Control method and control system of welding robot, storage medium

Abstract

The present application relates to the technical field of welding robots, and provides a control method and a control system of a welding robot, and a storage medium.The control method of the welding robot comprises the following steps: determining a path along which a welding master robot moves and a welding action of the welding master robot according to a control strategy and a weld position of a welding workpiece; determining a path along which a welding slave robot moves and an action of conveying a welding wire of the welding slave robot according to the control strategy, the position of the welding master robot and the position of the welding slave robot; and determining a path along which a controller robot moves according to the position of the controller robot, the position of the welding master robot and the position of the welding slave robot.The present application realizes centralized control of the welding master robot and the welding slave robot, guarantees the timeliness of control instructions, improves control precision and flexibility, and expands the operation range of the welding master robot.

Description

Technical Field

[0001] The present invention relates to the technical field of welding robots, and in particular to a control method for a welding robot, a control system for a welding robot, and a storage medium. Background Art

[0002] In the prior art, large steel structures are typically fixed and installed using welding. However, due to the large size and volume of large steel structures, manual welding is inconvenient, inefficient, and poses significant safety risks. Therefore, wall-climbing welding robots are used to weld large steel structures. Current wall-climbing welding robots require a welding gun and a welding gun clamp, as well as a wire feeder, welding wire, and welding cables. This places high load requirements on the wall-climbing welding robot, which increases its size and thus its suction force. The increased weight of the wall-climbing welding robot reduces its flexibility, creating certain safety risks during movement and hindering the rapid adjustment of the robot's position and welding gun posture. This affects the welding process and quality, reducing welding efficiency. Furthermore, the welding current required by the wall-climbing welding robot is high, so the power cable it carries is large in diameter and weight, making it inconvenient to transmit over long distances. This significantly limits the robot's operating range and makes it unsuitable for large-scale welding operations on large steel structures.

[0003] Currently, there is a wall-climbing welding robot, which consists of a main robot responsible for welding operations and a slave robot responsible for conveying welding wire. This reduces the weight and volume of the main robot to a certain extent, but both the master robot and the slave robot need to be equipped with their own control modules, and centralized control cannot be achieved; and the control module is relatively large in size, which has a great impact on the flexibility of the main robot's welding operation; in addition, the main robot needs to be connected to the welding power supply equipment through a cable. Due to the weight factor of the cable and the signal attenuation interference problem, when the position of the welding power supply equipment is fixed, the operating range of the main robot will be limited. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a control method and control system for a welding robot, so as to at least solve the above-mentioned problem that the master robot and the slave robot cannot be centrally controlled.

[0005] To achieve the above objectives, the present invention provides, on one hand, a control method for a welding robot, wherein the welding robot includes a welding master robot for welding operations, a welding slave robot for providing welding power to the welding master robot, and a controller robot for controlling the welding master robot and the welding slave robot, wherein the controller robot is preset with a control strategy. The control method for the welding robot includes:

[0006] Determining a moving path and welding action of the welding master robot along the welding workpiece according to the control strategy and the weld position of the welding workpiece;

[0007] Determining a path for the welding slave robot to follow the welding master robot and an action for conveying welding wire according to the control strategy, the position of the welding master robot, and the position of the welding slave robot;

[0008] A path for the controller robot to follow the welding master robot is determined according to the position of the controller robot, the position of the welding master robot, and the position of the welding slave robot.

[0009] Furthermore, the determining of the path and welding action of the welding master robot moving along the welding workpiece according to the control strategy and the weld position of the welding workpiece includes:

[0010] The welding master robot obtains the weld position information of the welding workpiece in real time and transmits the weld position information to the controller robot in real time; the controller robot determines the path of the welding master robot along the welding workpiece according to the weld position information, the current position information of the welding master robot and the control strategy, and determines the welding action according to the current posture information of the welding master robot.

[0011] Furthermore, the step of determining the path of the welding slave robot following the welding master robot and the action of conveying the welding wire according to the control strategy and the position of the welding master robot includes:

[0012] The welding slave robot obtains its own position information in real time and transmits it to the controller robot in real time; the controller robot determines the path of the welding slave robot following the welding master robot based on the position information of the welding slave robot, the current position information of the welding master robot and the control strategy.

[0013] Furthermore, determining the path for the controller robot to follow the welding master robot according to the position of the controller robot and the position of the welding master robot includes:

[0014] The controller robot obtains its own position information in real time, and determines the path for the controller robot to follow the welding master robot based on its own position information, the current position information of the welding master robot, and the current position information of the welding slave robot.

[0015] Furthermore, the method further comprises:

[0016] Before the welding robot performs welding operations, the working mode of the welding robot is set according to the specifications of the welding workpiece; wherein the working modes include a single-robot collaborative operation mode, a dual-robot collaborative operation mode, and a triple-robot collaborative operation mode.

[0017] Furthermore, in the single-robot collaborative operation mode, the controller robot only controls the movement and welding action of the welding master robot along the welding workpiece; in the dual-robot collaborative operation mode, the controller robot controls the movement and welding action of the welding master robot along the welding workpiece, and controls the movement of the welding slave robot following the movement of the welding master robot and the movement of the welding wire; in the three-robot collaborative operation mode, the controller robot controls the movement and welding action of the welding master robot along the welding workpiece, the movement of the welding slave robot following the movement of the welding master robot and the movement of the welding wire, and the movement of the controller robot following the welding master robot.

[0018] Another aspect of the present invention provides a control system for a welding robot, the welding robot comprising a welding master robot for welding operations, a welding slave robot for providing welding power to the welding master robot, and a controller robot for controlling the welding master robot and the welding slave robot, the control system for the welding robot comprising a control module and a control terminal, the control module being disposed on the controller robot;

[0019] The control module includes:

[0020] A first control unit is preset with a control strategy;

[0021] a second control unit, connected to the first control unit by signal, for determining a moving path and a welding action of the welding master robot along the welding workpiece according to the control strategy and a weld position of the welding workpiece;

[0022] a third control unit, signal-connected to the first control unit, for determining a path for the welding slave robot to follow the welding master robot and an action of conveying welding wire according to the control strategy, the position of the welding master robot, and the position of the welding slave robot;

[0023] The first control unit exchanges data with the control terminal to transmit instructions sent by the control terminal to the second control unit and the third control unit;

[0024] The first control unit is further configured to determine a movement path of the controller robot following the welding master robot according to the position of the controller robot, the position of the welding master robot, and the position of the welding slave robot.

[0025] Furthermore, the welding master robot includes a first walking mechanism and a first sensor group for obtaining position information of the welding master robot, and the first walking mechanism and the first sensor group are connected to the second control unit by signal; the welding slave robot includes a second walking mechanism and a second sensor group for obtaining position information of the welding slave robot, and the second walking mechanism and the second sensor group are connected to the third control unit by signal; the controller robot includes a third walking mechanism and a third sensor group for obtaining position information of the controller robot, and the third sensor group and the control module are arranged on the third walking mechanism.

[0026] Furthermore, the control terminal includes a human-computer interaction device, and the human-computer interaction device is used to input control parameters and welding parameters.

[0027] An embodiment of the present invention further provides a storage medium having computer program instructions stored thereon, wherein the computer program instructions implement the above-mentioned control method for the welding robot when executed.

[0028] The control method and control system for a welding robot of the present invention implements welding, load, and control functions based on a master welding robot, a slave welding robot, and a controller robot. The controller robot determines the movement path and welding motions of the master welding robot and plans the paths for the slave welding robot and the controller robot to follow the master welding robot. This achieves centralized control of the master and slave welding robots, ensuring the timeliness of control instructions and improving control accuracy and flexibility. Furthermore, the master welding robot and slave welding robots can be connected to the controller robot via cables, with the controller robot following their movements. This avoids the weight constraints of excessively long cables and signal attenuation interference, ensuring control accuracy while expanding the operating range of the master welding robot.

[0029] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings:

[0031] Figure 1 is a flow chart of a control method for a welding robot provided by one embodiment of the present invention;

[0032] Figure 2 It is a block diagram of a control system of a welding robot provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0033] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0034] The welding robot of the present invention includes a welding master robot, a welding slave robot and a controller robot. The welding master robot is adsorbed on the welding workpiece and can walk along the welding workpiece, and is used to identify welds and perform welding operations. The welding slave robot is adsorbed on the welding workpiece and can walk along the welding workpiece, and is used to provide welding electricity and transport welding wire to the welding master robot; the controller robot presets a control strategy to control the walking path, posture and movement of the welding master robot and the welding slave robot. Optionally, the controller robot is adsorbed on the welding workpiece and walks along the welding workpiece. The welding robot of the present invention separates the welding function and the load function of the robot, and the welding slave robot assumes the load function, and the controller robot bears the volume and weight of the control module, thereby overcoming the shortcomings of the bulky and large body of the wall-climbing welding robot, improving the flexibility of the welding robot, and expanding the operating range of the welding robot.

[0035] Figure 1 FIG. 1 is a flow chart of a control method for a welding robot provided by an embodiment of the present invention. Figure 1 As shown, the control method of the welding robot provided in this embodiment includes:

[0036] S1. Determine a moving path and welding action of the welding master robot along the welding workpiece according to the control strategy and the weld position of the welding workpiece.

[0037] Specifically, the master welding robot acquires the weld seam position information of the workpiece in real time and transmits the weld seam position information to the controller robot in real time. The controller robot determines a movement path of the master welding robot along the workpiece based on the weld seam position information, the current position information of the master welding robot, and the control strategy, and determines a welding action based on the current posture information of the master welding robot.

[0038] S2. Determine the path of the welding slave robot following the welding master robot and the action of conveying welding wire according to the control strategy, the position of the welding master robot and the position of the welding slave robot.

[0039] Specifically, the slave welding robot acquires its own position information in real time and transmits it to the controller robot in real time. The controller robot determines a path for the slave welding robot to follow the master welding robot based on the position information of the slave welding robot, the current position information of the master welding robot, and the control strategy.

[0040] S3. Determine a movement path of the controller robot following the welding master robot according to the position of the controller robot, the position of the welding master robot, and the position of the welding slave robot.

[0041] Specifically, the controller robot obtains its own position information in real time, and determines the path for the controller robot to follow the welding master robot based on its own position information, the current position information of the welding master robot, and the current position information of the welding slave robot.

[0042] In one preferred embodiment, before the welding robot performs a welding operation, the welding robot's operating mode is set based on the specifications of the workpiece being welded. These operating modes include single-robot collaborative operation mode, dual-robot collaborative operation mode, and three-robot collaborative operation mode. In the single-robot collaborative operation mode, only the master welding robot moves along the workpiece, while the slave welding robot and controller robot are fixed (outside the workpiece). This operating mode is suitable for smaller workpieces where the required working range is small, and the cable connecting the master welding robot can directly cover the entire working range. This operating mode eliminates the need to attach and detach the slave welding robot and controller robot from the workpiece, reducing indirect welding operation time and improving efficiency. In the dual-robot collaborative operation mode, the master welding robot moves along the workpiece, while the slave welding robot follows the master welding robot. The controller robot is fixed or moved as needed. This operating mode is suitable for larger workpieces where the working range is large and the master welding robot's cable is insufficient to fully cover the working range, requiring the slave welding robot to be mounted on the workpiece. In the dual-robot collaborative operation mode, the entire working range of the workpiece can be covered, eliminating the need to attach and detach the controller robot from the workpiece, reducing indirect welding operation time and improving efficiency. The three-robot collaborative operation mode means that the welding master robot moves along the welding workpiece, and the welding slave robot and controller robot follow the welding master robot. This operation mode is suitable for welding workpieces with large specifications. The welding slave robot and controller robot need to follow the welding master robot to move and work collaboratively to expand the operation range and improve control accuracy.

[0043] In the single-robot collaborative operation mode, the controller robot only controls the movement and welding action of the welding master robot along the welding workpiece; in the dual-robot collaborative operation mode, the controller robot controls the movement and welding action of the welding master robot along the welding workpiece, and controls the movement of the welding slave robot following the movement of the welding master robot and the movement of the welding wire; in the three-robot collaborative operation mode, the controller robot controls the movement and welding action of the welding master robot along the welding workpiece, the movement of the welding slave robot following the movement of the welding master robot and the movement of the welding wire, and the controller robot follows the movement of the welding master robot.

[0044] The control method of the welding robot provided in this embodiment realizes the welding function, load function and control function respectively based on the welding master robot, the welding slave robot and the controller robot. The moving path and welding action of the welding master robot are determined according to the preset control strategy, and the paths of the welding slave robot and the controller robot following the welding master robot are planned. The centralized control of the welding master robot and the welding slave robot is realized through the controller robot to ensure the timeliness of the control instructions and improve the control accuracy and flexibility.

[0045] Figure 2 This is a block diagram of a control system of a welding robot provided by one embodiment of the present invention. The welding robot includes a welding master robot for welding operations, a welding slave robot for providing welding power to the welding master robot, and a controller robot for controlling the welding master robot and the welding slave robot. Figure 2 As shown, the control system of the welding robot provided in this embodiment includes a control module and a control terminal, wherein the control module is disposed on the controller robot. The control module includes a first control unit, a second control unit, and a third control unit. The first control unit is pre-set with a control strategy. The second control unit is signal-connected to the first control unit and is configured to determine the path of movement of the welding master robot along the welding workpiece and the welding action based on the control strategy and the weld position of the welding workpiece. The third control unit is signal-connected to the first control unit and is configured to determine the path of movement of the welding slave robot following the welding master robot and the action of feeding welding wire based on the control strategy, the position of the welding master robot, and the position of the welding slave robot. The first control unit exchanges data with the control terminal and is configured to transmit instructions sent by the control terminal to the second control unit and the third control unit, and to determine the path of movement of the controller robot following the welding master robot based on the positions of the controller robot, the welding master robot, and the welding slave robot.

[0046] In this embodiment, the master welding robot includes a first traveling mechanism and a first sensor group. The first traveling mechanism and the first sensor group are signal-connected to the second control unit. The first sensor group includes a laser camera, a posture sensor, and a ranging sensor, respectively, for implementing weld seam tracking and acquiring posture and position information of the master welding robot. The slave welding robot includes a second traveling mechanism and a second sensor group for acquiring position information of the slave welding robot. The second traveling mechanism and the second sensor group are signal-connected to the third control unit. The controller robot includes a third traveling mechanism and a third sensor group for acquiring position information of the controller robot. The third sensor group and the control module are both disposed on the third traveling mechanism. The control terminal includes a human-machine interface device for inputting control parameters and welding parameters. The human-machine interface device includes a display terminal and a control handle. The display terminal is signal-connected to the controller robot for inputting welding parameters and displaying welding parameter information. The control handle is signal-connected to the first control unit of the controller robot for manually controlling the movement of the master welding robot, the slave welding robot, and the controller robot.

[0047] The welding robot control system provided in this embodiment implements welding, loading, and control functions based on a master welding robot, a slave welding robot, and a controller robot. The control module on the controller robot (divided into three control units) determines the movement path and welding motions of the master welding robot, and plans the paths for the slave welding robot and the controller robot to follow the master welding robot. This achieves centralized control of the master and slave welding robots, ensuring the timeliness of control instructions and improving control accuracy and flexibility. Furthermore, the master welding robot and slave welding robots can be connected to the controller robot via cables, with the controller robot following their movements. This avoids the weight constraints of excessively long cables and signal attenuation interference, ensuring control accuracy while expanding the operating range of the master welding robot.

[0048] An embodiment of the present invention further provides a storage medium having computer program instructions stored thereon, wherein the computer program instructions implement the above-mentioned control method for the welding robot when executed.

[0049] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0050] The present application is described with reference to the flowcharts and / or block diagrams of the methods, systems, and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0051] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0052] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A control method for a welding robot, characterized in that: The welding robot includes a welding master robot for welding operations, a welding slave robot for providing welding power to the welding master robot, and a controller robot for controlling the welding master robot and the welding slave robot. The controller robot can follow the movement of the welding master robot. The controller robot is preset with a control strategy. The control method of the welding robot includes: Determining a moving path and welding action of the welding master robot along the welding workpiece according to the control strategy and the weld position of the welding workpiece; Determining a path for the welding slave robot to follow the welding master robot and an action for conveying welding wire according to the control strategy, the position of the welding master robot, and the position of the welding slave robot; The path that the controller robot follows to move along the welding master robot is determined based on the position information of the controller robot itself, the current position information of the welding master robot, and the current position information of the welding slave robot acquired in real time by the controller robot.

2. The control method of the welding robot according to claim 1, characterized in that: The step of determining the path and welding action of the welding master robot moving along the welding workpiece according to the control strategy and the weld position of the welding workpiece includes: The main welding robot acquires the weld position information of the welding workpiece in real time, and transmits the weld position information to the controller robot in real time; The controller robot determines the path of movement of the welding master robot along the welding workpiece according to the weld position information, the current position information of the welding master robot and the control strategy, and determines the welding action according to the current posture information of the welding master robot.

3. The control method of the welding robot according to claim 2, characterized in that: The step of determining the path for the welding slave robot to follow the welding master robot and the action of conveying the welding wire according to the control strategy and the position of the welding master robot includes: The welding slave robot obtains its own position information in real time and transmits it to the controller robot in real time; The controller robot determines a movement path of the welding slave robot following the welding master robot according to the position information of the welding slave robot, the current position information of the welding master robot and the control strategy.

4. The control method of the welding robot according to claim 1, characterized in that: The method further comprises: Before the welding robot performs welding operations, setting the working mode of the welding robot according to the specifications of the welding workpiece; Among them, the working modes include single-robot collaborative operation mode, dual-robot collaborative operation mode and three-robot collaborative operation mode.

5. The control method of the welding robot according to claim 4, characterized in that: In the single-robot collaborative operation mode, the controller robot only controls the movement of the welding master robot along the welding workpiece and the welding action; In the dual-robot collaborative operation mode, the controller robot controls the master welding robot to move along the welding workpiece and perform welding actions, and controls the slave welding robot to follow the master welding robot to move and transport welding wire; In the three-robot collaborative operation mode, the controller robot controls the movement of the welding master robot along the welding workpiece and the welding action, the movement of the welding slave robot following the movement of the welding master robot and the action of conveying welding wire, and the movement of the controller robot following the welding master robot.

6. A control system for a welding robot, characterized in that: The welding robot includes a welding master robot for welding operation, a welding slave robot for providing welding power to the welding master robot, and a controller robot for controlling the welding master robot and the welding slave robot, wherein the controller robot can move following the welding master robot; The control system of the welding robot includes a control module and a control terminal, and the control module is arranged on the controller robot; The control module includes: A first control unit is preset with a control strategy; a second control unit, connected to the first control unit by signal, for determining a moving path and a welding action of the welding master robot along the welding workpiece according to the control strategy and a weld position of the welding workpiece; a third control unit, signal-connected to the first control unit, for determining a path for the welding slave robot to follow the welding master robot and an action of conveying welding wire according to the control strategy, the position of the welding master robot, and the position of the welding slave robot; The first control unit exchanges data with the control terminal to transmit instructions sent by the control terminal to the second control unit and the third control unit; The first control unit is also used to determine the path that the controller robot follows the welding master robot based on the real-time acquired position information of the controller robot itself, the current position information of the welding master robot, and the current position information of the welding slave robot.

7. The control system of the welding robot according to claim 6, characterized in that: The welding master robot includes a first walking mechanism and a first sensor group for obtaining position information of the welding master robot, and the first walking mechanism and the first sensor group are connected to the second control unit by signal; The welding slave robot includes a second walking mechanism and a second sensor group for obtaining position information of the welding slave robot, and the second walking mechanism and the second sensor group are connected to the third control unit by signal; The controller robot includes a third walking mechanism and a third sensor group for obtaining position information of the controller robot. The third sensor group and the control module are arranged on the third walking mechanism.

8. The control system of the welding robot according to claim 6, characterized in that: The control terminal includes a human-computer interaction device, and the human-computer interaction device is used to input control parameters and welding parameters.

9. A storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed, the control method of the welding robot according to any one of claims 1 to 5 is implemented.

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