Welding arc voltage tracking and arc swing control system and method based on collaborative robot

Abstract

The invention discloses a welding arc voltage tracking and arc swing control system and method based on a collaborative robot. The device comprises a collaborative robot, a collaborative controller and an offset controller, swing parameters and arc voltage of the collaborative robot are set through the collaborative controller according to welding tasks and welding process requirements, the swing parameters are sent to the offset controller, and then the collaborative robot is controlled to conduct arc swing; the actual arc voltage of the collaborative robot is compared with the set arc voltage, a comparison result is sent to an offset controller, and then the position of a welding gun of the collaborative robot is dynamically adjusted to achieve arc voltage tracking; electric arc swing and arc voltage tracking in the welding process are achieved through the collaborative robot, the use cost of the robot in a project is greatly reduced, meanwhile, the flexibility of the robot is brought into full play, the robot can quickly and accurately respond to different welding task requirements, the welding efficiency is remarkably improved, the production efficiency is improved, and the production cost is reduced. And the labor intensity of an operator is greatly reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of welding robot control, and more specifically, relates to a welding arc voltage tracking and arc swing control system and method based on a collaborative robot. Background Art

[0002] In the context of the booming development of modern manufacturing, welding technology, as a key process of industrial production, has a profound impact on product quality and production efficiency due to its automation and intelligence. In the current application fields of welding machines and industrial robots, TIG welding is widely used in high-end manufacturing fields such as aerospace, electronics, and precision machinery due to its outstanding advantages such as high weld quality and small deformation. At the same time, arc voltage tracking and arc swing technology in TIG welding have also been realized to a certain extent.

[0003] With mature design and manufacturing technology, welding machines have the advantage of relatively low cost. In some scenarios with relatively simple trajectory requirements, they can efficiently and stably complete welding tasks. However, their welding trajectories are relatively fixed and lack flexibility. In the face of increasingly complex and diverse welding technology requirements, it is difficult to quickly adjust welding parameters and trajectories, which limits their application in welding complex structural parts.

[0004] Industrial robots, relying on powerful programming capabilities and multi-axis linkage systems, can provide highly flexible operations and adapt to various complex welding tasks, greatly improving the stability of welding quality. However, the purchase cost of industrial robots is high, and the subsequent maintenance and upgrade costs should not be underestimated. For small and medium-sized projects with limited budgets, it is undoubtedly a heavy burden, causing many small and medium-sized projects to face greater economic pressure and obstacles when introducing robots for welding operations.

[0005] In contrast, collaborative robots, with their compact and flexible features and acceptable cost, have shown unique application potential in small and medium-sized projects. In this context, small and medium-sized projects have an increasingly urgent need to implement arc voltage tracking and arc swing technology for TIG welding on collaborative robots.

[0006] The information disclosed in the background technology section of the present invention is only intended to deepen the understanding of the general background technology of the present invention, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art already known to those skilled in the art. Summary of the invention

[0007] The purpose of the present invention is to propose a welding arc voltage tracking and arc swing control system and method based on a collaborative robot, so as to solve the problems that the welding machine has a fixed trajectory and insufficient flexibility in TIG welding, and the industrial robot is expensive, both of which are not conducive to small and medium-sized projects. The arc voltage tracking and arc swing of TIG welding can be performed by using a collaborative robot to improve the flexibility of welding and reduce costs; as well as to achieve improved productivity, improved welding quality and reduced labor intensity.

[0008] To achieve the above-mentioned object, in a first aspect, the present invention proposes a welding arc voltage tracking and arc swing control system based on a collaborative robot, comprising a collaborative robot, a collaborative controller and an offset controller;

[0009] The collaborative robot is used to generate a welding motion trajectory based on the welding task and the welding process requirements, and perform the welding task based on the welding motion trajectory;

[0010] The collaborative controller is respectively connected to the offset controller and the collaborative robot for communication, and the collaborative controller is used to: control the collaborative robot to start / stop performing the welding task according to the welding motion trajectory; set the swing parameters and arc voltage of the collaborative robot based on the welding task and welding process requirements, and send the swing parameters to the offset controller; and collect the actual arc voltage of the collaborative robot, and compare the actual arc voltage with the set arc voltage, and send the comparison result to the offset controller;

[0011] The offset controller is communicatively connected to the collaborative robot, and is used to: send a first trajectory offset instruction to the collaborative robot based on the swing parameter to control the welding gun of the collaborative robot to perform arc swing; and send a second trajectory offset instruction to the collaborative robot based on the comparison result to dynamically adjust the welding gun position to achieve arc voltage tracking.

[0012] Optionally, the collaborative robot comprises:

[0013] An arc swing module, used for controlling the welding gun to shift in the x-axis direction of the offset coordinate system based on the first trajectory offset instruction;

[0014] an arc voltage tracking module, used for controlling the welding gun to shift in the z-axis direction of the offset coordinate system based on the second trajectory offset instruction;

[0015] The offset coordinate system uses the current motion direction as the positive direction of the y-axis, the positive direction of the z-axis of the current tool coordinate system as the positive direction of the z-axis, and determines the positive direction of the x-axis using the right-hand rule.

[0016] Optionally, the swing parameters include:

[0017] Swing width and one-way swing time.

[0018] Optionally, sending a first trajectory deviation instruction to the collaborative robot based on the swing parameter to control the welding gun of the collaborative robot to perform arc swing, comprising:

[0019] According to the one-way swing time, the offset value of the welding gun is gradually increased from 0 to the positive swing width value, and then gradually decreased to 0; then the offset is reversed, and then according to the one-way swing time, the offset value is gradually decreased from 0 to the negative swing width value, and then gradually increased to 0;

[0020] The above process is executed cyclically to control the welding gun to perform arc swing in the x-axis direction of the offset coordinate system.

[0021] Optionally, sending a second trajectory offset instruction to the collaborative robot based on the comparison result to dynamically adjust the welding gun position to achieve arc voltage tracking includes:

[0022] If the actual arc voltage is greater than the set arc voltage, the welding gun of the collaborative robot is controlled to shift in the z-axis direction of the offset coordinate system, so that the welding gun shifts in the direction of the welding track until the actual arc voltage is equal to the set arc voltage;

[0023] If the actual arc voltage is less than the set arc voltage, the welding gun of the collaborative robot is controlled to offset in the z-axis direction of the offset coordinate system, so that the welding gun is offset in the opposite direction of the welding trajectory until the actual arc voltage is equal to the set arc voltage.

[0024] In a second aspect, the present invention provides a welding arc voltage tracking and arc swing control method based on a collaborative robot, comprising:

[0025] The collaborative robot's swing parameters and arc voltage are set through the collaborative controller based on the welding task and welding process requirements;

[0026] The collaborative robot generates a welding motion trajectory based on the welding task and welding process requirements;

[0027] The collaborative controller controls the collaborative robot to start, and the collaborative robot performs the welding task based on the welding motion trajectory;

[0028] The collaborative controller sends the swing parameter to the offset controller, and the offset controller sends a first trajectory offset instruction to the collaborative robot based on the swing parameter to control the welding gun of the collaborative robot to perform arc swing;

[0029] The actual arc voltage of the collaborative robot is collected, and the actual arc voltage is compared with the set arc voltage, and the comparison result is sent to the offset controller. The offset controller sends a second trajectory offset instruction to the collaborative robot based on the comparison result to dynamically adjust the welding gun position to achieve arc voltage tracking.

[0030] Optionally, it also includes:

[0031] The arc swing module of the collaborative robot controls the welding gun to shift in the x-axis direction of the offset coordinate system based on the first trajectory offset instruction;

[0032] The arc voltage tracking module of the collaborative robot controls the welding gun to shift in the z-axis direction of the offset coordinate system based on the second trajectory offset instruction;

[0033] The offset coordinate system uses the current motion direction as the positive direction of the y-axis, the positive direction of the z-axis of the current tool coordinate system as the positive direction of the z-axis, and determines the positive direction of the x-axis using the right-hand rule.

[0034] Optionally, the swing parameters include:

[0035] Swing width and one-way swing time.

[0036] Optionally, the offset controller sends a first trajectory offset instruction to the collaborative robot to control the welding gun of the collaborative robot to perform arc swing, including:

[0037] According to the one-way swing time, the offset value of the welding gun is gradually increased from 0 to the positive swing width value, and then gradually decreased to 0; then the offset is reversed, and then according to the one-way swing time, the offset value is gradually decreased from 0 to the negative swing width value, and then gradually increased to 0;

[0038] The above process is executed cyclically to control the welding gun to perform arc swing in the x-axis direction of the offset coordinate system.

[0039] Optionally, sending a second trajectory offset instruction to the collaborative robot based on the comparison result to dynamically adjust the welding gun position to achieve arc voltage tracking includes:

[0040] If the actual arc voltage is greater than the set arc voltage, the welding gun of the collaborative robot is controlled to shift in the z-axis direction of the offset coordinate system, so that the welding gun shifts in the direction of the welding track until the actual arc voltage is equal to the set arc voltage;

[0041] If the actual arc voltage is less than the set arc voltage, the welding gun of the collaborative robot is controlled to offset in the z-axis direction of the offset coordinate system, so that the welding gun is offset in the opposite direction of the welding trajectory until the actual arc voltage is equal to the set arc voltage.

[0042] The beneficial effects of the present invention are as follows: the present invention sets the swing parameters and arc voltage of the collaborative robot according to the welding task and welding process requirements through the collaborative controller, sends the swing parameters to the offset controller and then controls the collaborative robot to swing the arc; compares the actual arc voltage of the collaborative robot with the set arc voltage, and sends the comparison result to the offset controller and then dynamically adjusts the welding gun position of the collaborative robot to achieve arc voltage tracking; the present invention uses the collaborative robot to achieve arc swing and arc voltage tracking in the welding process, which greatly reduces the use cost of the robot in the project, optimizes the input-output ratio of the robot in welding applications, and makes it easy for cost-sensitive small and medium-sized projects to adopt it; at the same time, the flexibility of the robot is fully utilized to significantly improve the welding efficiency. With advanced collaborative control technology, the robot can respond quickly and accurately to different welding task requirements, reduce welding time and auxiliary time, and improve production efficiency; in addition, the present invention also greatly reduces the labor intensity of the operator, and with the help of automated welding processes and intelligent control methods, reduces manual intervention links, reduces the physical and energy consumption of workers in the welding process, and creates a safer and more comfortable working environment.

[0043] The system of the present invention has other characteristics and advantages, which will be apparent from the drawings incorporated herein and the following detailed description, or will be described in detail in the drawings incorporated herein and the following detailed description, which together serve to explain the specific principles of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, in which like reference numerals generally represent like components.

[0045] Figure 1 A schematic diagram of a welding arc voltage tracking and arc swing control system based on a collaborative robot according to Example 1 of the present invention is shown.

[0046] Figure 2 A connection diagram of a welding arc voltage tracking and arc swing control system based on a collaborative robot according to Example 1 of the present invention is shown.

[0047] Figure 3 A schematic diagram of the trajectory program of the Jaka collaborative robot according to Embodiment 1 of the present invention is shown.

[0048] Figure 4 A schematic diagram showing a trajectory command sent by a PLC to a Jaka collaborative robot according to Embodiment 1 of the present invention is shown.

[0049] Figure 5 A flowchart showing the steps of a welding arc voltage tracking and arc swing control method based on a collaborative robot according to embodiment 2 of the present invention is shown.

[0050] Figure 6 A flow chart of welding arc voltage tracking and arc swing control according to embodiment 2 of the present invention is shown. DETAILED DESCRIPTION

[0051] The present invention will be described in more detail below with reference to the accompanying drawings. Although preferred embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0052] Example 1

[0053] like Figure 1 As shown, this embodiment provides a welding arc voltage tracking and arc swing control system based on a collaborative robot, including a collaborative robot, a collaborative controller and an offset controller;

[0054] A collaborative robot is used to generate a welding motion trajectory based on welding tasks and welding process requirements, and to perform welding tasks based on the welding motion trajectory; the collaborative robot comprises: an arc swing module, used to control the welding gun to shift in the x-axis direction of an offset coordinate system based on the first trajectory offset instruction; an arc voltage tracking module, used to control the welding gun to shift in the z-axis direction of the offset coordinate system based on the second trajectory offset instruction; the offset coordinate system takes the current motion direction as the positive direction of the y-axis, takes the positive direction of the z-axis of the current tool coordinate system as the positive direction of the z-axis, and determines the positive direction of the x-axis using the right-hand rule.

[0055] The collaborative controller is respectively connected to the offset controller and the collaborative robot for communication. The collaborative controller is used to control the collaborative robot to start / stop performing welding tasks according to the welding motion trajectory; set the swing parameters and arc voltage of the collaborative robot based on the welding task and welding process requirements, and send the swing parameters to the offset controller; and collect the actual arc voltage of the collaborative robot, and compare the actual arc voltage with the arc voltage, and send the comparison result to the offset controller; the swing parameters include: swing width and one-way swing time.

[0056] An offset controller is communicatively connected with the collaborative robot. The offset controller is used to send a first trajectory offset instruction to the collaborative robot based on the swing parameter to control the collaborative robot's welding gun to perform arc swing; based on the comparison result, a second trajectory offset instruction is sent to the collaborative robot to dynamically adjust the welding gun position to achieve arc voltage tracking. Sending a first trajectory offset instruction to the collaborative robot based on the swing parameter to control the collaborative robot's welding gun to perform arc swing includes: gradually increasing the offset value of the welding gun from 0 to the positive swing width value according to the one-way swing time, and then gradually decreasing it to 0; then offsetting in the reverse direction, and then gradually decreasing the offset value from 0 to the negative swing width value according to the one-way swing time, and then gradually increasing it to 0; the above process is executed cyclically to control the welding gun to perform arc swing in the x-axis direction of the offset coordinate system. Based on the comparison result, a second trajectory offset instruction is sent to the collaborative robot to dynamically adjust the position of the welding gun to achieve arc voltage tracking, including: if the actual arc voltage is greater than the set arc voltage, the welding gun of the collaborative robot is controlled to offset in the z-axis direction of the offset coordinate system, so that the welding gun is offset in the direction of the welding trajectory until the actual arc voltage is equal to the set arc voltage; if the actual arc voltage is less than the set arc voltage, the welding gun of the collaborative robot is controlled to offset in the z-axis direction of the offset coordinate system, so that the welding gun is offset in the opposite direction of the welding trajectory until the actual arc voltage is equal to the set arc voltage.

[0057] Specifically, Figure 2 As shown, the collaborative robot of this embodiment adopts the Jaka collaborative robot, the collaborative controller adopts the DT controller, and the offset controller adopts the PLC (programmable logic controller); the DT controller uses the TCP communication mechanism to connect to the port 10001 of the Jaka collaborative robot to establish a data interaction link with the collaborative robot; at the same time, the PLC also uses TCP to connect to the welding port 20045 of the Jaka collaborative robot. The Jaka collaborative robot is mainly responsible for writing trajectory programs, generating motion trajectories, and executing corresponding trajectory programs. The trajectory program is as follows Figure 3 As shown. The Jaka collaborative robot has the ability to adjust the offset in the x and z directions of the trajectory in real time during trajectory operation. This technical feature provides technical feasibility support for the arc voltage tracking and arc swing of TIG welding on it. In the trajectory planning programming, the motion path, speed, posture and other parameters of the Jaka collaborative robot are accurately set according to the TIG welding process requirements and welding tasks to ensure that the Jaka collaborative robot can complete the welding task according to the predetermined trajectory.

[0058] During the execution of the trajectory operation of the Jaka collaborative robot, the PLC is responsible for sending the trajectory deviation instructions it supports to the Jaka collaborative robot; to realize the arc swing function, the PLC will receive parameters such as the swing width and one-way swing time from the DT controller, and write and send the trajectory deviation instructions similar to the following figure to the Jaka collaborative robot according to the TCP protocol supported by the Jaka collaborative robot:

[0059]

[0060] Taking the current movement direction of the welding gun as the positive direction of the y-axis, the positive direction of the z-axis of the current tool coordinate system as the positive direction of the z-axis, and the right-hand rule to determine the positive direction of the x-axis, the following control is achieved in the x-axis direction (where the values ​​in the y and z directions are set to zero): the offset value is gradually increased from 0 to the positive swing width value according to the one-way swing time, and then gradually decreased to 0; then the offset is reversed, and then the offset is gradually reduced from 0 to the negative swing width value according to the one-way swing time, and then gradually increased to 0. By cyclically executing this process, the Jaka collaborative robot can realize the arc swing function in the x-direction during trajectory execution, where the one-way swing time refers to the time required for the welding gun to complete the entire swing width. Through the one-way swing time, the swing width and the default increment of each offset (such as 1 mm), it can be calculated how often the first trajectory offset instruction is sent. This time interval can be called the offset instruction sending cycle; the swing process of the welding gun is to send the first trajectory offset instruction through multiple offset instruction sending cycles within the one-way swing time, gradually increase the offset value of the welding gun from 0 to the positive swing width value, and then gradually reduce it to 0, and then reversely offset, and send the first trajectory offset instruction through multiple offset instruction sending cycles within the one-way swing time, gradually reduce the offset value from 0 to the negative swing width value, and then gradually increase it to 0. For example, the one-way swing time is 200 milliseconds, the swing width is 10 mm, and the default increment of each offset is 1 mm. It can be calculated that the first trajectory offset instruction needs to be sent every 20 milliseconds, that is, the offset instruction sending cycle is 20 milliseconds. The offset of the first trajectory offset instruction is 1 mm after the first sending, and the offset is from 1 mm to 2 mm after the second sending, until the tenth time, the offset reaches 10 mm in the x direction of the offset coordinate system. Next, the offset value in the x-direction in the offset command is reduced from 10 mm, 9 mm, to 0; then it is offset in the reverse direction, and after multiple offset command sending cycles, the offset is gradually reduced from 0 to the negative swing width value, and then gradually increased to 0, and this process is executed in a loop.

[0061] To realize the arc voltage tracking function, during the trajectory operation of the Jaka collaborative robot, the PLC will receive the notification of the positive or negative direction deviation to z from the DT controller, and write and send the following trajectory deviation instructions to the Jaka collaborative robot according to the TCP protocol supported by the Jaka collaborative robot:

[0062]

[0063] By gradually increasing or decreasing the offset value in the z direction (where the values ​​in the x and y directions are set to zero), the welding gun can be raised or lowered to increase or decrease the arc voltage. Through this closed-loop control process, the system can dynamically adjust the welding gun position to accurately achieve arc voltage tracking. Figure 4 shown.

[0064] The core function of the DT controller is to coordinate and control the operation of the Jaka collaborative robot and the PLC. The DT controller stores a variety of welding parameters, including the swing width and swing speed of the arc swing function and the tracking arc voltage of the arc voltage tracking function. At the interaction level between the DT controller and the PLC, the two communicate through the Modbus protocol based on TCP. This protocol selection makes full use of the versatility and stability of the Modbus protocol in the field of industrial control, as well as the reliable data transmission characteristics of the TCP protocol, to ensure that the DT controller and the PLC can exchange control information and status data efficiently and accurately, thereby ensuring the coordination and stability of the entire system during the TIG welding operation. The DT controller sends various control instructions to the Jaka collaborative robot by connecting to port 10001, thereby achieving precise control of the start and stop of the welding program. The DT controller connects to the PLC through TCP and uses the Modbus protocol to send it the required parameters and control commands. The PLC also uses TCP to connect to the welding port 20045 of the collaborative robot to control the trajectory deviation during trajectory operation. This communication method based on the TCP protocol is efficient and stable, and can ensure accurate transmission and timely response of instructions, providing a solid guarantee for precise TIG welding process control.

[0065] The DT controller can start and stop the trajectory program on the Jaka collaborative robot. After starting the trajectory program on the robot, the DT controller will start the welding process synchronously. During the welding process, when the arc swing function is enabled, the DT controller will send parameters such as the swing width to the PLC. According to the command protocol supported by the robot, the PLC sends the first trajectory offset command in the x direction to the Jaka collaborative robot to achieve arc swing; when the arc voltage tracking function is enabled, the DT controller will collect the arc voltage during welding in real time and compare it with the tracking arc voltage in the system settings. If the collected voltage is higher than the target value, the DT controller will notify the PLC to send the second trajectory offset command in the z direction to the Jaka collaborative robot to make it offset in the direction of the welding trajectory, lower the welding gun, and thus reduce the arc voltage; if the collected voltage is lower than the target value, the DT controller will notify the PLC to send the second trajectory offset command in the z direction to the Jaka collaborative robot to make it offset in the opposite direction of the welding trajectory, raise the welding gun, and thus increase the arc voltage. Through this closed-loop control mechanism, the system can dynamically adjust the welding gun position to achieve accurate arc voltage tracking. Through the coordination of the DT controller, the Jaka collaborative robot and PLC can work closely together to realize the arc voltage tracking and arc swing functions required in the TIG welding process, effectively improving welding quality and efficiency.

[0066] This embodiment can bring significant benefits to small and medium-sized projects that use TIG welding technology. On the one hand, it greatly reduces the cost of using robots in the project. Through innovative technical architecture and resource integration, the input-output ratio of robots in TIG welding applications is optimized, so that cost-sensitive small and medium-sized projects can also be easily adopted. On the other hand, the flexibility of the Jaka collaborative robot is fully utilized to significantly improve the efficiency of TIG welding. With advanced collaborative control technology, the Jaka collaborative robot can respond quickly and accurately to the requirements of different welding tasks, reduce welding time and auxiliary time, and improve production efficiency. In addition, this technology also greatly reduces the labor intensity of the operator. With the help of automated welding processes and intelligent control methods, it reduces manual intervention links, reduces the physical and mental consumption of workers during the welding process, and creates a safer and more comfortable working environment.

[0067] Example 2

[0068] like Figure 5 and Figure 6 As shown, this embodiment provides a welding arc voltage tracking and arc swing control method based on a collaborative robot. Based on the welding arc voltage tracking and arc swing control system based on a collaborative robot described in Example 1, the method includes:

[0069] Based on the welding task and welding process requirements, the DT controller sets the swing parameters and arc voltage of the Jaka collaborative robot and sends them to the PLC;

[0070] The Jaka collaborative robot generates welding motion trajectories based on welding tasks and welding process requirements;

[0071] The DT controller starts the Jaka collaborative robot, which performs welding tasks based on the welding motion trajectory.

[0072] The DT controller sends the swing parameters to the PLC, and the PLC sends a first trajectory offset instruction to the Jaka collaborative robot based on the swing parameters to control the welding gun of the Jaka collaborative robot to perform arc swing;

[0073] The DT controller collects the actual arc voltage of the Jaka collaborative robot, compares the actual arc voltage with the arc voltage, and sends the comparison result to the PLC. Based on the comparison result, the PLC sends a second trajectory offset instruction to the Jaka collaborative robot to dynamically adjust the welding gun position to achieve arc voltage tracking.

[0074] In this embodiment, it also includes:

[0075] The arc swing module of the Jaka collaborative robot controls the welding gun to shift in the x-axis direction of the offset coordinate system based on the first trajectory offset instruction;

[0076] The arc voltage tracking module of the Jaka collaborative robot controls the welding gun to shift in the z-axis direction of the offset coordinate system based on the second trajectory offset instruction;

[0077] The offset coordinate system takes the current movement direction of the welding gun as the positive direction of the y-axis, the positive direction of the z-axis of the current tool coordinate system as the positive direction of the z-axis, and the positive direction of the x-axis is determined by the right-hand rule.

[0078] In this embodiment, the swing parameters include:

[0079] Swing width and one-way swing time.

[0080] In this embodiment, the PLC sends a first trajectory deviation instruction to the Jaka collaborative robot to control the welding gun of the Jaka collaborative robot to perform arc swing, including:

[0081] According to the one-way swing time, the offset value of the welding gun is gradually increased from 0 to the positive swing width value, and then gradually decreased to 0; then the offset is reversed, and then according to the one-way swing time, the offset value is gradually decreased from 0 to the negative swing width value, and then gradually increased to 0;

[0082] The above process is executed in a loop to control the welding gun to swing the arc in the x-axis direction of the offset coordinate system.

[0083] In this embodiment, the PLC sends a second trajectory offset instruction to the Jaka collaborative robot based on the comparison result to dynamically adjust the position of the welding torch to achieve arc voltage tracking, including:

[0084] If the actual arc voltage is greater than the set arc voltage, control the welding torch of the Jaka collaborative robot to offset in the z-axis direction of the offset coordinate system, so that the welding torch offsets towards the welding trajectory direction until the actual arc voltage is equal to the set arc voltage;

[0085] If the actual arc voltage is less than the set arc voltage, control the welding torch of the Jaka collaborative robot to offset in the z-axis direction of the offset coordinate system, so that the welding torch offsets in the opposite direction of the welding trajectory direction until the actual arc voltage is equal to the set arc voltage.

[0086] The embodiments of the present invention have been described above. The above description is exemplary and not exhaustive, and is also not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art in the technical field without departing from the scope and spirit of the described embodiments.

Claims

1. A welding arc voltage tracking and arc swing control system based on a collaborative robot, characterized in that: Includes collaborative robots, collaborative controllers, and offset controllers; The collaborative robot is used to generate a welding motion trajectory based on the welding task and the welding process requirements, and perform the welding task based on the welding motion trajectory; The collaborative controller is respectively connected to the offset controller and the collaborative robot for communication, and the collaborative controller is used to: control the collaborative robot to start / stop performing the welding task according to the welding motion trajectory; set the swing parameters and arc voltage of the collaborative robot based on the welding task and welding process requirements, and send the swing parameters to the offset controller; and collecting an actual arc voltage of the collaborative robot, and comparing the actual arc voltage with a set arc voltage, and sending the comparison result to the offset controller; The offset controller is communicatively connected to the collaborative robot, and is used to: send a first trajectory offset instruction to the collaborative robot based on the swing parameter to control the welding gun of the collaborative robot to perform arc swing; and send a second trajectory offset instruction to the collaborative robot based on the comparison result to dynamically adjust the welding gun position to achieve arc voltage tracking.

2. The welding arc voltage tracking and arc swing control system based on a collaborative robot according to claim 1, characterized in that: The collaborative robot comprises: An arc swing module, used for controlling the welding gun to shift in the x-axis direction of the offset coordinate system based on the first trajectory offset instruction; an arc voltage tracking module, used for controlling the welding gun to shift in the z-axis direction of the offset coordinate system based on the second trajectory offset instruction; The offset coordinate system uses the current motion direction as the positive direction of the y-axis, the positive direction of the z-axis of the current tool coordinate system as the positive direction of the z-axis, and determines the positive direction of the x-axis using the right-hand rule.

3. The welding arc voltage tracking and arc swing control system based on a collaborative robot according to claim 2, characterized in that: The swing parameters include: Swing width and one-way swing time.

4. The welding arc voltage tracking and arc swing control system based on a collaborative robot according to claim 3, characterized in that: Sending a first trajectory deviation instruction to the collaborative robot based on the swing parameter to control the welding gun of the collaborative robot to perform arc swing includes: According to the one-way swing time, the offset value of the welding gun is gradually increased from 0 to the positive swing width value, and then gradually decreased to 0; then the offset is reversed, and then according to the one-way swing time, the offset value is gradually decreased from 0 to the negative swing width value, and then gradually increased to 0; The above process is executed cyclically to control the welding gun to perform arc swing in the x-axis direction of the offset coordinate system.

5. The welding arc voltage tracking and arc swing control system based on a collaborative robot according to claim 3, characterized in that: The sending a second trajectory offset instruction to the collaborative robot based on the comparison result to dynamically adjust the welding gun position to achieve arc voltage tracking includes: If the actual arc voltage is greater than the set arc voltage, the welding gun of the collaborative robot is controlled to shift in the z-axis direction of the offset coordinate system, so that the welding gun shifts in the direction of the welding track until the actual arc voltage is equal to the set arc voltage; If the actual arc voltage is less than the set arc voltage, the welding gun of the collaborative robot is controlled to offset in the z-axis direction of the offset coordinate system, so that the welding gun is offset in the opposite direction of the welding trajectory until the actual arc voltage is equal to the set arc voltage.

6. A welding arc voltage tracking and arc swing control method based on a collaborative robot, characterized in that: include: The collaborative robot's swing parameters and arc voltage are set through the collaborative controller based on the welding task and welding process requirements; The collaborative robot generates a welding motion trajectory based on the welding task and welding process requirements; The collaborative controller controls the collaborative robot to start, and the collaborative robot performs the welding task based on the welding motion trajectory; The collaborative controller sends the swing parameter to the offset controller, and the offset controller sends a first trajectory offset instruction to the collaborative robot based on the swing parameter to control the welding gun of the collaborative robot to perform arc swing; The actual arc voltage of the collaborative robot is collected, and the actual arc voltage is compared with the set arc voltage, and the comparison result is sent to the offset controller. The offset controller sends a second trajectory offset instruction to the collaborative robot based on the comparison result to dynamically adjust the welding gun position to achieve arc voltage tracking.

7. The welding arc voltage tracking and arc swing control system based on a collaborative robot according to claim 6, characterized in that: Also includes: The arc swing module of the collaborative robot controls the welding gun to shift in the x-axis direction of the offset coordinate system based on the first trajectory offset instruction; The arc voltage tracking module of the collaborative robot controls the welding gun to shift in the z-axis direction of the offset coordinate system based on the second trajectory offset instruction; The offset coordinate system takes the current movement direction of the welding gun as the positive direction of the y-axis, takes the positive direction of the z-axis of the current tool coordinate system as the positive direction of the z-axis, and determines the positive direction of the x-axis by the right-hand rule.

8. The welding arc voltage tracking and arc swing control method based on a collaborative robot according to claim 7, characterized in that: The swing parameters include: Swing width and one-way swing time.

9. The welding arc voltage tracking and arc swing control method based on a collaborative robot according to claim 8, characterized in that: The swing parameter sends a first trajectory deviation instruction to the collaborative robot to control the welding gun of the collaborative robot to perform arc swing, including: According to the one-way swing time, the offset value of the welding gun is gradually increased from 0 to the positive swing width value, and then gradually decreased to 0; then the offset is reversed, and then according to the one-way swing time, the offset value is gradually decreased from 0 to the negative swing width value, and then gradually increased to 0; The above process is executed cyclically to control the welding gun to perform arc swing in the x-axis direction of the offset coordinate system.

10. The welding arc voltage tracking and arc swing control method based on a collaborative robot according to claim 8, characterized in that: The sending a second trajectory offset instruction to the collaborative robot based on the comparison result to dynamically adjust the welding gun position to achieve arc voltage tracking includes: If the actual arc voltage is greater than the set arc voltage, the welding gun of the collaborative robot is controlled to shift in the z-axis direction of the offset coordinate system, so that the welding gun is shifted in the direction of the welding track until the actual arc voltage is equal to the set arc voltage; If the actual arc voltage is less than the set arc voltage, the welding gun of the collaborative robot is controlled to offset in the z-axis direction of the offset coordinate system, so that the welding gun is offset in the opposite direction of the welding trajectory until the actual arc voltage is equal to the set arc voltage.

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