Robotic welding methods, systems, devices, and computer equipment

Abstract

The application relates to a robot welding method, system, device and computer equipment. The method comprises the following steps: acquiring welding path information of a welding robot provided with multiple welding devices and device identifiers of the multiple welding devices; sending the welding path information to the welding devices matched with the device identifiers respectively; and each welding device is used for determining corresponding sub-welding path information of the welding device according to the welding path information and a spatial distance between the welding device and the welding robot; the sub-welding path information is used for representing a sub-welding path of each welding device, and each sub-welding path constitutes a welding path represented by the welding path information. The method can reduce the cost of robot welding.

Description

Technical Field

[0001] This application relates to the field of welding technology, and in particular to a robotic welding method, system, apparatus and computer equipment. Background Technology

[0002] In the field of body-in-white welding, the cycle time determines the efficiency of automated production lines. Traditional spot welding requires pausing at each welding station before welding can be performed, and the movement process is all non-process time. Laser flying welding solves this problem by incorporating the laser emission time into the robot's movement time, thereby significantly improving process efficiency.

[0003] In current laser flying welding methods, a single robot is used in conjunction with a single laser welding device to perform flying welding. When there are a large number of welds, in order to improve welding efficiency, multiple sets of equipment (robot + laser welding device) may be used at the same laser station simultaneously.

[0004] However, the applicant discovered during the implementation process that the target laser flying welding method had the problem of high cost. Summary of the Invention

[0005] Therefore, it is necessary to provide a robotic welding method, system, apparatus, and computer equipment that can reduce the cost of robotic welding, addressing the aforementioned technical problems.

[0006] In a first aspect, this application provides a robotic welding method, the method comprising:

[0007] Obtain the welding path information of a welding robot equipped with multiple welding devices, as well as the device identifier of each welding device;

[0008] The welding path information is sent to the welding equipment that matches each equipment identifier. Each welding equipment is used to determine the sub-welding path information corresponding to each welding equipment based on the welding path information and the spatial distance between each welding equipment and the welding robot. The sub-welding path information is used to characterize the sub-welding path of each welding equipment, and each sub-welding path constitutes the welding path characterized by the welding path information.

[0009] In one embodiment, obtaining welding path information of a welding robot equipped with multiple welding devices includes:

[0010] Obtain the current coordinate information of the welding robot and the target coordinate information of the welding path of the welding robot;

[0011] Obtain the current axis rotation angle and the target axis rotation angle of the welding robot;

[0012] Based on the current coordinate information, target coordinate information, current axis rotation angle, and target axis rotation angle, the welding path information of the welding robot is obtained.

[0013] In one embodiment, sending welding path information to welding devices that match each device identifier further includes:

[0014] Obtain the welding mode and trigger status of the welding robot;

[0015] Welding data packets are obtained based on welding path information, welding mode, and trigger status;

[0016] The welding data packets are sent to the welding equipment that matches each equipment identifier.

[0017] In one embodiment, the method further includes:

[0018] Determine the current device under test for data transmission from multiple welding devices, as well as the current device identifier of the current device under test;

[0019] Based on the current device identifier, a data test packet is sent to the device under test. Based on the data reception result of the device under test, the data transmission status of the device under test is obtained.

[0020] If the data transmission status indicates that the data transmission is normal, the welding equipment that has not yet performed test data transmission among the multiple welding equipment is designated as the new current test equipment, and the step of sending a data test packet to the current test equipment according to the current equipment identifier is returned until all multiple welding equipment have completed the test data transmission.

[0021] Secondly, this application provides a robotic welding method, the method comprising:

[0022] Receive welding path information sent by a welding robot equipped with multiple welding devices; the welding robot is used to acquire welding path information and send welding path information according to the current device identifier of the current welding device;

[0023] The spatial distance between the current welding equipment and the welding robot is obtained, and the current sub-welding path information is determined based on the spatial distance and welding path information. The current welding equipment can be any one of multiple welding equipment. The current sub-welding path information is used to characterize the sub-welding path of the current welding equipment, and multiple sub-welding paths constitute the welding path characterized by the welding path information.

[0024] Welding is performed based on the current sub-welding path information.

[0025] In one embodiment, the method further includes:

[0026] Obtain the preset output power, and determine the current welding status of the welding equipment based on the preset output power; if the preset output power is less than the target output power, the target output power is the power of the current welding equipment under normal welding conditions;

[0027] Under the condition that the welding status indicates that the current welding equipment is normal, the stable state of the current welding equipment is determined according to the target output power.

[0028] Thirdly, this application provides a robotic welding system, which includes: a welding robot and multiple welding devices disposed on the welding robot;

[0029] The welding robot is used to acquire welding path information and equipment identification of each welding device; and sends the welding path information to the welding device that matches the equipment identification.

[0030] Each welding device is used to determine the sub-welding path information corresponding to each welding device based on the welding path information and the spatial distance between each welding device and the welding robot. The sub-welding path information is used to characterize the sub-welding path of each welding device, and each sub-welding path constitutes the welding path characterized by the welding path information.

[0031] Fourthly, this application also provides a robotic welding apparatus, which includes:

[0032] The path information acquisition module is used to acquire the welding path information of a welding robot equipped with multiple welding devices, as well as the device identifier of each welding device.

[0033] The path information sending module is used to send welding path information to the welding equipment that matches each equipment identifier; each welding equipment is used to determine the sub-welding path information corresponding to each welding equipment based on the welding path information and the spatial distance between each welding equipment and the welding robot; the sub-welding path information is used to represent the sub-welding path of each welding equipment, and each sub-welding path constitutes the welding path represented by the welding path information.

[0034] Fifthly, this application also provides a robotic welding apparatus, which includes:

[0035] The path information receiving module is used to receive welding path information sent by a welding robot equipped with multiple welding devices; the welding robot is used to acquire the welding path information and send the welding path information according to the current device identifier of the current welding device.

[0036] The current path determination module is used to obtain the spatial distance between the current welding equipment and the welding robot, and determine the current sub-welding path information based on the spatial distance and welding path information; wherein, the current welding equipment can be any one of multiple welding equipment;

[0037] The welding module is used to perform welding processing based on the current sub-welding path information.

[0038] Sixthly, this application also provides a computer device including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described method.

[0039] The aforementioned robotic welding method, system, apparatus, and computer equipment acquire welding path information of a welding robot equipped with multiple welding devices, as well as the device identifiers of each welding device; send the welding path information to the welding device that matches each device identifier; each welding device determines its corresponding sub-welding path information based on the welding path information and the spatial distance between itself and the welding robot; the sub-welding path information characterizes the sub-welding path of each welding device, and the sub-welding paths constitute the welding path characterized by the welding path information. Compared with conventional technologies, this application sets multiple welding devices on the same welding robot, and the welding robot can send welding path information to multiple welding devices. Each welding device determines its sub-welding path information based on the welding path information and its spatial distance from the welding robot; thus, multiple welding devices can be mounted on the same welding robot, and synchronous welding by multiple welding devices can be achieved, thereby reducing the number of welding robots required and reducing the cost of robotic welding. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of a robotic welding system in one embodiment;

[0042] Figure 2 This is a flowchart illustrating a robotic welding method in one embodiment;

[0043] Figure 3 This is a flowchart illustrating the steps for obtaining welding path information of a welding robot in one embodiment.

[0044] Figure 4 This is a flowchart illustrating the robotic welding method in another embodiment;

[0045] Figure 5 This is a flowchart illustrating the robotic welding method in yet another embodiment;

[0046] Figure 6 This is a structural block diagram of the robotic welding device in one embodiment;

[0047] Figure 7 This is a structural block diagram of the robotic welding apparatus in another embodiment;

[0048] Figure 8 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0050] The robotic welding method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, robot 102 communicates with first welding equipment 104 and second welding equipment 106 via a network. The robot may be equipped with coordinate transmission software for transmitting data packets. The first welding equipment 104 and second welding equipment 106 may be, but are not limited to, various laser welding devices; for example, they may be galvanometers.

[0051] In one exemplary embodiment, such as Figure 2 As shown, a robotic welding method is provided, which can be applied to... Figure 1 Taking robot 102 as an example, the explanation includes the following steps S202 to S206. Wherein:

[0052] S202, Obtain the welding path information of the welding robot equipped with multiple welding devices, as well as the device identifier of each welding device.

[0053] The welding robot can be a robot used for in-flight welding and can be used to mount welding equipment. The welding equipment can be a laser welding device, for example, a galvanometer. The welding path information can be path information used to indicate the welding process. Multiple welding devices can include a first welding device and a second welding device. The first welding device can be a device used for in-flight welding, or a laser welding device, for example, a galvanometer. The second welding device can be a device used for in-flight welding, or a laser welding device, for example, a galvanometer. The first and second welding devices can be mounted on the same welding robot, thus enabling synchronous multi-threaded welding with a single welding robot.

[0054] The first device identifier can be the address identifier of the first welding device, or it can be an IP address (Internet Protocol Address). The second device identifier can be the address identifier of the second welding device, or it can be an IP address.

[0055] For example, the controller of a welding robot can obtain the welding path information of the welding robot based on the current position, target position, current axis rotation angle, and target axis rotation angle of the welding robot.

[0056] Optionally, the welding robot can obtain a first device identifier of the first welding device, for example, it can determine the IP address sent to the first welding device, and it can also determine a second device identifier of the second welding device. In this way, it can send welding data packets to both the first and second welding devices.

[0057] S204, The welding path information is sent to the welding equipment that matches the equipment identifier. Each welding equipment is used to determine the sub-welding path information corresponding to each welding equipment based on the welding path information and the spatial distance between each welding equipment and the welding robot. The sub-welding path information is used to characterize the sub-welding path of each welding equipment, and each sub-welding path constitutes the welding path characterized by the welding path information.

[0058] The spatial distance can be the offset between the coordinates of the welding equipment and the welding robot. The first path information can be the welding path information performed by the welding equipment.

[0059] For example, a welding robot can send welding path information to the welding equipment that matches each equipment identifier based on the individual equipment identifiers.

[0060] Optionally, the welding robot can send welding path information to a first welding device based on a first device identifier; and the welding robot can send welding path information to a second welding device based on a second device identifier. For example, the welding robot can send welding path information to the first welding device based on the IP address of the first welding device.

[0061] Optionally, the first welding device can obtain first path information for welding based on the welding path information and the spatial distance between the first welding device and the welding robot, and then perform welding based on the first path information. The second welding device can obtain second path information for welding based on the welding path information and the spatial distance between the second welding device and the welding robot, and then perform welding based on the second path information. For example, different external transformations can be set for the first and second welding devices, allowing them to convert the welding path information within the same data packet into their respective path information. This enables data packet transmission based on the welding robot and conversion based on the external transformations of each welding device, thereby improving welding efficiency.

[0062] In this embodiment, welding path information of a welding robot equipped with multiple welding devices and the device identifier of each welding device are acquired. The welding path information is then sent to the welding device that matches each device identifier. Each welding device determines its corresponding sub-welding path information based on the welding path information and the spatial distance between itself and the welding robot. The sub-welding path information characterizes the sub-welding path of each welding device, and these sub-welding paths constitute the welding path characterized by the welding path information. Compared with traditional technologies, this application uses multiple welding devices mounted on the same welding robot, and the welding robot can send welding path information to multiple welding devices. Each welding device determines its sub-welding path information based on the welding path information and its spatial distance from the welding robot. This allows multiple welding devices to be mounted on the same welding robot and enables simultaneous welding by multiple welding devices, thereby reducing the number of welding robots required and lowering the cost of robot welding.

[0063] In one exemplary embodiment, such as Figure 3 As shown, the welding path information of a welding robot equipped with multiple welding devices is obtained, including S302 to S306, wherein:

[0064] S302, Obtain the current coordinate information of the welding robot and the target coordinate information of the welding path of the welding robot;

[0065] S304, Obtain the current axis rotation angle and the target axis rotation angle of the welding robot;

[0066] S306. Based on the current coordinate information, target coordinate information, current axis rotation angle, and target axis rotation angle, the welding path information of the welding robot is obtained.

[0067] The current coordinate information can be the actual coordinates of the welding robot. The target coordinate information can be the target coordinates of the welding robot. Coordinates can include X-axis, Y-axis, and Z-axis coordinates. The current axis rotation angle can be the actual rotation coordinates of the welding robot. The target axis rotation angle can be the target rotation angle of the welding robot. Axis angles can include angle A, angle B, and angle C.

[0068] For example, the robot can acquire the actual coordinates and the target coordinates for welding, and can also acquire the actual rotation angle and the target rotation angle for welding. The robot can obtain welding path information based on the actual coordinates, target coordinates, actual axis rotation angle, and target axis rotation angle. For instance, the robot's actual X-axis coordinates, actual Y-axis coordinates, actual Z-axis coordinates, actual rotation angles at angles A, B, and C, target coordinates on the X-axis, Y-axis, and Z-axis, and target rotation angles at angles A, B, and C can be determined, and the welding path information of the welding robot can be obtained based on this information. Furthermore, the two welding devices can receive and convert the above information into their respective positions.

[0069] In this embodiment, the current coordinate information of the welding robot and the target coordinate information of the welding path of the welding robot are obtained; the current axis rotation angle and the target axis rotation angle of the welding robot are also obtained; based on the current coordinate information, target coordinate information, current axis rotation angle, and target axis rotation angle, the welding path information of the welding robot is obtained. This allows for accurate determination of the welding path information and facilitates multiple welding devices to convert the welding path information into their respective positions, thereby enabling simultaneous welding by multiple welding devices mounted on a single robot and reducing the cost of robot welding.

[0070] In one exemplary embodiment, sending welding path information to welding devices that match each device identifier further includes:

[0071] Obtain the welding mode and trigger status of the welding robot;

[0072] Welding data packets are obtained based on welding path information, welding mode, and trigger status;

[0073] Based on each device identifier, the welding data packets are sent to the welding equipment that matches each device identifier.

[0074] The welding mode can be a robot mode. The trigger state can be a light-triggered signal state. The welding data packet can be a data block containing a certain length of data, or a data packet used to instruct the welding equipment to perform welding.

[0075] For example, the robot mode and light emission trigger signal status of the welding robot can be obtained; and a welding data packet can be loaded using the welding path information, robot mode, and trigger status. Furthermore, the welding data packet can be sent to the welding equipment that matches each device identifier.

[0076] Optionally, a first device identifier can be loaded into the welding data packet, and the welding data packet can be sent to a first welding device based on the first device identifier; or a second device identifier can be loaded into the welding data packet, and the welding data packet can be sent to a second welding device based on the second device identifier.

[0077] Optionally, the data packets sent to the first welding device and the second welding device are identical except for the IP address.

[0078] In this embodiment, by acquiring the welding mode and triggering state of the welding robot, and obtaining the welding data packet based on the welding path information, welding mode, and triggering state, the welding data packet can be sent to the welding equipment that matches each equipment identifier, which can effectively instruct multiple welding equipment to perform synchronous welding, thereby reducing the cost of the welding robot.

[0079] In one exemplary embodiment, such as Figure 4 As shown, the method further includes S402 to S406, wherein:

[0080] S402, determine the current device under test for transmitting the test data and the current device identifier of the current device under test from multiple welding devices;

[0081] S404: Based on the current device identifier, send a data test packet to the device under test, and obtain the data transmission status of the device under test based on the data reception result of the device under test.

[0082] S406, if the data transmission status indicates that the data transmission is normal, the welding device that has not performed test data transmission between the first welding device and the second welding device is taken as the new current device to be tested, and the step of sending a data test packet to the current device to be tested according to the current device identifier is returned until all welding devices have completed the test data transmission.

[0083] In this context, the device under test can be any one of multiple welding devices, either the first or the second welding device. The current device identifier can be the IP address of the device under test. The data test packet can be a data packet used to test communication. The data reception result determines whether the device under test has received the data test packet. The data transmission status indicates whether the data transmission is normal.

[0084] For example, any one of multiple welding devices can be selected as the current device under test for data transmission. For instance, either the first or second welding device can be selected, and the current device identifier of that device can be determined. The robot can send a data test packet to the device under test based on the current device identifier, and receive the data reception result to determine whether the device under test has received the data test packet, thus obtaining the data transmission status of the device under test. For example, the first welding device can be configured as the device under test, and data transmission can be started. At this time, both channels are transmitting, and if the robot does not report an error, it proceeds to the next step. If the signal transmission is normal, transmission is stopped, and the second welding device is configured as the new device under test, and data transmission is started. At this time, both channels are transmitting, and if the robot does not report an error, the dual-channel signal transmission test is considered passed. If the data transmission test of any welding device is abnormal, and the diagnostic page does not display a normal connection and data transmission is not performed, or real-time coordinate values ​​are not received, the cause is investigated.

[0085] In this embodiment, the above data transmission test can ensure that multiple welding devices can communicate normally, which is conducive to realizing synchronous dual welding of a single robot, thereby reducing the cost of robot welding.

[0086] In one exemplary embodiment, such as Figure 5 As shown, a robotic welding method is provided, which can be applied to... Figure 1 Taking the first welding device 104 or the second welding device 106 as an example, the method includes the following steps S502 to S506, wherein:

[0087] S502, Receive welding path information sent by a welding robot equipped with multiple welding devices; The welding robot is used to obtain the welding path information and send the welding path information according to the current device identifier of the current welding device;

[0088] S504, obtain the spatial distance between the current welding equipment and the welding robot, and determine the current sub-welding path information based on the spatial distance and welding path information; wherein, the current welding equipment is any one of multiple welding equipment; the current sub-welding path information is used to characterize the sub-welding path of the current welding equipment, and multiple sub-welding paths constitute the welding path characterized by the welding path information.

[0089] S506, Perform welding processing based on the current sub-welding path information.

[0090] The welding path information can be path information used to indicate welding operations. The current welding equipment can be a first welding equipment or a second welding equipment. The current sub-welding path information can be first path information or second path information; if the current welding equipment is the first welding equipment, then the current sub-welding path information can be the first path information. The spatial distance can be the offset between the coordinates of the welding equipment and the welding robot.

[0091] For example, the current welding equipment can receive welding path information sent by the welding robot. The welding robot can send welding path information to the current welding equipment through steps S202 to S206. The current welding equipment can obtain the spatial distance between the current welding equipment and the welding robot, and the current welding equipment can determine the current sub-welding path information based on the spatial distance and the welding path information. For example, the first welding equipment and the second welding equipment can respectively convert the welding path information in the same data packet into their respective path information. The first welding equipment and the second welding equipment can perform welding according to their respective path information.

[0092] In this embodiment, welding path information is received from a welding robot equipped with multiple welding devices. The welding robot acquires the welding path information and sends it based on the current device identifier of the current welding device. It acquires the spatial distance between the current welding device and the welding robot, and determines the current sub-welding path information based on the spatial distance and the welding path information. The current welding device can be any one of the multiple welding devices. The current sub-welding path information represents the sub-welding path of the current welding device, and multiple sub-welding paths constitute the welding path represented by the welding path information. Welding is then performed based on the current sub-welding path information. Compared to traditional technologies, this embodiment uses multiple welding devices mounted on the same welding robot, and the welding robot can send welding path information to multiple welding devices. The current welding device determines its current sub-welding path information based on the welding path information and its spatial distance from the welding robot. Thus, multiple welding devices mounted on the same welding robot can weld simultaneously, reducing the number of welding robots required and consequently lowering the cost of robot welding.

[0093] In one exemplary embodiment, the method further includes:

[0094] Obtain the preset output power, and determine the current welding status of the welding equipment based on the preset output power; if the preset output power is less than the target output power, the target output power is the power of the current welding equipment under normal welding conditions;

[0095] Under the condition that the welding status indicates that the current welding equipment is normal, the stable state of the current welding equipment is determined according to the target output power.

[0096] The preset output power can be a low power setting, indicating that light should be emitted at a low power. The target output power can be the normal output power. The welding status can be used to characterize whether the welding equipment is welding normally. The stable status can be used to characterize whether the welding equipment is stable during normal welding.

[0097] For example, the working conditions in dual-galvanometer mode can be simulated based on two pre-written welding programs. The current welding equipment can perform light-emitting welding at a preset output power to confirm whether it welds normally. If the welding status indicates that the current welding equipment is functioning normally, the stable state of the current welding equipment can be determined based on the target output power for normal welding. For instance, the first welding equipment can be used as the test equipment, and the relevant alarms of the second welding equipment can be disabled. The first welding equipment can perform light-emitting welding at a preset output power to confirm whether it welds normally. Then, the second welding equipment can be switched to the test equipment, and the relevant alarms of the first welding equipment can be disabled. Without modifying any other parameters, the welding can be confirmed at a low power to confirm whether it welds normally. The power can be increased to the target output power, and the above verification steps can be repeated to verify the welding stability of the first and second welding equipment.

[0098] In this embodiment, a preset output power is obtained, and the welding state of the current welding equipment is determined based on the preset output power. The preset output power is less than the target output power, which is the power of the current welding equipment under normal welding conditions. When the welding state indicates that the current welding equipment is operating normally, the stable state of the current welding equipment is determined based on the target output power. In this way, the welding stability of the first and second welding equipment can be guaranteed, thereby improving welding efficiency and reducing the cost of robotic welding.

[0099] In one exemplary embodiment, a robotic welding system is provided, the system comprising: a welding robot and a plurality of welding devices disposed on the welding robot;

[0100] The welding robot is used to acquire welding path information and equipment identification of each welding device; and sends the welding path information to the welding device that matches the equipment identification.

[0101] Each welding device is used to determine the sub-welding path information corresponding to each welding device based on the welding path information and the spatial distance between each welding device and the welding robot. The sub-welding path information is used to characterize the sub-welding path of each welding device, and each sub-welding path constitutes the welding path characterized by the welding path information.

[0102] In an exemplary embodiment, in the field of body-in-white welding, the cycle time determines the efficiency of automated production lines. Traditional fixed-point welding requires a stop at each welding station before welding can be performed, and the movement process is all non-process time. Laser flying welding solves this problem by incorporating the light emission time into the robot's movement time, thus significantly improving process efficiency. In current laser flying welding methods, a single robot is used in conjunction with a single laser welding device for flying welding. When there are many weld seams, to improve welding efficiency, multiple sets of equipment (robot + laser welding device) may be used simultaneously at the same laser station, or the laser beam emitted by the same laser may be split into two beams of equal energy, which simultaneously reach the welding parts of the workpiece that need to be symmetrically welded on both sides, achieving a solution of synchronous welding on both sides. However, the applicant found in the implementation process that the target laser flying welding method has the problem of high cost.

[0103] To accommodate multiple galvanometers operating within the same laser room, two galvanometers can be mounted on the same robot, reducing the need for one robot by combining every two galvanometers. This reduces the procurement, debugging, and space requirements of robots. Not only does it reduce the costs of the laser room, robots, and debugging personnel, but the reduced laser room size also benefits the overall production line layout.

[0104] Based on this, a robotic welding method for reducing the cost of robotic welding is provided, applicable to, for example... Figure 1 The robotic welding system shown includes:

[0105] By modifying the internal logic of the robot coordinate transmission software, robot coordinate information can be simultaneously transmitted to two galvanometers with different IP addresses. The two data packets are identical except for the target IP address. Differences in coordinates between the two galvanometers are compensated for by an internal external transformation set within the galvanometers (manually inputting the X, Y, Z, A, B, C offsets between the galvanometer and robot coordinates based on actual measurement data). The original single-line data output can be transformed into dual-line output, and due to the different target IP addresses in their configuration files, the data can be transmitted to different galvanometers. The two galvanometers have different internal external transformations that can convert coordinates within the same data packet into their respective positions.

[0106] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0107] Based on the same inventive concept, this application also provides a robotic welding apparatus for implementing the robotic welding method described above. The solution provided by this apparatus is similar to the implementation described in the above method; therefore, the specific limitations in one or more robotic welding apparatus embodiments provided below can be found in the limitations of the robotic welding method described above, and will not be repeated here.

[0108] In one exemplary embodiment, such as Figure 6 As shown, a robotic welding device is provided, including: a path information acquisition module 610, an equipment identification acquisition module 620, and a path information sending module 630, wherein:

[0109] The path information acquisition module 610 is used to acquire the welding path information of a welding robot equipped with multiple welding devices, as well as the device identifier of each welding device.

[0110] The path information sending module 620 is used to send welding path information to the welding equipment that matches each equipment identifier; each welding equipment is used to determine the sub-welding path information corresponding to each welding equipment based on the welding path information and the spatial distance between each welding equipment and the welding robot; the sub-welding path information is used to characterize the sub-welding path of each welding equipment, and each sub-welding path constitutes the welding path characterized by the welding path information.

[0111] In an exemplary embodiment, the path information acquisition module includes a coordinate information acquisition unit, a rotation angle acquisition unit, and a path information determination unit.

[0112] The coordinate information acquisition unit is used to acquire the current coordinate information of the welding robot and the target coordinate information of the welding path. The rotation angle acquisition unit is used to acquire the current axis rotation angle and the target axis rotation angle of the welding robot. The path information determination unit is used to obtain the welding path information of the welding robot based on the current coordinate information, target coordinate information, current axis rotation angle, and target axis rotation angle.

[0113] In an exemplary embodiment, the path information sending module includes a mode state acquisition unit, a data packet acquisition unit, and a data packet sending unit.

[0114] The mode status acquisition unit is used to acquire the welding mode and trigger status of the welding robot. The data packet acquisition unit is used to obtain the welding data packet based on the welding path information, welding mode, and trigger status. The data packet sending unit is used to send the welding data packet to the welding equipment that matches each device identifier.

[0115] In one exemplary embodiment, the device further includes a device identification acquisition module, a data transmission status acquisition module, and a replacement test module.

[0116] The device identifier acquisition module is used to determine the current device under test (DUT) and its current device identifier from multiple welding devices. The data transmission status acquisition module sends a data test packet to the current DUT based on its current device identifier and obtains the data transmission status based on the DUT's data reception result. The test replacement module, when the data transmission status indicates normal data transmission, designates the welding device that has not yet performed test data transmission as the new DUT and returns to the step of sending a data test packet to the current DUT based on its current device identifier, until all welding devices have completed test data transmission.

[0117] In one exemplary embodiment, such as Figure 7 As shown, a robotic welding device is provided, which includes: a path information receiving module 710, a current path determination module 720, and a welding module 730.

[0118] The path information receiving module 710 is used to receive welding path information sent by a welding robot equipped with multiple welding devices; the welding robot is used to obtain the welding path information and send the welding path information according to the current device identifier of the current welding device.

[0119] The current path determination module 720 is used to obtain the spatial distance between the current welding equipment and the welding robot, and determine the current sub-welding path information based on the spatial distance and welding path information; wherein, the current welding equipment is any one of multiple welding equipment.

[0120] The welding module 730 is used to perform welding processing based on the current sub-welding path information.

[0121] In one exemplary embodiment, the device further includes a welding state acquisition module and a stable state determination module.

[0122] The welding status acquisition module is used to acquire a preset output power and determine the current welding status of the welding equipment based on the preset output power. The preset output power is less than the target output power, which is the power of the current welding equipment under normal welding conditions. The stable state determination module is used to determine the stable state of the current welding equipment based on the target output power, assuming the welding status indicates that the current welding equipment is operating normally.

[0123] Each module in the aforementioned robotic welding device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the computer device's memory as software, so that the processor can call and execute the corresponding operations of each module.

[0124] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 8 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores welding path information data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it implements a robotic welding method.

[0125] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0126] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0127] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0128] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0129] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0130] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0131] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0132] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A robotic welding method, characterized in that, The method includes: Obtain the welding path information of a welding robot equipped with multiple welding devices, as well as the device identifier of each welding device; The welding path information is sent to the welding equipment that matches each of the equipment identifiers; each welding equipment is used to determine the sub-welding path information corresponding to each welding equipment based on the welding path information and the spatial distance between each welding equipment and the welding robot; the sub-welding path information is used to characterize the sub-welding path of each welding equipment, and each sub-welding path constitutes the welding path characterized by the welding path information. The step of obtaining welding path information of a welding robot equipped with multiple welding devices includes: obtaining the current coordinate information of the welding robot and the target coordinate information of the welding path of the welding robot; obtaining the current axis rotation angle and the target axis rotation angle of the welding robot; and obtaining the welding path information of the welding robot based on the current coordinate information, the target coordinate information, the current axis rotation angle and the target axis rotation angle. The step of sending the welding path information to the welding equipment that matches each of the device identifiers further includes: obtaining the welding mode and trigger state of the welding robot; obtaining a welding data packet based on the welding path information, the welding mode and the trigger state; and sending the welding data packet to the welding equipment that matches each of the device identifiers.

2. The method according to claim 1, characterized in that, The method further includes: Determine the current device under test for transmitting the test data and the current device identifier of the current device under test from the plurality of welding devices; Based on the current device identifier, a data test packet is sent to the current device under test, and the data transmission status of the current device under test is obtained based on the data reception result of the current device under test. If the data transmission status indicates that the data transmission is normal, the welding equipment that has not performed test data transmission among the plurality of welding equipment is designated as the new current test equipment, and the step of sending a data test packet to the current test equipment according to the current equipment identifier is returned until all the plurality of welding equipment have completed the test data transmission.

3. A robotic welding method, characterized in that, The method includes: The welding robot receives welding path information sent by a welding robot equipped with multiple welding devices; the welding robot is used to acquire the welding path information and send the welding path information according to the current device identifier of the current welding device. The spatial distance between the current welding equipment and the welding robot is obtained, and the current sub-welding path information is determined based on the spatial distance and the welding path information; wherein, the current welding equipment is any one of the plurality of welding equipment; the current sub-welding path information is used to characterize the sub-welding path of the current welding equipment, and the plurality of the sub-welding paths constitute the welding path characterized by the welding path information; Welding processing is performed based on the current sub-welding path information; The welding robot is also used to acquire the current coordinate information of the welding robot and the target coordinate information of the welding path of the welding robot; acquire the current axis rotation angle and the target axis rotation angle of the welding robot; and obtain the welding path information of the welding robot based on the current coordinate information, the target coordinate information, the current axis rotation angle and the target axis rotation angle. The welding robot is also used to acquire the welding mode and trigger status of the welding robot; to obtain a welding data packet based on the welding path information, the welding mode and the trigger status; and to send the welding data packet to the welding equipment that matches each of the device identifiers.

4. The method according to claim 3, characterized in that, The method further includes: A preset output power is obtained, and the welding state of the current welding equipment is determined based on the preset output power; the preset output power is less than the target output power, and the target output power is the power of the current welding equipment under normal welding conditions; When the welding state indicates that the current welding equipment is functioning normally, the stable state of the current welding equipment is determined based on the target output power.

5. A robotic welding system, characterized in that, The system includes: a welding robot and multiple welding devices installed on the welding robot; The welding robot is used to acquire welding path information and the equipment identifiers of each of the welding devices; and to send the welding path information to the welding devices that match the equipment identifiers respectively. Each of the welding devices is used to determine the sub-welding path information corresponding to each welding device based on the welding path information and the spatial distance between each welding device and the welding robot; the sub-welding path information is used to characterize the sub-welding path of each welding device, and the sub-welding paths constitute the welding path characterized by the welding path information. The welding robot is also used to acquire the current coordinate information of the welding robot and the target coordinate information of the welding path of the welding robot; acquire the current axis rotation angle and the target axis rotation angle of the welding robot; and obtain the welding path information of the welding robot based on the current coordinate information, the target coordinate information, the current axis rotation angle and the target axis rotation angle. The welding robot is also used to acquire the welding mode and trigger status of the welding robot; to obtain a welding data packet based on the welding path information, the welding mode and the trigger status; and to send the welding data packet to the welding equipment that matches each of the device identifiers.

6. A robotic welding device, characterized in that, The device includes: The path information acquisition module is used to acquire the welding path information of a welding robot equipped with multiple welding devices, as well as the device identifier of each welding device. The path information sending module is used to send the welding path information to the welding equipment that matches each of the equipment identifiers; each welding equipment is used to determine the sub-welding path information corresponding to each welding equipment based on the welding path information and the spatial distance between each welding equipment and the welding robot; the sub-welding path information is used to characterize the sub-welding path of each welding equipment, and the sub-welding paths constitute the welding path characterized by the welding path information. The path information acquisition module is used to acquire the current coordinate information of the welding robot and the target coordinate information of the welding path of the welding robot; acquire the current axis angle rotation angle and the target axis angle rotation angle of the welding robot; and obtain the welding path information of the welding robot based on the current coordinate information, the target coordinate information, the current axis angle rotation angle and the target axis angle rotation angle. The path information sending module is also used to obtain the welding mode and trigger status of the welding robot; obtain a welding data packet based on the welding path information, the welding mode and the trigger status; and send the welding data packet to the welding equipment that matches each of the device identifiers.

7. A robotic welding device, characterized in that, The device includes: The path information receiving module is used to receive welding path information sent by a welding robot equipped with multiple welding devices; the welding robot is used to acquire the welding path information and send the welding path information according to the current device identifier of the current welding device. The current path determination module is used to obtain the spatial distance between the current welding equipment and the welding robot, and determine the current sub-welding path information based on the spatial distance and the welding path information; wherein, the current welding equipment is any one of the plurality of welding equipment; The welding module is used to perform welding processing based on the current sub-welding path information; The welding robot is also used to acquire the current coordinate information of the welding robot and the target coordinate information of the welding path of the welding robot; acquire the current axis rotation angle and the target axis rotation angle of the welding robot; and obtain the welding path information of the welding robot based on the current coordinate information, the target coordinate information, the current axis rotation angle and the target axis rotation angle. The welding robot is also used to acquire the welding mode and trigger status of the welding robot; to obtain a welding data packet based on the welding path information, the welding mode and the trigger status; and to send the welding data packet to the welding equipment that matches each of the device identifiers.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 4.

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