Robot welding adjustment method, device and system

Abstract

The present disclosure provides a robot welding adjustment method, device, and system. The robot welding adjustment method includes: obtaining molten pool state information, determining welding parameter adjustment information based on the molten pool state information; performing preset processing on the welding parameter adjustment information; calculating the robot's end position and posture adjustment information based on the preset welding parameter adjustment information; and adjusting the robot's welding trajectory based on the end position and posture adjustment information. The present disclosure can automatically adjust deviations generated during robot welding, improve the weld pass rate, and enhance the user experience.

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 welding process, the robot may experience issues such as positional offset and deformation of the weld seam on the workpiece due to poor consistency of incoming materials from the previous process and errors in fixture design. The robot cannot directly perform welding through teaching playback. Sensors must first measure and locate the weld seam, and then correct the weld trajectory before the welding process can proceed normally. During the welding process, due to issues such as workpiece deformation due to heat, the weld seam often needs to be tracked in real time, and the welding trajectory must be dynamically corrected based on the actual position of the weld seam to ensure the final welding effect.

[0003] Traditional solutions involve using methods such as wire mechanical contact positioning, point laser sensor positioning, line laser sensor positioning, and 3D vision positioning to measure and correct the weld before welding, or using real-time tracking during welding to adjust the welding gun trajectory to meet welding requirements. However, these existing positioning and tracking methods have the following disadvantages:

[0004] 1. Position and measure the weld before welding. 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.

[0005] 2. The workpiece is deformed by heat during welding, and the weld shape collected in advance is no longer usable;

[0006] 3. Currently, the main function is to track the center of the weld in real time. Robotic welding generally uses a swing welding method, and the camera swings with it, resulting in unstable recognition.

[0007] 4. Since the weld width will change due to heat, only tracking the center position of the weld cannot meet the welding requirements. It is necessary to adjust welding parameters such as welding speed, welding current, and swing amplitude in real time according to actual conditions.

[0008] Therefore, the problem of unreliable accuracy of current weld measurement and positioning technology needs to be solved. Summary of the Invention

[0009] 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 that automatically adjusts the deviation generated during the robot welding process and improves the qualified rate of the weld.

[0010] This disclosure provides this summary of the invention to briefly introduce the concepts that will be described in detail in the detailed description 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 limit the scope of the technical solution claimed for protection.

[0011] In order to solve the above technical problems, the present disclosure also provides a robot welding adjustment method, which adopts the following technical solution, including:

[0012] Acquiring molten pool status information, and determining welding parameter adjustment information according to the molten pool status information;

[0013] Presetting the welding parameter adjustment information;

[0014] Calculating the end position and posture adjustment information of the robot according to the preset processed welding parameter adjustment information;

[0015] The welding trajectory of the robot is adjusted according to the end position posture adjustment information.

[0016] In order to solve the above technical problems, the present disclosure further provides a robot welding adjustment device, which adopts the following technical solutions, including:

[0017] a parameter adjustment information determination module, which obtains molten pool state information and determines welding parameter adjustment information according to the molten pool state information;

[0018] A parameter adjustment information processing module performs preset processing on the welding parameter adjustment information;

[0019] 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;

[0020] The welding trajectory adjustment module adjusts the welding trajectory of the robot according to the end position posture adjustment information.

[0021] In order to solve the above technical problems, the present disclosure also provides a robot welding adjustment system, which adopts the following technical solutions, including:

[0022] The robot welding adjustment device as described above;

[0023] A robot, configured to adjust an end position posture according to an instruction of the robot welding adjustment device;

[0024] 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.

[0025] In order to solve the above technical problems, an embodiment of the present disclosure further provides a computer device, which adopts the following technical solution, including: a memory and a processor, wherein the memory stores a computer program, and the processor implements the method described in any of the above items when executing the computer program.

[0026] In order to solve the above technical problems, the embodiment of the present disclosure also provides a computer-readable storage medium, which adopts the following technical solution, including: a computer program is stored on the computer-readable storage medium, and when the computer program is executed by the processor, it implements the method described in any of the above items.

[0027] According to the technical solution disclosed in the present invention, compared with the existing technology, its main feature is that it automatically adjusts the deviations generated during the robot welding process, improves the pass rate of the welds, is simple and efficient, and enhances the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic diagram of an embodiment of a system architecture according to the present disclosure;

[0029] Figure 2 is a schematic diagram of one embodiment of a weld pool according to the present disclosure;

[0030] Figure 3 is a flow chart of an embodiment of a robot welding adjustment method according to the present disclosure;

[0031] Figure 4 is a schematic diagram of an embodiment of an adjustment amount filtering effect according to the present disclosure;

[0032] Figure 5 is a schematic diagram of an embodiment of a weld coordinate system according to the present disclosure;

[0033] Figure 6 is a schematic diagram of an embodiment of a robot welding original trajectory according to the present disclosure;

[0034] Figure 7 is a schematic diagram of an embodiment of a robot welding adjustment trajectory according to the present disclosure;

[0035] Figure 8 is a schematic diagram of an embodiment of a robot welding adjustment device according to the present disclosure;

[0036] Figure 9 is a schematic diagram of one embodiment of a computer device according to the present disclosure.

[0037] The above and other features, advantages, and aspects of the various embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the 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

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which this disclosure belongs. The terms used in the specification of the application are for the purpose of describing specific embodiments only and are not intended to limit this disclosure. The terms "including" and "having" and any variations thereof in the specification and claims of this disclosure and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this disclosure or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0039] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present disclosure. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0040] In order to enable those skilled in the art to better understand the solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings.

[0041] Robot welding adjustment system

[0042] First, the structure of a system according to an embodiment of the present disclosure is described. Figure 1 As shown, 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. Network 105 is used to provide a medium for communication links between terminal devices 101, 102, 103, 104 and server 106, robot 107, and remote controller 108.

[0043] In this embodiment, the virtual decoration method is executed on the electronic device (eg Figure 1Terminal devices 101, 102, 103, or 104 (illustrated) can transmit various information via network 105. Network 105 can include various connection types, such as wired or wireless communication links or fiber optic cables. It should be noted that the aforementioned wireless connection methods may include, but are not limited to, 3G / 4G / 5G connections, Wi-Fi connections, Bluetooth connections, WiMAX connections, Zigbee connections, UWB connections, local area networks ("LANs"), wide area networks ("WANs"), internetworks (e.g., the Internet), peer-to-peer networks (e.g., ad hoc peer-to-peer networks), and other currently known or later developed network connection methods. Network 105 can communicate using any currently known or later developed network protocol, such as HTTP (Hypertext Transfer Protocol), and can interconnect with any form or medium of digital data communication (e.g., communication networks).

[0044] Users can use terminal devices 101, 102, 103, 104, and remote control 108 to interact with server 106 and robot 107 via network 105 to receive or send messages, etc. Various client applications can be installed on 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.

[0045] The terminal devices 101, 102, 103 or 104, and the remote control 108 can be various electronic devices with touch screen displays and / or support for web browsing, including but not limited to smart phones, tablet computers, e-book readers, MP3 (Moving Picture Experts Group Audio Layer 3) players, MP4 (Moving Picture Experts Group 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.

[0046] 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 for transmitting data.

[0047] The robot 107 will be described in detail later.

[0048] Remote control devices such as the remote controller 108 can, for example, control the increase and 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, and corresponding command information is sent to the robot through the remote controller 108, such as: adjusting the position of the welding wire up and down and left and right and the welding angle 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 through the wireless network 105, for example.

[0049] It should be understood that Figure 1 The number of terminal devices, networks and servers in the embodiment is merely illustrative. Any number of terminal devices, networks and servers may be provided as required.

[0050] 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.

[0051] In order to implement the technical solution in the embodiment 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.

[0052] 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 (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, also known as the robot's basic coordinate system or kinematic coordinate system. The robot's 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.

[0053] 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 weld pool, the molten pool refers to the portion of the base metal that has melted into a pool due to the heat of the welding arc. It is the geometrically shaped liquid metal that forms on the weldment during fusion welding. The molten pool provides feedback on the real-time welding status, the accuracy of the welding gun and wire positioning, and the fusion of the melted wire with the base metal, directly providing information on the final weld quality. By obtaining this information, the welding state and the fusion of the melted wire with the workpiece and base metal can be determined.

[0054] Due to the intense light and high temperatures generated by welding, it's impossible to directly obtain information about the melt pool's status. Instead, a melt pool camera or welder's protective mask is required to observe the melt pool. A melt pool camera is used here as a tool for observing the melt pool. For example, the melt pool camera can be mounted on the welding torch, facing the welding arc. During the welding process, the camera captures melt pool status information and transmits this information to a server or other system component. Of course, the melt pool camera can also be independently installed in other locations, and there are no specific restrictions.

[0055] 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.

[0056] 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 the specified logical functions, these modules are not necessarily executed in sequence. The modules and functional units in the device embodiments of the present disclosure 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 storage medium mentioned above may be a read-only memory, a disk or an optical disk, etc.

[0057] Robot welding adjustment method

[0058] 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 includes:

[0059] S31, obtaining molten pool status information, and determining welding parameter adjustment information according to the molten pool status information.

[0060] In one or more embodiments, the robot welding adjustment method further includes:

[0061] Determine the robot's welding trajectory and welding parameters, such as generating a weld trajectory through manual teaching or simulation software. The welding trajectory is 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 angle around the X axis, Y axis, and Z axis.

[0062] For example, welding parameters are identified through manual setting or line laser scanning. The welding parameters include at least one of groove parameters, weaving parameters, and welding machine parameters, wherein: groove parameters include groove type, groove width, groove depth, bottom gap, etc. By identifying the groove parameters, basic parameters for welding are set based on the welding expert database. Some of the set basic parameters will be adjusted smoothly online in real time during the subsequent monitoring process to achieve the purpose of improving welding quality; weaving parameters include welding oscillation type, basic amplitude A0, oscillation frequency f0, dwell time T0, etc.; welding machine parameters include welding current parameter I0, welding voltage parameter V0, etc. For example, based on 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.

[0063] The method disclosed herein obtains molten pool status information through a molten pool camera, and determines welding parameter adjustment information, i.e., adjustment amounts, based on the molten pool status information. Commonly used adjustment amounts include, for example, weld position ΔY, ΔZ, weld posture Δα, Δβ, weaving amplitude ΔA, welding voltage ΔV, welding current ΔI, etc. Generally, the adjustment amount does not include adjustment along the weld X direction and rotation adjustment γ around the tool Z axis, but this method can still be applied. In one or more embodiments, the system or molten pool camera, for example, not only analyzes the molten pool image of the current frame, but also considers 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 molten pool camera. For example, illumination compensation and correction can be achieved by adjusting the image's histogram to make the brightness distribution more uniform, enhancing contrast and mitigating the effects of uneven illumination. An illumination model can be established to estimate the illumination distribution within the image and then compensate for the effects based on the estimated results. The image can be divided into multiple small regions, and adaptive thresholds can be calculated for each region to reduce the impact of illumination variations on image segmentation and feature extraction. Color constancy algorithms can also be applied to correct for color deviations caused by illumination variations. Smoke compensation and correction can be achieved by establishing a smoke-free background model, subtracting the background from the current image, highlighting the smoke regions, and mitigating their effects through analysis and processing of the smoke regions. Methods such as median filtering and Gaussian filtering can be used to smooth the noise and blur caused by smoke. A specially trained deep learning model can then be used to remove the smoke and restore a clear image. For dust compensation and correction, morphological operations such as opening and closing are used to remove small noise and isolated points caused by dust particles. Contrast enhancement and sharpening methods are then 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 oil pollution characteristics, such as texture-based filters, to reduce the impact of oil pollution. If conditions permit, multispectral or hyperspectral imaging technology is used to utilize the unique response of oil pollution in different bands for identification and correction.

[0064] 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, for example, radio frequency wireless signals.

[0065] S32: Preset processing is performed on the welding parameter adjustment information. After the system receives the adjustment values, since the adjustment values ​​sent by remote control 108 are discrete rather than continuously changing, the system needs to filter and smooth the adjustment values ​​to ensure smooth changes in robot movement or welding machine adjustment. To distinguish the original adjustment values, the filtered adjustment values ​​are defined as follows: weld position adjustment values ​​dY and dZ, weld posture adjustment values ​​dα and dβ. Here, the weld position adjustment values ​​and weld posture adjustment values ​​can be collectively referred to as the main weld adjustment value, the swing amplitude adjustment value dA (swing adjustment value), the welding voltage adjustment value dV, and the welding current adjustment value dI.

[0066] like Figure 4 Figure 2 shows a schematic diagram of an embodiment of the effect of filtering the adjustment amount. For example, 401 represents the input discontinuous discrete command signal, and 402 represents the filtered signal. This diagram illustrates how the filtering algorithm converts the discontinuous command signal 401 into a smooth signal that can be received by the robot system. For example, this can be achieved by finding the filter parameters that best suit the current welding system, such as cutoff frequency and order, and optimizing the filter parameters. Furthermore, a more accurate robot kinematic and dynamic model is established, taking into account more practical factors such as friction and inertia. Spline curves (such as B-splines and cubic splines) are used to fit the desired motion trajectory, rather than simple straight or broken line connections. Spline curves offer excellent smoothness and continuity, reducing corners and sudden changes in the trajectory. When planning the trajectory, the robot's dynamic characteristics (such as acceleration, speed limits, and torque limits) are taken into account. Ensure that the generated trajectory is within the robot's physical capabilities to avoid unstable motion caused by exceeding capabilities.

[0067] S33, calculate the robot's end position and posture adjustment information based on 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.

[0068] 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 a weld coordinate system. Figure 5 The weld coordinate system shown in FIG. 1 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, the welding gun welding forward direction (welding speed direction or welding trajectory tangential direction) is defined as X+, and the left and right direction Y+ is calculated by cross-producting the welding gun direction and the X+ direction. The Z+ direction is re-corrected by the reverse of X+ and Y+. The weld oscillation coordinate system is established according to the right-hand rule. The subsequent oscillating welding motion superposition and the main weld adjustment amount superposition are all based on this weld coordinate system. This coordinate system can, for example, be adjusted according to the direction of the TCP tool coordinate system and 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:

[0069]

[0070] The robot's end position and posture information is determined based on the weld coordinate system. When the robot moves along the main weld without swinging, the kinematic formula between the robot's end trajectory and the robot's joints is as follows:

[0071]

[0072] 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, .

[0073] 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. Its expression is defined as follows:

[0074]

[0075]

[0076] Where F is the formula for generating the oscillating welding trajectory, and the formulas for different types of oscillating welding trajectory are different. For example, the sine oscillation trajectory is Therefore, the superposition matrix based on the weld coordinate system is defined as follows:

[0077]

[0078] 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 main weld trajectory. The superposition formula is as follows

[0079]

[0080]

[0081] In one or more embodiments, the method further includes superimposing adjustment amounts to determine the end position and posture adjustment information of the robot. The adjustment amounts include main weld seam adjustment amounts and / or swing amplitude adjustment amounts.

[0082] In one or more embodiments, the robot's end position posture information is adjusted according to the main weld seam adjustment amount. Considering the influence of the main weld seam adjustment amount dY, dZ, dα, and dβ on the weaving welding trajectory, the following correction is performed:

[0083]

[0084]

[0085] In one or more embodiments, the weaving welding trajectory is further adjusted according to the swing amplitude adjustment amount. Considering the influence of the swing amplitude adjustment amount dA on the weaving welding trajectory, the following correction is performed:

[0086]

[0087]

[0088]

[0089] 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:

[0090]

[0091]

[0092]

[0093] S34, adjusting the welding trajectory of the robot according to the end position posture adjustment information.

[0094] 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.

[0095] Figure 6 A schematic diagram of an embodiment of the original trajectory of swing welding is shown in FIG. Figure 7 A schematic diagram of an embodiment of a welding trajectory adjustment trajectory is shown. 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.

[0096] According to the disclosed method, the robot performs welding along a preset trajectory. During the process, a weld pool camera is used to observe the actual conditions of the weld pool. A remote control is used to control the robot's welding gun to maintain its position at the center of the weld. Parameters such as the main weld position and posture, oscillation amplitude, welding speed, and welding current and voltage can be adjusted based on the weld width. Filter algorithms and motion superposition algorithms are designed to achieve smooth and stable parameter adjustment.

[0097] The method disclosed in this paper solves the problem of position deviation caused by robot accuracy, camera accuracy, and workpiece thermal deformation. At the current stage, sensors cannot stably provide real-time information on welds. By observing the molten pool, the final welding accuracy problem can be solved. Not only can the position accuracy be analyzed, but the degree of fusion between the welding wire and the base material and the change in the amount of welding wire filling can also be judged. The complex robot welding system can be simplified through several conventional information, which can improve the pass rate of full 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 changes and the welding state adjustment. By continuously collecting this information, 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, which ultimately realizes the upgrade from manual intervention adjustment to software automatic adjustment of the welding state. This method provides training data for the full realization of robot automatic adjustment.

[0098] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown in sequence as indicated by the arrows, these steps are not necessarily executed 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 some of the steps in the flowcharts 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 portion of the sub-steps or stages of other steps.

[0099] Robot welding adjustment device

[0100] 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 .

[0101] 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.

[0102] 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.

[0103] 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.

[0104] The welding trajectory adjustment module 804 adjusts the robot's welding trajectory 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 described in detail here.

[0105] Computer equipment

[0106] Reference below Figure 9 , which shows a schematic diagram of the structure of a computer device suitable for implementing the embodiments of the present disclosure. The computer device in the embodiments of the present disclosure is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0107] like Figure 9 As shown, electronic device 900 may include a processing device (e.g., 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-described method. In addition, the processing device 901 may also include one or more modules for processing and interacting with other devices.

[0108] Storage device 902 is used to store various types of data. 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 having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), 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 containing or storing a program that can be used by or in conjunction with an instruction execution system, device, or component.

[0109] Sensor device 903 is used to sense the specified measured information and convert it into a usable output signal according to a certain rule. It can include one or more sensors. For example, it can include an accelerometer, a gyroscope, a magnetic sensor, a pressure sensor, or a temperature sensor, etc., to detect changes in the electronic device's open / closed state, relative positioning, acceleration / deceleration, temperature, humidity, and light.

[0110] The processing device 901 , the storage device 902 , and the sensor device 903 are connected to one another via a bus 904 . An input / output (I / O) interface 905 is also connected to the bus 904 .

[0111] 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 the user. The various input devices can 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.

[0112] 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.

[0113] The communication device 908 may allow the electronic device 900 to communicate with other devices wirelessly or by wire to exchange data.

[0114] The above devices can also be connected to the I / O interface 905 to implement the application of the electronic device 900.

[0115] Although the drawings show an electronic device with various devices, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed instead.

[0116] 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 includes 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 via 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 performed.

[0117] 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.

[0118] It should be noted that the computer-readable medium mentioned in the present disclosure may be a computer-readable signal medium, a computer-readable storage medium, or any combination thereof. In the present disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying 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 thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, capable of transmitting, propagating, or conveying a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wires, optical cables, RF (radio frequency), or any suitable combination thereof.

[0119] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0120] 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 stand-alone 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., through the Internet using an Internet service provider).

[0121] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two 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 box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0122] The units involved in the embodiments described in this disclosure may be implemented in software or hardware, wherein the name of a unit does not necessarily limit the unit itself.

[0123] The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, and 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.

[0124] According to one or more embodiments of the present disclosure, a robot welding adjustment method is provided, comprising:

[0125] Acquiring molten pool status information, and determining welding parameter adjustment information according to the molten pool status information;

[0126] Presetting the welding parameter adjustment information;

[0127] Calculating the end position and posture adjustment information of the robot according to the preset processed welding parameter adjustment information;

[0128] The welding trajectory of the robot is adjusted according to the end position posture adjustment information.

[0129] 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 based on the preset processed welding parameter adjustment information, including:

[0130] Establish weld coordinate system;

[0131] Determining the end position posture information of the robot based on the weld coordinate system;

[0132] Determining a welding trajectory of the robot based on the weld coordinate system;

[0133] The weaving trajectory of the robot is superimposed to determine the end position posture adjustment information of the robot.

[0134] According to one or more embodiments of the present disclosure, a robot welding adjustment method is provided, further comprising:

[0135] The adjustment amounts are superimposed to determine the end position and posture adjustment information of the robot.

[0136] 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;

[0137] The method further includes adjusting the end position posture information of the robot according to the main weld adjustment amount, and / or

[0138] The weaving welding trajectory is adjusted according to the swing amplitude adjustment amount.

[0139] According to one or more embodiments of the present disclosure, a robot welding adjustment method is provided, further comprising:

[0140] Determine the welding trajectory and welding parameters of the robot,

[0141] 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.

[0142] 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.

[0143] 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.

[0144] According to one or more embodiments of the present disclosure, a robot welding adjustment device is provided, comprising:

[0145] a parameter adjustment information determination module, which obtains molten pool state information and determines welding parameter adjustment information according to the molten pool state information;

[0146] A parameter adjustment information processing module performs preset processing on the welding parameter adjustment information;

[0147] 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;

[0148] The welding trajectory adjustment module adjusts the welding trajectory of the robot according to the end position posture adjustment information.

[0149] According to one or more embodiments of the present disclosure, a robot welding adjustment system is provided, comprising:

[0150] The robot welding adjustment device as described above;

[0151] A robot, configured to adjust an end position posture according to an instruction of the robot welding adjustment device;

[0152] 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.

[0153] 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 as described in any one of the preceding items is implemented.

[0154] 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 as described in any one of the preceding items is implemented.

[0155] The above description is merely a preferred embodiment of the present disclosure and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the present disclosure is not limited to technical solutions formed by specific combinations of the aforementioned technical features. It also encompasses other technical solutions formed by any combination of the aforementioned technical features or their equivalents, without departing from the scope of the above disclosure. For example, a technical solution formed by replacing the aforementioned features with (but not limited to) technical features with similar functions disclosed in this disclosure.

[0156] 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 have been 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.

[0157] Although the subject matter has been described in language specific to structural features and / or methodological logical acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts 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 and posture adjustment information of the robot according to the preset processed welding parameter adjustment information; Adjust the welding trajectory of the robot according to the end position posture adjustment information, The calculation of the robot's end position posture adjustment information based on 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; Superimposing the weaving welding trajectory of the robot to determine the end position and posture adjustment information of the robot, further comprising superimposing the adjustment amount to determine the end position and posture adjustment information of the robot, The adjustment amount includes the main weld adjustment amount and / or the swing amplitude adjustment amount after preset processing; The method further includes adjusting the end position posture information of the robot according to the main weld adjustment amount, and / or The weaving welding trajectory is adjusted according to the swing amplitude adjustment amount.

2. The robot welding adjustment method according to claim 1, wherein: Also includes, Determine 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.

3. The robot welding adjustment method according to claim 2, 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.

4. A robot welding adjustment device, characterized in that: Implementing the method according to any one of claims 1 to 3, comprising: a parameter adjustment information determination module, which obtains molten pool state information and determines 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.

5. A robot welding adjustment system, characterized in that: include: The robot welding adjustment device according to claim 4; A robot, configured to adjust an end position posture according to an 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.

6. 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 3 when executing the computer program.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 3.

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