CN-121989242-A - Welding track planning method and device, welding robot and medium

CN121989242ACN 121989242 ACN121989242 ACN 121989242ACN-121989242-A

Abstract

The application relates to the technical field of welding and industrial robot automation, and discloses a welding track planning method, a device, a welding robot and a medium, which comprise the steps of obtaining three-dimensional geometric model data of a welding workpiece, and determining a welding seam path and geometric characteristics of a welding seam based on the model data; the method comprises the steps of establishing a welding seam local coordinate system based on geometric features, planning welding bead arrangement according to the local coordinate system to obtain space arrangement information of each welding bead, determining geometric configuration parameters of each welding bead based on the space arrangement information, and mapping the geometric configuration parameters onto corresponding welding seam paths to obtain a welding track point set forming a welding track. The method realizes reliable track planning of the pure straight line welding seam, remarkably expands the application range of the multilayer multi-pass welding automatic track planning technology, and comprehensively improves the automation level, the repetition precision and the field implementation efficiency of the welding process.

Inventors

ZHANG DONGSHENG
XU YITIAO
ZHANG JUN
TANG GUOBAO
ZHONG RUJIAN
CHEN YUGANG
HE GUIKANG

Assignees

广州瑞松智能科技股份有限公司
广州瑞松北斗汽车装备有限公司
广东省机器人创新中心有限公司

Dates

Publication Date: 20260508
Application Date: 20260214

Claims (10)

1. A method of welding track planning, the method comprising: Acquiring three-dimensional geometric model data of a welded workpiece, and determining a welding path and geometric characteristics of a welding seam based on the model data; establishing a welding seam local coordinate system based on the geometric features; Planning welding bead arrangement according to the local coordinate system to obtain space arrangement information of each welding bead; Determining geometric configuration parameters of each welding bead based on the space arrangement information; and mapping the geometric configuration parameters to the corresponding welding seam paths to obtain a welding track point set forming a welding track.
2. The welding track planning method of claim 1, wherein the acquiring three-dimensional geometric model data of the welded workpiece and determining the weld path and the geometric characteristics of the weld based on the model data comprises: Acquiring a weld edge selected by a user, and extracting a geometric direction vector corresponding to the weld edge; Identifying two bevel sides adjacent to the edge of the welding seam, and respectively extracting unit normal vectors of the two bevel sides; Determining the intersection line position of the two groove side surfaces in space based on the intersection relation of the two groove side surfaces, and extracting the intersection line as a welding line path; And taking the geometric direction vector of the edge of the welding seam and the unit normal vector of the two groove sides as the geometric characteristics of the welding seam.
3. The welding track planning method of claim 1, wherein the establishing a weld local coordinate system based on the geometric features comprises: Constructing a welding direction axial vector based on the geometric direction vector of the welding seam edge; Obtaining a first weld toe point and a second weld toe point according to unit normal vectors of two adjacent groove sides of the weld edge, a weld path and preset groove depth parameters, and taking vectors connecting the first weld toe point and the second weld toe point as weld width direction vectors; calculating a vertical direction vector based on the welding direction axial vector and the weld width direction vector; and constructing a right-hand Cartesian rectangular coordinate system according to the welding direction axial vector, the welding line width direction vector and the vertical direction vector.
4. The welding track planning method according to claim 1, wherein the planning the weld bead arrangement according to the local coordinate system to obtain spatial arrangement information of each weld bead includes: receiving the number of welding pass layers and the total number of welding passes input by a user; calculating the total area of the cross section of the welding seam based on the local coordinate system; Distributing the total area to each welding bead, and determining position coordinate parameters of each welding bead in the local coordinate system; and determining the spatial distribution parameters of each welding bead under the local coordinate system according to the position coordinate parameters.
5. The welding track planning method of claim 1, wherein the determining geometric parameters of each weld pass based on the spatial arrangement information comprises: Calculating the cross-sectional area of each welding bead based on the space subarea where each welding bead is located; calculating the height of each welding bead according to the cross section area and the expected size constraint in the width direction of the welding bead; and taking the cross-sectional area of the welding bead and the height of the welding bead as the geometric configuration parameters.
6. The welding track planning method of claim 1, wherein mapping the geometric configuration parameters onto the corresponding weld paths to obtain a set of welding track points that form a welding track comprises: calculating a position offset and an attitude adjustment corresponding to the geometric configuration parameter in a local coordinate system based on each track reference point in the weld path; Performing translation processing on each track reference point in the vertical direction and the parallel direction according to the position offset, and performing gesture rotation processing around an axis defined by an axial vector of the welding direction; And taking the point set subjected to the translation treatment and the rotation treatment as the welding track point set, and outputting a control instruction containing the welding track point set.
7. The welding track planning method of claim 6, further comprising: Generating a control instruction data packet of each track point according to the welding track point set; And converting the control instruction data packet into an instruction format conforming to a preset communication protocol, and sending the control instruction data packet to a welding robot so that the welding robot executes corresponding welding actions.
8. A welding track planning apparatus, comprising: The characteristic determining module is used for acquiring three-dimensional geometric model data of the welded workpiece and determining a welding line path and geometric characteristics of the welding line based on the model data; the coordinate system establishing module is used for establishing a welding seam local coordinate system based on the geometric features; the welding bead planning module is used for planning welding bead arrangement according to the local coordinate system to obtain space arrangement information of each welding bead; the parameter determining module is used for determining geometric configuration parameters of each welding bead based on the space arrangement information; and the mapping module is used for mapping the geometric configuration parameters to the corresponding welding seam paths to obtain a welding track point set forming a welding track.
9. A welding robot, characterized in that it comprises a processor and a memory, the memory storing a computer program, the processor being adapted to execute the computer program to implement the welding track planning method of any one of claims 1-7.
10. A computer readable storage medium, characterized in that it stores a computer program which, when executed on a processor, implements the welding track planning method according to any one of claims 1-7.

Description

Welding track planning method and device, welding robot and medium Technical Field The application relates to the technical field of welding and industrial robot automation, in particular to a welding track planning method, a welding track planning device, a welding robot and a medium. Background Currently, multi-layer multi-pass welding track planning of industrial robots mainly relies on analytical modeling of weld geometry. The existing method is to solve and obtain a Cartesian coordinate system for track planning by identifying straight line segments and curve segments on a welding line and utilizing points on the straight line segments and the curve segments, so as to plan the welding track. When the welding seam is only a continuous straight line segment (i.e. does not contain any curve characteristic), the Cartesian coordinate system required by track planning cannot be calculated due to the lack of geometric constraint points provided by the curve segment, and then the track planning of multi-layer multi-pass welding cannot be performed. This limitation severely limits the versatility and practical application of automated welding techniques in a large number of engineering structures. Disclosure of Invention In view of the above, the embodiments of the present application provide a welding track planning method, apparatus, welding robot, and medium, which can effectively solve the technical problem that in the prior art, a cartesian coordinate system required for track planning cannot be calculated because a weld joint does not include a curve segment, and thus multi-layer multi-pass welding track planning cannot be performed. In a first aspect, an embodiment of the present application provides a welding track planning method, including: Acquiring three-dimensional geometric model data of a welded workpiece, and determining a welding path and geometric characteristics of a welding seam based on the model data; establishing a welding seam local coordinate system based on the geometric features; Planning welding bead arrangement according to the local coordinate system to obtain space arrangement information of each welding bead; Determining geometric configuration parameters of each welding bead based on the space arrangement information; and mapping the geometric configuration parameters to the corresponding welding seam paths to obtain a welding track point set forming a welding track. In some embodiments, the acquiring three-dimensional geometric model data of the welded workpiece and determining the weld path and the geometric features of the weld based on the model data includes: Acquiring a weld edge selected by a user, and extracting a geometric direction vector corresponding to the weld edge; Identifying two bevel sides adjacent to the edge of the welding seam, and respectively extracting unit normal vectors of the two bevel sides; Determining the intersection line position of the two groove side surfaces in space based on the intersection relation of the two groove side surfaces, and extracting the intersection line as a welding line path; And taking the geometric direction vector of the edge of the welding seam and the unit normal vector of the two groove sides as the geometric characteristics of the welding seam. In some embodiments, the establishing a weld local coordinate system based on the geometric features includes: Constructing a welding direction axial vector based on the geometric direction vector of the welding seam edge; Obtaining a first weld toe point and a second weld toe point according to unit normal vectors of two adjacent groove sides of the weld edge, a weld path and preset groove depth parameters, and taking vectors connecting the first weld toe point and the second weld toe point as weld width direction vectors; calculating a vertical direction vector based on the welding direction axial vector and the weld width direction vector; and constructing a right-hand Cartesian rectangular coordinate system according to the welding direction axial vector, the welding line width direction vector and the vertical direction vector. In some embodiments, the planning the weld bead arrangement according to the local coordinate system, to obtain spatial arrangement information of each weld bead, includes: receiving the number of welding pass layers and the total number of welding passes input by a user; calculating the total area of the cross section of the welding seam based on the local coordinate system; Distributing the total area to each welding bead, and determining position coordinate parameters of each welding bead in the local coordinate system; and determining the spatial distribution parameters of each welding bead under the local coordinate system according to the position coordinate parameters. In some embodiments, the determining geometric parameters of each weld bead based on the spatial arrangement information includes: Calculating the cross-sectional area of each we