1. A node model construction method suitable for robot welding is characterized by comprising the following steps: the method comprises the following steps:

and S1, creating a node model in a parameterization mode.

And S2, all relevant parameters related to one part or one component are collected into one model structure through node modeling, and the model structure is used for subsequent calculation.

And S3, creating a node scanning point table.

And S4, creating an actual welding path.

And S5, creating a welding program.

2. The method for constructing a node model suitable for robot welding according to claim 1, wherein:

a. the modeling content comprises: node position size, boundary constraint geometry, welding location and form, and welding process parameters.

b. The actual coordinate values of the key points are obtained by the line laser for node scanning, and the actual boundary point coordinates of the welding seam position are calculated by combining the appointed geometric topological relation in the node template.

c. The actual welding path digests the parameters in the welding process package and the position and posture requirements of the robot into the actual welding path.

d. The welding program translates the waypoint table containing the process information into an executive recognizable by the robot.

3. The method for constructing a node model suitable for robot welding according to claim 2, wherein:

a. modeling a node: the node model is established as the basis of the method and is a parameter value source of subsequent work.

b. Scanning a point table: scanning the scanning points one by using a line laser according to a stipulated sequence to obtain three-dimensional coordinate values of the robot, wherein the positions and postures of the scanning points need to be calculated in advance according to the size design of components in the node modeling information.

c. Welding point surface: and after the calculation of the welding seam vertex coordinates is successful, designing the welding seam according to the selected welding seam range.

d. And (3) welding procedure: and the different robots have different formats and statement requirements.

4. The method for constructing a node model suitable for robot welding according to claim 3, wherein:

a. the node modeling mainly comprises node types, positioning sizes, structure sizes, welding seam positions, welding seam ranges, welding processes and the like.

b. The scanning points in the scanning point table are arranged according to the geometric constraint boundary points which need to be calculated finally, the number is as small as possible, and the posture of the line laser in the scanning motion process is properly considered to avoid touching the peripheral structure.

c. Different welding process package selections are respectively arranged in the welding point table according to different positions of welding lines, and the flat fillet welding line and the vertical welding line respectively adopt different welding gun postures and parameters such as welding current, voltage, speed and the like.

d. In the welding program, auxiliary transition points and gun returning actions are required to be added when the welding program is generated, so that the robot runs smoothly, and the generation of singular points and the risk of touching the structure are reduced.

5. A robot-welding-suitable node model building apparatus according to claim 1, comprising a support table (1), characterized in that: the device is characterized in that a control button (2) is arranged at the side wall of the supporting table (1), a lock support mechanism (3) is connected at the bottom side wall of the supporting table (1) in a penetrating manner, a supporting disc (311) is arranged inside the lock support mechanism (3), a sliding sleeve (312) is arranged at the side wall of the supporting disc (311), a stack disc (313) is connected at the axis center of the inner side wall of the supporting disc (311) in a penetrating manner, a deformation frame (315) is connected at the bottom side wall of the stack disc (313) in a penetrating manner, a soft cotton layer (314) is arranged at the inner side wall of the supporting disc (311), an elastic tube (4) is connected at the bottom side wall of the lock support mechanism (3) in a penetrating manner, a supporting frame (5) is connected at the bottom end of the elastic tube (4) in a penetrating manner, a supporting pad (7) is connected at the bottom side wall, the bottom end of the clamping needle (801) is connected with a base (10) in a ring mode, the top side wall of the base (10) is connected with a pressing plate (8) in a swinging mode, and the side wall of the pressing plate (8) is connected with a pull cable (9) in a penetrating mode.

6. The robot-welding-suitable node model construction device according to claim 5, characterized in that: the combined mechanism (6) is characterized in that the combined mechanism (6) comprises a sliding plate (601), the middle of the side wall of the sliding plate (601) is connected with a shifting sleeve (602) in a penetrating mode, the inner side wall of the shifting sleeve (602) is connected with an elastic band (603) in a penetrating mode, the outer side wall of the elastic band (603) is connected with a movable sleeve (604) in a penetrating mode, and the inner side wall of the movable sleeve (604) is connected with a laser (605) in a penetrating mode.

7. The robot-welding-suitable node model construction device according to claim 5, characterized in that: the side wall of the deformation frame (315) is connected with the side wall of the soft cotton layer (314) in a sliding mode.

8. The robot-welding-suitable node model construction device according to claim 7, characterized in that: the outer end of the deformation frame (315) is connected to the inner side wall of the sliding sleeve (312) in a sliding and penetrating manner.

9. The robot-welding-suitable node model construction device according to claim 5, characterized in that: the inner side wall of the sliding sleeve (312) is connected with the outer side of the combined mechanism (6) in a sliding manner.

10. The robot-welding-suitable node model construction device according to claim 5, characterized in that: the side wall of the pressing plate (8) is connected with the side wall of the clamping needle (801) in a sliding mode.

Background

The robot welding has been got some extensive applications in every industry, even part realizes automatic weld, but its face and the point of using are all very narrow, only are fit for realizing the special machine welding of robot to specific component under specific operational environment, but to the actual demand in the enterprise welding scene far away not enough, say more the popularization.

The pain points for realizing robot welding mainly focus on the following aspects: firstly, mature welding workstations are generally foreign brands, the enterprise introduction cost is too high, and the selectable space is small; secondly, at present, welding workstations at home and abroad can only solve the problem of welding of some components in batches and in standard, are special for special machines, have poor product adaptability and are not easy to popularize; thirdly, the welding technology of the robot is not intelligent enough, the limited conditions are more, and the work efficiency can not meet the requirements of a factory; fourthly, the robot has too much auxiliary work before welding, and the work of off-line modeling, off-line simulation, on-line repositioning and recalculation is increased; fifthly, automatic matching of robot welding technological parameters and welding gun attitude control is complex; and sixthly, the welding adaptability to non-standard components and small-batch workpieces is poor, and even the robot welding is difficult to realize.

The welding efficiency is low, the intervention workload of workers is large, and the robot is difficult to be applied to the welding scene of non-standard components. After the workpiece changes, the robot has poor adaptability. The position of the welding line can not be automatically corrected, the automatic programming can not be completely realized, and the welding process can not be automatically adapted to the change.

In the welding process, the template at the bottom is marked according to the pen point of the device, the marking pen core cannot be automatically led out, or the clamping shell is caused in the process of leading in half, if the marking is manually marked in the process, the welding speed cannot be kept up with easily, the deviation can be easily caused, and the error is increased.

Disclosure of Invention

In order to solve the above problems, the present invention provides the following technical solutions: a node model construction method suitable for robot welding comprises the following steps:

s1, creating a node model in a parameterization mode, wherein the modeling content comprises: node position size, boundary constraint geometry, welding location and form, and welding process parameters.

And S2, all relevant parameters related to one part or one component are collected into one model structure through node modeling, the model structure is used for subsequent calculation, and the node data is stored in a file form.

S3, creating a node scanning point table, obtaining the actual coordinate value of the key point by using line laser, and calculating the actual boundary point coordinate of the welding seam position by combining the appointed geometric topological relation in the node template.

And S4, creating an actual welding path, and digesting the parameters in the welding process packet and the position and posture requirements of the robot into the actual welding path.

And S5, creating a welding program, and translating the path point table containing the process information into an executive program which can be recognized by the robot.

The node template design method comprises the following technical steps:

a. modeling a node: the establishment of the node model is the basis of the method and is the source of the parameter values of the subsequent work; the method mainly comprises the steps of node type, positioning size, structure size, welding seam position, welding seam range, welding process and the like.

b. Scanning a point table: the scanning points are scanned one by using the line laser according to a stipulated sequence to obtain three-dimensional coordinate values of the robot, the poses of the scanning points are calculated in advance according to the size design of components in the node modeling information, the scanning points are arranged according to the geometric constraint boundary points which need to be calculated finally, the number is as small as possible, and the posture of the line laser in the scanning motion process is properly considered to avoid touching the peripheral structure.

c. Welding point surface: after the calculation of the welding seam vertex coordinates is successful, the welding seam design is carried out according to the selected welding seam range, different welding process package selections are respectively set according to different positions of the welding seam, and the flat fillet welding seam and the vertical welding seam respectively adopt different welding gun postures and parameters such as welding current, voltage, speed and the like.

d. And (3) welding procedure: and the different robots have different formats and statement requirements. When a welding program is generated, auxiliary transition points and gun returning actions need to be added, so that the robot runs smoothly, and the generation of singular points and the risk of touching a structure are reduced.

A node model construction device suitable for robot welding comprises a support table, wherein a control button is arranged on the side wall of the support table, a locking and supporting mechanism is connected with the bottom side wall of the support table in a penetrating manner, a support disc is arranged in the locking and supporting mechanism, a sliding sleeve is arranged on the side wall of the support disc, a stack disc is connected with the axis of the inner side wall of the support disc in a penetrating manner, a deformation frame is connected with the bottom side wall of the stack disc in a penetrating manner, the utility model discloses a lock support, including supporting disk, lock support mechanism, supporting disk, the inside wall department of supporting disk is provided with soft cotton layer, the bottom lateral wall department through connection that the lock propped the mechanism has the elasticity pipe, and the bottom through connection of elasticity pipe has the support frame, and the bottom lateral wall department through connection of support frame has the supporting pad, and the bottom through connection of supporting pad has the combined mechanism, and the lateral wall department through connection of supporting pad has the card needle, and the bottom ring of card needle is connected with the base, and the swing of the top lateral wall department of base is connected with the clamp plate, and the lateral wall department through connection of clamp plate has the cable.

Preferably, the inside of combined mechanism includes the slide, and the lateral wall middle part through connection of slide has the cover that shifts, and the inside wall department through connection of the cover that shifts has the elastic webbing, and the lateral wall department through connection of elastic webbing has the movable sleeve, and the inside wall department through connection of movable sleeve has the laser instrument.

Preferably, the side wall of the deformation frame is connected to the side wall of the soft cotton layer in a sliding mode, and after the side wall of the stacking disc is outwards unfolded, the side end of the stacking disc can push the side wall of the soft cotton layer to be unfolded.

Preferably, the outer end of the deformation frame is connected to the inner side wall of the sliding sleeve in a sliding and penetrating mode, and the side wall of the deformation frame can be pushed after being straightened.

Preferably, the inner side wall of the sliding sleeve is connected to the outer side of the combined mechanism in a sliding mode, and the combined mechanism can be pushed out outwards after the side wall of the sliding sleeve is pushed.

Preferably, the side wall of the pressing plate is connected to the side wall of the clamping pin in a sliding manner, and when the side wall of the pressing plate moves along the y axis, the side wall of the clamping pin can be driven to move along the y axis together.

Compared with the prior art, the invention provides a node model construction method and device suitable for robot welding, and the method and device have the following beneficial effects:

1. the invention discloses a node model construction method suitable for robot welding, which is specially used for solving the problem of robot welding of small and nonstandard components in batches. By applying the node template technology, the machine welding can be applied to the welding scenes of metal components in various industries, flat fillet welding and butt welding of the components can be quickly implemented, the manual teaching mode for compiling a welding program is eliminated, and the operation efficiency is improved by completely adopting the modes of automatic scanning and automatic generation of the welding program.

2. This be fit for robot welded node model construction device, lateral wall through the clamp plate promotes to the middle part, the lateral wall of clamp plate can inwards promote, the lateral wall bottom of card needle, the top support of card needle is in the bottom lateral wall department of support frame, the lateral wall of support frame pulls open along with the activity of card needle, the lateral wall intermediate layer of support frame outwards opens, the top lateral wall minification range of support frame, the right side wall department of support frame outwards is slope form, make the lateral wall of elastic tube slide downwards along the lateral wall department of support frame, just be located the pitch arc department of supporting pad lateral wall department, laminate with the lateral wall department of the laser instrument that stretches out at the back, lateral wall department along the laser instrument is facing to XYZ axle and is carried out the fixed point welding.

3. This be fit for welded node model construction equipment of robot, extrude the back outwards through the lateral wall of aversion cover, can outwards become fluffy appearance ditch form when the lateral wall roll-off sliding sleeve's of aversion cover outside, the lateral wall of aversion cover is flagging to the bottom rupture, the lateral wall of drive movable sleeve moves down, combine and show in the figure, can be downward along the lateral wall of card needle, the lateral wall of card needle can expand the triaxial of XYZ to the position of lower base, card needle's lateral wall department adheres to the sensor, sense the lateral wall of laser instrument, at the lateral wall department of the card needle of beginning location, just can fix a position the Z axle, when data change, change the position of node, remove the position of card needle.

Drawings

FIG. 1 is a schematic diagram of a node modeling method of the present invention;

FIG. 2 is a schematic diagram of a method for scanning a dot list according to the present invention;

FIG. 3 is a schematic diagram of a method for preparing a solder joint table according to the present invention;

FIG. 4 is a schematic view of the connection of the overall structure of the present invention;

FIG. 5 is a schematic top view of the connection of the internal relevant structures of the lock support mechanism of the present invention;

fig. 6 is a front and right side display view of the structure connection between the related structure inside the combined mechanism and the sliding sleeve.

In the figure: 1. a support table; 2. a control button; 3. a lock support mechanism; 311. a support disc; 312. a sliding sleeve; 313. stacking the plates; 314. a soft cotton layer; 315. a deformation frame; 4. an elastic tube; 5. a support frame; 6. a combination mechanism; 601. a slide plate; 602. a shifting sleeve; 603. an elastic band; 604. a movable sleeve; 605. a laser; 7. a support pad; 8. pressing a plate; 801. clamping a needle; 9. a cable; 10. a base.

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.

The first embodiment is as follows:

a node model construction method suitable for robot welding comprises the following steps:

s1, creating a node model in a parameterization mode, wherein the modeling content comprises: node position size, boundary constraint geometry, welding location and form, and welding process parameters.

And S2, all relevant parameters related to one part or one component are collected into one model structure through node modeling, the model structure is used for subsequent calculation, and the node data is stored in a file form.

a. The method of node modeling is as follows (as shown in fig. 1):

the establishment of the node model is the basis of the method and is the source of the parameter values of the subsequent work; the method mainly comprises the steps of node type, positioning size, structure size, welding seam position, welding seam range, welding process and the like.

Although the types of metal structures are different and the welding process requirements of each industry are different, the connection mode and the relation between parts on the component are carefully researched, so that different repeatable and sharable node templates can be abstracted and separated according to the common characteristics. The node templates can be applied to welding of different types of components in different industries. For example, the figure shows a connection form of a special-shaped stiffening plate and an H-shaped main component, an H-shaped steel web plate at the bottom of the stiffening plate and two sides of the stiffening plate are connected with a wing plate of the H-shaped component, and the stiffening plate has two flat fillet welds and four vertical seams.

S3, creating a node scanning point table, obtaining the actual coordinate value of the key point by using line laser, and calculating the actual boundary point coordinate of the welding seam position by combining the appointed geometric topological relation in the node template.

b. The method of scanning the dot table is as follows (as shown in fig. 2):

and scanning the scanning points marked in the figure one by using a line laser according to a stipulated sequence to obtain the three-dimensional coordinate values of the robot.

The poses of the scanning points need to be calculated in advance according to the size design of the members in the node modeling information, the scanning points are arranged according to the geometric constraint boundary points which need to be calculated finally, the number is as small as possible, and the poses of the line laser in the scanning motion process are properly considered to avoid touching the peripheral structures.

And S4, creating an actual welding path, and digesting the parameters in the welding process packet and the position and posture requirements of the robot into the actual welding path.

c. The method of the solder joint table is as follows (as shown in fig. 3):

the coordinates of the boundary vertexes of the mark points in the graph are calculated through a geometrical topological relation according to a series of scanned points, the vertexes are generally the head and tail points of the welding seam, the actual accuracy of the vertexes depends on the accuracy of the scanning point taking, and the deviation is generally controlled to be available within about 1 mm.

After the calculation of the welding seam vertex coordinates is successful, the welding seam design is carried out according to the selected welding seam range, different welding process package selections are respectively set according to different positions of the welding seam, and the flat fillet welding seam and the vertical welding seam respectively adopt different welding gun postures and parameters such as welding current, voltage, speed and the like.

And S5, creating a welding program, and translating the path point table containing the process information into an executive program which can be recognized by the robot.

d. The method of the welding procedure is as follows:

the welding program is a corresponding code program executed by various robots finally, different robots have different formats and statement requirements, and some auxiliary transition points and gun returning actions need to be added when the welding program is generated, so that the robots operate smoothly, and the generation of singular points and the risk of touching structures are reduced; meanwhile, the influence of the welding process packet on the used welding parameters needs to be eliminated during the welding procedure, and different types of welding seams and process offsets are added into the final welding path table, so that the welding quality is ensured to meet the expected process requirements.

Example two:

referring to fig. 4-6, a node model building device suitable for robot welding comprises a supporting table 1, a control button 2 is disposed on a side wall of the supporting table 1, a locking mechanism 3 is penetratingly connected to a bottom side wall of the supporting table 1, a supporting plate 311 is disposed inside the locking mechanism 3, a sliding sleeve 312 is disposed on a side wall of the supporting plate 311, a stack 313 is penetratingly connected to an axis of an inner side wall of the supporting plate 311, a deformation frame 315 is penetratingly connected to a bottom side wall of a side wall of the stack 313, a soft cotton layer 314 is disposed on an inner side wall of the supporting plate 311, an elastic tube 4 is penetratingly connected to a bottom side wall of the locking mechanism 3, a supporting frame 5 is penetratingly connected to a bottom end of the elastic tube 4, a supporting pad 7 is penetratingly connected to a bottom side wall of the supporting pad 7, a combination mechanism 6 is penetratingly connected to a side wall of the supporting pad 7, a, the top side wall of the base 10 is connected with a pressing plate 8 in a swinging mode, and the side wall of the pressing plate 8 is connected with a pull rope 9 in a penetrating mode.

The inside of the combined mechanism 6 includes a sliding plate 601, the middle part of the side wall of the sliding plate 601 is connected with a shifting sleeve 602 in a penetrating manner, the inner side wall of the shifting sleeve 602 is connected with an elastic band 603 in a penetrating manner, the outer side wall of the elastic band 603 is connected with a movable sleeve 604 in a penetrating manner, and the inner side wall of the movable sleeve 604 is connected with a laser 605 in a penetrating manner.

The side wall of the deforming frame 315 is slidably connected to the side wall of the soft cotton layer 314, and after the side wall of the stacking tray 313 is expanded outward, the side end of the stacking tray 313 can push the side wall of the soft cotton layer 314 to be expanded.

Wherein, the outer end of the deformation frame 315 is slidably connected to the inner side wall of the sliding sleeve 312, and the side wall of the deformation frame 315 can be pushed after being straightened.

Wherein, the inner side wall of the sliding sleeve 312 is slidably connected to the outer side of the combined mechanism 6, and the side wall of the sliding sleeve 312 can push the combined mechanism 6 outwards after being pushed.

The side wall of the pressing plate 8 is slidably connected to the side wall of the card needle 801, and when the side wall of the pressing plate 8 moves along the y axis, the side wall of the card needle 801 can be driven to move along the y axis.

The working principle is as follows: when in use, as shown in fig. 4, the side wall of the base 10 is laid flat, the positioned paper board is placed at the top side wall of the base 10 and can be kept flat and attached to the top side wall of the base 10, the press plate 8 at the top side wall of the base 10 is buckled downwards, the side wall of the press plate 8 can be attached to the top side wall of the base 10, the pull rope 9 connected to the side wall can be pulled when the side wall of the press plate 8 is clockwise rotated and buckled, so that the side wall of the press plate 8 is pulled to be in an overlapped state, the side wall of the press plate 8 is pushed towards the middle part, the side wall of the press plate 8 can be pushed inwards, the bottom end of the side wall of the clamp needle 801, the top end of the clamp needle 801 is supported at the bottom side wall of the support frame 5, the side wall of the support frame 5 is pulled apart along with the movement of the clamp needle 801, the interlayer of the side wall of the support frame 5 is outwards opened, the side wall at the top end of the support frame 5 is narrowed, the right side wall of the support frame 5 is outwards in a slope shape, the side wall of the elastic tube 4 slides downwards along the side wall of the support frame 5, is just positioned at an arc line of the side wall of the support pad 7, is attached to the side wall of the laser 605 extending out from the rear, and is welded at a fixed point along the side wall of the laser 605 opposite to the XYZ axis;

as shown in fig. 4 and fig. 6, after the side wall of the laser 605 is turned on, the inside of the locking and supporting mechanism 3 is controlled, the side wall of the stack 313 is expanded outward, the side wall of the deformation frame 315 is expanded toward the bottom, the side wall of the deformation frame 315 can be forced and supported to push the sliding sleeve 312 outward, the side wall of the sliding sleeve 312 is under pressure, the side wall of the sliding sleeve 312 extrudes the side wall of the displacement sleeve 602 outward, the side wall of the displacement sleeve 602 slides out of the sliding sleeve 312 and becomes fluffy outward, the side wall of the displacement sleeve 602 breaks and sags toward the bottom, the side wall of the movable sleeve 604 is driven to move downward, as shown in fig. 1, XYZ can follow the side wall of the latch needle 801 downward, the side wall of the latch needle 801 can expand toward three axes of the position of the lower base 10, the sensor is attached to the side wall of the latch needle 801, the side wall of the laser 605 is sensed at the side wall of the latch needle 801 which is initially positioned, the Z-axis can be located and when the data changes, the position of the node is changed and the position of the needle 801 is moved.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.