Collaborative welding control method, device, system and storage medium

Abstract

The present application discloses a collaborative welding control method, device, system, and storage medium, relating to the field of welding robots. The method includes: detecting the real-time position of a target point to be welded on a workpiece to be welded to obtain position information of the point to be welded; assigning a positioner angle to the target point to be welded based on the position information of the point to be welded to obtain the target positioner angle; determining the position vector and posture information of the welding gun end point corresponding to the target point to be welded based on the homogeneous transformation relationship between the welding gun end point and the point to be welded, the position information of the point to be welded, and the target positioner angle to obtain the target position information; and controlling the movement of the welding gun and positioner based on the target position information to perform collaborative welding. The present application solves the problem in the related art that welding robots and positioners cannot achieve effective collaborative welding, and realizes the collaborative work of welding robots and positioners based on laser weld seam tracking.

Description

Technical Field

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

[0002] In automated welding applications, a positioner is a device that controls the position and orientation of a workpiece. By controlling the workpiece's rotation and flipping, it enables the welding robot to operate in different welding positions and angles. Using a positioner with a welding robot effectively improves its flexibility and adaptability.

[0003] However, in the laser weld seam tracking technology where the welding robot is combined with a positioner for welding, the positioner is often required to rotate into position and remain stationary before laser weld seam tracking and welding can be performed. As a result, the welding robot and the positioner do not effectively coordinate movement, and true collaborative welding cannot be achieved, which greatly reduces the flexibility and adaptability of the welding robot. Summary of the Invention

[0004] The main purpose of this application is to provide a collaborative welding control method, equipment, system and storage medium, aiming to solve the technical problem in related technologies that welding robots and positioners cannot achieve effective collaborative welding, resulting in reduced flexibility and adaptability of welding robots.

[0005] To achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect, the present application provides a collaborative welding control method, which is applied to a collaborative welding system including a welding robot and a positioner, wherein the welding robot includes a robotic arm and a welding gun disposed at the end of the robotic arm, and the positioner includes a workbench for placing a workpiece to be welded; the method comprises:

[0007] Detect the real-time position of the target welding point on the workpiece to be welded and obtain the position information of the welding point;

[0008] According to the position information of the target welding point, a positioner angle is assigned to the target welding point to obtain a target positioner angle;

[0009] According to the homogeneous transformation relationship between the welding gun end point and the point to be welded, the position information of the point to be welded and the target positioner angle, the position vector and posture information of the welding gun end point corresponding to the target point to be welded are determined to obtain the target position information;

[0010] The movement of the welding gun and positioner is controlled according to the target position information to perform coordinated welding.

[0011] Optionally, in the collaborative welding control method, before the step of determining the position vector and posture information of the welding gun end point corresponding to the point to be welded based on the homogeneous transformation relationship between the welding gun end point and the point to be welded, the position information of the point to be welded, and the target positioner angle, and obtaining the target position information, the method further includes:

[0012] Based on the correspondence between the position vector of the welding gun end point in the robot base coordinate system and the position vector of the point to be welded on the workpiece to be welded in the robot base coordinate system, a homogeneous transformation relationship between the welding gun end point and the point to be welded is established.

[0013] Optionally, in the collaborative welding control method, a laser sensor is provided on the welding gun, and the position information of the point to be welded includes a position vector of the point to be welded in a worktable coordinate system; and the step of detecting the real-time position of the target point to be welded on the workpiece to be welded and obtaining the position information of the point to be welded includes:

[0014] The real-time position of the target welding point on the workpiece to be welded is detected by a laser sensor, and the real-time position vector of the target welding point in the laser sensor coordinate system is obtained;

[0015] Based on the homogeneous transformation relationship between the target point to be welded in the laser sensor coordinate system and the workbench coordinate system, the real-time position vector of the target point to be welded in the laser sensor coordinate system is converted into the position vector in the workbench coordinate system, and the position vector of the target point to be welded in the workbench coordinate system is obtained.

[0016] Optionally, in the collaborative welding control method, before the step of converting the real-time position vector of the target point to be welded in the laser sensor coordinate system into a position vector in the workbench coordinate system based on the homogeneous transformation relationship between the point to be welded in the laser sensor coordinate system and the workbench coordinate system, and obtaining the position vector of the point to be welded in the workbench coordinate system, the method further includes:

[0017] The position vector of the point to be welded on the workpiece to be welded in the welding gun coordinate system is obtained according to the product of the position vector of the point to be welded on the workpiece to be welded in the laser sensor coordinate system and the transformation matrix of the laser sensor coordinate system relative to the welding gun coordinate system;

[0018] Based on the correspondence between the position vector of the welding point in the welding gun coordinate system and the position vector of the welding gun end point in the welding gun coordinate system, a homogeneous transformation relationship between the welding point in the laser sensor coordinate system and the workbench coordinate system is established.

[0019] Optionally, in the collaborative welding control method, the step of allocating a positioner angle to a target point to be welded according to the position information of the point to be welded, and obtaining the target positioner angle includes:

[0020] Obtain the teaching position information of the teaching point on the welding robot;

[0021] Determine the teaching point position vector in the robot base coordinate system according to the teaching position information;

[0022] The teaching point position vector in the robot base coordinate system is converted into a position vector in the workbench coordinate system to obtain the teaching point position vector in the workbench coordinate system;

[0023] The positioner angle is allocated to the target point to be welded according to the teaching point position vector in the workbench coordinate system and the position vector of the point to be welded in the workbench coordinate system to obtain the target positioner angle.

[0024] Optionally, in the collaborative welding control method, the teaching point includes a teaching start point and a teaching end point, and the teaching position information includes a position vector and a positioner angle of the teaching start point and a position vector and a positioner angle of the teaching end point;

[0025] The steps of converting the teaching point position vector in the robot base coordinate system into a position vector in the workbench coordinate system to obtain the teaching point position vector in the workbench coordinate system include:

[0026] Based on the transformation relationship between the workbench coordinate system and the robot base coordinate system, the position vector of the teaching start point and the position vector of the teaching end point are transformed respectively to obtain the teaching start point position vector and the teaching end point position vector in the workbench coordinate system;

[0027] The steps of allocating a positioner angle to a target point to be welded according to the teaching point position vector in the workbench coordinate system and the position vector of the point to be welded in the workbench coordinate system, and obtaining the target positioner angle include:

[0028] Calculate the Euclidean distance between the teaching start point and the teaching end point based on the teaching start point position vector and the teaching end point position vector;

[0029] Calculate the Euclidean distance between the target point to be welded and the teaching starting point according to the position vector of the point to be welded and the teaching starting point position vector in the workbench coordinate system;

[0030] The target positioner angle is calculated based on the positioner angle at the teaching start point, the positioner angle at the teaching end point, the Euclidean distance between the teaching start point and the teaching end point, and the Euclidean distance between the target point to be welded and the teaching start point.

[0031] Optionally, in the above-mentioned collaborative welding control method, the teaching position information further includes posture information of the teaching starting point and posture information of the teaching end point;

[0032] The step of determining the position vector and posture information of the welding gun end point corresponding to the target point to be welded according to the homogeneous transformation relationship between the welding gun end point and the point to be welded, the position information of the point to be welded, and the target positioner angle includes:

[0033] Determine the transformation matrix of the worktable coordinate system relative to the robot base coordinate system during collaborative motion according to the target positioner angle;

[0034] Based on the homogeneous transformation relationship between the welding gun end point and the point to be welded, the transformation matrix of the worktable coordinate system relative to the robot base coordinate system during collaborative motion is multiplied by the position vector of the point to be welded in the worktable coordinate system to obtain the position vector of the welding gun end point corresponding to the target point to be welded in the robot base coordinate system;

[0035] Calculate the posture information of the welding gun end point corresponding to the target point to be welded in the robot base coordinate system according to the posture information of the teaching starting point, the posture information of the teaching end point, the Euclidean distance between the teaching starting point and the teaching end point, and the Euclidean distance between the target point to be welded and the teaching starting point;

[0036] The target position information is obtained based on the position vector of the welding gun end point, the posture information of the welding gun end point and the target positioner angle.

[0037] In a second aspect, the present application provides a collaborative welding control device, which includes a processor and a memory, wherein a collaborative welding control program is stored in the memory, and when the collaborative welding control program is executed by the processor, the collaborative welding control method as described above is implemented.

[0038] In a third aspect, the present application provides a collaborative welding system, the system comprising:

[0039] The welding robot includes a robotic arm and a welding gun disposed at the end of the robotic arm, and the welding gun is provided with a laser sensor;

[0040] A positioner, which includes a workbench for placing the workpiece to be welded;

[0041] The collaborative welding control device is used to implement the collaborative welding control method as described above.

[0042] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by one or more processors, the collaborative welding control method as described above is implemented.

[0043] The above one or more technical solutions provided by this application may have the following advantages or at least achieve the following technical effects:

[0044] The present application proposes a collaborative welding control method, device, system and storage medium, which detects the real-time position of the target point to be welded on the workpiece to be welded, assigns a positioner angle to the target point to be welded, obtains the target positioner angle, and then determines the position vector and posture information of the welding gun end point corresponding to the target point to be welded based on the homogeneous transformation relationship between the welding gun end point and the point to be welded, the position information of the point to be welded and the target positioner angle to obtain the target position information. Finally, the welding gun and the positioner movement are controlled according to the target position information to perform collaborative welding, thereby realizing the collaborative work of the welding robot and the positioner based on laser weld seam tracking. In this method, the position of the target point to be welded is detected in real time to solve the posture information of the welding gun end point corresponding to the target point to be welded and the positioner angle corresponding to the target point to be welded in the collaborative welding process in real time, thereby ensuring the timely use of detection data and the timely solution of target position information. When the weld position changes due to the movement of the positioner, the welding gun can move in real time according to the position of the point to be welded on the weld, accurately track and weld in a timely manner, thereby realizing true collaborative welding, improving the flexibility and adaptability of the welding robot, and also improving the welding efficiency and welding quality of the welding robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] 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 the provided drawings without any creative work.

[0046] Figure 1 This is a flow chart of the first embodiment of the collaborative welding control method of the present application;

[0047] Figure 2 This is a flow chart of the second embodiment of the collaborative welding control method of the present application;

[0048] Figure 3 This is a weld tracking flow chart of the second embodiment of the collaborative welding control method of this application;

[0049] Figure 4 This is a schematic diagram of the hardware structure of the first embodiment of the collaborative welding control device of this application.

[0050] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0051] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of this application.

[0052] It should be noted that, in this application, the terms "comprise," "include," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. Without further limitation, an element specified by the phrase "comprise..." does not preclude the presence of other identical elements in the process, method, article, or system comprising that element. In this application, suffixes such as "module," "component," or "unit" used to denote components are used solely to facilitate the description of this application and do not inherently have specific meanings. Therefore, "module," "component," or "unit" may be used interchangeably. A person of ordinary skill in the art will understand the specific meanings of these terms in this application based on the specific circumstances. Furthermore, the technical solutions of the various embodiments may be combined with each other, but this is based on the ability of a person of ordinary skill in the art to implement them. If a combination of technical solutions contradicts or cannot be implemented, it should be deemed that such a combination does not exist and is not within the scope of protection claimed in this application.

[0053] In automated welding applications, a positioner is a device that controls the position and orientation of a workpiece. By controlling the workpiece's rotation and flipping, it enables the welding robot to operate in different welding positions and angles. Using a positioner with a welding robot effectively improves its flexibility and adaptability.

[0054] Analysis of related technologies reveals that in actual production, welding robots coupled with positioners can easily cause welding path deviations due to teaching errors, workpiece positioning errors, and thermal deformation. To address this issue, laser seam tracking technology has been proposed. This technology uses a laser sensor mounted on the welding gun to detect the actual position of the weld seam in real time, allowing for real-time correction of the welding path.

[0055] However, in the laser weld tracking technology used by the welding robot in conjunction with the positioner for welding, since the laser sensor is an advanced detection, the detected weld position information will be stored and retrieved for use later. When the welding robot and the positioner move in coordination, the weld position will change in real time with the movement of the positioner, which makes the previously detected weld information invalid and even causes collision problems. Therefore, it is often necessary to rotate the positioner into position and keep it stationary before laser weld tracking and welding can be performed. This results in the welding robot and the positioner not effectively coordinating movement, and true collaborative welding cannot be achieved, which will greatly reduce the flexibility and adaptability of the welding robot.

[0056] In view of the technical problem in related technologies where welding robots and positioners cannot achieve effective collaborative welding, resulting in reduced flexibility and adaptability of the welding robots, this application provides a collaborative welding control method, device, system, and storage medium. The collaborative welding control method, device, system, and storage medium provided in this application are described in detail below through specific embodiments and implementation methods, in conjunction with the accompanying drawings.

[0057] Example 1

[0058] Reference Figure 1 , a first embodiment of the collaborative welding control method of the present application is proposed, and the collaborative welding control method is applied to a collaborative welding system.

[0059] The collaborative welding system includes a welding robot and a positioner. The welding robot includes a robotic arm and a welding gun mounted at the end of the arm, which is equipped with a laser sensor. The positioner includes a worktable for placing the workpiece to be welded. A flange connecting the robotic arm and the welding gun can be located at the end of the robotic arm.

[0060] The collaborative welding control method of this embodiment can be specifically applied to a welding robot, where the controller of the welding robot is respectively connected to the robotic arm, flange, welding gun, laser sensor and workbench of the positioner to achieve mutual data communication; it can also be applied separately to a collaborative welding control device, where the collaborative welding control device is respectively connected to the welding robot and the positioner, specifically to the robotic arm, flange, welding gun, laser sensor and workbench of the positioner on the welding robot to achieve mutual data communication. The specific selection can be made according to actual needs and is not limited here.

[0061] Based on the above collaborative welding system, the following Figure 1 The flowchart shown in FIG. 1 is used to describe the collaborative welding control method of this embodiment in detail. The method may include the following steps:

[0062] Step S300: Detecting the real-time position of the target welding point on the workpiece to be welded, and obtaining the position information of the welding point.

[0063] The workpiece to be welded is placed on a positioner, which adjusts its position and direction, and performs movement, rotation, and flipping, etc. The control instructions of the positioner can be sent by the collaborative welding control device. The target point to be welded is the point to be welded where the end of the welding gun on the welding robot is aligned with the workpiece to be welded on the positioner. Therefore, the position of the end point of the welding gun has a corresponding relationship with the target point to be welded, including being a fixed distance apart, being at the same angle, etc. The specific relationship can be determined according to actual conditions and is not limited here. The laser sensor is set on the welding gun. In specific applications, the position of the target point to be welded can be detected in real time by the laser sensor, and the real-time position of the detected target point to be welded can be sent to the collaborative welding control device. The real-time position can be represented in the form of vector data, etc. The collaborative welding control device can obtain the position information of the target point to be welded, i.e., the position information of the point to be welded.

[0064] Step S400: allocating a positioner angle to a target point to be welded according to the position information of the point to be welded, and obtaining a target positioner angle.

[0065] Since the positioner and the welding robot move in coordination, after the position is determined based on the actual target welding point, the real-time angle of the positioner can be determined accordingly, so that the subsequent control of the position of the welding gun on the welding robot is carried out when the positioner is in a stable state, thereby ensuring the synchronization of the welding gun and the positioner and achieving precise welding operations.

[0066] Specifically, there are many ways to allocate the positioner angle. The collaborative welding control device can directly allocate it according to the position information of the weld point and the preset allocation rules, and control the positioner; or the collaborative welding control device can allocate it in combination with the teaching trajectory set by the welding robot for the workpiece to be welded.

[0067] Among them, the positioner angle is assigned to the target point to be welded in combination with the teaching trajectory. Specifically, the teaching position information of the teaching point on the welding robot can be obtained, the teaching point position vector can be determined, and then the positioner angle is assigned to the target point to be welded according to the teaching point position vector and the position information of the point to be welded, so as to obtain the target positioner angle; the teaching position information of the teaching point on the welding robot can also be obtained, the teaching point position vector in the workbench coordinate system can be determined, and then the positioner angle is assigned to the target point to be welded according to the teaching point position vector in the workbench coordinate system and the position vector of the point to be welded in the workbench coordinate system, so as to obtain the target positioner angle. Among them, the workbench coordinate system is a coordinate system established based on the workbench of the positioner, and the position information of the spot to be welded is detected by the laser sensor, so it is generally based on the coordinate system established by the laser sensor, that is, the position vector in the laser sensor coordinate system, and the teaching point position vector is output by the welding robot, and is generally also based on the main coordinate system established by the welding robot, that is, the position vector in the robot base coordinate system. In order to ensure the uniformity of data when allocating the positioner angle, in actual applications, the position vectors in different coordinate systems can be converted before the positioner angle is allocated. Optionally, the position information of the spot to be welded is the position vector in the workbench coordinate system obtained by converting the position vector in the laser sensor coordinate system, and the teaching point position vector is the position vector in the workbench coordinate system obtained by converting the position vector in the robot base coordinate system, so that the positioner angle is allocated in the workbench coordinate system to ensure data uniformity and convenience of calculation.

[0068] Step S500: Determine the position vector and posture information of the welding gun end point corresponding to the target point to be welded according to the homogeneous transformation relationship between the welding gun end point and the point to be welded, the position information of the point to be welded and the target positioner angle to obtain the target position information.

[0069] The operation of a welding robot involves the relationships between various objects and between each object and the robotic arm. These relationships, including spatial position and posture, can be described using homogeneous coordinate transformations. Multiple corresponding homogeneous transformation relationships can be established based on the relationships between the welding robot, robotic arm, welding gun, positioner, and laser sensor in a specific application. Here, the collaborative welding control device can use the homogeneous transformation relationship between the welding gun end point and the target point to be welded to determine the spatial position and posture of the welding gun end point corresponding to the target point to be welded, obtaining the position vector and posture information of the welding gun end point. This information is then combined with the target positioner angle to obtain the target position information, enabling the collaborative movement of the welding robot and positioner.

[0070] To determine the position vector of the welding gun end point, the transformation matrix of the worktable coordinate system relative to the robot base coordinate system is first determined based on the target positioner angle. The position vector of the target point to be welded in the worktable coordinate system (i.e., the position information of the point to be welded) is then combined with this transformation matrix to determine the position vector of the target point to be welded in the robot base coordinate system, which serves as the position vector of the welding gun end point. The posture information of the welding gun end point can be directly determined by the collaborative welding control device based on the position information of the point to be welded and a preset matching rule; it can also be calculated by combining the posture information corresponding to the teaching trajectory set by the welding robot for the workpiece to be welded.

[0071] Among them, the posture information of the end point of the welding gun is calculated in combination with the posture information corresponding to the teaching trajectory. Specifically, the teaching position information of the teaching point on the welding robot can be obtained, the posture information of the teaching point can be determined, and then the posture information of the end point of the welding gun can be obtained according to the posture information of the teaching point, the position information of the point to be welded and the position vector of the end point of the welding gun; the teaching position information of the teaching point on the welding robot can also be obtained, the posture information of the teaching point in the robot base coordinate system and the teaching point position vector in the robot base coordinate system can be determined, and the Euclidean distance between the teaching point and the target point to be welded can be calculated according to the teaching point position vector in the robot base coordinate system, and then the posture information of the end point of the welding gun corresponding to the target point to be welded in the robot base coordinate system can be calculated according to the Euclidean distance and the posture information of the teaching point in the robot base coordinate system.

[0072] Step S600: Controlling the movement of the welding gun and the positioner according to the target position information to perform coordinated welding.

[0073] After the collaborative welding control device obtains the position vector of the welding gun end point, the posture information of the welding gun end point and the target positioner angle, it controls the movement of the welding gun and positioner on the welding robot so that the welding gun end point is aligned with the target welding point, thereby performing the welding operation and realizing collaborative welding.

[0074] The collaborative welding control method provided in this embodiment detects the real-time position of the target point to be welded on the workpiece to be welded, assigns a positioner angle to the target point to be welded, obtains the target positioner angle, and then determines the position vector and posture information of the welding gun end point corresponding to the target point to be welded based on the homogeneous transformation relationship between the welding gun end point and the point to be welded, the position information of the point to be welded, and the target positioner angle to obtain the target position information. Finally, the movement of the welding gun and the positioner is controlled according to the target position information to perform collaborative welding, thereby realizing the collaborative work of the welding robot and the positioner based on laser weld seam tracking. In this method, the position of the target point to be welded is detected in real time to solve the posture information of the welding gun end point corresponding to the target point to be welded and the positioner angle corresponding to the target point to be welded in the collaborative welding process in real time, thereby ensuring the timely use of detection data and the timely solution of target position information. When the weld position changes due to the movement of the positioner, the welding gun can move in real time according to the position of the point to be welded on the weld seam, accurately track, and weld in a timely manner, thereby realizing true collaborative welding, improving the flexibility and adaptability of the welding robot, and also improving the welding efficiency and welding quality of the welding robot.

[0075] Example 2

[0076] Based on the same technical concept, Figure 2 and Figure 3 , a second embodiment of the collaborative welding control method of the present application is proposed, and the collaborative welding control method can also be applied to the collaborative welding control device in the above-mentioned collaborative welding system.

[0077] The following combination Figure 2 The flowchart shown in FIG. 1 is used to describe the collaborative welding control method of this embodiment in detail. The method may include the following steps:

[0078] Step S100: establishing a homogeneous transformation relationship between the end point of the welding gun and the point to be welded.

[0079] Specifically, step S100 includes:

[0080] Step S110: Based on the correspondence between the position vector of the welding gun end point in the robot base coordinate system and the position vector of the point to be welded on the workpiece in the robot base coordinate system, a homogeneous transformation relationship between the welding gun end point and the point to be welded is established.

[0081] Since in the collaborative welding process of the welding robot and the positioner, the end point of the welding gun always follows the movement of the point to be welded on the weld seam of the workpiece to be welded on the worktable of the positioner, there is a relative motion relationship between the end point of the welding gun and the point to be welded. Therefore, the position vector of the end point of the welding gun in the robot base coordinate system is equal to the position vector of the point to be welded in the robot base coordinate system. This relationship can be expressed by a homogeneous transformation matrix.

[0082] In the specific implementation process, the position vector of the end point of the welding gun in the robot base coordinate system can be the position vector P of the end point of the welding gun in the welding gun coordinate system. end , the transformation matrix of the welding gun coordinate system relative to the robot arm end coordinate system The transformation matrix of the manipulator end coordinate system relative to the robot base coordinate system The position vector of the point to be welded in the robot base coordinate system can be the position vector P of the point to be welded in the workbench coordinate system. weld Transformation matrix of the worktable coordinate system relative to the robot base coordinate system The robot base coordinate system is the main coordinate system established based on the welding robot, which is used to control the movement of the robot arm; the robot end coordinate system can be a coordinate system established based on the flange set at the end of the robot arm, which is used to control the movement between the flange and the welding gun; the welding gun coordinate system is a coordinate system established based on the welding gun, which is used to control the movement of the welding gun itself to adjust the welding position of the welding gun end point; the workbench coordinate system is a coordinate system established based on the workbench of the positioner, which is used to control the movement of the workbench.

[0083] In this embodiment, based on the relationship that the position vector of the welding gun end point in the robot base coordinate system is equal to the position vector of the point to be welded in the robot base coordinate system, the homogeneous transformation relationship between the welding gun end point and the point to be welded can be established as follows:

[0084]

[0085] Step S200: establishing a homogeneous transformation relationship between the weld point in the laser sensor coordinate system and the workbench coordinate system.

[0086] Specifically, step S200 includes:

[0087] Step S210: obtaining the position vector of the to-be-welded point on the workpiece to be welded in the welding gun coordinate system according to the product of the position vector of the to-be-welded point on the workpiece to be welded in the laser sensor coordinate system and the transformation matrix of the laser sensor coordinate system relative to the welding gun coordinate system;

[0088] Step S220: Based on the correspondence between the position vector of the welding point in the welding gun coordinate system and the position vector of the welding gun end point in the welding gun coordinate system, a homogeneous transformation relationship between the welding point in the laser sensor coordinate system and the workbench coordinate system is established.

[0089] In the collaborative welding system composed of a welding robot and a positioner, a laser sensor is installed on the welding gun to detect the real-time position of the welding point. The detected position is represented in a coordinate system established based on the laser sensor, namely the laser sensor coordinate system.

[0090] In the specific implementation process, the position of the welding point in the laser sensor coordinate system can be converted to the welding gun coordinate system. The position of the welding point in the welding gun coordinate system corresponds to the position of the welding gun end point in the welding gun coordinate system. Therefore, based on the position vector P of the welding point in the laser sensor coordinate system l Transformation matrix of the laser sensor coordinate system relative to the welding gun coordinate system The product of can get the converted position of the welding point, that is, the position vector of the welding point in the welding gun coordinate system, and the position vector of the welding point in the welding gun coordinate system is the position vector P of the corresponding welding gun end point in the welding gun coordinate system. end This relationship can be expressed using a homogeneous transformation matrix.

[0091] Similar to the above step S100 of establishing the homogeneous transformation relationship between the end point of the welding gun and the point to be welded, the position vector of the point to be welded in the robot base coordinate system can be the position vector P of the point to be welded in the laser sensor coordinate system. l , the transformation matrix of the laser sensor coordinate system relative to the welding gun coordinate system Transformation matrix of the welding gun coordinate system relative to the robot arm end coordinate system The transformation matrix of the manipulator end coordinate system relative to the robot base coordinate system The product of can also be the position vector P of the welding point in the workbench coordinate system weld Transformation matrix of the worktable coordinate system relative to the robot base coordinate system There is a conversion relationship between the laser sensor coordinate system and the workbench coordinate system for the welding point.

[0092] In this embodiment, based on the relationship that the position vector of the welding gun end point in the robot base coordinate system is equal to the position vector of the point to be welded in the robot base coordinate system, it can be known that the position vector of the welding gun end point in the welding gun coordinate system is also equal to the position vector of the point to be welded in the welding gun coordinate system, and the position vector of the point to be welded in the welding gun coordinate system is the product of the position vector of the point to be welded in the laser sensor coordinate system and the transformation matrix of the laser sensor coordinate system relative to the welding gun coordinate system. The homogeneous transformation relationship between the point to be welded in the laser sensor coordinate system and the worktable coordinate system can be established as follows:

[0093]

[0094] Step S300: Detecting the real-time position of the target welding point on the workpiece to be welded, and obtaining the position information of the welding point.

[0095] Specifically, the welding gun is provided with a laser sensor, and the obtained position information of the to-be-welded point includes the position vector of the to-be-welded point in the workbench coordinate system; step S300 may include:

[0096] Step S310: Detecting the real-time position of the target point to be welded on the workpiece to be welded by a laser sensor, and obtaining the real-time position vector of the target point to be welded in the laser sensor coordinate system;

[0097] Step S320: Based on the homogeneous transformation relationship between the target point to be welded in the laser sensor coordinate system and the workbench coordinate system, the real-time position vector of the target point to be welded in the laser sensor coordinate system is converted into a position vector in the workbench coordinate system to obtain the position vector of the target point to be welded in the workbench coordinate system.

[0098] In order to facilitate the subsequent allocation of positioner angles for the target weld points, the homogeneous transformation relationship between the weld points in the laser sensor coordinate system and the workbench coordinate system can be The target welding point P detected by the laser sensor ld The real-time position vector in the laser sensor coordinate system is converted into the position vector in the workbench coordinate system, that is, the position vector P of the welding point to be welded in the workbench coordinate system is obtained. pl (x pl ,y pl ,z pl ).

[0099] Step S400: allocating a positioner angle to a target point to be welded according to the position information of the point to be welded, and obtaining a target positioner angle.

[0100] Specifically, step S400 may include:

[0101] Step S410: Acquire the teaching position information of the teaching point on the welding robot;

[0102] Step S420: determining the teaching point position vector in the robot base coordinate system according to the teaching position information;

[0103] Step S430: converting the teaching point position vector in the robot base coordinate system into a position vector in the workbench coordinate system to obtain the teaching point position vector in the workbench coordinate system;

[0104] Step S440: allocating a positioner angle to the target point to be welded according to the teaching point position vector in the workbench coordinate system and the position vector of the point to be welded in the workbench coordinate system to obtain a target positioner angle.

[0105] The teaching point is a point on the teaching trajectory set by the welding robot for the workpiece to be welded. It can be understood that the weld seam of the workpiece to be welded can be a straight line or a curve, and the corresponding teaching trajectory can also be a straight line or a curve.

[0106] During the specific implementation process, the collaborative welding control equipment obtains the teaching position information of the teaching point based on the preset teaching trajectory on the welding robot, which may specifically include information such as the position, posture and positioner angle of the teaching point; then the position vector of the teaching point in the robot base coordinate system is determined according to the teaching position information, that is, the teaching point position vector in the robot base coordinate system, and it is converted into the workbench coordinate system to obtain the teaching point position vector in the workbench coordinate system, and then combined with the position vector of the point to be welded in the workbench coordinate system to assign the positioner angle to the target point to be welded, and obtain the target positioner angle in the workbench coordinate system.

[0107] In an optional implementation of this embodiment, the teaching point includes a teaching start point and a teaching end point, and the teaching position information includes a position vector and a positioner angle of the teaching start point and a position vector and a positioner angle of the teaching end point; step S430 may include:

[0108] Step S431: Based on the transformation relationship between the workbench coordinate system and the robot base coordinate system, the position vector of the teaching start point and the position vector of the teaching end point are respectively transformed to obtain the teaching start point position vector and the teaching end point position vector in the workbench coordinate system;

[0109] Correspondingly, step S440 may include:

[0110] Step S441: Calculating the Euclidean distance between the teaching start point and the teaching end point according to the teaching start point position vector and the teaching end point position vector;

[0111] Step S442: Calculating the Euclidean distance between the target point to be welded and the teaching starting point based on the position vector of the point to be welded and the teaching starting point position vector in the workbench coordinate system;

[0112] Step S443: Calculate the target positioner angle according to the positioner angle at the teaching start point, the positioner angle at the teaching end point, the Euclidean distance between the teaching start point and the teaching end point, and the Euclidean distance between the target point to be welded and the teaching start point.

[0113] Although the weld seam on the workpiece to be welded can be a straight line or a curve, the corresponding teaching trajectory can also be a straight line or a curve, but a curve can be considered as a plurality of short straight lines. Therefore, in this embodiment, the weld seam is a straight line and the teaching trajectory is also a straight line for illustration. In addition, the positioner is taken as an example of a dual-axis positioner.

[0114] Assume that the obtained teaching position information of the teaching point on the welding robot includes the teaching starting point P s Teaching position information (X s ,Y s ,Z s ,W s ,P s ,R s ,θ1s ,θ 2s ) and the teaching end point P e Teaching position information (X e ,Y e ,Z e ,W e ,P e ,R e ,θ 1e ,θ 2e ), which may specifically include the position vector, posture information and positioner angle of the teaching starting point, as well as the position vector, posture information and positioner angle of the teaching end point, all of which are position information in the robot base coordinate system.

[0115] In order to facilitate subsequent calculations, the teaching starting point position vector (X s ,Y s ,Z s ) and the teaching end position vector (X e ,Y e ,Z e ); Then, the teaching starting position vector and the teaching end position vector in the robot base coordinate system are converted into position vectors in the workbench coordinate system through step S430 to obtain the teaching starting position vector and the teaching end position vector in the workbench coordinate system. Specifically, the teaching starting position vector and the teaching end position vector in the workbench coordinate system can be obtained through step S431 according to the homogeneous transformation relationship The teaching starting point position vector (X s ,Y s ,Z s ) and the teaching end position vector (X e ,Y e ,Z e ) are multiplied by the inverse matrix of the transformation matrix of the worktable coordinate system relative to the robot base coordinate system Transform to the workbench coordinate system and obtain the teaching starting point position vector P in the transformed workbench coordinate system ps (x ps ,y ps ,z ps ) and the teaching end position vector P in the transformed workbench coordinate system pe (x pe ,y pe ,z pe ).

[0116] According to the teaching starting point position vector P in the workbench coordinate system ps (x ps ,y ps ,z ps ) and the teaching end position vector P in the workbench coordinate system pe (x pe,y pe ,z pe ) Calculate the Euclidean distance D between the teaching start point and the teaching end point in the workbench coordinate system se :

[0117]

[0118] According to the position vector P of the welding point in the workbench coordinate system pl (x pl ,y pl ,z pl ) and the teaching starting point position vector P in the workbench coordinate system ps (x ps ,y ps ,z ps ) Calculate the Euclidean distance D between the target welding point and the teaching starting point sl :

[0119]

[0120] Then, according to the positioner angle (θ 1s ,θ 2s ), the positioner angle at the teaching end point (θ 1e ,θ 2e ), the Euclidean distance D between the teaching start point and the teaching end point se And the European distance D between the target welding point and the teaching starting point sl Calculate the target positioner angle (θ ld1 ,θ ld2 ):

[0121]

[0122] Step S500: Determine the position vector and posture information of the welding gun end point corresponding to the target point to be welded according to the homogeneous transformation relationship between the welding gun end point and the point to be welded, the position information of the point to be welded and the target positioner angle to obtain the target position information.

[0123] In this embodiment, the position information includes a position vector, posture information and a positioner angle. The target positioner angle is first determined, and then the position vector and posture information of the welding gun end point corresponding to the target point to be welded can be determined based on the target positioner angle combined with the position information of the point to be welded and the homogeneous transformation relationship between the welding gun end point and the point to be welded. The welding gun and the positioner are thereby controlled in motion based on the posture of the welding gun end point and the angle of the positioner to achieve collaborative welding.

[0124] In an optional implementation manner of this embodiment, the teaching position information further includes posture information of the teaching starting point and posture information of the teaching end point; step S500 may include:

[0125] Step S510: determining the transformation matrix of the worktable coordinate system relative to the robot base coordinate system during the coordinated motion according to the target positioner angle;

[0126] Step S520: Based on the homogeneous transformation relationship between the welding gun end point and the target point to be welded, the transformation matrix of the worktable coordinate system relative to the robot base coordinate system during the coordinated motion is multiplied by the position vector of the target point to be welded in the worktable coordinate system to obtain the position vector of the welding gun end point corresponding to the target point to be welded in the robot base coordinate system;

[0127] Step S530: Calculating the posture information of the welding gun end point corresponding to the target point to be welded in the robot base coordinate system based on the posture information of the teaching starting point, the posture information of the teaching end point, the Euclidean distance between the teaching starting point and the teaching end point, and the Euclidean distance between the target point to be welded and the teaching starting point;

[0128] Step S540: Obtain target position information based on the position vector of the welding gun end point, the posture information of the welding gun end point and the target positioner angle.

[0129] Based on the above example, the target positioner angle (θ ld1 ,θ ld2 ), the transformation matrix of the worktable coordinate system relative to the robot base coordinate system during collaborative motion can be determined Then, the position vector of the target spot to be welded in the workbench coordinate system, that is, the spot position vector P pl (x pl ,y pl ,z pl ) and the transformation matrix of the worktable coordinate system relative to the robot base coordinate system Substitute into the homogeneous transformation relationship between the end point of the welding gun and the point to be welded In the calculation, the position vector P of the welding gun end point corresponding to the target welding point in the robot base coordinate system is obtained. b (x b ,y b ,z b ), the specific calculation formula is:

[0130]

[0131] Then, according to the posture information of the teaching starting point in the robot base coordinate system (W s ,P s ,R s ), the posture information of the teaching end point in the robot base coordinate system (W e ,P e ,R e ), the Euclidean distance D between the teaching start point and the teaching end point seAnd the European distance D between the target welding point and the teaching starting point sl , the posture information of the welding gun end point corresponding to the target welding point in the robot base coordinate system can be calculated (w b ,p b ,r b ):

[0132]

[0133] Finally, based on the position vector P of the welding gun end point b (x b ,y b ,z b ), the posture information of the end point of the welding gun (w b ,p b ,r b ) and target positioner angle (θ ld1 ,θ ld2 ), and then the target location information (x b ,y b ,z b ,w b ,p b ,r b ,θ ld1 ,θ ld2 ), the target position information is the target welding point P that the collaborative welding control device is ld The planned position information of the welding gun end point and the corresponding positioner angle.

[0134] Step S600: Controlling the movement of the welding gun and the positioner according to the target position information to perform coordinated welding.

[0135] Specifically, after the collaborative welding control device obtains the target position information, it can control the welding gun by controlling the welding robot, and control the welding gun according to the position vector P of the welding gun end point. b (x b ,y b ,z b ) and the posture information of the welding gun end point (w b ,p b ,r b ) movement, and realize the control of the workpiece to be welded by controlling the positioner, and controlling the positioner according to the target positioner angle (θ ld1 ,θ ld2 ) movement, so that the welding gun and the positioner move in coordination, realizing laser weld tracking under coordinated welding, thereby realizing the coordinated welding operation of the welding robot and the positioner.

[0136] In an optional implementation manner of this embodiment, after step S600, the method may further include:

[0137] Step S700: determining whether the target welding point is the end point of the weld on the workpiece to be welded;

[0138] Step S800: If not, return to step S300, update the real-time position of the target point to be welded, and obtain new position information of the target point to be welded to achieve laser weld seam tracking under collaborative welding;

[0139] Step S900: If yes, the robot arm, welding gun, positioner, etc. in the collaborative welding system are controlled to stop working to end the collaborative welding.

[0140] After step S600, in order to realize laser weld tracking under collaborative welding, steps S300-S600 can be repeated, wherein the detection information of the laser sensor needs to be collected in time before each cycle, so that step S300 can collect the position of the target point to be welded in real time, that is, update the real-time position of the target point to be welded, and obtain new position information of the point to be welded.

[0141] In a specific implementation of this embodiment, Figure 3 As shown in the weld tracking flowchart, the collaborative welding control method may specifically include:

[0142] Step A1: Establishing a homogeneous transformation relationship between the end point of the welding gun and the point to be welded;

[0143] Step A2: Establishing the homogeneous transformation relationship between the weld point in the laser sensor coordinate system and the workbench coordinate system;

[0144] Step A3: Convert the teaching position information of the teaching point in the robot base coordinate system to the workbench coordinate system;

[0145] Step A4: assigning a positioner angle to the target welding point in the laser sensor coordinate system;

[0146] Step A5: Calculate the position vector of the welding gun end point corresponding to the target welding point in the laser sensor coordinate system;

[0147] Step A6: Calculate the posture information of the welding gun end point corresponding to the target welding point in the laser sensor coordinate system;

[0148] Step A7: The welding robot executes the posture of the welding gun end point corresponding to the target welding point, and the positioner executes the positioner angle of the target welding point;

[0149] Step A8: Determine whether the weld end point has been reached;

[0150] Step A9: If not, repeat steps A4-A7 to implement laser seam tracking under the coordinated motion of the welding robot and the positioner; wherein, before each cycle, the position vector of the target weld point in the laser sensor coordinate system is updated according to the detection information of the laser sensor;

[0151] Step A10: If yes, then end the control.

[0152] It can be seen that based on the above specific implementation process, steps S410-S430 can be performed before step S300 to prepare for step S440, so as to facilitate the subsequent allocation of positioner angles for target weld points and obtain target positioner angles.

[0153] For more implementation details of the specific implementation of the above method steps, please refer to the description of the specific implementation in Example 1. For the sake of brevity of the description, they will not be repeated here.

[0154] The collaborative welding control method provided in this embodiment first establishes a homogeneous transformation relationship between the end point of the welding gun and the point to be welded, as well as a homogeneous transformation relationship between the point to be welded in the laser sensor coordinate system and the workbench coordinates, thereby providing a basis for coordinate conversion, positioner angle allocation, and posture information solution for laser weld seam tracking in the collaborative welding process. By solving the posture information of the end point of the welding gun corresponding to the target point to be welded in the laser sensor coordinate system in the collaborative welding process in real time, and allocating the positioner angle to the target point to be welded, the collaborative movement of the welding gun and the positioner is controlled in real time, thereby realizing collaborative welding between the welding robot and the positioner, which not only improves the flexibility and adaptability of the welding robot, but also ensures the welding quality and efficiency.

[0155] Example 3

[0156] Based on the same invention concept, Figure 4 , a first embodiment of the collaborative welding control device of the present application is proposed, which can be applied to a collaborative welding system including a welding robot and a positioner, as an external hardware device connected to the welding robot and the positioner respectively.

[0157] like Figure 4 The figure shows a hardware structure diagram of a collaborative welding control device. The collaborative welding control device may include a processor 1001, such as a CPU (Central Processing Unit) and a memory 1005. The memory 1005 stores a collaborative welding control program. When the collaborative welding control program is executed by the processor, all or part of the steps of each embodiment of the collaborative welding control method of the present application are implemented.

[0158] Specifically, collaborative welding control equipment refers to terminal equipment or network equipment that can achieve communication connection. It can be terminal equipment such as mobile phones, computers, portable computers, embedded industrial computers, or network equipment such as servers and cloud platforms.

[0159] It can be understood that the collaborative welding control device may further include a communication bus 1002 , a user interface 1003 and a network interface 1004 . Among them, the communication bus 1002 is used to realize the connection and communication between these components; the user interface 1003 is used to connect to the client and communicate data with the client. The user interface 1003 may include an output unit such as a display screen, a speaker, etc., and an input unit such as a keyboard, a microphone, etc.; the network interface 1004 is used to connect to the background server and communicate data with the background server. The network interface 1004 may include an input / output interface, such as a standard wired interface, a wireless interface such as a Wi-Fi interface; the memory 1005 is used to store various types of data, which may include, for example, instructions of any application or method in the collaborative welding control device, as well as application-related data. The memory 1005 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (PROM), etc. Memory, EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), magnetic memory, flash memory, magnetic disk or optical disk, etc.; Optionally, the memory may also be a storage device independent of the processor 1001, and further reference is made to Figure 4The memory 1005 may include an operating system, a network communication module, a user interface module, and a collaborative welding control program; the processor 1001 is used to call the collaborative welding control program stored in the memory 1005 and execute the collaborative welding control method as described above. The processor 1001 can be an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic controller (PLC), a programmable logic device (PLD), a field programmable gate array (FPGA), a controller, a microcontroller, a microprocessor, or other electronic components, and is used to execute all or part of the steps of each embodiment of the collaborative welding control method as described above.

[0160] Need to explain, Figure 4 The hardware structure shown in does not constitute a limitation on the collaborative welding control device of the present application, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0161] It should also be noted that the functions that can be achieved by the collaborative welding control device provided in this embodiment and the corresponding technical effects achieved can refer to the description of the specific implementation methods in each embodiment of the collaborative welding control method of this application. For the sake of brevity of the description, they will not be repeated here.

[0162] Example 4

[0163] Based on the same inventive concept, this embodiment proposes a collaborative welding system, which may include:

[0164] The welding robot includes a robotic arm and a welding gun disposed at the end of the robotic arm, and the welding gun is provided with a laser sensor;

[0165] A positioner, which includes a workbench for placing workpieces to be welded;

[0166] The collaborative welding control device is used to implement the collaborative welding control method of the first or second embodiment.

[0167] Among them, the collaborative welding control equipment can be used as an external hardware device connected to the welding robot, or as a control device in the welding robot or a virtual device in the controller of the welding robot. The specific selection can be made according to actual needs and is not limited here.

[0168] It should be noted that the functions that can be achieved by the collaborative welding control device in the collaborative welding system provided in this embodiment and the corresponding technical effects achieved can refer to the description of the specific implementation methods in each embodiment of the collaborative welding control method of this application. For the sake of brevity of the description, they will not be repeated here.

[0169] Example 5

[0170] Based on the same inventive concept, this embodiment provides a computer-readable storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory (for example, an SD or DX memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic memory, a disk, an optical disk, a server, etc., wherein a computer program is stored on the storage medium, and the computer program can be executed by one or more processors. When the computer program is executed by the processor, all or part of the steps of each embodiment of the collaborative welding control method of the present application can be implemented.

[0171] It should be noted that the serial numbers of the above embodiments of this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above embodiments are only optional embodiments of this application and do not limit the scope of the patent of this application. All equivalent structures or equivalent process changes made by using the contents of the description and drawings of this application under the inventive concept of this application, or directly or indirectly applied in other related technical fields, are included in the scope of patent protection of this application.

Claims

1. A collaborative welding control method, characterized in that: The method is applied to a collaborative welding system including a welding robot and a positioner, wherein the welding robot includes a robotic arm and a welding gun disposed at the end of the robotic arm, and the positioner includes a workbench for placing a workpiece to be welded; the method includes: Detect the real-time position of the target welding point on the workpiece to be welded and obtain the position information of the welding point; Allocate a positioner angle to the target point to be welded according to the position information of the point to be welded, and obtain a target positioner angle; Determine the position vector and posture information of the welding gun end point corresponding to the target point to be welded according to the homogeneous transformation relationship between the welding gun end point and the point to be welded, the position information of the point to be welded, and the target positioner angle, and obtain target position information; wherein the homogeneous transformation relationship between the welding gun end point and the point to be welded is established based on the position vector of the welding gun end point in the robot base coordinate system corresponding to the position vector of the point to be welded on the workpiece to be welded in the robot base coordinate system; Controlling the movement of the welding gun and the positioner according to the target position information to perform coordinated welding; The position information of the point to be welded includes a position vector of the point to be welded in a workbench coordinate system; and the step of allocating a positioner angle to the target point to be welded according to the position information of the point to be welded to obtain a target positioner angle includes: Acquiring teaching position information of a teaching point on the welding robot; Determine the teaching point position vector in the robot base coordinate system according to the teaching position information; Converting the teaching point position vector in the robot base coordinate system into a position vector in the workbench coordinate system to obtain the teaching point position vector in the workbench coordinate system; A positioner angle is allocated to the target point to be welded according to the teaching point position vector in the workbench coordinate system and the position vector of the point to be welded in the workbench coordinate system to obtain a target positioner angle.

2. The collaborative welding control method according to claim 1, wherein: The welding gun is provided with a laser sensor; the step of detecting the real-time position of the target welding point on the workpiece to be welded and obtaining the position information of the welding point includes: The laser sensor detects the real-time position of the target point to be welded on the workpiece to be welded, and obtains the real-time position vector of the target point to be welded in the laser sensor coordinate system; Based on the homogeneous transformation relationship between the target point to be welded in the laser sensor coordinate system and the workbench coordinate system, the real-time position vector of the target point to be welded in the laser sensor coordinate system is converted into a position vector in the workbench coordinate system to obtain the position vector of the target point to be welded in the workbench coordinate system.

3. The collaborative welding control method according to claim 2, wherein: Before the step of converting the real-time position vector of the target point to be welded in the laser sensor coordinate system into a position vector in the workbench coordinate system based on the homogeneous transformation relationship between the point to be welded in the laser sensor coordinate system and the workbench coordinate system to obtain the position vector of the point to be welded in the workbench coordinate system, the method further includes: Obtaining the position vector of the point to be welded on the workpiece to be welded in the welding gun coordinate system according to the product of the position vector of the point to be welded on the workpiece to be welded in the laser sensor coordinate system and the transformation matrix of the laser sensor coordinate system relative to the welding gun coordinate system; Based on the correspondence between the position vector of the point to be welded in the welding gun coordinate system and the position vector of the welding gun end point in the welding gun coordinate system, a homogeneous transformation relationship between the point to be welded in the laser sensor coordinate system and the workbench coordinate system is established.

4. The collaborative welding control method according to claim 1, wherein: The teaching point includes a teaching start point and a teaching end point, and the teaching position information includes a position vector and a positioner angle of the teaching start point and a position vector and a positioner angle of the teaching end point; The step of converting the teaching point position vector in the robot base coordinate system into a position vector in the workbench coordinate system to obtain the teaching point position vector in the workbench coordinate system comprises: Based on the transformation relationship between the workbench coordinate system and the robot base coordinate system, the position vector of the teaching start point and the position vector of the teaching end point are respectively transformed to obtain the teaching start point position vector and the teaching end point position vector in the workbench coordinate system; The step of allocating a positioner angle to the target point to be welded according to the teaching point position vector in the workbench coordinate system and the position vector of the point to be welded in the workbench coordinate system to obtain the target positioner angle includes: Calculating the Euclidean distance between the teaching start point and the teaching end point according to the teaching start point position vector and the teaching end point position vector; Calculate the Euclidean distance between the target point to be welded and the teaching starting point according to the position vector of the point to be welded in the workbench coordinate system and the position vector of the teaching starting point; The target positioner angle is calculated according to the positioner angle at the teaching start point, the positioner angle at the teaching end point, the Euclidean distance between the teaching start point and the teaching end point, and the Euclidean distance between the target point to be welded and the teaching start point.

5. The collaborative welding control method according to claim 4, wherein: The teaching position information also includes posture information of the teaching starting point and posture information of the teaching end point; The step of determining the position vector and posture information of the welding gun end point corresponding to the target point to be welded according to the homogeneous transformation relationship between the welding gun end point and the point to be welded, the position information of the point to be welded and the target positioner angle, and obtaining the target position information comprises: Determine the transformation matrix of the worktable coordinate system relative to the robot base coordinate system during the coordinated motion according to the target positioner angle; Based on the homogeneous transformation relationship between the welding gun end point and the target point to be welded, the transformation matrix of the worktable coordinate system relative to the robot base coordinate system during the coordinated motion is multiplied by the position vector of the target point to be welded in the worktable coordinate system to obtain the position vector of the welding gun end point corresponding to the target point to be welded in the robot base coordinate system; Calculating the posture information of the welding gun end point corresponding to the target point to be welded in the robot base coordinate system according to the posture information of the teaching starting point, the posture information of the teaching end point, the Euclidean distance between the teaching starting point and the teaching end point, and the Euclidean distance between the target point to be welded and the teaching starting point; Target position information is obtained based on the position vector of the welding gun end point, the posture information of the welding gun end point and the target positioner angle.

6. A collaborative welding control device, characterized in that: The device includes a processor and a memory, wherein a collaborative welding control program is stored in the memory. When the collaborative welding control program is executed by the processor, the collaborative welding control method according to any one of claims 1 to 5 is implemented.

7. A collaborative welding system, characterized in that: The system comprises: A welding robot, comprising a robotic arm and a welding gun disposed at the end of the robotic arm, wherein the welding gun is provided with a laser sensor; A positioner, the positioner comprising a workbench for placing workpieces to be welded; A collaborative welding control device is used to implement the collaborative welding control method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and when the computer program is executed by one or more processors, the collaborative welding control method according to any one of claims 1 to 5 is implemented.

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