Obstacle avoidance control method and device for a mid-assembly segmented welding robot

Abstract

The present invention relates to the technical field of robot obstacle avoidance welding, and discloses a method and device for controlling obstacle avoidance of a mid-assembly segmented welding robot. The method comprises: obtaining weld parameters and obstacle parameters of a mid-assembly weld; setting a welding path based on the weld parameters and obstacle parameters, and controlling the mid-assembly segmented welding robot to perform synchronous welding according to the welding path; if the robot moves into an obstructed area of ​​the welding path, then when the welding gun of the mid-assembly segmented welding robot synchronously welds to the position of an obstacle in the obstructed area, adjusting the angle between the welding gun of the mid-assembly segmented welding robot and the weld, and re-synchronizing welding after avoiding the obstacle until the robot reaches the end point of the welding path. The present invention can collect welding parameters and obstacle parameters, determine whether there is an obstacle in the welding path based on the parameters, and automatically avoid the obstacle by adjusting the angle between the welding gun and the weld trajectory to improve welding efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of mid-assembly segment welding of a hull, and in particular to an obstacle avoidance control method and device for a mid-assembly segment welding robot. Background Art

[0002] During the shipbuilding process, the hull starts with the plate and gradually undergoes pre-group assembly, group assembly, and intermediate assembly. The intermediate assembly includes multiple group workpieces, and assembly welds are welded in a certain assembly sequence to form intermediate assembly sections.

[0003] At present, in the process of assembly welding, due to the complex structure of the assembly, there are many obstacles across the assembly welds. Different welding methods are used to determine whether there are obstacles at the welding point. Currently, manual subjective judgment is usually used to determine whether there are obstacles, and then targeted assembly weld welding construction is selected. This is inefficient, difficult to ensure welding quality, and labor-intensive. Summary of the Invention

[0004] The present invention proposes an obstacle avoidance control method and device for a mid-assembly segmented welding robot. The method pre-collects welding parameters and obstacle parameters, determines whether there are obstacles in the welding path based on the parameters, and adjusts the angle between the welding gun and the weld trajectory so that the robot arm automatically avoids the obstacles, thereby improving welding efficiency.

[0005] A first aspect of an embodiment of the present invention provides an obstacle avoidance control method for a mid-assembly segmented welding robot, the method comprising:

[0006] Get the weld parameters and obstacle parameters of the assembled weld;

[0007] Setting a welding path based on the weld parameters and the obstacle parameters, and controlling the assembly of segmented welding robots to perform synchronous welding according to the welding path;

[0008] If it moves to the obstructed area of ​​the welding path, when the welding gun of the middle assembly segment welding robot synchronously welds to the position of the obstacle in the obstructed area, the angle between the welding gun of the middle assembly segment welding robot and the weld is adjusted, and the welding is resynchronized after avoiding the obstacle until the end point of the welding path is reached.

[0009] In a possible implementation of the first aspect, adjusting the angle between a welding gun and a weld of the assembled segmented welding robot includes:

[0010] Obtaining a first angle value between the welding gun and the welded seam and an adjustment angle value required to avoid obstacles;

[0011] The first angle value is adjusted to a second angle value according to the adjustment angle value.

[0012] In a possible implementation of the first aspect, before the step of synchronously welding the welding gun of the assembling segmented welding robot to the position of the obstacle in the obstacle area, the method further includes:

[0013] When moving to the starting point of the obstructed area of ​​the welding path, obtaining the coordinates of the robot arm of the middle assembly segment welding robot as fixed coordinates;

[0014] Using the fixed coordinate as a fulcrum, determining the angle between the welding gun on the robotic arm and the welded weld to obtain a third angle value;

[0015] The third angle value is adjusted to the first angle value based on the preset welding angle difference, and the welding gun of the middle assembly segment welding robot is controlled to perform synchronous welding.

[0016] In a possible implementation of the first aspect, resynchronizing welding after avoiding the obstacle until reaching an end point of the welding path includes:

[0017] Acquire the current coordinate point of the manipulator arm of the mid-assembly segmented welding robot, wherein the current coordinate point is a path node on the welding path;

[0018] Determining whether the current coordinate point is the same as the end point coordinate point of the welding path;

[0019] If the current coordinate point is the same as the end point coordinate point of the welding path, then terminating the synchronous welding;

[0020] If the current coordinate point is different from the end coordinate point of the welding path, the angle between the welding gun of the middle assembly segment welding robot and the weld is readjusted from the second angle value to the third angle value, and synchronous welding is started.

[0021] In a possible implementation manner of the first aspect, the path node includes: a path node number and a path node coordinate.

[0022] In a possible implementation of the first aspect, the method further includes:

[0023] If the robot moves into the obstacle-free area of ​​the welding path, the angle between the welding gun of the segmented welding robot in the control assembly and the weld is controlled to be the third angle value, and synchronous welding is performed.

[0024] In a possible implementation of the first aspect, the welding path includes a plurality of unobstructed areas and a plurality of obstructed areas;

[0025] Wherein, the endpoints of adjacent barrier-free areas or barrier-affected areas are connected.

[0026] In a possible implementation manner of the first aspect, the weld parameters include a weld number, a weld start point, a weld end point, weld parameters, and weld connection plate parameters.

[0027] In a possible implementation manner of the first aspect, the obstacle parameters include an obstacle number, an obstacle material, an obstacle size parameter, and an obstacle coordinate parameter.

[0028] A second aspect of an embodiment of the present invention provides an obstacle avoidance control device for a mid-assembly segmented welding robot, the device comprising:

[0029] An acquisition module is used to acquire the weld parameters and obstacle parameters of the assembled weld;

[0030] A setting module, configured to set a welding path based on the weld parameters and the obstacle parameters, and to control the assembly of segmented welding robots to perform synchronous welding according to the welding path;

[0031] The avoidance adjustment module is used to adjust the angle between the welding gun of the mid-assembly segment welding robot and the weld when the welding gun of the mid-assembly segment welding robot synchronously welds to the position of the obstacle in the obstacle area if the robot moves into the obstacle area of ​​the welding path, and re-synchronize the welding after avoiding the obstacle until the end point of the welding path is reached.

[0032] Compared with the prior art, the obstacle avoidance control method and device of a mid-assembly segmented welding robot provided by an embodiment of the present invention have the following beneficial effects: the present invention obtains the preset obstacle parameters on the welding path during the mid-assembly assembly welding process, and determines whether the current welding position is an obstacle welding area according to the obstacle parameters. When the current welding position is an obstacle welding area, welding is performed using a preset obstacle welding method. When the current welding position is not an obstacle welding area, welding is performed using a preset obstacle-free welding method. This realizes the automatic adjustment of the welding method by the robotic arm to adapt to the presence or absence of obstacles. Since no manual execution is required, the efficiency is high, the welding quality can be guaranteed, and the labor intensity is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a flowchart of the steps of an obstacle avoidance control method for a mid-assembly segmented welding robot provided by an embodiment of the present invention;

[0034] Figure 2 3D schematic diagram of an obstacle avoidance control method for a mid-assembly segmented welding robot provided by an embodiment of the present invention;

[0035] Figure 31 is a planar perspective diagram of an obstacle avoidance control method for a mid-assembly segmented welding robot provided by an embodiment of the present invention;

[0036] Figure 4 1 is a flow chart of an obstacle avoidance control method for a mid-assembly segmented welding robot provided by an embodiment of the present invention;

[0037] Figure 5 The present invention provides a schematic structural diagram of an obstacle avoidance control device for a mid-assembly segmented welding robot. DETAILED DESCRIPTION

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0039] Currently, manual subjective judgment is usually used to determine whether there are obstacles, and then targeted assembly welds are selected for welding construction. This method has low efficiency, difficulty in ensuring welding quality, and high labor intensity.

[0040] In order to solve the above problems, the obstacle avoidance control method of a mid-assembly segmented welding robot provided in an embodiment of the present application will be introduced and explained in detail through the following specific embodiments.

[0041] Reference Figure 1 , shows a step flow chart of an obstacle avoidance control method for a mid-assembly segmented welding robot provided by an embodiment of the present invention.

[0042] In one embodiment, the method is applicable to a control system of a mid-assembly segmented welding robot, wherein the mid-assembly segmented welding robot is provided with a robotic arm, and a welding gun is provided on the robotic arm, and welding can be performed by the welding gun.

[0043] As an example, the obstacle avoidance control method of the mid-assembly segmented welding robot may include:

[0044] S11. Acquire weld parameters and obstacle parameters of the assembled weld.

[0045] In one embodiment, the weld parameters include weld number, weld start point, weld end point, weld parameters, and weld connection plate parameters.

[0046] The obstacle parameters include obstacle number, obstacle material, obstacle size parameters, and obstacle coordinate parameters.

[0047] S12. Setting a welding path based on the weld parameters and the obstacle parameters, and assembling segmented welding robots to perform synchronous welding according to the welding path control.

[0048] The motion trajectory of the robot arm can be determined based on the starting and ending positions of the weld parameters and the power parameters required for welding to form a welding trajectory. Combined with the content contained in the obstacle parameters, the obstacles encountered on the welding trajectory can be determined, and it can be determined where there are obstacles and where there are no obstacles. The obstacle-free areas and obstacle areas can be determined. By combining the above two, the welding path of the robot arm can be set.

[0049] The welding path includes a plurality of unobstructed areas and a plurality of obstructed areas;

[0050] Wherein, the endpoints of adjacent barrier-free areas or barrier-affected areas are connected.

[0051] Specifically, the endpoints of multiple barrier-free areas and multiple barrier-free areas are connected to form a welding path. For example, starting from the starting point, two barrier-free areas are connected, followed by two barrier-free areas, then three barrier-free areas, and finally one barrier-free area to form a welding path.

[0052] After the welding path is determined, the movement of the robot arm can be controlled according to the welding path, and the welding on the robot arm can be controlled based on the welding parameters to perform corresponding welding, thereby forming a welded weld.

[0053] S13. If the robot moves into an obstructed area of ​​the welding path, when the welding gun of the middle assembly segment welding robot synchronously welds to the position of the obstacle in the obstructed area, the angle between the welding gun of the middle assembly segment welding robot and the weld is adjusted, and the robot re-synchronizes welding after avoiding the obstacle until the end point of the welding path is reached.

[0054] During the movement process, when moving to an obstacle area, the angle between the welding gun and the weld of the assembled segmented welding robot can be adjusted at the obstacle in the obstacle area, so that the welding gun deviates from the current position to avoid direct contact between the welding and the obstacle. Then, the robot arm can be controlled to avoid the obstacle along the pre-set obstacle avoidance welding path, thereby avoiding the obstacle. Among them, the pre-set obstacle avoidance welding path can be set by the user or the control system based on the obstacle parameters in advance, or it can be adjusted according to the welding parameters. For example, when welding from bottom to top, the pre-set obstacle avoidance welding path can be to move left or right first, then move upward, and move away from the obstacle; similarly, when welding from left to right, the pre-set obstacle avoidance welding path can be to move upward first, then move right, and move away from the obstacle.

[0055] Since each obstacle area has its starting point, in order to make adjustments early and avoid collision between the welding gun and the obstacle, in one embodiment, step S13 may include the following sub-steps:

[0056] S131. When moving to the starting point of the obstacle area of ​​the welding path, the coordinates of the robot arm of the middle assembly segment welding robot are obtained as fixed coordinates.

[0057] The fixed coordinates can be the coordinates of the robotic arm at a fixed distance from the weld in the direction of the weld. The robotic arm holds the welding gun at one end, while the other end swings to drive the welding gun up and down. The fixed coordinates can be the coordinates of the swinging end of the robotic arm.

[0058] S132. Using the fixed coordinate as a fulcrum, determine the angle between the welding gun on the robot arm and the welded weld to obtain a third angle value.

[0059] The third angle value may be the angle value between the welding gun and the welded seam after the robotic arm enters the obstructed area.

[0060] S133. Adjust the third angle value to the first angle value based on the preset welding angle difference, and control the welding gun of the middle assembly segment welding robot to perform synchronous welding.

[0061] In actual operation, while the welding gun is adjusting from the third angle value to the first angle value, the welding gun is performing welding operations at the same time, and welding is achieved by swinging. At the same time, the robotic arm does not move to avoid collision between the welding gun and obstacles.

[0062] Since the robotic arm is fixed at this time, the end of the robotic arm rotates to swing the welding gun angle to complete the welding. Therefore, the setting of the preset welding angle difference also needs to take into account the length of the welding gun (including the length of the welding wire extending from the welding gun), the distance between the end of the robotic arm and the weld, the width of the obstacle (in the weld direction), the height of the obstacle (perpendicular to the weld direction), etc., to ensure that the welding gun can complete the welding when swinging for synchronous welding.

[0063] S134. When the welding gun of the mid-assembly segmented welding robot synchronously welds to the position of an obstacle in the obstacle area, obtain a first angle value between the welding gun and the welded weld and an adjustment angle value required to avoid the obstacle.

[0064] S135: Adjust the first angle value to a second angle value according to the adjustment angle value.

[0065] When the welding gun has synchronously welded to the position of the obstacle in the obstacle area, the welding gun has moved to the first angle value. The first angle value and the adjustment angle value that needs to be adjusted can be obtained, and then the first angle value is adjusted to the second angle value according to the adjustment angle value. At this time, the welding gun is away from the obstacle, which can avoid the collision between the welding gun and the obstacle. Then, the robot arm can continue to be controlled to move according to the pre-set obstacle avoidance welding path, or the welding gun can be controlled to enter the next area according to the welding path for the next welding step.

[0066] During the welding process, the current area may be the last area, there may be no next area, the next area may be an obstructed area, or an unobstructed area. In order to determine whether the welding is completed, as an example, step S13 may include the following sub-steps:

[0067] S136. Acquire the current coordinate point of the robotic arm of the mid-assembly segmented welding robot, where the current coordinate point is a path node on the welding path.

[0068] Specifically, the current coordinate point may be a coordinate point where the robotic arm does not clamp the end of the welding gun, wherein the current coordinate point may also correspond to a path node on the welding path.

[0069] In one embodiment, the path node includes: a path node number and a path node coordinate.

[0070] S137: Determine whether the current coordinate point is the same as the end point coordinate point of the welding path.

[0071] S138. If the current coordinate point is the same as the end coordinate point of the welding path, terminate the synchronous welding.

[0072] If the current coordinate point is the same as the end point coordinate point of the welding path, it means that welding is completed and synchronous welding is terminated.

[0073] S139. If the current coordinate point is different from the end coordinate point of the welding path, the angle between the welding gun of the middle assembly segment welding robot and the weld is readjusted from the second angle value to the third angle value, and synchronous welding is started.

[0074] If the current coordinate point is different from the end point coordinate point of the welding path, it means that welding is not completed. You can continue with subsequent operations according to the welding path, for example, enter the next area (obstacle area or obstacle-free area). At the same time, you can readjust the angle between the welding gun and the weld of the middle assembly segment welding robot from the second angle value to the third angle value, and start synchronous welding so that it can perform welding operations according to the original angle value.

[0075] Based on the above, it can be seen that the welding path may include an unobstructed area. In one embodiment, the method may further include:

[0076] S14. If the robot moves into the obstacle-free area of ​​the welding path, the angle between the welding gun of the segmented welding robot in the middle assembly and the weld is controlled to be the third angle value, and synchronous welding is performed.

[0077] Reference Figure 2-3 , respectively showing a three-dimensional angle schematic diagram of an obstacle avoidance control method for a medium-assembly segmented welding robot provided by an embodiment of the present invention and a plane angle schematic diagram of an obstacle avoidance control method for a medium-assembly segmented welding robot provided by an embodiment of the present invention.

[0078] At the beginning, if at the starting point of the obstacle area, the welding system controls the coordinates of the robotic arm in the direction of the weld to be fixed, and the welding system controls the robotic arm to move close to the weld in the direction perpendicular to the weld, so that the angle between the welding gun and the welded weld is gradually adjusted from the third angle value (80 degrees) to the first angle value (45 degrees). During this period, the welding gun performs synchronous welding, and the movement trajectory of the robotic arm is part of the welding path.

[0079] When welding is completed and the obstacle is reached, the welding system controls the robotic arm to avoid the obstacle along the pre-set obstacle avoidance welding path and move to the end of the welding area with obstacles. During the movement, the angle between the welding gun and the welded weld is gradually adjusted from the first angle value (45 degrees) to the second angle value (135 degrees). At this time, the movement trajectory of the robotic arm is part of the welding path, and the welding in the obstacle area is completed.

[0080] If the area is still obstructed, repeat the above steps, adjust the angle between the welding gun and the weld from the second angle value (135 degrees) to the third angle value (80 degrees), and continue welding. If the area is clear of obstacles, you can directly adjust the angle between the welding gun and the weld from the second angle value (135 degrees) to the third angle value (80 degrees), and then weld according to the welding path. When you reach the end point, stop.

[0081] Reference Figure 5 , shows an operational flow chart of an obstacle avoidance control method for a mid-assembly segmented welding robot provided by one embodiment of the present invention.

[0082] S1: The welding system acquires the weld parameters and obstacle parameters of the assembled weld;

[0083] S2: The welding system sets the welding path to the obstacle-free welding area and the obstacle-filled welding area, and sets the weld starting point to the welding path starting point;

[0084] S3: Determine whether the welding path is an obstacle-containing welding area. If so, go to S4; if not, go to S7.

[0085] S4: The welding system controls the robotic arm to reach the starting point of the welding area with obstacles;

[0086] S5: The welding system controls the coordinates of the robot arm in the direction of the weld seam, so that the angle between the welding gun and the welded seam is gradually adjusted from 80 degrees to 45 degrees, and the welding gun moves synchronously with the weld seam;

[0087] S6: The welding system controls the robot arm to avoid obstacles along the pre-set obstacle avoidance welding path and move to the end of the welding area with obstacles. The welding system controls the robot arm to fix the coordinates in the direction of the weld seam, and gradually adjusts the angle between the welding gun and the welded weld seam from 135 degrees to 80 degrees. The welding gun moves synchronously with the weld seam, and then the process goes to S8;

[0088] S7: In the unobstructed welding area, the welding system controls the robotic arm to keep the welding gun at an 80-degree angle to the welded seam, and the welding gun moves synchronously with the welded seam;

[0089] S8: Determine whether the end point of the weld has been reached. If not, go to S3. If so, go to S9.

[0090] S9: Complete the mid-assembly weld.

[0091] In this embodiment, an embodiment of the present invention provides an obstacle avoidance control method for a mid-assembly segmented welding robot, and its beneficial effect is that: the present invention obtains preset obstacle parameters on the welding path during the mid-assembly assembly welding process, and determines whether the current welding position is an obstacle welding area according to the obstacle parameters. When the current welding position is an obstacle welding area, welding is performed using a preset obstacle welding method. When the current welding position is not an obstacle welding area, welding is performed using a preset obstacle-free welding method. This realizes automatic adjustment of the welding method by the robotic arm to adapt to the presence or absence of obstacles. Since no manual execution is required, the efficiency is high, the welding quality can be guaranteed, and the labor intensity is low.

[0092] The embodiment of the present invention also provides an obstacle avoidance control device for a mid-assembly segmented welding robot, see Figure 5 , showing a structural schematic diagram of an obstacle avoidance control device for a mid-assembly segmented welding robot provided by one embodiment of the present invention.

[0093] Wherein, as an example, the obstacle avoidance control device of the middle assembly segment welding robot may include:

[0094] An acquisition module 501 is used to acquire weld parameters and obstacle parameters of the assembled weld;

[0095] A setting module 502 is used to set a welding path based on the weld parameters and the obstacle parameters, and to control the assembly of segmented welding robots to perform synchronous welding according to the welding path;

[0096] The adjustment avoidance module 503 is used to adjust the angle between the welding gun and the weld of the mid-assembly segmented welding robot when the welding gun of the mid-assembly segmented welding robot synchronously welds to the position of the obstacle in the obstacle area if the robot moves into the obstacle area of ​​the welding path, and re-synchronize the welding after avoiding the obstacle until the end of the welding path is reached.

[0097] Optionally, the adjustment avoidance module is further configured to:

[0098] Obtaining a first angle value between the welding gun and the welded seam and an adjustment angle value required to avoid obstacles;

[0099] The first angle value is adjusted to a second angle value according to the adjustment angle value.

[0100] Optionally, the system further comprises:

[0101] A coordinate acquisition module is used to obtain the coordinates of the manipulator arm of the mid-assembly segmented welding robot as fixed coordinates when moving to the starting point of the obstructed area of ​​the welding path;

[0102] a determination module, configured to determine an angle between a welding gun on the robotic arm and the welded seam using the fixed coordinate as a fulcrum, and obtain a third angle value;

[0103] The angle adjustment module is used to adjust the third angle value to the first angle value based on a preset welding angle difference, and control the welding gun of the middle assembly segment welding robot to perform synchronous welding.

[0104] Optionally, the adjustment avoidance module is further configured to:

[0105] Acquire the current coordinate point of the manipulator arm of the mid-assembly segmented welding robot, wherein the current coordinate point is a path node on the welding path;

[0106] Determining whether the current coordinate point is the same as the end point coordinate point of the welding path;

[0107] If the current coordinate point is the same as the end point coordinate point of the welding path, then terminating the synchronous welding;

[0108] If the current coordinate point is different from the end coordinate point of the welding path, the angle between the welding gun of the middle assembly segment welding robot and the weld is readjusted from the second angle value to the third angle value, and synchronous welding is started.

[0109] Optionally, the path node includes: a path node number and a path node coordinate.

[0110] Optionally, the system further comprises:

[0111] The barrier-free welding module is used to control the angle between the welding gun and the weld of the assembled segmented welding robot to be the third angle value if it moves into the barrier-free area of ​​the welding path, so as to perform synchronous welding.

[0112] Optionally, the welding path includes a plurality of unobstructed areas and a plurality of obstructed areas;

[0113] Wherein, the endpoints of adjacent barrier-free areas or barrier-affected areas are connected.

[0114] Optionally, the weld parameters include weld number, weld starting point, weld end point, weld parameters, and weld connection plate parameters.

[0115] Optionally, the obstacle parameters include obstacle number, obstacle material, obstacle size parameters, and obstacle coordinate parameters.

[0116] Those skilled in the art can clearly understand that, for the sake of convenience and brevity, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0117] Furthermore, an embodiment of the present application also provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and runnable on the processor, wherein when the processor executes the program, the obstacle avoidance control method of the mid-assembly segmented welding robot as described in the above embodiment is implemented.

[0118] Furthermore, an embodiment of the present application also provides a computer-readable storage medium, which stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the obstacle avoidance control method of the middle assembly segmented welding robot as described in the above embodiment.

[0119] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. An obstacle avoidance control method for a mid-assembly segmented welding robot, characterized in that: The method comprises: Get the weld parameters and obstacle parameters of the assembled weld; Setting a welding path based on the weld parameters and the obstacle parameters, and controlling the assembly of segmented welding robots to perform synchronous welding according to the welding path; If the robot moves into an obstructed area of ​​the welding path, when the welding gun of the middle assembly segment welding robot reaches the position of the obstacle in the obstructed area, the robot adjusts the angle between the welding gun of the middle assembly segment welding robot and the weld, and re-synchronizes welding after avoiding the obstacle until the robot reaches the end of the welding path; The adjustment of the angle between the welding gun and the weld of the segmented welding robot comprises: Obtaining a first angle value between the welding gun and the welded seam and an adjustment angle value required to avoid obstacles; Adjusting the first angle value to a second angle value according to the adjustment angle value; Before the step of assembling the welding gun of the segmented welding robot to synchronously weld to the position of the obstacle in the obstacle area, the method further includes: When moving to the starting point of the obstructed area of ​​the welding path, obtaining the coordinates of the robot arm of the middle assembly segment welding robot as fixed coordinates; Using the fixed coordinate as a fulcrum, determining the angle between the welding gun on the robotic arm and the welded weld to obtain a third angle value; The third angle value is adjusted to the first angle value based on the preset welding angle difference, and the welding gun of the middle assembly segment welding robot is controlled to perform synchronous welding.

2. The obstacle avoidance control method of the mid-assembly segmented welding robot according to claim 1, characterized in that: The resynchronizing welding after avoiding the obstacle until reaching the end point of the welding path comprises: Acquire the current coordinate point of the manipulator arm of the mid-assembly segmented welding robot, wherein the current coordinate point is a path node on the welding path; Determining whether the current coordinate point is the same as the end point coordinate point of the welding path; If the current coordinate point is the same as the end point coordinate point of the welding path, then terminating the synchronous welding; If the current coordinate point is different from the end coordinate point of the welding path, the angle between the welding gun of the middle assembly segment welding robot and the weld is readjusted from the second angle value to the third angle value, and synchronous welding is started.

3. The obstacle avoidance control method for the mid-assembly segmented welding robot according to claim 2, characterized in that: The path node includes: a path node number and a path node coordinate.

4. The obstacle avoidance control method for the mid-assembly segmented welding robot according to claim 2, characterized in that: The method further comprises: If the robot moves into the obstacle-free area of ​​the welding path, the angle between the welding gun of the segmented welding robot in the control assembly and the weld is controlled to be the third angle value, and synchronous welding is performed.

5. The obstacle avoidance control method for a mid-assembly segmented welding robot according to any one of claims 1 to 4, characterized in that: The welding path includes a plurality of unobstructed areas and a plurality of obstructed areas; Wherein, the endpoints of adjacent barrier-free areas or barrier-affected areas are connected.

6. The obstacle avoidance control method for a mid-assembly segmented welding robot according to any one of claims 1 to 4, characterized in that: The weld parameters include weld number, weld starting point, weld end point, weld parameters, and weld connection plate parameters.

7. The obstacle avoidance control method for a mid-assembly segmented welding robot according to any one of claims 1 to 4, characterized in that: The obstacle parameters include obstacle number, obstacle material, obstacle size parameters, and obstacle coordinate parameters.

8. An obstacle avoidance control device for a mid-assembly segmented welding robot, characterized in that: The device comprises: An acquisition module is used to acquire the weld parameters and obstacle parameters of the assembled weld; A setting module, configured to set a welding path based on the weld parameters and the obstacle parameters, and to control the assembly of segmented welding robots to perform synchronous welding according to the welding path; an adjustment avoidance module, configured to adjust the angle between the welding gun of the mid-assembly segment welding robot and the weld when the welding gun of the mid-assembly segment welding robot synchronously welds to the position of the obstacle in the obstacle area, and re-synchronize welding after avoiding the obstacle until reaching the end point of the welding path; The adjustment avoidance module is further used to: Obtaining a first angle value between the welding gun and the welded seam and an adjustment angle value required to avoid obstacles; Adjusting the first angle value to a second angle value according to the adjustment angle value; The device further comprises: A coordinate acquisition module is used to obtain the coordinates of the manipulator arm of the mid-assembly segmented welding robot as fixed coordinates when moving to the starting point of the obstructed area of ​​the welding path; a determination module, configured to determine an angle between a welding gun on the robotic arm and the welded seam using the fixed coordinate as a fulcrum, and obtain a third angle value; The angle adjustment module is used to adjust the third angle value to the first angle value based on a preset welding angle difference, and control the welding gun of the middle assembly segment welding robot to perform synchronous welding.

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