by carrying out locating and tracking on the welding seam;
(2) researching a multilayer multi-pass welding autonomous motion planning algorithm of the robot, analyzing the welding process of various plate thickness materials, and completing rapid process proofing verification;
(3) the welding process system is used for improving the operation debugging efficiency;
(4) and establishing a medium plate welding operation instruction library for realizing rapid path planning of the robot.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (7)
1. An adaptive path planning algorithm for a welding robot, which is characterized in that: the method comprises the following steps of (1) researching a weld joint reconstruction method, wherein the weld joint reconstruction method is researched by carrying out locating and tracking on the weld joint; the multi-layer multi-pass welding autonomous motion planning algorithm of the robot is researched, welding processes of various plate thickness materials are analyzed, and rapid process proofing verification is completed; the vision-aided teaching system (3) realizes automatic teaching of the welding seam position through a vision system of the machine; the human-computer interaction system (4) is used for enabling interaction and communication between people and a computer system; the welding process system is used for improving operation debugging efficiency; and (6) establishing a medium plate welding operation instruction library for realizing rapid path planning of the robot.
2. The adaptive path planning algorithm for the welding robot as claimed in claim 1, wherein: the weld joint reconstruction system is assisted by a visual auxiliary teaching system to identify and position the weld joint.
3. The adaptive path planning algorithm for the welding robot according to claim 1, wherein: the research robot multilayer multi-pass welding autonomous motion planning algorithm analyzes welding processes of various plate thicknesses to complete rapid process proofing verification, and synchronously designs an integral welding process technical scheme to optimize and rapidly match the existing process so as to improve the parameter configuration efficiency of the welding process.
4. The adaptive path planning algorithm for the welding robot according to claim 1, wherein: the vision-assisted teaching system develops a machine vision system required by a welding process of a high-strength steel member of a power transmission tower according to the characteristics of a working environment, realizes welding seam identification and positioning without the welding member, guides the tail end of a welding gun of a robot to move to a working position, realizes an auxiliary teaching function, does not need an operator to manually teach the position of a welding seam, researches an image processing and welding seam locating algorithm based on machine vision, and forms welding seam teaching information by carrying out image processing on a welding seam image of a workpiece to be welded and calculating coordinates of the initial position and the final position of the welding seam. The key point position spatial position coordinates are processed into robot teaching information through the upper computer, the tail end of a welding gun of the robot is guided to move to a position to be welded, the welding robot has the self-adaptive capacity of the spatial position of a workpiece to be welded, and the robot vision intelligent welding line locating of the welding robot is achieved.
5. The adaptive path planning algorithm for the welding robot as claimed in claim 1, wherein: the human-computer interaction system is characterized in that a user can control the machine, so that the machine can work according to instructions input by the user, and the intelligent degree is higher.
6. The adaptive path planning algorithm for the welding robot as claimed in claim 1, wherein: the welding process system researches the welding process technology of components such as the tower foot of the power transmission tower and the like, establishes a welding process knowledge model according to different welding process adaptive parameters and welder experiences according to the welding process requirements of various components, forms an intelligent welding database and a process package of the robot, guides an operator to select proper process parameters according to the process requirements, and achieves rapid calling and configuration of the welding process parameters.
7. The adaptive path planning algorithm for the welding robot as claimed in claim 1, wherein: the method comprises the steps of establishing a medium plate welding operation instruction library, automatically generating complete robot motion control instructions and operation execution instructions by calling corresponding instructions in the instruction library based on an autonomous motion planning result, realizing rapid path planning, teaching and operation execution of a robot, adapting to the defects of plate oil stain, large gap and the like by adopting medium plate self-adaptive welding, ensuring the welding quality, reducing the welding spatter rate by 10%, improving the quality of welding spots by 15%, and simultaneously reducing the energy consumption by 20% compared with constant current.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118123223A (en) * | 2024-04-01 | 2024-06-04 | 浙江臻博精密机械有限公司 | Welding head path planning control system for gantry friction welding |
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