Robot welding adjusting method, device and system

Abstract

The invention provides a robot welding adjusting method, device and system. The robot welding adjustment method comprises the steps that molten pool state information is obtained, and welding parameter adjustment information is determined according to the molten pool state information; carrying out preset processing on the welding parameter adjustment information; according to the preset welding parameter adjustment information, tail end position posture adjustment information of the robot is calculated; and the welding track of the robot is adjusted according to the tail end position posture adjusting information. Deviation generated in the welding process of the robot can be automatically adjusted, the qualification rate of welding seams is increased, and user experience is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of measurement, and in particular to a robot welding adjustment method, device, and system. Background Art

[0002] During the operation of the welding robot, due to the poor consistency of the incoming materials from the previous process and the errors in the design of the fixtures, the weld of the workpiece may have problems such as position offset and deformation. The robot cannot directly weld by teaching playback. It is necessary to measure and locate the weld through sensors first, and then correct the welding trajectory before the welding process can proceed normally. During the welding process, because of the problems such as the workpiece being deformed due to heat, it is often necessary to track the weld in real time and dynamically correct the welding trajectory according to the actual position of the weld to ensure the final welding effect.

[0003] The traditional solution is to use welding wire mechanical contact positioning, point laser sensor positioning, line laser sensor positioning, 3D visual positioning and other methods to measure and correct the weld before welding, or use real-time tracking during the welding process to adjust the trajectory of the welding gun to meet the welding requirements. However, these existing positioning and tracking methods have the following disadvantages: 1. Before welding, the weld is measured in advance. The accuracy depends on the accuracy of the robot itself and the camera. After the robot works for a long time, the overall accuracy will decrease due to joint wear; 2. The workpiece is deformed by heat during welding, and the weld shape collected in advance is no longer usable; 3. Currently, the center position of the weld is mainly tracked in real time. The robot welding process generally adopts the swing welding method, and the camera swings with it, resulting in unstable recognition; 4. Since the width of the weld will change due to heat, only tracking the center position of the weld cannot meet the welding requirements. It is necessary to adjust the welding speed, welding current, swing amplitude and other welding parameters in real time according to the actual situation.

[0004] Therefore, the problem of unreliable accuracy of current weld measurement and positioning technology needs to be solved. Summary of the invention

[0005] The present disclosure is completed to solve the above-mentioned problems, and its purpose is to provide a robot welding adjustment method, device and system for automatically adjusting the deviation generated during robot welding and improving the pass rate of welds.

[0006] The present disclosure provides this summary of the invention to introduce concepts in a brief form, which will be described in detail in the detailed implementation section below. This summary of the invention is not intended to identify the key features or essential features of the technical solution claimed for protection, nor is it intended to be used to limit the scope of the technical solution claimed for protection.

[0007] In order to solve the above technical problems, the embodiment of the present disclosure further provides a robot welding adjustment method, which adopts the following technical solution, including: Acquiring molten pool status information, and determining welding parameter adjustment information according to the molten pool status information; Presetting the welding parameter adjustment information; Calculating the end position posture adjustment information of the robot according to the preset processed welding parameter adjustment information; The welding trajectory of the robot is adjusted according to the end position posture adjustment information.

[0008] In order to solve the above technical problems, the embodiment of the present disclosure further provides a robot welding adjustment device, which adopts the following technical solution, including: A parameter adjustment information determination module is used to obtain molten pool state information and determine welding parameter adjustment information according to the molten pool state information; A parameter adjustment information processing module performs preset processing on the welding parameter adjustment information; A posture adjustment information acquisition module, which acquires the end position posture adjustment information of the robot according to the preset processed welding parameter adjustment information; The welding trajectory adjustment module adjusts the welding trajectory of the robot according to the end position posture adjustment information.

[0009] In order to solve the above technical problems, the embodiment of the present disclosure further provides a robot welding adjustment system, which adopts the following technical solution, including: The robot welding adjustment device as described above; A robot, used to adjust the end position posture according to the instruction of the robot welding adjustment device; The molten pool camera is arranged at the end of the robot or independently arranged, and is used to obtain the molten pool status information.

[0010] In order to solve the above technical problems, the embodiments of the present disclosure further provide a computer device, which adopts the technical solution described below, including: a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the method described in any of the preceding items is implemented.

[0011] In order to solve the above technical problems, the embodiments of the present disclosure further provide a computer-readable storage medium, which adopts the technical solution described below, including: a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the method described in any of the preceding items is implemented.

[0012] According to the technical solution disclosed in the present invention, compared with the prior art, its main feature is that it can automatically adjust the deviations generated during the robot welding process, improve the pass rate of the welds, is simple and efficient, and improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a schematic diagram of an embodiment of a system architecture according to the present disclosure; Figure 2 is a schematic diagram of an embodiment of a welding pool according to the present disclosure; Figure 3 is a flow chart of an embodiment of a robot welding adjustment method according to the present disclosure; Figure 4 is a schematic diagram of an embodiment of the adjustment amount filtering effect according to the present disclosure; Figure 5 is a schematic diagram of an embodiment of a weld coordinate system according to the present disclosure; Figure 6 is a schematic diagram of an embodiment of a robot welding original trajectory according to the present disclosure; Figure 7 is a schematic diagram of an embodiment of a robot welding adjustment trajectory according to the present disclosure; Figure 8 is a schematic diagram of an embodiment of a robot welding adjustment device according to the present disclosure; Fig. 9 is a schematic diagram of one embodiment of a computer device according to the present disclosure.

[0014] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that components and elements are not necessarily drawn to scale. DETAILED DESCRIPTION

[0015] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present disclosure belongs; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure; the terms "including" and "having" and any variations thereof in the specification and claims of the present disclosure and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of the present disclosure or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0016] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present disclosure. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0017] In order to enable those skilled in the art to better understand the solution of the present disclosure, the technical solution in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings.

[0018] Robot welding adjustment system First, the structure of a system according to an embodiment of the present disclosure is described. Figure 1 As shown, the system structure 100 may include terminal devices 101, 102, 103, 104, a network 105, a server 106, a robot 107, and a remote controller 108. The network 105 is used to provide a medium for communication links between the terminal devices 101, 102, 103, 104 and the server 106, the robot 107, and the remote controller 108.

[0019] In this embodiment, the electronic device (eg Figure 1 The terminal devices 101, 102, 103 or 104 shown in the figure can transmit various information through the network 105. The network 105 can include various connection types, such as wired, wireless communication links or optical fiber cables, etc. It should be noted that the above-mentioned wireless connection methods can include but are not limited to 3G / 4G / 5G connections, Wi-Fi connections, Bluetooth connections, WiMAX connections, Zigbee connections, UWB connections, local area networks ("LAN"), wide area networks ("WAN"), Internet (e.g., the Internet) and peer-to-peer networks (e.g., ad hoc peer-to-peer networks) and other network connection methods currently known or developed in the future. The network 105 can communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and can be interconnected with digital data communications (e.g., communication networks) of any form or medium.

[0020] The user can use the terminal devices 101, 102, 103, 104, and the remote controller 108 to interact with the server 106 and the robot 107 through the network 105 to receive or send messages, etc. Various client applications can be installed on the terminal devices 101, 102, 103, or 104, such as video live broadcast and playback applications, web browser applications, shopping applications, search applications, instant messaging tools, email clients, social platform software, etc.

[0021] The terminal devices 101, 102, 103 or 104, and the remote control 108 can be various electronic devices with touch screens and / or support for web browsing, including but not limited to smart phones, tablet computers, e-book readers, MP3 (Moving Picture Experts Compressed Standard Audio Layer 3) players, MP4 (Moving Picture Experts Compressed Standard Audio Layer 4) players, head-mounted display devices, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., as well as mobile terminals such as digital TVs, desktop computers, etc.

[0022] The server 106 may be a server that provides various services, such as a background server that provides support for pages displayed on the terminal device 101 , 102 , 103 or 104 or data transmitted.

[0023] The robot 107 will be described in detail later.

[0024] Remote control devices such as the remote controller 108 can, for example, control the increase or decrease of current, voltage, swing amplitude, etc., and control the adjustment of welding position, welding angle, etc. By obtaining the molten pool status information, the real-time status of welding and the accuracy of the welding gun position can be discovered. The remote controller 108 sends corresponding command information to the robot, such as: adjusting the up and down, left and right positions and the welding angle of the welding wire after the position deviation of the welding wire occurs, changing the corresponding swing amplitude after the weld width changes, changing the welding current and voltage after the welding wire filling amount changes, etc. The signal is transmitted to the robot 107 via the wireless network 105, for example.

[0025] It should be understood that Figure 1 The number of terminal devices, networks and servers in the embodiment is only for illustration. Any number of terminal devices, networks and servers may be provided according to implementation requirements.

[0026] Here, the terminal device can implement the embodiment method of the present disclosure by running applications in various operating systems independently or in cooperation with other electronic terminal devices, and can also implement the embodiment method of the present disclosure by running applications in other operating systems.

[0027] In order to implement the technical solution in the embodiments of the present disclosure, one embodiment of the present disclosure provides a robot welding adjustment system, which includes, for example, a robot welding adjustment device, a robot and a molten pool camera. The robot welding adjustment device will be described in detail later.

[0028] A robot is used to adjust the end position posture according to the instructions of the robot welding adjustment device, such as a welding gun, a sensor bracket, etc., which has a tool coordinate system (TCP) prepared in advance and set as the current tool coordinate system. The robot's kinematic coordinate system (Kinematic Coordinate System, KCS) is a coordinate system used to perform forward and inverse kinematic modeling of the robot. It is the robot's basic Cartesian coordinate system, which can also be called the robot's basic coordinate system or kinematic coordinate system. The robot tool end (TCP) can move along the coordinate system's x-axis, y-axis, and z-axis in this coordinate system, as well as rotate around the coordinate system's x-axis, y-axis, and z-axis.

[0029] The molten pool camera is set at the end of the robot or independently to obtain the molten pool status information. Figure 2 As shown in the schematic diagram of the welding molten pool, the molten pool refers to the part of the base material that is melted into a pool due to the heat of the welding arc. It is a liquid metal part with a certain geometric shape formed on the weldment during fusion welding. The molten pool can feedback the real-time status of welding, the accuracy of the welding gun wire position, and the fusion of the welding wire with the base material after melting. It can directly feedback the final quality information of welding. By obtaining the molten pool status information, the welding status and the fusion effect of the welding wire with the base material after melting can be judged.

[0030] Due to the strong light and high temperature generated by welding, the molten pool status information cannot be directly obtained, and the molten pool needs to be observed with the help of a molten pool camera or a welder's protective mask. Here, a molten pool camera is selected as a tool for molten pool observation. The molten pool camera can be installed on a welding gun, facing the welding arc, and the molten pool status information can be obtained through the camera during the welding process, and the obtained pool information can be transmitted to the server and other system components. Of course, the molten pool camera can also be independently set in other locations without limitation.

[0031] Here, the manner, steps, functions, etc. of the robot welding adjustment system implementing the robot welding adjustment method can be found in the corresponding description of the following robot welding adjustment method, and will not be repeated here.

[0032] It should be understood that, although each box in the block diagram of the accompanying drawings may represent a module, a part of which contains one or more executable instructions for implementing a specified logical function, these modules are not necessarily executed in sequence. The modules and functional units in the device embodiments disclosed herein may be integrated into a processing module, or each unit may exist physically separately, or two or more modules or functional units may be integrated into one module. The above-mentioned integrated modules may be implemented in the form of hardware or in the form of software functional modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium. The above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0033] Robot welding adjustment method refer to Figure 3 , shows a flow chart of an embodiment of a robot welding adjustment method according to the present disclosure. The robot welding adjustment method comprises: S31, obtaining molten pool status information, and determining welding parameter adjustment information according to the molten pool status information.

[0034] In one or more embodiments, the robot welding adjustment method further includes: Determine the welding trajectory and welding parameters of the robot, for example, by generating a weld trajectory through manual teaching or simulation software. The welding trajectory is, for example, composed of a series of discrete points P i =[X i ,Y i ,Z i , α i , β i , γ i ], XYZ is the trajectory position; αβγ is the trajectory posture, which respectively represent the rotation angles around the X-axis, Y-axis, and Z-axis.

[0035] For example, welding parameters are identified through manual setting or line laser scanning, and the welding parameters include at least one of groove parameters, swing welding parameters, and welding machine parameters, wherein: groove parameters include groove type, groove width, groove depth, bottom gap, etc., and through the identification of groove parameters, the basic parameters for welding are set based on the welding expert database. Some of the set basic parameters will be adjusted smoothly in real time online during the subsequent monitoring process to achieve the purpose of improving welding quality; swing welding parameters include welding swing type, basic amplitude A0, swing frequency f0, dwell time T0, etc.; welding machine parameters include welding current parameter I0, welding voltage parameter V0, etc. For example, according to the relationship between weld width and welding current I0, the adjustment amount of welding current I0 is obtained through the change of weld width and sent to the robot for adjustment.

[0036] The method disclosed in the present invention obtains the molten pool state information through the molten pool camera, and determines the welding parameter adjustment information, i.e., the adjustment amount, according to the molten pool state information. Commonly used adjustment amounts include, for example, the weld position ΔY, ΔZ, the weld posture Δα, Δβ, the swing welding amplitude ΔA, the welding voltage ΔV, the welding current ΔI, etc. Generally, the adjustment amount does not include adjustment along the weld X direction and the rotation adjustment γ around the tool Z axis, but this method can still be applied. In one or more embodiments, the system or the molten pool camera, for example, not only analyzes the molten pool image of the current frame, but also considers the image information of multiple frames before and after to capture the dynamic change trend of the molten pool and improve the accuracy of judgment. Additional sensors are installed in or outside the molten pool camera to monitor welding environmental factors (such as light, smoke, dust, oil, etc.), and corresponding compensation and correction are performed in the image analysis of the system or the molten pool camera. For example, for illumination compensation and correction, the image histogram can be adjusted to make the image brightness distribution more uniform, enhance contrast, and reduce the impact of uneven illumination; by establishing an illumination model, the distribution of illumination in the image can be estimated, and then compensation can be performed based on the estimated results; the image can be divided into multiple small areas, and adaptive thresholds can be calculated for each area to reduce the impact of illumination changes on image segmentation and feature extraction; color constancy algorithms can also be applied to correct color deviations caused by illumination changes. For smoke compensation and correction, a smoke-free background model can be established, and then the background can be subtracted from the current image to highlight the smoke area, and its impact can be reduced by analyzing and processing the smoke area; median filtering, Gaussian filtering and other methods can be used to smooth the noise and blur caused by smoke; and a specially trained deep learning model can be used to remove smoke and restore a clear image. For dust compensation and correction, morphological operations such as opening and closing operations are used to remove small noise and isolated points caused by dust particles, and then contrast enhancement, sharpening and other methods are used to highlight useful information in the image and reduce blur caused by dust. For oil pollution compensation and correction, we first analyze the characteristics of oil pollution in the image, such as color, shape, texture, etc., and then design specific filters based on the characteristics of oil pollution, such as texture-based filters, to reduce the impact of oil pollution. If conditions permit, multispectral or hyperspectral imaging technology is used to use the unique response of oil pollution in different bands for identification and correction.

[0037] The welding adjustment amount is subsequently sent to the robot via the remote controller 108 , and information can be transmitted between the remote controller 108 and the robot 107 using radio frequency wireless signals, for example.

[0038] S32, preset processing is performed on the welding parameter adjustment information. After the system receives the adjustment amount, since the adjustment amount sent by the remote controller 108 is discrete and not continuously changing, the system needs to filter and smooth the adjustment amount to ensure smooth changes in the movement of the robot or the adjustment of the welding machine. In order to distinguish the original adjustment amount, for example, the filtered adjustment amount is defined as follows: weld position adjustment amount dY, dZ, weld posture adjustment amount dα, dβ, where the weld position adjustment amount and the weld posture adjustment amount can be collectively referred to as the main weld adjustment amount, the swing welding amplitude adjustment amount dA (swing adjustment amount), the welding voltage adjustment amount dV, and the welding current adjustment amount dI.

[0039] like Figure 4 As shown, it is a schematic diagram of an embodiment of the effect after the adjustment amount is filtered, wherein 401 is, for example, an input discontinuous discrete command signal, and 402 is, for example, a filtered signal, showing that the discontinuous command signal of 401 is converted into a smooth signal that can be received by the robot system through a filtering algorithm. For example, by finding the filter parameters that are most suitable for the current welding system, such as cutoff frequency, order, etc., to optimize the filter parameters, and establish a more accurate robot kinematics and dynamics model, considering more practical factors such as friction, inertia, etc. Use spline curves (such as B-splines, cubic splines, etc.) to fit the desired motion trajectory instead of simple straight lines or broken lines. Spline curves have good smoothness and continuity, which can reduce corners and mutations in the trajectory. When planning the trajectory, the dynamic characteristics of the robot (such as acceleration, speed limit, torque limit, etc.) are taken into consideration. Ensure that the generated trajectory is within the physical capabilities of the robot to avoid unstable motion caused by exceeding the capabilities.

[0040] S33, calculating the end position posture adjustment information of the robot according to the preset processed welding parameter adjustment information. After smoothing and filtering the adjustment amount, the system will convert the relevant parameters into smooth joint motion of the robot through a specific formula.

[0041] In one or more embodiments, for example, a weld coordinate system is also established. During the welding process, the robot 107 continuously receives control commands transmitted by the remote control device 108, and establishes Figure 5 The weld coordinate system shown in the figure converts the adjustment amount into the action of the robot 107 and adjusts the position and angle of the welding gun up and down, left and right, changes the swing amplitude, changes the welding current and voltage, etc., thereby optimizing the effect of the molten pool and the overall welding quality. Figure 5As shown, define the welding forward direction of the welding gun (welding speed direction or welding trajectory tangent direction) as X+, and calculate the left and right direction Y+ by cross-producting the welding gun direction and the X+ direction. Re-correct the Z+ direction by reversing X+ and Y+. Establish the weld oscillation coordinate system according to the right-hand rule. Subsequent oscillation welding motion superposition and main weld adjustment amount superposition are based on the weld coordinate system. This coordinate system can be adjusted according to the direction of the TCP tool coordinate system, for example, according to the accuracy of the TCP tool coordinate system. Relative to the robot base coordinate system, for example, the weld coordinate system expression is defined as follows:

[0042] The end position and posture information of the robot is determined based on the weld coordinate system. When the robot does not swing along the main weld, the kinematic formula between the robot end trajectory and the robot joint is as follows:

[0043] Where θ is the joint angle, Indicates the position and posture of the end robot in Cartesian space. At this time, because the swing and adjustment amount superposition are not considered, .

[0044] Determine the robot's oscillating welding trajectory based on the weld coordinate system. Consider the robot's oscillating welding trajectory, which is expressed based on the weld coordinate system and is defined as follows:

[0045]

[0046] Where F is the formula for generating the oscillating welding trajectory, and the formulas for different types of oscillating welding trajectories are different. Therefore, the superposition matrix based on the weld coordinate system is defined as follows:

[0047] The robot's weaving welding trajectory is superimposed to determine the robot's end position posture adjustment information. For example, the weaving welding trajectory is superimposed on the trajectory of the main weld. The superposition formula is as follows

[0048]

[0049] In one or more embodiments, the method further includes superimposing an adjustment amount to determine the end position and posture adjustment information of the robot. The adjustment amount includes a main weld adjustment amount and / or a swing amplitude adjustment amount.

[0050] In one or more embodiments, the end position posture information of the robot is adjusted according to the main weld adjustment amount, and the influence of the main weld adjustment amount dY, dZ, dα, and dβ on the swing welding trajectory is considered, and the following correction is performed:

[0051]

[0052] In one or more embodiments, the swing welding trajectory is also adjusted according to the swing amplitude adjustment amount. Considering the influence of the swing amplitude adjustment amount dA on the swing welding trajectory, the following correction is performed:

[0053]

[0054]

[0055] In one or more embodiments, the main weld adjustment amount, the swing amplitude adjustment amount, and the swing welding trajectory are finally superimposed on the main weld trajectory to obtain:

[0056]

[0057]

[0058] S34, adjusting the welding trajectory of the robot according to the end position posture adjustment information.

[0059] According to the updated end position posture By establishing the forward and inverse kinematics model of the robot, the inverse solution operation is performed to obtain the actual angle of each joint. By adjusting the welding current I0, welding voltage V0 and other data, the adjustment amount of the welding current I0 is obtained through the change of the weld, and the data is sent to the welding machine in real time for adjustment.

[0060] Figure 6 A schematic diagram of an embodiment of the original trajectory of swing welding, Figure 7 A schematic diagram of an embodiment of a welding trajectory adjustment trajectory, Figure 6 and Figure 7 Describes the comparison of the terminal motion trajectory before and after correction, such as Figure 7 As shown, the oscillation amplitude changed 3 times, namely +2, -2, and +1; the main weld was adjusted 3 times along the Y direction, namely +10, +5, and -10.

[0061] According to the method disclosed in the present invention, the robot performs welding operations according to a preset trajectory, observes the actual situation of the molten pool through the molten pool camera during the process, uses a remote control to control the robot's welding gun position to maintain the center of the weld, and can adjust the main weld position and posture, swing amplitude, welding speed, welding current voltage and other parameters according to the width of the weld. And through the design of filter algorithm and motion superposition algorithm, smooth and stable parameter adjustment is achieved.

[0062] The method disclosed in the present invention solves the problem of position deviation caused by robot accuracy, camera accuracy, workpiece thermal deformation, etc. At the current stage, sensors cannot stably provide real-time information of welds. The final welding accuracy problem can be solved by observing the molten pool; not only can the position accuracy be analyzed, but also the degree of fusion between the welding wire and the base material and the change in the amount of welding wire filling can be judged. The complex robot welding system can be simplified through several conventional information, which can improve the pass rate of penetration welds and grade welds; by adjusting the welding state through the molten pool camera, digital model training sample information can be provided, that is, the corresponding data labels of the molten pool image change and the welding state adjustment, and the information can be continuously collected. AI can be used to train the model, and then a big data model of the molten pool and welding state changes can be obtained, and finally the manual intervention adjustment can be upgraded to the software automatic adjustment of the welding state. This method provides training data for the comprehensive realization of robot automatic adjustment.

[0063] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0064] Robot welding adjustment device In order to realize the technical solution in the embodiment of the present disclosure, an embodiment of the present disclosure provides a robot welding adjustment device, such as Figure 8 As shown, the robot welding adjustment device includes, for example, a parameter adjustment information determination module 801 , a parameter adjustment information processing module 802 , a posture adjustment information acquisition module 803 , and a welding trajectory adjustment module 804 .

[0065] The parameter adjustment information determination module 801 is used to obtain the molten pool state information and determine the welding parameter adjustment information according to the molten pool state information; here, the coordinate acquisition module 801 is, for example, to implement step S31 in the above-mentioned robot welding adjustment method, which will not be repeated here.

[0066] The parameter adjustment information processing module 802 performs preset processing on the welding parameter adjustment information. Here, the parameter adjustment information processing module 802 is, for example, to implement step S32 in the above-mentioned robot welding adjustment method, which will not be described in detail here.

[0067] The posture adjustment information acquisition module 803 acquires the robot's end position posture adjustment information according to the preset processed welding parameter adjustment information; here, the posture adjustment information acquisition module 803 is, for example, to implement step S33 in the above-mentioned robot welding adjustment method, which will not be repeated here.

[0068] The welding trajectory adjustment module 804 adjusts the welding trajectory of the robot according to the end position posture adjustment information; here, the welding trajectory adjustment module 804 is, for example, to implement step S34 in the above-mentioned robot welding adjustment method, which will not be repeated here.

[0069] Computer equipment Reference below Fig. 9 , which shows a schematic diagram of the structure of a computer device suitable for implementing the embodiment of the present disclosure. The computer device in the embodiment of the present disclosure is only an example and should not bring any limitation to the function and scope of use of the embodiment of the present disclosure.

[0070] like Fig. 9 As shown, the electronic device 900 may include a processing device (such as a central processing unit, a graphics processing unit, etc.) 901 for controlling the overall operation of the electronic device. The processing device may include one or more processors to execute instructions to complete all or part of the steps of the above method. In addition, the processing device 901 may also include one or more modules for processing and interacting with other devices.

[0071] The storage device 902 is used to store various types of data. The storage device 902 may include various types of computer-readable storage media or combinations thereof, such as electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or components, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program, which may be used by or in conjunction with an instruction execution system, device, or device.

[0072] The sensor device 903 is used to sense the specified measured information and convert it into a usable output signal according to a certain rule, and may include one or more sensors. For example, it may include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor or a temperature sensor, etc., for detecting changes in the opening / closing state, relative positioning, acceleration / deceleration, temperature, humidity and light of the electronic device.

[0073] The processing device 901 , the storage device 902 , and the sensor device 903 are connected to each other via a bus 904 . An input / output (I / O) interface 905 is also connected to the bus 904 .

[0074] The multimedia device 906 may include input devices such as a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, etc. for receiving input signals from a user. The various input devices may cooperate with the various sensors of the above-mentioned sensor device 903 to complete, for example, gesture operation input, image recognition input, distance detection input, etc. The multimedia device 906 may also include output devices such as a liquid crystal display (LCD), a speaker, a vibrator, etc.

[0075] The power supply device 907 is used to provide power to various devices in the electronic device, and may include a power management system, one or more power supplies, and components for distributing power to other devices.

[0076] The communication device 908 may allow the electronic device 900 to communicate with other devices wirelessly or by wire to exchange data.

[0077] The above-mentioned devices can also be connected to the I / O interface 905 to implement the application of the electronic device 900.

[0078] Although the electronic device with various devices is shown in the figure, it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0079] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device. When the computer program is executed by a processing device, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0080] In the context of the present disclosure, a machine-readable medium may be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0081] It should be noted that the above-mentioned computer-readable medium of the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. In the present disclosure, the computer-readable signal medium may include a data signal propagated in the baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in combination with an instruction execution system, device or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0082] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0083] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0084] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0085] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of a unit does not, in some cases, limit the unit itself.

[0086] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0087] According to one or more embodiments of the present disclosure, a robot welding adjustment method is provided, comprising: Acquiring molten pool status information, and determining welding parameter adjustment information according to the molten pool status information; Presetting the welding parameter adjustment information; Calculating the end position posture adjustment information of the robot according to the preset processed welding parameter adjustment information; The welding trajectory of the robot is adjusted according to the end position posture adjustment information.

[0088] According to one or more embodiments of the present disclosure, a robot welding adjustment method is provided, wherein the robot end position posture adjustment information is calculated according to the preset processed welding parameter adjustment information, comprising: Establish weld coordinate system; Determining the end position posture information of the robot based on the weld coordinate system; Determine the welding trajectory of the robot based on the weld coordinate system; The weaving trajectory of the robot is superimposed to determine the end position posture adjustment information of the robot.

[0089] According to one or more embodiments of the present disclosure, a robot welding adjustment method is provided, further comprising: The adjustment amounts are superimposed to determine the end position posture adjustment information of the robot.

[0090] According to one or more embodiments of the present disclosure, the adjustment amount includes a main weld adjustment amount and / or a swing amplitude adjustment amount; The method further comprises adjusting the end position posture information of the robot according to the main weld adjustment amount, and / or The swing welding trajectory is adjusted according to the swing amplitude adjustment amount.

[0091] According to one or more embodiments of the present disclosure, a robot welding adjustment method is provided, further comprising: determining the welding trajectory and welding parameters of the robot, The welding trajectory includes a series of discrete points, and the welding parameters include at least one of groove parameters, weaving welding parameters, and welding machine parameters.

[0092] According to one or more embodiments of the present disclosure, a robot welding adjustment method is provided, wherein the welding machine parameters include welding current parameters. According to the relationship between the weld width and the welding current, the adjustment amount of the welding current is obtained by changing the weld width and sent to the robot for adjustment.

[0093] According to one or more embodiments of the present disclosure, a robot welding adjustment device is provided, comprising: A parameter adjustment information determination module is used to obtain molten pool state information and determine welding parameter adjustment information according to the molten pool state information; A parameter adjustment information processing module performs preset processing on the welding parameter adjustment information; A posture adjustment information acquisition module, which acquires the end position posture adjustment information of the robot according to the preset processed welding parameter adjustment information; The welding trajectory adjustment module adjusts the welding trajectory of the robot according to the end position posture adjustment information.

[0094] According to one or more embodiments of the present disclosure, a robot welding adjustment system is provided, comprising: The robot welding adjustment device as described above; A robot, used to adjust the end position posture according to the instruction of the robot welding adjustment device; The molten pool camera is arranged at the end of the robot or independently arranged, and is used to obtain the molten pool status information.

[0095] According to one or more embodiments of the present disclosure, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the method described in any of the preceding items is implemented.

[0096] According to one or more embodiments of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method described in any of the preceding items is implemented.

[0097] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0098] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0099] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. A robot welding adjustment method, characterized in that: include: Acquiring molten pool status information, and determining welding parameter adjustment information according to the molten pool status information; Presetting the welding parameter adjustment information; Calculating the end position posture adjustment information of the robot according to the preset processed welding parameter adjustment information; The welding trajectory of the robot is adjusted according to the end position posture adjustment information.

2. The robot welding adjustment method according to claim 1, characterized in that: The calculating of the end position posture adjustment information of the robot according to the preset processed welding parameter adjustment information includes: Establish weld coordinate system; Determining the end position posture information of the robot based on the weld coordinate system; Determining a welding trajectory of the robot based on the weld coordinate system; The weaving trajectory of the robot is superimposed to determine the end position posture adjustment information of the robot.

3. The robot welding adjustment method according to claim 2, characterized in that: Also includes, The adjustment amounts are superimposed to determine the end position posture adjustment information of the robot.

4. The robot welding adjustment method according to claim 3, characterized in that: The adjustment amount includes a main weld adjustment amount and / or a swing amplitude adjustment amount; The method further comprises adjusting the end position posture information of the robot according to the main weld adjustment amount, and / or The swing welding trajectory is adjusted according to the swing amplitude adjustment amount.

5. The robot welding adjustment method according to claim 1, characterized in that: Also includes, determining the welding trajectory and welding parameters of the robot, The welding trajectory includes a series of discrete points, and the welding parameters include at least one of groove parameters, weaving welding parameters, and welding machine parameters.

6. The robot welding adjustment method according to claim 5, characterized in that: The welding machine parameters include welding current parameters, According to the relationship between the weld width and the welding current, the adjustment amount of the welding current is obtained by changing the weld width and sent to the robot for adjustment.

7. A robot welding adjustment device, characterized in that: Implementing the method according to any one of claims 1 to 6, comprising: A parameter adjustment information determination module is used to obtain molten pool state information and determine welding parameter adjustment information according to the molten pool state information; A parameter adjustment information processing module performs preset processing on the welding parameter adjustment information; A posture adjustment information acquisition module, which acquires the end position posture adjustment information of the robot according to the preset processed welding parameter adjustment information; The welding trajectory adjustment module adjusts the welding trajectory of the robot according to the end position posture adjustment information.

8. A robot welding adjustment system, characterized in that: include: The robot welding adjustment device as claimed in claim 7; A robot, used to adjust the end position posture according to the instruction of the robot welding adjustment device; The molten pool camera is arranged at the end of the robot or independently arranged, and is used to obtain the molten pool status information.

9. A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 6 when executing the computer program.

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

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