Swing warning method, device, apparatus and medium

Abstract

Embodiments of the present application provide a swing warning method, device, equipment and medium, relating to the field of automation technology, the method is applied to an electronic device, the electronic device is in communication connection with a swing welding robot, and the method comprises: generating a swing warning instruction according to teaching content, generating a running path corresponding to a swing welding scene based on the swing warning instruction. Control the swing welding robot to move along the running path, and during the movement of the swing welding robot along the running path, carry out swing path planning to obtain a swing path planning result, and then simulate the swing warning check based on the swing path planning result without executing the swing path planning result. Thus, swing welding warning can be realized through simulated swing, the swing welding debugging efficiency is improved, and the scrap rate is reduced.

Description

Technical Field

[0001] This invention relates to the field of automation technology, and more specifically, to a swing warning method, device, equipment, and medium. Background Technology

[0002] With the rapid development of process technology, welding technology is needed in many scenarios. Among them, oscillating welding is an important method of welding technology, which realizes automated welding operation through regular oscillation.

[0003] Currently, oscillating welding can be performed using robots. However, research has found that during oscillating welding, due to singularities within the robot itself or planned joint positions reaching limits, the robot typically stops and reports an error when encountering problems. After stopping due to an error, the robot's positions need to be re-taught to avoid the error. This method of stopping only when problems are encountered during oscillating welding significantly reduces the efficiency of oscillating welding debugging and increases the scrap rate due to the stoppage during welding. Summary of the Invention

[0004] One of the objectives of this invention includes, for example, providing a swing warning method, apparatus, device, and medium to at least partially improve the efficiency of swing welding debugging and reduce the scrap rate.

[0005] The embodiments of the present invention can be implemented as follows:

[0006] In a first aspect, the present invention provides a swing warning method applied to an electronic device, wherein the electronic device is communicatively connected to a swing welding robot, the method comprising:

[0007] Based on the taught content, generate a swing warning command;

[0008] Based on the swing warning command, a running path corresponding to the swing welding scenario is generated;

[0009] The oscillating welding robot is controlled to move along the running path, and oscillating path planning is performed during the movement of the oscillating welding robot along the running path to obtain the oscillating path planning result;

[0010] Without actually executing the swing path planning results, a swing warning check is simulated based on the swing path planning results.

[0011] In an optional implementation, the teaching content includes the swing start point, swing end point, swing amplitude, swing frequency, and callback amplitude; the swing warning command includes swing parameters corresponding to the teaching content.

[0012] During the movement of the oscillating welding robot along the running path, oscillating path planning is performed to obtain the oscillating path planning result, including:

[0013] Based on the swing parameters in the swing warning command, a swing environment simulation is performed;

[0014] In the simulated swing environment, a swing simulation planning result is generated, and the swing simulation planning result is used as the swing path planning result.

[0015] In an optional implementation, the step of simulating and performing a swing warning check based on the swing path planning results includes:

[0016] Inverse kinematics calculations are performed on the swing trajectory in the swing path planning results.

[0017] Based on the inverse kinematics calculation results, it is determined whether the swing welding robot is in a singular pose and whether the joint position of the swing welding robot exceeds the soft limit.

[0018] If the oscillating welding robot is in an unusual pose, or if the joint position of the oscillating welding robot exceeds the soft limit, an abnormality warning will be issued, and the process will continue to execute the step of controlling the oscillating welding robot to move along the running path until the oscillation warning check is simulated based on the oscillation path planning result.

[0019] In an optional implementation, determining whether the oscillating welding robot is in a singular pose includes:

[0020] Obtain the X and Y coordinate values ​​in the coordinate system of the oscillating welding robot;

[0021] Based on the X and Y coordinate values, determine whether the following conditions are met:

[0022] abs(X-0) < set threshold and abs(Y-0) < set threshold

[0023] If so, then the oscillating welding robot is determined to be in a singular pose; or,

[0024] Obtain infinitely many solutions when the five axes of the oscillating welding robot are at 0 degrees, and determine whether the five-axis positions after inverse kinematics satisfy the following conditions:

[0025] abs(J5-0) < set threshold

[0026] If so, the oscillating welding robot is determined to be in a singular pose.

[0027] In an optional implementation, determining whether the joint position of the oscillating welding robot exceeds the soft limit includes:

[0028] The joint positions of the swing welding robot are obtained based on the inverse kinematics calculation results;

[0029] The joint position is compared with the preset positive soft joint limit and the preset negative soft joint limit to determine whether the joint position meets the following conditions:

[0030] J i Preset positive soft limit i or J i Preset negative soft limit i

[0031] If so, it is determined that the joint position of the swing welding robot exceeds the soft limit.

[0032] In an optional implementation, the method further includes:

[0033] If an error message is displayed, the teaching content is retrieved again based on the teaching adjustment instructions.

[0034] Based on the re-obtained teaching content, return to the step of generating a swing warning instruction based on the teaching content and simulating a swing warning check based on the swing path planning result, until no abnormality is indicated.

[0035] Based on the swing path planning corresponding to the teaching content without abnormal prompts, generate swing instructions;

[0036] The oscillating welding robot is controlled to move along the running path and completes oscillating welding according to the oscillating command.

[0037] In an optional implementation, the teaching adjustment command includes a re-teaching adjustment command for the swing start point and the swing end point.

[0038] In a second aspect, embodiments of the present invention provide a swing warning device applied to an electronic device, wherein the electronic device is communicatively connected to a swing welding robot, and the swing warning device includes:

[0039] The information generation module is used to generate a swing warning command based on the teaching content, and generate an operation path corresponding to the swing welding scenario based on the swing warning command.

[0040] The information processing module is used to control the oscillating welding robot to move along the running path, and to perform oscillating path planning during the movement of the oscillating welding robot along the running path to obtain oscillating path planning results; and to simulate oscillating early warning checks based on the oscillating path planning results without actually executing the oscillating path planning results.

[0041] Thirdly, the present invention provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the swing warning method described in any of the foregoing embodiments.

[0042] Fourthly, the present invention provides a computer-readable storage medium comprising a computer program, wherein the computer program, when executed, controls the electronic device in which the computer-readable storage medium is located to perform the swing warning method described in any of the foregoing embodiments.

[0043] The beneficial effects of the embodiments of the present invention include, for example: by generating a running path corresponding to the oscillating welding scenario and obtaining the oscillating path planning result, during the running along the running path, without executing the oscillating path planning result, oscillating early warning checks are simulated based on the oscillating path planning result, and early warning prompts are given during the simulated oscillating process. Since it is only a simulated welding and not an actual welding, the running process and welding process will not stop, thereby effectively reducing the scrap rate and greatly improving the efficiency of oscillating welding debugging. Attached Figure Description

[0044] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 The diagram illustrates an application scenario provided by an embodiment of the present invention.

[0046] Figure 2 The diagram shows a schematic flowchart of a swing warning method provided by an embodiment of the present invention.

[0047] Figure 3 This diagram illustrates another flow chart of a swing warning method provided by an embodiment of the present invention.

[0048] Figure 4 This diagram illustrates a running path and swing path planning result provided by an embodiment of the present invention.

[0049] Figure 5 This diagram illustrates another flow chart of a swing warning method provided by an embodiment of the present invention.

[0050] Figure 6 This diagram illustrates another flow chart of a swing warning method provided by an embodiment of the present invention.

[0051] Figure 7 An exemplary structural block diagram of a swing warning device provided in an embodiment of the present invention is shown.

[0052] Icons: 100 - Electronic device; 110 - Memory; 120 - Processor; 130 - Communication module; 140 - Swing warning device; 141 - Information generation module; 142 - Information processing module. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0054] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0055] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0056] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0057] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0058] Please refer to Figure 1 This is a block diagram of an electronic device 100 provided in this embodiment. The electronic device 100 in this embodiment can be a server, processing device, processing platform, etc., capable of data interaction and processing. The electronic device 100 can be independent of the oscillating welding robot or integrated into the oscillating welding robot; this embodiment does not impose any restrictions on this.

[0059] The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, processor 120, and communication module 130 are electrically connected directly or indirectly to each other to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0060] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0061] The processor 120 is used to read / write data or programs stored in the memory 110 and to perform corresponding functions.

[0062] The communication module 130 is used to establish a communication connection between the electronic device 100 and other communication terminals through the network, and to send and receive data through the network.

[0063] It should be understood that, Figure 1 The structure shown is only a schematic diagram of the electronic device 100. The electronic device 100 may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.

[0064] Please refer to the following: Figure 2 This is a flowchart illustrating a swing warning method provided in an embodiment of the present invention. It can be derived from... Figure 1 The electronic device 100 performs the operation, for example, by a processor 120 within the electronic device 100, which is communicatively connected to the oscillating welding robot. The oscillation warning method includes steps S110 to S140.

[0065] S110 generates a swing warning command based on the taught content.

[0066] S120, Based on the swing warning command, generate the running path corresponding to the swing welding scenario.

[0067] S130, control the oscillating welding robot to move along the running path, and perform oscillating path planning during the movement of the oscillating welding robot along the running path to obtain the oscillating path planning result.

[0068] S140, without actually executing the swing path planning result, simulate a swing warning check based on the swing path planning result.

[0069] The swing warning scheme in this embodiment is applicable to robot swing welding scenarios. By simulating swing welding without actually performing swing welding, swing welding warning is achieved during the simulation. This avoids the problems of low efficiency and high scrap rate caused by warning during actual swing welding in the prior art, effectively reducing the scrap rate and improving the efficiency of swing welding debugging.

[0070] In S110, teaching can be performed through the interface, and the teaching content can be varied. For example, the teaching content may include the swing start point p0(x0,y0,z0), the swing end point p1(x1,y1,z1), the swing amplitude L, the swing frequency F, the callback amplitude A, etc. Correspondingly, the swing warning command may include the swing parameters corresponding to the teaching content.

[0071] After the demonstration, the swing warning command generated based on the demonstration content can be sent to the processor for execution. The swing warning command can take the following form:

[0072] Lin(p0)

[0073] WeaveStartSim(L,F,A)

[0074] Lin(p1)

[0075] WeaveEndSim(L,F,A)

[0076] Wherein, Lin represents linear motion; WeaveStartSim indicates the start of the swing warning; and WeaveEndSim indicates the end of the swing warning.

[0077] In step S120, upon receiving a swing warning command, a corresponding running path can be generated based on the specific swing welding scenario. As long as the swing welding robot follows the corresponding running path, the swing welding can be completed. For example, if the objects to be welded in a certain swing welding scenario are distributed along a straight line, then the corresponding running path can be a straight line; similarly, if the objects to be welded in a certain swing welding scenario are distributed along a curve, then the corresponding running path can be a curve. This embodiment does not impose any restrictions on this. Furthermore, the electronic device can pre-store the running paths corresponding to each swing welding scenario and swing warning command. The electronic device can then find and call the corresponding running path based on the swing warning command.

[0078] Please refer to the following: Figure 3 In S130, during the movement of the oscillating welding robot along the running path, oscillating path planning is performed to obtain the oscillating path planning result, which can be achieved in the following way:

[0079] S131, Perform a swing environment simulation based on the swing parameters in the swing warning command.

[0080] S132, Generate swing simulation planning results in the simulated swing environment, and use the swing simulation planning results as swing path planning results.

[0081] Among them, the electronic equipment can use the swing parameters in the swing warning command in the background to simulate the swing environment through offline simulation, modeling and analysis, and generate swing simulation planning results in the simulated swing environment.

[0082] In another implementation, the electronic device can pre-store the simulation data of the swing environment corresponding to each swing welding scenario and swing parameter. When planning the swing path, the electronic device can find the simulated swing environment and call it based on the swing warning command.

[0083] In this embodiment, the method for generating the swing simulation planning results can be flexibly selected. For example, a swing coordinate system can be established based on the first swing start coordinates and the first swing end coordinates in the swing parameters, and the second start coordinates and the second end coordinates of the first start coordinates and the first end coordinates in the swing coordinate system can be obtained. The swing coordinate system includes three coordinate axes: the second start coordinates and the second end coordinates are on the first coordinate axis, and the third coordinate axis is parallel to the Z-axis of the swing tool. In the swing coordinate system, the swing path of the target shape is planned according to the target shape, the second start coordinates, the second end coordinates, and the swing requirements in the swing command.

[0084] The distance traveled on the first coordinate axis within one oscillation cycle is determined according to the callback parameter (callback amplitude).

[0085] For example, when the swing path is an arc, a target coordinate system can be established. The X-axis of the target coordinate system is determined based on the coordinates of the path's start and end points, and the Z-axis is perpendicular to the target plane containing the coordinates of the path's start, end, and intermediate points. Arc planning is performed on the target plane to obtain multiple arc position planning results. In the target coordinate system, curve planning is performed based on the target swing shape along the Y-axis and / or Z-axis, obtaining multiple curve position planning results. The arc position planning results are then superimposed with the curve position planning results to obtain the arc swing path.

[0086] For example, it can also support users to customize and adjust the swing simulation planning results, but this embodiment will not provide examples of each of these.

[0087] Based on the above, in step S140, a swing warning check is simulated based on the swing path planning results without actually executing the swing path planning results. This allows for swing warning checks to be performed without actually performing swing welding, solely through simulating the execution of the swing path planning results.

[0088] For example, please refer to the following: Figure 4 If the running path is a straight line in a certain scenario, then after receiving the swing warning command, the electronic device will control the swing welding robot to perform linear motion planning normally and execute the linear motion planning result. The robot's actual movement is a straight line. During this process, swing planning will be performed synchronously in the background of the electronic device. The swing path planning result will not be executed, but will only be used for simulation warning checks.

[0089] Please refer to the following: Figure 5 In this embodiment, the inspection content of the swing warning check can be flexibly set. For example, the inspection content may include singular pose, soft limit, etc. Accordingly, in S140, the swing warning check based on the swing path planning result simulation may include S141, S142 and S143.

[0090] S141, Perform inverse kinematics calculation on the swing trajectory in the swing path planning result.

[0091] S142, based on the inverse kinematics calculation results, determine whether the swing welding robot is in a singular pose and whether the joint position of the swing welding robot exceeds the soft limit.

[0092] If the oscillating welding robot is in a singular pose, or if the joint position of the oscillating welding robot exceeds the soft limit, then execute step S143. If the oscillating welding robot is not in a singular pose, or if the joint position of the oscillating welding robot does not exceed the soft limit, then continue executing the step of controlling the oscillating welding robot to move along the running path to simulate a oscillation warning check based on the oscillation path planning result.

[0093] S143, issue an error message and continue executing the step of controlling the oscillating welding robot to move along the running path to simulate an oscillation warning check based on the oscillation path planning result.

[0094] The determination of whether the oscillating welding robot is in a singular pose can be achieved by: obtaining the X and Y coordinate values ​​in the base coordinate system of the oscillating welding robot, and determining whether the following conditions are met based on the X and Y coordinate values:

[0095] abs(X-0) < set threshold and abs(Y-0) < set threshold

[0096] If so, the oscillating welding robot is determined to be in a singular pose.

[0097] Alternatively, obtain infinitely many solutions when the five axes of the oscillating welding robot are at 0 degrees, and determine whether the five-axis positions after inverse kinematics satisfy the following conditions:

[0098] abs(J5-0) < set threshold

[0099] If so, the oscillating welding robot is determined to be in a singular pose.

[0100] Determining whether the joint position of the oscillating welding robot exceeds the soft limit can be achieved in the following way: The joint position of the oscillating welding robot is obtained based on inverse kinematics calculations; the joint position is compared with preset positive and negative soft limits; and it is determined whether the joint position meets the following conditions:

[0101] J i Preset positive soft limit i or J i Preset negative soft limit i

[0102] If so, it is determined that the joint position of the swing welding robot exceeds the soft limit.

[0103] For example, in a scenario where the running path is a straight line, if it is determined that the swing trajectory of the swing welding robot is in a singular pose or the obtained joint position exceeds the soft limit after inverse kinematics calculation, a prompt message is generated and sent to the interface for display. The straight movement continues until the straight movement ends normally. Alternatively, the movement can be terminated early after the prompt message is issued.

[0104] The logic for determining singular poses is as follows:

[0105] There are two types of singular poses during the motion. One type is a cylindrical region near the Z-axis of the base coordinate system, which is determined by judging the X and Y coordinate values ​​of the base coordinate system. The judgment formula is as follows:

[0106] abs(X-0) < set threshold and abs(Y-0) < set threshold

[0107] Another approach is to determine the infinite number of solutions when the five axes are at 0 degrees. This is achieved by judging the position of the five axes after inverse kinematics, using the following formula:

[0108] abs(J5-0) < set threshold

[0109] The above-mentioned threshold values ​​can be modified through the interface.

[0110] The logic for determining if a joint position exceeds its soft limit is as follows:

[0111] The joint position is obtained by comparing it with the preset soft joint limit after inverse kinematics. The preset soft joint limit includes positive and negative limits, and the judgment formula is as follows:

[0112] J i Preset positive soft limit i or J i Preset negative soft limit 5

[0113] If no abnormality is detected, no warning message will be displayed, and the linear motion will end normally. If a warning message appears, the starting and ending points of the swing need to be re-taught, and the swing warning process should be repeated until no warning message appears.

[0114] Please refer to the following: Figure 6 The swing warning method in this embodiment may also include S210, S220, S230 and S240.

[0115] S210, in the event of an error message, the teaching content is retrieved again based on the teaching adjustment instruction.

[0116] S220, based on the re-obtained teaching content, return to the step of generating a swing warning instruction based on the teaching content and simulating a swing warning check based on the swing path planning result, until no abnormality is indicated.

[0117] S230, generate swing commands based on the swing path planning corresponding to the teaching content for which no abnormality prompts are given.

[0118] S240, control the oscillating welding robot to move along the running path and complete the oscillating welding according to the oscillating command.

[0119] The teaching adjustment instructions include re-teaching adjustment instructions for the swing start point and swing end point.

[0120] For example, re-teaching can be achieved in the following ways: Using the start and end coordinate values ​​displayed on the interface, determine if the start and end points are near the Z-axis of the base coordinate system, and adjust them to ensure that the start and end points are not in the first singular pose. Using the 5-axis joint positions of the start and end points displayed on the interface, determine if they are near 0 degrees, and adjust them to ensure that the start and end points are not in the second singular pose. Using the joint positions of each axis and the preset soft limit positions displayed on the interface, determine if the start and end points are near the soft limit, and adjust them to ensure that the start and end points are not near the soft limit.

[0121] After no further prompts are received, you can write a swinging motion, with the following command format:

[0122] Lin(p0)

[0123] WeaveStart(L,F,A)

[0124] Lin(p1)

[0125] WeaveEnd(L,F,A)

[0126] The generated instructions are sent to the oscillating welding robot without any prompts, allowing the robot to safely and reliably complete the oscillating welding process.

[0127] In this embodiment, the type of oscillation is not limited; for example, it can be a sinusoidal oscillation, a triangular oscillation, a circular oscillation, etc.

[0128] To perform the corresponding steps in the above embodiments and various possible methods, an implementation of a swing warning device is given below. Please refer to... Figure 7 , Figure 7 This is a functional block diagram of a swing warning device 140 provided in an embodiment of the present invention. The swing warning device 140 can be applied to... Figure 1The electronic device 100 shown is communicatively connected to the oscillating welding robot. It should be noted that the oscillation warning device 140 provided in this embodiment has the same basic principle and technical effects as the embodiments described above. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above method embodiments. The oscillation warning device 140 includes an information generation module 141 and an information processing module 142.

[0129] The information generation module 141 is used to generate a swing warning command based on the teaching content, and generate a running path corresponding to the swing welding scenario based on the swing warning command.

[0130] The information processing module 142 is used to control the oscillating welding robot to move along the running path, and to perform oscillating path planning during the movement of the oscillating welding robot along the running path to obtain oscillating path planning results; and to simulate oscillating early warning checks based on the oscillating path planning results without actually executing the oscillating path planning results.

[0131] Based on the above, embodiments of the present invention also provide a computer-readable storage medium, the computer-readable storage medium including a computer program, wherein the computer program, when running, controls the electronic device in which the computer-readable storage medium is located to execute the above-described swing warning method.

[0132] By adopting the above-described solution in the embodiments of the present invention, singularity point and joint limit checks can be performed during simulation operation through swing warning, and prompts and adjustments can be made during simulation operation to avoid the movement process and welding process stopping in actual welding, effectively reducing the scrap rate, and greatly improving the efficiency of swing welding debugging by providing advance warning.

[0133] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0134] In addition, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0135] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0136] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A swing warning method, characterized in that, Applied to an electronic device that is communicatively connected to a oscillating welding robot, the method includes: Based on the taught content, generate a swing warning command; Based on the swing warning command, a running path corresponding to the swing welding scenario is generated; The oscillating welding robot is controlled to move along the running path, and oscillating path planning is performed during the movement of the oscillating welding robot along the running path to obtain the oscillating path planning result; Without actually executing the swing path planning results, a swing warning check is simulated based on the swing path planning results.

2. The sway warning method according to claim 1, characterized in that, The teaching content includes the swing start point, swing end point, swing amplitude, swing frequency, and return amplitude; the swing warning command includes swing parameters corresponding to the teaching content. During the movement of the oscillating welding robot along the running path, oscillating path planning is performed to obtain the oscillating path planning result, including: Based on the swing parameters in the swing warning command, a swing environment simulation is performed; In the simulated swing environment, a swing simulation planning result is generated, and the swing simulation planning result is used as the swing path planning result.

3. The sway warning method according to claim 1, characterized in that, The swing warning check based on the swing path planning results includes: Inverse kinematics calculations are performed on the swing trajectory in the swing path planning results. Based on the inverse kinematics calculation results, it is determined whether the swing welding robot is in a singular pose and whether the joint position of the swing welding robot exceeds the soft limit. If the oscillating welding robot is in an unusual pose, or if the joint position of the oscillating welding robot exceeds the soft limit, an abnormality warning will be issued, and the process will continue to execute the step of controlling the oscillating welding robot to move along the running path until the oscillation warning check is simulated based on the oscillation path planning result.

4. The sway warning method according to claim 3, characterized in that, The determination of whether the oscillating welding robot is in a singular pose includes: Obtain the X and Y coordinate values ​​in the coordinate system of the oscillating welding robot; Based on the X and Y coordinate values, determine whether the following conditions are met: abs(X-0) < set threshold and abs(Y-0) < set threshold If so, then the oscillating welding robot is determined to be in a singular pose; or, Obtain infinitely many solutions when the five axes of the oscillating welding robot are at 0 degrees, and determine whether the five-axis position after inverse kinematics satisfies the following condition: abs(J5-0) < set threshold. If so, the oscillating welding robot is determined to be in a singular pose.

5. The sway warning method according to claim 3, characterized in that, The determination of whether the joint position of the oscillating welding robot exceeds the soft limit includes: The joint positions of the swing welding robot are obtained based on the inverse kinematics calculation results; The joint position is compared with the preset positive soft joint limit and the preset negative soft joint limit to determine whether the joint position meets the following conditions: J i Preset positive soft limit i or J i Preset negative soft limit i If so, it is determined that the joint position of the swing welding robot exceeds the soft limit.

6. The sway warning method according to claim 3, characterized in that, The method further includes: If an error message is displayed, the teaching content is retrieved again based on the teaching adjustment instructions. Based on the re-obtained teaching content, return to the step of generating a swing warning instruction based on the teaching content and simulating a swing warning check based on the swing path planning result, until no abnormality is indicated. Based on the swing path planning corresponding to the teaching content without abnormal prompts, generate swing instructions; The oscillating welding robot is controlled to move along the running path and completes oscillating welding according to the oscillating command.

7. The sway warning method according to claim 6, characterized in that, The teaching adjustment instructions include re-teaching adjustment instructions for the swing start point and swing end point.

8. A swing warning device, characterized in that, The device is applied to an electronic device that is communicatively connected to a wobbling welding robot. The wobbling warning device includes: The information generation module is used to generate a swing warning command based on the teaching content, and generate an operation path corresponding to the swing welding scenario based on the swing warning command. The information processing module is used to control the oscillating welding robot to move along the running path, and to perform oscillating path planning during the movement of the oscillating welding robot along the running path to obtain oscillating path planning results; and to simulate oscillating early warning checks based on the oscillating path planning results without actually executing the oscillating path planning results.

9. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the swing warning method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a computer program that, when executed, controls the electronic device containing the computer-readable storage medium to perform the swing warning method according to any one of claims 1 to 7.

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