Workpiece welding method, device and system, storage medium and program product

Abstract

The invention relates to a workpiece welding method, device and system, a storage medium and a program product. The method comprises the steps that welding teaching position information corresponding to welding seams among a plurality of workpieces is obtained; detecting a starting point offset corresponding to a starting point of the target welding bead based on the welding teaching position information; a welding bead included angle between the current sub-welding bead and the next sub-welding bead is obtained, and welding deviation position information of the target welding bead is detected according to the welding teaching position information, the starting point deviation amount and the welding bead included angle; and according to the welding deviation position information, the collaborative robot is controlled to conduct welding among the multiple workpieces along the target welding bead. By adopting the method, the workpiece can be reliably welded.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent manufacturing, and in particular to a workpiece welding method, device, system, storage medium and program product. BACKGROUND

[0002] In the field of welding, for complex welding parts, the welding seam is often not a regular straight line. For example, the welding seam formed by welding two welding parts together is a polyline, or there are corners and the like. In these cases, a straight line cannot be used to complete the welding task.

[0003] At present, the workpiece welding method can be realized by laser positioning. For example, a laser device is installed at the end of a collaborative robot. The laser device identifies the welding seam based on laser vision sensing technology, and then determines the position of the welding layer welding trace corresponding to the welding seam. The collaborative robot performs workpiece welding based on the position of the welding layer welding trace.

[0004] However, the current workpiece welding method still has the problem of being unreliable. SUMMARY

[0005] Therefore, it is necessary to provide a reliable workpiece welding method, device, system, computer equipment, computer readable storage medium and computer program product in view of the above technical problems.

[0006] In a first aspect, the present application provides a workpiece welding method, comprising:

[0007] obtaining welding seam position information corresponding to a plurality of workpieces; wherein the welding seam at least includes a target welding trace, the target welding trace at least includes a current sub-welding trace between a starting point and a turning point, and a next sub-welding trace between the turning point and a termination point;

[0008] detecting a starting point offset corresponding to the starting point of the target welding trace based on the welding seam position information;

[0009] obtaining a welding trace included angle between the current sub-welding trace and the next sub-welding trace, and detecting welding offset position information of the target welding trace according to the welding seam position information, the starting point offset and the welding trace included angle;

[0010] controlling a collaborative robot to weld between the plurality of workpieces along the target welding trace according to the welding offset position information.

[0011] In one embodiment, the welding offset position information of the target welding trace includes first offset position information of the starting point, second offset position information of the turning point and third offset position information of the termination point; and the welding offset position information of the target welding trace is detected according to the welding seam position information, the starting point offset and the welding trace included angle, comprising:

[0012] detecting first offset position information of the starting point according to the welding teaching position information and the starting point offset;

[0013] detecting second offset position information of the turning point according to the starting point offset, the welding angle and the first offset position information;

[0014] detecting third offset position information of the ending point according to the second offset position information.

[0015] In one embodiment, detecting the second offset position information of the turning point according to the starting point offset, the welding angle and the first offset position information comprises:

[0016] detecting expansion and contraction information of the turning point based on the starting point offset and the welding angle;

[0017] detecting initial first position information of the starting point and initial second position information of the turning point based on the welding teaching position information;

[0018] detecting sub-weld teaching length information of the current sub-weld according to the initial first position information and the initial second position information;

[0019] detecting the second offset position information of the turning point according to the expansion and contraction information, the sub-weld teaching length information and the first offset position information.

[0020] In one embodiment, the weld seam comprises at least one welding layer, and the target weld belongs to any welding layer. Detecting the starting point offset corresponding to the target weld based on the welding teaching position information comprises:

[0021] obtaining welding bevel type and welding layer number information of the weld seam;

[0022] in the case of a right-angle bevel, detecting right-angle bevel length information of the weld seam according to the welding teaching position information;

[0023] dividing the right-angle bevel length information according to the welding layer number information to obtain the starting point offset of the target weld.

[0024] In one embodiment, obtaining the welding layer number information of the weld seam comprises:

[0025] obtaining weld seam height information and welding layer height information of each welding layer corresponding to the weld seam;

[0026] detecting the welding layer number information corresponding to the weld seam according to the weld seam height information and the welding layer height information.

[0027] In one embodiment, the weld seam comprises at least a base welding layer, and the method further comprises:

[0028] When the target weld bead is in the base layer welding layer, according to the welding teaching position information, initial first position information corresponding to the starting point, initial second position information corresponding to the turning point and initial third position information corresponding to the ending point are detected;

[0029] According to the initial first position information, the initial second position information and the initial third position information, welding offset position information of the target weld bead in the base layer welding layer is detected.

[0030] In a second aspect, the present application further provides a workpiece welding device, the device further comprising:

[0031] A teaching position acquisition module is configured to acquire welding teaching position information corresponding to a weld joint between a plurality of workpieces, wherein the weld joint comprises at least one target weld bead, and the target weld bead comprises at least a current sub-weld bead between a starting point and a turning point, and a next sub-weld bead between the turning point and an ending point;

[0032] An offset amount detection module is configured to detect a starting point offset amount corresponding to the starting point of the target weld bead based on the welding teaching position information;

[0033] An offset position acquisition module is configured to acquire a weld bead included angle between the current sub-weld bead and the next sub-weld bead, and detect welding offset position information of the target weld bead according to the welding teaching position information, the starting point offset amount and the weld bead included angle;

[0034] A welding module is configured to control the collaborative robot to perform welding between the plurality of workpieces along the target weld bead according to the welding offset position information.

[0035] In a third aspect, the present application further provides a workpiece welding system, the system comprising:

[0036] A collaborative robot is configured to acquire welding offset position information of all target weld beads, and perform welding between a plurality of workpieces along the target weld bead based on the welding offset position information of each target weld bead;

[0037] A controller connected with the collaborative robot, the controller being configured to:

[0038] Acquire welding teaching position information corresponding to a weld joint between a plurality of workpieces, wherein the weld joint comprises at least one target weld bead, and the target weld bead comprises at least a current sub-weld bead between a starting point and a turning point, and a next sub-weld bead between the turning point and an ending point;

[0039] Detect a starting point offset amount corresponding to the starting point of the target weld bead based on the welding teaching position information;

[0040] an angle between the current sub-welding path and the next sub-welding path is obtained, and welding offset position information of the target welding path is detected according to the welding teaching position information, the start point offset and the angle between the welding paths;

[0041] According to the welding offset position information, the collaborative robot is controlled to perform welding between the multiple workpieces along the target welding path.

[0042] In a fourth aspect, the present application also provides a computer device, comprising a memory and a processor, the memory storing a computer program, and the processor implementing the following steps when executing the computer program:

[0043] obtaining welding teaching position information corresponding to a welding seam between multiple workpieces; wherein the welding seam at least comprises a target welding path, and the target welding path at least comprises a current sub-welding path between a start point and a turning point, and a next sub-welding path between the turning point and an end point;

[0044] detecting a start point offset corresponding to the start point of the target welding path based on the welding teaching position information;

[0045] obtaining an angle between the current sub-welding path and the next sub-welding path, and detecting welding offset position information of the target welding path according to the welding teaching position information, the start point offset and the angle between the welding paths;

[0046] According to the welding offset position information, the collaborative robot is controlled to perform welding between the multiple workpieces along the target welding path.

[0047] In a fifth aspect, the present application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the following steps:

[0048] obtaining welding teaching position information corresponding to a welding seam between multiple workpieces; wherein the welding seam at least comprises a target welding path, and the target welding path at least comprises a current sub-welding path between a start point and a turning point, and a next sub-welding path between the turning point and an end point;

[0049] detecting a start point offset corresponding to the start point of the target welding path based on the welding teaching position information;

[0050] obtaining an angle between the current sub-welding path and the next sub-welding path, and detecting welding offset position information of the target welding path according to the welding teaching position information, the start point offset and the angle between the welding paths;

[0051] According to the welding offset position information, the collaborative robot is controlled to perform welding between the multiple workpieces along the target welding path.

[0052] In a sixth aspect, the present application also provides a computer program product, comprising a computer program, and the computer program is executed by a processor to implement the following steps:

[0053] obtain welding teaching position information corresponding to the welding seam between the plurality of workpieces, wherein the welding seam at least includes a target weld, and the target weld at least includes a current sub-weld between a starting point and a turning point, and a next sub-weld between the turning point and an ending point;

[0054] detect a starting point offset corresponding to the starting point of the target weld based on the welding teaching position information;

[0055] obtain a welding angle between the current sub-weld and the next sub-weld, and detect welding offset position information of the target weld according to the welding teaching position information, the starting point offset, and the welding angle;

[0056] control the collaborative robot to perform welding between the plurality of workpieces along the target weld according to the welding offset position information.

[0057] The workpiece welding method, device, system, computer device, computer readable storage medium, and computer program product provided in the above embodiment can be more reliable. The welding teaching position information corresponding to the welding seam between the plurality of workpieces is obtained, and the starting point offset corresponding to any sub-weld combination in the target weld, i.e., the current sub-weld and the next sub-weld connected to each other, is detected. Then, the welding angle between the current sub-weld and the next sub-weld is obtained, and the welding offset position information of the target weld is detected according to the welding teaching position information, the starting point offset, and the welding angle. The collaborative robot can be controlled to accurately weld the welding seam of the workpiece. In the whole process, the interference of additional devices such as a laser is reduced, the scheme is simple, and any turning weld welding scene can be adapted to by using the welding teaching position information. Therefore, the workpiece welding operation can be more reliably implemented. BRIEF DESCRIPTION OF DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the drawings needed to be used in the description of the embodiments of the present application or the related art will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can obtain other related drawings without creative labor on the basis of these drawings.

[0059] Figure 1 An application environment diagram of the workpiece welding method in an embodiment;

[0060] Figure 2A flowchart of a workpiece welding method in one embodiment;

[0061] Figure 3 A flowchart of a workpiece welding method in another embodiment;

[0062] Figure 4 A front view of a welding piece in one embodiment;

[0063] Figure 5 A side view of a welding piece in one embodiment;

[0064] Figure 6 A schematic diagram of a target welding path after offset in one embodiment;

[0065] Figure 7 A structural block diagram of a workpiece welding device in one embodiment;

[0066] Figure 8 An internal structural diagram of a computer device in one embodiment. DETAILED DESCRIPTION

[0067] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are used to explain the present application and are not intended to limit the present application.

[0068] In the field of workpiece welding, for complex welding pieces, the welding seam is often not a regular straight line, such as a welding path in the scenario where two welding pieces are welded together to form a welding seam that is a polyline or has a corner, etc. These cannot be completed by only showing a straight line to perform the welding task.

[0069] For larger and thicker workpieces, many layers and many paths need to be welded, and the welding routes of different layers and different paths are not the same. Each path needs to be offset based on the original point. More complex is that the offset direction is also changed after the welding path turns, such as the initial offset is 2mm in the positive direction along the X coordinate axis, and the offset direction should also be changed after the welding path turns, instead of continuing to offset along the X axis. If the offset calculation continues to follow the original X axis, the offset result will be wrong. And the welding pieces are placed randomly in the actual production site, and the welding path cannot be placed on the standard X axis or Y axis, so the offset data of the two coordinate axes after the turn often needs to be modified, and the calculation is more complex.

[0070] At present, for such workpieces, the workpiece welding method can be realized by laser positioning, for example, by installing a laser device at the end of the collaborative robot, the laser device identifies the welding seam based on laser vision sensing technology, and then determines the position of the welding layer weld corresponding to the welding seam, and the collaborative robot will weld the workpiece based on the position of the welding layer weld.

[0071] However, in a relatively narrow and turning welding seam space, this method has certain limitations and cannot adapt to any straight line straight line turning scene, and is not reliable enough.

[0072] Therefore, the present application provides a more reliable workpiece welding method, by obtaining the welding teaching position information corresponding to the welding seam between the plurality of workpieces, any sub-weld combination in the target weld, i.e. the current sub-weld and the next sub-weld connected to each other, the starting point offset corresponding to the starting point is detected, and then the welding angle between the current sub-weld and the next sub-weld is obtained, i.e. according to the welding teaching position information, the starting point offset and the welding angle, the welding offset position information of the target weld is detected to control the collaborative robot to accurately weld the welding seam of the workpiece. In the whole process, the interference of additional laser and other devices is reduced, the scheme is simple, and any turning weld welding scene can be adapted by welding teaching position information, so that the workpiece welding operation can be more reliably realized.

[0073] The workpiece welding method provided by the embodiments of the present application can be applied to the application environment as shown in Figure 1 The terminal 102 communicates with the workpiece welding system 104 through the network, and the workpiece welding system 104 includes a collaborative robot 106 and a controller 108. The collaborative robot 106 and the controller 108 communicate with each other, and the collaborative robot 106 is used for welding between a plurality of workpieces along a target weld. The data storage system can store the data required by the controller 108 to process. The data storage system can be integrated on the controller 108, or placed on the cloud or other network servers.

[0074] The user triggers a workpiece welding control on a workpiece welding interface of the terminal 102, the terminal 102 generates a workpiece welding request in response to the triggering request of the workpiece welding control, and sends the workpiece welding request to the controller 108 in the workpiece welding system 104, the controller 108 acquires welding teaching position information corresponding to a weld joint between a plurality of workpieces; wherein the weld joint at least includes a target weld, and the target weld at least includes a current sub-weld between a starting point and a turning point, and a next sub-weld between the turning point and a termination point; based on the welding teaching position information, a starting point offset corresponding to the starting point of the target weld is detected; a weld angle between the current sub-weld and the next sub-weld is acquired, and welding offset position information of the target weld is detected according to the welding teaching position information, the starting point offset and the weld angle; the controller 108 pushes the welding offset position information to the collaborative robot 106, so that the collaborative robot 106 performs welding between the plurality of workpieces along the target weld according to the welding offset position information.

[0075] The terminal 102 can be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, Internet of Things devices, and portable wearable devices. The Internet of Things device can be a smart speaker, a smart television, a smart air conditioner, a smart vehicle-mounted device, a projection device, etc. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, etc. The head-mounted device can be a virtual reality (VR) device, an augmented reality (AR) device, smart glasses, etc. The controller 108 can be a standalone physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services.

[0076] In an exemplary embodiment, as shown in Figure 2 , a workpiece welding method is provided, which is applied to the controller 108 in Figure 1 for example. Wherein:

[0077] S100, acquiring welding teaching position information corresponding to a weld joint between a plurality of workpieces; wherein the weld joint at least includes a target weld, and the target weld at least includes a current sub-weld between a starting point and a turning point, and a next sub-weld between the turning point and a termination point.

[0078] The weld joint is a joint formed by melting and connecting the electrode and the metal at the joint by using the high temperature of the welding heat source. The initial weld joint in the present application is not welded, and is formed between at least two stacked workpieces, such as a fillet weld.

[0079] A welding bead refers to a continuous welding seam metal formed by one arc striking to arc extinguishing during welding, which is a basic unit of a welding layer. Therefore, it can be considered that a welding seam includes at least one welding bead, and the target welding bead can be any one of multiple welding beads, wherein the target welding bead is an irregular polyline, which can be a closed loop welding bead or a non-closed loop welding bead.

[0080] In the present application, the number of sub-welding beads of the target welding bead is not limited, the target welding bead includes at least one sub-welding bead combination, each sub-welding bead combination includes a current sub-welding bead between a starting point and a turning point, and a next sub-welding bead between the turning point and a termination point, the next sub-welding bead in each sub-welding bead combination can be the current sub-welding bead in another sub-welding bead combination, that is, the current sub-welding bead is the previous sub-welding bead of the next sub-welding bead, the current sub-welding bead and the next sub-welding bead are connected through the corresponding turning point, and the included angle between the current sub-welding bead and the next sub-welding bead is not unique, and can be multiple angle relationships. Since multiple sub-welding beads are included in each target welding bead, each sub-welding bead can be a current sub-welding bead except the last sub-welding bead, and each sub-welding bead can be a next sub-welding bead except the first sub-welding bead.

[0081] The starting point refers to the position of the electrode or welding gun striking the arc and establishing the welding arc at the beginning of welding, the turning point refers to the position where the welding trajectory needs to change direction, and the termination point refers to the position of the arc extinguishing at the end of welding. The advancing direction of the welding bead is Point A →Point B →Point C , Point A is the position of the starting point, Point B is the position of the turning point, and Point C is the position of the termination point. The included angle between the current sub-welding bead and the next sub-welding bead can be any size. For example, in the case of a target welding bead being a polyline composed of straight lines, the target welding bead includes a first straight line sub-welding bead between the starting point and the turning point, and a second straight line sub-welding bead between the turning point and the termination point.

[0082] Specifically, at least two workpieces are stacked together to form a welding seam, and the shape of the workpiece is not unique, and the stacking form is also not unique. The welding seam can be composed of multiple layers and multiple welding beads, that is, the welding seam includes at least one welding layer, and each welding layer includes at least one welding bead.

[0083] Further, in order to weld the weld seam, the welding process needs to be taught in advance to obtain the welding teaching position information of the weld seam, wherein the welding teaching position information of the weld seam can include the entire teaching trajectory information, or the teaching position information of the starting point of any welding bead, the teaching position information of the turning point and the teaching position information of the termination point. In addition, the basic information such as the rotation angle of the collaborative robot issued by the teaching device can also be obtained.

[0084] In one embodiment, the weld seam formed between the plurality of workpieces needs to be taught once to weld a plurality of layers and a plurality of welding beads; wherein the weld teaching welding bead is taught by taking one point as the starting point, for example, taking the current position of the welding torch as the starting point of the welding bead; the first layer is only required to weld one sub-welding bead, and the subsequent layers are sequentially accumulated, i.e., the second layer needs to weld two sub-welding beads, the third layer needs to weld three sub-welding beads, and so on. Therefore, the teaching device can teach a plurality of sub-welding beads, and the plurality of sub-welding beads are connected together to form a welding bead, which can be a closed loop or not. For example, a plurality of straight-line welding beads are connected together to form a polyline welding bead.

[0085] It should be noted that each layer of welding bead needs to cover the edge of the next layer to form a "stepwise" superposition, so the coverage width of the upper layer is greater than that of the lower layer, and more sub-welding beads are required, which is not strictly increased according to "1→2→3", but "the number of sub-welding beads of the upper layer ≥ the number of sub-welding beads of the lower layer" is the basic rule of multi-layer multi-pass welding.

[0086] S200, detecting a starting point offset corresponding to a starting point of a target welding bead based on the welding teaching position information.

[0087] Wherein, the offset refers to the offset of each coordinate axis in the three-dimensional coordinate system, which is represented by a triple. The target welding bead of the present application includes a plurality of sub-welding beads, and the number of sub-welding beads is not limited. Different sub-welding beads have different offsets, but the size of the offset sub-welding bead and the basic target welding bead is equal.

[0088] Specifically, for larger and thicker workpieces, the weld seam needs to be welded by many layers and many passes, and the welding routes of different layers and different passes are different, and each pass needs to be offset based on the original point. Therefore, based on the welding teaching position information, the starting point offset corresponding to the starting point of the target welding bead is detected.

[0089] It should be noted that in the case where the weld seam of the workpiece includes multiple layers and multiple passes, the welding bead in the first layer of welding layer will not be offset; the welding bead in the second layer of welding layer will be offset to different degrees according to the welding teaching position information. Therefore, based on the welding teaching position information, the starting point offset corresponding to the starting point of the target welding bead is actually the offset of the welding bead of the welding layer other than the first layer.

[0090] Further, when detecting the starting point offset of the target welding bead based on the welding teaching position information, the starting point teaching position information corresponding to the starting point can be detected from the welding teaching position information, the starting point welding position information after the starting point offset is detected, and finally, based on the starting point teaching position information corresponding to the starting point and the starting point welding position information on the target welding bead, the starting point offset of the starting point on the target welding bead is detected.

[0091] That is, in the present application, the starting point first calculates the initial starting point offset according to the teaching point position, and the offset of each straight line bead in the subsequent welding layer is calculated according to the offset of the previous sub-welding bead in the same welding layer.

[0092] It needs to be explained that after the welding bead turns, the sub-welding bead has changed relative to the coordinate axis, so the offset of other points after the turn needs to be recalculated. Therefore, in the present application, the starting point is taken as an example, the starting point offset of the starting point is first determined, and then the offsets of other points on the target welding bead are determined based on the starting point offset of the starting point.

[0093] S300, the welding angle between the current sub-welding bead and the next sub-welding bead is obtained, and the welding offset position information of the target welding bead is detected according to the welding teaching position information, the starting point offset and the welding angle.

[0094] Among them, the current sub-welding bead is the sub-welding bead formed by the starting point and the turning point in the target welding bead, and the next sub-welding bead is the sub-welding bead formed by the turning point and the termination point in the target welding bead.

[0095] Specifically, the sub-welding bead formed by the starting point and the turning point in the target welding bead is taken as the current sub-welding bead of the target welding bead, and the sub-welding bead formed by the turning point and the termination point in the target welding bead is taken as the next sub-welding bead of the target welding bead. The welding angle between the current sub-welding bead and the next sub-welding bead is detected, which is not necessarily a right angle, but can be any angle.

[0096] According to the welding teaching position information, the starting point offset and the welding angle, the first offset position information of the starting point, the second offset position information of the turning point and the third offset position information of the termination point in the target welding bead can be accurately detected.

[0097] Further, in the case where the welding teaching position information includes the teaching position information of multiple welding points in addition to the starting point, the turning point and the termination point, the welding offset position information of the target welding bead includes not only the starting point offset position information, the turning point offset position information and the termination point offset position information, but also the offset position information of multiple welding points in the target welding bead.

[0098] S400, according to the welding offset position information, the collaborative robot is controlled to weld between multiple workpieces along the target welding bead.

[0099] Specifically, the welding offset position information is pushed to the collaborative robot, the welding offset position information is substantially any sub-bead combination of the target bead, that is, the welding offset position information corresponding to the current sub-bead and the next sub-bead, and the collaborative robot takes the welding offset position information as its own motion trajectory to weld between the multiple workpieces along the current sub-bead and the next sub-bead in the target bead. Further, welding offset position information corresponding to all sub-bead combinations of the target bead needs to be obtained to weld between the multiple workpieces along the target bead.

[0100] Further, the end of the collaborative robot is provided with a welding device such as a welding gun, and the collaborative robot takes the welding offset position information as its own motion trajectory, actually instructs the motion trajectory of the welding gun according to the welding offset position information of all sub-bead combinations, and further controls the welding gun to weld between the multiple workpieces along the target bead.

[0101] In one embodiment, the welding device is a welding gun, and after the multiple straight lines are connected together, the welding gun is welded on the outside of the bead, that is, starts to weld on the side with a larger included angle between the straight lines; since the weld is curved, in order to prevent the gun from colliding, at least one transition point needs to be taught after the arc is collected in the multi-layer and multi-pass welding, and the transition point has no special requirements, and only needs to ensure that the welding gun can safely move from the end point of the current bead to the start point of the next bead without colliding with the workpiece; after each layer and each pass of the welding gun is completed, the welding gun will return to the transition point; for example, the welding gun starts from the second layer, and when a new layer and pass is welded, the welding gun needs to move from the transition point to the offset start point directly, instead of returning to the taught reference point first and then moving from the reference point to the offset point.

[0102] In the above workpiece welding method, at present, the workpiece welding method based on laser positioning has certain limitations in relatively narrow and curved weld spaces, and is not reliable enough, because a laser device needs to be installed at the end of the collaborative robot; the present application provides a more reliable workpiece welding method, which can detect the start point offset of any sub-bead combination in the target bead, that is, the current sub-bead and the next sub-bead connected to each other, by obtaining the welding teaching position information corresponding to the weld between the multiple workpieces, and then obtain the bead included angle between the current sub-bead and the next sub-bead, and detect the welding offset position information of the target bead according to the welding teaching position information, the start point offset and the bead included angle, so as to control the collaborative robot to accurately weld the weld of the workpiece. In the whole process, the interference of additional laser devices is reduced, the scheme is simple, and any curved bead welding scene can be adapted through the welding teaching position information, so that the workpiece welding operation can be more reliably realized.

[0103] In an exemplary embodiment, the welding offset position information of the target weld bead comprises first offset position information of the starting point, second offset position information of the turning point, and third offset position information of the ending point. Figure 3 As shown in FIG. 3, S300 comprises:

[0104] S310, acquiring a weld bead included angle between the current sub-weld bead and the next sub-weld bead.

[0105] S320, detecting the first offset position information of the starting point according to the welding teaching position information and the starting point offset.

[0106] S330, detecting the second offset position information of the turning point according to the starting point offset, the weld bead included angle, and the first offset position information.

[0107] S340, detecting the third offset position information of the ending point according to the second offset position information.

[0108] Specifically, in the case that the target weld bead comprises at least two sub-weld beads, the welding teaching position information comprises at least starting point teaching position information of the starting point, turning point teaching position information of the turning point, and ending point teaching position information of the ending point.

[0109] At this time, according to the starting point teaching position information and the starting point offset, the first offset position information of the starting point can be detected, and the means can be that the starting point teaching position information and the starting point offset are added to obtain the first offset position information of the starting point. For example, let the starting point teaching position information be Point A , and the starting point offset be offset, then the first offset position information of the starting point Point Atarget = Point A +offset. At this time, the absolute distance of the offset can also be regarded as the distance between Point Atarget and Point A , recorded as distance.

[0110] Further, the calculation method of the position vector information of any sub-weld bead in the target weld bead is that the coordinate of the ending point is subtracted from the coordinate of the starting point. Therefore, according to the starting point teaching position information and the turning point teaching position information, the first position vector information of the current sub-weld bead can be obtained; and according to the turning point teaching position information and the ending point teaching position information, the second position vector information of the next sub-weld bead can be obtained.

[0111] Further, when detecting the second offset position information of the turning point, since the turning point and the starting point are both on the current sub-welding trace, the starting point offset of the starting point can be taken as the initial offset of the turning point. Since the turning point is an intermediate point on the target welding trace, the original position information of the turning point also needs to be expanded and scaled, and the second offset position information of the turning point is updated by combining the expansion and scaling amount and the initial offset, so as to detect the second offset position information of the turning point.

[0112] The original position information of the turning point needs to be expanded and scaled with the participation of the welding trace included angle between the current sub-welding trace and the next sub-welding trace, that is, the expansion and scaling amount information of the turning point is detected according to the welding trace included angle between the current sub-welding trace and the next sub-welding trace.

[0113] Further, since the target welding trace turns, the coordinate axis of the next sub-welding trace relative to the current sub-welding trace has changed, so the offset of the ending point in the next sub-welding trace cannot be calculated according to the offset of the starting point, but needs to be recalculated. The ending point is the end point, and at this time, no expansion and scaling are performed, so the third offset position information of the ending point can be directly detected based on the second offset position information of the turning point in the same sub-welding trace as the ending point.

[0114] The third offset position information of the ending point is detected based on the second offset position information of the turning point in the same sub-welding trace as the ending point, including: detecting the third offset position information of the ending point based on the second offset position information and the second position vector information of the next sub-welding trace.

[0115] For example, the second offset position information of the turning point is Point Btarget = Point B +offset, wherein Point B is the initial second position information of the turning point without offset, offset is the offset of the starting point, and the second position vector information of the next sub-welding trace is vector BC , and the third offset position information of the ending point is Point Ctarget = vector BC +Point Btarget .

[0116] In one embodiment, the first offset position information of the starting point and the second offset position information of the turning point can be checked in combination with the first position vector information of the current sub-welding trace. The checking manner can be: based on the first offset position information of the starting point and the second offset position information of the turning point, detecting the first offset position vector information of the current sub-welding trace, judging whether the first position vector information is parallel to the first offset position vector information, if yes, the checking of the first offset position information and the second offset position information of the turning point is passed; if no, the checking of the first offset position information and the second offset position information of the turning point is failed.

[0117] In the above embodiment, when detecting the second offset position information of the turning point, the second offset position information of the turning point is not directly detected according to the offset amount of the starting point in the same sub-welding trace as the turning point, but is accurately detected in combination with the expansion and contraction amount of the turning point and the initial offset amount; when detecting the third offset position information of the termination point, since the termination point and the starting point are not in the same sub-welding trace, the third offset position information of the termination point cannot be detected by the offset amount of the starting point, but is accurately detected according to the second offset position information of the turning point.

[0118] In one exemplary embodiment, the second offset position information of the turning point is detected according to the starting point offset amount, the welding trace included angle and the first offset position information, which comprises:

[0119] The expansion and contraction amount information of the turning point is detected based on the starting point offset amount and the welding trace included angle; the initial first position information of the starting point and the initial second position information of the turning point are detected based on the welding teaching position information; the sub-welding trace teaching length information of the current sub-welding trace is detected according to the initial first position information and the initial second position information; and the second offset position information of the turning point is detected according to the expansion and contraction amount information, the sub-welding trace teaching length information and the first offset position information.

[0120] Specifically, the starting point offset amount is the offset amount of the first offset position after the starting point offset relative to the starting point teaching position information, which is an absolute offset amount. Specifically, the starting point offset amount distance = |first offset position - starting point teaching position information|. The welding trace included angle is the included angle between the current sub-welding trace and the next sub-welding trace, the current sub-welding trace being the sub-welding trace formed by the starting point and the turning point in the target welding trace, and the next sub-welding trace being the sub-welding trace formed by the turning point and the termination point in the target welding trace.

[0121] At this time, since the turning point is the middle point of the target welding trace, when detecting the third offset position information of the turning point, the turning point after offset needs to be expanded and contracted again to obtain the accurate second offset position information of the turning point.

[0122] That is, first, initial first position information of a starting point and initial second position information of a turning point are detected based on the welding teaching position information, the initial first position information is substantially the same as initial first position information of starting point teaching position information of the starting point in the welding teaching position information, and the initial second position information is substantially the same as initial second position information of turning point teaching position information of the turning point in the welding teaching position information.

[0123] Therefore, based on the initial first position information and the initial second position information, sub-weld teaching length information of a current sub-weld can be obtained; finally, expansion and contraction ratio information of the current sub-weld is detected according to the expansion and contraction amount information and the sub-weld teaching length information, and vector position information of the current sub-weld is detected according to the initial first position information and the initial second position information, second offset position information of the turning point is detected based on the expansion and contraction ratio information, the vector position information, and the first offset position information.

[0124] For example, the starting point is A, the un-offset position information of which is Point A , the first offset position information of which after offset is Point Atarget , the turning point is B, the un-offset position information of which is Point B , the termination point is C, the un-offset position information of which is Point C , and the vector vector AB is the vector position information of the current sub-weld, that is, the vector of the current sub-weld AB is vector AB = Point B - Point A , the vector vector BC is the vector position information of the next sub-weld BC, that is, the vector of the next sub-weld BC is vector BC = Point C - Point B , the starting point offset distance is distance, the welding angle between the current sub-weld and the next sub-weld is θ, and at this time:

[0125] According to the initial first position information Point A and the initial second position information Point B , the sub-weld teaching length information of the current sub-weld is length AB ; similarly, the sub-weld teaching length information of the next sub-weld can also be detected as length BC according to the initial second position information Point B and the initial third position information Point C of the un-offset termination point.

[0126] The expansion / contraction information is the absolute distance of the offset multiplied by the sine of the included angle. Therefore, based on the starting point offset distance and the weld bead angle θ, the expansion / contraction information of the turning point is detected. Then, based on the expansion / contraction information at the turning point (extend) and the current sub-weld teach length information (length),... AB Detect scaling ratio information: rate = (extend + length) AB ) / length AB Finally, based on the scaling ratio information (rate) and the sub-weld teach length information (length)... AB and the first offset position information Point Atarget Detect the second offset position information of the turning point (Point) Btarget =vector AB [(extend+length) AB ) / length AB ]+Point Atarget And after calculation, the second offset position information Point Btarge Point with first offset position information Atarget The constructed vector and vector AB They are parallel.

[0127] In the above embodiments, the expansion and contraction information of the turning point can be accurately detected by the starting point offset and the weld bead angle. Based on the first offset position information and expansion and contraction information of the starting point, the second offset position information of the turning point can be accurately calculated on the vector position information of the initial teaching.

[0128] In an exemplary embodiment, the weld seam includes at least one weld layer, and the target weld bead belongs to any one of the weld layers. Based on the welding teaching position information, the starting point offset of the target weld bead is detected, including:

[0129] Obtain the welding groove type and weld layer number information of the weld; when the welding groove type is a right-angle groove, detect the right-angle groove length information of the weld according to the welding teaching position information; divide the right-angle groove length information according to the weld layer number information to obtain the starting point offset of the target weld.

[0130] In this context, a weld layer refers to the layer of weld metal that is deposited layer by layer from bottom to top along the thickness direction of the weld during the welding process. Each layer may consist of one or more weld passes, and the target weld pass in this application belongs to any weld layer. The number of weld layers refers to the number of weld layers required to complete a weld during the welding process, and its number depends on factors such as the thickness of the weld, the welding method, the welding process parameters, and the material properties.

[0131] From the relative position between the welding pieces, the welding groove type of the weld includes a right-angle groove, a butt joint groove, etc. The right-angle groove refers to the weld corresponding to the welding pieces perpendicular to each other or at a certain angle (non-parallel), and the cross section of the weld is a right-angled triangle (or concave / convex).

[0132] Specifically, the welding groove type of the weld between the stacked multiple workpieces is acquired, and the weld layer number information required for welding the weld is acquired.

[0133] The welding groove type of the weld is mainly right-angle groove in the present application, and therefore, in the case where the welding groove type of the weld is right-angle groove, the starting point offset of the target welding bead can be detected according to the welding teaching position information of the weld and the weld layer number information.

[0134] Specifically, the right-angle groove length information of the weld is determined according to the welding teaching position information of the weld, and the right-angle groove length information of the weld is the trajectory extending from the joint point of the stacked multiple workpieces to the edge point of the workpiece.

[0135] The welding groove type of the weld can be determined by the three teaching points, for example, as shown in the front view of the welding piece in Figure 4 In the case where the workpiece 1 and the workpiece 2 are stacked, the welding groove type of the weld is determined as right-angle groove by determining the three teaching points P1, P2 and P3.

[0136] The right-angle groove length information of the weld is P1P2 and P1P3, P1P2 can be regarded as a continuous welding trajectory of the welding bead, which is the welding bead part extending from the joint point (P1) of the welding piece 2 to the edge point (P2) of the welding piece 2 on the welding piece 2, bears the relevant welding nodes (such as the transition of the joint starting arc, the transition to the turning point, etc.) on the welding piece 2, and guarantees the formation and connection of the weld on the welding piece 2; P1P3 belongs to the welding bead extension trajectory on the welding piece 1, which is the welding bead extending from the joint point (P1) between the welding pieces to another node (P3) of the welding piece 1, used to build the weld part on the welding piece 1, and form a complete joint with the weld of the welding piece 2, and guarantee the connection strength between the welding pieces.

[0137] At this time, the right-angle groove length information can be divided according to the weld layer number information to obtain the starting point offset of the target welding bead, that is, the right-angle groove length information is uniformly divided according to the weld layer number information, and the side view of the welding piece is as shown in Figure 5As shown, if the welding process requires two layers after calculation, then the right-angle bevel length information P1P3 is divided into two parts, with the midpoint being P4. Similarly, the right-angle bevel length information P1P2 is also divided into two parts, with the midpoint being P5. P4 and P5 are then designated as the starting points for the two passes of the second layer. The offset of the starting point for the first pass of the second layer is set to offset = P4 - P1, and the offset of the starting point for the second pass of the second layer is set to offset = P5 - P1.

[0138] Furthermore, if the number of weld passes X is greater than 2, then P1P2 and P1P3 are divided into (X-1) equal parts, and the equalization points are taken for each part. If the equalization points are P4 and P5 respectively, then the line P4P5 is further divided into (X-1) equal parts, and the equalization points P are taken for each part. x Then P x Subtracting the starting point P1 gives the offset of that pass. For example, if the fourth layer requires four passes, then P4P5 is divided into three equal parts, resulting in two equal division points P. x These two dividing points, along with P4 and P5, are the starting points of these four passes, respectively. The initial offsets of these four passes are the four points minus P1, meaning that the starting point offset of the weld pass at this point is offset = P1. x -P1.

[0139] It needs to be explained that the offset of the first weld layer is 0, that is, there is no offset in the first weld layer. The position information during welding is based on the points taught by the teach pendant. Starting from the second weld layer, the position information during welding is offset according to the points taught. At the same time, the length will also be stretched or contracted proportionally according to the angle between the weld beads.

[0140] In the above embodiments, when the welding groove type is a right-angle groove, the starting point offset of the target weld can be accurately determined based on the welding teaching position information and the number of weld layers.

[0141] In one exemplary embodiment, obtaining the weld layer number information of the weld seam includes:

[0142] Obtain the weld height information of the weld and the weld layer height information of each weld layer corresponding to the weld; based on the weld height information and the weld layer height information, detect the number of weld layers corresponding to the weld.

[0143] Specifically, the weld height information of the weld and the weld layer height information of each weld layer corresponding to the weld are taught by the teach pendant. Since the weld height information is the product of the weld layer height information and the weld layer number information, the weld layer number information corresponding to the weld can be detected based on the weld height information and the weld layer height information. For example, if the weld height information of the right-angle bevel initially taught by the teach pendant is H and the height of each layer is set to h, then the weld layer number information corresponding to the weld is L=H / h.

[0144] In the above embodiment, the weld layer number information corresponding to the weld seam can be accurately detected by the weld seam height information of the weld seam and the weld layer height information of each weld layer corresponding to the weld seam.

[0145] In an exemplary embodiment, the weld seam at least includes a base weld layer, and the workpiece welding method further comprises:

[0146] When the target weld is in the base weld layer, the initial first position information corresponding to the starting point, the initial second position information corresponding to the turning point, and the initial third position information corresponding to the ending point are detected according to the welding teaching position information; and the welding offset position information of the target weld in the base weld layer is detected according to the initial first position information, the initial second position information, and the initial third position information.

[0147] Specifically, when the target weld is in the base weld layer, that is, the bottommost weld, the position information of the welding has no offset, and therefore, the initial first position information corresponding to the starting point, the initial second position information corresponding to the turning point, and the initial third position information corresponding to the ending point can be directly obtained according to the welding teaching position information. That is, the welding offset position information of the target weld can be directly generated according to the initial first position information, the initial second position information, and the initial third position information, so as to push the welding offset position information of the target weld to the collaborative robot, and further control the collaborative robot to weld the target weld in the base weld layer according to the welding offset position information of the target weld.

[0148] In the above embodiment, the target weld in the base weld layer is directly welded according to the welding teaching position information, so that the target weld in the base weld layer can be accurately welded.

[0149] Taking the weld seam formed between two workpieces as a turning weld seam as an example, at this time, the target weld is a polyline weld formed by a plurality of straight line sub-welds. Taking two connected sub-welds in the target weld, that is, a first straight line sub-weld and a second straight line sub-weld, as an example, the workpiece welding method will be described in detail in a most detailed embodiment, as follows:

[0150] S1: all welds of the first layer and the first pass are offset by a fixed position 0;

[0151] S2: the vector calculation method of any straight line weld of each layer and each pass is to subtract the coordinates of the starting point from the coordinates of the ending point;

[0152] S3: the starting point of a certain weld is denoted as Point Originbegin , the ending point is denoted as Point Originend , the offset point is denoted as Point AfterOffsetbegin and Point tAfterOffsetend;

[0153] S4: The offset of each sub-welding line in each layer is calculated by the shape of the teaching, and the initial offset is recorded as offset; curr , the next sub-welding line of the current sub-welding line is recorded as vector next ;

[0154] S5: The offset of the first straight sub-welding line in each layer is calculated by the shape of the teaching, and the initial offset is recorded as offset;

[0155] S6: The distance of each straight sub-welding line in each layer relative to the initial welding line is equal, and the distance is recorded as distance;

[0156] S7: The angle between the current sub-welding line and the next sub-welding line is recorded as θ;

[0157] S8: Starting from the first straight sub-welding line in each layer, except for the last sub-welding line, after calculating the offset, the expansion amount is also calculated according to the angle between the current sub-welding line and the next sub-welding line, and the length of the expansion is recorded as extend, and the calculation method is ;

[0158] S9: The offset of each sub-welding line in each layer is parallel to the sub-welding line before offset, and the initial length of the current sub-welding line is recorded as length;

[0159] S10: From the end point of each sub-welding line in each layer, the offset point is expanded according to the expansion ratio, and the expansion ratio rate is calculated according to the angle between the current sub-welding line and the next sub-welding line, and the calculation method is rate=(extend+length) / length;

[0160] S11: The final calculation method of the end position point of each sub-welding line in each layer (except for the last sub-welding line) is:

[0161]

[0162] S12: The starting point of each sub-welding line in each layer is the end point of the previous sub-welding line;

[0163] S13: The termination point of the last sub-welding line in each layer is offset, and the calculation method is Point AfterOffsetend =Point Originend -Point Originbegin +Point AfterOffsetbegin .

[0164] Further, as shown in Figure 4 , Figure 5 and Figure 6 , for example:

[0165] S1: The front view of the stacked welding parts is shown in Figure 4 , welding parts 1 and 2 need to be welded, the welding parts 1 and 2 are stacked together, the welding part shape is not fixed, the stacking form is not fixed, there is a first linear sub-weld AB and a second linear sub-weld BC to form a target weld ABC, and the included angle between the first linear sub-weld AB and the second linear sub-weld BC is not necessarily a right angle, but can be any angle;

[0166] S2: The total weld height of the initial teaching of the teaching device is H, each layer is set to h, and L layers are calculated, and the calculation formula is H / h, and the layer number of each layer is l;

[0167] S3: The three points P1, P2, and P3 of the teaching determine the shape of the weld bevel to be a right-angle bevel;

[0168] S4: The offset of the first layer is (0, 0, 0), that is, the first layer has no offset, and the offset of the starting point of each layer is calculated from the second layer according to the shape of the weld bevel and the height of each layer. The offset of each layer is calculated in the following manner: the weld shape taught is evenly divided according to the rules, and the side view of the welding part is shown in Figure 5 . If the welding angle height and the height of each layer are calculated, this welding needs to be welded for 2 layers, then the straight line P1P3 is divided into 2 parts, and the middle point is P4. The straight line P1P2 is also divided into 2 parts, and the middle point is P5. P4 and P5 are the starting points of the two layers, respectively. The offset of the first layer of the second layer is offset=P4-P1, and the offset of the second layer of the second layer is offset=P5-P1. If the number of welding layers X is greater than 2, then P1P2 and P1P3 are divided into (X-1) parts, and then the evenly divided points are taken out. Assuming that the evenly divided points are P4 and P5, respectively, the straight line P4P5 is also divided into (X-1) parts, and the evenly divided points P x are taken out. x Then, the offset of this layer can be obtained by subtracting the starting point P1. For example, the fourth layer needs to be welded for 4 layers, then P4P5 is divided into 3 parts, and two evenly divided points P x are obtained. The two evenly divided points and P4, P5 are the starting points of the four layers, respectively, and the initial offsets of the four layers are offset=P x -P1, respectively.

[0169] S5: The total welding direction is Point A ->Point B ->Point C , A is the starting point, B is the turning point, and C is the end point, and A and P1 coincide;

[0170] S6: The vector of the first linear sub-weld AB is vector AB=Point B -Point A , the vector of the second linear sub-welding line BC is vector BC =Point C -Point B ;

[0171] S7: the initial length of the first linear sub-welding line AB is length AB , and the initial length of the second linear sub-welding line BC is length BC ;

[0172] S8: the welding line diagram after the target welding line is offset is shown in Figure 6 , and when welding from the second layer, the coordinate of the point A of each line is the original point position of A plus the original offset, that is, A target =Point Atarget =A+offset, and the absolute distance of the initial offset is the distance between Point Atarget and A, which is recorded as distance;

[0173] S9: when welding from the second layer, the coordinate of the point B of each line is calculated first, and the angle between the vector vector AB and the vector vector BC is recorded as θ;

[0174] S10: the point B is on the same sub-welding line as the point A, and the coordinate of the offset B is B offset =Point Boffset =Point B +offset;

[0175] S11: the point B is an intermediate point, so expansion and contraction need to be performed, and the expansion and contraction amount is the absolute distance of the offset multiplied by the sine value of the angle, which is recorded as ;

[0176] S12: the expansion ratio of the point B is rate=(extend+length AB ) / length AB ;

[0177] S13: after the point B of the welding line is expanded, the vector formed by Point Atarget and vector AB is parallel;

[0178] S14: the point position of the expanded point B is B target =Point Btarget =vector AB [(extend+length AB) / length AB + Point Atarge t;

[0179] S15: When the point C is calculated, since C is the termination point, no expansion and contraction is performed, so the target point C of the point C offset is calculated. target = Point Ctarget = vector BC + Point Btarget .

[0180] wherein A target the distance from the starting point A, B offset the distance from the initial B point, and C target the distance from the initial C point are equal.

[0181] S16: The offset positions A target , B target , and C target of the three point positions ABC calculated above are pushed to the collaborative robot, and the collaborative robot performs welding on the target weld ABC according to A target , B target , and C target .

[0182] Based on the above steps, the interference of additional devices such as lasers is reduced, the scheme is simple, no additional technical requirements are needed, not only the problem of multi-layer and multi-pass welding straight turning is more accurately realized, but also the cost is lower, therefore, the workpiece welding operation can be reliably realized.

[0183] It should be understood that, although each step in the flowchart involved in each of the above embodiments is displayed in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the flowchart involved in each of the above embodiments can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or steps or stages in other steps.

[0184] Based on the same inventive concept, the embodiments of the present application also provide a workpiece welding device for implementing the workpiece welding method described above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more workpiece welding device embodiments provided below can refer to the limitations of the workpiece welding method described above, and will not be repeated here.

[0185] In one example embodiment, as shown in Figure 7 a workpiece welding device is provided, comprising a teaching position acquisition module 100, an offset amount detection module 200, an offset position acquisition module 300 and a welding module 400, wherein:

[0186] The teaching position acquisition module 100 is configured to acquire welding teaching position information corresponding to a weld joint between a plurality of workpieces, wherein the weld joint comprises at least one target weld pass, and the target weld pass comprises at least a current sub-weld pass between a starting point and a turning point, and a next sub-weld pass between the turning point and a termination point;

[0187] The offset amount detection module 200 is configured to detect a starting point offset amount corresponding to the starting point of the target weld pass based on the welding teaching position information.

[0188] The offset position acquisition module 300 is configured to acquire a weld pass included angle between the current sub-weld pass and the next sub-weld pass, and to detect welding offset position information of the target weld pass based on the welding teaching position information, the starting point offset amount and the weld pass included angle.

[0189] The welding module 400 is configured to control a collaborative robot to perform welding between the plurality of workpieces along the target weld pass based on the welding offset position information.

[0190] In one embodiment, the welding offset position information of the target weld pass comprises first offset position information of the starting point, second offset position information of the turning point and third offset position information of the termination point; the offset position acquisition module 300 is further configured to detect the first offset position information of the starting point based on the welding teaching position information and the starting point offset amount, to detect the second offset position information of the turning point based on the starting point offset amount, the weld pass included angle and the first offset position information, and to detect the third offset position information of the termination point based on the second offset position information.

[0191] In one embodiment, the offset position acquisition module 300 is further configured to detect expansion / contraction amount information of the turning point based on the starting point offset amount and the weld pass included angle, to detect initial first position information of the starting point and initial second position information of the turning point based on the welding teaching position information, to detect sub-weld pass teaching length information of the current sub-weld pass based on the initial first position information and the initial second position information, and to detect the second offset position information of the turning point based on the expansion / contraction amount information, the sub-weld pass teaching length information and the first offset position information.

[0192] In one embodiment, the welding seam includes at least one welding layer, the target welding pass belongs to any one welding layer, and the offset detection module 200 is further configured to acquire welding bevel type and welding layer number information of the welding seam; in the case where the welding bevel type is a right-angle bevel, the right-angle bevel length information of the welding seam is detected according to the welding teaching position information; and the right-angle bevel length information is divided according to the welding layer number information to obtain the starting point offset of the target welding pass.

[0193] In one embodiment, the offset detection module 200 is further configured to acquire welding seam height information of the welding seam and welding layer height information of each welding layer corresponding to the welding seam; and the welding layer number information of the welding seam corresponding to the welding seam is detected according to the welding seam height information and the welding layer height information.

[0194] In one embodiment, the welding seam includes at least a base welding layer, and the workpiece welding device further includes a base welding module, the base welding module is configured to, when the target welding pass is in the base welding layer, detect initial first position information corresponding to the starting point, initial second position information corresponding to the turning point, and initial third position information corresponding to the termination point according to the welding teaching position information; and detect the welding offset position information of the target welding pass in the base welding layer according to the initial first position information, the initial second position information, and the initial third position information.

[0195] The above-mentioned various modules in the workpiece welding device can be realized by software, hardware, and combinations thereof, in whole or in part. The above-mentioned various modules can be embedded in or independent of a processor in a computer device in hardware form, or can be stored in a memory in a computer device in software form, so as to be called and executed by a processor to perform the operations corresponding to the above-mentioned various modules.

[0196] In one exemplary embodiment, a workpiece welding system is also provided, the system comprising:

[0197] A collaborative robot is configured to acquire welding offset position information of all target welding passes, and perform welding between the plurality of workpieces along the target welding pass based on the welding offset position information of each target welding pass;

[0198] A controller connected to the collaborative robot, the controller being configured to:

[0199] Acquire welding teaching position information corresponding to a welding seam between the plurality of workpieces, wherein the welding seam includes at least one target welding pass, the target welding pass includes at least a current sub-welding pass between a starting point and a turning point, and a next sub-welding pass between the turning point and a termination point;

[0200] Detect a starting point offset corresponding to the starting point of the target welding pass based on the welding teaching position information;

[0201] An angle between a current sub-welding path and a next sub-welding path is acquired, and welding offset position information of a target welding path is detected according to the welding teaching position information, the starting point offset, and the angle between the welding paths.

[0202] According to the welding offset position information, the collaborative robot is controlled to weld between the multiple workpieces along the target welding path.

[0203] Specifically, for the workpiece welding system, the collaborative robot body is connected with a welding gun, a controller, and a teaching device. The welding gun is installed at the end of the collaborative robot to weld between the multiple workpieces along the target welding path. The controller, such as an electric box, has a control program of the collaborative robot installed therein. The teaching device is used to determine the welding teaching position information of the weld, such as the number of layers and the number of paths of the teaching point.

[0204] Further, the basic principle of the workpiece welding system is that after the teaching device issues a task, the controller calculates the position information of each layer path according to the number of layers and the number of paths of the teaching point. After the controller calculates the layer path, the collaborative robot is controlled to sequentially weld each layer path.

[0205] Specifically, the teaching device issues the welding teaching position information of the weld to the controller of the collaborative robot.

[0206] The controller acquires welding teaching position information corresponding to the weld between the multiple workpieces. Based on the welding teaching position information, a starting point offset corresponding to a starting point of a target welding path is detected. An angle between a current sub-welding path and a next sub-welding path is acquired, and welding offset position information of the target welding path is detected according to the welding teaching position information, the starting point offset, and the angle between the welding paths. The welding offset position information is pushed to the collaborative robot. Further, the specific control steps of the controller are as described in the multiple embodiments of the workpiece welding method, which will not be described here.

[0207] The collaborative robot acquires welding offset position information of a target welding path, and based on the welding offset position information of the target welding path, the collaborative robot welds between the multiple workpieces along the target welding path.

[0208] The above workpiece welding system controls the collaborative robot through the controller and combines the participation of the teaching device, thereby reducing the interference of additional devices such as lasers. The scheme is simple, and any turning welding path welding scene can be adapted through the welding teaching position information. Therefore, the workpiece welding operation can be more reliably realized.

[0209] In an exemplary embodiment, a computer device, which can be a server, has an internal structure diagram as shown in Figure 8As shown in the figure. The computer device includes a processor, a memory, an input / output interface (InPut / OutPut, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through the system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capability. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store welding teaching position information and other data. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals through network connection. The computer program is executed by the processor to realize a workpiece welding method.

[0210] Those skilled in the art can understand that, Figure 8 The structure shown in the figure is a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0211] In one embodiment, a computer device is also provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to realize the steps in each of the above method embodiments.

[0212] In one embodiment, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to realize the steps in each of the above method embodiments.

[0213] In one embodiment, a computer program product is provided, including a computer program, and the computer program is executed by a processor to realize the steps in each of the above method embodiments.

[0214] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing relevant hardware. The computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, the processes of the above-mentioned embodiment methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., without being limited thereto.

[0215] The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present application.

[0216] The above embodiments only express several implementation ways of the present application, and the description is specific and detailed, but it should not be understood as a limitation to the patent scope of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method of welding a workpiece, characterized by, The method comprises: obtaining welding teaching position information corresponding to a welding seam between a plurality of workpieces; wherein the welding seam at least comprises a target weld, the target weld at least comprises a current sub-weld between a starting point and a turning point, and a next sub-weld between the turning point and an ending point; based on the welding teaching position information, detecting a starting point offset of the starting point of the target weld; obtaining a weld angle between the current sub-weld and the next sub-weld, and detecting welding offset position information of the target weld according to the welding teaching position information, the starting point offset and the weld angle; controlling a collaborative robot to weld between the plurality of workpieces along the target weld according to the welding offset position information.

2. The method of claim 1, wherein, The welding offset position information of the target weld comprises first offset position information of the starting point, second offset position information of the turning point and third offset position information of the ending point; The method comprises: detecting the first offset position information of the starting point according to the welding teaching position information and the starting point offset; detecting the second offset position information of the turning point according to the starting point offset, the weld angle and the first offset position information; detecting the third offset position information of the ending point according to the second offset position information.

3. The method of claim 2, wherein, The method comprises: detecting expansion and contraction information of the turning point based on the starting point offset and the weld angle; detecting initial first position information of the starting point and initial second position information of the turning point based on the welding teaching position information; detecting sub-weld teaching length information of the current sub-weld according to the initial first position information and the initial second position information; detecting the second offset position information of the turning point according to the expansion and contraction information, the sub-weld teaching length information and the first offset position information.

4. The method of claim 1, wherein, The welding seam at least comprises a welding layer, the target weld belongs to any welding layer, and the method comprises: obtaining welding bevel type and welding layer number information of the welding seam; in the case that the welding bevel type is a right-angle bevel, detecting right-angle bevel length information of the welding seam according to the welding teaching position information; dividing the right-angle bevel length information according to the welding layer number information to obtain the starting point offset of the target weld.

5. The method of claim 4, wherein, The method comprises: obtaining welding seam height information of the welding seam and welding layer height information of each welding layer corresponding to the welding seam; detecting welding layer number information corresponding to the welding seam according to the welding seam height information and the welding layer height information.

6. The method of claim 1, wherein, The welding seam at least comprises a base welding layer, and the method further comprises: When the target weld bead is in the base layer welding layer, according to the welding teaching position information, initial first position information corresponding to the starting point, initial second position information corresponding to the turning point, and initial third position information corresponding to the termination point are detected; According to the initial first position information, the initial second position information, and the initial third position information, welding offset position information of the target weld bead in the base layer welding layer is detected.

7. A workpiece welding apparatus characterized by comprising: The device further comprises: A teaching position acquisition module is configured to acquire welding teaching position information corresponding to a weld joint between a plurality of workpieces; wherein the weld joint comprises at least one target weld bead, the target weld bead comprises at least a current sub-weld bead between a starting point and a turning point, and a next sub-weld bead between the turning point and a termination point; An offset amount detection module is configured to detect a starting point offset amount corresponding to the starting point of the target weld bead based on the welding teaching position information; An offset position acquisition module is configured to acquire a weld bead included angle between the current sub-weld bead and the next sub-weld bead, and detect welding offset position information of the target weld bead according to the welding teaching position information, the starting point offset amount, and the weld bead included angle; A welding module is configured to control a collaborative robot to perform welding between the plurality of workpieces along the target weld bead according to the welding offset position information.

8. A workpiece welding system characterized by, The system comprises: A collaborative robot is configured to acquire welding offset position information of all target weld beads, and perform welding between a plurality of workpieces along each target weld bead based on the welding offset position information of the target weld bead; A controller connected to the collaborative robot is configured to: Acquire welding teaching position information corresponding to a weld joint between a plurality of workpieces, wherein the weld joint comprises at least one target weld bead, the target weld bead comprises at least a current sub-weld bead between a starting point and a turning point, and a next sub-weld bead between the turning point and a termination point; Detect a starting point offset amount corresponding to the starting point of the target weld bead based on the welding teaching position information; Acquire a weld bead included angle between the current sub-weld bead and the next sub-weld bead, and detect welding offset position information of the target weld bead according to the welding teaching position information, the starting point offset amount, and the weld bead included angle; Control a collaborative robot to perform welding between the plurality of workpieces along the target weld bead according to the welding offset position information.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by a processor to implement the steps of the method of any one of claims 1 to 6.

10. A computer program product comprising a computer program, characterized in that, The computer program is executed by a processor to implement the steps of the method of any one of claims 1 to 6.

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