Search

CN-115922132-B - Multi-point tailor-welding method, system and storage medium for rotary structural member

CN115922132BCN 115922132 BCN115922132 BCN 115922132BCN-115922132-B

Abstract

The invention discloses a multi-point tailor-welding method, a multi-point tailor-welding system and a storage medium for rotary structural members, and relates to the field of automatic welding. The method comprises the steps of constructing a position relation between each physical device and a space environment in an automatic welding module for welding the rotary structural member and a model of each physical device by a digital twin system under a global coordinate system taking the rotary structural member as a reference, constructing a digital twin scene according to the model, motion logic and the position relation of each physical device, planning a motion track of each physical device in the digital twin scene according to pose information of each physical device acquired in real time, generating a corresponding execution program, and sending the execution program to a physical manufacturing system where the rotary structural member is located, so that the physical manufacturing system controls each physical device to perform multipoint welding on the rotary structural member according to the motion track. The method and the device can compensate positioning errors in the welding process, and improve welding efficiency and quality of the rotary structural member.

Inventors

  • ZONG XUEMEI
  • KANG KAIXUAN
  • HE BING
  • YU MIAO

Assignees

  • 江苏徐工工程机械研究院有限公司
  • 徐州徐工筑路机械有限公司

Dates

Publication Date
20260505
Application Date
20221223

Claims (16)

  1. 1. A method of multi-point tailor-welding of a rotating structural member, comprising: The physical manufacturing system establishes a global coordinate system taking a rotary structural member as a reference, obtains the position relation between each physical device and the space environment in the automatic splice welding module, determines the pose information of a welding piece relative to the grabbing robot through a visual guiding system, determines the pose information of the rotary structural member relative to the grabbing robot through a pose detection system, determines the pose information of the welding piece relative to the rotary structural member according to the position of the visual guiding system and the position of the pose detection system, and sends the position relation and the pose information of the welding piece relative to the rotary structural member to a digital twin system; the digital twin system constructs the position relation between each physical device and the space environment in an automatic splice welding module for splice welding the rotary structural member and a model of each physical device under a global coordinate system taking the rotary structural member as a reference; constructing a digital twin scene according to the model and the motion logic of each physical device and the position relation; planning the motion trail of each physical device in the digital twin scene according to the pose information of each physical device acquired in real time and generating a corresponding execution program, and And sending the execution program to a physical manufacturing system where the rotary structural member is located, so that the physical manufacturing system controls each physical device to carry out multipoint tailor-welding on the rotary structural member according to the motion trail.
  2. 2. The method of multi-point tailor welding of a rotating class structure of claim 1, wherein the pose information comprises pose information of a weld relative to the rotating class structure, the method further comprising: The digital twin system confirms the positioning error of the multipoint tailor-welding process according to the pose information of the welding piece relative to the rotary structural piece, and And if the positioning error does not meet the requirement, planning the motion trail of each physical device in the digital twin scene again.
  3. 3. The method of multi-point tailor welding a rotating class structure of claim 1, further comprising: The digital twin system receives the positioning error of the multipoint tailor-welding process sent by the physical manufacturing system, and And if the positioning error does not meet the requirement, planning the motion trail of each physical device in the digital twin scene again.
  4. 4. The multipoint tailor-welding method of a rotary structural member according to claim 1, wherein planning the motion trail of each physical device in the digital twin scene according to the pose information of each physical device acquired in real time comprises: And planning the motion trail of each physical device in the digital twin scene according to the model of each physical device, the man-machine interaction data and the pose information of each physical device acquired in real time.
  5. 5. The method of multi-point tailor welding a rotating class structure of claim 1, further comprising: The digital twin system acquires the motion gesture of each physical device in real time and drives the synchronous motion of each physical device in the digital twin scene.
  6. 6. The method of multi-point tailor-welding of a rotating type structure according to any one of claims 1 to 5, wherein the automatic tailor-welding module comprises a positioner located on a ground rail, a positioning tray for positioning a welding member, a gripping robot, a welding robot and a welding gun, wherein, The rotary structural member is positioned on the positioner; The grabbing robot and the welding robot are respectively positioned at two sides of the position changing machine; The welding gun is arranged on the welding robot; The pose detection system is arranged on the grabbing robot, and The visual guide system is mounted on the positioning tray.
  7. 7. A digital twinning system for multi-point tailor welding of rotating structural members, comprising: The digital modeling module is configured to construct a position relation between each physical device and a space environment in the automatic welding module for welding the rotary structural member and a model of each physical device under a global coordinate system taking the rotary structural member as a reference, construct a digital twin scene according to the model and motion logic of each physical device and the position relation, wherein a physical manufacturing system establishes the global coordinate system taking the rotary structural member as the reference, acquires the position relation between each physical device and the space environment in the automatic welding module, determines pose information of a welding part relative to a grabbing robot through a visual guiding system, determines the pose information of the rotary structural member relative to the grabbing robot through a pose detection system, determines the pose information of the welding part relative to the rotary structural member according to the position of the visual guiding system and the position of the pose detection system, and sends the position relation and the pose information of the welding part relative to the rotary structural member to the digital twin system; The track planning module is configured to plan the motion track of each physical device in the digital twin scene according to the pose information of each physical device acquired in real time and generate a corresponding execution program, and And the virtual-real interaction module is configured to send the execution program to a physical manufacturing system where the rotary structural member is located, so that the physical manufacturing system controls each physical device to carry out multi-point splice welding on the rotary structural member according to the motion trail.
  8. 8. The digital twinning system of claim 7, wherein the pose information includes pose information of a weld relative to the rotating structural member, wherein, And the track planning module is further configured to confirm the positioning error of the multipoint tailor-welding process according to the pose information of the welding piece relative to the rotary structural piece, and if the positioning error does not meet the requirement, the motion track of each physical device is planned again in the digital twin scene.
  9. 9. The digital twinning system of claim 7, wherein, The virtual-real interaction module is configured to receive the positioning error of the multipoint tailor-welding process sent by the physical manufacturing system, and The track planning module is further configured to re-plan the motion track of each physical device in the digital twin scene if the positioning error does not meet the requirement.
  10. 10. The digital twinning system of claim 7, wherein, The track planning module is further configured to plan the motion track of each physical device in the digital twin scene according to the model of each physical device, the man-machine interaction data and the pose information of each physical device acquired in real time.
  11. 11. The digital twinning system of any one of claims 7 to 10, wherein, The virtual-real interaction module is configured to acquire the motion gesture of each physical device in real time and drive the synchronous motion of each physical device in the digital twin scene.
  12. 12. A digital twinning system for multi-point tailor welding of rotating structural members, comprising: memory, and A processor coupled to the memory, the processor configured to perform the method of multi-point tailor welding of a rotating class of structural member according to any one of claims 1 to 6 based on instructions stored in the memory.
  13. 13. A system for multi-point tailor welding of rotating structural members, comprising: a digital twin system according to any of claims 7 to 12, and A physical manufacturing system, comprising: The automatic splice welding module is configured to carry out multipoint splice welding on the rotary structural member according to an execution program which is generated by the digital twin system and contains the motion trail of each physical device; The online detection module is configured to establish a global coordinate system taking the rotary structural member as a reference, obtain the position relation between each physical device and the space environment in the automatic splice welding module, and determine the pose information of the welding piece relative to the rotary structural member; And the centralized control module is configured to send the position relation and the pose information of the welding piece relative to the rotary structural piece to the digital twin system and receive an execution program generated by the digital twin system.
  14. 14. The system of claim 13, wherein the online detection module comprises: the global positioning system is configured to establish a global coordinate system taking the rotary structural member as a reference, and acquire the position relation between each physical device and the space environment in the automatic tailor-welding module; A vision guidance system configured to determine pose information of the weldment relative to a grasping robot; And a pose detection system configured to determine pose information of the rotating structural member relative to the gripping robot, wherein the pose information of the welding member relative to the rotating structural member is determined according to the position of the visual guiding system and the position of the pose detection system.
  15. 15. The system of claim 14, wherein, The automatic welding module comprises a positioner positioned on a ground rail, a positioning tray for positioning a welding piece, a grabbing robot, a welding robot and a welding gun, wherein, The rotary structural member is positioned on the positioner; The grabbing robot and the welding robot are respectively positioned at two sides of the position changing machine; The welding gun is arranged on the welding robot; The pose detection system is arranged on the grabbing robot, and The visual guide system is mounted on the positioning tray.
  16. 16. A non-transitory computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method of multi-point tailor welding a rotating class structure according to any one of claims 1 to 6.

Description

Multi-point tailor-welding method, system and storage medium for rotary structural member Technical Field The present disclosure relates to the field of automated welding, and in particular, to a method, system, and storage medium for multi-point tailor-welding of rotating structural members. Background At present, in the field of industrial welding automation, a motion track of automatic welding of a robot is acquired by an off-line virtual simulation or on-site teaching method, and then the robot performs welding operations such as grabbing, welding and the like according to the determined motion track. On one hand, the method needs to carry out off-line virtual simulation or on-site teaching on each splice, if the method is modified, the off-line modeling virtual simulation or on-site teaching needs to be carried out again, the universality is poor, and the time is very long, on the other hand, as the track of the method is determined to be incapable of being changed, the requirement on the processing precision of each splice is higher, the positioning error on the splice such as casting, forging and the like is larger, and when the welding positions are more, the relative error is larger, so that the processing precision of the whole part is affected. Disclosure of Invention The technical problem to be solved by the present disclosure is to provide a multi-point tailor-welding method, system and storage medium for rotary structural members, which can improve the tailor-welding efficiency and quality of the rotary structural members. According to one aspect of the disclosure, a multi-point welding method for a rotary structural member is provided, which includes that a digital twin system builds a position relation between each physical device and a space environment in an automatic welding module for welding the rotary structural member and a model of each physical device under a global coordinate system taking the rotary structural member as a reference, builds a digital twin scene according to the model and motion logic of each physical device and the position relation, plans motion tracks of each physical device in the digital twin scene according to pose information of each physical device acquired in real time, and generates a corresponding execution program, and sends the execution program to a physical manufacturing system where the rotary structural member is located, so that the physical manufacturing system controls each physical device to perform multi-point welding on the rotary structural member according to the motion tracks. In some embodiments, the pose information comprises pose information of the welding piece relative to the rotary structural piece, and the method further comprises the steps that the digital twin system confirms positioning errors of the multi-point welding process according to the pose information of the welding piece relative to the rotary structural piece, and if the positioning errors do not meet requirements, the motion trail of each physical device is planned in a digital twin scene again. In some embodiments, the digital twin system receives the positioning error of the multi-point tailor-welding process sent by the physical manufacturing system, and if the positioning error does not meet the requirement, re-planning the motion trail of each physical device in the digital twin scene. In some embodiments, planning the motion trail of each physical device in the digital twin scene according to the pose information of each physical device acquired in real time comprises planning the motion trail of each physical device in the digital twin scene according to the model of each physical device, the man-machine interaction data and the pose information of each physical device acquired in real time. In some embodiments, the digital twin system acquires the motion gesture of each physical device in real time, and drives the synchronous motion of each physical device in the digital twin scene. In some embodiments, the physical manufacturing system establishes a global coordinate system with the rotary structural member as a reference, obtains the positional relationship between each physical device and the spatial environment in the automatic splice welding module, determines pose information of the welding member relative to the rotary structural member, and sends the positional relationship and the pose information of the welding member relative to the rotary structural member to the digital twin system. In some embodiments, determining pose information of the welding piece relative to the rotating structure includes determining pose information of the welding piece relative to the grasping robot by a visual guidance system, determining pose information of the rotating structure relative to the grasping robot by a pose detection system, and determining pose information of the welding piece relative to the rotating structure based on a position of the visual guidance sy