Welding teaching control method and system and storage medium

Abstract

The invention discloses a welding teaching control method and system and a computer readable storage medium, and the welding teaching control method comprises the steps: obtaining welding task parameters and teaching requirements, planning and setting tasks through a welding tool, enabling a demonstrator to enter a focused teaching mode through specific button operation, highlighting key information, hiding unnecessary information, and enabling the welding task parameters and teaching requirements to be more accurate. The whole operation is convenient and fast, various welding functions can be configured through buttons, and an operator can quickly complete welding path planning and welding wire control even if the operator is not familiar with a robot operation interface and a programming language. Meanwhile, the operation efficiency is improved, the frequency of operating a demonstrator is reduced, and an operator can concentrate on the welding process; the flexibility is high, and the welding tool mounted at the tail end of the robot is convenient for an operator to freely move in a welding area and adjust welding parameters at any time; in addition, the key information is more prominent through the'concentration mode ', remote viewing is facilitated, and the possibility of misoperation is reduced.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a welding teaching control method, system, and storage medium. Background Technology

[0002] In traditional welding processes, robots face numerous challenges in performing welding tasks. On the one hand, complex welding programs require specialized personnel, demanding familiarity with robot operating systems, programming languages, and welding processes, resulting in high learning costs and barriers to entry. On the other hand, traditional teaching methods have significant drawbacks. Operators face limited flexibility when using handheld teach pendants to teach welding trajectories; key information is difficult to view clearly during remote operation or teaching; complex welding tasks (such as inserting arcs or straight lines, controlling wire feeding and retraction, etc.) require frequent operation of the teach pendant, leading to low efficiency. Furthermore, frequent switching between the teach pendant and the robot when programming welding tasks severely impacts the efficiency and experience of the welding preparation process. Summary of the Invention

[0003] To address the above problems, the present invention provides a welding teaching control method, which is applied to a welding robot system equipped with welding tools and a teaching pendant. The welding teaching control method includes:

[0004] Obtain relevant parameters and teaching requirements for the welding task; the relevant parameters for the welding task include at least welding trajectory parameters, welding equipment control parameters, and task management parameters, and the teaching requirements include the need to view key information;

[0005] Based on the relevant parameters of the welding task, the welding task is planned and set using welding tools;

[0006] In response to the operation of a specific button on the welding tool, the teach pendant enters a focused teaching mode; in the focused teaching mode, the teach pendant interface highlights key information related to the current welding task and hides other non-essential information.

[0007] Control the welding robot to perform welding actions according to the planned and set welding tasks.

[0008] As a preferred technical solution, the method of planning and setting the welding task based on relevant parameters of the welding task using welding tools includes:

[0009] The welding tool is equipped with function buttons for planning the welding trajectory. The planning of the welding trajectory includes inserting straight lines, arcs, transition points, and editing or deleting the planned trajectory.

[0010] The control parameters of the welding equipment are set using the function buttons on the welding tool, including controlling the wire feeding and retraction of the welding machine;

[0011] Task management parameters can be set via function buttons on the welding tool, including creating a new welding task and running the currently edited welding task.

[0012] As a preferred technical solution, the step of responsively activating the teach pendant into a focused teaching mode in response to an operation of a specific button on the welding tool includes:

[0013] The system detects an operation command that a specific button on the welding tool has been pressed.

[0014] Based on the operation instructions, the teach pendant is triggered to adjust the display mode of the displayed content, enlarge the display of key information such as the current welding path and welding status, and hide unnecessary information such as the operation menu and equipment status.

[0015] As a preferred technical solution, the welding tool is installed at the end of the welding robot's robotic arm and communicates with the welding robot via the Modbus protocol. The button functions on the welding tool can be customized through a configuration interface.

[0016] As a preferred technical solution, in the focused teaching mode, the teach pendant interface also provides real-time monitoring information for the welding task, including but not limited to real-time numerical changes in welding current and voltage, as well as motion status feedback of the welding robot.

[0017] As a preferred technical solution, the exit methods for the focused teaching mode include:

[0018] A specific button on the welding tool was activated again;

[0019] Or, if no operation command is input within a preset time;

[0020] Or it may receive a mode switching command from the teach pendant.

[0021] As a preferred technical solution, the welding tool includes at least a function button and a direction joystick, wherein:

[0022] The function buttons can perform different functions by short pressing and long pressing;

[0023] The directional joystick is used to control the direction and speed of the welding robot's movement.

[0024] As a preferred technical solution, the interface provided by the teach pendant in the focused teaching mode includes:

[0025] The welding path planning view graphically displays the current welding trajectory;

[0026] The parameter monitoring view displays key parameters such as welding current and voltage in real time.

[0027] The task progress view displays the completion status of the current welding task.

[0028] The present invention also provides a welding teaching control system, comprising:

[0029] Welding robot body;

[0030] The welding tools and teaching pendant configured in the above-mentioned welding teaching control method;

[0031] The communication module is used to enable data interaction between welding tools, teach pendants, and welding robots.

[0032] The present invention also provides a storage medium on which a computer program is stored, which, when executed by a processor, implements the above-described welding teaching control method.

[0033] Beneficial Effects: This invention provides a welding teaching control method applied to a welding robot system equipped with welding tools and a teaching pendant. This method acquires welding task parameters and teaching requirements, plans and sets tasks using the welding tools, and activates the teaching pendant in a focused teaching mode via specific button operations. This mode highlights key information and hides unnecessary information, making the overall operation convenient. Various welding functions can be configured via buttons, allowing operators unfamiliar with the robot's interface and programming language to quickly complete welding path planning and wire control. It also improves work efficiency, reduces the frequency of teaching pendant operation, and allows operators to focus more on the welding process. Furthermore, it offers high flexibility; the welding tools installed at the robot's end allow operators to move freely within the welding area and adjust welding parameters at any time. In addition, the "focused mode" makes key information more prominent, facilitating remote viewing and reducing the possibility of misoperation. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a flowchart illustrating a welding teaching control method according to the present invention;

[0036] Figure 2This refers to the welding tool used in the welding teaching control method of the present invention;

[0037] Figure 3 This is the configuration interface for the welding tool of the present invention;

[0038] Figure 4 This is a schematic diagram of the software interface in the teaching mode of this invention. Detailed Implementation

[0039] The invention will be more readily understood by referring to the following detailed description of preferred embodiments and included examples. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. In case of conflict, the definitions in this specification shall prevail.

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Figure 1 This is a flowchart of a welding teaching control method provided in an embodiment of the present invention. The method is applied to a welding robot system equipped with welding tools and a teaching pendant, such as... Figure 1 As shown, the welding teaching control method includes:

[0042] Obtain relevant parameters and teaching requirements for the welding task; the relevant parameters for the welding task include at least welding trajectory parameters, welding equipment control parameters, and task management parameters, and the teaching requirements include the need to view key information;

[0043] Based on the relevant parameters of the welding task, the welding task is planned and set using welding tools;

[0044] In response to the operation of a specific button on the welding tool, the teach pendant enters a focused teaching mode; in the focused teaching mode, the teach pendant interface highlights key information related to the current welding task and hides other non-essential information.

[0045] Control the welding robot to perform welding actions according to the planned and set welding tasks.

[0046] In a preferred embodiment, the method further includes:

[0047] In the focused teaching mode, the interface layout is automatically adjusted according to the complexity of the welding task;

[0048] For simple welding tasks, use single-view mode;

[0049] For complex welding tasks, a multi-view split-screen mode is adopted.

[0050] In one implementation, the step of planning and setting up the welding task using welding tools based on relevant parameters of the welding task includes:

[0051] The welding tool is equipped with function buttons for planning the welding trajectory. The planning of the welding trajectory includes inserting straight lines, arcs, transition points, and editing or deleting the planned trajectory.

[0052] The control parameters of the welding equipment are set using the function buttons on the welding tool, including controlling the wire feeding and retraction of the welding machine;

[0053] Task management parameters can be set via function buttons on the welding tool, including creating a new welding task and running the currently edited welding task.

[0054] In one implementation, the step of responsively entering a focused teaching mode on the teach pendant in response to an operation of a specific button on the welding tool includes:

[0055] The system detects an operation command that a specific button on the welding tool has been pressed.

[0056] Based on the operation instructions, the teach pendant is triggered to adjust the display mode of the displayed content, enlarge the display of key information such as the current welding path and welding status, and hide unnecessary information such as the operation menu and equipment status.

[0057] In a preferred embodiment, the teaching pendant is triggered to adjust the display mode of the displayed content according to the operation instruction, and the specific process is as follows:

[0058] Layer Overlay: When an operation command is detected that a specific button on the welding tool has been pressed, a new rendering layer (Overlay Layer) is added above the teach pendant interface. This layer only displays welding programming-related information, such as welding trajectory, key point positions, welding task progress, etc., while other system interface elements (such as robot status, other function menus, etc.) are temporarily hidden. This layer overlay operation is triggered according to the operation command, thereby adjusting the display method of the teach pendant content.

[0059] Dynamic information adjustment: Key parameters (such as current welding point position, welding speed, welding power, etc.) are magnified to improve readability, enabling operators to obtain important information more clearly; high-contrast colors are used to distinguish different states, such as green indicating normal welding, red indicating warning, and yellow indicating pending status, allowing operators to quickly identify the welding status; users can customize the content to be displayed, such as choosing to display only the welding path or all welding parameters, to meet the personalized needs of different users.

[0060] Mode switching logic: When the operator presses the dedicated physical button or clicks the "Focus Mode" option on the touch screen, the system triggers mode switching, loads the Focus Mode interface, that is, adds the above-mentioned rendering layer and dynamically adjusts the information; when the button is pressed again or a specific operation is performed (such as long-pressing the back button), the interface returns to the standard mode, the rendering layer is removed, and the complete system information is displayed.

[0061] The focused teaching mode of this invention reduces the visual burden on the operator by avoiding a cluttered teach pendant interface, making welding programming tasks more intuitive and thus improving the efficiency of welding teaching. Simultaneously, it hides irrelevant functions, reducing accidental touches and unnecessary operations, thereby improving operational safety. In focused teaching mode, key welding information is magnified, allowing operators to clearly view the teaching interface content even when operating from a distance, enhancing the visualization of the welding process.

[0062] In one embodiment, the welding tool is mounted at the end of the welding robot's robotic arm and communicates with the welding robot via the Modbus protocol. The button functions on the welding tool can be customized through a configuration interface.

[0063] In one implementation, in the focused teaching mode, the teach pendant interface also provides real-time monitoring information for the welding task, including but not limited to real-time numerical changes in welding current and voltage, as well as motion status feedback of the welding robot.

[0064] In one implementation, the exit method for the focused teaching mode includes:

[0065] A specific button on the welding tool was activated again;

[0066] Or, if no operation command is input within a preset time;

[0067] Or it may receive a mode switching command from the teach pendant.

[0068] In one implementation, Figure 2 The welding tool described in this invention, such as Figure 2As shown, the welding tool includes at least function buttons and a directional joystick; preferably, the welding tool includes at least 6 function buttons and 1 directional joystick, wherein:

[0069] The function buttons can perform different functions by short pressing and long pressing;

[0070] The directional joystick is used to control the direction and speed of the welding robot's movement.

[0071] In one implementation, the interface provided by the teach pendant in the focused teaching mode includes:

[0072] The welding path planning view graphically displays the current welding trajectory;

[0073] The parameter monitoring view displays key parameters such as welding current and voltage in real time.

[0074] The task progress view displays the completion status of the current welding task.

[0075] In a preferred embodiment, Figure 3 A state diagram of the tool's configuration interface, such as... Figure 3 As shown, the welding tool is equipped with function buttons for planning the welding trajectory. The planning of the welding trajectory includes inserting straight lines, circular arcs, transition points, and editing or deleting planned trajectories. When a button on the tool is pressed, the software interface changes. Figure 4 The specific operations and functions are as follows:

[0076] Inserting a straight line trajectory: Click the corresponding function button to insert a straight line trajectory for straight welding paths; the operator can input the coordinates of the starting and ending points of the straight line trajectory in the teach pendant interface to complete the planning of the straight line trajectory.

[0077] Inserting an arc trajectory: Pressing the corresponding function button inserts an arc trajectory, suitable for scenarios requiring an arc path during welding. Operators can further modify the points of this arc trajectory in the teach pendant interface to precisely determine its shape and position.

[0078] Transition Point Insertion: A transition point can be inserted using specific function buttons. This transition point is used to smoothly connect different welding paths or weld multiple welds at once, making the welding process smoother. Additionally, the "Previous Line" and "Next Line" function buttons can be used to move the editing cursor up or down to insert a transition point at a specified location.

[0079] Track editing and deletion: When it is necessary to modify the planned track, the corresponding function buttons can be used to edit the track; if there are erroneous points, press the "Delete" function button to delete the inserted points.

[0080] In a preferred embodiment, the control parameters of the welding equipment are set using function buttons on the welding tool, including controlling the wire feeding and retraction of the welding machine, as detailed below:

[0081] Wire feed control: Pressing the "Wire Feed" function button controls the wire feed of the welding machine, typically used at the start of welding. Simultaneously, the operator can set the wire feed speed via the teach pendant interface to meet the requirements of different welding processes.

[0082] Wire retraction control: Pressing the "Wire Retraction" function button controls the wire retraction of the welding machine. It is generally used when welding is finished or when adjustments are needed.

[0083] In a preferred embodiment, task management parameters are set via function buttons on the welding tool. These settings include creating a new welding task and running the currently edited welding task, as detailed below:

[0084] Create a new welding task: Press the "Create New Welding" button to create a new welding task to start a new welding process. When creating the task, the operator needs to enter the necessary information such as task name and task number on the teach pendant interface. The system will automatically assign a unique identifier to the task.

[0085] Run the currently edited welding task: Click the "Run Task" button to run the currently edited welding task. Before running, the system will automatically pre-check the completeness of the task and the rationality of the parameters to ensure that the welding task can be executed smoothly.

[0086] In addition, the function buttons on the welding tool also have the following additional functions:

[0087] Simulation Switch: Pressing the "Simulation Switch" button will allow the robot to run the welding trajectory without performing actual welding. This function is used to observe whether the welding trajectory meets expectations and avoid errors during the actual welding process.

[0088] Motion mode switching: Clicking the "Motion mode switching" button allows you to switch between translation and rotation modes for the robot, which helps operators to accurately teach welding points.

[0089] Meanwhile, the configuration interface of the welding tool allows for the configuration of the function of each button, divided into long-press functions and short-press functions, to meet the usage habits of different operators and the diverse welding task requirements.

[0090] In one specific implementation, the overall process of the welding control teaching is as follows:

[0091] Enable Focused Teaching Mode: Press the specific button on the welding tool or the "Focus Mode" option on the teach pendant. A new layer will be added to the teach pendant interface, highlighting welding programming information (such as trajectory, key points, etc.), magnifying key parameters (welding point position, speed, etc.), using high-contrast colors to distinguish the status, hiding other irrelevant information, and allowing you to customize the displayed content.

[0092] Create a new task: Press and hold the "New Welding" button. The teach pendant will highlight the new task window in focus mode, enlarge the task name input box and process type selection area, automatically generate a task identifier, guide the input information, and eliminate other interference.

[0093] Insert initial point: Press and hold the "Transition Point" button to zoom in on the robot arm's coordinates, displaying only the trajectory insertion prompt and hiding irrelevant content. When fine-tuning with the joystick, the position changes are displayed in real time.

[0094] Teaching trajectory: Move the robotic arm to the welding position, and press and hold or short-press the "Straight Line" or "Arc" button. In Focus Mode, the drawn trajectory is highlighted, the parameter input area is enlarged, irrelevant information is hidden, and the fine-tuning parameters are displayed in real time when the robotic arm is fine-tuned;

[0095] Repeated teaching: Repeat the previous step according to the weld seam. Focus mode continuously highlights key information, provides visual feedback for operation buttons, hides irrelevant content, and facilitates trajectory adjustment;

[0096] To determine the endpoint: Press and hold the "Next" button or press and hold the "Transition Point" button to move the cursor, then press the "Transition Point" button to set the endpoint. In Focus Mode, the endpoint information and overall trajectory preview are enlarged, the trajectory is automatically checked, and problems are indicated by warning boxes.

[0097] Perform welding: Press and hold or short-press the "Run Task" button to start welding with the robotic arm. The focus mode interface displays welding progress, current, voltage, etc. in real time, and hides irrelevant functions. A red warning box will pop up and an alarm will sound in case of an anomaly.

[0098] Exit Focus Mode: After welding is complete, press a specific button or perform an operation (such as long-pressing the return button) to restore the teach pendant to standard mode and display complete system information.

[0099] This invention provides a welding teaching control method applied to a welding robot system equipped with welding tools and a teaching pendant. This method acquires welding task parameters and teaching requirements, plans and sets tasks using the welding tools, and activates the teaching pendant in a focused teaching mode via specific button operations. This mode highlights key information and hides unnecessary information, offering convenient overall operation. Various welding functions can be configured via buttons, enabling operators unfamiliar with the robot's interface and programming language to quickly complete welding path planning and wire control. It also improves work efficiency, reduces the frequency of teaching pendant operation, and allows operators to focus more on the welding process. Furthermore, it offers high flexibility; the welding tools mounted at the robot's end effector allow operators to move freely within the welding area and adjust welding parameters at any time. In addition, the "focused mode" highlights key information, facilitating remote viewing and reducing the possibility of misoperation.

[0100] The present invention also provides a welding robot system, comprising:

[0101] Welding robot body;

[0102] The welding tools and teaching pendant configured in the above-mentioned welding teaching control method;

[0103] The communication module is used to enable data interaction between welding tools, teach pendants, and welding robots.

[0104] The present invention also provides a computer-readable storage medium having a computer program stored thereon, characterized in that, when the computer program is executed by a processor, it implements the welding teaching control method as described above.

[0105] In this embodiment, the storage medium may include, but is not limited to, any type of disk (including floppy disk, hard disk, optical disk, CD-ROM, and magneto-optical disk), ROM (Read-Only Memory), RAM (Random Access Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic cards, or optical cards, and other media capable of storing program code.

[0106] It is obvious to those skilled in the art that the steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0107] It should be noted that other aspects of the welding teaching control method disclosed in this invention can be found in the prior art (for example, the servo system, servo driver, joint encoder, torque command, etc. involved in the embodiments of this invention can all be implemented using relevant technologies that are already mature in the field, which can be understood by those skilled in the art, and will not be described in detail here), and will not be described in detail here.

[0108] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A welding teaching control method, characterized in that, The method is applied to a welding robot system equipped with welding tools and a teach pendant, and the welding teaching control method includes: Obtain relevant parameters and teaching requirements for the welding task; the relevant parameters for the welding task include at least welding trajectory parameters, welding equipment control parameters, and task management parameters, and the teaching requirements include the need to view key information; Based on the relevant parameters of the welding task, the welding task is planned and set using welding tools; In response to the operation of a specific button on the welding tool, the teach pendant enters a focused teaching mode; in the focused teaching mode, the teach pendant interface highlights key information related to the current welding task and hides other non-essential information. Control the welding robot to perform welding actions according to the planned and set welding tasks.

2. The welding teaching control method according to claim 1, characterized in that, The process of planning and setting up welding tasks using welding tools, based on relevant parameters of the welding task, includes: The welding tool is equipped with function buttons for planning the welding trajectory. The planning of the welding trajectory includes inserting straight lines, arcs, transition points, and editing or deleting the planned trajectory. The control parameters of the welding equipment are set using the function buttons on the welding tool, including controlling the wire feeding and retraction of the welding machine; Task management parameters can be set via function buttons on the welding tool, including creating a new welding task and running the currently edited welding task.

3. The welding teaching control method according to claim 1, characterized in that, The response to an operation of a specific button on the welding tool, causing the teach pendant to enter a focused teaching mode, includes: The system detects an operation command that a specific button on the welding tool has been pressed. Based on the operation instructions, the teach pendant is triggered to adjust the display mode of the displayed content, enlarge the display of key information such as the current welding path and welding status, and hide unnecessary information such as the operation menu and equipment status.

4. The welding teaching control method according to claim 1, characterized in that, The welding tool is installed at the end of the welding robot's robotic arm and communicates with the welding robot via the Modbus protocol. The button functions on the welding tool can be customized through the configuration interface.

5. The welding teaching control method according to claim 1, characterized in that, In the focused teaching mode, the teach pendant interface also provides real-time monitoring information for the welding task, including but not limited to real-time changes in welding current and voltage, as well as motion status feedback of the welding robot.

6. The welding teaching control method according to claim 1, characterized in that, The exit methods for the focused teaching mode include: A specific button on the welding tool was activated again; Or, if no operation command is input within a preset time; Or it may receive a mode switching command from the teach pendant.

7. The welding teaching control method according to claim 1, characterized in that, The welding tool includes at least a function button and a directional joystick, wherein: The function buttons can perform different functions by short pressing and long pressing; The directional joystick is used to control the direction and speed of the welding robot's movement.

8. The welding teaching control method according to claim 1, characterized in that, The interface provided by the teach pendant in the focused teaching mode includes: The welding path planning view graphically displays the current welding trajectory; The parameter monitoring view displays key parameters such as welding current and voltage in real time. The task progress view displays the completion status of the current welding task.

9. A welding teaching control system, characterized in that, include: Welding robot body; The welding tools and teach pendant configured in the welding teaching control method as described in any one of claims 1-9; The communication module is used to enable data interaction between welding tools, teach pendants, and welding robots.

10. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the welding teaching control method as described in any one of claims 1-9.

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