Elliptical swing arc control method and system, storage medium and program product

Abstract

The invention discloses an elliptic swing arc control method and system, a storage medium and a program product, and relates to the field of robot industrial control. The welding parameters comprise weld joint starting point coordinates, weld joint end point coordinates, ellipse frequency, ellipse major semi-axis length and ellipse minor semi-axis length; determining a linear weld path according to the weld start point coordinate and the weld end point coordinate; dividing the welding time into a periodic sequence comprising a plurality of welding periods based on the elliptical frequency; in each welding period, generating an elliptical track path based on the length of the major semi-axis of the ellipse and the length of the minor semi-axis of the ellipse by taking the linear weld path as a center line; according to the linear welding seam path and the elliptical track path, a welding gun motion path is determined; and generating a control signal corresponding to the motion path of the welding gun, and sending the control signal to the welding robot, so that the welding robot performs welding according to the motion path of the welding gun. By implementing the method, the adaptability of automatic welding can be enhanced, and non-uniform welding seam forming is avoided.

Description

Technical Field

[0001] The present application relates to the field of robot industrial control, and in particular to an elliptical swing arc control method, system, storage medium and program product. Background Art

[0002] As a key metal connection process in the manufacturing industry, welding technology is widely used in automobile manufacturing, shipbuilding, aerospace and other fields. As industrial manufacturing develops towards intelligence and flexibility, welding technology faces higher quality requirements and more complex application scenarios. Especially in the field of automated welding, the control of the welding gun's motion trajectory plays a decisive role in the welding quality.

[0003] In the related technologies, the automated welding system mainly adopts basic swinging modes such as linear swinging arc, circular swinging arc and triangular swinging arc. These swinging arc modes realize the formation of welds by controlling the welding gun to make simple periodic reciprocating motions. Among them, the linear swinging arc is mainly used for narrow seam welding, and the welding gun makes reciprocating motions perpendicular to the weld seam direction; the circular swinging arc allows the welding gun to move along a circular trajectory, which is used in working conditions that require wider welds; the triangular swinging arc controls the welding gun to move along a triangular trajectory, which is suitable for welding medium and thick plates.

[0004] However, due to the single motion trajectory of these swing arc methods, when welding special-shaped joints or workpieces with variable cross-sections, simple periodic reciprocating motion is difficult to adapt to changes in weld shape, which can easily cause uneven weld formation. Summary of the invention

[0005] The present application provides an elliptical swing arc control method, system, storage medium and program product for enhancing the adaptability of automated welding and avoiding uneven weld formation.

[0006] In the first aspect, the present application provides an elliptical arc swing control method, which is applied to a control system, and the method includes: obtaining welding parameters; the welding parameters include weld starting point coordinates, weld end point coordinates, ellipse frequency, ellipse major axis length and ellipse minor axis length; determining a straight weld path according to the weld starting point coordinates and the weld end point coordinates; based on the ellipse frequency, dividing the welding time into a periodic sequence including multiple welding cycles; in each welding cycle, taking the straight weld path as the center line, generating an elliptical trajectory path based on the ellipse major axis length and the ellipse minor axis length; determining a welding gun motion path according to the straight weld path and the elliptical trajectory path; generating a control signal corresponding to the welding gun motion path, and sending the control signal to the welding robot, so that the welding robot performs welding according to the welding gun motion path.

[0007] In the above embodiment, the control system achieves precise control of the movement of the welding gun along the elliptical trajectory by acquiring welding parameters, determining the straight weld path, dividing the welding cycle, generating an elliptical trajectory path and controlling the welding robot to perform welding. This elliptical arc swing method can not only ensure uniform weld width, but also adapt to different welding conditions by adjusting the elliptical parameters, thereby improving the adaptability and welding quality of automated welding.

[0008] In combination with some embodiments of the first aspect, in some embodiments, after the step of obtaining welding parameters, the method also includes: obtaining basic process parameters including workpiece material type, plate thickness and joint form; based on the basic process parameters, determining the theoretical value range of welding control parameters; when the welding parameters are not within the theoretical value range, generating a data abnormality prompt.

[0009] In the above embodiment, the control system ensures that the welding parameters are within a reasonable range by acquiring basic process parameters and performing parameter verification, thereby avoiding welding defects caused by improper parameter settings, and can promptly detect abnormal parameters and provide prompts, thereby improving the reliability and safety of the welding process.

[0010] In combination with some embodiments of the first aspect, in some embodiments, the step of determining the movement path of the welding gun according to the straight weld path and the elliptical trajectory path specifically includes: based on the coordinates of the starting point of the weld, determining a starting straight line segment whose length is equal to the length of the minor semi-axis of the ellipse along the weld direction; calculating the coordinates of the first connection point between the starting straight line segment and the elliptical trajectory path as the starting point of the elliptical cycle; based on the coordinates of the end point of the weld and the elliptical trajectory path, determining the end straight line segment and the end point of the elliptical cycle; generating the movement path of the welding gun based on the starting straight line segment, the starting point of the elliptical cycle, the elliptical trajectory path, the end point of the elliptical cycle and the end straight line segment.

[0011] In the above embodiment, the control system realizes the continuity of the welding gun movement trajectory by designing the conversion curve of the straight line and elliptical trajectory at the starting and ending points, reduces the impact on the robot joints, extends the service life of the equipment, and ensures the consistency of weld formation.

[0012] In combination with some embodiments of the first aspect, in some embodiments, the step of generating a welding gun motion path based on the starting straight line segment, the starting point of the elliptical cycle, the elliptical trajectory path, the ending point of the elliptical cycle and the terminal straight line segment specifically includes: generating a starting conversion point and a corresponding starting conversion curve according to the starting straight line segment, the starting point of the elliptical cycle and the elliptical trajectory path; generating a terminal conversion point and a corresponding terminal conversion curve according to the terminal straight line segment, the ending point of the elliptical cycle and the elliptical trajectory path; integrating the starting straight line segment, the starting conversion curve, the elliptical trajectory path, the terminal conversion curve and the terminal straight line segment to generate the welding gun motion path.

[0013] In the above embodiment, the control system achieves smooth movement of the welding process by generating a conversion curve and integrating each path segment, avoids sudden changes in the movement of the welding gun, ensures the quality of the weld at the starting and end points of welding, and improves the overall welding effect.

[0014] In combination with some embodiments of the first aspect, in some embodiments, the welding parameters also include preset phase points, the preset phase points include 90 degree phase points, 180 degree phase points, 270 degree phase points and 360 degree phase points, each preset phase point is bound to a corresponding motion mode and dwell time; the motion mode includes machine stop and swing stop; after the step of determining the welding gun motion path according to the straight weld path and the elliptical trajectory path, the method also includes: in the welding gun motion path, determining multiple phase preparation points at a preset distance before the preset phase point; determining the corresponding welding gun control parameters according to the motion mode and dwell time of the preset phase point; determining the state transition path from the phase preparation point to the preset phase point, and binding the corresponding welding gun control parameters to the state transition path.

[0015] In the above embodiment, the control system introduces a phase point control mechanism, which realizes precise control of the welding process at a specific position by setting the movement mode and dwell time of different phase points, thereby improving the adaptability of special-shaped welds and enhancing the flexibility of the welding process.

[0016] In combination with some embodiments of the first aspect, in some embodiments, a control signal corresponding to the motion path of the welding gun is generated, and the control signal is sent to the welding robot so that the welding robot performs welding according to the motion path of the welding gun, specifically including: determining multiple trajectory points of the welding gun on the motion path of the welding gun; determining the posture information of the welding gun at each trajectory point according to the motion path of the welding gun, the welding plane angle and the welding travel angle; the posture information includes the swing angle, the tilt angle and the rotation angle; based on the robot dynamics model, the trajectory point and the corresponding posture information are converted into joint motion parameters of the robot joint space; the joint motion parameters are smoothed to generate a joint trajectory that satisfies the acceleration constraint, and the joint trajectory is discretized into an interpolation point sequence within the control cycle; according to the interpolation point sequence and the robot dynamics model, the torque control instructions of each joint motor are calculated to generate a control signal; the control signal is sent to the welding robot so that the welding robot performs welding according to the motion path of the welding gun.

[0017] In the above embodiment, the control system realizes precise control of the welding gun posture through kinematic and dynamic calculations, ensures that the welding gun always maintains the best working state, and improves the welding quality and efficiency.

[0018] In combination with some embodiments of the first aspect, in some embodiments, after generating a control signal corresponding to the movement path of the welding gun and sending the control signal to the welding robot so that the welding robot performs welding according to the movement path of the welding gun, the method also includes: obtaining a real-time welding image during the welding process; determining the actual width of the weld based on the real-time welding image, and calculating the welding deviation value between the actual width of the weld and the corresponding target width; generating weld change data based on the actual width of the weld, and determining the degree of thermal deformation of the welding workpiece and the trend of weld gap changes; when the welding deviation value exceeds a preset deviation threshold, determining the parameter adjustment direction of the welding process according to the degree of thermal deformation and the trend of weld gap changes, so as to adjust the welding parameters.

[0019] In the above embodiment, the control system establishes a closed-loop control of the welding process through real-time image feedback and parameter adjustment, which can respond to changes in the welding process in a timely manner and ensure the stability of the welding quality.

[0020] In a second aspect, an embodiment of the present application provides a control system, comprising: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to enable the control system to execute the method described in the first aspect and any possible implementation method of the first aspect.

[0021] In a third aspect, an embodiment of the present application provides a computer program product comprising instructions, which, when the computer program product is run on a control system, enables the control system to execute the method described in the first aspect and any possible implementation of the first aspect.

[0022] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, comprising instructions, which, when executed on a control system, enable the control system to execute the method described in the first aspect and any possible implementation of the first aspect.

[0023] It is understandable that the control system provided in the second aspect, the computer program product provided in the third aspect, and the computer storage medium provided in the fourth aspect are all used to execute the method provided in the embodiment of the present application. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method, which will not be repeated here.

[0024] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: 1. Due to the adoption of elliptical trajectory control and periodic oscillation mechanism based on the straight weld path, the welding gun can be accurately controlled to move along a predetermined trajectory and maintain a stable oscillation frequency, which effectively solves the problem of single welding gun movement trajectory and difficulty in adapting to complex weld shapes in the prior art, thereby achieving high-quality welding effects with uniform weld formation and reasonable heat input distribution; parametric control makes the welding process more flexible and controllable, and the welding gun movement characteristics can be adjusted according to different working conditions, thereby improving the adaptability and reliability of welding.

[0025] 2. Due to the adoption of a trajectory smoothing mechanism based on conversion points and conversion curves, the continuous and smooth movement of the welding gun trajectory can be achieved, which effectively solves the problem of unstable weld quality caused by sudden trajectory changes at the welding start and end points in the prior art, thereby achieving smooth welding gun movement control throughout the entire process; ensuring the continuity and stability of the welding gun movement, avoiding drastic changes in the robot joints, extending the service life of the equipment, and ensuring the consistency of weld formation.

[0026] 3. Due to the adoption of trajectory planning and posture control mechanism based on the robot dynamics model, the position and posture of the welding gun during movement can be accurately calculated and controlled, which effectively solves the problem of insufficient accuracy of welding gun posture control and difficulty in ensuring the stability of welding quality in the existing technology. By comprehensively considering the kinematic characteristics and dynamic constraints of the welding gun, the consistency and reliability of the weld quality are guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a flow chart of the elliptical swing arc control method in the embodiment of the present application; Figure 2 (a) is a schematic diagram of three trajectories of the elliptical swing arc in an embodiment of the present application; Figure 2 (b) is a three-dimensional and two-dimensional schematic diagram of an elliptical swing arc in an embodiment of the present application; Figure 2 (c) is a schematic diagram of a smooth trajectory of an elliptical swing arc in an embodiment of the present application; Figure 3 is another flow chart of the elliptical swing arc control method in the embodiment of the present application; Figure 4 It is a schematic diagram of the structure of a physical device of the control system in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The terms used in the following embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to be used as limitations to the present application. As used in the specification of the present application, the singular expressions "one", "a kind of", "above", "the" and "this" are intended to also include plural expressions, unless there is a clear indication to the contrary in the context. It should also be understood that the term "and / or" used in the present application refers to any or all possible combinations comprising one or more of the listed items.

[0029] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features, and in the description of the embodiments of the present application, unless otherwise specified, "plurality" means two or more.

[0030] For ease of understanding, the application scenarios of the embodiments of the present application are introduced below.

[0031] An automobile manufacturer needs to weld a body chassis reinforcement. The component uses a 5mm thick high-strength steel plate, the weld length reaches 800mm, and the weld position changes with the chassis curve. Traditional welding methods are difficult to adapt to such complex curved surface welding needs. The main problems are: uneven weld width and unstable penetration, especially in the curved area, which is prone to welding defects. At the same time, the dynamic change of the weld gap due to thermal deformation of the workpiece further increases the difficulty of welding.

[0032] In the related art, basic swinging methods such as linear swinging, circular swinging and triangular swinging can be used to achieve weld formation control. These traditional methods can affect the weld width and penetration to a certain extent through simple periodic reciprocating motion, but they are difficult to adapt to complex working conditions. The following introduces the scenario of using the elliptical swinging control method in the related art.

[0033] A shipbuilding plant uses traditional linear swing arc technology to weld hull plates. When welding 8mm thick hull outer plates, the welding gun performs simple reciprocating motions perpendicular to the weld direction at a fixed frequency. When encountering a sudden change in weld shape or a change in the workpiece gap, this simple swing method cannot be adjusted in time, resulting in inconsistent weld formation. For example, during a certain welding process, due to the error in plate pretreatment, the joint gap gradually increased from 2mm to 4mm. The fixed swing parameters could not adapt to this change, and eventually weld penetration occurred at the larger gap. In addition, when welding corners, the problem of uneven weld excess height often occurs because the swing trajectory cannot be adjusted.

[0034] By adopting the elliptical arc swing control method in the embodiment of the present application, the elliptical trajectory parameters are dynamically adjusted (for example, the major semi-axis Rh range is 0.5-5mm, the minor semi-axis Rv range is 0.3-3mm, and the swing frequency f range is 1-5Hz), and accurate control of weld formation is achieved, which can not only adapt to various welding conditions, but also realize dynamic adjustment of heat input. The following introduces the scenario in which the elliptical arc swing control method in the present application is used.

[0035] An aviation parts manufacturer uses the elliptical swing arc control method of this application to weld titanium alloy casings. The workpiece requires a high aesthetic quality of the weld and precise control of heat input. By setting the elliptical trajectory parameters, the welding gun moves along the elliptical trajectory during welding, and can automatically adjust the ratio of the major and minor axes of the ellipse according to the change in the thickness of the workpiece. When it is found that the temperature in a local area is too high, the system automatically increases the size of the major axis of the ellipse to reduce the heat input density; in places with large gaps, the molten pool swing width is increased by adjusting the length of the minor axis of the ellipse. At the same time, the system monitors the weld formation in real time to ensure that the welding quality remains stable at all times.

[0036] It can be seen that the elliptical swing arc control method in the embodiment of the present application can not only achieve uniform weld formation, but also effectively solve the problems caused by workpiece deformation and gap change, thereby realizing adaptive control of the welding process.

[0037] For ease of understanding, the following describes the process of the method provided by this implementation in combination with the above scenario. Figure 1 , which is a flow chart of the elliptical swing arc control method in an embodiment of the present application.

[0038] S101, obtaining welding parameters.

[0039] Among them, the welding parameters represent the basic parameter set required to control the welding process, including the weld starting point coordinates, weld end point coordinates, ellipse frequency, ellipse major axis length and ellipse minor axis length; the weld starting point coordinates and end point coordinates refer to the starting and ending position points of the weld in three-dimensional space; the ellipse frequency is used to indicate the number of times the welding gun completes the elliptical trajectory movement per unit time; the ellipse major axis length refers to half of the maximum distance of the ellipse trajectory in the major axis direction; the ellipse minor axis length represents half of the maximum distance of the ellipse trajectory in the minor axis direction.

[0040] Before starting a welding task, the control system needs to first obtain all necessary welding parameters to ensure the correct execution of subsequent control. Specifically, the control system receives the parameter values ​​set by the operator through the human-computer interaction interface or data interface, or reads the corresponding parameter configuration from the pre-stored welding process database, and stores these parameters in the system memory for use in subsequent steps.

[0041] In some embodiments, the acquisition and verification of welding parameters can be achieved in a variety of ways: optionally, the parameter value is input through the touch screen human-machine interface, the system performs a parameter range check, and the legal parameters are saved to the system; optionally, the parameter template in the preset process library is read, the parameter value is automatically adjusted according to the current welding condition, and the adjusted parameter is transmitted to the control system. It is understandable that other methods can also be used to achieve the parameter acquisition and processing process, which is not limited here.

[0042] S102, determining a straight weld path according to the weld start point coordinates and the weld end point coordinates.

[0043] The straight weld path represents the ideal center line of the weld. The weld start and end coordinates refer to the two end points of the path.

[0044] After obtaining the coordinates of the starting point and the end point, the control system needs to calculate the standard spatial straight line equation as the reference path. Specifically, the system first calculates the direction vector between the two points, and then establishes a parametric equation based on the vector, while considering the surface characteristics of the workpiece and the welding process requirements to determine the final straight weld path. It should be noted that the straight weld path here refers to the overall moving path from the starting point to the end point. In some cases, the straight weld path may not be a straight line. According to the shape of the weld or based on user settings, the straight weld path can also be in the form of a broken line, that is, a combination of multiple straight lines; in some cases, it can also be in the form of a smooth curve.

[0045] In some embodiments, the determination of the straight weld path can be achieved in a variety of ways: optionally, calculating the direction vector, establishing the straight line parameter equation, and generating a path discrete point sequence; optionally, extracting the surface features of the workpiece, optimizing the path direction, and generating a corrected path that takes into account the workpiece features. It is understandable that other methods can also be used to achieve the planning of the weld path, which is not limited here.

[0046] S103: Based on the ellipse frequency, the welding time is divided into a period sequence including a plurality of welding periods.

[0047] The elliptical frequency refers to the number of elliptical movements the welding gun completes per second. The welding time refers to the total time required to complete the entire weld. The welding cycle is used to represent the time interval required to complete a complete elliptical movement. The cycle sequence refers to the set of multiple equal-length time periods into which the total welding time is divided.

[0048] The control system needs to plan the time allocation of the entire welding process based on the process requirements and elliptical frequency parameters before welding begins. Specifically, the system first calculates the total welding time based on the weld length and welding speed, and then divides the total time into several equal time periods according to the set elliptical frequency, and each period corresponds to a complete elliptical movement.

[0049] In some embodiments, the division of welding cycles can be achieved in a variety of ways: optionally, calculating the duration of a single cycle, determining the total number of cycles, and generating a time series array; optionally, presetting the acceleration and deceleration time, adjusting the stable phase cycle, and generating a non-uniform cycle sequence. It is understandable that other methods can also be used to achieve the planning and division of time cycles, which are not limited here.

[0050] S104, in each welding cycle, taking the straight weld path as the center line, generating an elliptical trajectory path based on the length of the major semi-axis of the ellipse and the length of the minor semi-axis of the ellipse.

[0051] The elliptical trajectory path represents the periodic oscillation trajectory of the welding gun in the direction perpendicular to the weld.

[0052] The control system needs to generate a complete elliptical trajectory in each welding cycle. The system uses the weld path as a reference, combines the ellipse parameters to calculate the coordinates of discrete trajectory points, and optimizes the trajectory considering the process requirements to ensure that the swing amplitude and frequency meet the welding requirements.

[0053] Specifically, the basic equation of an ellipse is: Among them, a and b represent the radius of the major axis and minor axis of the ellipse, respectively. In order to realize the dynamic control of the elliptical swing arc, it is necessary to combine the actual requirements of the weld and perform parameterized control on the size, swing frequency, swing angle, etc. of the elliptical trajectory. In the elliptical swing arc interpolation process, the elliptical trajectory represents the trajectory position through the angle value, and the mathematical expression is changed to the polar coordinate expression formula: Among them, θ is the angle parameter on the ellipse trajectory; xell = a·cos(θ) represents the x-direction position; yell = b·sin(θ) represents the y-direction position; zell = 0 represents movement in the xy plane; a is the length of the major semi-axis of the ellipse; b is the length of the minor semi-axis of the ellipse; by adjusting parameters such as a, b, θ, and z, the shape of the ellipse arc can be controlled to adapt to welds of different widths and welding requirements. The basic trajectory of the ellipse arc determines the starting point, end point, direction, etc. of the arc.

[0054] Therefore, the trajectory equation of the basic elliptical trajectory is: Among them, the acceleration planning equation j(t) represents the change of acceleration with time. In its piecewise function, jmax is the maximum jerk value; -jmax is the maximum negative jerk value; 0 is the zero jerk segment; t1~t7 are the time points of each stage, and the subsequent formulas are the same; amax is the maximum acceleration of the trajectory; -amax is the maximum negative acceleration value.

[0055] The acceleration equation a(t) represents the acceleration curve obtained by integrating j(t). In its piecewise function, τ1~τ7 are the duration of each time period, and the subsequent formulas are the same. Each time period [ti, ti+1] corresponds to an acceleration change stage, in which the acceleration increases to amax when 0≤t≤t1; the maximum acceleration is maintained when t1≤t≤t2; the acceleration decreases to 0 when t2≤t≤t3; the acceleration remains at 0 when t3≤t≤t4; the acceleration decreases to -amax when t4≤t≤t5; the minimum acceleration is maintained when t5≤t≤t6; and the acceleration increases back to 0 when t6≤t≤t7. T1 is the first stage acceleration time, and amax=jmaxT1. Correspondingly, in the subsequent formulas, T2 is the maximum acceleration duration; T3 is the first deceleration stage time; T4 is the zero acceleration stage time; T5 is the second deceleration stage time; T6 is the minimum acceleration duration; and T7 is the final acceleration stage time.

[0056] The velocity equation v(t) represents the velocity curve obtained by integrating a(t), and in its piecewise function, v1~v7 are the velocity values ​​of each stage. The displacement equation s(t) represents the displacement curve obtained by integrating v(t), and in its piecewise function, s1~s7 are the displacement values ​​of each stage.

[0057] In some embodiments, the generation of the ellipse trajectory can be achieved in a variety of ways: optionally, establishing an ellipse parameter equation, calculating the coordinates of discrete points, and optimizing the trajectory smoothness; optionally, generating a reference ellipse, adding process compensation, and adjusting the trajectory direction. It is understandable that other methods can also be used to achieve the planning of the ellipse trajectory, which are not limited here.

[0058] See also Figure 2 (a) Figure 2 (a) is a schematic diagram of three trajectories of the elliptical swing arc in an embodiment of the present application; Figure 2 (a) shows three trajectory schematic diagrams, from left to right, respectively, the elliptical trajectory coincides with the end point, the elliptical trajectory is above the end point, and the elliptical trajectory is below the end point. Each figure shows the trajectory of the welding gun moving along the elliptical path, where the horizontal axis and the vertical axis represent the spatial coordinates, and the trajectory presents a regular elliptical shape; there are straight line segments near the starting point and the end point, and the straight line segments will be explained in the following embodiment.

[0059] It should be noted that due to resolution and other reasons, Figure 2 There is ambiguity in the horizontal and vertical coordinate values, but it is obvious that Figure 2 The focus of each figure is on the description of the trajectory shape. The horizontal and vertical coordinate values ​​are not the focus of this application. Their ambiguity can be ignored, and their values ​​can be arbitrarily taken in some cases. Therefore, the ambiguity in the horizontal and vertical coordinate values ​​in the drawings should not be regarded as insufficient disclosure.

[0060] S105, determining a welding gun movement path according to the straight weld path and the elliptical trajectory path.

[0061] Among them, the welding gun motion path represents the complete motion trajectory of the welding gun in space.

[0062] The control system needs to reasonably combine the linear motion and the elliptical swing motion. Specifically, the system combines the moving speed in the weld direction and the swing speed in the vertical direction into a spatial motion trajectory by means of vector superposition, and optimizes the path considering the welding process requirements.

[0063] In order to generate and control the elliptical trajectory in actual welding, the control system also calculates the end position of the robot arm to determine the corresponding welding gun motion path. The specific formula is: Among them, p i represents the interpolation position at the i-th time point, p0 represents the starting coordinate of the straight line, represents the direction vector of the straight line, s(t) is the displacement along the weld direction, and Pi,ell(θi) is the elliptical swing component.

[0064] See also Figure 2 (b) Figure 2 (b) is a three-dimensional and two-dimensional schematic diagram of an elliptical swing arc in an embodiment of the present application; Figure 2 (b) shows the 3D elliptical swing trajectory diagram on the left and the 2D elliptical swing trajectory diagram on the right. The 3D diagram shows the elliptical motion path of the welding gun after the straight weld path is superimposed in space, and the three-dimensional effect of the elliptical trajectory can be clearly seen; the 2D diagram shows the elliptical swing trajectory observed from a top-down angle, showing the motion trajectory of the welding gun on the xy plane.

[0065] In some embodiments, the welding gun motion path can be determined in a variety of ways: optionally, calculating the velocity vector, synthesizing the motion trajectory, and optimizing the path parameters; optionally, generating a reference path, adding process compensation, and smoothing the path. It is understandable that other methods can also be used to plan the motion path, which is not limited here.

[0066] S106: Generate a control signal corresponding to the motion path of the welding gun, and send the control signal to the welding robot, so that the welding robot performs welding according to the motion path of the welding gun.

[0067] The control signal refers to the instruction sequence that drives the welding robot to perform motion control, and the motion control includes parameter information such as position, speed, acceleration, etc. The welding robot refers to the automated equipment that performs the welding task.

[0068] The control system needs to convert the planned motion path into control instructions that can be executed by the robot. Specifically, the system first converts the spatial path into motion parameters in the joint space, then generates an instruction sequence that meets the requirements of the robot control system, and finally sends the instructions to the welding robot for execution through the communication interface.

[0069] In some embodiments, the generation and execution of control signals can be achieved in a variety of ways: optionally, kinematic inverse solution is performed to generate joint control instructions and execute motion control; optionally, path interpolation processing, dynamics calculation, and servo control execution. It is understandable that other methods can also be used to achieve the generation and execution of control instructions, which are not limited here.

[0070] The following is a more detailed description of the process of the method provided by this implementation. Figure 3 , is another flow chart of the elliptical swing arc control method in the embodiment of the present application.

[0071] S301, obtaining welding parameters.

[0072] Referring to step S101 , the control system acquires welding parameters.

[0073] In some embodiments, the control system obtains basic process parameters including workpiece material type, plate thickness and joint form; determines the theoretical value range of welding control parameters based on the basic process parameters; and generates a data abnormality prompt when the welding parameters are not within the theoretical value range.

[0074] Among them, the workpiece material type indicates the material characteristics of the workpiece to be welded. The plate thickness refers to the actual thickness of the workpiece. The joint form is used to indicate the structural type of the welding joint. The basic process parameters refer to the basic process elements that affect the welding quality. The theoretical value range indicates the reasonable variation range of each parameter. The data abnormality prompt is used to indicate the warning message that the parameter exceeds the allowable range.

[0075] The control system needs to verify the rationality of the parameters before starting the welding task. Specifically, the system first obtains the workpiece characteristic parameters, then queries the parameter allowable range according to the welding process specifications, compares the actual parameters with the theoretical range, and issues a warning in time when it is found that the parameters are out of range to ensure the scientific nature of the welding parameters.

[0076] In some embodiments, the parameter verification process can be implemented in a variety of ways: optionally, scanning the workpiece QR code to obtain parameters, querying the process database, and performing range verification; optionally, manually inputting basic parameters, calling the expert system to judge, and generating a verification report. It is understandable that other methods can also be used to achieve parameter acquisition and verification, which are not limited here.

[0077] S302, determining a straight weld path according to the weld start point coordinates and the weld end point coordinates.

[0078] Referring to step S102 , the control system determines a straight weld path.

[0079] S303: Based on the ellipse frequency, the welding time is divided into a period sequence including a plurality of welding periods.

[0080] Referring to step S103 , the control system determines a plurality of welding cycles.

[0081] S304, in each welding cycle, taking the straight weld path as the center line, and generating an elliptical trajectory path based on the length of the major semi-axis of the ellipse and the length of the minor semi-axis of the ellipse.

[0082] Referring to step S104 , the control system determines an elliptical trajectory path.

[0083] S305. Based on the coordinates of the weld start point, determine a starting straight line segment along the weld direction whose length is equal to the length of the minor semi-axis of the ellipse.

[0084] Among them, the weld start coordinates represent the starting position of the welding path. The weld direction refers to the unit vector pointing from the starting point to the end point. The length of the minor semi-axis of the ellipse is used to represent the standard length of the straight line segment. The starting straight line segment refers to a straight line motion path starting from the welding start point, which is used to achieve a smooth transition of the welding gun from a static state to an elliptical swing state.

[0085] Before the control system starts the elliptical swing, it needs to plan a straight line path for starting the conversion. Specifically, the system determines the weld direction vector, and then generates a straight line segment with a length equal to the minor semi-axis of the ellipse along the weld direction based on the weld starting point. This straight line segment will serve as the initial motion path when the welding gun is started.

[0086] In some embodiments, the generation of the starting straight line segment can be achieved in a variety of ways: optionally, calculating the weld direction vector, generating the straight line equation, sampling to obtain discrete points of the straight line segment; optionally, determining the length of the straight line segment, optimizing the straight line segment velocity distribution, and generating a conversion trajectory with limited acceleration. It is understandable that other methods can also be used to achieve the planning of the starting straight line segment, which is not limited here.

[0087] S306, calculating the coordinates of the first connection point between the starting straight line segment and the ellipse trajectory path as the starting point of the ellipse cycle.

[0088] The elliptical trajectory path refers to the spatial curve of the welding gun's elliptical swing. The connection point coordinates are used to represent the intersection of the straight line segment and the elliptical trajectory. The elliptical cycle starting point represents the position where the welding gun starts to elliptically swing.

[0089] The control system needs to achieve a smooth connection with the elliptical motion at the end of the straight line segment. Specifically, the system calculates the elliptical trajectory point near the end of the starting straight line segment, finds the best connection point that meets the position and speed continuity conditions, and determines it as the starting position of the elliptical swing.

[0090] In some embodiments, the determination of the starting point of the ellipse cycle can be achieved in a variety of ways: optionally, calculating the end position of the straight line segment, searching for the nearest ellipse trajectory point, and optimizing the connection point position; optionally, generating ellipse trajectory candidate points, calculating speed continuity, and determining the optimal connection point. It is understandable that other methods can also be used to select the starting point, which is not limited here.

[0091] S307, based on the weld end point coordinates and the ellipse trajectory path, determine the end point straight line segment and the ellipse cycle end point.

[0092] The weld end point coordinates represent the end point of the welding path. The end straight line segment refers to the end straight line path after the ellipse swing ends. The ellipse cycle end point is used to represent the last track point of the ellipse swing.

[0093] The control system needs to plan a smooth ending process at the end of the elliptical swing. Specifically, the system first determines the end point of the last complete elliptical cycle based on the end position of the weld, and then plans a straight line segment with the same length as the minor axis of the ellipse to ensure that the welding gun can smoothly switch to a stationary state.

[0094] In some embodiments, the terminal straight line segment planning can be implemented in a variety of ways: optionally, determining the last elliptical cycle, calculating the length of the deceleration straight line segment, and generating the terminal trajectory; optionally, finding the best termination point position, planning the deceleration curve, and optimizing the straight line segment parameters. It is understandable that other methods can also be used to implement the control of the terminal conversion, which is not limited here.

[0095] S308, generating a welding gun motion path based on the starting straight line segment, the ellipse cycle starting point, the ellipse trajectory path, the ellipse cycle ending point and the end straight line segment.

[0096] Among them, the welding gun movement path represents the complete welding process trajectory.

[0097] The control system needs to organically combine the various path segments into a complete motion trajectory. Specifically, the system first connects the starting straight line segment, the elliptical trajectory segment, and the terminal straight line segment in sequence, then smoothes the connection, and finally performs speed planning based on acceleration constraints to ensure the continuity and stability of the entire motion process. Path continuity refers to the smoothness between adjacent path segments, speed planning is used to represent the speed distribution of each path segment, and acceleration constraints refer to the limiting conditions that ensure motion stability.

[0098] In some embodiments, the motion path can be generated in a variety of ways: optionally, splicing the path segments, smoothing the trajectory at the connection, and optimizing the speed distribution; optionally, constructing a spline curve, adding an arc, and optimizing the acceleration. It is understandable that other methods can also be used to achieve the planning of the complete motion path, which is not limited here.

[0099] In some embodiments, the control system generates a starting transition point and a corresponding starting transition curve based on the starting straight line segment, the starting point of the elliptical cycle and the elliptical trajectory path; generates a terminal transition point and a corresponding terminal transition curve based on the terminal straight line segment, the terminal point of the elliptical cycle and the elliptical trajectory path; and integrates the starting straight line segment, the starting transition curve, the elliptical trajectory path, the terminal transition curve and the terminal straight line segment to generate a welding gun motion path.

[0100] The starting conversion point represents the key position point for switching from linear motion to elliptical motion. The starting conversion curve refers to the smooth curve connecting the straight line segment and the elliptical trajectory. The ending conversion point is used to represent the conversion position where the elliptical motion ends. The ending conversion curve refers to the smooth curve connecting the elliptical trajectory and the terminal straight line segment. The integrated path refers to the complete motion path formed by splicing all trajectory segments.

[0101] The control system needs to ensure smooth transitions between each path segment when generating a complete motion trajectory. Specifically, the system first calculates appropriate transition points at the start and end positions, then generates a transition curve that meets the continuity requirements based on these points, and finally connects all path segments in a reasonable time sequence to form a complete welding gun motion trajectory. Figure 2 (c) is a schematic diagram of a smooth trajectory of an elliptical swing arc in an embodiment of the present application; Figure 2 In (c), S is the starting point of the weld, the straight line SAE is the starting straight line segment, the curve EB is the elliptical trajectory path, and point E is the starting point of the elliptical cycle where the starting straight line segment and the elliptical trajectory path intersect; Figure 2 In (c), since the curve at the starting point E of the elliptical cycle is not smooth enough, the control system will determine points A and B located on the starting straight line segment SAE and the elliptical trajectory path EB, respectively, with a fixed preset distance from the starting point E of the elliptical cycle when planning the trajectory. Based on points A and B, and with the starting point E of the elliptical cycle as the origin, based on [x C ,y C ,z C ]=[x A +x B ,y A +y B ,z A +z B] Generate a conversion point C, and based on the conversion point C, determine the corresponding smooth curve SC, that is, the starting conversion curve. Similarly, a termination conversion curve can be generated between the terminal straight line segment and the elliptical trajectory path. The generation of these two conversion curves can adjust the smoothing range based on the positions of points A and B. The farther points A and B are from the starting point E of the elliptical cycle, the smoother the curve; but in actual work, the distance range from points A and B to the starting point E of the elliptical cycle will be constrained by the welding process parameters. Based on factors such as the width of the weld, it is necessary to ensure that the starting point E of the elliptical cycle can be covered by the welding edge of the welding gun.

[0102] In some embodiments, the generation of trajectory conversion can be achieved in a variety of ways: optionally, calculating the curve tangent vector, constructing a cubic spline curve, and optimizing the curve parameters; optionally, designing a Bezier curve, adjusting the control point position, and verifying the curvature continuity. It is understandable that other methods can also be used to achieve the planning of smooth conversion trajectories, which are not limited here.

[0103] S309: In the welding gun motion path, determine a plurality of phase preparation points at a preset distance before the preset phase point.

[0104] The preset phase point represents a characteristic position point on the elliptical trajectory. The phase preparation point refers to the preprocessing position before entering the preset phase point. The preset distance is used to represent the space margin required for the preparation process. The phase sequence represents the time sequence arrangement of multiple phase points.

[0105] The control system needs to prepare before reaching the preset phase point. Specifically, the system sets multiple preparation points at a specific distance in front of the preset phase point according to the position of the preset phase point. These preparation points will be used to adjust the welding gun state to ensure that the predetermined control strategy can be accurately executed when the phase point is reached.

[0106] It should be noted that the preset phase point here is one of the welding parameters, and the preset phase points include 90-degree phase point, 180-degree phase point, 270-degree phase point and 360-degree phase point. Each preset phase point is bound to a corresponding motion mode and dwell time; the motion mode includes machine stop and swing stop. Specifically, in order to improve the welding quality, the user can set appropriate welding parameters for the four phase points to meet different welding requirements, which is specifically reflected in the elliptical swing arc trajectory. This performance is called segmentation, and the segmentation is judged on the straight weld path and the elliptical trajectory path respectively. The basic straight weld path judgment method is: start judging from the first phase point. When the phase point mode is machine stop and the corresponding dwell time is greater than 0, it is judged that the first phase point needs to be segmented, otherwise the first phase point is not segmented; after judging the first phase point, the same method is used to judge whether the second phase point is segmented; and so on, the four phase points are judged. The elliptical trajectory path is judged as follows: start judging from the first phase point. When the first phase point stay time is greater than 0, it is judged that the first phase point needs to be segmented, otherwise the first phase point is not segmented; after judging the first phase point, the second phase point is judged in the same way. And so on, judge the four phase points. After that, the welding gun will realize different shape variants in the process of periodic elliptical trajectory cycle, please refer to Figure 2 (a) Figure 2 (a) is a schematic diagram of three trajectories of the elliptical swing arc in an embodiment of the present application; Figure 2 As can be seen from the trajectory in the right figure of (a), unlike the common elliptical trajectory, there is a line segment with a straight line offset between the periodic elliptical trajectories, which is called a transition segment. The formation of this transition segment can be obtained by setting a rightward offset at the corresponding 180 and 360 phase points, that is, the motion mode is set to swing stop, while the longitudinal motion is not stopped, so the rightward displacement length of the transition segment is proportional to the dwell time.

[0107] In some embodiments, the determination of phase preparation points can be achieved in a variety of ways: optionally, calculating the phase point position, setting the preparation distance, and generating a preparation point sequence; optionally, analyzing the motion characteristics, optimizing the preparation point distribution, and planning the state transition strategy. It is understandable that other methods can also be used to implement the planning of phase preparation, which is not limited here.

[0108] S310, determining corresponding welding gun control parameters according to the movement mode and dwell time of the preset phase point.

[0109] The motion mode refers to the motion state of the welding gun at the phase point. The dwell time refers to the dwell duration at the phase point. The welding gun control parameters include motion characteristic quantities such as position, speed, and acceleration.

[0110] The control system needs to determine the specific control parameters according to the process requirements of the phase point. Specifically, the system calculates the corresponding motion control parameters, including deceleration strategy, dwell position, restart method, etc., based on the preset motion mode and dwell time, to ensure that the welding gun can accurately perform special actions at the phase point according to the process requirements.

[0111] S311, determining a state transition path from a phase preparation point to a preset phase point, and binding corresponding welding gun control parameters to the state transition path.

[0112] The state transition path represents the transition trajectory from the preparation point to the phase point. The binding of control parameters refers to the process of associating control parameters with path points.

[0113] The control system needs to plan a smooth state transition trajectory. Specifically, the system designs a detailed path from the phase preparation point to the phase point, and binds corresponding control parameters to each point on the path. Through the gradual change of parameters, the welding gun can smoothly transition to the target state to ensure the welding quality.

[0114] In some embodiments, the planning of state transition can be achieved in a variety of ways: optionally, generating transition trajectories, assigning control parameters, and optimizing parameter gradients; optionally, constructing state space, planning optimal paths, and verifying dynamic characteristics. It is understandable that other ways can also be used to achieve the control of state transition, which are not limited here.

[0115] S312: Generate a control signal corresponding to the motion path of the welding gun, and send the control signal to the welding robot, so that the welding robot performs welding according to the motion path of the welding gun.

[0116] Referring to step S106, the control system sends a control signal to the welding robot.

[0117] In some embodiments, the control system determines multiple trajectory points of the welding gun on the welding gun motion path; determines the posture information of the welding gun at each trajectory point according to the welding gun motion path, the welding plane angle and the welding travel angle; the posture information includes the swing angle, the tilt angle and the rotation angle; based on the robot dynamics model, the trajectory points and the corresponding posture information are converted into joint motion parameters of the robot joint space; the joint motion parameters are smoothed to generate a joint trajectory that satisfies the acceleration constraint, and the joint trajectory is discretized into an interpolation point sequence within the control cycle; according to the interpolation point sequence and the robot dynamics model, the torque control instructions of each joint motor are calculated to generate a control signal; the control signal is sent to the welding robot so that the welding robot performs welding according to the welding gun motion path.

[0118] Among them, the trajectory point represents the discrete position point on the motion path of the welding gun. The posture information refers to the directional characteristics of the welding gun in space. The acceleration constraint is used to represent the restriction condition of the rate of change of motion acceleration. The joint motion parameters include the position, velocity and acceleration of each joint. The interpolation point sequence refers to the set of subdivided trajectory points that meet the control cycle requirements.

[0119] The control system needs to convert the spatial trajectory into specific robot control instructions. Specifically, the system first samples the motion path to obtain trajectory points, then calculates the welding gun posture at each point, converts the spatial position and posture into joint parameters through kinematic inverse solution, smoothes the parameters and subdivides them into interpolation points within the control cycle, and finally generates and executes the motor control instructions.

[0120] It should be noted that the robot dynamics model here is based on the robot's physical parameters (including connecting rod mass, inertia tensor, joint friction coefficient, etc.) and calibration data (multiple sets of joint position-end posture correspondence) for parameter identification during training, and the least squares method is used to optimize the model parameters. The training goal is to minimize the error between the predicted posture and the actual posture. The robot dynamics model contains the robot forward kinematics equation, inverse kinematics equation and dynamics equation, which are used to describe the mapping relationship between joint space and Cartesian space and the dynamic characteristics during the movement process. By inputting the desired posture and motion parameters of the welding gun, the robot dynamics model outputs the position, velocity, acceleration and torque instructions of each joint through the inverse solution algorithm, and can also provide prediction and compensation of joint motion during real-time control.

[0121] In some embodiments, motion control can be implemented in a variety of ways: optionally, trajectory point sampling and posture calculation, kinematics and dynamics solution, generation of control instructions; optionally, parameter smoothing optimization, real-time interpolation calculation, servo control execution. It is understandable that other methods can also be used to achieve precise control of welding gun movement, which is not limited here.

[0122] In some embodiments, the control system acquires real-time welding images during the welding process; determines the actual width of the weld based on the real-time welding images, and calculates the welding deviation value between the actual width of the weld and the corresponding target width; generates weld change data based on the actual width of the weld, and determines the degree of thermal deformation of the welded workpiece and the trend of weld gap changes; when the welding deviation value exceeds a preset deviation threshold, determines the parameter adjustment direction of the welding process based on the degree of thermal deformation and the trend of weld gap changes, so as to adjust the welding parameters.

[0123] Among them, the real-time welding image represents the visual information of the current welding state. The actual weld width refers to the measured size of the formed weld. The welding deviation value is used to indicate the difference between the actual size and the target value. The degree of thermal deformation indicates the amount of shape change of the workpiece caused by the welding heat input. The weld gap change trend refers to the dynamic change characteristics of the joint gap during the welding process.

[0124] The control system needs to monitor and adjust the process parameters in real time during the welding process. Specifically, the system collects weld images through visual sensors, measures the weld width in real time and compares it with the target value, and analyzes the workpiece deformation and gap changes. When deviations are found, the correction amount is calculated based on the change trend and the corresponding welding parameters are adjusted.

[0125] It should be noted that the correction amount of the process parameters can be calculated using the process parameter optimization model; the process parameter optimization model collects a large amount of welding process data during training, including the corresponding relationship between welding parameters (current, voltage, wire feeding speed, etc.), elliptical trajectory parameters (major and minor axes, frequency, etc.) and weld quality (width, depth, forming, etc.), and uses machine learning algorithms (such as support vector regression or neural networks) to establish parameter mapping relationships. The training goal is to minimize the deviation between the predicted weld quality and the target quality. The process parameter optimization model establishes a mapping function between process parameters and weld quality, taking into account the influence of factors such as material properties, heat input, and deformation. By inputting workpiece characteristics (material, thickness, joint form, etc.) and target weld requirements, the process parameter optimization model can output the optimal elliptical swing arc parameter configuration. During the welding process, parameters can be dynamically adjusted according to real-time monitoring data.

[0126] In the embodiment of the present application, due to the use of an adaptive arc swing control method based on an elliptical trajectory, combined with real-time monitoring and parameter optimization technology, the welding gun motion trajectory and welding process parameters can be accurately controlled, effectively solving the problems of traditional welding methods with a single trajectory, poor adaptability, and inability to adjust in real time under complex working conditions, thereby achieving high-quality welding effects with uniform weld formation, controllable heat input, and strong process adaptability. This solution not only improves the stability of welding quality, but also enhances the system's adaptability to various abnormal working conditions by dynamically planning elliptical trajectory parameters and coordinating intelligent real-time monitoring and adjustment mechanisms.

[0127] The following describes the control system in the embodiment of the present invention from the perspective of hardware processing. Figure 4 , which is a schematic diagram of the structure of a physical device of the control system in an embodiment of the present application.

[0128] It should be noted that Figure 4 The structure of the control system shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0129] like Figure 4 As shown, the control system includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 402 or the program loaded from the storage part 408 to the random access memory (RAM) 403, such as executing the method described in the above embodiment. In RAM 403, various programs and data required for system operation are also stored. CPU 401, ROM 402 and RAM 403 are connected to each other through bus 404. Input / output (I / O) interface 405 is also connected to bus 404.

[0130] The following components are connected to the I / O interface 405: an input section 406 including an audio input device, a button switch, etc.; an output section 407 including a liquid crystal display (LCD) and an audio output device, an indicator light, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 410 as needed so that a computer program read therefrom is installed into the storage section 408 as needed.

[0131] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 409, and / or installed from the removable medium 411. When the computer program is executed by the central processing unit (CPU) 401, various functions defined in the present invention are performed.

[0132] It should be noted that specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0133] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. Each box in the flowchart or block diagram may represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box may also occur in an order different from that marked in the accompanying drawings.

[0134] Specifically, the control system of this embodiment includes a processor and a memory. The memory stores a computer program. When the computer program is executed by the processor, the elliptical swing arc control method provided in the above embodiment is implemented.

[0135] As another aspect, the present invention further provides a computer-readable storage medium, which may be included in the control system described in the above embodiment; or may exist independently without being assembled into the control system. The above storage medium carries one or more computer programs, and when the above one or more computer programs are executed by a processor of the control system, the control system implements the elliptical swing arc control method provided in the above embodiment.

[0136] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

[0137] As used in the above embodiments, the term "when..." may be interpreted to mean "if..." or "after..." or "in response to determining..." or "in response to detecting...", depending on the context. Similarly, the phrases "upon determining..." or "if (the stated condition or event) is detected" may be interpreted to mean "if determining..." or "in response to determining..." or "upon detecting (the stated condition or event)" or "in response to detecting (the stated condition or event)", depending on the context.

[0138] Those skilled in the art can understand that to implement all or part of the processes in the above-mentioned embodiments, the processes can be completed by computer programs to instruct related hardware, and the programs can be stored in computer-readable storage media. When the programs are executed, they can include the processes of the above-mentioned method embodiments. The aforementioned storage media include: ROM or random access memory RAM, magnetic disk or optical disk and other media that can store program codes.

Claims

1. An elliptical swing arc control method, characterized in that: Applied to a control system, the method comprises: Obtain welding parameters; the welding parameters include the coordinates of the weld start point, the coordinates of the weld end point, the ellipse frequency, the length of the major semi-axis of the ellipse, and the length of the minor semi-axis of the ellipse; Determine a straight weld path according to the weld starting point coordinates and the weld end point coordinates; Based on the elliptical frequency, the welding time is divided into a period sequence including a plurality of welding periods; In each welding cycle, taking the straight weld path as the center line, generating an elliptical trajectory path based on the length of the major semi-axis of the ellipse and the length of the minor semi-axis of the ellipse; Determining a welding gun movement path according to the straight weld path and the elliptical trajectory path; A control signal corresponding to the welding gun movement path is generated, and the control signal is sent to a welding robot, so that the welding robot performs welding according to the welding gun movement path.

2. The method according to claim 1, characterized in that After the step of obtaining welding parameters, the method further includes: Obtain basic process parameters including workpiece material type, plate thickness and joint form; Based on the basic process parameters, determining the theoretical value range of welding control parameters; When the welding parameters are not within the theoretical value range, a data abnormality prompt is generated.

3. The method according to claim 1, characterized in that: The step of determining the movement path of the welding gun according to the straight weld path and the elliptical trajectory path specifically includes: Based on the coordinates of the weld starting point, determine a starting straight line segment along the weld direction whose length is equal to the length of the minor semi-axis of the ellipse; Calculate the coordinates of the first connection point between the starting straight line segment and the elliptical trajectory path as the starting point of the elliptical cycle; Based on the weld end point coordinates and the ellipse trajectory path, determine the end point straight line segment and the ellipse cycle end point; A welding gun motion path is generated based on the starting straight line segment, the elliptical cycle starting point, the elliptical trajectory path, the elliptical cycle ending point and the ending straight line segment.

4. The method according to claim 3, characterized in that The step of generating a welding gun motion path based on the starting straight line segment, the elliptical cycle starting point, the elliptical trajectory path, the elliptical cycle ending point and the terminal straight line segment specifically includes: Generate a starting conversion point and a corresponding starting conversion curve according to the starting straight line segment, the elliptical cycle starting point and the elliptical trajectory path; Generate a termination conversion point and a corresponding termination conversion curve according to the terminal straight line segment, the ellipse period termination point and the ellipse trajectory path; The starting straight line segment, the starting conversion curve, the elliptical trajectory path, the ending conversion curve and the ending straight line segment are integrated to generate a welding gun motion path.

5. The method according to claim 1, characterized in that The welding parameters also include preset phase points, which include 90-degree phase points, 180-degree phase points, 270-degree phase points, and 360-degree phase points, each of which is bound to a corresponding motion mode and dwell time; the motion mode includes machine stop and swing stop; After the step of determining the welding gun movement path according to the straight weld path and the elliptical trajectory path, the method further comprises: In the welding gun motion path, determining a plurality of phase preparation points at a preset distance before the preset phase point; Determining corresponding welding gun control parameters according to the movement mode and dwell time of the preset phase point; A state transition path from the phase preparation point to the preset phase point is determined, and corresponding welding gun control parameters are bound to the state transition path.

6. The method according to claim 1, characterized in that The step of generating a control signal corresponding to the welding gun motion path and sending the control signal to the welding robot so that the welding robot performs welding according to the welding gun motion path specifically includes: Determining a plurality of trajectory points of a welding gun on a motion path of the welding gun; Determine the posture information of the welding gun at each track point according to the welding gun movement path, welding plane angle and welding travel angle; the posture information includes swing angle, tilt angle and rotation angle; Based on the robot dynamics model, the trajectory points and the corresponding posture information are converted into joint motion parameters of the robot joint space; Smoothing the joint motion parameters to generate a joint trajectory that satisfies the jerk constraint, and discretizing the joint trajectory into an interpolation point sequence within a control cycle; Calculating the torque control instructions of the motors of each joint according to the interpolation point sequence and the robot dynamics model to generate a control signal; The control signal is sent to a welding robot so that the welding robot performs welding according to the welding gun movement path.

7. The method according to claim 1, characterized in that After the step of generating a control signal corresponding to the welding gun motion path and sending the control signal to the welding robot so that the welding robot performs welding according to the welding gun motion path, the method further includes: Get real-time welding images during welding; Determine the actual width of the weld according to the real-time welding image, and calculate the welding deviation value between the actual width of the weld and the corresponding target width; Generate weld change data based on the actual weld width to determine the degree of thermal deformation of the welded workpiece and the weld gap change trend; When the welding deviation value exceeds a preset deviation threshold, the parameter adjustment direction of the welding process is determined according to the thermal deformation degree and the weld gap change trend to adjust the welding parameters.

8. A control system, characterized in that: The control system includes: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to enable the control system to execute the method described in any one of claims 1-7.

9. A computer-readable storage medium comprising instructions, characterized in that: When the instructions are executed on a control system, the control system is caused to execute the method according to any one of claims 1 to 7.

10. A computer program product, characterized in that When the computer program product is run on a control system, the control system is caused to execute the method according to any one of claims 1 to 7.

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