Welding path adjustment method, device, computer equipment and welding control method

Abstract

The present application relates to a welding path adjustment method, device, computer equipment and welding control method. The welding path adjustment method includes: when a collaborative robot performs a welding operation, obtaining the arc starting point position coordinates, weld position coordinates, and the posture data of the end of the robotic arm of the collaborative robot on the welding workpiece, the posture data including the position coordinates and the posture coordinates, according to the arc starting point position coordinates, weld position coordinates, and the position coordinates of the end of the robotic arm of the collaborative robot, determining the position deviation of the welding path of the collaborative robot relative to the weld, according to the posture coordinates and position deviation of the collaborative robot, determining the posture adjustment data of the collaborative robot, and adjusting the welding path of the collaborative robot based on the posture adjustment data. The use of this method can improve the accuracy of welding path adjustment, thereby improving welding quality.

Description

Technical Field

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

[0002] With the development of welding technology, collaborative robots are widely used in various welding operation scenarios. When performing welding tasks, collaborative robots need to operate the welding workpiece along the preset welding path. However, in the actual welding process, the actual weld position may not completely match the preset welding path.

[0003] In traditional solutions, collaborative robots are usually combined with laser tracking systems. The laser tracking system can obtain the position information of the weld in real time and determine the weld track length by emitting laser beams and receiving reflected light. The welding deviation is determined by comparing the actual weld track length with the preset weld track length, and then the welding track is adjusted.

[0004] However, during the welding process, it is difficult for existing laser tracking systems to maintain a high scanning speed while ensuring laser scanning accuracy. In addition, since the collaborative robot moves in space, simply adjusting the position coordinates of the collaborative robot may result in low accuracy in welding path adjustment. Summary of the invention

[0005] Based on this, it is necessary to provide a welding path adjustment method, device, computer equipment and welding control method that can improve the accuracy of welding path adjustment in order to solve the above technical problems.

[0006] In a first aspect, the present application provides a welding path adjustment method. The method comprises:

[0007] When the collaborative robot performs a welding operation, the arc starting point position coordinates, the weld position coordinates, and the posture data of the end of the robotic arm of the collaborative robot are obtained, wherein the posture data includes the position coordinates and the posture coordinates;

[0008] Determine the position deviation of the welding path of the collaborative robot relative to the weld according to the arc starting point position coordinates, the weld position coordinates, and the position coordinates of the end of the robot arm of the collaborative robot;

[0009] Determining posture adjustment data of the collaborative robot according to the posture coordinates of the collaborative robot and the position deviation;

[0010] Based on the posture adjustment data, the welding path of the collaborative robot is adjusted.

[0011] In one embodiment, determining the position deviation of the welding path of the collaborative robot relative to the weld according to the arc starting point position coordinates, the weld position coordinates, and the position coordinates of the end of the robot arm of the collaborative robot includes:

[0012] Determine a welding deviation vector according to the weld position coordinates and the position coordinates of the end of the robot arm of the collaborative robot;

[0013] Determine a welding vector according to the position coordinates of the end of the robot arm of the collaborative robot and the position coordinates of the arc starting point;

[0014] Determining a projection component of the welding deviation vector on the welding vector;

[0015] The position deviation of the welding path of the collaborative robot relative to the weld is determined according to the welding deviation vector and the projection component.

[0016] In one embodiment, the position deviation includes a position deviation matrix, and determining the posture adjustment data of the collaborative robot according to the posture coordinates of the collaborative robot and the position deviation includes:

[0017] Determining a rotation matrix of the collaborative robot according to the posture coordinates;

[0018] The posture adjustment data of the collaborative robot is determined according to the rotation matrix and the position deviation matrix.

[0019] In one embodiment, determining the rotation matrix of the collaborative robot according to the posture coordinates includes:

[0020] Determine the rotation angles of the collaborative robot around the X-axis, Y-axis, and Z-axis according to the posture coordinates;

[0021] The rotation matrix of the collaborative robot is determined according to the rotation angles of the collaborative robot around the X-axis, the Y-axis and the Z-axis.

[0022] In one embodiment, the posture adjustment data includes a posture adjustment matrix, and adjusting the welding path of the collaborative robot based on the posture adjustment data includes:

[0023] According to the posture adjustment matrix, determining the posture deviation values ​​of the welding path of the collaborative robot in the X-axis, Y-axis and Z-axis respectively;

[0024] The welding path of the collaborative robot is adjusted according to the posture deviation values ​​of the welding path of the collaborative robot in the X-axis, Y-axis and Z-axis respectively.

[0025] In a second aspect, the present application also provides a welding path adjustment device. The device comprises:

[0026] A data acquisition module, used to acquire the arc starting point position coordinates, weld position coordinates, and position and posture data of the end of the robot arm of the collaborative robot when the collaborative robot performs a welding operation, wherein the position and posture data include position coordinates and posture coordinates;

[0027] a deviation determination module, for determining a position deviation of a welding path of the collaborative robot relative to the weld according to the arc starting point position coordinates, the weld position coordinates, and the position coordinates of the end of the robot arm of the collaborative robot;

[0028] An adjustment data determination module, used to determine the posture adjustment data of the collaborative robot according to the posture coordinates of the collaborative robot and the position deviation;

[0029] A path adjustment module is used to adjust the welding path of the collaborative robot based on the posture adjustment data.

[0030] In a third aspect, the present application provides a welding control method, the method comprising:

[0031] controlling the collaborative robot to perform a welding operation based on the adjusted welding path;

[0032] The adjusted welding path is determined based on the welding path adjustment method described in any one of the above welding path adjustment method embodiments.

[0033] In a fourth aspect, the present application further provides a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps in the above-mentioned welding path adjustment method and welding control method embodiments when executing the computer program.

[0034] In a fifth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps in the above-mentioned welding path adjustment method and welding control method embodiments are implemented.

[0035] In a sixth aspect, the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps in the above welding path adjustment method and welding control method embodiments are implemented.

[0036] The above-mentioned welding path adjustment method, device, computer equipment and welding control method obtain the arc starting point position coordinates, weld position coordinates and the posture data of the end of the collaborative robot arm on the welding workpiece, wherein the posture data includes position coordinates and posture coordinates, and then determine the position deviation of the collaborative robot's welding path relative to the weld according to the arc starting point position coordinates, weld position coordinates and the position coordinates of the end of the collaborative robot arm. After determining the position deviation, this scheme further combines the posture coordinates of the collaborative robot and comprehensively considers the posture of the collaborative robot to determine the posture adjustment data. Different from the traditional scheme that only makes adjustments on the position coordinates, the posture adjustment data of this scheme can simultaneously optimize the position and posture of the collaborative robot, so that the welding path of the collaborative robot can be adjusted more accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A diagram showing an application environment of a welding path adjustment method in an embodiment;

[0038] Figure 2 A schematic diagram of a flow chart of a welding path adjustment method in one embodiment;

[0039] Figure 3 A schematic flow chart of a welding path adjustment method in another embodiment;

[0040] Figure 4 is a schematic diagram of various vectors in one embodiment;

[0041] Figure 5 is a flow chart of a welding path adjustment method in yet another embodiment;

[0042] Figure 6 A schematic diagram of a flow chart of a welding path adjustment method in another embodiment;

[0043] Figure 7 A schematic diagram of a flow chart of a welding path adjustment method in a detailed embodiment;

[0044] Figure 8 is a structural block diagram of a welding path adjustment device in one embodiment;

[0045] Fig. 9 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0047] The welding path adjustment method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. The collaborative robot 102 communicates with the control terminal 104 through a network. The data storage system can store data that the control terminal 104 needs to process. The collaborative robot 102 is a robot that can work closely with humans in a shared workspace. In this application, the collaborative robot 102 can be used to perform welding tasks. In addition, the welding robot can also be used directly to perform welding tasks. The data storage system can be integrated on the control terminal 104, or it can be placed on the cloud or other network servers.

[0048] Specifically, the laser may scan the welding workpiece, and send the arc starting point position coordinates, weld position coordinates, and the posture data of the end of the robot arm of the collaborative robot 102 to the control end 104, wherein the posture data includes position coordinates and posture coordinates. Further, the control end 104 determines the position deviation of the welding path of the collaborative robot 102 relative to the weld according to the arc starting point position coordinates, weld position coordinates, and the position coordinates of the end of the robot arm of the collaborative robot 102, and then determines the posture adjustment data of the collaborative robot 102 according to the posture coordinates and position deviation of the collaborative robot 102. Finally, the control end adjusts the welding path of the collaborative robot 102 based on the posture adjustment data.

[0049] The control terminal 104 may be implemented by an independent server or a server cluster consisting of multiple servers.

[0050] In one embodiment, Figure 2 As shown, a welding path adjustment method is provided, which is applied to Figure 1 Taking the control terminal 104 in the example as an example, the following steps are included:

[0051] S100, when the collaborative robot performs a welding operation, obtaining the arc starting point position coordinates, the weld position coordinates, and the position and posture data of the end of the robotic arm of the collaborative robot on the welding workpiece.

[0052] The pose data includes position coordinates and attitude coordinates. The arc starting point refers to the position where the welding arc begins to be generated, that is, the starting point of the welding operation. The arc starting point position coordinates of the welding workpiece can be preset by the operator during the programming stage of the welding task, or can be obtained by photographing or scanning the surface of the welding workpiece by a visual sensor (such as an industrial camera, laser scanner, etc.) installed near the working area of ​​the collaborative robot.

[0053] The weld can be sent to the control end by the operator through the teach pendant. For example, when the collaborative robot performs a welding task for the first time, the operator can manually control the robotic arm of the collaborative robot through the teach pendant so that the welding tool (welding gun) moves along the preset weld. During this process, the teach pendant will record the coordinates of multiple key positions to obtain a coordinate sequence of the approximate position of the weld. The coordinate sequence is combined to form the weld. In this embodiment, the weld position coordinate refers to the position where the welding gun should be located. This is because the welding gun should perform welding tasks along the weld. However, in actual working conditions, the placement of the welding working conditions and slight deformations during the welding process may cause the welding trajectory of the welding gun to deviate from the weld. The weld position coordinate is the target of the welding trajectory correction. By correcting the welding trajectory, the position of the welding gun can be returned to the weld.

[0054] Collaborative robots are usually equipped with high-precision encoders and other sensors installed at various joints of the collaborative robot. During the movement of the robotic arm, the encoders at these joints can measure the angle changes of the joints and other information in real time. The control system inside the collaborative robot is based on its own kinematic model. By solving the angle data of each joint, it can accurately calculate the position coordinates and posture coordinates of the end of the robotic arm in the robot coordinate system, and then determine the position coordinates (x, y, z) of the end of the robotic arm of the collaborative robot in the Cartesian coordinate system, and the posture coordinates of the collaborative robot in the Euler coordinate system ( ).

[0055] S200, determining the position deviation of the welding path of the collaborative robot relative to the weld according to the arc starting point position coordinates, the weld position coordinates, and the position coordinates of the end of the robot arm of the collaborative robot.

[0056] Following the above steps, the arc starting point position coordinates, weld position coordinates, and robot end position coordinates need to be normalized to the same coordinate system, such as a Cartesian coordinate system. Furthermore, for the weld position coordinates, since it is the correct position where the robot end of the collaborative robot should be located, it is recorded as CorrectPos, the arc starting point position coordinates are marked as StartPos, and the robot end position coordinates are marked as CurrentPos.

[0057] Specifically, we can first construct a vector representing the weld with StartPos as the starting point and CorrectPos as the end point, and construct a vector representing the actual welding path of the collaborative robot with StartPos as the starting point and CurrentPos as the end point. Based on the difference between these two vectors, we can determine the position deviation of the collaborative robot's welding path relative to the weld. In addition, we can further process the difference between the two vectors, such as projecting it onto the welding path, so as to better reflect the position deviation of the end of the collaborative robot's mechanical arm, which is convenient for subsequent adjustment of the welding path.

[0058] S300, determining the posture adjustment data of the collaborative robot according to the posture coordinates and position deviation of the collaborative robot.

[0059] Following the above steps, since the end of the collaborative robot's robotic arm is in space, it has attitude coordinates in addition to position coordinates, which can be expressed by Euler angles (pitch angle, yaw angle, roll angle). Changes in the attitude of the end of the robotic arm may also affect the position of the welding gun at the end of the robotic arm (hereinafter referred to as the welding gun). Therefore, it is necessary to consider the position deviation and attitude coordinates of the end of the robotic arm together to achieve subsequent accurate adjustment of the welding path.

[0060] For example, the preliminary position adjustment amount can be determined based on the size and direction of the position deviation, and then the influence of the posture adjustment on the position can be considered. Finally, the position adjustment data and the posture adjustment data are combined to form complete posture adjustment data. It should be noted that the above process of determining the posture adjustment data can be real-time, so that the welding path of the collaborative robot can be adjusted at any time during the entire welding task.

[0061] S400, adjusts the welding path of the collaborative robot based on the posture adjustment data.

[0062] Following the above steps, the acquired posture adjustment data needs to be parsed. The posture adjustment data includes position adjustment data and attitude adjustment data, which are accurately converted from their original mathematical representation into an instruction format that can be recognized and processed by the control system inside the robot, so as to adjust the position and attitude of the end of the collaborative robot's mechanical arm.

[0063] For example, if the position adjustment data in the posture adjustment data is: adjust in the X direction , adjust in the Y direction , adjust in the Z direction , according to the position adjustment data, the position of the end of the robotic arm of the collaborative robot is adjusted accordingly. Similarly, the posture of the end of the robotic arm of the collaborative robot is adjusted accordingly.

[0064] Furthermore, the information related to the updated welding path is input into the motion control system of the collaborative robot, and the motion control system controls the collaborative robot to perform welding operations according to the updated welding path, and continuously uses various sensors (such as visual sensors, etc.) to monitor the deviation between the welding path and the weld. If a deviation still occurs, the above process of adjusting the welding path is repeated again to continuously correct the welding path of the collaborative robot.

[0065] The above-mentioned welding path adjustment method obtains the arc starting point position coordinates, weld position coordinates and the posture data of the end of the collaborative robot's mechanical arm on the welding workpiece, wherein the posture data includes position coordinates and posture coordinates, and then determines the position deviation of the collaborative robot's welding path relative to the weld according to the arc starting point position coordinates, weld position coordinates and the position coordinates of the end of the collaborative robot's mechanical arm. After determining the position deviation, this scheme further combines the posture coordinates of the collaborative robot and comprehensively considers the posture of the collaborative robot to determine the posture adjustment data. Different from the traditional scheme that only makes adjustments on the position coordinates, the posture adjustment data of this scheme can simultaneously optimize the position and posture of the collaborative robot, thereby being able to more accurately adjust the collaborative robot's welding path.

[0066] In one embodiment, Figure 3 As shown, S200 includes:

[0067] S210, determining a welding deviation vector according to the weld position coordinates and the position coordinates of the end of the robot arm of the collaborative robot.

[0068] S220, determining the welding vector according to the position coordinates of the end of the robot arm and the arc starting point position coordinates of the collaborative robot.

[0069] S230, determining the projection component of the welding deviation vector on the welding vector, and determining the position deviation of the welding path of the collaborative robot relative to the weld according to the welding deviation vector and the projection component.

[0070] The relationship diagram between the weld position coordinates and the position coordinates of the end of the collaborative robot's mechanical arm can be shown in the attached figure. Figure 4 As shown, Figure 4 The starting point of the arc is marked as StartPos , the weld position coordinates are marked as CorrectPos ( ), the end position coordinates of the robot arm are marked as CurrentPos ( ).

[0071] Specifically, the welding deviation vector The starting point is the robot end position CurrentPos, and the end point is the weld position CorrectPos, that is, the welding deviation vector . Welding vector The arc starting point position StartPos is the starting point, and the end position of the robot arm CurrentPos is the end point, that is, the weld vector .

[0072] Furthermore, the welding deviation vector is calculated In welding vector The projection component on , the welding deviation vector can be calculated according to formula (1) With welding vector The angle between the two angles is then used to calculate the projection component according to formula (2): :

[0073] (1)

[0074] (2)

[0075] Then, the position deviation of the collaborative robot's welding path relative to the weld can be expressed by the position deviation matrix P. Specifically, the position deviation matrix The welding deviation vector Subtract the projection component The result is a double-precision floating-point matrix with one row and three columns. It should be noted that the floating-point matrix is ​​used to represent the data type of a numerical value with a decimal part. The double-precision floating-point matrix occupies 64 bits of storage space and can represent more significant digits. Therefore, the final position deviation matrix P has a higher accuracy.

[0076] In this embodiment, through the above-mentioned vector processing process, the position deviation of the collaborative robot's welding path relative to the weld can be comprehensively and accurately determined, thereby providing a data basis for the subsequent precise control of the collaborative robot's movement.

[0077] In one embodiment, Figure 5 As shown, the position deviation includes a position deviation matrix, and S300 includes:

[0078] S310, determining the rotation matrix of the collaborative robot according to the posture coordinates, and determining the posture adjustment data of the collaborative robot according to the rotation matrix and the position deviation matrix.

[0079] Among them, the posture coordinates of the collaborative robot can be expressed by Euler angles (pitch angle, yaw angle, roll angle), rotating around the x-axis When the angle is , the rotation matrix of the x-axis is as shown in formula (3):

[0080] (3)

[0081] Rotate around the y axis When the angle is , the rotation matrix of the y-axis is as shown in formula (4):

[0082] (4)

[0083] Rotate around the z axis When the angle is , the rotation matrix of the z-axis is as shown in formula (5):

[0084] (5)

[0085] Since the final posture of the robot is the result of rotating around the x-axis, y-axis, and z-axis in sequence, the total rotation matrix needs to multiply each rotation matrix in the rotation order, that is, the rotation matrix R of the collaborative robot can be expressed based on formula (6):

[0086] (6)

[0087] Finally, the rotation matrix R of the collaborative robot is multiplied by the position deviation matrix P to determine the posture adjustment data of the collaborative robot. The posture adjustment data can be represented by the posture adjustment matrix T, as shown in formula (7):

[0088] (7)

[0089] In this embodiment, the position adjustment matrix and the posture adjustment matrix are combined to determine the complete posture adjustment matrix of the collaborative robot. The posture adjustment matrix can be the basis for the subsequent robot control system to control the collaborative robot to perform welding tasks, thereby being able to accurately adjust the welding path of the collaborative robot.

[0090] In one embodiment, the rotation matrix of the collaborative robot is determined according to the posture coordinates, including: determining the rotation angle of the collaborative robot around the X-axis, Y-axis and Z-axis according to the posture coordinates, and determining the rotation matrix of the collaborative robot according to the rotation angle of the collaborative robot around the X-axis, Y-axis and Z-axis.

[0091] Following the above embodiment, in this embodiment, the posture coordinates of the collaborative robot can be expressed as ( ), respectively represent the rotation angles around the x-axis, y-axis, and z-axis. The rotation matrices around the x-axis, y-axis, and z-axis of the collaborative robot can be expressed as equations (8), (9), and (10), respectively:

[0092] (8)

[0093] (9)

[0094] (10)

[0095] Combined with the above formula (6), the total rotation matrix R of the collaborative robot can be calculated as:

[0096] (11)

[0098] In this embodiment, based on the rotation angles around the X-axis, Y-axis, and Z-axis, the rotation matrix of the collaborative robot can be determined, thereby accurately describing the posture transformation of the collaborative robot in space, providing an intuitive and accurate data basis for the subsequent determination of the adjustment direction of the welding path, thereby improving the accuracy of the collaborative robot's welding path correction.

[0099] In one embodiment, Figure 6 As shown, S400 includes:

[0100] S410, determining the posture deviation values ​​of the welding path of the collaborative robot in the X-axis, Y-axis and Z-axis respectively according to the posture adjustment matrix.

[0101] S420, adjusting the welding path of the collaborative robot according to the posture deviation values ​​of the welding path of the collaborative robot in the X-axis, Y-axis and Z-axis respectively.

[0102] Following the above embodiment, the posture adjustment matrix is ​​a matrix with one row and three columns. The three element values ​​in the matrix represent the posture deviation values ​​of the welding path of the collaborative robot on the X-axis, Y-axis and Z-axis, respectively, and are recorded as , , , based on the posture deviation value, the posture coordinates (x, y, z) of the end of the collaborative robot's robotic arm can be adjusted to: .

[0103] In this way, the posture of the end of the robot arm of the collaborative robot can be corrected on the x, y, and z axes respectively, so that the corrected posture of the end of the robot arm can be more consistent with the desired weld. After adjusting the posture of the end of the robot arm, it is equivalent to updating the position coordinates and attitude coordinates of the end of the robot arm. The position coordinates and attitude coordinates of the end of the robot arm, as well as the position coordinates of the weld, will be continuously collected. Once a new posture deviation is found, the above deviation value determination and path adjustment process will be repeated again. That is, the above process of adjusting the welding path is continuous until the welding task is completed, so that the collaborative robot can weld along the weld as much as possible during the entire process of performing the welding task, thereby improving the welding accuracy and welding quality.

[0104] In this embodiment, by adjusting the welding path of the collaborative robot on the X-axis, Y-axis and Z-axis respectively, the information provided by the posture adjustment matrix can be effectively utilized to accurately determine the posture deviation value of the welding path on each coordinate axis, so as to accurately adjust the welding path of the collaborative robot and improve the welding quality and efficiency.

[0105] In order to make a clearer and more detailed description of the welding path adjustment method provided in this application, Figure 7 and one A detailed embodiment is explained, and the detailed embodiment includes the following steps:

[0106] S701, when the collaborative robot performs a welding operation, obtain the arc starting point position coordinates, weld position coordinates, and position data of the end of the robotic arm of the collaborative robot.

[0107] S702, determine the welding deviation vector according to the weld position coordinates and the position coordinates of the end of the robot arm of the collaborative robot, and determine the welding vector according to the position coordinates of the end of the robot arm of the collaborative robot and the arc starting point position coordinates.

[0108] S703, determining the projection component of the welding deviation vector on the welding vector, and determining the position deviation of the welding path of the collaborative robot relative to the weld according to the welding deviation vector and the projection component.

[0109] S704, determining the rotation angles of the collaborative robot around the X-axis, Y-axis and Z-axis according to the posture coordinates, and determining the rotation matrix of the collaborative robot according to the rotation angles of the collaborative robot around the X-axis, Y-axis and Z-axis.

[0110] S705, determining the posture adjustment data of the collaborative robot according to the rotation matrix and the position deviation matrix, and determining the posture deviation values ​​of the collaborative robot's welding path in the X-axis, Y-axis and Z-axis respectively according to the posture adjustment matrix.

[0111] S706, adjusting the welding path of the collaborative robot according to the posture deviation values ​​of the welding path of the collaborative robot in the X-axis, Y-axis and Z-axis respectively.

[0112] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0113] An embodiment of the present application also provides a welding control method, comprising: controlling a collaborative robot to perform a welding operation based on an adjusted welding path, wherein the adjusted welding path is determined based on a welding path adjustment method in any one of the above-mentioned welding path adjustment method embodiments.

[0114] Specifically, the adjusted welding path related data determined by the welding path adjustment method described above is transmitted to the control system of the collaborative robot, and the collaborative robot is controlled by the control system to perform the welding operation according to the adjusted welding path. At the same time, the collaborative robot will use various sensors (such as visual sensors to continuously monitor the weld position, encoders to feedback posture data in real time, etc.) to monitor the actual execution of the welding path in real time. Once it is found that the actual welding path deviates from the adjusted welding path (for example, due to slight deformation of the workpiece, the robot's own precision error, etc.), the corresponding feedback mechanism will be triggered, such as recalculating the deviation value, adjusting the posture, and dynamically correcting the welding path, so that the welding operation can continue along the desired welding path until the entire welding task is completed, thereby improving the welding quality.

[0115] In this embodiment, by controlling the collaborative robot to perform welding operations based on the adjusted welding path, the collaborative robot can be effectively controlled to perform welding operations along the weld to meet actual welding requirements and improve welding quality.

[0116] Based on the same inventive concept, the embodiment of the present application also provides a welding path adjustment device for implementing the welding path adjustment method involved above, and a welding control device for implementing the welding control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of one or more welding path adjustment devices and welding control devices provided below can refer to the limitations of the welding path adjustment method and welding control method above, and will not be repeated here.

[0117] In one embodiment, Figure 8 As shown, a welding path adjustment device 800 is provided, comprising: a data acquisition module 810, a deviation determination module 820, an adjustment data determination module 830 and a path adjustment module 840, wherein:

[0118] The data acquisition module 810 is used to obtain the arc starting point position coordinates, weld position coordinates, and posture data of the end of the collaborative robot's robotic arm when the collaborative robot performs a welding operation. The posture data includes position coordinates and posture coordinates.

[0119] The deviation determination module 820 is used to determine the position deviation of the welding path of the collaborative robot relative to the weld according to the arc starting point position coordinates, the weld position coordinates, and the position coordinates of the end of the robot arm of the collaborative robot.

[0120] The adjustment data determination module 830 is used to determine the posture adjustment data of the collaborative robot according to the posture coordinates and position deviation of the collaborative robot.

[0121] The path adjustment module 840 is used to adjust the welding path of the collaborative robot based on the posture adjustment data.

[0122] In one embodiment, the deviation determination module 820 is also used to determine the welding deviation vector based on the weld position coordinates and the position coordinates of the end of the collaborative robot's robotic arm, determine the welding vector based on the position coordinates of the end of the collaborative robot's robotic arm and the arc starting point position coordinates, determine the projection component of the welding deviation vector on the welding vector, and determine the position deviation of the collaborative robot's welding path relative to the weld based on the welding deviation vector and the projection component.

[0123] In one embodiment, the position deviation includes a position deviation matrix, and the adjustment data determination module 830 is further used to determine the rotation matrix of the collaborative robot according to the posture coordinates, and determine the posture adjustment data of the collaborative robot according to the rotation matrix and the position deviation matrix.

[0124] In one embodiment, the adjustment data determination module 830 is also used to determine the rotation angle of the collaborative robot around the X-axis, Y-axis and Z-axis according to the posture coordinates, and determine the rotation matrix of the collaborative robot according to the rotation angle of the collaborative robot around the X-axis, Y-axis and Z-axis.

[0125] In one embodiment, the posture adjustment data includes a posture adjustment matrix, and the path adjustment module 840 is also used to determine the posture deviation values ​​of the collaborative robot's welding path in the X-axis, Y-axis and Z-axis respectively according to the posture adjustment matrix, and adjust the collaborative robot's welding path according to the posture deviation values ​​of the collaborative robot's welding path in the X-axis, Y-axis and Z-axis respectively.

[0126] In one embodiment, a welding control device is provided for controlling a collaborative robot to perform a welding operation based on an adjusted welding path, wherein the adjusted welding path is determined based on a welding path adjustment method in any one of the above-mentioned welding path adjustment method embodiments.

[0127] Each module in the welding path adjustment device and the welding control device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0128] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Fig. 9 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data such as the arc starting point position coordinates, the weld position coordinates, and the posture data of the end of the robot arm of the collaborative robot. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a welding path adjustment method or a welding machine control method is implemented.

[0129] Those skilled in the art will understand that Fig. 9 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0130] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps of the above-mentioned welding path adjustment method or welding control method when executing the computer program.

[0131] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned welding path adjustment method or welding control method are implemented.

[0132] In one embodiment, a computer program product is provided, comprising a computer program, which implements the steps of the above-mentioned welding path adjustment method or welding control method when executed by a processor.

[0133] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0134] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0135] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0136] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A welding path adjustment method, characterized in that: The method comprises: When the collaborative robot performs a welding operation, the arc starting point position coordinates, the weld position coordinates, and the posture data of the end of the robotic arm of the collaborative robot are obtained, wherein the posture data includes the position coordinates and the posture coordinates; Determine the position deviation of the welding path of the collaborative robot relative to the weld according to the arc starting point position coordinates, the weld position coordinates, and the position coordinates of the end of the robot arm of the collaborative robot; Determining posture adjustment data of the collaborative robot according to the posture coordinates of the collaborative robot and the position deviation; Based on the posture adjustment data, the welding path of the collaborative robot is adjusted.

2. The method according to claim 1, characterized in that The determining the position deviation of the welding path of the collaborative robot relative to the weld according to the arc starting point position coordinates, the weld position coordinates, and the position coordinates of the end of the robot arm of the collaborative robot comprises: Determine a welding deviation vector according to the weld position coordinates and the position coordinates of the end of the robot arm of the collaborative robot; Determine a welding vector according to the position coordinates of the end of the robot arm of the collaborative robot and the position coordinates of the arc starting point; Determining a projection component of the welding deviation vector on the welding vector; The position deviation of the welding path of the collaborative robot relative to the weld is determined according to the welding deviation vector and the projection component.

3. The method according to claim 1, characterized in that: The position deviation includes a position deviation matrix, and determining the posture adjustment data of the collaborative robot according to the posture coordinates of the collaborative robot and the position deviation includes: Determining a rotation matrix of the collaborative robot according to the posture coordinates; The posture adjustment data of the collaborative robot is determined according to the rotation matrix and the position deviation matrix.

4. The method according to claim 3, characterized in that Determining the rotation matrix of the collaborative robot according to the posture coordinates includes: Determine the rotation angles of the collaborative robot around the X-axis, Y-axis, and Z-axis according to the posture coordinates; The rotation matrix of the collaborative robot is determined according to the rotation angles of the collaborative robot around the X-axis, the Y-axis and the Z-axis.

5. The method according to any one of claims 1 to 4, characterized in that: The posture adjustment data includes a posture adjustment matrix, and adjusting the welding path of the collaborative robot based on the posture adjustment data includes: According to the posture adjustment matrix, determining the posture deviation values ​​of the welding path of the collaborative robot in the X-axis, Y-axis and Z-axis respectively; The welding path of the collaborative robot is adjusted according to the posture deviation values ​​of the welding path of the collaborative robot in the X-axis, Y-axis and Z-axis respectively.

6. A welding control method, characterized in that: The method comprises: controlling the collaborative robot to perform a welding operation based on the adjusted welding path; Wherein, the adjusted welding path is determined based on the welding path adjustment method according to any one of claims 1 to 5.

7. A welding path adjustment device, characterized in that: The device comprises: A data acquisition module, used to acquire the arc starting point position coordinates, weld position coordinates, and position and posture data of the end of the robot arm of the collaborative robot when the collaborative robot performs a welding operation, wherein the position and posture data include position coordinates and posture coordinates; A deviation determination module, used to determine the position deviation of the welding path of the collaborative robot relative to the weld according to the arc starting point position coordinates, the weld position coordinates, and the position coordinates of the end of the robot arm of the collaborative robot; An adjustment data determination module, used to determine the posture adjustment data of the collaborative robot according to the posture coordinates of the collaborative robot and the position deviation; A path adjustment module is used to adjust the welding path of the collaborative robot based on the posture adjustment data.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 or 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 or 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 or 6 are implemented.

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