CN111037039A - Flat joint welding method, device, system and computer readable storage medium - Google Patents
Flat joint welding method, device, system and computer readable storage medium Download PDFInfo
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- CN111037039A CN111037039A CN201911410631.XA CN201911410631A CN111037039A CN 111037039 A CN111037039 A CN 111037039A CN 201911410631 A CN201911410631 A CN 201911410631A CN 111037039 A CN111037039 A CN 111037039A
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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
- B23K9/00—Arc welding or cutting
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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
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0953—Monitoring or automatic control of welding parameters using computing means
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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
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
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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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/12—Vessels
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Abstract
本发明公开了一种平接头焊接系统、方法、装置、计算机设备以及存储介质，一种平接头焊接方法，应用于平接头焊接系统中，平接头焊接系统包括焊接装置以及用于固定平接头与接管的夹紧平台，所述方法包括：获取焊接数据库以及平接头的类型参数；根据类型参数在焊接数据库中查询平接头的焊接位置、焊接角度以及焊接参数；根据焊接位置与焊接角度控制焊接装置与夹紧平台的移动轨迹；根据焊接参数控制焊接装置对平接头与接管进行焊接。上述方法可以通过平接头的类型在预先获取的焊接数据库中查询焊接位置、焊接角度以及焊接参数等数据，并根据这些数据控制焊接装置与夹紧平台移动，并自动对平接头与接管进行焊接，从而有效提高了焊接效率和准确性。
The invention discloses a flat joint welding system, method, device, computer equipment and storage medium, and a flat joint welding method, which is applied to the flat joint welding system. The flat joint welding system includes a welding device and a flat joint for fixing the flat joint with A clamping platform for taking over, the method includes: acquiring a welding database and type parameters of the flat joint; querying the welding position, welding angle and welding parameters of the flat joint in the welding database according to the type parameter; controlling the welding device according to the welding position and the welding angle The movement track of the clamping platform; the welding device is controlled according to the welding parameters to weld the flat joint and the pipe. The above method can query the welding position, welding angle and welding parameters and other data in the pre-acquired welding database according to the type of the flat joint, and control the movement of the welding device and the clamping platform according to these data, and automatically weld the flat joint and the nozzle, Thus, the welding efficiency and accuracy are effectively improved.
Description
Technical Field
The embodiment of the invention relates to a mechanical control technology, in particular to a flat joint welding method, a flat joint welding device, a flat joint welding system and a computer readable storage medium.
Background
In the process of producing the container, the connecting pipe and the flat joint are often required to be welded, the flat joint and the connecting pipe are welded by manual welding in the traditional method, but the manual welding environment is generally poor, the labor intensity is high, the welding efficiency is low, and the manual welding process is complex, so that the precision requirement can not be met.
Disclosure of Invention
Based on the above, the invention provides a flat joint welding system, a flat joint welding method, a flat joint welding device, a computer device and a storage medium, which can automatically and accurately weld a flat joint and a connecting pipe.
In a first aspect, an embodiment of the present invention provides a flat joint welding method, which is applied to a flat joint welding system, where the flat joint welding system includes a welding device and a clamping platform for fixing a flat joint and a nozzle, and the method includes:
acquiring a welding database and type parameters of a plain joint;
inquiring the welding position, the welding angle and the welding parameters of the plain joint in the welding database according to the type parameters;
controlling the moving track of the welding device and the clamping platform according to the welding position and the welding angle;
and controlling the welding device to weld the flat joint and the connecting pipe according to the welding parameters.
According to the flat joint welding method, data such as welding positions, welding angles and welding parameters can be inquired in a welding database acquired in advance according to the types of the flat joints, the welding device and the clamping platform are controlled to move according to the data, and the flat joints and the connecting pipes are automatically welded, so that the welding efficiency and the welding accuracy are effectively improved.
In one embodiment, the step of controlling the moving track of the welding device and the clamping platform according to the welding position and the welding angle comprises the following steps:
establishing a spatial coordinate system based on the welding device;
acquiring initial positions of the welding device and the clamping platform in the space coordinate system;
and determining the moving tracks of the welding device and the clamping platform according to the initial position, the welding position and the welding angle.
In one embodiment, after the step of controlling the welding device to weld the flat joint and the adapter tube according to the welding parameters, the method further comprises:
controlling the welding device and the clamping platform to move back to the initial position.
In one embodiment, before the step of obtaining the welding database and the type parameters of the flat joint, the method further comprises:
establishing a welding database;
acquiring welding positions, welding angles and welding parameters when various types of flat joints and connecting pipes are welded;
the welding position, welding angle and welding parameters for each type of flat joint are stored as a set of data in the welding database.
In one embodiment, the welding parameter comprises at least one of a welding current, a welding voltage, a welding frequency, an arc start time, and an arc stop time.
In a second aspect, an embodiment of the present invention further provides a flat joint welding device, which is applied to a flat joint welding system, where the flat joint welding system includes a welding device and a clamping platform for fixing a flat joint and a nozzle, and the flat joint welding device includes:
the acquisition module is used for acquiring a welding database and type parameters of the flat joint;
the query module is used for querying the welding position, the welding angle and the welding parameters of the flat joint in the welding database according to the type parameters;
the moving module is used for controlling the moving track of the welding device and the clamping platform according to the welding position and the welding angle;
and the welding module is used for controlling the welding device to weld the flat joint and the connecting pipe according to the welding parameters.
According to the flat joint welding device, data such as welding positions, welding angles and welding parameters can be inquired in a welding database acquired in advance according to the types of the flat joints, the welding device and the clamping platform are controlled to move according to the data, the flat joints and the connecting pipes are automatically welded, and therefore welding efficiency and accuracy are effectively improved.
In a third aspect, an embodiment of the present invention further provides a flat joint welding system, including a welding device, a clamping platform, a memory, a processor, and a computer program stored in the memory and executable on the processor; the welding device is used for welding the flat joint and the connecting pipe, the clamping platform is used for fixing the flat joint and the connecting pipe, the processor is respectively in communication connection with the welding device and the clamping platform, and the flat joint welding method is realized when the processor executes the program.
According to the flat joint welding system, data such as welding positions, welding angles and welding parameters can be inquired in a welding database acquired in advance according to the types of the flat joints, the welding device and the clamping platform are controlled to move according to the data, the flat joints and the connecting pipes are automatically welded, and therefore welding efficiency and accuracy are effectively improved.
In one embodiment, the welding device is a six-axis welding robot, and the clamping platform is disposed on an additional axis of the six-axis welding robot.
In one embodiment, the six-axis welding robot comprises a mechanical arm and a welding machine, wherein the mechanical arm is used for driving the welding machine to move, and the welding machine is used for welding the flat joint and the adapter.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the flat joint welding method as described above.
Drawings
FIG. 1 is a schematic flow chart of a flat joint welding method according to one embodiment;
FIG. 2 is a schematic flow chart of steps for controlling the movement path of the welding device and the clamping platform according to the welding position and the welding angle in one embodiment;
FIG. 3 is a schematic flow chart of a flat joint welding method in another embodiment;
FIG. 4 is a schematic view showing the structure of a flat joint welding apparatus according to one embodiment;
FIG. 5 is a block diagram of a flat joint welding system in one embodiment;
FIG. 6 is a schematic diagram of a flat joint welding system in one embodiment.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic flow chart of a flat joint welding method in an embodiment, and as shown in fig. 1, in an embodiment, the flat joint welding method is applied to a flat joint welding system, and the flat joint welding system may include a welding device and a clamping platform, wherein the welding device is used for welding a flat joint and a connecting pipe, the welding device may be specifically a six-axis welding robot or the like, and the clamping platform is used for fixing the flat joint and the connecting pipe. The flat joint welding method in the present embodiment may include:
step S120: and acquiring a welding database and the type parameters of the flat joint.
Specifically, first, a type parameter of the flat joint and a welding database of the flat joint may be obtained, where the welding database may be obtained by collecting, in advance, related data of various types of flat joints and adapter pipes during welding, and the related data may specifically include a welding angle, a welding position, and various parameters required by other welding, and the type parameter of the flat joint may specifically include specifications and models of the flat joint, for example, commonly used flat joints may generally include specifications of 1/2 inches, 3/4 inches, 1 inch, 1.5 inches, 2 inches, 2.5 inches, and 3 inches.
Step S140: and inquiring the welding position, the welding angle and the welding parameters of the flat joint in a welding database according to the type parameters.
Specifically, after obtaining the type parameter of the flat joint to be welded, it may be queried in a welding database whether welding-related data of the flat joint of the type is stored, where the welding data may specifically include a welding position, a welding angle, and a welding parameter, where the welding position and the welding angle are used to indicate a spatial orientation of a welding place of the flat joint and the adapter relative to the clamping platform and the welding device, and the welding parameter may include relevant welding standard data of the welding device, and in a preferred embodiment, the welding parameter may specifically include at least one of a welding current, a welding voltage, a welding frequency, an arc starting time, and an arc ending time. It is understood that other welding-related data besides welding position, welding angle and welding parameters may also be stored in the welding database, and the type of the specific parameters may be determined according to actual welding requirements.
Further, if the data corresponding to the type parameters of the flat joint to be welded are inquired in the welding database, the welding position, the welding angle and the welding parameters in the welding group data are called for controlling the subsequent automatic welding. If the welding database does not inquire the data corresponding to the type parameters of the flat joint to be welded, a corresponding prompt can be sent, the welding position, the welding angle and the welding parameters can be manually set in the current welding, and the welding position, the welding angle and the welding parameters and the type parameters of the flat joint to be welded are stored in the welding database as a group of data, so that the data can be conveniently called when the flat joint of the same type is welded in the future, and the updating of the welding database is completed.
Step S160: and controlling the moving track of the welding device and the clamping platform according to the welding position and the welding angle.
Specifically, after welding related data of a to-be-welded flat joint is acquired in a welding database, current positions of a welding device and a clamping platform can be determined firstly, a moving track of the welding device and the clamping platform can be calculated according to a welding position and a welding angle in the welding related data, the moving track can specifically comprise lifting, translation, rotation and the like, the clamping platform drives the flat joint and a connecting pipe to reach the welding position after moving, meanwhile, the welding device also reaches the welding position and keeps the welding angle with the flat joint, and after the welding position is reached, the welding track can be calculated according to specifications of the flat joint so that the welding device can weld the flat joint and the connecting pipe.
Step S180: and controlling a welding device to weld the flat joint and the connecting pipe according to the welding parameters.
Specifically, after the welding device reaches the welding position, a welding machine on the welding device can automatically match welding current, welding voltage, welding frequency, arc starting time, arc stopping time and the like in welding parameters and weld the flat joint and the connecting pipe according to a set welding track, and after the welding is completed, the welding device and the clamping platform can return to the original position to prepare for welding a subsequent flat joint.
According to the flat joint welding method, data such as welding positions, welding angles and welding parameters can be inquired in a welding database acquired in advance according to the types of the flat joints, the welding device and the clamping platform are controlled to move according to the data, and the flat joints and the connecting pipes are automatically welded, so that the welding efficiency and the welding accuracy are effectively improved.
Fig. 2 is a schematic flow chart illustrating the steps of controlling the moving tracks of the welding device and the clamping platform according to the welding position and the welding angle in the embodiment, as shown in fig. 2, based on the embodiment, step S160 of the flat joint welding method in the embodiment may specifically include:
step S162: a spatial coordinate system is established based on the welding device.
Step S164: and acquiring the initial positions of the welding device and the clamping platform in a space coordinate system.
Step S166: and determining the moving tracks of the welding device and the clamping platform according to the initial position, the welding position and the welding angle.
Specifically, after obtaining the welding position and the welding angle of the flat joint to be welded, a spatial coordinate system is established by using the welding device as an origin, the welding device and the clamping platform are placed under the same coordinate system, and the coordinate of the current position of the clamping platform and the coordinate of the welding position are obtained, so that the moving direction and the moving distance required by the welding device and the clamping platform to move from the current position to the welding position can be calculated. And then, acquiring the current orientation direction of the welding device, and calculating the angle of the welding device and the clamping platform which need to rotate when the angle between the welding device and the flat joint is the welding angle. And the welding device and the clamping platform are controlled to move correspondingly according to the movement track.
It is to be understood that the above method for obtaining the relative positions of the welding device, the clamping platform and the flat joint is not limited to the manner of establishing the spatial coordinate system based on the welding device, and in other embodiments, the spatial coordinate system may be established based on the clamping platform, or other marker objects in the space where the welding system is located may be selected to create the spatial coordinate system.
Further, in an embodiment, on the basis of the above embodiment, after the step S180, the flat joint welding method of the present embodiment may further include: and controlling the welding device and the clamping platform to move back to the initial position. After the welding of the flat joint and the connecting pipe is completed, the welding device and the clamping platform are controlled to return, so that the welding device and the clamping platform are still located at the same initial position when the subsequent flat joint is welded, the calculation amount of coordinate conversion is reduced, and the welding efficiency is further improved.
Fig. 3 is a schematic flow chart of a flat joint welding method in another embodiment, and as shown in fig. 3, in an embodiment, before step S180, the flat joint welding method of the present embodiment may further include:
step S220: and establishing a welding database.
Step S240: and acquiring the welding position, the welding angle and the welding parameters when the flat joint and the connecting pipe of each type are welded.
Step S260: the welding position, welding angle and welding parameters of each type of flat joint are stored as a set of data in a welding database.
Specifically, the welding database is established by respectively actually welding various types of flat joints and connecting pipes, acquiring welding parameters such as welding positions, welding angles, welding current, welding voltage, welding frequency, arc striking time, arc stopping time and the like during welding, and classifying and storing the acquired data of each type of flat joint according to the type parameters, so that the welding database is established and called during subsequent automatic welding of the flat joints.
It is to be understood that the creation of the welding database is not limited to the above-mentioned manner of actually welding various types of flat joints and obtaining relevant parameters, and in other embodiments, the creation of the welding database may also be implemented by obtaining data such as welding positions, welding angles, and welding parameters of various types of flat joints by a method such as computer simulation of a welding process.
Fig. 4 is a schematic structural diagram of a flat joint welding apparatus according to an embodiment, and as shown in fig. 4, in an embodiment, a flat joint welding apparatus 300 is applied to a flat joint welding system, the flat joint welding system includes a welding apparatus and a clamping platform for fixing a flat joint and a nozzle, and the flat joint welding apparatus 300 includes: an obtaining module 320, configured to obtain a welding database and type parameters of a plain joint; the query module 340 is configured to query the welding position, the welding angle, and the welding parameters of the plain joint in the welding database according to the type parameters; the moving module 360 is used for controlling the moving track of the welding device and the clamping platform according to the welding position and the welding angle; and the welding module 380 is used for controlling the welding device to weld the flat joint and the connecting pipe according to the welding parameters.
Specifically, the obtaining module 320 obtains a welding database and type parameters of the flat joint, where the type parameters of the flat joint may specifically include specification, model, and the like of the flat joint, the welding database may be obtained by collecting relevant welding data of various types of flat joints in advance, and the obtaining module 320 sends the type parameters of the flat joint to be welded to the query module 340. The query module 340 queries the welding database for corresponding welding-related data query according to the received type parameter, and invokes the welding position, the welding angle, the welding parameter, and the like in the data to be respectively sent to the moving module 360 and the welding module 380.
The moving module 360 calculates the moving track of the welding device and the clamping platform according to the received welding position and the welding angle, so as to control the clamping platform to drive the flat joint and the connecting pipe to reach the welding position, and simultaneously control the welding device to also reach the welding position and maintain the welding angle with the flat joint. After the welding device and the clamping platform reach the designated positions, the welding module 380 sets the welding machine of the welding device according to the received welding parameters, wherein the welding parameters specifically comprise welding current, welding voltage, welding frequency, arc starting time, arc stopping time and the like, so that the flat joint and the connecting pipe are welded by the welding machine through the set welding track.
According to the flat joint welding device 300, data such as welding positions, welding angles and welding parameters can be inquired in a welding database acquired in advance according to the types of the flat joints, the welding device and the clamping platform are controlled to move according to the data, the flat joints and the connecting pipes are automatically welded, and therefore welding efficiency and accuracy are effectively improved.
It can be understood that the flat joint welding device provided by the embodiment of the invention can execute the flat joint welding method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. The units and modules included in the flat joint welding device in the above embodiment are only divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
FIG. 5 is a block diagram of a flat joint welding system in one embodiment. As shown in fig. 5, in one embodiment, a flat joint welding system 400 includes a welding device 420, a clamping platform 440, a memory (not shown), a processor 460, and a computer program stored on the memory and executable on the processor; the welding device 420 is used for welding the flat joint and the connecting pipe, and the clamping platform 440 is used for fixing the flat joint and the connecting pipe.
FIG. 6 is a schematic diagram of a flat joint welding system in one embodiment. As shown in fig. 6, the flat joint welding system 500 includes a welding device, a clamping platform 540, and a processor 560, which may be respectively the same as the corresponding structures in the above-described embodiment, in the flat joint welding system 200 in the present embodiment, the welding device is a six-axis welding robot, and the clamping platform 540 is disposed on an additional axis of the six-axis welding robot.
Specifically, welding set's kind and specification can be confirmed according to the actual welding demand, generally can be automatic weld welding robot, and automatic weld robot is the industrial robot of executable welding operation, can effectively promote welding quality and welding efficiency. In the present embodiment, in order to ensure flexibility and accuracy in welding, the welding device is a six-axis welding robot, and it is understood that the welding device is not limited to the six-axis welding robot, and in other embodiments, other types of automatic welding equipment may be used.
The clamping platform 540 may be a clamping device such as a vice, and the adapter may be fixed to the clamping platform 540. Clamping platform 540 sets up on six welding robot's additional axle, and the additional axle is six welding robot's outside axle promptly, for outside welding robot body number of axles, hangs other servo motion system under welding robot, carries out motion control through welding robot's servo control system. Through setting up clamping platform 540 on the additional axle, can place six welding robot and clamping platform 540 in same space coordinate system, through treater 560 synchronous control six welding robot and clamping platform 540 carry out clamping platform 540 and go up and down, rotate and operation such as position removal to realize the motion control in the flat joint welding process more accurately conveniently.
Further, in a preferred embodiment, the six-axis welding robot includes a robot arm 522 and a welder 524, wherein the robot arm 522 is used for driving the welder 524 to move, and the welder 524 is used for welding the flat joint and the adapter. The six-axis welding robot in this embodiment is composed of the mechanical arm 522 and the welding machine 524, and the mechanical arm 522 is provided with six axes, each axis is driven by a motor, and the motion mode and the direction of each axis are different, so that the motion of the welding robot in each direction in the space is realized. The tail end of the mechanical arm 224 is provided with an interface, which may be a connection flange, and the like, and may be used for connecting different tools or devices, the welder 524 is connected to the interface, and the type and specification of the welder 524 may be determined according to actual welding requirements, and may be a welding tongs or a welding gun, and the like.
According to the flat joint welding system, data such as welding positions, welding angles and welding parameters can be inquired in a welding database acquired in advance according to the types of the flat joints, the welding device and the clamping platform are controlled to move according to the data, the flat joints and the connecting pipes are automatically welded, and therefore welding efficiency and accuracy are effectively improved.
It is to be understood that the processor executing the program stored in the memory of the flat joint welding system provided by the embodiments of the present invention is not limited to the method operations described above, and may also execute the related operations in the flat joint welding method provided by any embodiments of the present invention.
Further, the number of processors in the flat joint welding system may be one or more, and the processor and the memory may be connected by a bus or other means. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory may further include memory located remotely from the processor, which may be connected to the device/terminal/server via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
In one embodiment, the present invention also provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor, causes the processor to perform the steps of: acquiring a welding database and type parameters of a plain joint; inquiring the welding position, the welding angle and the welding parameters of the flat joint in a welding database according to the type parameters; controlling the moving track of the welding device and the clamping platform according to the welding position and the welding angle; and controlling a welding device to weld the flat joint and the connecting pipe according to the welding parameters.
It is to be understood that the computer-readable storage medium containing the computer program according to the embodiments of the present invention is not limited to the method operations described above, and may also be used to perform operations related to the flat joint welding method according to any of the embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods described in the embodiments of the present invention.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above embodiments only represent the preferred embodiments of the present invention and the applied technical principles, and the description thereof is specific and detailed, but not construed as limiting the scope of the invention. Numerous variations, changes and substitutions will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in more detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A flat joint welding method is applied to a flat joint welding system, and is characterized in that the flat joint welding system comprises a welding device and a clamping platform for fixing a flat joint and a connecting pipe, and the method comprises the following steps:
acquiring a welding database and type parameters of a plain joint;
inquiring the welding position, the welding angle and the welding parameters of the plain joint in the welding database according to the type parameters;
controlling the moving track of the welding device and the clamping platform according to the welding position and the welding angle;
and controlling the welding device to weld the flat joint and the connecting pipe according to the welding parameters.
2. The method of claim 1, wherein the step of controlling the movement trajectory of the welding device and the clamping platform according to the welding position and the welding angle comprises:
establishing a spatial coordinate system based on the welding device;
acquiring initial positions of the welding device and the clamping platform in the space coordinate system;
and determining the moving tracks of the welding device and the clamping platform according to the initial position, the welding position and the welding angle.
3. The method of claim 2, wherein after the step of controlling the welding device to weld the flat joint and the nozzle according to the welding parameter, the method further comprises:
controlling the welding device and the clamping platform to move back to the initial position.
4. The method of claim 1, wherein prior to the step of obtaining a weld database and type parameters of a flat joint, the method further comprises:
establishing a welding database;
acquiring welding positions, welding angles and welding parameters when various types of flat joints and connecting pipes are welded;
the welding position, welding angle and welding parameters for each type of flat joint are stored as a set of data in the welding database.
5. The method of any one of claims 1 to 4, wherein the welding parameter comprises at least one of a welding current, a welding voltage, a welding frequency, an arc start time, and an arc stop time.
6. The utility model provides a plain end welding set, is applied to in the plain end welding system, its characterized in that, the plain end welding system includes welding set and is used for the fixed plain end and the tight platform of clamp of takeover, plain end welding set includes:
the acquisition module is used for acquiring a welding database and type parameters of the flat joint;
the query module is used for querying the welding position, the welding angle and the welding parameters of the flat joint in the welding database according to the type parameters;
the moving module is used for controlling the moving track of the welding device and the clamping platform according to the welding position and the welding angle;
and the welding module is used for controlling the welding device to weld the flat joint and the connecting pipe according to the welding parameters.
7. A flat joint welding system comprising a welding device, a clamping platform, a memory, a processor, and a computer program stored on the memory and executable on the processor; the welding device is used for welding the flat joint and the connecting pipe, the clamping platform is used for fixing the flat joint and the connecting pipe, the processor is respectively in communication connection with the welding device and the clamping platform, and the processor executes the program to realize the flat joint welding method according to any one of claims 1 to 5.
8. The flat joint welding system of claim 7, wherein the welding device is a six-axis welding robot, and the clamping platform is disposed on an additional axis of the six-axis welding robot.
9. The flat joint welding system according to claim 8, wherein the six-axis welding robot comprises a robot arm for driving the welder to move, and a welder for welding the flat joint with the adapter.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the flat joint welding method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911410631.XA CN111037039B (en) | 2019-12-31 | 2019-12-31 | Flat joint welding method, device, system and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911410631.XA CN111037039B (en) | 2019-12-31 | 2019-12-31 | Flat joint welding method, device, system and computer readable storage medium |
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| CN114841959A (en) * | 2022-05-05 | 2022-08-02 | 广州东焊智能装备有限公司 | Automatic welding method and system based on computer vision |
| CN114850635A (en) * | 2022-05-20 | 2022-08-05 | 中联重科股份有限公司 | Welding method and system for workpiece, processor and storage medium |
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