Teaching device and robot welding method

Abstract

The invention provides a teaching device and a robot welding method, and relates to the technical field of robot control. The teaching device comprises a control module, a key module and a moving assembly. A plurality of keys are arranged on the key module; the control module is connected with the key module and the moving assembly and is in communication connection with the robot; the control module is used for detecting the state of the moving assembly and the state of each key on the key module and generating a moving control instruction so that the robot can move according to the moving control instruction. The control module is further used for determining a welding program according to the state of the at least one key, generating a welding control instruction and sending the welding control instruction to the robot so that the robot can control a welding device at the tail end of the robot to execute corresponding welding operation according to the welding control instruction. The teaching device which can adapt to the working environment and is convenient to operate is provided for operators, and accurate, efficient and intelligent control over the robot is achieved through various functional assemblies on the teaching device.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to a teaching device and a robot welding method. Background Art

[0002] A teach pendant is a handheld device used to program and control robots. Through the teach pendant, the operator can intuitively guide and control the robot to the task location to perform the corresponding task.

[0003] The traditional teach pendant provides an operation interface for the operator based on an electronic device (such as a tablet computer). The operation interface displays programming application windows of various functions. In response to the operator's touch operation on the target function on the operation interface, the robot is controlled to perform the corresponding operation based on the target function. In the process of controlling the robot based on the teach pendant, considering the operation safety and operation environment, the operator usually wears gloves and other props to operate. Although the above-mentioned type of teach pendant also provides a direct robot control method, the programming application window on the operation interface of the teach pendant is complex and diverse, and the operation threshold for the operator is high. In particular, for the application scenario of the welding robot performing welding operations, the working environment of the welding scenario is poor, which is easy to cause pollution to the teach pendant, and the operator wears gloves, so the touch operation of the operation interface is not convenient. Therefore, the traditional teach pendant is not friendly to the operator and can no longer meet the needs of the welding operation scenario. Summary of the invention

[0004] The purpose of this application is to provide a teaching device and a robot welding method to address the deficiencies in the above-mentioned prior art, so as to solve the problem that the traditional teaching pendant in the prior art is not operator-friendly and can no longer meet the needs of welding operation scenarios.

[0005] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides a teaching device, the teaching device comprising: a control module, a button module and a moving component;

[0007] The button module is provided with a plurality of buttons; the control module is connected with the button module and the moving component, and the control module is connected with the machine for communication;

[0008] The control module is used to detect the state of the moving component and the state of each button on the button module;

[0009] The control module is further used to generate a movement control instruction according to the state of the movement component and the state of at least one button, and send the movement control instruction to the robot so that the robot moves according to the movement control instruction;

[0010] The control module is also used to determine the welding program according to the state of at least one button, generate a welding control instruction according to the welding program, and send the welding control instruction to the robot, so that the robot controls the welding device arranged at the end of the robot to perform the corresponding welding operation according to the welding control instruction. The welding control instruction includes: the identification of the welding program and the program parameters of the welding program, and the program parameters include: the initial point information of each welding point, and the welding point includes a welding starting point, a welding middle point and a welding end point.

[0011] As a possible implementation manner, the multiple keys include at least one speed key;

[0012] The control module is specifically used to determine a direction parameter according to the state of the moving component, determine a speed parameter according to the state of the speed button, and generate the moving control instruction according to the direction parameter and the speed parameter.

[0013] As a possible implementation, the plurality of buttons include: a welding program selection button and a welding operation button;

[0014] The control module is specifically used to determine the welding program selected by the user according to the state of the welding program selection button, and when the state of the welding operation button is pressed, generate the welding control instruction, and the welding control instruction is used to instruct the welding device to perform the welding operation according to the welding program.

[0015] As a possible implementation, the plurality of buttons further include: a plurality of program parameter buttons;

[0016] The control module is also used to determine or adjust the program parameters of the welding program according to the status of each program parameter button when determining the welding program selected by the user according to the status of the welding program selection button, and add the program parameters to the welding control instruction.

[0017] As a possible implementation, the multiple buttons further include: a welding pause button;

[0018] The control module is further configured to generate a welding pause instruction when the welding pause button is in a pressed state, wherein the welding pause instruction is configured to instruct the welding device to enter an operation interruption state.

[0019] As a possible implementation, the plurality of buttons further include: a welding stop button;

[0020] The control module is further configured to generate a welding stop instruction when the welding stop button is in a pressed state, wherein the welding stop instruction is configured to instruct the welding device to stop performing the welding operation.

[0021] As a possible implementation, the plurality of buttons further include: a wire feeding button;

[0022] The control module is also used to generate a wire feeding instruction when the wire feeding button is in the pressed state, and send the wire feeding instruction to the welding device, so that the welding device performs the wire feeding operation according to the wire feeding instruction.

[0023] As a possible implementation, the plurality of buttons further include: a simulated welding button;

[0024] The control module is also used to generate a simulated welding instruction and send the simulated welding instruction to the welding device when the welding program selected by the user is determined based on the state of the welding program selection button and the state of the simulated welding button is pressed, so that the welding device performs the simulated welding operation according to the simulated welding instruction.

[0025] As a possible implementation, the teaching device further includes: a first display unit, a second display unit and a third display unit;

[0026] The control module is further configured to display the identification of the welding program on the first display unit when the welding program selected by the user is determined according to the state of the welding program selection button;

[0027] The control module is also used to determine the program parameter that the user is adjusting or determining according to the state of the program parameter button, and display the value of the program parameter that the user is adjusting or determining on the second display part;

[0028] The control module is also used to obtain the speed of the robot in real time when the robot moves according to the movement control instruction, and display the speed of the robot on the third display unit.

[0029] As a possible implementation, the teaching device further includes: an emergency stop component and an energy adjustment component;

[0030] The emergency stop component and the energy adjustment component are both connected to the control module;

[0031] The control module is also used to send a stop instruction to the robot and the welding device when it is detected that the emergency stop component is triggered, and the stop instruction is used to instruct the robot and the welding device to stop moving and operating;

[0032] The control module is also used to detect the adjustment amount of the energy adjustment component and control the current and / or voltage supplied to the welding device according to the adjustment amount.

[0033] As a possible implementation, the surface of each key of the key module is respectively provided with a display component corresponding to the key, and the control module is further used to control the display component corresponding to each key to light up or turn off according to the state of each key.

[0034] In a second aspect, an embodiment of the present application provides a robot welding method, which is applied to a robot, wherein the robot is communicatively connected to the teaching device according to any one of the first aspects and is communicatively connected to a terminal device, and the method comprises:

[0035] Receiving a welding control instruction sent by the teaching device, wherein the welding control instruction includes: an identification of a welding program and program parameters of the welding program, wherein the program parameters include: initial point information of each welding point, wherein the welding point includes a welding starting point, a welding middle point, and a welding end point;

[0036] Receiving welding process parameters sent by the terminal device, wherein the welding process parameters include the number of weld layers and offset parameters of each welding point;

[0037] Determining a weld track according to the welding program, the program parameters and the welding process parameters;

[0038] According to the weld track, the welding device is controlled to perform the welding operation.

[0039] As a possible implementation manner, determining the weld trajectory according to the welding program, the program parameters and the welding process parameters includes:

[0040] Establishing a welding relative coordinate system according to the weld type corresponding to the welding procedure and the initial position information of each welding point;

[0041] The weld track is determined based on the welding relative coordinate system, the initial point information of each welding point and the welding process parameters.

[0042] As a possible implementation, the welding relative coordinate system is established according to the weld type corresponding to the welding procedure and the initial position information of each welding point, including:

[0043] If the weld type is a linear type, the weld direction is determined according to the initial point information of each welding point, and the weld direction is used as the first coordinate axis of the welding relative coordinate system;

[0044] Using a preset coordinate axis of a welding device disposed at the end of the robot as a second coordinate axis of the welding relative coordinate system;

[0045] The third coordinate axis of the welding relative coordinate system is determined according to the first coordinate axis and the second coordinate axis, and the welding relative coordinate system is established based on the first coordinate axis, the second coordinate axis and the third coordinate axis.

[0046] As a possible implementation, the welding relative coordinate system is established according to the weld type corresponding to the welding procedure and the initial position information of each welding point, including:

[0047] If the weld type is an arc type, the arc tangent direction is determined according to the initial point information of each welding point, and the arc tangent direction is used as the fourth coordinate axis of the welding relative coordinate system;

[0048] Using a preset coordinate axis of a welding device disposed at the end of the robot as the fifth coordinate axis of the welding relative coordinate system;

[0049] The sixth coordinate axis of the welding relative coordinate system is determined according to the fourth coordinate axis and the fifth coordinate axis, and the welding relative coordinate system is established based on the fourth coordinate axis, the fifth coordinate axis and the sixth coordinate axis.

[0050] As a possible implementation manner, determining the weld trajectory based on the welding relative coordinate system, the initial point information of each welding point and the welding process parameters includes:

[0051] Based on the welding relative coordinate system, the initial position information of each welding point, and the offset parameter of each welding end point, determining the offset point information corresponding to each welding point;

[0052] The weld track is determined according to the offset point information corresponding to each welding point and the number of weld layers.

[0053] As a possible implementation, determining the weld track according to the offset point information corresponding to each welding point and the number of weld layers includes:

[0054] Determine the welding intersection according to the offset point information corresponding to each welding point;

[0055] The weld track is determined according to the welding intersection, the offset point information corresponding to each welding point, and the number of weld layers.

[0056] According to the teaching device and robot welding method of the embodiment of the present application, a plurality of buttons are arranged on the button module, the control module is connected to the button module and the moving component, and the control module is connected to the robot in communication. The control module is used to detect the state of the moving component and the state of each button on the button module; the control module is also used to generate a mobile control instruction according to the state of the moving component and the state of at least one button, and send the mobile control instruction to the robot so that the robot moves according to the mobile control instruction; the control module is also used to determine the welding program according to the state of at least one button, generate a welding control instruction according to the welding program, and send the welding control instruction to the robot so that the robot controls the welding device to perform the corresponding welding operation according to the welding control instruction. The teaching device provided in the embodiment of the present application integrates the common functions involved in the welding operation of the welding robot in the form of components such as buttons and knobs on a simple handle device. In practical applications, the various functional components on the teaching device are used to realize accurate, efficient and intelligent control of the robot, and the teaching device can not only control the moving direction and moving speed of the welding robot, but also simplify the programming work of the operator based on simple button operations and reduce the programming complexity. In addition, the teaching device allows the operator to teach the robot how to complete specific tasks through manual operation. The robot can then repeat these actions without additional human intervention, which not only improves production efficiency but also ensures the consistency of welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0058] Figure 1 A schematic diagram of the structure of a teaching device provided in an embodiment of the present application is shown;

[0059] Figure 2 A schematic diagram of the structure of a teaching device provided in an embodiment of the present application is shown;

[0060] Figure 3 A schematic diagram of a process flow of a robot welding method provided in an embodiment of the present application is shown;

[0061] Figure 4 A schematic diagram of a flow chart of a method for determining a weld track provided in an embodiment of the present application is shown;

[0062] Figure 5 A schematic diagram of a flow chart of another method for determining a weld track provided in an embodiment of the present application is shown;

[0063] Figure 6 A schematic diagram of a linear weld track provided in an embodiment of the present application is shown;

[0064] Figure 7 A schematic diagram of an arc-shaped weld track provided in an embodiment of the present application is shown.

[0065] 1. Instruction device; 11. Button module; 12. Control module; 13. Moving assembly; 14. Emergency stop assembly; 15. Energy adjustment assembly; 16. Automatic mode indicator light; 17. Manual mode indicator light; 18. First display unit; 19. Second display unit; 20. Third display unit; 21. Program selection button; 22. Weld seam selection button; 23. Right angle / rotation button; 24. Safety point 1 button; 25. Wire feed button; 26. Speed ​​+ button; 27. Speed ​​minus - button; 28. Welding start point button; 29. ​​Welding middle point button; 30. Welding end point button; 31. Safety point 2 button; 32. Welding button; 33. Run button; 34. Pause button; 35. Stop button. DETAILED DESCRIPTION

[0066] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0067] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0068] In order to enable those skilled in the art to use the content of this application, the following implementation is provided in conjunction with a specific application scenario "welding robot". For those skilled in the art, the general principles defined herein can be applied to other embodiments and application scenarios without departing from the spirit and scope of this application. Although this application is mainly described around the teaching device and the robot welding method, it should be understood that this is only an exemplary embodiment.

[0069] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0070] An embodiment of the present application provides a teaching device for programming and controlling a robot, which is applied to the field of industrial robots, such as welding robots. An operator can hold the teaching device and manually guide the robot to set the movement path or workflow.

[0071] Figure 1 FIG. 1 is a schematic diagram showing the structure of a teaching device provided in an embodiment of the present application. Figure 1 As shown, the teaching device 10 includes a button module 11, a control module 12 and a moving component 13. The control module 12 is connected to the button module 11 and the moving component 13, and the control module 12 is connected to the robot for communication. In order to avoid operational interference between multiple robots, the communication connection method between the teaching device 10 and the robot can be a wired communication connection, but on the basis of solving the operational interference, the communication connection method between the teaching device 10 and the robot can be a wireless communication connection. The functional components provided on the teaching device 10 can be connected via 232 communication, but it should be noted that the communication connection method here is not limited to this, and communication connection methods such as 485 can also be used according to the hardware conditions of the wire control box carrying the teaching device.

[0072] Optionally, multiple buttons are provided on the button module 11, and the control module 12 can detect the state of the moving component 13 and the state of each button on the button module 11, and generate a moving control instruction according to the state of the moving component 13 and the state of at least one button, and send the moving control instruction to the robot so that the robot moves according to the moving control instruction.

[0073] Exemplarily, a plurality of buttons are provided on the button module 11 , each button can be used for a different control function, and an operator can input instructions to the control module 12 through the buttons.

[0074] Exemplarily, the control module 12 is the core part of the teaching device 10, which is responsible for processing all input signals and generating corresponding output instructions. For a welding robot, the welding device includes a welding machine and a welding gun. Based on the communication connection between the control module 12 and the key module 11 and the moving component 13, the control module 12 can detect the state of the moving component 13 in real time, which includes multi-directional moving states and moving information such as moving forward, moving backward, moving left, and moving right. At the same time, the control module 12 monitors the state of at least one key on the key module 11 by the operator, and the state of the key indicates the operator's key action on the key, including whether the key is in a pressed state or an unpressed state.

[0075] Exemplarily, the moving component 13 is a physical mechanism on the teaching device 10, such as a joystick or a rocker, which can be used to simulate the direction of the robot's movement. When the operator moves the moving component 13, the control module 12 detects the position change of the moving component 13, and generates a corresponding movement control instruction according to the position change and the button in the pressed state on the button module 11, and then sends the movement control instruction to the robot based on the communication connection between the control module 12 and the robot body, so as to control the robot to move according to the movement path corresponding to the movement control instruction.

[0076] Based on this, when the operator uses the teaching device 10, the operator can guide the movement direction of the robot by operating the moving component 13, and control the movement speed of the robot through the buttons in the button module 11. The control module 12 reads the operator's input information and converts it into a command sequence that the robot can understand, thereby achieving precise control of the robot.

[0077] Optionally, the control module 12 is also used to determine the welding program according to the state of at least one button, generate a welding control instruction according to the welding program, and send the welding control instruction to the robot, so that the robot controls the welding device arranged at the end of the robot to perform the corresponding welding operation according to the welding control instruction, wherein the program parameters include: the initial point information of each welding point, and the welding point includes the welding starting point, the welding middle point and the welding end point.

[0078] Exemplarily, the state of a button includes whether the button is in a "pressed" state or an "unpressed" state, and the number of times the button is pressed. Specifically, the state of a button indicates the action of an operator pressing one or more buttons set on the button module 11, where at least one button is a button related to different welding procedures or welding parameter settings. A welding procedure refers to a series of predefined welding steps and parameters. The control module 12 can identify the welding procedure to be executed based on the different buttons pressed by the operator, and generate a specific welding control instruction based on the determined welding procedure, which includes various parameters and action sequences required for the welding robot to perform welding.

[0079] Furthermore, after the welding control instruction is generated, the welding control instruction is sent to the welding device based on the communication connection between the control module 12 and the welding device arranged at the end of the robot. After receiving the welding control instruction, the welding device will perform the corresponding welding operation according to the welding control instruction.

[0080] Based on this, when the operator selects a welding program through the button module 11 on the teaching device 10, the control module 12 will determine which welding program should be executed according to the state of the selected button, generate corresponding welding control instructions, and send the welding control instructions to the welding device. After receiving the welding control instructions, the welding device will perform the corresponding welding operation according to the welding control instructions, such as starting welding, adjusting welding parameters, stopping welding, etc.

[0081] Figure 2 FIG. 1 is a schematic diagram showing the structure of a teaching device provided in an embodiment of the present application. Figure 2 As shown, the key module 11 of the embodiment of the present application is provided with a program selection button 21, a weld selection button 22, a right angle / rotation button 23, a safety point 1 button 24, a wire feed button 25, a speed + button 26, a speed minus - button 27, a welding start point button 28, a welding middle point button 29, a welding end point button 30, a safety point 2 button 31, a welding button 32, a run button 33, a pause button 34 and a stop button 35.

[0082] In addition, the teaching device is also provided with an emergency stop component 14, an energy adjustment component 15, an automatic mode indicator light 16, a manual mode indicator light 17, a first display unit 18, a second display unit 19 and a third display unit 20.

[0083] Exemplarily, the specific functions of the functional components included in the above teaching device are shown in Table 1 below:

[0084] Table 1 Schematic diagram of the functions of the components of the teaching device

[0085]

[0086]

[0087] Optionally, the multiple buttons include at least one speed button, and the control module 12 is specifically used to determine a direction parameter according to a state of the moving component 13, determine a speed parameter according to the state of the speed button, and generate a movement control instruction according to the direction parameter and the speed parameter.

[0088] For example, refer to Figure 2 As shown, the speed buttons include the above-mentioned speed+ button 26 and speed-down button 27, which are used to control the moving speed of the robot, and the moving component 13 can be a three-dimensional rocker for controlling the moving direction of the robot. The control module 12 determines the direction parameter according to the state of the moving component 13, that is, the direction change caused by the operator manipulating the moving component 13, and the direction parameter indicates the direction in which the robot needs to move, and determines the speed parameter according to the state of the speed+ button 26 and the speed-down button 27, and the speed parameter indicates the specific speed at which the robot moves. Further, the control module 12 generates a specific movement control instruction according to the above-mentioned direction parameter and speed parameter, that is, the movement control instruction includes specific information about the movement direction and movement speed of the robot. After receiving the movement control instruction, the robot can move in the direction and speed specified by the movement control instruction.

[0089] Optionally, the multiple buttons include: a welding program selection button and a welding operation button. The control module 12 is specifically used to determine the welding program selected by the user according to the state of the welding program selection button, and when the state of the welding operation button is pressed, generate a welding control instruction. The welding control instruction is used to instruct the welding device to perform welding operations according to the welding program.

[0090] Reference Figure 2 As shown, the welding program selection button is the above-mentioned program selection button 21, which is used to select different welding programs. The welding operation button is the operation button 33, which is used to start the selected welding program. When the operator selects a welding program through the program selection button 21, the control module 12 will detect the state change of the program selection button 21. For example, when the operator presses the program selection button 21, the control module 12 will detect that the state of the program selection button 21 becomes "pressed", and determine the welding program selected by the user accordingly.

[0091] Exemplarily, the control module 12 detects that the program selection button 21 is in the "pressed" state, generates a welding control instruction according to the welding program selected by the operator, and based on the communication connection between the control module 12 and the welding device arranged at the end of the robot, when the control module 12 detects that the run button 33 is in the "pressed" state, the welding control instruction is sent to the welding device, the welding device receives the welding control instruction, and starts to execute the welding task according to the welding program in the welding control instruction.

[0092] For example, the operator selects Program 1 based on the Program selection button 21, and then presses the Run button 33. The control module 12 detects the pressing of the Program selection button 21 and the Run button 33, generates a welding control instruction, and sends the welding control instruction to the robot to tell the robot to control the welding device to execute Program 1. After receiving the welding control instruction, the welding device starts to perform welding operations according to the settings of Program 1.

[0093] Based on this, when the operator selects a specific welding program through the program selection button 21, if the run button 33 is pressed, the control module 12 will generate a welding control instruction, and based on the welding control instruction, tell the welding device to perform welding work according to the selected program.

[0094] Optionally, the multiple buttons also include: multiple program parameter buttons, and the control module 12 is also used to determine or adjust the program parameters of the welding program according to the state of each program parameter button when determining the welding program selected by the user according to the state of the welding program selection button.

[0095] Reference Figure 2 As shown, the program parameter buttons include the weld selection button 22, the right angle / rotation button 23, the welding start point button 28, the welding middle point button 29 and the welding end point button 30. The control module 12 can not only determine the welding program selected by the user according to the state of the welding program selection button, but also determine or adjust the specific parameter value of the program according to the state of each program parameter button.

[0096] Exemplarily, after the operator selects a welding program through the program selection button 21, the parameters of the welding program can be set or adjusted through the program parameter button. For example, if the operator selects program 2 and then uses the program parameter button, such as the weld selection button 22, to adjust the weld, the control module 12 will save the modified parameter settings, and after detecting that the run button 33 is in the "pressed" state, generate a new welding control instruction according to the modified parameter settings, so that the welding device performs the welding action according to the parameter information in the new welding control instruction.

[0097] Based on this, when the operator selects a welding program through the program selection button 21 and sets or adjusts the specific parameters of the program through the program parameter button, if the run button 33 is pressed, the control module 12 will generate a welding control instruction containing parameter information and send it to the welding device, and the welding device will perform the welding operation according to the welding control instruction.

[0098] Optionally, the multiple buttons also include: a welding pause button, and the control module 12 is further used to generate a welding pause instruction when the welding pause button is in a pressed state, and the welding pause instruction is used to instruct the welding device to enter an operation interruption state.

[0099] Reference Figure 2 As shown, the welding pause button is the above-mentioned pause button 34. When the control module 12 detects that the pause button 34 is in the "pressed" state, the control module 12 will generate a welding pause instruction to control the welding device to temporarily stop the ongoing welding operation. For example, the operator finds that there is a problem with the quality of the weld during the welding process and wants to check the position of the welding head. At this time, the operator can press the pause button 34. The control module 12 detects the state change of the pause button 34, generates a welding pause instruction, and sends the welding pause instruction to the welding device. After receiving the welding pause instruction, the welding device temporarily stops the welding process. When the operator completes the inspection or adjustment, he can press the run button 33 again to resume the welding process.

[0100] Based on this, the pause button 34 allows the operator to pause the welding action at any time during the welding process, and the control module 12 will monitor the status of the pause button 34, and generate a welding pause instruction when it detects that the pause button 34 is pressed. The welding pause instruction will instruct the welding device to stop welding and enter an interrupt state, so that the operator can make necessary adjustments or inspections without affecting the entire welding process.

[0101] Optionally, the multiple buttons also include: a welding stop button, and the control module 12 is further used to generate a welding stop instruction when the welding stop button is in a pressed state, and the welding stop instruction is used to instruct the welding device to stop performing the welding operation.

[0102] Reference Figure 2As shown, the welding stop button is the stop button 35 mentioned above. When the control module 12 detects that the stop button 35 is in the "pressed" state, the control module 12 will generate a welding stop instruction to control the welding device to stop the ongoing welding operation. It should be noted that the stop button 35 is different from the pause button 34. The pause button 34 temporarily stops the welding operation. The welding operation can be restored and restarted through the operation button 33, while the stop button 35 completely stops the welding operation instead of temporarily interrupting the welding operation. If welding is to be resumed, the welding program needs to be restarted. Therefore, the stop button 35 is usually used in an emergency or when welding needs to be completely stopped.

[0103] Based on this, the stop button 35 allows the operator to immediately stop the welding action when a safety hazard occurs during the welding process, and the control module 12 monitors the status of the stop button 35 and generates a welding stop command when it detects that the stop button 35 is pressed. The welding stop command instructs the welding device to completely stop welding, so that the operator can safely handle emergencies or troubleshoot.

[0104] Optionally, refer to Figure 2 As shown, the multiple buttons also include: a wire feeding button 25, and the control module 12 is also used to generate a wire feeding instruction when the wire feeding button 25 is in the pressed state, and send the wire feeding instruction to the welding device, so that the welding device performs the wire feeding operation according to the wire feeding instruction.

[0105] Exemplarily, the wire feeding button 25 is used to control the feeding of welding wire. When the operator presses the wire feeding button 25, it indicates that the operator needs to adjust or start the wire feeding process. When the control module 12 detects that the wire feeding button 25 is pressed, it generates a wire feeding instruction and sends the wire feeding instruction to the welding device, so that the welding device performs the wire feeding operation according to the wire feeding instruction, such as feeding the welding wire from the wire reel to the welding area.

[0106] Based on this, operators can more flexibly control the wire supply during the welding process, thereby improving welding quality and efficiency.

[0107] Optionally, the multiple buttons also include: a simulated welding button. The control module 12 is also used to generate a simulated welding instruction when the welding program selected by the user is determined according to the state of the welding program selection button and the state of the simulated welding button is pressed, and send the simulated welding instruction to the welding device, so that the welding device performs the simulated welding operation according to the simulated welding instruction.

[0108] Reference Figure 2As shown, the simulated welding button is the above-mentioned welding button 32, which is used to start the simulated welding mode of the welding device. When the operator presses the welding button 32, the welding device will enter the simulated welding state and perform the simulated welding operation according to the welding program selected by the operator. The simulated welding operation refers to testing the welding program by simulating the actual welding process without actually welding. It can be used to check whether the welding parameters are appropriate or to help novice operators practice welding skills.

[0109] Based on this, by using the simulated welding button provided on the teaching device 10, the operator can test and optimize the welding procedure without the actual welding risk, thereby improving the quality and safety of the final welding product.

[0110] Optionally, the teaching device 10 further includes: a first display unit 18, a second display unit 19 and a third display unit 20, and the control module 12 is further used to display the identification of the welding program on the first display unit when the welding program selected by the user is determined according to the state of the welding program selection button. The first display unit 18 is a display tube P, the second display unit 19 is a display tube S, and the third display unit 20 is a display tube speed.

[0111] Reference Figure 2 As shown, when the operator selects a welding program according to the welding program selection button, the first display unit 18 simultaneously displays the welding program identification, that is, the program number of the welding program, to help the operator confirm which welding program is selected.

[0112] Exemplarily, the identification of the welding program is used to uniquely indicate a program. In the embodiment of the present application, the identification of the welding program can be represented by numbers 1, 2, 3, etc. For example, there are welding program 1, welding program 2, welding program 3, welding program 4, welding program 5, welding program 6, welding program 7, welding program 8 and welding program 9. Each time the operator presses the program selection button 21, the identification of the welding program displayed on the first display unit 18 will be displayed cyclically from 1 to 9 until the operator determines the welding program to be run.

[0113] Optionally, the control module 12 is further configured to determine the program parameter that the user is adjusting or determining according to the state of the program parameter button, and display the value of the program parameter that the user is adjusting or determining on the second display unit 19 .

[0114] Exemplarily, after determining the welding program, the operator can adjust the program parameters in the welding program according to the program parameter buttons. During this process, if the operator wants to modify the program parameters of the first section in welding program 1, the first display unit 18 will display the number "1" to indicate that the welding program currently determined and to be modified is welding program 1, and the second display unit 19 will also display the number "1" to indicate that the program parameters currently being modified are the program parameters corresponding to the first section in welding program 1, so that the operator can understand the parameter settings in real time to ensure the accuracy of the parameter settings and that the parameter settings meet expectations.

[0115] Optionally, the control module 12 is further configured to obtain the speed of the robot in real time when the robot moves according to the movement control instruction, and display the speed of the robot on the third display unit.

[0116] Reference Figure 2 As shown, when the operator uses the speed + button 26 and the speed minus button 27 to control the movement speed of the robot, each time the operator presses the speed + button 26 or the speed minus button 27, the third display unit 20 will display the current movement speed of the robot in real time so that the operator can monitor the movement speed of the robot.

[0117] Based on this, specific information is displayed in real time through the first display unit 18, the second display unit 19 and the third display unit 20 to help the operator better control the welding process, ensure that the welding parameters and the movement speed of the robot meet the requirements, thereby improving the welding quality.

[0118] Optionally, refer to Figure 2 As shown, the teaching device 10 further includes: an emergency stop component 14 and an energy adjustment component 15, both of which are connected to the control module 12. The control module 12 is also used to send a stop instruction to the robot and the welding device when it is detected that the emergency stop component 14 is triggered, and the stop instruction is used to instruct the robot and the welding device to stop moving and operating.

[0119] Exemplarily, the emergency stop component 14 is an important safety device, which is used to quickly stop the movement of the robot and the operation of the welding device in an emergency. If an abnormal situation occurs during the welding process, for example, the operator finds a safety hazard, the emergency stop component 14 can be triggered to stop the movement and operation of the robot and the welding device. Specifically, the control module 12 detects that the emergency stop component 14 is triggered, immediately generates a stop command, and sends the stop command to the robot and the welding device, so that the robot and the welding device immediately stop all actions.

[0120] Optionally, the control module 12 is also used to detect the adjustment amount of the energy adjustment component 15, and control the current and / or voltage supplied to the welding device according to the adjustment amount.

[0121] Exemplarily, the energy adjustment component 15 can adjust the current or voltage during the welding process. When the control module 12 detects the adjustment amount of the energy adjustment component 15, the current or voltage used by the welding device during welding is adjusted accordingly according to the adjustment amount.

[0122] Based on this, the emergency stop component 14 and the energy adjustment component 15 provided on the teaching device 10 ensure the safety and flexibility of the welding operation, and ensure that the operator can take prompt action when necessary and adjust the welding parameters as needed.

[0123] Optionally, the surface of each button of the button module 11 is respectively provided with a display component corresponding to the button, and the control module 12 is further used to control the display component corresponding to each button to light up or turn off according to the state of each button.

[0124] Exemplarily, a display component is provided on the surface of each button to indicate the state of the button. The display component is, for example, an LED light, and the display component can be turned on or off to intuitively tell the operator which buttons have been activated or are in an active state. When the control module 12 detects the state of each button on the button module 11, it controls the display component of the corresponding button to light up or go out. For example, if a button is pressed, the control module 12 will light up the display component corresponding to the button, and conversely, if a button is not pressed, the display component corresponding to the button will go out.

[0125] Based on this, the display components arranged on the surface of each button make the operation interface of the teaching device 10 more user-friendly, and the operator can clearly see which function buttons are activated, which helps to reduce the operator's operation errors and improve operation efficiency.

[0126] Optionally, refer to Figure 2 As shown, the teaching device 10 is also provided with an automatic mode indicator light 16 and a manual mode indicator light 17. When the operator selects the welding program, adjusts the welding parameters, and uses the moving component 13 to control the movement of the robot based on the function keys on the teaching device 10, the manual mode indicator light 17 (MANUAL) will be in a lit state, and when the welding program is determined to be completed and started to run, the manual mode indicator light 17 goes out and the automatic mode indicator light 16 (AUTO) lights up to indicate that the welding program is currently in an automatic running state.

[0127] The teaching device provided in the embodiment of the present application integrates the common functions involved in the welding operation of the welding robot in the form of buttons, knobs and other components on a simple handle device. The teaching device can not only control the moving direction and moving speed of the welding robot, but also simplifies the programming work of the operator based on simple button operations and reduces the programming complexity. Based on this, the teaching device in the embodiment of the present application can not only meet the needs of the welding operation scene, but also is simple to operate and easy to use, especially very friendly to novice users.

[0128] When robots perform multi-layer and multi-pass welding tasks, such as welding thick steel plates, pipes or pressure vessels, the existing welding technology programming threshold is high, the calculation is relatively complex, and it is difficult to meet the welding process requirements. In response to the above problems, the present application provides a robot welding method, and the user only needs to teach the various points and process parameters of the weld based on the above-mentioned teaching device to calculate the offset parameter information corresponding to the multi-layer and multi-pass welding at one time to adapt to the welding scenarios of multi-layer to pass welding with single or multiple welds connected. In this process, the user does not need to perform multiple programming, and the programming operation based on the teaching device is relatively simple, and the programming technology requirements for the user are relatively low. Therefore, the robot welding method provided by the present application is not only very user-friendly, but also can meet the welding process requirements, expand the use scenarios of robot welding, and improve the flexibility of welding.

[0129] Figure 3 A schematic diagram of a robot welding method provided in an embodiment of the present application is shown. Figure 3 As shown, the method is applied to a robot, the robot is connected to the teaching device 10 for communication, and is connected to the terminal device for communication, and the method specifically includes the following steps:

[0130] S301, receiving a welding control instruction sent by a teaching device.

[0131] Optionally, the welding control instruction includes: an identification of a welding program and program parameters of the welding program, the program parameters including: initial position information of each welding point, the welding points including a welding start point, a welding middle point and a welding end point. The identification of the welding program is a unique identifier for distinguishing different welding programs, such as a number, the program parameters of the welding program are used to define specific settings in the welding process, and the initial position information of each welding point includes position information of each welding point, and the position information is usually expressed in the form of coordinates.

[0132] Exemplarily, the welding starting point refers to the position where welding starts, and is also the first point of the weld trajectory. The number of welding intermediate points can be determined according to the weld type. For example, when the weld type is a straight line, since two points can determine a straight line, the welding intermediate point may not be set. However, in order to meet the process requirements such as welding accuracy, at least one welding intermediate point may be set. When the weld type is an arc type, since the weld is relatively complex, multiple welding intermediate points may be set to ensure the accuracy and continuity of the weld trajectory. The welding end point refers to the position where welding ends, and is also the last point of the weld trajectory. The welding device set at the end of the robot will stop welding at the welding end point. Specifically, in combination with Figure 2 As shown, the welding start point, welding middle point and welding end point can all be realized by buttons provided on the teaching device 10 , such as the welding start point button 28 , the welding middle point button 29 and the welding end point button 30 .

[0133] S302, receiving welding process parameters sent by the terminal device, where the welding process parameters include the number of weld layers and offset parameters of each welding point.

[0134] Optionally, the terminal setting refers to a computer, tablet computer or other smart device that is communicatively connected to the teaching device or robot controller. In the embodiment of the present application, the terminal device is communicatively connected to the control module 12 of the teaching device 10, and the terminal device provides an operation interface for the user, through which the user can input and adjust the welding process parameters and transmit the welding process parameters to the robot.

[0135] Optionally, welding process parameters are used to define specific process requirements during welding, including but not limited to the number of weld layers and the offset parameters of each welding point, where the number of weld layers refers to the number of layers that need to be welded during the welding process. Multi-layer welding can improve the strength and quality of the weld, which is particularly important in thick plate welding. For example, if the number of weld layers is set to three layers, the welding process will be divided into three layers, and the next layer will be continued after each layer is welded. The offset parameters of each welding point refer to the offset of each welding point relative to the initial position, and the offset is, for example, the Y-axis direction offset, the Z-axis direction offset, the X-axis posture offset, etc.

[0136] S303, determining a weld track according to the welding program, program parameters and welding process parameters.

[0137] Optionally, the weld track refers to the actual moving path of the welding device during the welding process. After receiving the welding control instructions sent by the teaching device and the welding process parameters sent by the terminal device, the robot controller extracts specific program parameters from the welding program for logical operations, that is, determines the reference path according to the welding program and program parameters, and then adjusts each welding point according to the offset parameters of each welding point in the welding process parameters, and generates the final weld track based on the reference path.

[0138] S304: Control the welding device to perform welding operations according to the weld track.

[0139] Optionally, after determining the weld track, the robot controller sends a welding instruction to a welding device disposed at the end of the robot to control the welding device to perform a welding operation according to the weld track. Figure 2 As shown, when the user presses the run button 33, the welding device is controlled to reach the welding starting point to start the welding operation, and the welding device is controlled to move along the weld track, passing through each welding point in turn. When the welding device reaches the welding end point, the welding of the current layer is completed. If the number of weld layers is greater than 1, the above welding process is repeated until all layers are welded. Among them, after each layer of welding is completed, the height of the welding device is adjusted to prepare for the next layer of welding. After welding is completed, the welding device is controlled to return to the initial position or the specified safe position, and the welding power supply is turned off to ensure welding safety.

[0140] Based on this, according to the robot welding method provided in the embodiment of the present application, the weld track is accurately determined by combining the welding program, program parameters and welding process parameters. In this process, not only the basic information of the welding path is considered, but also the specific process requirements set by the user are considered, so as to ensure that the welding task can be carried out according to the predetermined path and process requirements. In this way, not only the welding quality and consistency are improved, but also the errors are reduced, and the needs of different workpieces and welding tasks can be met.

[0141] Figure 4 A schematic diagram of a flow chart of a method for determining a weld track provided in an embodiment of the present application is shown. Figure 4 As shown, the above step S303 determines the weld trajectory according to the welding program, program parameters and welding process parameters, and specifically includes the following steps:

[0142] S401. Establish a welding relative coordinate system according to the weld type corresponding to the welding procedure and the initial position information of each welding point.

[0143] Optionally, during the welding process, a welding relative coordinate system is established to facilitate the description and positioning of welding points and the planning of welding paths. The welding relative coordinate system can be established based on a certain characteristic point or surface of the welding device, or based on a certain fixed point of the welding device. By establishing a welding relative coordinate system, it is easier to achieve automation and precise control of the welding process.

[0144] Optionally, if the weld type is linear, the weld direction is determined according to the initial point information of each welding point, and the weld direction is used as the first coordinate axis of the welding relative coordinate system; the preset coordinate axis of the welding device set at the end of the robot is used as the second coordinate axis of the welding relative coordinate system; based on the first coordinate axis and the second coordinate axis, the third coordinate axis of the welding relative coordinate system is determined, and the welding relative coordinate system is established based on the first coordinate axis, the second coordinate axis and the third coordinate axis.

[0145] For example, for a linear weld, the overall direction of the weld needs to be determined based on the initial position information of each welding point, such as measuring and calculating the coordinates of the welding start point, end point, and possible intermediate points, so as to obtain the linear direction of the weld, and use the linear direction as the weld direction. Once the weld direction is determined, the weld direction is used as the first coordinate axis of the welding relative coordinate system, i.e., the X-axis, which is along the extension direction of the weld.

[0146] Exemplarily, the preset coordinate axis of the welding device is usually the Z axis of the welding gun, that is, the axis perpendicular to the spray direction of the welding gun, and the preset coordinate axis is used as the second coordinate axis of the welding relative coordinate system, that is, the Z axis, which usually points to the top or bottom of the weld, depending on the requirements of the welding operation and the configuration of the robot. Further, on the basis of determining the first coordinate axis (X axis) and the second coordinate axis (Z axis), the right-hand rule is adopted, and the third coordinate axis (Y axis) can be determined by the cross product of the X axis and the Z axis, that is, the vector product. The direction of the third coordinate axis (Y axis) is perpendicular to the weld direction and the plane where the Z axis of the welding gun is located. Finally, based on the first coordinate axis (X axis), the second coordinate axis (Z axis) and the third coordinate axis (Y axis) that have been determined, a complete welding relative coordinate system is established. The welding relative coordinate system will be used to describe the position and direction of each point in the welding process, thereby guiding the movement and welding operation of the robot.

[0147] Optionally, if the weld type is an arc type, the arc tangent direction is determined according to the initial point information of each welding point, and the arc tangent direction is used as the fourth coordinate axis of the welding relative coordinate system; the preset coordinate axis of the welding device set at the end of the robot is used as the fifth coordinate axis of the welding relative coordinate system; according to the fourth coordinate axis and the fifth coordinate axis, the sixth coordinate axis of the welding relative coordinate system is determined, and the welding relative coordinate system is established based on the fourth coordinate axis, the fifth coordinate axis and the sixth coordinate axis.

[0148] Exemplarily, for arc-shaped welds, the tangent direction of the arc at the current welding point is used as the fourth coordinate axis of the welding relative coordinate system, i.e., the X-axis, which means that as the welding process moves along the arc, the direction of the X-axis will also change accordingly. Similarly, the preset coordinate axis of the welding device is usually the Z-axis of the welding gun, i.e., the axis perpendicular to the spray direction of the welding gun, and the preset coordinate axis is used as the fifth coordinate axis of the welding relative coordinate system, i.e., the Z-axis. Further, the sixth coordinate axis, i.e., the Y-axis, is determined by the cross product of the fourth coordinate axis (X-axis) and the fifth coordinate axis (Z-axis), i.e., the vector product. Then, a complete welding relative coordinate system is established through the already determined fourth coordinate axis (X-axis), fifth coordinate axis (Z-axis), and sixth coordinate axis (Y-axis), which will dynamically change as the welding process moves along the arc to ensure that the position and direction can be accurately described at each welding point.

[0149] S402, determining a weld trajectory based on a welding relative coordinate system, initial position information of each welding point, and welding process parameters.

[0150] Optionally, path planning is performed based on the welding relative coordinate system and the initial position information of each welding point. Specifically, path planning can be performed by simulating and analyzing the weld shape and optimizing the robot motion path. Based on path planning, the robot motion trajectory between various points is obtained through a trajectory interpolation algorithm to ensure the smoothness and continuity of the trajectory and avoid impact and vibration during welding.

[0151] Figure 5 A schematic diagram of another method for determining a weld track provided in an embodiment of the present application is shown. Figure 5 As shown, the above step S402 determines the weld trajectory based on the welding relative coordinate system, the initial point information of each welding point and the welding process parameters, and specifically includes the following steps:

[0152] S501, determining the welding intersection according to the offset point information corresponding to each welding point.

[0153] For example, a welding intersection refers to a point where two or more welds intersect in space. In particular, in a multi-layer and multi-pass welding operation, the welding intersection determines the connection mode and quality between different welds. Specifically, the welding intersection is determined by using spatial geometric calculations, such as line segment intersection, plane intersection, etc., by comparing and analyzing the offset point information corresponding to each welding point.

[0154] For example, refer to Figure 6As shown, taking a straight weld as an example, after the straight line AB is offset in the welding relative coordinate system, the straight line is A'B", and after the straight line BC is offset in the welding relative coordinate system, the straight line is B"'C'. According to the principle of spatial geometry, the intersection of the straight line A'B" and the straight line B"'C' can be calculated as B', and the intersection B' can be used as a welding intersection.

[0155] For example, if the weld type is a straight line-arc or arc-arc type, the intersection of a straight line and an arc, or an arc and an arc can be calculated by applying the spatial geometry principle to obtain the welding intersection. In the case of multi-layer multi-pass welding, the welding intersection is the actual point of the multi-layer multi-pass welding. The weld trajectory determined according to the welding intersection can meet the process requirements of welding.

[0156] S502, determining a weld track according to the weld intersection, the offset point information corresponding to each weld point, and the number of weld layers.

[0157] For example, the weld trajectory is optimized based on the offset point information corresponding to the weld intersection and each weld point, and the path of each weld layer is planned based on the number of weld layers. Figure 7 As shown in the figure, assuming that the weld is connected by two arcs, the starting point of the first arc is (383.662, 228.2758, 373.1501, 180, 0, 90), the middle point is (460.462, 394.6758, 373.1501, 180, 0, 90), and the end point is (231.662, 416.1478, 373.1501, 180, 0, 90). The starting point of the second arc is (383.662, 228.2758, 373.1501, 180, 0, 90). That is, the end point posture of the first arc is specifically (383.662, 228.2758, 373.1501, 180, 0, 90), the middle point posture is (86.862, 513.7478, 373.1501, 180, 0, 90), and the end point posture is (-93.138, 387.3478, 373.1501, 180, 0, 90). The above first arc and the second arc together constitute the reference path of the first layer.

[0158] For example, if the number of weld layers in the welding process parameters is 2, the offset parameters of the first layer are +5mm in the Y-axis direction, +5mm in the Z-axis direction, and +3° in the X-axis posture offset, and the offset parameters of the second layer are 10mm in the Y-axis direction, 10mm in the Z-axis direction, and -3° in the X-axis posture offset, then the offset point information of each point in the first layer of weld is as follows from left to right: (381.988, 232.987, 378.150, 178 .995, 2.827, 89.975), (455.791, 392.893, 378.150, 177.197, -1.069, 90.026), (231.179, 405.099, 378.150, 177.303, -1.315, 90.031), (86.516, 508.760, 378.150, 179.792, -2.993, 90.005), (-8 8.328, 385.980, 378.150, -177.114, -0.820, 89.979), the position information of each point in the second layer of weld after offset is from left to right: (380.314, 237.698, 383.150, -178.995, -2.826709, 89.975), (451.119, 391.110, 383.150, -177.197, 1.069, 90 .026), (230.768, 392.021, 383.150, -177.303, 1.315, 90.031), (86.169, 503.772, 383.150, -179.792, 2.993, 90.005), (-83.519, 384.612, 383.150, 177.114, 0.820, 89.979), based on the above offset point information, we can get the following: Figure 7 Multi-layer weld bead trajectory shown.

[0159] Based on this, the teaching device and robot welding method provided in the embodiment of the present application are widely applicable to various complex welds formed by straight lines and arcs. By determining the welding intersection, it is ensured that whether it is a straight line segment or an arc segment, accurate trajectory control and good process performance can be achieved during the welding process, ensuring that the robot can cope with a variety of different weld shapes and sizes, greatly improving the scope of application and efficiency of robot welding. In addition, the present application provides a one-click program generation function. The user only needs to teach the key points of the weld based on the teaching device and define the multi-layer and multi-pass welding process parameters to automatically generate a complete welding program without performing other cumbersome operations. This not only reduces the user's operating difficulty, but also improves the degree of automation of welding, making the welding process more efficient and convenient.

[0160] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A teaching device, characterized in that: include: Control module, key module and mobile assembly; The button module is provided with a plurality of buttons; the control module is connected with the button module and the moving component, and the control module is in communication connection with the robot; The control module is used to detect the state of the moving component and the state of each button on the button module; The control module is further used to generate a movement control instruction according to the state of the movement component and the state of at least one button, and send the movement control instruction to the robot so that the robot moves according to the movement control instruction; The control module is also used to determine the welding program according to the state of at least one button, generate a welding control instruction according to the welding program, and send the welding control instruction to the robot, so that the robot controls the welding device arranged at the end of the robot to perform the corresponding welding operation according to the welding control instruction. The welding control instruction includes: the identification of the welding program and the program parameters of the welding program, and the program parameters include: the initial point information of each welding point, and the welding point includes a welding starting point, a welding middle point and a welding end point.

2. The teaching device according to claim 1, characterized in that: The plurality of keys include at least one speed key; The control module is specifically used to determine a direction parameter according to the state of the moving component, determine a speed parameter according to the state of the speed button, and generate the moving control instruction according to the direction parameter and the speed parameter.

3. The teaching device according to claim 1, characterized in that: The plurality of buttons include: a welding program selection button and a welding operation button; The control module is specifically used to determine the welding program selected by the user according to the state of the welding program selection button, and when the state of the welding operation button is pressed, generate the welding control instruction, and the welding control instruction is used to instruct the welding device to perform the welding operation according to the welding program.

4. The teaching device according to claim 3, characterized in that: The plurality of buttons also include: a plurality of program parameter buttons; The control module is also used to determine or adjust the program parameters of the welding program according to the status of each program parameter button when determining the welding program selected by the user according to the status of the welding program selection button, and add the program parameters to the welding control instruction.

5. The teaching device according to claim 3, characterized in that: The plurality of buttons also include: a welding pause button; The control module is further configured to generate a welding pause instruction when the welding pause button is in a pressed state, wherein the welding pause instruction is configured to instruct the welding device to enter an operation interruption state.

6. The teaching device according to claim 3, characterized in that: The plurality of buttons also include: a welding stop button; The control module is further configured to generate a welding stop instruction when the welding stop button is in a pressed state, wherein the welding stop instruction is configured to instruct the welding device to stop performing the welding operation.

7. The teaching device according to claim 3, characterized in that: The plurality of buttons also include: a wire feeding button; The control module is also used to generate a wire feeding instruction when the wire feeding button is in the pressed state, and send the wire feeding instruction to the welding device, so that the welding device performs the wire feeding operation according to the wire feeding instruction.

8. The teaching device according to claim 3, characterized in that: The plurality of buttons also include: a simulated welding button; The control module is also used to generate a simulated welding instruction and send the simulated welding instruction to the welding device when the welding program selected by the user is determined based on the state of the welding program selection button and the state of the simulated welding button is pressed, so that the welding device performs the simulated welding operation according to the simulated welding instruction.

9. The teaching device according to claim 4, characterized in that: The teaching device further includes: a first display unit, a second display unit and a third display unit; The control module is further configured to display the identification of the welding program on the first display unit when the welding program selected by the user is determined according to the state of the welding program selection button; The control module is also used to determine the program parameter that the user is adjusting or determining according to the state of the program parameter button, and display the value of the program parameter that the user is adjusting or determining on the second display part; The control module is also used to obtain the speed of the robot in real time when the robot moves according to the movement control instruction, and display the speed of the robot on the third display unit.

10. The teaching device according to claim 1, characterized in that: The teaching device also includes: an emergency stop component and an energy adjustment component; The emergency stop component and the energy adjustment component are both connected to the control module; The control module is also used to send a stop instruction to the robot and the welding device when it is detected that the emergency stop component is triggered, and the stop instruction is used to instruct the robot and the welding device to stop moving and operating; The control module is also used to detect the adjustment amount of the energy adjustment component and control the current and / or voltage supplied to the welding device according to the adjustment amount.

11. The teaching device according to any one of claims 1 to 10, characterized in that: The surface of each button of the button module is respectively provided with a display component corresponding to the button, and the control module is also used to control the display component corresponding to each button to light up or turn off according to the state of each button.

12. A robot welding method, characterized in that: Applied to a robot, the robot is communicatively connected to the teaching device according to any one of claims 1 to 11, and is communicatively connected to a terminal device, the method comprising: Receiving a welding control instruction sent by the teaching device, wherein the welding control instruction includes: an identification of a welding program and program parameters of the welding program, wherein the program parameters include: initial point information of each welding point, wherein the welding point includes a welding starting point, a welding middle point, and a welding end point; Receiving welding process parameters sent by the terminal device, wherein the welding process parameters include the number of weld layers and offset parameters of each welding point; Determining a weld track according to the welding program, the program parameters and the welding process parameters; According to the weld track, the welding device is controlled to perform the welding operation.

13. The method according to claim 12, characterized in that Determining a weld track according to the welding program, the program parameters and the welding process parameters includes: Establishing a welding relative coordinate system according to the weld type corresponding to the welding procedure and the initial position information of each welding point; The weld track is determined based on the welding relative coordinate system, the initial point information of each welding point and the welding process parameters.

14. The method according to claim 13, characterized in that The method of establishing a welding relative coordinate system according to the weld type corresponding to the welding procedure and the initial position information of each welding point includes: If the weld type is a linear type, the weld direction is determined according to the initial point information of each welding point, and the weld direction is used as the first coordinate axis of the welding relative coordinate system; Using a preset coordinate axis of a welding device disposed at the end of the robot as a second coordinate axis of the welding relative coordinate system; The third coordinate axis of the welding relative coordinate system is determined according to the first coordinate axis and the second coordinate axis, and the welding relative coordinate system is established based on the first coordinate axis, the second coordinate axis and the third coordinate axis.

15. The method according to claim 13, characterized in that The method of establishing a welding relative coordinate system according to the weld type corresponding to the welding procedure and the initial position information of each welding point includes: If the weld type is an arc type, the arc tangent direction is determined according to the initial point information of each welding point, and the arc tangent direction is used as the fourth coordinate axis of the welding relative coordinate system; Using a preset coordinate axis of a welding device disposed at the end of the robot as the fifth coordinate axis of the welding relative coordinate system; The sixth coordinate axis of the welding relative coordinate system is determined according to the fourth coordinate axis and the fifth coordinate axis, and the welding relative coordinate system is established based on the fourth coordinate axis, the fifth coordinate axis and the sixth coordinate axis.

16. The method according to claim 13, characterized in that The step of determining the weld track based on the welding relative coordinate system, the initial point information of each welding point, and the welding process parameters includes: Based on the welding relative coordinate system, the initial position information of each welding point, and the offset parameter of each welding end point, determining the offset point information corresponding to each welding point; The weld track is determined according to the offset point information corresponding to each welding point and the number of weld layers.

17. The method according to claim 16, characterized in that Determining the weld track according to the offset point information corresponding to each welding point and the number of weld layers includes: Determine the welding intersection according to the offset point information corresponding to each welding point; The weld track is determined according to the welding intersection, the offset point information corresponding to each welding point, and the number of weld layers.

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