Robot welding locating method, electronic equipment, robot and storage medium

Abstract

The invention discloses a robot welding locating method which comprises the following steps that a robot base coordinate system serves as a reference, and an operation plane where a to-be-welded workpiece is located is determined through robot teaching; a robot demonstrates and records three upper surface contact points and a search direction point on the upper surface of a workpiece, and a position-searching front coordinate system and a position-searching rear coordinate system are constructed; the robot demonstrates and records at least three initial contact points of the workpiece to be welded and correspondingly sets at least two search directions; the robot moves along the searching direction point to make contact with the surface of the to-be-welded workpiece, and the actual contact point position of the to-be-welded workpiece is obtained; according to the constructed coordinate system before locating and the coordinate system after locating, the initial contact point and the corresponding searching direction of the coordinate system before locating are converted to the coordinate system after locating, and locating of a new plane is formed; and the translation amount and the rotation amount of the workpiece to be welded in the new plane are calculated through the converted initial contact point and the search direction, and welding locating is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and more specifically, to a robot welding position searching method, an electronic device, a robot, and a storage medium. Background Art

[0002] In the field of robot welding, the welding positions during initial teaching of workpieces often result in a decrease in welding accuracy and affect the processing quality due to deviations in the placement of workpieces during actual use (such as manual re-placement, approximate placement during batch processing, etc.). Traditional 3D+ position searching methods have many usage limitations and require many teaching points and directions, with complex operations and high hardware costs. For example, when using the side wall of the welding torch to contact the surface of the workpiece to achieve 3D+ position searching, it requires high force control ability of the robot, the robot has a high price, and it is easy to make the robot's posture awkward, resulting in motion interference. There may also be calculation deviations due to the lack of plane constraints, making it difficult to achieve position searching. Traditional 2D+ position searching methods require more teaching points and direction points when the two sides of the workpiece are not perpendicular, and calculating the offset amount is rather cumbersome. Therefore, there is an urgent need for a welding position searching method with simple operation, low cost, and high precision. Summary of the Invention

[0003] To solve the above problems, the present invention provides a robot welding position searching method to solve the problems of complex operation, high hardware cost, and offset in the implementation space in the existing welding position searching technology, including the following steps:

[0004] S1. Taking the robot base coordinate system as a reference, the robot teaches to determine the operation plane where the workpiece to be welded is located;

[0005] S2. The robot teaches and records three upper surface contact points and one search direction point on the upper surface of the workpiece, and constructs a pre-position searching coordinate system and a post-position searching coordinate system;

[0006] S3. The robot teaches and records at least three initial contact points of the workpiece to be welded and correspondingly sets at least two search directions;

[0007] S4. The robot moves along the search direction point to contact the surface of the workpiece to be welded, and obtains the actual contact point position of the workpiece to be welded; according to the constructed pre-position searching coordinate system and post-position searching coordinate system, the initial contact points and the corresponding search directions of the pre-position searching coordinate system are converted to the post-position searching coordinate system to form position searching on a new plane;

[0008] S5. By the converted initial contact points and search directions, calculate the translation amount and rotation amount of the workpiece to be welded in the new plane to achieve welding position searching.

[0009] As a preferred technical solution, the robot teaching in step S2 records three upper surface contact points and one search direction point on the upper surface of the workpiece, and constructs the coordinate system before position finding and the coordinate system after position finding, including:

[0010] On the flat part of the upper surface of the workpiece, select three upper surface contact points and denote them as the first contact point, the second contact point, and the third contact point, and record the initial positions of the upper surface contact points through robot teaching; and set a first search direction that is far from the upper surface contact points and along which the robot can contact the workpiece after position change, and construct the coordinate system constructed by the three points before position finding and the coordinate system constructed by the three points after position finding contact through the three upper surface contact points.

[0011] As a preferred technical solution, the robot teaching in step S2 records at least three initial contact points of the workpiece to be welded and correspondingly sets at least two search directions, including:

[0012] On the straight part of the side wall of the workpiece, select two side wall contact points and denote them as the fourth contact point and the fifth contact point, and record the two side wall contact points through robot teaching, and set a second search direction that is far from the side wall contact points and along which the robot can contact the workpiece after position change;

[0013] On another side wall direction of the workpiece, select another side wall contact point and denote it as the sixth contact point, and record the sixth contact point through robot teaching, and set a third search direction that is far from the sixth contact point and is roughly parallel to the direction formed by the fourth contact point and the fifth contact point and along which the robot can contact the workpiece after position change.

[0014] As a preferred technical solution, in step S4, the translation amount and rotation amount of the workpiece to be welded in the new plane are calculated through the converted initial contact points and search directions to achieve welding position finding, including:

[0015] The robot moves along the search direction point, contacts the surface of the workpiece to be welded, and obtains the actual contact point position of the workpiece to be welded;

[0016] According to the initial contact point position and the actual contact point position, calculate the translation amount and rotation amount of the workpiece to be welded;

[0017] According to the translation amount and rotation amount, perform corresponding transformation on the original welding path to generate a target path for welding the workpiece to be welded, and achieve welding position finding.

[0018] As a preferred technical solution, the translation amount in step S4 is determined based on the projection of the vector between the corresponding contact points on the operation plane, and the rotation amount is determined based on the included angle of the projection of the corresponding vector on the operation plane.

[0019] As a preferred technical solution, calculating the translation amount and rotation amount of the workpiece to be welded according to the initial contact point position and the actual contact point position includes:

[0020] Calculating the primary translation amount and primary rotation amount of the workpiece to be welded on the operation plane according to the initial contact point position and the actual contact point position;

[0021] Obtaining the converted contact point and the converted search direction according to the primary translation amount and the primary rotation amount, the robot performs position searching again to obtain a new actual contact point, and calculates the secondary translation amount;

[0022] Calculating the translation amount and rotation amount of the workpiece to be welded from the primary translation amount, the primary rotation amount and the secondary translation amount.

[0023] As a preferred technical solution, performing corresponding transformation on the original welding path to generate a target path for welding the workpiece to be welded includes:

[0024] Converting the poses of the teaching points in the original welding path to the robot base coordinate system;

[0025] Adjusting the poses of the teaching points in the base coordinate system according to the calculated translation amount and rotation amount;

[0026] Generating a target welding path according to the adjusted poses.

[0027] The present invention also provides an electronic device, including:

[0028] A memory, a processor, and a computer program stored on the memory and executable on the processor, and when the computer program is executed by the processor, the steps of the robot welding position searching method as described above are implemented.

[0029] The present invention also provides a robot, including a robot body and the above-mentioned electronic device, and the electronic device is communicatively connected to the robot body; the electronic device is disposed on the robot body, or the electronic device is separately disposed from the robot body.

[0030] The present invention also provides a storage medium, which stores at least one program, and when the program is executed by a processor, the robot welding position searching method as described above is implemented.

[0031] Compared with the prior art, the beneficial effects brought by the present invention are:

[0032] The robot welding position finding method provided by the present invention is a 3D+ welding position finding method based on six points and three directions. On the basis of making full use of the 2D+ position finding method, a general and easy-to-implement 3D+ position finding method is obtained by adding three taught points and one position finding direction. Specifically, a surface position finding is added. By teaching three contact points on the upper surface of the workpiece, two contact points on one side wall, one contact point on the other side wall, and three search direction points, the coordinate systems before and after position finding are constructed, and the 3D+ position finding is converted into 2D+ position finding in a new plane. The translation amount and rotation amount of the workpiece are calculated to adjust the original welding path and achieve precise welding. The present invention has the advantages of fewer taught points, simple operation, reducing the learning cost and hardware cost of users, and high position finding accuracy, and is applicable to solving the problem of inaccurate welding caused by the deviation of workpiece placement in the field of robot welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0034] Figure 1 It is a schematic flow chart of the robot welding position finding method of the present invention;

[0035] Figure 2 It is the coordinate system constructed by three points before and after position finding of the present invention;

[0036] Figure 3 It is a workpiece state diagram in an embodiment of the robot welding position finding method of the present invention;

[0037] Figure 4 It is a schematic diagram of contact points and search directions in an embodiment of the robot welding position finding method of the present invention;

[0038] Figure 5 It is a schematic diagram of actual contact points in an embodiment of the robot welding position finding method of the present invention;

[0039] Figure 6 It is a schematic diagram of the surface of the welding wire at the end of the welding torch contacting the workpiece to be welded in an embodiment of the robot welding position finding method of the present invention;

[0040] Figure 7 It is a schematic diagram of the side wall of the welding torch contacting in an embodiment of the robot welding position finding method of the present invention;

[0041] Figure 8 It is a schematic diagram of the first translation amount and the first rotation amount in an embodiment of the robot welding position finding method of the present invention;

[0042] Figure 9 Schematic diagram of conversion contact points and conversion search directions in an embodiment of the robot welding position finding method of the present invention;

[0043] Figure 10 Schematic diagram of the third actual contact point in an embodiment of the robot welding position finding method of the present invention;

[0044] Figure 11 Schematic diagram of the contact point after position finding in an embodiment of the robot welding position finding method of the present invention. Detailed implementation manners

[0045] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0046] It should be noted that the terms "first" and "second" etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0047] Figure 1 is a flowchart of a robot welding position finding method provided by an embodiment of the present invention, and the method is executed by a collaborative robot, as Figure 1 shown, and includes the following steps:

[0048] S1. With the robot base coordinate system as a reference, the robot teaches to determine the operation plane where the workpiece to be welded is located;

[0049] S2. The robot teaches and records three upper surface contact points and one search direction point on the upper surface of the workpiece, and constructs a pre-position finding coordinate system and a post-position finding coordinate system;

[0050] S3. The robot teaches and records at least three initial contact points of the workpiece to be welded and correspondingly sets at least two search directions;

[0051] S4. The robot moves along the search direction point, contacts the surface of the workpiece to be welded, and obtains the actual contact point position of the workpiece to be welded; according to the constructed pre-seeking coordinate system and post-seeking coordinate system, the initial contact point and the corresponding search direction of the pre-seeking coordinate system are converted to the post-seeking coordinate system to form the seeking in the new plane.

[0052] S5. Calculate the translation amount and rotation amount of the workpiece to be welded in the new plane through the converted initial contact point and search direction to realize welding seeking.

[0053] In step S1, with the robot base coordinate system as the reference, the robot teaches to determine the operation plane where the workpiece to be welded is located, specifically including:

[0054] In the teaching mode, in response to the teaching control instruction, the robot is controlled to move to different positions on the operation plane, the position information of the robot is recorded, and the position and attitude of the operation plane in the robot base coordinate system are determined according to the recorded position information.

[0055] The robot teaching record in steps S2 and S4 refers to that when the robot contacts the surface of the workpiece to be welded, the signal generated by the contact between the welding wire at the end of the welding torch and the workpiece to be welded is detected to trigger the recording of the contact point coordinates. The present invention adopts the contact of the welding wire at the end of the welding tool instead of the contact mode of the side wall of the welding tool. The wire contact mode is easy to implement and sensitive in response, without relying on a robot with high force control ability, and can achieve a good contact stop effect without adding additional equipment, greatly reducing the hardware cost.

[0056] In step S2, the robot teaches and records three upper surface contact points and one search direction point on the upper surface of the workpiece to construct the pre-seeking coordinate system and the post-seeking coordinate system, including:

[0057] On the flat part of the upper surface of the workpiece, three upper surface contact points are selected, and the initial positions of the upper surface contact points are recorded through robot teaching; and a search direction is set away from the upper surface contact points and along which the robot can contact the workpiece after the position change. Through the three upper surface contact points, the coordinate system constructed by the three points before seeking and the coordinate system constructed by the three points after seeking contact are constructed.

[0058] As a preferred technical solution, the robot teaching in step S2 records at least three initial contact points of the workpiece to be welded and correspondingly sets at least two search directions, including:

[0059] On the straight part of the side wall of the workpiece, two side wall initial contact points are selected and recorded as the first initial contact point and the second initial contact point through robot teaching, and a first search direction is set away from the side wall initial contact points and along which the robot can contact the workpiece after the position change.

[0060] On the other side wall direction of the workpiece, select another initial contact point on the side wall and denote it as the third initial contact point. Record the third initial contact point through robot teaching, and set a second search direction that is far from the third initial contact point and is generally parallel to the direction formed by the first initial contact point and the second initial contact point, and along which the robot can contact the workpiece after the position change.

[0061] Based on the converted initial contact points and search directions in the step S4, calculate the translation amount and rotation amount of the workpiece to be welded in the new plane to achieve welding position finding, including:

[0062] The robot moves along the search direction points, contacts the surface of the workpiece to be welded, and obtains the actual contact point position of the workpiece to be welded;

[0063] According to the initial contact point position and the actual contact point position, calculate the translation amount and rotation amount of the workpiece to be welded;

[0064] According to the translation amount and rotation amount, perform corresponding transformation on the original welding path to generate a target path for welding the workpiece to be welded, so as to achieve welding position finding.

[0065] As a preferred technical solution, the translation amount in the step S4 is determined based on the projection of the vector between the corresponding contact points on the operation plane, and the rotation amount is determined based on the included angle of the projection of the corresponding vector on the operation plane.

[0066] As a preferred technical solution, the calculating the translation amount and rotation amount of the workpiece to be welded according to the initial contact point position and the actual contact point position includes:

[0067] According to the initial contact point position and the actual contact point position, calculate the first translation amount and the first rotation amount of the workpiece to be welded on the operation plane;

[0068] Obtain the converted contact points and the converted search direction according to the first translation amount and the first rotation amount. The robot performs position finding again to obtain a new actual contact point, and calculate the second translation amount;

[0069] Calculate the translation amount and rotation amount of the workpiece to be welded from the first translation amount, the first rotation amount and the second translation amount.

[0070] As a preferred technical solution, performing corresponding transformation on the original welding path to generate a target path for welding the workpiece to be welded includes:

[0071] Convert the poses of the teaching points in the original welding path to the robot base coordinate system;

[0072] According to the calculated translation amount and rotation amount, adjust the poses of the teaching points in the base coordinate system;

[0073] Generate a target welding path according to the adjusted pose.

[0074] In a specific embodiment, Figure 2 For the coordinate system constructed by three points before and after position finding in the present invention, as Figure 2 shown, through three contact points on the upper surface, calculate the spatial relationship of the workpiece relative to the original placement position. The dotted line represents the placement position of the workpiece in the initial state. By constructing a coordinate system through three points, the coordinate system F constructed by three points before position finding is constructed. before and the coordinate system F constructed by three points after contact during position finding after , convert the initial contact point and the corresponding search direction of the coordinate system before position finding to the coordinate system after position finding, and form the position finding of the new plane. On the basis of making full use of the 2D+ position finding method, the present invention obtains a general and easy-to-implement 3D+ position finding method by adding the teaching of three points and one search direction. Traditional 3D+ methods have several usage limitations, and there are relatively more teaching points and directions. Compared with the original 3D+ method, the new 3D+ teaching points are relatively few and easy to operate. Combining with the existing 2D+ position finding method, without changing the original code logic, only the teaching of three points and one search direction needs to be added to obtain the translation amount and rotation amount of the welding workpiece in space. At the same time, this 3D+ position finding method is modified on the basis of the original 2D+ position finding function, reducing the learning cost of users. At the same time, by using the way of wire contact, the hardware cost required for the force control contact position finding scheme is reduced. That is, this scheme reduces the learning cost of users while reducing the development and maintenance difficulty of developers. While using a scheme with a lower hardware cost, a higher position finding accuracy is also achieved.

[0075] Figure 3 For the workpiece state diagram in an embodiment of the robot welding position finding method of the present invention, as Figure 3 shown, the dotted line represents the placement position of the workpiece to be welded in the initial state. The above contact points and search directions are all taught based on the workpiece in the current dotted line state, and the subsequent movement trajectories required by the robot are all based on the position in the initial state. The solid line represents the actual placement position of the workpiece to be welded. The specific implementation process is as follows:

[0076] Figure 4 For the schematic diagram of the contact points and search directions in an embodiment of the robot welding position finding method of the present invention, as Figure 4As shown in the figure, with the robot base coordinate system as the reference, the workpiece to be welded is placed on a plane, which serves as the welding operation workbench. That is, the current workpiece to be welded will only undergo offset and rotation on the current plane. By means of the three-point teaching coordinate system of the robot, the plane where the current welding operation workbench is located is taught as the plane coordinate system XYZ. Further, in the plane coordinate system XYZ, three initial contact points are selected on the workpiece to be welded. First, find a straight part on the workpiece to be welded, which can be the flat edge of the steel plate, the longer straight edge, etc.; move the robot to touch a point with the end wire of the welding torch at the straight position of the workpiece and record it as the first initial contact point T1; in the same way, record another point in the straight position of the workpiece in another direction as the second initial contact point T2; in another direction of the workpiece to be welded, move the robot to touch the surface of the workpiece to be welded and set the third contact point T3; set the first search direction point away from the first initial contact point T1 and the second initial contact point T2, and obtain the first search direction V1 from the first initial contact point T1 and the second initial contact point T2 to the first search direction point. And the robot can find the actual position of the workpiece to be welded along the first search direction V1; set the second search direction point away from the third initial contact point T3, and obtain the second search direction V2 from the third initial contact point T3 to the second search direction point. And the robot can find the actual position of the workpiece to be welded along the second search direction V2. Wherein the second search direction V2 is substantially parallel to the direction formed by the first initial contact point T1 and the second initial contact point T2.

[0077] Figure 5 This is a schematic diagram of the actual contact points in an embodiment of the robot welding position finding method of the present invention. As Figure 5 shown, the first initial contact point T1, the second initial contact point T2, the third initial contact point T3, and the corresponding first search direction V1 and second search direction V2 are shown in the plane coordinate system XYZ after the robot teaching; the first initial contact point T1 and the second initial contact point T2 are used to find the actual position of the workpiece to be welded along the first search direction V1, and the corresponding contact points are determined as the first actual contact point T1' and the second actual contact point T2'. At this time, the effect of the end wire of the welding torch touching the surface of the workpiece to be welded is as Figure 6 shown; the schematic diagram of the side wall of the welding torch touching is as Figure 7 shown.

[0078] Further, at this time, calculate the first translation amount and the first rotation amount of the workpiece to be welded on the plane, so that the first initial contact point T1 and the second initial contact point T2 coincide with the first actual contact point T1' and the second actual contact point T2' respectively; the first translation amount is the projection amount of the vector on the plane XOY, and the first rotation amount is the vector and The included angle θ between the projections of the two vectors on the XOY plane, that is, the current rotation amount means rotating by θ around the Z axis with the first actual contact point T1' as the rotation center, as Figure 8 shown.

[0079] Furthermore, based on the first translation amount and the first rotation amount, the third initial contact point T3, the third transformed contact point T3' after the transformation of the second search direction V2, and the corresponding second transformed search direction V2' can be calculated, as Figure 9 shown. The robot contacts the surface of the workpiece to be welded from the third transformed contact point T3' along the second transformed search direction V2' to obtain the third actual contact point T3", as Figure 10 shown. At this time, the determination method of the second translation amount is as follows: First, project onto the XOY plane to obtain a projection vector, and then the component of this projection vector projected onto the vector is the second translation amount. The translation amount and rotation amount of the workpiece to be welded are obtained from the first translation amount, the first rotation amount, and the second translation amount.

[0080] In step S5, according to the translation amount and rotation amount, performing corresponding transformation on the original welding path to generate a target path for welding the workpiece to be welded, including: converting the pose of each teaching point in the original welding path to the robot base coordinate system; adjusting the pose of each teaching point in the base coordinate system according to the calculated translation amount and rotation amount; generating a target welding path according to the adjusted pose. That is, the calculated translation amount is composed of two vectors parallel to the XOY plane. One of the vectors is the projection amount of the vector on the XOY plane; the other is the component of the projected onto the XOY plane to obtain a projection vector, and then the projection vector projected onto the Figure 11 vector. The rotation amount is rotating by θ around the Z axis with the first actual contact point T1' as the rotation center. As

[0081] For the case where the workpiece to be welded is offset and rotated on the current plane, the present invention only needs to teach 3 point positions and 2 direction point positions, reducing the number of taught point positions and directions, lowering the complexity of the operation, and improving the work efficiency; by accurately calculating the translation amount and rotation amount of the workpiece on the plane and precisely adjusting the original welding path accordingly, it effectively overcomes the welding offset problem caused by the deviation of the workpiece placement, significantly improves the accuracy of welding position finding, and ensures the welding quality. In addition, the contact mode of the end wire of the welding tool is adopted instead of the contact mode of the side wall of the welding tool. The wire contact mode is easy to implement and sensitive in response, without relying on a robot with high force control ability, and can achieve a good contact stop effect without adding additional equipment, greatly reducing the hardware cost.

[0082] The present invention also provides an electronic device, characterized by comprising:

[0083] A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps of the robot welding position finding method as described above are implemented. The electronic device may preferably further include a communication interface for communicating and data-interacting with external devices.

[0084] It should be noted that the memory may include a high-speed RAM memory and may also include a non-volatile memory, such as at least one disk memory.

[0085] In terms of specific implementation, if the memory, the processor, and the communication interface are integrated on one chip, the memory, the processor, and the communication interface can complete the communication with each other through an internal interface. If the memory, the processor, and the communication interface are independently implemented, the memory, the processor, and the communication interface can be connected to each other through a bus and complete the communication with each other.

[0086] The present invention also provides a robot, comprising a robot body and the above-mentioned electronic device, wherein the electronic device is communicatively connected to the robot body; the electronic device is provided on the robot body or the electronic device is separately arranged from the robot body.

[0087] The present invention also provides a storage medium storing at least one program, which when executed by a processor, implements the above-mentioned robot welding position finding method.

[0088] It should be understood that the computer-readable storage medium is any data storage device capable of storing data or programs, which can then be read by a computer system. Examples of computer-readable storage media include read-only memory, random access memory, CD-ROM, HDD, DVD, magnetic tape, and optical data storage devices, etc. The computer-readable storage medium can also be distributed in network-coupled computer systems such that the computer-readable code is stored and executed in a distributed manner. The program code contained on the computer-readable storage medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber cable, radio frequency (RF), etc., or any suitable combination of the above.

[0089] In some embodiments, the computer-readable storage medium can be non-transitory.

[0090] Compared with the prior art, the robot welding position finding method provided by the present invention is a 3D+ welding position finding method based on six points and three directions. On the basis of making full use of the 2D+ position finding method, by adding three taught points and one position finding direction, a general and easily implementable 3D+ position finding method is obtained. Specifically, one surface position finding is added. By teaching three contact points on the upper surface of the workpiece, two contact points on one side wall, one contact point on the other side wall, and three search direction points, the coordinate systems before and after position finding are constructed, and the 3D+ position finding is converted into 2D+ position finding in a new plane. The translation amount and rotation amount of the workpiece are calculated to adjust the original welding path and achieve precise welding. The present invention has the advantages of fewer taught points, simple operation, reduced user learning cost and hardware cost, and high position finding accuracy, and is applicable to solving the problem of inaccurate welding caused by workpiece placement deviation in the field of robot welding.

[0091] It should be understood that the various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. No limitation is made herein.

[0092] The above specific embodiments do not constitute a limitation to the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A robot welding position seeking method, characterized in that, Including the following steps: S1. Taking the robot base coordinate system as a reference, the robot teaches to determine the operation plane where the workpiece to be welded is located; S2. The robot teaches and records three upper surface contact points and a search direction point on the upper surface of the workpiece, and constructs a pre-positioning coordinate system and a post-positioning coordinate system; S3. The robot teaches and records at least three initial contact points of the workpiece to be welded and correspondingly sets at least two search directions; S4. The robot moves along the search direction point to contact the surface of the workpiece to be welded, and obtains the actual contact point position of the workpiece to be welded; according to the constructed pre-positioning coordinate system and post-positioning coordinate system, the initial contact points and corresponding search directions of the pre-positioning coordinate system are converted to the post-positioning coordinate system to form the positioning in the new plane; S5. By the converted initial contact points and search directions, calculate the translation amount and rotation amount of the workpiece to be welded in the new plane to realize welding positioning.

2. The robot welding position searching method according to claim 1, wherein The robot teaching in step S2 records three upper surface contact points and a search direction point on the upper surface of the workpiece, and constructs a coordinate system before positioning and a coordinate system after positioning, including: On the flat part of the upper surface of the workpiece, select three upper surface contact points and record them as the first contact point, the second contact point, and the third contact point, and record the initial positions of the upper surface contact points through robot teaching; and set a first search direction away from the upper surface contact points and along which the robot can contact the workpiece after the position change, and construct a coordinate system formed by the three points before positioning and a coordinate system formed by the three points after positioning contact through the three upper surface contact points.

3. The robot welding position searching method according to claim 2, characterized in that, The robot teaching in step S2 records at least three initial contact points of the workpiece to be welded and correspondingly sets at least two search directions, including: On the straight part of the side wall of the workpiece, select two side wall contact points and record them as the fourth contact point and the fifth contact point, and record the two side wall contact points through robot teaching, and set a second search direction away from the side wall contact points and along which the robot can contact the workpiece after the position change; On another side wall direction of the workpiece, select another side wall contact point and record it as the sixth contact point, and record the sixth contact point through robot teaching, and set a third search direction away from the sixth contact point and roughly parallel to the direction formed by the fourth contact point and the fifth contact point and along which the robot can contact the workpiece after the position change.

4. The robot welding position searching method according to claim 3, wherein The calculating the translation amount and rotation amount of the workpiece to be welded in the new plane by the converted initial contact points and search directions in step S4 to realize welding positioning includes: The robot moves along the search direction point to contact the surface of the workpiece to be welded, and obtains the actual contact point position of the workpiece to be welded; According to the initial contact point position and the actual contact point position, calculate the translation amount and rotation amount of the workpiece to be welded; According to the translation amount and rotation amount, perform corresponding transformation on the original welding path to generate a target path for welding the workpiece to be welded to realize welding positioning.

5. The robot welding position seeking method according to claim 4, wherein, The translation amount in step S4 is determined based on the projection of the vector between the corresponding contact points on the operation plane, and the rotation amount is determined based on the included angle of the projection of the corresponding vector on the operation plane.

6. The robot welding position searching method according to claim 5, wherein The calculating the translation amount and rotation amount of the workpiece to be welded according to the initial contact point position and the actual contact point position includes: Calculate the first translation amount and the first rotation amount of the workpiece to be welded on the operation plane according to the initial contact point position and the actual contact point position; Obtain the converted contact point and the converted search direction according to the first translation amount and the first rotation amount, the robot searches for the position again to obtain a new actual contact point, and calculate the second translation amount; Calculate the translation amount and the rotation amount of the workpiece to be welded from the first translation amount, the first rotation amount and the second translation amount.

7. The robot welding position searching method according to claim 6, wherein Perform corresponding transformation on the original welding path to generate a target path for welding the workpiece to be welded, including: Convert the pose of each teaching point in the original welding path to the robot base coordinate system; Adjust the pose of each teaching point in the base coordinate system according to the calculated translation amount and rotation amount; Generate a target welding path according to the adjusted pose.

8. An electronic device, characterized in that, Including: A memory, a processor, and a computer program stored on the memory and executable on the processor, and when the computer program is executed by the processor, the steps of the robot welding position searching method according to any one of claims 1-7 are implemented.

9. A robot, characterized in that, Including a robot body and the above electronic device, the electronic device is communicatively connected to the robot body; the electronic device is provided on the robot body, or the electronic device is separately provided from the robot body.

10. A storage medium, characterized in that, It stores at least one program, and is characterized in that when the program is executed by a processor, the robot welding position searching method according to any one of claims 1-7 is implemented.

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