Self-walking welding robot, control method and system thereof, and storage medium

Abstract

The application relates to the technical field of welding equipment, and discloses a self-walking welding robot, a control method and system thereof, and a storage medium, wherein the control method of the self-walking welding robot comprises the following steps: a data acquisition board acquires a welding data set in a welding process, the welding data set comprises at least two types of welding data, and the welding data set is transmitted to a touch control device through a preset communication protocol; the touch control device displays different types of welding data in corresponding display areas, receives operation instructions input by a user through the display areas, and sends the operation instructions to a PLC controller; and the PLC controller generates corresponding control signals according to the operation instructions, and controls the self-walking welding robot to perform corresponding welding actions and / or walking actions. The centralized control and man-machine interaction of various function modules of the welding robot are realized, so that the system response speed, operation intuitiveness and controllability of the welding process are improved.

Description

Technical Field

[0001] This application relates to the field of welding equipment technology, and in particular to a self-propelled welding robot and its control method, system, and storage medium. Background Technology

[0002] With the rapid development of industrial automation technology, welding robots, as core equipment in modern manufacturing, are becoming increasingly important. Traditional welding robot systems mainly consist of multiple independent functional modules such as robotic arms, welding power supplies, welding machines, and sensors. These modules are typically interconnected using hardwiring or fieldbus. In this traditional system architecture, operators must use physical buttons, rotary switches, emergency stop buttons, and status indicator lights to control the system and monitor its status. System operating parameters and status information are displayed separately on individual display units or dashboards of each module. This information presentation method not only suffers from dispersion but also lacks intuitiveness, making it difficult for operators to grasp the overall operating status of the system in a timely and comprehensive manner. This negatively impacts production efficiency and the timeliness of equipment maintenance. Summary of the Invention

[0003] In view of this, the present application provides a self-propelled welding robot and its control method, system and storage medium, which can effectively solve the problem that the welding robot system in the prior art operates and monitors through dispersed industrial control components and independent display units, resulting in scattered and unintuitive information presentation, which affects the operator's timely grasp of the overall operating status.

[0004] In a first aspect, embodiments of this application provide a control method for a self-propelled welding robot, the method comprising:

[0005] The data acquisition board acquires welding datasets during the welding process, which include at least two different types of welding data. The welding datasets are then transmitted to the touch control device via a preset communication protocol.

[0006] The touch control device displays different types of welding data in corresponding display areas, and receives corresponding operation commands input by the user through each display area, and sends the operation commands to the PLC controller.

[0007] The PLC controller generates corresponding control signals based on the operation instructions, and controls the self-walking welding robot to perform corresponding welding actions and / or walking actions.

[0008] In some embodiments, the self-propelled welding robot includes four hydraulic outriggers. The PLC controller generates corresponding control signals according to the operation instructions, and controls the self-propelled welding robot to perform corresponding welding and / or walking actions according to the control signals, including:

[0009] The PLC controller generates hydraulic outrigger control signals according to the hydraulic outrigger control commands and sends them to the hydraulic controller.

[0010] The hydraulic controller, based on the hydraulic outrigger control signal, drives all four hydraulic outriggers to extend, all to retract, or any single hydraulic outrigger to extend or retract.

[0011] In some embodiments, the self-propelled welding robot further includes a welding gas cylinder for holding welding shielding gas and a cylinder rack for holding the welding gas cylinder. The PLC controller generates a hydraulic outrigger control signal according to the hydraulic outrigger control command and sends it to the hydraulic controller, including:

[0012] When the PLC controller receives a hydraulic outrigger retraction command, if it detects that the gas cylinder rack has risen to a preset upper limit, it generates a hydraulic outrigger retraction signal and sends it to the hydraulic controller, so that the hydraulic controller can push all four hydraulic outriggers to retract according to the hydraulic outrigger retraction signal.

[0013] In some embodiments, the self-propelled welding robot includes: a selector switch, an accelerator pedal, a brake pedal, a welding gas cylinder for holding welding shielding gas, and a cylinder rack for holding the welding gas cylinder.

[0014] The control method for the self-propelled welding robot also includes:

[0015] When the PLC controller receives the system power-on signal input by the user, if it detects that the gas cylinder rack has risen to the preset upper limit, it controls the self-walking welding robot to perform a walking action.

[0016] The walking action includes: the PLC controller controlling the direction and speed of the self-walking welding robot according to the forward or backward signal output by the changeover switch and the acceleration signal output by the accelerator pedal;

[0017] When the PLC controller receives the braking signal output by the brake pedal, it controls the self-propelled welding robot to stop walking.

[0018] In some embodiments, the self-propelled welding robot includes: an upper limit switch, a lower limit switch, a welding gas cylinder for holding welding shielding gas, and a cylinder rack for holding the welding gas cylinder; the control method of the self-propelled welding robot further includes:

[0019] The PLC controller generates a lifting control signal based on the gas cylinder rack lifting command and sends it to the electric push rod to drive the gas cylinder rack to rise.

[0020] When the PLC controller detects the upper limit signal output by the upper limit switch, it generates a stop signal and sends it to the electric push rod to stop the gas cylinder rack from rising.

[0021] The PLC controller generates a descent control signal based on the user's command to lower the gas cylinder rack and sends it to the electric push rod to drive the gas cylinder rack to descend.

[0022] When the PLC controller detects the lower limit signal output by the lower limit switch, it generates a stop signal and sends it to the electric push rod to terminate the descent of the gas cylinder rack.

[0023] In some embodiments, the self-propelled welding robot includes a teach pendant and a safety switch and an emergency stop switch disposed on the teach pendant; the control method of the self-propelled welding robot further includes:

[0024] The PLC controller controls the self-propelled welding robot to stop moving according to the first or second state of the safety switch, and controls the self-propelled welding robot to work normally according to the third state of the safety switch.

[0025] The PLC controller controls the self-propelled welding robot to stop urgently and cut off all power sources according to the open state of the emergency stop switch.

[0026] In some embodiments, the self-propelled welding robot includes a main arm and a welding machine mechanically connected to one end of the main arm. The PLC controller generates corresponding control signals according to the operation instructions, and controls the self-propelled welding robot to perform corresponding welding actions and / or walking actions, including:

[0027] The PLC controller generates a main boom control signal based on the main boom control command and sends it to the hydraulic controller;

[0028] The hydraulic controller controls the raising or lowering of the main boom according to the main boom control signal.

[0029] Secondly, embodiments of this application provide a control system for a self-propelled welding robot, comprising:

[0030] A data acquisition board is used to acquire welding datasets during the welding process. The welding datasets include at least two different types of welding data. The welding datasets are transmitted to a touch control device through a preset communication protocol.

[0031] A touch control device is used to display different types of welding data in corresponding display areas, and to receive corresponding operation instructions input by the user through each display area, and send the operation instructions to the PLC controller;

[0032] The PLC controller is used to generate corresponding control signals according to the operation instructions, and control the self-walking welding robot to perform corresponding welding actions and / or walking actions.

[0033] Thirdly, embodiments of this application provide a self-propelled welding robot, which includes a processor and a memory. The memory stores a computer program, and the processor executes the computer program to implement the control method of the self-propelled welding robot described above.

[0034] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the control method for the self-propelled welding robot described above.

[0035] The embodiments of this application have the following beneficial effects:

[0036] The control method for the self-propelled welding robot in this application includes: a data acquisition board acquiring welding data sets during the welding process, the welding data sets including at least two different types of welding data, and transmitting the welding data sets to a touch control device via a preset communication protocol; the touch control device displaying the different types of welding data in corresponding display areas, and receiving corresponding operation commands input by the user through each display area, and sending the operation commands to a PLC controller; the PLC controller generating corresponding control signals according to the operation commands, controlling the self-propelled welding robot to perform corresponding welding actions and / or walking actions. The welding robot of this application is equipped with a touch control device, and the welding data during the welding process can be transmitted to the touch screen of the touch control device via a preset communication protocol for visual display. Users can input commands through the touch screen of the touch control device to control the robot's walking, positioning, welding, and other actions, realizing human-machine interaction and real-time monitoring and control of the welding process. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 A first flowchart of the control method for a self-walking welding robot according to an embodiment of this application is shown;

[0039] Figure 2 This paper illustrates a second flowchart of a control method for a self-propelled welding robot according to an embodiment of this application.

[0040] Figure 3 A schematic diagram of the control system of a self-walking welding robot according to an embodiment of this application is shown. Detailed Implementation

[0041] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0042] The components of the embodiments of this application described and illustrated in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0043] In the following text, the terms "comprising," "having," and their cognates, which may be used in various embodiments of this application, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more combinations thereof. Furthermore, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0044] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be construed as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0045] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0046] Considering that existing welding robot systems operate and monitor using dispersed industrial control components and independent display units, resulting in fragmented and unintuitive information presentation and hindering operators' timely understanding of the overall operating status, this application provides a self-propelled welding robot and its control method, system, and storage medium. The welding robot of this application is equipped with a touch control device. Welding data during the welding process can be transmitted to the touchscreen of the touch control device via a preset communication protocol for visual display. Users can input commands through the touchscreen to control the robot's walking, positioning, welding, and other actions, achieving human-machine interaction and real-time monitoring and control of the welding process.

[0047] It is understood that the welding robot of this application can be any type of welding robot, which can use tracks or tires to achieve walking function and flexibly reach the designated welding position to perform welding work, or it can use a multi-joint robotic arm to connect with a welding machine to achieve flexible welding. Furthermore, the welding robot can also have multi-layer multi-pass, arc tracking, touch positioning and other arc welding functions, which are not limited here.

[0048] The control method of this self-propelled welding robot will be described below with reference to some specific embodiments.

[0049] Figure 1 A flowchart illustrating a control method for a self-propelled welding robot according to an embodiment of this application is shown. It is understood that the control method of this application is jointly executed by the processor, data acquisition board, touch control device, and PLC controller of the self-propelled welding robot. The processor is mainly used to run the main program in the control method, such as the interface interaction of the touch control device, data processing of the data acquisition board, and encapsulation and issuance of control instructions. The PLC controller is used to receive instructions issued by the robot's processor and control the relevant mechanisms of the self-propelled welding robot (such as the welding mechanism, walking mechanism, etc.) to perform specific actions according to the instructions. The touch control device includes a touch screen and a touch controller. Specifically, the data acquisition board, touch controller, and PLC controller are integrated inside the self-propelled welding robot, while the touch screen is set on the robot body for human-machine interaction. Exemplarily, the control method includes S101-S103:

[0050] S101, the data acquisition board acquires the welding dataset during the welding process and transmits the welding dataset to the touch control device through a preset communication protocol.

[0051] The welding dataset includes at least two different types of welding data. Specifically, the welding data can be collected according to the actual application. Sensors can be set on the data acquisition board to collect various welding data, or other acquisition devices can be set to collect welding data. The welding data includes: welding current, welding voltage, welding time, robot working time, robot motion data, robot GPS positioning, etc. Furthermore, the welding data also includes multi-joint robotic arm angle data, welding length, welding length within a preset time, etc. The preset time can be set according to the actual application, such as within one year or within one month.

[0052] Furthermore, the data acquisition frequency can be dynamically adjusted according to the complexity of the welding task and real-time requirements. For example, the acquisition frequency can be increased during critical welding nodes such as arc initiation, arc termination, or high-precision welding, while the frequency can be reduced during the stable welding stage to reduce data redundancy.

[0053] Understandably, the communication protocol can be configured according to the actual application. Welding data can be transmitted to the touch control device via wired communication or wireless communication. As an example, by communicating with the touch control device via RS485, the collected data is converted and displayed on the touch interface of the touch control device. Human-computer interaction is achieved through the touch screen of the touch control device, improving user efficiency. Furthermore, technologies such as AES encryption can be used to ensure data security during transmission and prevent the leakage of sensitive data.

[0054] S102, the touch control device displays different types of welding data in the corresponding display areas, and receives the corresponding operation instructions input by the user through each display area, and sends the operation instructions to the PLC controller.

[0055] Understandably, welding data can be displayed on the touch interface of the touch control device, or on other devices such as a host computer. Furthermore, the data display method can be set according to the actual application; the touch interface can display only welding data, or it can display data using line charts or bar charts. This improves the readability and analyzability of the welding data, providing data support for process improvement and quality control. Furthermore, based on the collected motion data and GPS positioning information of the welding robot, a 3D visualization model of the welding path is generated on the touch interface, helping users intuitively understand the welding trajectory and posture. Additionally, parameters such as welding current and voltage are displayed in the form of heat maps, highlighting high-energy and low-energy areas in the welding process, facilitating users to optimize welding parameters.

[0056] Understandably, an alarm switch is installed on the touch interface. When the user determines that a welding abnormality is detected by the welding data displayed on the touch control device's screen, they can input an alarm command through the alarm switch on the touch interface, causing the PLC controller to generate an alarm signal. Furthermore, the system can automatically analyze the collected data in real time, identify abnormal patterns, and issue early warnings. For example, when the welding current fluctuates beyond the normal range, the system automatically issues an alarm. This achieves closed-loop control of the welding process, improving its stability and consistency.

[0057] The instructions include welding process parameter settings and robot motion control instructions. The operation instructions can be set according to the actual application, such as instructions to control the main arm, instructions to control the movement of the welding robot, and instructions for the welding process.

[0058] S103, the PLC controller generates corresponding control signals according to the operation instructions, and controls the self-walking welding robot to perform corresponding welding actions and / or walking actions.

[0059] The PLC controller generates corresponding control signals based on various instructions to control the self-propelled welding robot to perform welding or walking actions. Furthermore, it can control the self-propelled welding robot to perform both welding and walking actions simultaneously. Utilizing a touch control device and the PLC controller enables remote centralized control, significantly improving the interaction efficiency between the user and the welding robot, lowering the operational threshold, and allowing for real-time adjustment of welding parameters. This achieves dynamic adjustment capabilities in the welding process, enhancing its flexibility. Moreover, the PLC controller, as the core controller, possesses high reliability and anti-interference capabilities, improving the safety and stability of welding operations.

[0060] Exemplarily, the self-propelled welding robot includes a main arm and a welding machine mechanically connected to one end of the main arm. The structure of the main arm and welding machine can be configured according to the actual application. Exemplarily, the main arm is a multi-joint robotic arm. A main arm control module is provided on the touch interface. It can be understood that the main arm control module can be a switch for controlling the raising and lowering of the main arm, or a module for controlling the angles of the various joints of the main arm. Exemplarily, the main arm control module is a switch for controlling the raising and lowering of the main arm.

[0061] The user inputs the main boom control command through the main boom control module. The PLC controller generates the main boom control signal according to the main boom control command and sends it to the hydraulic controller. The hydraulic controller controls the raising or lowering of the main boom according to the main boom control signal.

[0062] For example, a user inputs a boom raising command through the boom control module. The PLC responds by generating a boom raising control signal, which is sent to the hydraulic controller. This signal then controls the corresponding solenoid valve, which in turn starts the hydraulic motor. This causes hydraulic oil from the hydraulic station to flow through the solenoid valve to the corresponding hydraulic cylinder, which in turn pushes the boom upwards. By processing user input commands and quickly generating corresponding control signals through the PLC controller, the response speed and accuracy of boom control are improved, enhancing the safety of equipment operation. Simultaneously, it achieves closed-loop management of the entire boom movement process, from user input to automatic control, optimizing the human-machine interface experience.

[0063] Exemplarily, the self-propelled welding robot also includes four hydraulic outriggers. Once the welding robot reaches the designated working position, the hydraulic controller, via the touch interface of the touch control device, extends the four outriggers to support the ground, thereby lifting the entire vehicle and lifting the tires off the ground. This prevents the vehicle from moving or wobbling during welding due to slight vibrations or robotic arm movements, ensuring the stability of the welding quality. Furthermore, in uneven or complex road conditions, users can fine-tune individual outriggers to achieve a more stable support effect, avoiding welding posture deviations caused by uneven ground or load changes.

[0064] The touch interface is equipped with control switches for the hydraulic outriggers, including: a one-button extension switch for the hydraulic outriggers, a one-button retraction switch for the hydraulic outriggers, and control switches for individual hydraulic outriggers such as the left front outrigger extension switch, left front outrigger retraction switch, left rear outrigger extension switch, left rear outrigger retraction switch, right front outrigger extension switch, right front outrigger retraction switch, right rear outrigger extension switch, and right rear outrigger retraction switch.

[0065] The user inputs hydraulic outrigger control commands through the control switches of the hydraulic outriggers. The PLC controller generates hydraulic outrigger control signals based on the hydraulic outrigger control commands and sends them to the hydraulic controller. The hydraulic controller then pushes all four hydraulic outriggers to extend or retract, or any single hydraulic outrigger to extend or retract, based on the hydraulic outrigger control signals.

[0066] For example, a user can activate a one-button extension switch on the hydraulic outriggers to issue a one-button extension command. The PLC controller responds by generating a one-button extension control signal, which is sent to the hydraulic controller. This signal controls the corresponding solenoid valves, which in turn activate the hydraulic motors. This allows hydraulic oil from the hydraulic power unit to flow through the solenoid valves to the corresponding hydraulic cylinders, which then extend the four hydraulic outriggers. By setting the operating modes of the hydraulic outriggers, the robot's operational flexibility and adaptability are improved, while the stability of the robot platform during welding operations is also enhanced, thereby improving the consistency of welding quality.

[0067] Furthermore, the self-propelled welding robot also includes welding gas cylinders for holding the welding shielding gas and a cylinder rack for holding the welding gas cylinders. During the welding process, the weld area requires protection with an inert or mixed gas to prevent oxidation reactions between oxygen, nitrogen, and other gases in the air and the high-temperature metal, which could lead to defects such as porosity, cracks, and slag inclusions in the weld. Stable gas in the welding cylinders can improve the control of welding spatter, improve weld formation quality, increase welding efficiency, and ensure the stability of the welding process. The cylinder rack is used to fix and support the cylinders, and is equipped with an electric push rod to raise or lower the cylinder rack.

[0068] A button switch for raising and lowering the gas cylinder rack can be installed on the robot, or a switch for raising and lowering the gas cylinder rack can be installed on the touch interface of the touch control device. The user inputs the raising command of the gas cylinder rack through the raising switch. The PLC controller responds to the user's raising command, generates a raising control signal and sends it to the electric push rod to drive the gas cylinder rack to rise. The user inputs the lowering command of the gas cylinder rack through the raising switch. The PLC controller responds to the user's lowering command, generates a lowering control signal and sends it to the electric push rod to drive the gas cylinder rack to fall.

[0069] Furthermore, the gas cylinder rack is equipped with an upper limit switch and a lower limit switch. When the gas cylinder rack is driven to rise, the PLC controller detects the upper limit signal output by the upper limit switch and generates a stop signal to send to the electric push rod to stop the gas cylinder rack from rising. When the gas cylinder rack is driven to fall, the PLC controller detects the lower limit signal output by the lower limit switch and generates a stop signal to send to the electric push rod to stop the gas cylinder rack from falling.

[0070] Specifically, the positions of the upper and lower limit switches can be set according to the actual application. When the gas cylinder rack rises to the set height, the upper limit switch is triggered, outputting an upper limit signal; when the gas cylinder rack descends to the lowest point, the lower limit switch is triggered, outputting a lower limit signal. Upon detecting the upper or lower limit signal, the PLC controller immediately stops the electric push rod motor, terminating the rise or fall of the gas cylinder rack. The upper and lower limit switches prevent damage to the mechanical structure from overtravel, extending the equipment's lifespan. They also prevent safety accidents caused by equipment malfunction, ensuring the safety of both the user and the equipment. Users simply press the lifting switch to complete the positioning operation of the gas cylinder rack; the system automatically terminates the action based on the limit switch feedback, requiring no manual intervention or manual switch release, thus improving the level of operational intelligence.

[0071] Furthermore, an interlock function is set between the hydraulic controller that controls the retraction of the hydraulic outriggers and the position of the gas cylinder rack. Specifically, when the PLC controller receives the hydraulic outrigger retraction command, if it detects that the gas cylinder rack has risen to the preset upper limit, it generates a hydraulic outrigger retraction signal and sends it to the hydraulic controller, so that the hydraulic controller pushes all four hydraulic outriggers to retract according to the hydraulic outrigger retraction signal.

[0072] The user outputs a hydraulic outrigger retraction command via a one-button retraction switch or a single outrigger retraction switch. Upon receiving the command, the PLC controller checks if the cylinder rack has risen to the preset upper limit. If it has, the corresponding solenoid valve is reverse-energized, causing the hydraulic cylinder to retract, and all or a single outrigger retracts. If the PLC controller detects that the cylinder rack has not risen to the preset upper limit, no action is taken. By implementing an interlock function between the hydraulic controller controlling the outrigger retraction and the cylinder rack, instability of the vehicle body can be prevented due to the cylinder rack hitting the ground when the hydraulic outriggers are retracted.

[0073] Furthermore, an interlock function is also provided between the vehicle's walking function and the position of the gas cylinder rack. The self-propelled welding robot also includes a selector switch, an accelerator pedal, and a brake pedal. The selector switch is used to control the welding robot's forward or backward movement, the accelerator pedal is used to control the welding robot's speed, and the brake pedal is used to control the robot's braking and power-off. Furthermore, a steering wheel can be provided to control the robot's driving direction, and a folding pedal can be provided in the driver's seat to expand the driver's seat space. For example, when the PLC controller receives a system power-on signal from the user, it controls the electric push rod to unfold the folding pedal and uses the lower limit switch of the folding pedal to make the folding pedal horizontal with the ground; when the PLC controller receives a system power-off signal from the user, it controls the electric push rod to retract the folding pedal and uses the upper limit switch of the folding pedal to make the folding pedal vertical with the ground.

[0074] Understandably, users can input the system power-on signal via a key or the touch interface of a touch control device. When the PLC controller receives the user-input system power-on signal, if it detects that the gas cylinder rack has risen to the preset upper limit, it controls the self-propelled welding robot to perform a walking action. Specifically, the PLC controller controls the self-propelled welding robot's direction and speed based on the forward or backward signals output by the selector switch and the acceleration signal output by the accelerator pedal. If it detects that the gas cylinder rack has not risen to the preset upper limit, there is no action. When the PLC controller receives the braking signal output by the brake pedal, it controls the self-propelled welding robot to stop walking. The vehicle is prohibited from moving when the gas cylinder rack has not risen to a safe height to prevent the gas cylinder components from colliding with the ground or other obstacles due to being too low, to prevent the movement of equipment under accidental operation, and to improve overall operational safety.

[0075] In one embodiment, based on the above embodiments, the self-propelled welding robot includes a teach pendant and a safety switch and an emergency stop switch installed on the teach pendant. The teach pendant is used to control the movement of each axis of the robot, adjust the robot's posture and position, and provide a graphical programming interface. Users can directly create, edit, save, and call welding programs through the teach pendant.

[0076] Exemplary, such as Figure 2 As shown, the control method for a self-propelled welding robot also includes:

[0077] S201, the PLC controller controls the self-propelled welding robot to stop moving according to the first or second state of the safety switch, and controls the self-propelled welding robot to work normally according to the third state of the safety switch.

[0078] The state of the safety switch can be set according to the actual application. For example, the first state is to fully release the safety switch, the second state is to fully press the safety switch, and the third state is to press the safety switch to the middle position. When the safety switch is in the middle position, the PLC controller controls the self-walking welding robot to work normally; when the safety switch is fully released or fully pressed, the robot stops moving.

[0079] S202, the PLC controller controls the self-propelled welding robot to stop urgently and cut off all power sources according to the open state of the emergency stop switch.

[0080] For example, the emergency stop switch is an emergency stop button.

[0081] like Figure 3 As shown, based on the method of the above embodiments, this embodiment provides a control system for a self-propelled welding robot. Exemplarily, the control system 100 of the self-propelled welding robot includes:

[0082] The data acquisition board 110 is used to acquire welding datasets during the welding process. The welding datasets include at least two different types of welding data. The welding datasets are transmitted to the touch control device through a preset communication protocol.

[0083] The touch control device 120 is used to display different types of welding data on the corresponding display areas, and to receive the corresponding operation instructions input by the user through each display area, and send the operation instructions to the PLC controller.

[0084] The PLC controller 130 is used to generate corresponding control signals according to the operation instructions, and control the self-walking welding robot to perform corresponding welding actions and / or walking actions.

[0085] It is understood that the system in this embodiment corresponds to the control method in the above embodiments, and the options in the above embodiments are also applicable to this embodiment, so they will not be described again here.

[0086] This application also provides a self-propelled welding robot, which, by way of example, includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to enable the device to perform the functions of the control method for the self-propelled welding robot described above or the functions of the various modules in the control system of the self-propelled welding robot described above.

[0087] The processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including at least one of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Network Processor (NP), Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0088] Memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), and Electrically Erasable Programmable Read-Only Memory (EEPROM). Memory is used to store computer programs, and the processor can execute these programs upon receiving execution instructions.

[0089] This application also provides a computer-readable storage medium for storing computer programs used in the aforementioned terminal devices. For example, the computer-readable storage medium may include, but is not limited to, various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0090] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, in alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0091] In addition, the functional modules or units in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0092] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0093] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A control method for a self-propelled welding robot, characterized in that, The method includes: The data acquisition board acquires welding datasets during the welding process, which include at least two different types of welding data. The welding datasets are then transmitted to the touch control device via a preset communication protocol. The touch control device displays different types of welding data in corresponding display areas, and receives corresponding operation commands input by the user through each display area, and sends the operation commands to the PLC controller. The PLC controller generates corresponding control signals according to the operation instructions, and controls the self-walking welding robot to perform corresponding welding actions and / or walking actions. The self-propelled welding robot includes four hydraulic outriggers. The PLC controller generates corresponding control signals according to the operation instructions, controlling the self-propelled welding robot to perform corresponding welding and / or walking actions, including: The PLC controller generates hydraulic outrigger control signals according to the hydraulic outrigger control commands and sends them to the hydraulic controller. The hydraulic controller pushes all four hydraulic outriggers to extend or retract, or any single hydraulic outrigger to extend or retract, according to the hydraulic outrigger control signal. The self-propelled welding robot includes: an upper limit switch, a lower limit switch, a welding gas cylinder for holding welding shielding gas, and a cylinder rack for holding the welding gas cylinder; the control method of the self-propelled welding robot further includes: The PLC controller generates a lifting control signal based on the gas cylinder rack lifting command and sends it to the electric push rod to drive the gas cylinder rack to rise. When the PLC controller detects the upper limit signal output by the upper limit switch, it generates a stop signal and sends it to the electric push rod to stop the gas cylinder rack from rising. The PLC controller generates a descent control signal based on the user's command to lower the gas cylinder rack and sends it to the electric push rod to drive the gas cylinder rack to descend. When the PLC controller detects the lower limit signal output by the lower limit switch, it generates a stop signal and sends it to the electric push rod to terminate the descent of the gas cylinder rack.

2. The control method for the self-propelled welding robot according to claim 1, characterized in that, The self-propelled welding robot also includes welding gas cylinders for holding welding shielding gas and a cylinder rack for holding the welding gas cylinders. The PLC controller generates hydraulic outrigger control signals according to the hydraulic outrigger control commands and sends them to the hydraulic controller, including: When the PLC controller receives a hydraulic outrigger retraction command, if it detects that the gas cylinder rack has risen to a preset upper limit, it generates a hydraulic outrigger retraction signal and sends it to the hydraulic controller, so that the hydraulic controller can push all four hydraulic outriggers to retract according to the hydraulic outrigger retraction signal.

3. The control method for the self-propelled welding robot according to claim 1, characterized in that, The self-propelled welding robot includes: a selector switch, an accelerator pedal, a brake pedal, a welding gas cylinder for holding welding shielding gas, and a cylinder rack for holding the welding gas cylinder. The control method for the self-propelled welding robot also includes: When the PLC controller receives the system power-on signal input by the user, if it detects that the gas cylinder rack has risen to the preset upper limit, it controls the self-walking welding robot to perform a walking action. The walking action includes: the PLC controller controlling the direction and speed of the self-walking welding robot according to the forward or backward signal output by the changeover switch and the acceleration signal output by the accelerator pedal; When the PLC controller receives the braking signal output by the brake pedal, it controls the self-propelled welding robot to stop walking.

4. The control method for the self-propelled welding robot according to claim 1, characterized in that, The self-propelled welding robot includes a teach pendant and a safety switch and an emergency stop switch mounted on the teach pendant; the control method for the self-propelled welding robot further includes: The PLC controller controls the self-propelled welding robot to stop moving according to the first or second state of the safety switch, and controls the self-propelled welding robot to work normally according to the third state of the safety switch. The PLC controller controls the self-propelled welding robot to stop urgently and cut off all power sources according to the open state of the emergency stop switch.

5. The control method for a self-propelled welding robot according to claim 1, characterized in that, The self-propelled welding robot includes a main arm and a welding machine mechanically connected to one end of the main arm. The PLC controller generates corresponding control signals according to the operation instructions, and controls the self-propelled welding robot to perform corresponding welding actions and / or walking actions, including: The PLC controller generates a main boom control signal based on the main boom control command and sends it to the hydraulic controller; The hydraulic controller controls the raising or lowering of the main boom according to the main boom control signal.

6. A control system for a self-propelled welding robot, characterized in that, The control system is used to implement the control method for the self-walking welding robot according to any one of claims 1-5, including: A data acquisition board is used to acquire welding datasets during the welding process. The welding datasets include at least two different types of welding data. The welding datasets are transmitted to a touch control device through a preset communication protocol. A touch control device is used to display different types of welding data in corresponding display areas, and to receive corresponding operation instructions input by the user through each display area, and send the operation instructions to the PLC controller; The PLC controller is used to generate corresponding control signals according to the operation instructions, and control the self-walking welding robot to perform corresponding welding actions and / or walking actions.

7. A self-propelled welding robot, characterized in that, The self-propelled welding robot includes a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement the control method of the self-propelled welding robot according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the control method for the self-propelled welding robot according to any one of claims 1-5.

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