Teaching device and robot welding method

Abstract

This application provides a teaching pendant and a robotic welding method, relating to the field of robot control technology. The teaching pendant includes a control module, a button module, and a moving component. The button module has multiple buttons. The control module is connected to the button module and the moving component, and is communicatively connected to the robot. The control module detects the state of the moving component and the state of each button on the button module, and generates movement control commands to make the robot move according to the movement control commands. The control module is also used to determine the welding program based on the state of at least one button and generate welding control commands, sending the welding control commands to the robot so that the robot controls the welding device at the robot's end effector to perform the corresponding welding operation. This application provides operators with a teaching pendant that is both adaptable to the working environment and easy to operate, achieving accurate, efficient, and intelligent control of the robot through various functional components on the teaching pendant.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and more specifically, to a teaching device and a robot welding method. Background Technology

[0002] A teach pendant is a handheld device used for programming and controlling robots. With a teach pendant, operators can intuitively guide and control the robot to the task position to perform the corresponding task.

[0003] Traditional teach pendants provide operators with an interface based on electronic devices (such as tablets). This interface displays various functional programming application windows, responding to the operator's touch input for the target function. The robot then performs the corresponding operation based on that function. Furthermore, due to safety and environmental considerations, operators typically wear gloves during teach pendant-based robot control. While this type of teach pendant provides a direct robot control method, the complex and diverse programming application windows on the interface pose a high learning curve for operators. This is especially problematic for welding robots performing welding operations, where the harsh working environment can easily contaminate the teach pendant. The gloved operator also finds touch input inconvenient. Therefore, traditional teach pendants are not operator-friendly and no longer meet the needs of welding operations. Summary of the Invention

[0004] The purpose of this application is to address the shortcomings of the prior art by providing a teaching pendant and a robotic welding method, thereby solving the problem that traditional teaching pendants are not user-friendly for operators and can no longer meet the needs of welding operation scenarios.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0006] In a first aspect, embodiments of this application provide a teaching device, which includes: a control module, a button module, and a moving component;

[0007] The button module is provided with multiple buttons; the control module is connected to the button module and the moving component, and the control module is communicatively connected to the machine.

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

[0009] The control module is also configured to generate a movement control command based on the state of the moving component and the state of at least one button, and send the movement control command to the robot so that the robot moves according to the movement control command.

[0010] The control module is also used to determine the welding program based on the state of at least one button, generate welding control instructions based on the welding program, and send the welding control instructions to the robot so that the robot controls the welding device set at the end of the robot to perform the corresponding welding operation according to the welding control instructions. The welding control instructions include: the identifier of the welding program and the program parameters of the welding program. The program parameters include: the initial position information of each welding point. The welding point includes the welding start point, the welding intermediate point, and the welding end point.

[0011] As one possible implementation, the plurality of buttons includes at least one speed button;

[0012] The control module is specifically used to determine the direction parameter based on the state of the moving component, determine the speed parameter based on the state of the speed button, and generate the movement control command based on the direction parameter and the speed parameter.

[0013] As one possible implementation, the plurality of buttons includes: a welding program selection button and a welding run button;

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

[0015] As one possible implementation, the plurality of buttons also includes: 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 state of each program parameter button when the welding program selected by the user is determined based on the state of the welding program selection button, and to add the program parameters to the welding control command.

[0017] As one possible implementation, the plurality of buttons also includes a welding pause button;

[0018] The control module is also used to generate a welding pause command when the welding pause button is pressed, the welding pause command being used to instruct the welding device to enter an operation interruption state.

[0019] As one possible implementation, the plurality of buttons also includes a welding stop button;

[0020] The control module is also used to generate a welding stop command when the welding stop button is pressed, the welding stop command being used to instruct the welding device to stop performing the welding operation.

[0021] As one possible implementation, the plurality of buttons also includes: a wire feeding button;

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

[0023] As one possible implementation, the plurality of buttons also includes: a simulated welding button;

[0024] The control module is further configured to generate a simulated welding instruction when the state of the welding program selection button determines that the user has selected the welding program 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 a simulated welding operation according to the simulated welding instruction.

[0025] As one 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 also used to display an identifier of the welding program on the first display unit when the welding program selected by the user is determined based on the state of the welding program selection button.

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

[0028] The control module is also used to acquire the robot's speed in real time when the robot moves according to the movement control command, and to display the robot's speed on the third display unit.

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

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

[0031] The control module is also used to send a stop command to the robot and the welding device when the emergency stop component is detected to be triggered. The stop command 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 one possible implementation, each button of the button module has a corresponding display component on its surface, and the control module is further configured to control the display component corresponding to each button to light up or turn off according to the state of each button.

[0034] Secondly, embodiments of this application provide a robotic welding method applied to a robot, wherein the robot is communicatively connected to the teaching pendant described in any one of the first aspects and to a terminal device, the method comprising:

[0035] The device receives welding control commands sent by the teaching device. The welding control commands include: the identifier of the welding program and the program parameters of the welding program. The program parameters include: the initial position information of each welding point. The welding point includes the welding start point, the welding intermediate point and the welding end point.

[0036] The terminal device sends welding process parameters, which include the number of weld layers and the offset parameters of each welding point.

[0037] The weld path is determined based on the welding procedure, the procedure parameters, and the welding process parameters.

[0038] The welding device is controlled to perform welding operations based on the weld bead trajectory.

[0039] As one possible implementation, determining the weld bead trajectory based on the welding program, the program parameters, and the welding process parameters includes:

[0040] Based on the weld type corresponding to the welding procedure and the initial position information of each welding point, a welding relative coordinate system is established.

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

[0042] As one possible implementation, establishing a welding relative coordinate system based on the weld type corresponding to the welding procedure and the initial position information of each welding point includes:

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

[0044] 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;

[0045] 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.

[0046] As one possible implementation, establishing a welding relative coordinate system based on the weld type corresponding to the welding procedure and the initial position information of each welding point includes:

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

[0048] 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;

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

[0050] As one possible implementation, determining the weld trajectory based on the welding relative coordinate system, the initial position 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 parameters of each welding endpoint, the offset position information corresponding to each welding point is determined.

[0052] The weld trajectory is determined based on the offset position information corresponding to each welding point and the number of weld layers.

[0053] As one possible implementation, determining the weld trajectory based on the offset point information corresponding to each welding point and the number of weld layers includes:

[0054] The welding intersection point is determined based on the offset point information corresponding to each welding point.

[0055] The weld trajectory is determined based on the welding intersection, the offset position information corresponding to each welding point, and the number of weld layers.

[0056] According to the teaching pendant and robot welding method of this application embodiment, a button module is provided with multiple buttons, a control module is connected to the button module and the moving component, and the control module is communicatively connected to 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 also used to generate a movement control command based on the state of the moving component and the state of at least one button, and send the movement control command to the robot so that the robot moves according to the movement control command; the control module is also used to determine the welding program based on the state of at least one button, generate welding control commands based on the welding program, and send the welding control commands to the robot so that the robot controls the welding equipment to perform the corresponding welding operation according to the welding control commands. The teaching pendant provided in this application embodiment integrates commonly used functions involved in the welding robot's welding operation into a simple handle device in the form of buttons, knobs, and other components. In practical applications, accurate, efficient, and intelligent control of the robot is achieved through the various functional components on the teaching pendant. Furthermore, this teaching pendant not only controls the movement direction and speed of the welding robot, but also simplifies the operator's programming work and reduces programming complexity based on simple button operations. In addition, the teaching device allows operators 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. Attached Figure Description

[0057] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 This paper shows a schematic diagram of the architecture of a teaching device provided in an embodiment of this application;

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

[0060] Figure 3 A schematic flowchart of a robotic welding method provided in an embodiment of this application is shown;

[0061] Figure 4 A schematic flowchart of a weld bead trajectory determination method provided in an embodiment of this application is shown;

[0062] Figure 5 A flowchart illustrating another weld bead trajectory determination method provided in an embodiment of this application is shown.

[0063] Figure 6 A schematic diagram of a linear weld bead trajectory provided in an embodiment of this application is shown;

[0064] Figure 7 This illustration shows a schematic diagram of an arc-shaped weld bead trajectory provided in an embodiment of this application.

[0065] Reference numerals: 10. Teaching device; 11. Button module; 12. Control module; 13. Moving component; 14. Emergency stop component; 15. Energy adjustment component; 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 selection button; 23. Right angle / rotation button; 24. Safety point 1 button; 25. Wire feed button; 26. Speed ​​+ button; 27. Speed ​​- button; 28. Welding start point button; 29. ​​Welding midpoint button; 30. Welding end point button; 31. Safety point 2 button; 32. Welding button; 33. Run button; 34. Pause button; 35. Stop button. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0067] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0068] To enable those skilled in the art to utilize the content of this application, and in conjunction with the specific application scenario of "welding robot," the following implementation is provided. 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 primarily describes a teaching pendant and a robotic welding method, it should be understood that this is merely an exemplary embodiment.

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

[0070] This application provides a teaching pendant for programming and controlling robots, applicable to the field of industrial robots, such as welding robots. Operators can hold the teaching pendant and manually guide the setting of the robot's motion path or workflow.

[0071] Figure 1 A schematic diagram of the architecture of a teaching device provided in an embodiment of this application is shown. (Refer to...) Figure 1 As shown, the teaching pendant 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 also communicatively connected to the robot. To avoid operational interference between multiple robots, the communication connection between the teaching pendant 10 and the robot can be a wired connection. However, to address operational interference, the communication connection between the teaching pendant 10 and the robot can be a wireless connection. The various functional components on the teaching pendant 10 can be connected via RS-232 communication. However, it should be noted that the communication connection method is not limited to RS-232; depending on the hardware conditions of the wired control box carrying the teaching pendant, RS-485 or other communication connection methods can also be used.

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

[0073] For example, the button module 11 is provided with multiple buttons, each of which can be used for different control functions. The operator can input commands to the control module 12 through the buttons.

[0074] For example, the control module 12 is the core component of the teaching pendant 10, responsible for processing all input signals and generating corresponding output commands. For the welding robot, the welding device includes a welding machine and a welding torch. Based on the communication connection between the control module 12, the button module 11, and the moving component 13, the control module 12 can detect the state of the moving component 13 in real time. This state includes movement in multiple directions, such as forward, backward, left, and right, and movement information. Simultaneously, the control module 12 monitors the state of at least one button on the button module 11, indicating the operator's button press action, including whether the button is pressed or not.

[0075] For example, the moving component 13 is a physical mechanism on the teaching pendant 10, such as a joystick or rocker arm, which can be used to simulate the direction of robot 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 command based on the position change and the button in the pressed state on the button module 11. Then, based on the communication connection between the control module 12 and the robot body, the movement control command is sent to the robot to control the robot to move according to the movement path corresponding to the movement control command.

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

[0077] Optionally, the control module 12 is further configured to determine the welding program based on the state of at least one button, generate welding control instructions based on the welding program, and send the welding control instructions to the robot so that the robot controls the welding device set at the end of the robot to perform the corresponding welding operation according to the welding control instructions. The program parameters include: the initial position information of each welding point, and the welding point includes the welding start point, the welding intermediate point, and the welding end point.

[0078] For example, the state of a button includes whether the button is in a "pressed" or "unpressed" state, and the number of times the button has been pressed. Specifically, the state of a button indicates the action of an operator pressing one or more buttons on the button module 11. At least one button here is related to different welding programs or welding parameter settings. A welding program refers to a series of predefined welding steps and parameters. The control module 12 can identify the welding program to be executed based on the different buttons pressed by the operator, and generate specific welding control instructions based on the determined welding program. These welding control instructions include the parameters and sequence of actions required for the welding robot to perform welding.

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

[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 the corresponding welding control command, and send the welding control command to the welding device. After receiving the welding control command, the welding device will perform the corresponding welding operation according to the welding control command, such as starting welding, adjusting welding parameters, stopping welding, etc.

[0081] Figure 2 A schematic diagram of the structure of a teaching device provided in an embodiment of this application is shown. (Refer to...) Figure 2 As shown, the button module 11 in this embodiment of the 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 - button 27, a welding start button 28, a welding midpoint 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 equipped 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] For example, the specific functions of each functional component included in the above teaching device are shown in Table 1 below:

[0084] Table 1. Functional Diagram of Each Component of the Teaching Device

[0085]

[0086]

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

[0088] For example, refer to Figure 2 As shown, the speed buttons include the aforementioned speed + button 26 and speed - button 27, used to control the robot's movement speed. The movement component 13 can be a three-dimensional joystick controlling the robot's movement direction. The control module 12 determines the direction parameter based on the state of the movement component 13, i.e., the directional change caused by the operator manipulating the movement component 13. This direction parameter indicates the direction the robot needs to move in. Furthermore, it determines the speed parameter based on the states of the speed + button 26 and speed - button 27, indicating the specific speed at which the robot moves. Further, the control module 12 generates specific movement control commands based on the aforementioned direction and speed parameters. These commands include specific information about the robot's movement direction and speed. Upon receiving the movement control command, the robot can move in the direction and speed specified by the command.

[0089] Optionally, the multiple buttons include a welding program selection button and a welding run button. The control module 12 is specifically used to determine the welding program selected by the user based on the state of the welding program selection button, and to generate a welding control command when the welding run button is pressed. The welding control command 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 aforementioned program selection button 21, used to select different welding programs. The welding run button is the run button 33, used to start the selected welding program. When the operator selects a welding program using 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 changes to "pressed", and determine the welding program selected by the user accordingly.

[0091] For example, when the control module 12 detects that the program selection button 21 is in the "pressed" state, it generates a welding control command based on the welding program selected by the operator. Based on the communication connection between the control module 12 and the welding device located at the end of the robot, when the control module 12 detects that the run button 33 is in the "pressed" state, it sends the welding control command to the welding device. The welding device receives the welding control command and starts to execute the welding task according to the welding program in the welding control command.

[0092] For example, the operator selects program 1 based on program selection button 21 and then presses run button 33. Control module 12 detects the pressed actions of program selection button 21 and run button 33, generates a welding control command, and sends the welding control command to the robot to instruct the robot to control the welding device to execute program 1. After receiving the welding control command, the welding device begins 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 command, which will then instruct the welding device to perform the welding work according to the selected program.

[0094] Optionally, the multiple buttons also include multiple program parameter buttons. 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 the welding program selected by the user is determined 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 midpoint button 29, and the welding end point button 30. The control module 12 can not only determine the welding program selected by the user based on the state of the welding program selection button, but also determine or adjust the specific parameter values ​​of the program based on the state of each program parameter button.

[0096] For example, after an operator selects a welding program using the program selection button 21, they can set or adjust various parameters under that welding program using the program parameter buttons. For instance, if the operator selects program 2 and then adjusts the weld seam using program parameter buttons, such as the weld seam selection button 22, the control module 12 will save the modified parameter settings. After detecting that the run button 33 is in the "pressed" state, it will generate a new welding control command according to the modified parameter settings, so that the welding device can perform welding actions according to the parameter information in the new welding control command.

[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 command containing parameter information and send it to the welding device, which will then perform the welding operation according to the welding control command.

[0098] Optionally, the multiple buttons also include a welding pause button. The control module 12 is further configured to generate a welding pause command when the welding pause button is pressed. The welding pause command 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 aforementioned pause button 34. When the control module 12 detects that the pause button 34 is in the "pressed" state, the control module 12 generates a welding pause command to temporarily stop the welding operation in progress. For example, if an operator discovers a problem with the weld quality during welding and wants to check the position of the weld joint, the operator can press the pause button 34. The control module 12 detects the change in the state of the pause button 34, generates a welding pause command, and sends the welding pause command to the welding device. After receiving the welding pause command, the welding device temporarily stops the welding process. When the operator completes the inspection or adjustment, they 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. The control module 12 monitors the status of the pause button 34 and generates a welding pause command when the pause button 34 is detected to be pressed. The welding pause command instructs the welding device to stop welding and enter an interrupted state, so that the operator can make necessary adjustments or checks without affecting the entire welding process.

[0101] Optionally, the multiple buttons also include a welding stop button. The control module 12 is further configured to generate a welding stop command when the welding stop button is pressed. The welding stop command is used to instruct the welding device to stop performing the welding operation.

[0102] Reference Figure 2As shown, the welding stop button is the aforementioned stop button 35. 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 command 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 suspends the welding operation, and the welding operation can be resumed and restarted by pressing the run button 33. However, the stop button 35 completely stops the welding operation, rather than temporarily interrupting it. To resume welding, the welding program needs to be restarted. Therefore, the stop button 35 is usually used in emergency situations or when it is necessary to completely stop welding.

[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. 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 has been pressed. This 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. The control module 12 is also used to generate a wire feeding command when the wire feeding button 25 is pressed, and send the wire feeding command to the welding device so that the welding device performs the wire feeding operation according to the wire feeding command.

[0105] For example, the wire feed button 25 is used to control the feeding of welding wire. When the operator presses the wire feed 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 feed button 25 is pressed, it generates a wire feed command and sends the wire feed command to the welding device, so that the welding device performs a wire feeding operation according to the wire feed command, such as feeding the welding wire from the wire spool to the welding area.

[0106] Based on this, operators can more flexibly control the supply of welding wire 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 further configured to generate a simulated welding command when the state of the welding program selection button 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 command to the welding device so that the welding device performs the simulated welding operation according to the simulated welding command.

[0108] Reference Figure 2As shown, the simulated welding button is the welding button 32 mentioned above, 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 simulated welding operations 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 performing 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 on the teaching device 10, operators can test and optimize the welding program without actual welding risks, thereby improving the quality and safety of the final welded 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. The control module 12 is also used to display an identifier of the welding program on the first display unit when the welding program selected by the user is determined based on 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 using the welding program selection button, the first display unit 18 simultaneously displays the welding program identifier, i.e., the welding program number, to help the operator confirm which welding program has been selected.

[0112] For example, the welding program identifier is used to uniquely indicate a program. In this embodiment, the welding program identifier can be represented by numbers such as 1, 2, 3, etc. For example, there are welding programs 1, 2, 3, 4, 5, 6, 7, 8, and 9. Each time the operator presses the program selection button 21, the welding program identifier displayed on the first display unit 18 will cycle from 1 to 9 until the operator selects the welding program to run.

[0113] Optionally, the control module 12 is also used to determine the program parameters that the user is adjusting or determining based on the state of the program parameter keys, and to display the value of the program parameters that the user is adjusting or determining on the second display unit 19.

[0114] For example, after the welding program is determined, 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 segment in welding program 1, the first display unit 18 will display the number "1" to indicate that the welding program currently determined and prepared for modification 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 segment in welding program 1, so that the operator can understand the parameter settings in real time and ensure the accuracy of the parameter settings and that the parameter settings meet expectations.

[0115] Optionally, the control module 12 is also used to acquire the robot's speed in real time when the robot moves according to the movement control command, and display the robot's speed on the third display unit.

[0116] Reference Figure 2 As shown, when the operator controls the robot's movement speed using the speed + button 26 and the speed - button 27, the third display unit 20 will display the current robot's movement speed in real time every time the operator presses the speed + button 26 or the speed - button 27, so that the operator can monitor the robot's movement speed.

[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 operators better control the welding process, ensure that welding parameters and robot movement speed meet the requirements, and thus improve welding quality.

[0118] Optionally, refer to Figure 2 As shown, the teaching device 10 also 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 command to the robot and the welding device when the emergency stop component 14 is detected to be triggered. The stop command is used to instruct the robot and the welding device to stop moving and operating.

[0119] For example, the emergency stop component 14 is an important safety device used to quickly stop the movement of the robot and the operation of the welding equipment in an emergency. If an abnormal situation occurs during the welding process, such as when the operator discovers a safety hazard, the emergency stop component 14 can be triggered to stop the movement and operation of the robot and the welding equipment. Specifically, the control module 12 detects that the emergency stop component 14 has been triggered, immediately generates a stop command, and sends the stop command to the robot and the welding equipment, causing the robot and the welding equipment to 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] For example, 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, it adjusts the current or voltage used by the welding device during welding accordingly.

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

[0123] Optionally, each button in the button module 11 has a corresponding display component on its surface, and the control module 12 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.

[0124] For example, each button has a display component on its surface to indicate its status. This display component is, for example, an LED, and can be turned on or off to visually indicate to the operator which buttons are active or in an active state. When the control module 12 detects the status of each button on the button module 11, it controls the corresponding button's display component to light up or turn off. For example, if a button is pressed, the control module 12 will light up the display component corresponding to that button; conversely, if a button is not pressed, the display component corresponding to that button will turn off.

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

[0126] Optionally, refer to Figure 2 As shown, the teaching pendant 10 is also equipped with an automatic mode indicator 16 and a manual mode indicator 17. During the operation of the operator selecting welding programs, adjusting welding parameters, and controlling the robot movement using the moving component 13 based on the function buttons on the teaching pendant 10, the manual mode indicator 17 (MANUAL) will be lit. When the welding program is confirmed to be completed and started, the manual mode indicator 17 will be turned off, and the automatic mode indicator 16 (AUTO) will be lit to indicate that the welding program is currently in automatic running state.

[0127] The teaching pendant provided in this application integrates commonly used functions involved in the welding operation of a welding robot into a simple handle device in the form of buttons, knobs, and other components. This teaching pendant not only allows control of the welding robot's direction and speed of movement, but also simplifies the operator's programming work and reduces programming complexity due to its simple button operation. Therefore, the teaching pendant of this application not only meets the needs of welding operation scenarios, but is also simple to operate and easy to learn, especially for novice users.

[0128] When robots perform multi-layer, multi-pass welding tasks, such as welding thick steel plates, pipes, or pressure vessels, existing welding technologies have high programming barriers and complex calculations, making it difficult to meet welding process requirements. To address these issues, this application provides a robotic welding method. Users only need to teach the various points and process parameters of the weld seam using the aforementioned teaching pendant to calculate the offset parameters corresponding to multi-layer, multi-pass welding in one go, adapting to welding scenarios involving single or multiple weld seams joined together. This process eliminates the need for multiple programming operations by the user, and the programming operation based on the teaching pendant is relatively simple, requiring low programming skills from the user. Therefore, the robotic welding method provided in this application is not only user-friendly but also meets welding process requirements, expanding the application scenarios of robotic welding and improving welding flexibility.

[0129] Figure 3 A schematic flowchart of a robotic welding method according to an embodiment of this application is shown. (Refer to...) Figure 3 As shown, this method is applied to a robot, which is communicatively connected to the teaching pendant 10 and to a terminal device. The method specifically includes the following steps:

[0130] S301, Receive welding control commands sent by the teaching device.

[0131] Optionally, the welding control command includes: a welding program identifier and welding program parameters. The program parameters include: initial position information for each welding point, and the welding points include the welding start point, welding intermediate point, and welding end point. The welding program identifier is a unique identifier used to distinguish different welding programs, such as a number. The welding program parameters define the specific settings during the welding process. The initial position information for each welding point includes the position information of each welding point, which is typically represented in coordinate form.

[0132] For example, the welding start point refers to the position where welding begins, which is also the first point of the weld bead trajectory. The number of welding intermediate points can be determined according to the weld type. For example, when the weld type is straight, since two points can determine a straight line, welding intermediate points may not be set, but at least one welding intermediate point can be set to meet process requirements such as welding accuracy. When the weld type is arc-shaped, since the weld is more complex, multiple welding intermediate points can be set to ensure the accuracy and continuity of the weld bead trajectory. The welding end point refers to the position where welding ends, which is also the last point of the weld bead trajectory. The welding device set at the end of the robot will stop welding at the welding end point. Specifically, combined with Figure 2 As shown, the welding start point, welding midpoint and welding end point can all be achieved through buttons set on the teaching device 10, such as welding start point button 28, welding midpoint button 29 and welding end point button 30.

[0133] S302. Receive welding process parameters sent by the terminal equipment. The welding process parameters include the number of weld layers and the offset parameters of each welding point.

[0134] Optionally, the terminal device refers to a computer, tablet computer, or other smart device that is communicatively connected to the teaching pendant or robot controller. In this embodiment, the terminal device is communicatively connected to the control module 12 of the teaching pendant 10, and the terminal device provides an operating interface for the user, through which the user can input and adjust 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. The number of weld layers refers to how many layers need to be welded. Multi-layer welding can improve the strength and quality of the weld, especially important in thick plate welding. For example, if the number of weld layers is set to three, the welding process will be divided into three layers, with the next layer continuing after each layer is completed. The offset parameters of each welding point refer to the offset of each welding point relative to its initial position. This offset can be, for example, offset in the Y-axis direction, Z-axis direction, or X-axis orientation.

[0136] S303. Determine the weld path based on the welding procedure, program parameters, and welding process parameters.

[0137] Optionally, the weld bead trajectory refers to the actual movement path of the welding device during the welding process. After receiving the welding control commands 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 and performs logical operations. That is, it determines the reference path based on 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, generating the final weld bead trajectory based on the reference path.

[0138] S304. Control the welding device to perform welding operations according to the weld bead trajectory.

[0139] Optionally, after determining the weld bead trajectory, the robot controller sends a welding command to the welding device located at the robot's end effector to control the welding device to perform welding operations according to the weld bead trajectory. For example, in conjunction with... Figure 2 As shown, when the user presses the run button 33, the welding device is controlled to reach the welding start point and begin welding. The device then moves along the weld path, passing each welding point sequentially. When the device reaches the welding end point, the welding of the current layer is completed. If the number of weld layers is greater than one, the above welding process is repeated until all layers are welded. After each layer is completed, the height of the welding device is adjusted to prepare for the next layer. After welding is complete, the welding device returns to its initial position or a designated safe position, and the welding power is turned off to ensure welding safety.

[0140] Based on this, the robotic welding method provided in the embodiments of this application accurately determines the weld trajectory by combining the welding program, program parameters, and welding process parameters. In this process, not only basic information about the welding path is considered, but also specific process requirements set by the user are taken into account, thereby ensuring that the welding task can be performed according to the predetermined path and process requirements. This not only improves welding quality and consistency but also reduces human error, meeting the needs of different workpieces and welding tasks.

[0141] Figure 4 A schematic flowchart of a weld bead trajectory determination method provided in an embodiment of this application is shown. (Refer to...) Figure 4 As shown, step S303 above determines the weld path based on the welding program, program parameters, and welding process parameters, specifically including the following steps:

[0142] S401. Based on the weld type corresponding to the welding procedure and the initial position information of each welding point, establish a welding relative coordinate system.

[0143] Optionally, during the welding process, establishing a welding relative coordinate system facilitates the description and positioning of welding points, as well as the planning of welding paths. This welding relative coordinate system can be based on a feature point or surface of the welding apparatus, or it can be based on a fixed point of the welding apparatus. 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 straight, the weld direction is determined based on the initial position 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; the third coordinate axis of the welding relative coordinate system is determined based on the first and second coordinate axes, and the welding relative coordinate system is established based on the first, second, and third coordinate axes.

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

[0146] For example, the preset coordinate axis of the welding device is typically the Z-axis of the welding torch, i.e., the axis perpendicular to the direction of the welding torch spray. This preset coordinate axis is used as the second coordinate axis of the welding relative coordinate system, i.e., the Z-axis. The Z-axis usually points above or below the weld seam, depending on the requirements of the welding operation and the robot configuration. Further, based on the determined first coordinate axis (X-axis) and second coordinate axis (Z-axis), using the right-hand rule, the third coordinate axis (Y-axis) can be determined by the cross product of the X-axis and Z-axis, i.e., the vector product. The direction of the third coordinate axis (Y-axis) is perpendicular to the plane containing the weld seam direction and the welding torch Z-axis. Finally, based on the determined first coordinate axis (X-axis), second coordinate axis (Z-axis), and third coordinate axis (Y-axis), a complete welding relative coordinate system is established. This welding relative coordinate system will be used to describe the position and orientation of each point during the welding process, thereby guiding the robot's movement and welding operations.

[0147] Optionally, if the weld type is arc-shaped, the tangent direction of the arc is determined according to the initial position information of each welding point, and the tangent direction of the arc 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; the sixth coordinate axis of the welding relative coordinate system is determined according to the fourth and fifth coordinate axes, and the welding relative coordinate system is established based on the fourth, fifth and sixth coordinate axes.

[0148] For example, for a circular arc weld, the tangent direction of the arc at the current welding point is taken as the fourth coordinate axis, i.e., the X-axis, of the welding relative coordinate system. This means that the X-axis direction changes accordingly as the welding process moves along the arc. Similarly, the preset coordinate axis of the welding device is usually the Z-axis of the welding torch, i.e., the axis perpendicular to the direction of the welding torch spray, and this preset coordinate axis is taken as the fifth coordinate axis, i.e., the Z-axis, of the welding relative coordinate system. 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). Then, a complete welding relative coordinate system is established using the determined fourth coordinate axis (X-axis), fifth coordinate axis (Z-axis), and sixth coordinate axis (Y-axis). This welding relative coordinate system will dynamically change as the welding process moves along the arc to ensure that the position and orientation are accurately described at each welding point.

[0149] S402. Based on the welding relative coordinate system, the initial position information of each welding point, and the welding process parameters, determine the weld trajectory.

[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's motion path. Based on the path planning, the robot's motion trajectory between each point is obtained through a trajectory interpolation algorithm to ensure the smoothness and continuity of the trajectory and avoid impacts and vibrations during the welding process.

[0151] Figure 5 A flowchart illustrating another weld bead trajectory determination method provided in an embodiment of this application is shown. (Refer to...) Figure 5 As shown, step S402 above determines the weld trajectory based on the welding relative coordinate system, the initial position information of each welding point, and the welding process parameters. Specifically, it includes the following steps:

[0152] S501. Determine the welding intersection point based on the offset point information corresponding to each welding point.

[0153] For example, a welding intersection point refers to the point where two or more weld passes intersect in space. Especially in multi-layer, multi-pass welding operations, the welding intersection point determines the connection method and quality between different weld passes. Specifically, spatial geometric calculations, such as line segment intersections and plane intersections, are used to determine the welding intersection point 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”. 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 point of the straight lines A'B” and B”'C’ can be calculated as B’. This intersection point B’ can be used as a welding intersection point.

[0155] For example, if the weld type is a straight-arc or arc-arc type, the intersection points of the straight line and the arc, and the arc and the arc can be calculated using the principles of spatial geometry to obtain the welding intersection points. In the case of multi-layer and multi-pass welding, these welding intersection points are the actual locations of the multi-layer and multi-pass welds. Only the weld trajectory determined by the welding intersection points can meet the welding process requirements.

[0156] S502. Determine the weld trajectory based on the welding intersection, the offset position information of each welding point, and the number of weld layers.

[0157] For example, based on the welding intersections and the offset position information corresponding to each welding point, the weld trajectory is optimized, and the path of each weld layer is planned in conjunction with the number of weld layers. Taking a circular arc weld as an example, refer to... Figure 7 As shown, assume the weld is connected by two circular arcs. The starting point pose of the first circular arc is (383.662, 228.2758, 373.1501, 180, 0, 90), the intermediate point pose is (460.462, 394.6758, 373.1501, 180, 0, 90), and the ending point pose is (231.662, 416.1478, 373.1501, 180, 0, 90). The starting point pose of the second circular arc... The endpoint pose of the first arc is (383.662, 228.2758, 373.1501, 180, 0, 90), the midpoint pose is (86.862, 513.7478, 373.1501, 180, 0, 90), and the endpoint pose is (-93.138, 387.3478, 373.1501, 180, 0, 90). The first and second arcs 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, and the offset parameters for the first layer are Y-axis offset +5mm, Z-axis offset +5mm, and X-axis attitude offset +3°, and the offset parameters for the second layer are Y-axis offset 10mm, Z-axis offset 10mm, and X-axis attitude offset -3°, then the offset point information of each point in the first layer weld, from left to right, is as follows: (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 The offset point information of each point in the second layer weld, from left to right, is as follows: (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, the following can be obtained: Figure 7 The multi-layer weld bead trajectory is shown.

[0159] Based on this, the teaching pendant and robotic welding method provided in this application are widely applicable to various complex welds composed of straight lines and arcs. By determining the welding intersections, precise trajectory control and excellent process performance are ensured during the welding process, regardless of whether it is a straight line segment or an arc segment. This ensures that the robot can handle various weld shapes and sizes, greatly improving the applicability and efficiency of robotic welding. Furthermore, this application provides a one-click program generation function. Users only need to teach the key points of the weld based on the teaching pendant and define the multi-layer, multi-pass welding process parameters to automatically generate a complete welding program without performing other cumbersome operations. This not only reduces the user's operational difficulty but also improves the automation level of welding, making the welding process more efficient and convenient.

[0160] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A teaching device, characterized in that, include: Control module, button module, and moving components; The button module is provided with multiple buttons; the control module is connected to the button module and the moving component, and the control module is communicatively connected to the robot. The control module is used to detect the status of the moving component and the status of each button on the button module. The control module is also configured to generate a movement control command based on the state of the moving component and the state of at least one button, and send the movement control command to the robot so that the robot moves according to the movement control command. The control module is also used to determine the welding program based on the state of at least one button, generate welding control instructions based on the welding program, and send the welding control instructions to the robot so that the robot controls the welding device set at the end of the robot to perform the corresponding welding operation according to the welding control instructions. The welding control instructions include: the identifier of the welding program and the program parameters of the welding program. The program parameters include: the initial position information of each welding point. The welding point includes the welding start point, the welding intermediate point, and the welding end point. The teaching device further includes: a first display unit, a second display unit, and a third display unit; The control module is also used to display an identifier of the welding program on the first display unit when the welding program selected by the user is determined based on the state of the welding program selection button. The control module is also used to determine the program parameters that the user is adjusting or determining based on the state of the program parameter keys, and to display the value of the program parameters that the user is adjusting or determining on the second display unit. The control module is also used to acquire the robot's speed in real time when the robot moves according to the movement control command, and to display the robot's speed on the third display unit.

2. The teaching device according to claim 1, characterized in that, The plurality of buttons includes at least one speed button; The control module is specifically used to determine the direction parameter based on the state of the moving component, determine the speed parameter based on the state of the speed button, and generate the movement control command based on the direction parameter and the speed parameter.

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

4. The teaching device according to claim 3, characterized in that, The plurality of buttons also includes: 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 state of each program parameter button when the welding program selected by the user is determined based on the state of the welding program selection button, and to add the program parameters to the welding control command.

5. The teaching device according to claim 3, characterized in that, The plurality of buttons also includes: a welding pause button; The control module is also used to generate a welding pause command when the welding pause button is pressed, the welding pause command being used 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 includes: a welding stop button; The control module is also used to generate a welding stop command when the welding stop button is pressed, the welding stop command being used 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 includes: a wire feeding button; The control module is also configured to generate a wire feeding command when the wire feeding button is pressed, and send the wire feeding command to the welding device so that the welding device performs the wire feeding operation according to the wire feeding command.

8. The teaching device according to claim 3, characterized in that, The plurality of buttons also includes: a simulated welding button; The control module is further configured to generate a simulated welding instruction when the state of the welding program selection button determines that the user has selected the welding program 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 a simulated welding operation according to the simulated welding instruction.

9. The teaching device according to claim 1, characterized in that, The teaching device also includes: an emergency stop component and an energy adjustment component; Both the emergency stop component and the energy adjustment component are connected to the control module; The control module is also used to send a stop command to the robot and the welding device when the emergency stop component is detected to be triggered. The stop command 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.

10. The teaching device according to any one of claims 1-9, characterized in that, The surface of each button in the button module is provided with a display component corresponding to the button. 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.

11. A robotic welding method, characterized in that, Applied to a robot, wherein the robot is communicatively connected to the teaching pendant according to any one of claims 1-10 and to a terminal device, the method includes: The device receives welding control commands sent by the teaching device. The welding control commands include: the identifier of the welding program and the program parameters of the welding program. The program parameters include: the initial position information of each welding point. The welding point includes the welding start point, the welding intermediate point and the welding end point. The terminal device sends welding process parameters, which include the number of weld layers and the offset parameters of each welding point. The weld path is determined based on the welding procedure, the procedure parameters, and the welding process parameters. The welding device is controlled to perform welding operations based on the weld bead trajectory.

12. The method according to claim 11, characterized in that, Determining the weld bead trajectory based on the welding program, the program parameters, and the welding process parameters includes: Based on the weld type corresponding to the welding procedure and the initial position information of each welding point, a welding relative coordinate system is established. The weld trajectory is determined based on the welding relative coordinate system, the initial position information of each welding point, and the welding process parameters.

13. The method according to claim 12, characterized in that, The step of establishing a welding relative coordinate system based on the weld type corresponding to the welding procedure and the initial position information of each welding point includes: If the weld type is straight, the weld direction is determined according to the initial position 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.

14. The method according to claim 12, characterized in that, The step of establishing a welding relative coordinate system based on the weld type corresponding to the welding procedure and the initial position information of each welding point includes: If the weld type is arc-shaped, the tangent direction of the arc is determined according to the initial position information of each welding point, and the tangent direction of the arc 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; Based on the fourth and fifth coordinate axes, the sixth coordinate axis of the welding relative coordinate system is determined, and the welding relative coordinate system is established based on the fourth, fifth, and sixth coordinate axes.

15. The method according to claim 12, characterized in that, Determining the weld trajectory based on the welding relative coordinate system, the initial position 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 parameters of each welding endpoint, the offset position information corresponding to each welding point is determined. The weld trajectory is determined based on the offset position information corresponding to each welding point and the number of weld layers.

16. The method according to claim 15, characterized in that, The step of determining the weld trajectory based on the offset point information corresponding to each welding point and the number of weld layers includes: The welding intersection point is determined based on the offset point information corresponding to each welding point. The weld trajectory is determined based on the welding intersection, the offset position information corresponding to each welding point, and the number of weld layers.

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