Welding robot safety point generation method, device and equipment and medium

Abstract

The invention discloses a welding robot safety point generation method, device and equipment and a medium, the method comprises the steps that a parameter configuration interface is opened through a tower foot welding process inlet, and the parameter configuration interface comprises welding parameters, swing arc parameters and point parameter labels; the point parameters comprise safety point position information and welding point position information; the safety point position information records the preparation position and the safety position of the robot in work, and the robot position information is obtained in a first quadrant and recorded in the system to serve as a first quadrant safety point; welding point position information records the starting point position and the final point position of each welding seam, the robot is adjusted to the corresponding welding seam starting point position or the final point position, and point position information is recorded; and welding operation is carried out after safety points of the second quadrant, the third quadrant and the fourth quadrant are respectively calculated and marked. Through the split parameter adjustment and point location data recording functions, the man-machine interaction interface is more concise, the operation complexity is reduced, and the user experience is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of industrial robot welding, and relates to a method, device, equipment and medium for generating safety points of a welding robot. Background Art

[0002] Traditional welding robots play an important role in the field of industrial automation. With their high-precision and high-efficiency welding capabilities, they have been widely used in many manufacturing industries. However, with the continuous change of market demands and the increasing complexity of application scenarios, traditional welding robots have gradually revealed many limitations. Traditional welding robots are highly specialized, and the customer groups and users they target usually need to have a relatively high level of professional quality. In actual applications, users not only need to be familiar with the various parameters and operations of the welding machine, but also need to master the motion control of the robot body and the collaborative working mechanism between the positioner and the robot.

[0003] The control of traditional welding robots mainly relies on command control, and its command types can be divided into two categories: welding commands and motion commands. Welding commands cover key operations such as arc starting and arc extinguishing, while motion commands include various forms such as joint motion, linear motion, circular arc motion, and full-circle motion. When performing welding operations, the operator needs to carefully edit these commands into a complete command set program according to the specific welding task. Then, by running this program, the robot can complete the welding work according to the preset command sequence.

[0004] In the human-machine interaction process of traditional welding robots, the operator needs to simultaneously take into account the complicated parameter settings and frequent robot pose transformations. This not only increases the complexity of the operation, but also places extremely high requirements on the operator's skills and experience. For users who are new to welding robots, the complex operation interface and process often deter them and make it difficult for them to get started quickly. Since traditional welding robots require the operator to master knowledge and skills in multiple fields, including welding technology, robot programming, and equipment collaboration, their learning cost is relatively high. Users need to spend a lot of time and energy learning and practicing to proficiently master the operation and maintenance of welding robots. During the operation of traditional welding robots, the operator needs to frequently perform parameter settings and pose adjustments, which not only increases the complexity of the operation, but also easily leads to operation errors and unstable welding quality. At the same time, due to the cumbersome operation process, the transition and transfer operations of the robot also become very complicated, further reducing the work efficiency. In some application scenarios with high production efficiency requirements, this low-efficiency problem of traditional welding robots is particularly prominent. Summary of the Invention

[0005] The object of the present invention is to solve the problems in the prior art that in the operation of traditional welding robots, the operator needs to simultaneously handle complex parameter settings, frequent robot posture transformations, and complex operation interfaces, and to provide a method, device, equipment and medium for generating safety points of a welding robot.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] A method for generating safety points of a welding robot, comprising the following steps:

[0008] Open a parameter configuration interface through the tower foot welding process entrance, and the parameter configuration interface includes welding parameters, weaving parameters, and point parameter labels;

[0009] Set welding parameters such as welding current and voltage, welding speed, and parameters for robot posture and position conversion in the non-welding state, such as joint movement speed and linear movement speed, under the welding parameter label, and perform multi-layer single-pass and offset control to achieve multi-layer welding of the same weld; set the swing frequency and swing amplitude during the welding process of the robot under the weaving parameter label;

[0010] The point parameters are divided into safety point position information and welding point position information; the safety point position information records the preparation position during the operation of the robot and the safe position during the operation of the robot, obtains the robot position information in the first quadrant and records it in the system as the first quadrant safety point; the welding point position information records the start and end positions of each weld, adjusts the robot to the corresponding weld start or end position and records the point position information;

[0011] According to the position information of the safety points in the first quadrant, calculate the safety points in the 2nd, 3rd, and 4th quadrants respectively. After all the welds in the four quadrants are marked, create a program for the welding robot to perform welding operations.

[0012] The position information of the robot includes position coordinates, joint coordinates, and positioner coordinates. The positioner coordinates are divided into first-axis coordinates and second-axis coordinates; specifically: record the three-dimensional space coordinate values of the robot at the safe position, expressed as (X1, Y1, Z1), for describing the position of the robot in space; record the angle values (θ1, θ2,..., θn) of each joint of the robot at the safe position, for describing the posture of the robot; record the first-axis coordinate (A1) and second-axis coordinate (B1) of the positioner at the safe position to comprehensively reflect the configuration state of the robot working environment.

[0013] The calculating the safety points in the 2nd, 3rd, and 4th quadrants respectively according to the position information of the safety points in the first quadrant is specifically as follows:

[0014] Obtain the position information of the safety points in the first quadrant, including the position coordinates (X1, Y1, Z1), joint coordinates (θ1, θ2,..., θn), and positioner coordinates, where the positioner coordinates include the first-axis coordinate (A1) and the second-axis coordinate (B1);

[0015] According to the position information of the safety points in the first quadrant, calculate the position information of the safety points in the 2nd, 3rd, and 4th quadrants respectively by adding the preset angular values of 90°, 180°, and 270° to the second-axis coordinate of the positioner;

[0016] Calculate the safety point in the second quadrant: Add 90° to the second-axis coordinate (B1) of the positioner to obtain a new second-axis coordinate (B2 = B1 + 90°), while keeping the position coordinates (X1, Y1, Z1), joint coordinates (θ1, θ2,..., θn), and the first-axis coordinate (A1) of the positioner unchanged, and use the new coordinate information (X1, Y1, Z1, θ1, θ2,..., θn, A1, B2) as the safety point in the second quadrant;

[0017] Calculate the safety point in the third quadrant: Add 180° to the second-axis coordinate (B1) of the positioner to obtain a new second-axis coordinate (B3 = B1 + 180°), while keeping other coordinate information unchanged, and use the new coordinate information (X1, Y1, Z1, θ1, θ2,..., θn, A1, B3) as the safety point in the third quadrant;

[0018] Calculate the safety point in the fourth quadrant: Add 270° to the second-axis coordinate (B1) of the positioner to obtain a new second-axis coordinate (B4 = B1 + 270°), while keeping other coordinate information unchanged, and use the new coordinate information (X1, Y1, Z1, θ1, θ2,..., θn, A1, B4) as the safety point in the fourth quadrant.

[0019] The welding point position information records the start and end positions of each weld seam. Adjust the robot to the start or end position of the corresponding weld seam and record the point position information, specifically:

[0020] Use the control buttons on the teach pendant to adjust the position and posture of the robot to make it reach the start position of the weld seam; when the robot reaches the start position of the weld seam, record the current position information of the robot and name the point at the same time;

[0021] Repeat the above steps, use the teach pendant to adjust the robot to the end position of the weld seam. When the robot reaches the end position of the weld seam, record the current position information of the robot again and name the point;

[0022] For the start and end positions of each weld seam, repeat the above adjustment and recording operations to ensure that the start and end position information of all weld seams is recorded.

[0023] A welding robot safety point generation device, specifically including:

[0024] Parameter configuration interface module: Used to open the parameter configuration interface through the tower foot welding process entrance. The parameter configuration interface includes welding parameter labels, weaving parameter labels, and point parameter labels;

[0025] Welding parameter setting module: Located under the welding parameter label, used to set welding parameters such as welding current, welding voltage, and welding speed; at the same time, set robot posture and position conversion parameters in non-welding states such as joint movement speed and linear movement speed; implement multi-layer single-pass welding and offset control functions to support multi-layer welding operations of the same weld;

[0026] Weaving parameter setting module: Located under the weaving parameter label, used to set the weaving frequency and amplitude of the robot during welding progress to optimize welding quality and weld formation;

[0027] Point parameter management module: Divided into a safety point position information sub-module and a welding point position information sub-module; Safety point position information sub-module: Used to record the preparation position and safety position during the robot's work, obtain the robot position information in the first quadrant and record it into the system as the first quadrant safety point; Welding point position information sub-module: Used to record the start and end positions of each weld, adjust the robot to the corresponding weld start or end position and record the point position information for subsequent welding operations;

[0028] Safety point generation and program creation module: According to the position information of the safety point in the first quadrant, calculate the safety points in the 2nd, 3rd, and 4th quadrants respectively; after all welds in the four quadrants are marked, create a welding program according to the recorded safety point position information and welding point position information for the welding robot to perform welding operations.

[0029] The safety point generation device further includes a communication interface module, which is used to realize the communication connection between the safety point generation device and the welding robot, ensuring that parameter configuration, point position information recording, and welding program creation instructions can be accurately transmitted and executed.

[0030] The safety point generation device further includes a data storage module, which is used to store the recorded safety point position information, welding point position information, and the created welding program.

[0031] The safety point generation device further includes an error detection and alarm module, which is used to monitor the status of the welding robot during safety point generation, point position information recording, and welding program execution in real time; when an abnormal situation is detected, trigger the alarm mechanism to notify the operator for handling.

[0032] An apparatus, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method according to any one of the preceding items are implemented.

[0033] A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the steps of the method according to any one of the preceding items are implemented.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] In the welding robot safety point generation method of the present invention, by splitting the parameter adjustment and point position data recording functions, the human-machine interaction interface is made more concise and clear, reducing the operation complexity and improving the user experience. Users can customize and edit parameters and point position data, maintaining the flexibility of operation and meeting the requirements of different welding tasks.

[0036] The present invention can calculate accurate safety points, which can be directly used for the positioning of the robot without manual adjustment of the robot's posture and position by personnel. Significantly reducing the operation steps of personnel for robot posture adjustment and positioning, thereby improving efficiency and shortening the preparation time during the production process. It can ensure the stability and safety of the robot during the welding process, reducing welding defects caused by improper posture or inaccurate positioning. At the same time, due to the reduction of manual intervention, the risk of safety accidents caused by human factors is also reduced.

[0037] Since both the parameters and point position data of the present invention can be customized and edited, it can adapt to a variety of different welding tasks and scenarios, maintaining a high degree of flexibility. Users can adjust the welding parameters and the position of the safety point according to actual needs to achieve the best welding effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0039] Figure 1 It is a flowchart of the welding robot safety point generation method of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Components of the embodiments of the present invention usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0041] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0042] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0043] The following further describes the present invention in detail in conjunction with the accompanying drawings:

[0044] See Figure 1 , which is a flowchart of the method for generating safety points of the welding robot of the present invention, specifically including the following steps:

[0045] Open the parameter configuration interface through the tower foot welding process entry. The parameter configuration interface includes welding parameters, swing arc parameters, and point parameter labels.

[0046] Set welding parameters such as welding current and voltage, welding speed, and parameters during the conversion of the robot's posture and position in the non-welding state, such as joint movement speed and linear movement speed, under the welding parameter label, and perform multi-layer single-pass and offset control to achieve multi-layer welding of the same weld.

[0047] Set the swing frequency and swing amplitude during the robot's welding progress under the swing arc parameter label.

[0048] The point parameters are divided into safety point position information and welding point position information; the safety point position information records the preparation position during the robot's work and the safety position during the robot's work, obtains the robot position information in the first quadrant and records it into the system as the first quadrant safety point; the welding point position information records the starting and ending positions of each weld, adjusts the robot to the corresponding weld starting or ending position, and records the point position information.

[0049] The position information of the robot includes position coordinates, joint coordinates, and positioner coordinates. The positioner coordinates are divided into first-axis coordinates and second-axis coordinates. Specifically: record the three-dimensional space coordinate values of the robot at the safe position, denoted as (X1, Y1, Z1), which are used to describe the position of the robot in space; record the angular values (θ1, θ2,..., θn) of each joint of the robot at the safe position, which are used to describe the posture of the robot; record the first-axis coordinate (A1) and second-axis coordinate (B1) of the positioner at the safe position to comprehensively reflect the configuration status of the robot's working environment.

[0050] According to the position information of the safety points in the first quadrant, calculate the safety points in the 2nd, 3rd, and 4th quadrants respectively. After all the weld marks in the four quadrants are completed, create a program for the welding robot to perform welding operations.

[0051] Specifically:

[0052] Obtain the position information of the safety points in the first quadrant, including position coordinates (X1, Y1, Z1), joint coordinates (θ1, θ2,..., θn), and positioner coordinates, where the positioner coordinates include first-axis coordinates (A1) and second-axis coordinates (B1);

[0053] According to the position information of the safety points in the first quadrant, calculate the position information of the safety points in the 2nd, 3rd, and 4th quadrants respectively by adding the preset angular values of 90°, 180°, and 270° to the second-axis coordinate of the positioner.

[0054] Calculate the safety points in the second quadrant: Add 90° to the second-axis coordinate (B1) of the positioner to obtain a new second-axis coordinate (B2 = B1 + 90°). At the same time, keep the position coordinates (X1, Y1, Z1), joint coordinates (θ1, θ2,..., θn), and the first-axis coordinate (A1) of the positioner unchanged, and use the new coordinate information (X1, Y1, Z1, θ1, θ2,..., θn, A1, B2) as the safety points in the second quadrant.

[0055] Calculate the safety points in the third quadrant: Add 180° to the second-axis coordinate (B1) of the positioner to obtain a new second-axis coordinate (B3 = B1 + 180°). At the same time, keep the other coordinate information unchanged, and use the new coordinate information (X1, Y1, Z1, θ1, θ2,..., θn, A1, B3) as the safety points in the third quadrant.

[0056] Calculate the safety points in the fourth quadrant: Add 270° to the second-axis coordinate (B1) of the positioner to obtain a new second-axis coordinate (B4 = B1 + 270°). At the same time, keep the other coordinate information unchanged, and use the new coordinate information (X1, Y1, Z1, θ1, θ2,..., θn, A1, B4) as the safety points in the fourth quadrant.

[0057] The welding point position information records the starting and ending positions of each weld seam. Adjust the robot to the starting or ending position of the corresponding weld seam and record the point position information. Specifically:

[0058] Use the control buttons on the teach pendant to adjust the position and posture of the robot so that it reaches the starting position of the weld seam. After the robot reaches the starting position of the weld seam, record the current position information of the robot and name the point at the same time.

[0059] Repeat the above steps. Use the teach pendant to adjust the robot to the ending position of the weld seam. After the robot reaches the ending position of the weld seam, record the current position information of the robot again and name the point at the same time.

[0060] For the starting and ending positions of each weld seam, repeat the above adjustment and recording operations to ensure that the starting and ending position information of all weld seams is recorded.

[0061] An embodiment of the present invention is a welding robot safety point generation device, which specifically includes:

[0062] Parameter configuration interface module: used to open the parameter configuration interface through the tower foot welding process entrance. The parameter configuration interface includes welding parameter labels, swing arc parameter labels, and point parameter labels.

[0063] Welding parameter setting module: located under the welding parameter label, used to set welding parameters such as welding current, welding voltage, and welding speed; at the same time, set the robot posture and position conversion parameters in the non-welding state of joint movement speed and linear movement speed; realize the multi-layer single-pass welding and offset control functions to support the multi-layer welding operation of the same weld seam.

[0064] Swing arc parameter setting module: located under the swing arc parameter label, used to set the swing frequency and swing amplitude of the robot during the welding process to optimize the welding quality and weld formation.

[0065] Point parameter management module: divided into a safety point position information sub-module and a welding point position information sub-module; Safety point position information sub-module: used to record the preparation position and safety position during the operation of the robot, obtain the robot position information in the first quadrant and record it into the system as the first quadrant safety point; Welding point position information sub-module: used to record the starting and ending positions of each weld seam, and record the point position information by adjusting the robot to the starting or ending position of the corresponding weld seam for subsequent welding operations.

[0066] The safety point position information sub-module in the point parameter management module records the robot's position information including position coordinates, joint coordinates, and positioner coordinates. The positioner coordinates are divided into first-axis coordinates and second-axis coordinates. Specifically:

[0067] Record the three-dimensional space coordinate values of the robot at the safe position, denoted as (X1, Y1, Z1);

[0068] Record the angular values (θ1, θ2,..., θn) of each joint of the robot at the safe position;

[0069] Record the first-axis coordinate (A1) and the second-axis coordinate (B1) of the positioner at the safe position.

[0070] Safe point generation and program creation module: According to the position information of the safe points in the first quadrant, calculate the safe points in the 2nd, 3rd, and 4th quadrants respectively; after all weld marks in the four quadrants are completed, create a welding program for the welding robot to perform welding operations according to the recorded safe point position information and welding point position information.

[0071] The safe point generation and program creation module calculates the safe points in the 2nd, 3rd, and 4th quadrants respectively according to the position information of the safe points in the first quadrant, specifically:

[0072] Obtain the position information of the safe points in the first quadrant, including position coordinates (X1, Y1, Z1), joint coordinates (θ1, θ2,..., θn), and positioner coordinates, where the positioner coordinates include the first-axis coordinate (A1) and the second-axis coordinate (B1);

[0073] According to the position information of the safe points in the first quadrant, calculate the position information of the safe points in the 2nd, 3rd, and 4th quadrants respectively by adding the preset angular values of 90°, 180°, and 270° to the second-axis coordinate of the positioner;

[0074] Calculate the safe points in the second quadrant: Add 90° to the second-axis coordinate (B1) of the positioner to obtain a new second-axis coordinate (B2 = B1 + 90°), and at the same time keep other coordinate information unchanged, and use the new coordinate information as the safe points in the second quadrant;

[0075] Calculate the safe points in the third quadrant: Add 180° to the second-axis coordinate (B1) of the positioner to obtain a new second-axis coordinate (B3 = B1 + 180°), and at the same time keep other coordinate information unchanged, and use the new coordinate information as the safe points in the third quadrant;

[0076] Calculate the safe points in the fourth quadrant: Add 270° to the second-axis coordinate (B1) of the positioner to obtain a new second-axis coordinate (B4 = B1 + 270°), and at the same time keep other coordinate information unchanged, and use the new coordinate information as the safe points in the fourth quadrant.

[0077] Communication interface module, which is used to realize the communication connection between the safe point generation device and the welding robot, and ensure that parameter configuration, point position information recording, and welding program creation instructions can be accurately transmitted and executed.

[0078] A data storage module, which is used to store the recorded safety point position information, welding point position information, and created welding programs.

[0079] The safety point generation device for a welding robot in the present invention can accurately locate safety points, precisely record safety position information such as position coordinates, joint coordinates, and positioner coordinates of the robot during operation, ensure that the robot accurately reaches the safety position before welding operations, effectively avoid collisions and accidents, and at the same time can dynamically adjust safety strategies according to changes in the working environment, greatly improving the safety of welding operations. It can record the starting and ending positions of each weld seam, generate an optimized welding path, reduce the idle travel and unnecessary movements of the robot, and improve welding efficiency. Through the multi-layer single-pass welding and offset control functions, multi-layer welding of the same weld seam is achieved, ensuring full penetration of the weld seam and stable quality, and reducing the generation rate of welding defects.

[0080] It also simplifies the operation process, facilitates operators to set parameters, view point position information, and manage welding programs, and can automatically generate welding programs, reducing the time and cost of manual programming. It enhances the flexibility and adaptability of the equipment, supports various welding processes, adopts a modular design, and is easy to integrate and expand with other welding automation equipment and systems. In addition, it also improves the intelligent level of production management, can record key data during the welding process, provide decision-making support for production management through data analysis, and also supports remote monitoring and maintenance functions, facilitating managers to remotely manage the welding robot, comprehensively enhancing the automation and intelligence of welding production.

[0081] An embodiment of the present invention provides a terminal device. The terminal device of this embodiment includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps in the above-mentioned method embodiments are implemented. Or, when the processor executes the computer program, the functions of each module / unit in the above-mentioned device embodiments are implemented.

[0082] The computer program can be divided into one or more modules / units, and the one or more modules / units are stored in the memory and executed by the processor to complete the present invention.

[0083] The device / terminal device can be a computing device such as a desktop computer, notebook, palm computer, and cloud server. The device / terminal device may include, but is not limited to, a processor and a memory.

[0084] The processor may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0085] The memory can be used to store the computer program and / or module. The processor realizes various functions of the device / terminal device by running or executing the computer program and / or module stored in the memory, and by calling the data stored in the memory.

[0086] If the modules / units integrated in the device / terminal device are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above-described embodiment methods of the present invention, it can also be completed by a computer program instructing relevant hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-described various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0087] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for generating safety points of a welding robot, characterized in that, It includes the following steps: Open the parameter configuration interface through the tower foot welding process entrance. The parameter configuration interface includes welding parameters, swing arc parameters, and point parameter labels; Set the welding parameters such as welding current and voltage, welding speed, and the parameters during the transformation of the robot's posture and position in the non-welding state, such as joint movement speed and linear movement speed, under the welding parameter label, and perform multi-layer single-pass and offset control to achieve multi-layer welding of the same weld seam; Set the swing frequency and swing amplitude during the robot's welding progress under the swing arc parameter label; The point parameters are divided into safety point position information and welding point position information; The safety point position information records the preparation position during the robot's work and the safe position during the robot's work. Obtain the robot position information in the first quadrant and record it into the system as the first quadrant safety point; The welding point position information records the starting and ending positions of each weld seam, and adjust the robot to the corresponding weld seam starting or ending position and record the point position information; According to the position information of the safety point in the first quadrant, calculate the safety points in the 2nd, 3rd, and 4th quadrants respectively. After all the weld seams in the four quadrants are marked, create a program for the welding robot to perform welding operations.

2. The method for generating safety points of a welding robot according to claim 1, wherein The position information of the robot includes position coordinates, joint coordinates, and positioner coordinates. The positioner coordinates are divided into the first-axis coordinate and the second-axis coordinate; specifically: Record the three-dimensional space coordinate values of the robot at the safe position, expressed as (X1, Y1, Z1), which is used to describe the position of the robot in space; Record the angular values (θ1, θ2,..., θn) of each joint of the robot at the safe position, which is used to describe the posture of the robot; Record the first-axis coordinate (A1) and the second-axis coordinate (B1) of the positioner at the safe position to comprehensively reflect the configuration state of the robot's working environment.

3. The method for generating safety points of a welding robot according to claim 1, characterized in that, The specific method of calculating the safety points in the 2nd, 3rd, and 4th quadrants respectively according to the position information of the safety point in the first quadrant is as follows: Obtain the position information of the safety point in the first quadrant, including position coordinates (X1, Y1, Z1), joint coordinates (θ1, θ2,..., θn), and positioner coordinates, where the positioner coordinates include the first-axis coordinate (A1) and the second-axis coordinate (B1); According to the position information of the safety point in the first quadrant, calculate the position information of the safety points in the 2nd, 3rd, and 4th quadrants respectively by adding the preset angular values of 90°, 180°, and 270° to the second-axis coordinate of the positioner; Calculate the safety point in the second quadrant: Add 90° to the second-axis coordinate (B1) of the positioner to obtain a new second-axis coordinate (B2 = B1 + 90°), and at the same time keep the position coordinates (X1, Y1, Z1), joint coordinates (θ1, θ2,..., θn), and the first-axis coordinate (A1) of the positioner unchanged. Take the new coordinate information (X1, Y1, Z1, θ1, θ2,..., θn, A1, B2) as the safety point in the second quadrant; Calculate the safety point in the third quadrant: Add 180° to the second axis coordinate (B1) of the positioner to obtain a new second axis coordinate (B3 = B1 + 180°). While keeping other coordinate information unchanged, use the new coordinate information (X1, Y1, Z1, θ1, θ2,..., θn, A1, B3) as the safety point in the third quadrant; Calculate the safety point in the fourth quadrant: Add 270° to the second axis coordinate (B1) of the positioner to obtain a new second axis coordinate (B4 = B1 + 270°). While keeping other coordinate information unchanged, use the new coordinate information (X1, Y1, Z1, θ1, θ2,..., θn, A1, B4) as the safety point in the fourth quadrant.

4. A method for generating safety points of a welding robot according to claim 1, characterized in that, The welding point position information records the starting and ending positions of each weld. Adjust the robot to the starting or ending position of the corresponding weld and record the point position information, specifically: Use the control buttons on the teach pendant to adjust the position and posture of the robot to make it reach the starting position of the weld; when the robot reaches the starting position of the weld, record the current position information of the robot and name this point position at the same time; Repeat the above steps, use the teach pendant to adjust the robot to the ending position of the weld. When the robot reaches the ending position of the weld, record the current position information of the robot again and name this point position; For the starting and ending positions of each weld, repeat the above adjustment and recording operations to ensure that the starting and ending position information of all welds is recorded.

5. A safety point generation device for a welding robot, characterized in that, Specifically include: Parameter configuration interface module: Used to open the parameter configuration interface through the tower foot welding process entry. The parameter configuration interface includes welding parameter labels, weaving parameter labels, and point parameter labels; Welding parameter setting module: Located under the welding parameter label, used to set welding parameters such as welding current, welding voltage, and welding speed; at the same time, set the robot posture and position conversion parameters in the non-welding state of joint movement speed and linear movement speed; implement the multi-layer single-pass welding and offset control functions to support the multi-layer welding operation of the same weld; Weaving parameter setting module: Located under the weaving parameter label, used to set the weaving frequency and amplitude of the robot during welding travel to optimize the welding quality and weld formation; Point parameter management module: Divided into a safety point position information sub-module and a welding point position information sub-module; Safety point position information sub-module: Used to record the preparation position and safety position during the robot's work. Obtain the robot position information in the first quadrant and record it into the system as the safety point in the first quadrant; Welding point position information sub-module: Used to record the starting and ending positions of each weld. Adjust the robot to the starting or ending position of the corresponding weld and record the point position information for subsequent welding operations; Safety point generation and program creation module: According to the position information of the safety point in the first quadrant, calculate the safety points in the 2nd, 3rd, and 4th quadrants respectively; after all welds in the four quadrants are marked, create a welding program according to the recorded safety point position information and welding point position information for the welding robot to perform welding operations.

6. The safety point generation device of a welding robot according to claim 5, wherein, The safety point generation device further includes a communication interface module, which is used to establish a communication connection between the safety point generation device and the welding robot, ensuring the accurate transmission and execution of parameter configuration, point position information recording, and welding program creation instructions.

7. The safety point generation device for a welding robot according to claim 5, characterized in that The safety point generation device further includes a data storage module, which is used to store the recorded safety point position information, welding point position information, and the created welding program.

8. The safety point generation device for a welding robot according to claim 5, characterized in that, The safety point generation device further includes an error detection and alarm module, which is used to monitor the status of the welding robot in the processes of safety point generation, point position information recording, and welding program execution in real time; when an abnormal situation is detected, it triggers an alarm mechanism to notify the operator to handle it.

9. An apparatus, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1-4.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the method according to any one of claims 1-4.

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