CN-117359179-B - Industrial welding device, industrial welding data acquisition method and system

CN117359179BCN 117359179 BCN117359179 BCN 117359179BCN-117359179-B

Abstract

The invention relates to the technical field of welding processes, and discloses an industrial welding device, an industrial welding data acquisition method and an industrial welding data acquisition system, wherein the device comprises a welding robot, a welding gun is arranged, and welding work is executed according to control instructions; the welding device comprises a molten pool detection camera, a laser sensor, an upper computer, a welding robot, a welding current and voltage data acquisition module, a welding pool detection camera, a laser sensor, a welding information acquisition module and a visual display module, wherein the molten pool detection camera is used for acquiring molten pool images and time stamps, the laser sensor is arranged at a preset position of a mechanical arm of the welding robot and used for acquiring point cloud data and time stamps, the upper computer is used for transmitting control instructions to the welding robot and acquiring track positions and welding current and voltage data, recording the track positions and the time stamps of the welding current and voltage data, and the welding information and the time stamps of the molten pool detection camera, the laser sensor and the welding robot are fused to obtain welding information of the same time line. The key information in the welding process is comprehensively recorded, and the multi-source data are fused and displayed in a corresponding and visual manner according to the same time line, so that the relevance among various data is improved.

Inventors

FENG QINGCHUAN
HUANG WEIKUN
CHEN ZHENMING
LIU GUODONG
LI DONGDONG
CAI JUNXIAN
ZUO ZHIYONG

Assignees

中建钢构股份有限公司

Dates

Publication Date: 20260505
Application Date: 20231122

Claims (10)

1. An industrial welding device is characterized by comprising a molten pool detection camera, a laser sensor, a welding robot and an upper computer; the welding robot is provided with a welding gun and is used for controlling the welding gun to execute welding work according to a control instruction transmitted by the upper computer; The molten pool detection camera is used for acquiring a molten pool image when the welding robot executes welding work and recording a time stamp of the molten pool image; The laser sensor is arranged at a preset position of the mechanical arm of the welding robot and is used for acquiring point cloud data when the welding robot executes welding work and recording a time stamp of the point cloud data; The upper computer is used for transmitting a control instruction to the welding robot, acquiring track positions and welding current and voltage data when the welding robot executes welding work, recording time stamps of the track positions and the welding current and voltage data, acquiring time stamps of molten pool images recorded by a molten pool detection camera and molten pool images, point cloud data recorded by a laser sensor and time stamps of the point cloud data, carrying out fusion treatment on welding information generated by the acquired molten pool detection camera, the laser sensor and the welding robot and corresponding time stamps to obtain track positions, current and voltage data, molten pool image data and point cloud data corresponding to the same time line, carrying out visual display, calculating arc data based on the welding current and voltage data, acquiring welding transition parameters based on a welding transition formula, wherein the welding transition parameters comprise drip transition parameters, short circuit transition parameters and particle transition parameters; wherein, the welding transition formula is as follows: the drop transition formula is: ; the short circuit transition formula is: ; the particle transition formula is: ; Wherein, P 1 is a droplet transition parameter, which is used to describe arc characteristics of droplet transition, P 2 is a short-circuit transition parameter, which is used to represent arc characteristics of short-circuit transition, P 3 is a preset particle transition parameter, which is used to represent arc characteristics of particle transition, k 1 is a droplet transition coefficient, k 2 is a preset short-circuit transition coefficient, k 3 is a preset particle transition coefficient, L is arc length, and D is arc diameter.
2. The apparatus of claim 1, wherein the coordinates of the point cloud data acquired by the laser sensor are in the same coordinate system as the coordinates of the welding robot generation trajectory location.
3. A method of industrial welding data acquisition, characterized in that it is based on an industrial welding device according to claim 1 or 2, the method comprising: the upper computer transmits a control instruction to the welding robot to control the welding robot to execute welding work; the upper computer acquires welding information generated by a molten pool detection camera, a laser sensor and a welding robot during welding work and corresponding time stamps; The upper computer performs fusion processing on the welding information and the corresponding time stamp to obtain the welding information corresponding to the same time line and performs visual display; the welding information at least comprises track positions, welding current and voltage data, molten pool images and point cloud data when the welding robot executes welding work.
4. The method of claim 3, wherein the step of fusing the welding information and the corresponding time stamp to obtain the welding information corresponding to the same time line and visually displaying the welding information comprises the steps of: carrying out data noise reduction, filtering and enhancement on the welding information to obtain preprocessed welding information; correcting the time stamp corresponding to the preprocessed welding information according to a time sequence to obtain a corrected time stamp corresponding to the preprocessed welding information; taking the corrected time stamp as a keyword, and executing a preset fusion function based on the keyword to obtain preprocessed welding information corresponding to the same time line; And displaying the preprocessed welding information corresponding to the same time line based on the visualization tool.
5. The method of claim 3, wherein after the step of fusing the welding information and the corresponding time stamp to obtain the welding information corresponding to the same time line and visually displaying, the method further comprises: calculating arc data based on the welding current and voltage data; acquiring welding transition parameters based on a welding transition formula according to the arc data and a preset welding transition coefficient; Training a welding process optimization model based on the welding transition parameters, and determining welding process parameters based on the welding process optimization model; and generating an optimized control instruction based on a control algorithm according to the welding process parameters, and controlling the welding robot to execute welding work.
6. The method of claim 3, wherein after the step of fusing the welding information and the corresponding time stamp to obtain the welding information corresponding to the same time line and visually displaying, the method further comprises: extracting droplet features based on the puddle image; And generating an optimized control instruction based on a control algorithm according to the droplet characteristics, and controlling the welding robot to execute welding work.
7. The method according to claim 3 or 4, wherein after the step of fusing the welding information and the corresponding time stamp to obtain the welding information corresponding to the same time line and performing visual display, the method further comprises: and carrying out welding simulation by using a simulation tool based on the welding information corresponding to the same time line.
8. A system for industrial welding data acquisition, the system comprising: The communication control module is used for transmitting control instructions to the welding robot and controlling the welding robot to execute welding work; the data acquisition module is used for acquiring welding information generated by the molten pool detection camera, the laser sensor and the welding robot and corresponding time stamps during welding work; The welding system comprises a data processing module, a welding process optimizing model, a control module and a welding robot, wherein the data processing module is used for carrying out fusion processing on welding information and corresponding time stamps to obtain welding information corresponding to the same time line and carrying out visual display, calculating arc data based on welding current and voltage data, acquiring welding transition parameters based on a welding transition formula according to the arc data and preset welding transition coefficients, training the welding process optimizing model based on the welding transition parameters, determining welding process parameters based on the welding process optimizing model, generating an optimized control instruction based on a control algorithm according to the welding process parameters, and controlling the welding robot to execute welding work, wherein the welding information at least comprises track positions, welding current and voltage data, molten pool images and point cloud data when the welding robot executes the welding work, and the welding transition parameters comprise dripping transition parameters, short-circuit transition parameters and particle transition parameters; the welding transition formula is as follows: the drop transition formula is: ; the short circuit transition formula is: ; the particle transition formula is: ; Wherein, P 1 is a droplet transition parameter, which is used to describe arc characteristics of droplet transition, P 2 is a short-circuit transition parameter, which is used to represent arc characteristics of short-circuit transition, P 3 is a preset particle transition parameter, which is used to represent arc characteristics of particle transition, k 1 is a droplet transition coefficient, k 2 is a preset short-circuit transition coefficient, k 3 is a preset particle transition coefficient, L is arc length, and D is arc diameter.
9. A computer device, comprising: A memory and a processor communicatively coupled to each other, the memory having stored therein computer instructions that, upon execution, perform the method of industrial welding data collection of any of claims 3-7.
10. A computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of industrial welding data acquisition of any one of claims 3 to 7.

Description

Industrial welding device, industrial welding data acquisition method and system Technical Field The invention relates to the technical field of welding processes, in particular to an industrial welding device, and a method and a system for acquiring industrial welding data. Background Welding is an important component part of modern manufacturing industry, along with the continuous development of metal processing technology, higher requirements are put on welding quality, welding data acquisition technology is to monitor welding parameters, temperature, pressure and other data through monitoring a welding process, so that the monitoring of welding is realized, however, the current data acquisition system is limited to the acquisition of single index items or a small number of index items, certain limitation exists in the aspects of analyzing and excavating acquired multi-index item data, and the relation among complex welding process parameters cannot be further analyzed. The welding data acquisition system mainly aims at data such as current, voltage and molten pool detection, the linkage between the data is poor, and great obstruction is encountered in the subsequent deep analysis of the welding process, so that the efficiency of the welding process is reduced, and the welding effect is affected. Disclosure of Invention In view of the above, the present invention provides a method for acquiring industrial welding data, so as to solve the problem of how to improve the linkage between data acquired by welding industry to improve the welding effect. The invention provides an industrial welding device which comprises a welding robot, a molten pool detection camera, a laser sensor and an upper computer, wherein the welding robot is provided with a welding gun and used for controlling the welding gun to execute welding according to a control instruction transmitted by the upper computer, the molten pool detection camera is used for acquiring a molten pool image when the welding robot executes the welding operation and recording a time stamp of the molten pool image, the laser sensor is arranged at a preset position of a mechanical arm of the welding robot and used for acquiring point cloud data when the welding robot executes the welding operation and recording the time stamp of the point cloud data, the upper computer is used for transmitting a control instruction to the welding robot and acquiring track positions and welding current voltage data when the welding robot executes the welding operation, recording the time stamp of the track positions and the time stamp of the welding current voltage data, and acquiring the time stamp of the molten pool image recorded by the welding detection camera, the point cloud data recorded by the laser sensor and the time stamp of the point cloud data recorded by the laser sensor, and the time stamp of the obtained welding current voltage data, and displaying the same track and corresponding time stamp of the welding current voltage data of the welding robot and the welding current voltage data. According to the embodiment of the invention, through the molten pool detection camera, the laser sensor, the welding robot and the upper computer, various information such as a molten pool image, point cloud data, track positions, welding current and voltage data and the like when the welding robot executes welding work are acquired and recorded in real time in the welding process, the data are all provided with time stamps, the track positions, the current and voltage data, the molten pool image data and the point cloud data corresponding to the same time line are obtained after the time stamps are fused, visual display is performed, the relevance among all the data is improved, and therefore operators are helped to know the state of the welding process, the follow-up welding process is conveniently optimized, and the welding effect is improved. In an alternative embodiment, the coordinates of the point cloud data acquired by the laser sensor are in the same coordinate system as the coordinates of the welding robot generation track position. According to the embodiment of the invention, the point cloud data and the position coordinates of the track generated by the welding robot are positioned in the same coordinate system through the laser sensor, so that a data basis is provided for the subsequent analysis of the relation between the point cloud data and the robot motion in the welding process, and an operator is helped to analyze the problem of the welding process more accurately. The invention provides a method for acquiring industrial welding data, which is based on an upper computer of the industrial welding device in the first aspect, and comprises the steps of transmitting a control instruction to a welding robot, controlling the welding robot to execute welding work, acquiring welding information generated by a molten pool detection camera, a laser sensor and the welding