Compensation method, device, equipment and storage medium for hidden switch positioning

Abstract

The application discloses a compensation method and device for hidden switch positioning, equipment and a storage medium. The compensation method comprises the following steps: acquiring a switch mark of a welding part; determining whether the switch mark is a teaching mark; if yes, recording a current position of the welding part as a standard position, modifying the switch mark into a welding mark, and returning to the step of acquiring the switch mark of the welding part; if not, recording an actual position of the welding part, compensating a welding track of a welding gun of a teaching robot according to a preset standard position and the actual position of the welding part, and returning to the step of acquiring the switch mark of the welding part. The application identifies the switch mark corresponding to each welding part, and then realizes the teaching function or compensates the welding part deviating from the preset welding track.

Description

Technical Field

[0001] The present application relates to the field of industrial robot arc welding, and in particular to a compensation method, compensation device, electronic device and computer-readable storage medium for hidden switch positioning. Background Art

[0002] Due to the high visual cost, the blind welding mode of teaching and reproducing is still the most widely used in the field of industrial robot arc welding. The disadvantage of this mode is that when the workpiece processing accuracy is not high or the welding fixture positioning is inaccurate, the actual welding position of the workpiece will be offset from the taught position. When the offset exceeds half the diameter of the welding wire, the welding quality will be greatly affected, and even the entire workpiece will be scrapped.

[0003] In existing technology, researchers have developed a weld seam tracking function. This function compares the difference between the standard position of the workpiece and the offset position and compensates the difference to the taught position, so that the actual welding trajectory can align with the taught trajectory. There are various ways to implement weld seam tracking, the most common of which is voltage tracking. This method pre-applies a small voltage to the welding wire. When the welding wire touches the workpiece, it conducts, generating a current signal. When the signal is on, the robot records the current position.

[0004] Conventional voltage-based positioning methods use a switch. The overall positioning process is as follows: when the switch is on, the position of the workpiece where the welding wire touches it is recorded as the reference position; when the switch is off, the position where the welding wire touches it is recorded as the offset position. This design has two major drawbacks in the welding of medium and thick plate. First, the large number of workpieces that require positioning often results in a long idle time recording the reference position. Second, if a point in the positioning trajectory needs to be modified, the reference position of all points must be re-recorded. Summary of the Invention

[0005] The present application at least provides a compensation method, device, equipment and storage medium for hidden switch positioning.

[0006] A first aspect of the present application provides a compensation method for hidden switch positioning, comprising:

[0007] Get the switch flag of the weldment;

[0008] Determine whether the switch mark is a teaching mark;

[0009] If so, record the current position of the weldment as the standard position, change the switch mark to the welding mark, and return to the step of obtaining the switch mark of the weldment;

[0010] If not, the actual position of the weldment is recorded, the welding trajectory of the welding gun of the teaching robot is compensated according to the preset standard position and the actual position of the weldment, and the step of obtaining the switch mark of the weldment is returned.

[0011] A second aspect of the present application provides a compensation device for hidden switch positioning, comprising:

[0012] An acquisition module is used to obtain the switch flag of the weldment;

[0013] The processing module is connected to the acquisition module and is used to determine whether the switch mark is a teaching mark;

[0014] If so, the current position of the weldment is recorded as the standard position, and the switch mark is changed to the welding mark;

[0015] If not, the actual position of the weldment is recorded, and the welding trajectory of the welding gun of the teaching robot is compensated according to the preset standard position and the actual position of the weldment.

[0016] A third aspect of the present application provides an electronic device, comprising a memory and a processor coupled to each other, wherein the processor is configured to execute program instructions stored in the memory to implement the compensation method in the first aspect.

[0017] In a fourth aspect, the present application provides a computer-readable storage medium storing a computer program, which can implement the compensation method in the first aspect when executed by a processor.

[0018] The beneficial effects of this application are as follows: Unlike existing technologies, this application recognizes the switch mark corresponding to each weld part, thereby realizing a teaching function or compensating for weld parts that deviate from the preset welding trajectory. When one or more weld parts need to be repositioned, the welding trajectory of the teaching robot's welding gun can be directly compensated, eliminating the need to start from scratch, thereby improving welding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 This is a flow chart of an embodiment of a compensation method for hidden switch positioning provided by the present application;

[0021] Figure 2 yes Figure 1 A schematic diagram of the specific flow of step S15 in the provided compensation method;

[0022] Figure 3 yes Figure 2 A schematic diagram of the specific flow of steps S151 and S152 in the provided compensation method;

[0023] Figure 4 yes Figure 1 A schematic diagram of the specific flow of step S16 in the provided compensation method;

[0024] Figure 5 This is a schematic diagram of a framework of an embodiment of a compensation device for hidden switch positioning provided by the present application;

[0025] Figure 6 This is a schematic diagram of the framework of an embodiment of an electronic device provided by the present application;

[0026] Figure 7 It is a schematic diagram of a framework of an embodiment of a computer-readable storage medium provided by this application. DETAILED DESCRIPTION

[0027] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0028] See also Figure 1 , Figure 1 This is a flow chart of an embodiment of a compensation method for hidden switch positioning provided by the present application.

[0029] The compensation method for hidden switch positioning of the present application may be executed by a compensation device. For example, the compensation method may be executed by a terminal device, a server, or other processing device. The compensation device may be a user equipment (UE), a mobile device, a user terminal, a terminal, a personal digital assistant (PDA), a handheld device, a computing device, etc. In some possible implementations, the compensation method may be implemented by a processor invoking computer-readable instructions stored in a memory.

[0030] The compensation device of this embodiment uses a teaching robot as an example. The teaching robot may include a welding gun for welding workpieces and a human-machine interface (HMI) capable of parameter setting. Alternatively, in other embodiments, the teaching robot may be connected to a terminal device via a data transmission line or wireless transmission, and parameter setting may be implemented through the terminal device.

[0031] Specifically, the compensation method of this embodiment may include the following steps:

[0032] Step S11: Create a switch flag array.

[0033] Before welding a weldment, it is necessary to pre-set corresponding switch flags for the weldment. Specifically, a switch flag array is pre-created in the teaching robot's database. The switch flag array includes multiple switch flags. Because the teaching robot needs to weld multiple weldments during medium-thickness welding, each of the multiple weldments is assigned a switch flag in the switch flag array. Optionally, the multiple weldments can be divided into N groups, where N is an integer greater than 1.

[0034] Step S12: Based on the switch flag array, set the initial states of the switch flags of the plurality of weldments.

[0035] Since each weldment corresponds to a switch flag in the switch flag array, the initial state of each switch flag is set in advance, that is, the initial states of the switch flags of multiple weldments are set. The initial states of the switch flags can be set through the human-machine interface of the teaching robot.

[0036] Specifically, the initial state of the switch flag is set to the teach flag. When one or more teach points in multiple weldments need to be changed, the switch flag of the corresponding weldment can be changed to the weld flag through the human-machine interface of the teaching robot. The teach flag is true and the weld flag is false.

[0037] Since multiple weldments can be divided into N groups, each containing at least two weldments, this embodiment uses the first weldment in each group as the standard weldment, and welds the remaining weldments using the standard weldments as an example. Therefore, the switch flag of the first weldment in each group is set to the teach flag, and the switch flags of the remaining weldments are set to the weldment flag. When the position of the weldment in the corresponding group needs to be modified, the switch flag of the first weldment in the corresponding group is changed to the teach flag.

[0038] Optionally, the arrangement order of the multiple groups of weldments can be that the first weldments of the multiple groups are arranged in sequence, and the remaining weldments are arranged in the arrangement order of the first weldments; or the multiple groups of weldments are arranged in sequence in groups.

[0039] Step S13: Obtain the switch mark of the weldment.

[0040] Among them, since the teaching robot needs to weld multiple weldments, the switch marks corresponding to the weldments are obtained in sequence according to the arrangement order of the multiple weldments.

[0041] Step S14: Determine whether the switch mark is a teaching mark.

[0042] The switch mark is specifically divided into a teaching mark and a welding mark. When the switch mark is determined to be a teaching mark, step S15 is executed; when the switch mark is determined to be a welding mark, step S16 is executed.

[0043] Step S15: Record the current position of the weldment as the standard position, and change the switch mark to the welding mark.

[0044] Among them, when the switch mark of the weldment is determined to be a teaching mark, the current position of the weldment is recorded as the standard position, and the standard position is used as a standard to determine whether the position of the next weldment is offset.

[0045] Please continue reading Figure 2 , Figure 2 yes Figure 1 The specific flow diagram of step S15 in the compensation method provided is as follows. Specifically, it includes the following steps:

[0046] Step S151: Acquire the moving direction and preset moving distance of the welding gun of the teaching robot.

[0047] Among them, when the moving direction and preset moving distance of the teaching robot's welding gun are obtained, the position of the weldment can be obtained by judging whether the teaching robot's welding gun touches the weldment during the process of moving the preset moving distance in the moving direction.

[0048] Specifically, the preset moving distance is a preset standard position of the weldment. When the welding gun of the teaching robot moves the preset moving distance in the moving direction and just touches the weldment, the weldment is located at the preset standard position.

[0049] Step S152: Based on the moving direction, obtain a first moving distance of the welding gun of the teaching robot in the moving direction until it touches the weldment.

[0050] The first moving distance of the welding gun of the teaching robot in the moving direction until it touches the weldment is the actual position of the weldment.

[0051] Please continue reading Figure 3 , Figure 3 yes Figure 2 The specific flow diagram of step S151 and step S152 in the compensation method provided is as follows. Specifically, it includes the following steps:

[0052] Step S1511: Acquire the origin and preset touch point of the welding gun of the teaching robot.

[0053] The origin and preset touch point of the teaching robot's welding gun are set through the teaching robot's human-machine interface, and the origin and preset touch point of the teaching robot's welding gun are recorded in the teaching robot's database. Specifically, the origin of the teaching robot's welding gun is set to the pstart point, and the preset touch point of the teaching robot's welding gun is set to the pmiddle point.

[0054] Step S1512: Based on the origin and the preset touch point, obtain the moving direction and the preset distance.

[0055] Among them, the moving direction is the direction of the extension line between the origin and the preset touch point, and the preset moving distance is the distance between the origin and the preset touch point, that is, the moving direction is the direction of the extension line from the pstart point to the pmiddle point, and the preset moving distance is the distance between the pstart point and the pmiddle point.

[0056] Step S1521: Obtain the first actual contact point of the welding gun of the teaching robot touching the weldment in the moving direction.

[0057] The welding gun of the teaching robot moves along the moving direction so that the welding gun of the teaching robot touches the weldment. At this time, the contact point between the welding gun of the teaching robot and the weldment is the first actual contact point.

[0058] Step S1522: Based on the first actual touch point, obtain the distance between the first actual touch point and the origin.

[0059] The distance between the first actual touch point and the origin is the first movement distance, which is the actual movement distance of the teaching robot's welding gun and the current position of the weldment. Therefore, the first movement distance is the actual position of the weldment.

[0060] Step S153: Determine whether the first moving distance is equal to the preset moving distance.

[0061] The welding gun of the teaching robot moves along the moving direction and may touch the weldment when the moving distance is less than, equal to or greater than the preset moving distance, that is, the first moving distance may be less than, equal to or greater than the preset moving distance.

[0062] Specifically, when the moving distance of the welding gun of the teaching robot is equal to the preset moving distance, that is, when the first moving distance is equal to the preset moving distance, the actual position of the weldment is the same as the preset standard position, and the current position of the weldment is the standard position.

[0063] Step S154: Record the current position of the weldment as the standard position.

[0064] Among them, when the current position of the weldment is determined to be the standard position, the corresponding position coordinates are recorded in the database of the teaching robot, and return to step S13, and the operations of steps S13 to S15 or step S16 are repeated for the next weldment until the last weldment is completed.

[0065] Step S16: Record the actual position of the weldment, and compensate the welding trajectory of the welding gun of the teaching robot according to the preset standard position and the actual position of the weldment.

[0066] When the switch mark on the weldment is determined to be the welding mark, the current position of the weldment is recorded and compared with the preset standard position to determine whether the weldment has deviated. If the weldment deviates from the preset standard position, the offset value is obtained based on the current position and the preset standard position to compensate for the welding trajectory of the teaching robot's welding gun.

[0067] Please continue reading Figure 4 , Figure 4 yes Figure 1 The specific flow diagram of step S16 in the compensation method provided is as follows. Specifically, it includes the following steps:

[0068] Step S161: Acquire the origin and preset touch point of the welding gun of the teaching robot.

[0069] The teaching robot's welding gun's origin and preset touch points are set through the teaching robot's human-machine interface, and the origin and preset touch points are recorded in the teaching robot's database. The preset touch points include a first preset touch point and a second preset touch point. The first preset touch point and the origin are used to determine the movement direction of the teaching robot's welding gun, and the second preset touch point and the first preset touch point are used to determine the movement distance of the teaching robot's welding gun.

[0070] Specifically, the origin of the teaching robot's welding gun is set to the pstart point, the first preset touch point of the teaching robot's welding gun is set to the pmiddle point, the second preset touch point of the teaching robot's welding gun is set to the pend point, and the pstart point, pmiddle point and pend point are recorded in the teaching robot's database.

[0071] Step S162: Based on the origin and the preset touch point, the moving direction of the welding gun of the teaching robot is obtained.

[0072] The moving direction of the welding gun of the teaching robot is determined by the origin and the preset touch point. Specifically, the moving direction is the direction of the extension line between the origin and the first preset touch point, that is, the moving direction is the direction of the extension line from the pstart point to the pmiddle point.

[0073] Step S163: Acquire a second actual contact point where the welding gun of the teaching robot touches the weldment in the moving direction.

[0074] Among them, the welding gun of the teaching robot moves along the moving direction so that the welding gun of the teaching robot touches the weldment. At this time, the contact point between the welding gun of the teaching robot and the weldment is the second actual touch point. The current position of the weldment can be obtained from the second actual touch point as the actual position of the weldment.

[0075] Specifically, the welding gun of the teaching robot may touch the weldment before the second preset touch point, or may touch the weldment after the second preset touch point, that is, the second actual touch point may be located between the first preset touch point and the second preset touch point, or outside the first preset touch point and the second preset touch point.

[0076] Step S164: Obtain the preset standard position of the weldment.

[0077] When the switch mark of the current weldment is determined to be a welding mark, the weldment may be any weldment except the first weldment in each group of weldments, or may be obtained by modifying the switch mark of the first weldment in each group.

[0078] Specifically, when a weldment is any weldment other than the first weldment in each weldment group, the actual position of the first weldment in the corresponding group is used as the preset standard position. When a weldment is the first weldment in each weldment group, the actual position of the weldment is used as the standard position and serves as the preset standard position for the remaining weldments in the group.

[0079] Here, since the first preset touch point is set as the pmiddle point and is the same as the preset touch point in step S1511, the first preset touch point is the preset touch point, that is, the first preset touch point is the preset standard position.

[0080] Step S165: Based on the preset standard position and the actual position, the offset distance of the weldment is calculated using a deviation calculation model.

[0081] Among them, since the second actual touch point may be located between the first preset touch point and the second preset touch point, or outside the first preset touch point and the second preset touch point, and the first preset touch point is the preset standard position, the distance between the second actual touch point and the first preset touch point is the offset distance of the weldment.

[0082] Because multiple weldments can be arranged in a variety of ways, when a weldment is offset, it may occur along the extension line from point pstart to point pmiddle, or may occur in three-dimensional space. Therefore, it is impossible to directly determine the offset distance of the weldment based on the spatial coordinates of the second actual touch point and the first preset touch point. Therefore, in this embodiment, the spatial coordinates of the second actual touch point and the first preset touch point are input into the deviation calculation model, and the offset distance of the weldment is calculated using the deviation calculation model.

[0083] Step S166: The welding trajectory of the welding gun of the teaching robot is compensated based on the offset distance.

[0084] Among them, this embodiment calculates the offset distance of the weldment through the deviation calculation model. In order to achieve welding of the weldment, it is necessary to adjust the welding trajectory of the welding gun of the teaching robot. Therefore, the offset distance is compensated for the welding trajectory of the welding gun of the teaching robot so that the welding trajectory of the welding gun of the teaching robot is the welding trajectory of the actual welding part of the weldment.

[0085] When the welding of the weldment is completed, the process returns to step S13 and repeats the operations of step S13 to step S15 or step S16 for the next weldment until the welding of the last weldment is completed.

[0086] Unlike existing techniques, this compensation method recognizes the switch symbol corresponding to each weld component, enabling teaching or compensating for welds that deviate from the preset welding trajectory. When one or more weld components require repositioning, the teaching robot's welding gun's welding trajectory can be directly compensated, eliminating the need to reposition the components from scratch, thereby improving welding efficiency.

[0087] See also Figure 5 , Figure 5 Schematic diagram of a framework of an embodiment of a compensation device for hidden switch positioning provided by the present application. The compensation device 50 includes:

[0088] An acquisition module 51 is used to acquire a switch flag of a weldment;

[0089] The processing module 52 is connected to the acquisition module 51 and is used to determine whether the switch mark is a teaching mark; if so, the current position of the weldment is recorded as the standard position and the switch mark is modified to the welding mark; if not, the actual position of the weldment is recorded, and the welding trajectory of the welding gun of the teaching robot is compensated according to the preset standard position and the actual position of the weldment.

[0090] See also Figure 6 , Figure 6is a schematic diagram of the framework of an embodiment of an electronic device provided herein. Electronic device 60 includes a memory 61 and a processor 62 coupled to each other. Processor 62 is configured to execute program instructions stored in memory 61 to implement the steps of any of the aforementioned hidden switch positioning compensation method embodiments. In a specific implementation scenario, electronic device 60 may include, but is not limited to, a microcomputer and a server. Furthermore, electronic device 60 may also include mobile devices such as laptops and tablet computers, without limitation herein.

[0091] Specifically, the processor 62 is used to control itself and the memory 61 to implement the steps in any of the above-mentioned embodiments of the compensation method for hidden switch positioning. The processor 62 can also be called a CPU (Central Processing Unit). The processor 62 may be an integrated circuit chip with signal processing capabilities. The processor 62 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. In addition, the processor 62 can be implemented by an integrated circuit chip.

[0092] See also Figure 7 , Figure 7 The computer-readable storage medium 70 stores program instructions 71 that can be executed by a processor, and the program instructions 71 are used to implement the steps of any of the above-mentioned hidden switch positioning compensation method embodiments.

[0093] In some embodiments, the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the method described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments. For the sake of brevity, it will not be repeated here.

[0094] The above description of the various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced with each other and will not be repeated herein for the sake of brevity.

[0095] In the several embodiments provided in this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation methods described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. For example, units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0096] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0097] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

Claims

1. A compensation method for hidden switch positioning, characterized in that: include: Get the switch flag of the weldment; Determining whether the switch mark is a teaching mark; If so, record the current position of the weldment as the standard position, modify the switch mark to the welding mark, and return to the step of obtaining the switch mark of the weldment; If not, the actual position of the weldment is recorded, the welding trajectory of the welding gun of the teaching robot is compensated according to the preset standard position of the weldment and the actual position, and the process returns to the step of obtaining the switch mark of the weldment; Before the step of obtaining the switch mark of the weldment, the method includes: Creating a switch flag array, wherein the switch flag array includes a plurality of switch flags, and one weldment corresponds to one switch flag in the switch flag array; Based on the switch flag array, the initial states of the switch flags of the plurality of weldments are set.

2. The compensation method according to claim 1, characterized in that: The step of recording the current position of the weldment as the standard position includes: Obtaining the moving direction and preset moving distance of the welding gun of the teaching robot; Based on the moving direction, obtaining a first moving distance of the welding gun of the teaching robot in the moving direction until it touches the weldment; Determining whether the first moving distance is equal to the preset moving distance; If so, the current position of the weldment is recorded as the standard position.

3. The compensation method according to claim 2, characterized in that: The step of obtaining the moving direction and preset moving distance of the welding gun of the teaching robot includes: Obtaining the origin and preset touch point of the welding gun of the teaching robot; Based on the origin and the preset touch point, obtaining the moving direction and the preset moving distance; The moving direction is the direction of the extension line between the origin and the preset touch point, and the preset moving distance is the distance between the origin and the preset touch point.

4. The compensation method according to claim 3, characterized in that: The step of obtaining a first moving distance of the welding gun of the teaching robot in the moving direction until it touches the weldment includes: Obtaining a first actual contact point of the welding gun of the teaching robot touching the weldment in the moving direction; Based on the first actual touch point, obtaining a distance between the first actual touch point and the origin; The distance between the first actual touch point and the origin is the first movement distance, and the current position of the weldment is the first actual touch point.

5. The compensation method according to claim 1, characterized in that: The step of recording the actual position of the weldment comprises: Obtaining the origin and preset touch point of the welding gun of the teaching robot; Based on the origin and the preset touch point, obtaining a moving direction of the welding gun of the teaching robot; wherein the moving direction is the direction of an extension line between the origin and the preset touch point; Obtaining a second actual contact point at which the welding gun of the teaching robot touches the weldment in the moving direction; The actual position of the weldment is the second actual contact point.

6. The compensation method according to claim 5, characterized in that: The step of compensating the welding trajectory of the welding gun of the teaching robot according to the preset standard position of the weldment and the actual position includes: Obtaining a preset standard position of the weldment; Calculating the offset distance of the weldment using a deviation calculation model based on the preset standard position and the actual position; A welding trajectory of a welding gun of the teaching robot is compensated based on the offset distance.

7. A compensation device for hidden switch positioning, characterized in that: include: An acquisition module is used to obtain the switch flag of the weldment; a processing module, connected to the acquisition module, and configured to determine whether the switch mark is a teaching mark; If so, the current position of the weldment is recorded as the standard position, and the switch mark is modified to the welding mark; If not, the actual position of the weldment is recorded, and the welding trajectory of the welding gun of the teaching robot is compensated according to the preset standard position of the weldment and the actual position.

8. An electronic device, characterized in that: The device comprises a memory and a processor coupled to each other, wherein the processor is configured to execute program instructions stored in the memory to implement the compensation method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the compensation method according to any one of claims 1 to 6 can be implemented.

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