Welding task construction method and device, computer equipment, readable storage medium and program product

Abstract

The invention relates to a welding task construction method and device, computer equipment, a computer readable storage medium and a computer program product. The method is applied to the welding system, the welding system at least comprises a welding robot, a welding execution mechanism is arranged at the tail end of the welding robot, and a first control element and a second control element are arranged on the welding execution mechanism; the method comprises the steps of obtaining a target welding task template, wherein the target welding task template comprises point location information corresponding to at least one point location; initiating a force control function in response to a trigger operation for the first control element; in response to a dragging operation for the tail end of the welding robot, obtaining pose data of the tail end of the welding robot after the dragging operation; and under the condition that the target point location is selected, in response to a trigger operation for the second control element, updating point location information of the target point location based on the pose data, the target point location being any one of the point locations. By adopting the method, the construction operation of the welding task can be simplified.

Description

Technical Field

[0001] This application relates to the field of welding robot technology, and in particular to a welding task construction method, apparatus, computer equipment, computer-readable storage medium, and computer program product. Background Technology

[0002] As the manufacturing industry moves towards intelligence and flexibility, welding robots are gradually becoming the core equipment for modern automated welding.

[0003] Traditional techniques primarily employ a teach pendant programming model, where operators manually control the robot's movement using a handheld teach pendant, recording the welding path, posture, and process parameters (such as current, voltage, and speed) point by point. This model relies on human experience, requiring repeated adjustments to the robot's position and saving of key data points before finally generating the welding program.

[0004] However, the teach pendant programming mode not only requires operators to master technical knowledge such as joint movement and coordinate system transformation, but also requires them to be proficient in using the complex button logic of the teach pendant, which makes the welding task construction operation cumbersome. Summary of the Invention

[0005] Therefore, it is necessary to provide a welding task construction method, apparatus, computer equipment, computer-readable storage medium, and computer program product that can simplify the welding task construction operation in response to the above-mentioned technical problems.

[0006] In a first aspect, this application provides a welding task construction method applied to a welding system, the welding system including at least a welding robot, the welding robot having a welding actuator at its end effector, and the welding actuator having a first control element and a second control element; the method includes:

[0007] Obtain the target welding task template, which includes point information corresponding to at least one point;

[0008] In response to a trigger operation on the first control element, the force control function is activated;

[0009] In response to a drag operation on the welding actuator, the positional data of the welding robot end effector after the drag operation is acquired;

[0010] When a target point is selected, in response to a trigger operation on the second control element, the point information of the target point is updated based on the pose data, wherein the target point is any one of the points.

[0011] In one embodiment, the welding system further includes a display; the welding actuator is also provided with at least one third control element; acquiring the target welding task template includes:

[0012] In response to a first trigger operation for any third control element, a target welding task template is determined from multiple preset welding task templates based on the triggered third control element and the first trigger operation.

[0013] The target welding task template is displayed on the monitor.

[0014] In one embodiment, the welding actuator is further provided with a fourth control element; the target welding task template is displayed on a monitor, including:

[0015] Set the target point in the target welding task template to the selected state, where the target point can be any one of the points;

[0016] The target welding task template is displayed on the monitor, and the location information of the target points is highlighted.

[0017] In response to a trigger operation on the fourth control element, the selected target point is switched;

[0018] Remove the highlighting of the location information of the target point that was selected before the switch, and highlight the location information of the target point that is selected after the switch.

[0019] In one embodiment, after updating the position information of the target point based on the pose data, the method further includes:

[0020] The updated point information of the target point is displayed on the target welding task template via the monitor;

[0021] Switch the selected target point according to the preset point order;

[0022] Remove the highlighting of the location information of the target point that was selected before the switch, and highlight the location information of the target point that is selected after the switch.

[0023] In one embodiment, after activating the force control function, the method further includes:

[0024] Display the status prompts corresponding to the activation state of the force control function. The status prompts corresponding to the activation state of the force control function are used to prompt the operator to perform drag operations on the welding actuator.

[0025] In one embodiment, after activating the force control function, the method further includes:

[0026] In response to a trigger operation on the first control element, the force control function is turned off.

[0027] Secondly, this application also provides a welding task construction device for use in a welding system. The welding system includes at least a welding robot, the end effector of which is provided with a welding actuator, and the welding actuator is provided with a first control element and a second control element. The device includes:

[0028] The first acquisition module is used to acquire the target welding task template, which includes point information corresponding to at least one point.

[0029] The activation module is used to activate the force control function in response to a trigger operation on the first control element;

[0030] The second acquisition module is used to acquire the pose data of the welding robot end after the drag operation in response to the drag operation on the welding actuator.

[0031] The update module is used to update the position information of the target point based on the pose data in response to a trigger operation on the second control element when the target point is selected. The target point can be any one of the points.

[0032] Thirdly, this application also provides a computer device applied to a welding system. The welding system includes at least a welding robot, with a welding actuator at the end of the welding robot. A first control element and a second control element are provided on the welding actuator. The computer device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the following steps:

[0033] Obtain the target welding task template, which includes point information corresponding to at least one point;

[0034] In response to a trigger operation on the first control element, the force control function is activated;

[0035] In response to a drag operation on the welding actuator, the positional data of the welding robot end effector after the drag operation is acquired;

[0036] When a target point is selected, in response to a trigger operation on the second control element, the point information of the target point is updated based on the pose data, wherein the target point is any one of the points.

[0037] Fourthly, this application also provides a computer-readable storage medium applied to a welding system, the welding system including at least a welding robot, the welding robot having a welding actuator at its end effector, and a first control element and a second control element disposed on the welding actuator; the computer-readable storage medium stores a computer program, which, when executed by a processor, performs the following steps:

[0038] Obtain the target welding task template, which includes point information corresponding to at least one point;

[0039] In response to a trigger operation on the first control element, the force control function is activated;

[0040] In response to a drag operation on the welding actuator, the positional data of the welding robot end effector after the drag operation is acquired;

[0041] When a target point is selected, in response to a trigger operation on the second control element, the point information of the target point is updated based on the pose data, wherein the target point is any one of the points.

[0042] Fifthly, this application also provides a computer program product applied to a welding system, the welding system including at least a welding robot, the welding robot having a welding actuator at its end effector, and a first control element and a second control element disposed on the welding actuator; the computer program product includes a computer program, which, when executed by a processor, performs the following steps:

[0043] Obtain the target welding task template, which includes point information corresponding to at least one point;

[0044] In response to a trigger operation on the first control element, the force control function is activated;

[0045] In response to a drag operation on the welding actuator, the positional data of the welding robot end effector after the drag operation is acquired;

[0046] When a target point is selected, in response to a trigger operation on the second control element, the point information of the target point is updated based on the pose data, wherein the target point is any one of the points.

[0047] The aforementioned welding task construction method, apparatus, computer equipment, computer-readable storage medium, and computer program product integrate a first control element and a second control element on the welding actuator at the end of the welding robot. This integrates the activation of force control, movement of the welding actuator, and updating of position information all within the welding actuator. When constructing a welding task, the operator only needs to directly operate the welding actuator at the end of the welding robot to complete the entire path setting, thus achieving a welding task construction process that does not rely on a teach pendant or other external equipment. Specifically, the operator can first trigger the first control element to activate the force control function, and then adjust the position of the welding actuator through intuitive drag-and-drop operations. The system can automatically record the pose data. After the operator confirms that the stopping position is accurate, they only need to trigger the second control element to automatically update the position information. The entire process does not require the operator to understand complex joint movements or coordinate system transformation logic, nor does it require operating the multi-level menus and button combinations on a traditional teach pendant. Instead, the welding path setting is completed through the organic combination of physical control elements and drag-and-drop operations, significantly reducing the operational difficulty and technical threshold, and effectively improving the efficiency and convenience of welding task construction. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 This is a schematic diagram of the structure of a welding robot in one embodiment of this application;

[0050] Figure 2 This is a flowchart illustrating a welding task construction method in one embodiment of this application;

[0051] Figure 3 This is a flowchart illustrating a welding task construction method in another embodiment of this application;

[0052] Figure 4 This is a structural block diagram of a welding task construction apparatus in one embodiment of this application;

[0053] Figure 5 This is an internal structural diagram of a computer device in one embodiment of this application. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0055] As the manufacturing industry moves towards intelligence and flexibility, welding robots are gradually becoming the core equipment for modern automated welding. Traditionally, the teaching pendant programming mode is mainly used, where operators manually control the robot's movement using a handheld teaching pendant, recording the welding path, posture, and process parameters (such as current, voltage, and speed) point by point. This mode relies on human experience, requiring repeated adjustments to the robot's position and saving key data to ultimately generate the welding program. However, the teaching pendant programming mode not only requires operators to master joint motion and coordinate system transformation techniques but also to be proficient in using the complex button logic of the teaching pendant, making the welding task creation process cumbersome.

[0056] In recent years, programming-free technology has become an important development direction in the field of welding robots. For example, 3D vision-based teaching-free systems achieve trajectory positioning by visually recognizing weld seams, eliminating the need for manual teaching; force-controlled drag-and-drop teaching technology allows operators to directly drag the robotic arm for path teaching, simplifying the programming process. While these technologies reduce programming complexity to some extent, 3D vision-based teaching-free systems require additional hardware support and are sensitive to ambient lighting. Force-controlled drag-and-drop teaching technology, apart from dragging operations, still requires other operations to be completed on the teach pendant, not completely eliminating dependence on external devices. Operators still need to frequently operate the teach pendant to edit specific actions in the task, switch the robot's force control state, adjust relevant parameters, etc. Other operations besides dragging still need to be completed through the teach pendant or software interface. For example, suppose a welding task involves multiple points that require position information input. If the operator only needs to modify the position information of some of these points, they need to select the points to be modified on the teach pendant, then operate the robot to drag them to the corresponding positions, then operate the teach pendant to record the points, and then operate the teach pendant to switch to the next point. This process is repeated until all the points that need to be modified have been modified.

[0057] Based on this, this application provides a welding task construction method. By integrating a first control element and a second control element onto the welding actuator at the end of a welding robot, all operations such as activating force control, moving the welding actuator, and updating position information are integrated into the welding actuator. When constructing a welding task, the operator only needs to directly operate the welding actuator at the end of the welding robot to complete the entire path setting, thus realizing a welding task construction process that does not rely on a teach pendant or other external equipment. Specifically, the operator can first trigger the first control element to activate the force control function, and then adjust the position of the welding actuator through intuitive drag-and-drop operations. The system can automatically record the pose data. After the operator confirms that the stopping position is accurate, they only need to trigger the second control element to complete the automatic update of the position information. The entire process does not require the operator to understand complex joint motion or coordinate system transformation logic, nor does it require operating the multi-level menus and button combinations on a traditional teach pendant. Instead, the welding path can be set through the organic combination of physical control elements and drag-and-drop operations, greatly reducing the operational difficulty and technical threshold, and effectively improving the efficiency and convenience of welding task construction.

[0058] In one exemplary embodiment, a welding task construction method is provided. This embodiment illustrates the application of this method to a terminal, wherein the terminal can be, but is not limited to, a welding system, or various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices that are communicatively connected to the welding system. IoT devices can be smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, projection devices, etc. Portable wearable devices can be smartwatches, smart bracelets, head-mounted devices, etc. Head-mounted devices can be virtual reality (VR) devices, augmented reality (AR) devices, smart glasses, etc. It is understood that this method can also be applied to a server, and can also be applied to a system including both a terminal and a server, and implemented through the interaction between the terminal and the server.

[0059] A welding system can refer to an overall system consisting of at least one piece of equipment and components that completes a welding operation. A welding system includes at least a welding robot, and may also include one or more of the following: a teach pendant, a welding power source, a wire feeder, and a control system.

[0060] Welding robots can refer to industrial robots used to perform welding operations. Welding robots can have multi-degree-of-freedom motion capabilities and can automatically complete welding paths and process actions according to a predetermined program.

[0061] As an example, a welding robot can be a six-axis robotic arm, which can move flexibly around the workpiece to be welded and complete welding tasks at various angles. The base of the six-axis robotic arm can be fixed to the welding worktable, and a welding actuator can be set at its end.

[0062] The welding actuator can refer to the functional module installed at the end of a welding robot that is responsible for directly completing the welding operation, such as a welding torch assembly, a laser welding head, or a plasma welding torch. The welding actuator may include functional units such as wire feeding, gas protection, and current conduction. This embodiment does not limit this.

[0063] In force-controlled drag-and-teach schemes, operators can directly drag the welding actuator at the end of the welding robot by hand. The robot senses the external force through a torque sensor, automatically follows the movement, and records the trajectory. While this method eliminates the need for a teach pendant to control the welding robot's movement, other operations besides dragging still need to be performed on the teach pendant. In other words, operators need to alternate between operating the welding robot and the teach pendant, making the process relatively cumbersome.

[0064] In this embodiment, by setting control elements on the welding actuator, all operations such as starting the force control function, moving the welding actuator, and updating the position information are integrated on the welding actuator. This allows the operator to operate the welding actuator only during the entire welding task construction process, thus effectively simplifying the operator's process of alternately operating the welding robot and the teach pendant.

[0065] Control elements can refer to physical operation buttons, switches, or joysticks installed on the welding actuator. Control elements serve as the interface for user interaction with the robot. Each control element, combined with its operating method, can trigger a specific function. For example, for a button A, a long press can be set to open the straight welding template, while a short press can open the circular welding template.

[0066] In some feasible implementations, the welding actuator may include a welding functional unit and an operating handle. Control elements are mounted on the operating handle. As an example, the operating handle can be connected to the end effector of a welding robot via a flange. The main body of the operating handle has a cubic structure, employs a lightweight aluminum alloy support, and integrates a welding torch holder mounting interface; the welding functional unit can be a welding torch, which includes a welding torch holder mounted on the welding torch holder mounting interface below the operating handle.

[0067] The welding actuator is equipped with a first control element and a second control element. The first control element can refer to the control element used to activate the force control function. The second control element can refer to the control element used to confirm the dwell position and update the position information based on the dwell position.

[0068] In some feasible implementations, the welding robot is a robotic arm, such as Figure 1 As shown, the base 114 of the robotic arm body 102 can be fixed on the welding workbench. The end of the robotic arm body 102 is connected to the operating handle 106 through the flange 104. The operating handle 106 is provided with multiple buttons 108. The side of the operating handle 106 away from the robotic arm body 102 integrates a welding gun bracket mounting interface. The welding gun 112 is equipped with a welding gun bracket 110. The welding gun 112 is connected to the operating handle 106 through the connection between the welding gun bracket 110 and the welding gun bracket mounting interface.

[0069] In this embodiment, as Figure 2 As shown, the method includes the following steps S10-S40. Wherein:

[0070] Step S10: Obtain the target welding task template, which includes point information corresponding to at least one point.

[0071] The welding task template refers to a predefined welding task framework, which can include basic welding paths, process parameters, and information on points to be adjusted. Parameters in the welding task template can be set to null values ​​or preset values. In practical applications, operators can edit and adjust the template according to specific processing needs to generate welding tasks that meet the current process requirements. For example, after completing a processing task, the operator can save the optimized welding path and process parameters as a new task template. All parameters in this new template are stored as verified values. In subsequent identical or similar processing, this template with values ​​can be called upon and fine-tuned as needed to quickly construct new welding tasks. This flexible template management mechanism retains the universality of the initial template while accumulating optimized parameters that have been tested in practice.

[0072] A welding task template defines the sequence of at least one action involved in a welding process. At least some of these actions require point configuration, meaning corresponding point information needs to be set. Taking a typical straight welding template as an example, its action flow can sequentially include joint movement, first linear movement, arc initiation, second linear movement, and arc termination. Joint movement can set at least one of the following: spatial coordinates of the safe transition point and joint angle, ensuring the robot avoids obstacles. The first linear movement can set at least one of the following: three-dimensional coordinates of the arc initiation point, welding torch posture, and approach speed. The second linear movement can set the position coordinates of the arc termination point and the welding torch exit trajectory.

[0073] The welding system can have one or more pre-set welding task templates. During the actual welding task construction process, a template can be selected from these templates as needed. The target welding task template refers to the welding task template selected for the current welding task to be constructed.

[0074] Point information can refer to data describing key locations in the welding path, and may include at least one of spatial coordinates and welding torch angles.

[0075] For example, during the construction of a welding task, the operator can select at least one target welding task template from the preset welding task templates through the interface or voice command, and add the target welding task template to the current welding task.

[0076] In some feasible implementations, the handle and process library can be configured in advance before the welding task is constructed. Specifically, the operator can first open the handle configuration page to configure the direct welding template, drag-and-drop switch, and update point function, and then open the process library page to configure the arc initiation, welding, and arc termination parameters for the direct welding task. This process is a preparatory work before the welding task is constructed and can be completed on a teach pendant or other terminal; this embodiment does not impose any limitations on this.

[0077] Step S20: In response to the triggering operation on the first control element, the force control function is activated.

[0078] Force control refers to the robot's movement mode where it senses external forces through torque sensors and enables dragging and following motion. Enabling or disabling force control directly affects the robot's motion characteristics, operational safety, and teaching efficiency. When force control is enabled, the welding robot detects external forces through torque sensors or six-dimensional force sensors, and the control system releases the motor rigidity, entering a "zero-force balance" mode. In this mode, the operator can directly apply external force to drag the welding actuator, and the robot responds to the external force in real time without resisting it. When force control is disabled, the welding robot reverts to traditional position control mode, with the motor rigidly locked. Movement requires jogging via a teach pendant or program control. If the operator forcibly drags the robot when force control is disabled, it may cause equipment damage or personal injury.

[0079] In related technologies, the force control function switch is located on the teach pendant. The operator needs to first operate the teach pendant to start the force control function, then move to the vicinity of the welding robot and drag the welding actuator at the end of the welding robot to the corresponding position, and then operate the teach pendant to confirm the position and turn off the force control function.

[0080] In this embodiment, by setting a first control element on the welding actuator, the switch for the force control function can be integrated into the welding actuator, so that the operator only needs to operate the welding actuator to realize the entire process of point update.

[0081] For example, after determining the target welding task template, the operator can trigger the first control element on the welding execution structure, and the trigger signal is sent to the controller of the welding system to activate the drive force control function.

[0082] Step S30: In response to the drag operation on the welding actuator, acquire the pose data of the welding robot end effector after the drag operation.

[0083] Among them, dragging operation refers to the operation behavior of the operator manually moving the welding actuator to the corresponding position. When the force control function is enabled, the welding robot can sense the external force and move accordingly.

[0084] Position data may include at least one of the following: the coordinates, orientation, and timestamp of the welding actuator.

[0085] For example, after the force control function is activated, the joint motor of the welding robot switches to "zero force mode". The welding robot can sense the outside world, and the operator can manually drag the welding actuator to the required position and keep the welding actuator in that position. The welding system can monitor the end pose in real time and obtain pose data.

[0086] In step S40, when the target point is selected, in response to the trigger operation for the second control element, the point information of the target point is updated based on the pose data, wherein the target point is any one of the points.

[0087] The target point refers to the currently selected point whose information is being updated. The target point can be automatically selected by the welding system according to a preset order, or it can be customized based on user input. As an example, the welding system can select points sequentially according to the action execution order, and after updating the information at each point, it automatically jumps to the next point, completing the update of all points in sequence. As another example, the operator can switch the selected point using a teach pendant or control elements on the welding execution structure, and then update the information at the switched point.

[0088] Before the second control element is triggered, the target point can be selected or switched, and this embodiment does not impose any restrictions on this.

[0089] For example, before triggering the second control element, the operator can confirm whether the currently selected target point is the point whose point information needs to be updated. After dragging and confirming the target point, the operator can trigger the second control element. When the welding system detects the triggering operation of the second control element, it can automatically overwrite the original point information of the target point in the target welding task template with the pose data of the welding robot's end effector. In this way, after all the points whose point information needs to be updated have been updated, the welding task is constructed.

[0090] In some feasible implementations, after all the target welding task templates required in the welding task have completed the point information update, the trajectory can be simulated and verified by a teach pendant. After the operator confirms, the welding task can be actually run using the teach pendant. After the operator confirms, the construction of the welding task is completed.

[0091] In the aforementioned welding task construction method, by integrating a first control element and a second control element onto the welding actuator at the end of the welding robot, all operations such as activating force control, moving the welding actuator, and updating position information are integrated into the welding actuator. When constructing a welding task, the operator only needs to directly operate the welding actuator at the end of the welding robot to complete the entire path setting, thus achieving a welding task construction process that does not rely on a teach pendant or other external equipment. Specifically, the operator can first trigger the first control element to activate the force control function, and then adjust the position of the welding actuator through intuitive drag-and-drop operations. The system can automatically record the pose data. After the operator confirms that the stopping position is accurate, they only need to trigger the second control element to complete the automatic update of the position information. The entire process does not require the operator to understand complex joint motion or coordinate system transformation logic, nor does it require operating the multi-level menus and button combinations on a traditional teach pendant. Instead, the welding path can be set through the organic combination of physical control elements and drag-and-drop operations, significantly reducing the operational difficulty and technical threshold, and effectively improving the efficiency and convenience of welding task construction. Tests have shown that the single-task setup time has been reduced from 10-15 minutes with traditional teach pendants to 2-3 minutes, making it particularly suitable for welding scenarios with multiple varieties and small batches. Moreover, operators do not need to master professional knowledge such as robot coordinate systems and kinematic algorithms; ordinary welders can complete task planning through simple triggering operations of control elements.

[0092] In one exemplary embodiment, such as Figure 3 As shown, the welding system also includes a display; the welding actuator is also equipped with at least one third control element; obtaining the target welding task template includes steps S11 to S12. Wherein:

[0093] Step S11: In response to a first trigger operation for any third control element, a target welding task template is determined from multiple preset welding task templates based on the triggered third control element and the first trigger operation.

[0094] In this context, a display can refer to an output device used to present information processed by electronic devices to the user in the form of images, text, or graphics. During the welding task setup process, the display can show key information such as the operation interface, welding path, and process parameters in real time, providing operators with intuitive visual feedback. This visual interaction method allows operators to accurately control the current operation status and results, helping to improve operational accuracy and ensuring the correct execution of welding path and process parameter settings.

[0095] The display can be mounted on an external device that communicates with the welding robot, or it can be mounted on the welding robot itself. During the welding task setup process, the display can be positioned in a location that is easily visible to the operator while operating the welding actuator, facilitating hand-eye coordination.

[0096] The third control element can refer to the control element used to select the welding task template.

[0097] As an example, preset welding task templates can be displayed on the monitor, and the selected welding task template can be highlighted. The third control element can support two trigger operations: direction adjustment trigger operation and press trigger operation. The operator can perform a direction adjustment trigger operation on the third control element. When the welding system detects a direction adjustment trigger operation on the third control element, it switches the selected welding task template according to the direction information in the direction adjustment trigger operation. When the operator decides to apply the selected welding task template, he / she can perform a press trigger operation on the third control element. When the welding system detects a press trigger operation on the third control element, it determines the selected welding task template as the target welding task template.

[0098] As another example, there can be one or more third control elements, specifically determined by the number of preset welding task templates and the number of trigger operations for the third control elements. Each combination of a third control element and a trigger operation corresponds to a preset welding task template. Thus, the operator can select the desired welding task template by executing the corresponding operation based on the third control element and trigger operation. For example, the third control elements include B1 and B2, and the trigger operations corresponding to the third control elements include long press and short press. The long press and short press are distinguished based on a press duration threshold, which is not limited in this embodiment. A long press of B1 can correspond to a straight welding template, a short press of B1 can correspond to a sway welding template, and a long press of B2 can correspond to a circular welding template. If the operator wants to add a sway welding template, they can short press B1. When the welding system detects a short press trigger operation for B1, it can identify the sway welding template as the target welding task template.

[0099] Step S12: Display the target welding task template on the monitor.

[0100] For example, after determining the target welding task template, the detailed contents of the target welding task template, such as point information, welding path graphics, process parameters, etc., can be visualized on the monitor so that the operator can confirm whether it meets the requirements of the current welding task.

[0101] In this embodiment, the technical solution significantly improves the efficiency and reliability of welding task template selection through an innovative interactive mode combining direct hardware control and visual feedback. On one hand, by integrating a third control element into the welding actuator, the target welding task template can be selected directly on the actuator. This eliminates the need for external input devices like a mouse or keyboard during the welding task construction process; the operator only needs to operate the welding actuator to quickly switch and confirm templates, significantly improving convenience and accuracy. On the other hand, the visual feedback from the display shows whether the target welding task template meets current processing requirements, ensuring the correctness and efficiency of welding task construction. This approach is suitable for flexible manufacturing scenarios with multiple product types and small batches.

[0102] In an exemplary embodiment, a fourth control element is further provided on the welding actuator; displaying the target welding task template on the display includes steps S121 to S124. Wherein:

[0103] Step S121: Set the target point in the target welding task template to the selected state, where the target point is any one of the points.

[0104] The fourth control element can refer to a control element used to switch target points. The fourth control element supports direction adjustment triggering operations. In some feasible embodiments, the fourth control element can be a joystick or a knob, etc. In other feasible embodiments, there can be two or more fourth control elements, each corresponding to a control direction. For example, there can be two fourth control elements, one for switching the welding task template forward and one for switching the welding task template backward.

[0105] For example, after determining the target welding task template, one point is selected from the determined target welding task template as the target point, and the target point is set to the selected state.

[0106] In this step, the target point can be selected randomly or in a preset order. For example, the point with the earliest execution order can be determined as the target point according to the execution order of each action in the target welding task template, so that the operator can update the point information of each point more consistently.

[0107] Step S122: Display the target welding task template on the monitor and highlight the location information of the target points.

[0108] For example, detailed information about the target welding task template, such as point information, welding path graphics, and process parameters, can be visualized on a monitor. The target point information can be highlighted in the displayed template to facilitate quick location and identification by operators. For instance, a border or background color can be added around the display area corresponding to the target point, and the colors of the border and background can clearly distinguish the target point from other points.

[0109] Step S123: In response to the trigger operation for the fourth control element, switch the target point that is in the selected state.

[0110] For example, if the operator needs to update the position information of the target position that is currently selected, they can directly perform subsequent operations such as starting the force control function, dragging the welding actuator, and confirming the position data.

[0111] If the operator does not need to update the point information of the currently selected target point, the fourth control element can be triggered. When the welding system detects the triggering operation of the fourth control element, it can switch the selected target point according to the triggering operation or according to the preset sequence.

[0112] Step S124: Cancel the highlighting of the location information of the target point that was selected before the switch, and highlight the location information of the target point that is selected after the switch.

[0113] For example, after the point switching is completed, the welding system can remove the highlighting effect of the original target point before the switch and highlight the information of the new target point after the switch, so as to ensure that the user always knows which point is currently selected.

[0114] In this embodiment, when only updating the position information of some points is required, by integrating a fourth control element into the welding actuator and using visual feedback from the display, the operator can quickly switch target points during the welding task creation process by manipulating the welding actuator, thereby significantly improving the efficiency of welding task creation. Furthermore, because the target points can be quickly switched, real-time adjustment of path points is supported on the welding site to address workpiece positioning deviations or weld design changes without needing to return to offline programming software for re-debugging. It also supports the rapid reuse of historical process experience; that is, historical welding tasks are created as welding task templates, and then by quickly switching target points, the position information of some points is updated to obtain a new welding task suitable for the current actual needs.

[0115] In an exemplary embodiment, after updating the position information of the target point based on the pose data, the method further includes steps S50 to S70. Wherein:

[0116] Step S50: Display the updated target point information in the target welding task template via a monitor.

[0117] For example, after the location information of the target point is updated, the updated location information can be synchronously updated and displayed in the target welding task template shown on the monitor.

[0118] Step S60: Switch the selected target point according to the preset point order.

[0119] For example, after the target point information is updated, the selected target point can be automatically switched according to the preset point order, so that the operator can continuously update the point information of the next point, reduce the operator's operation of switching target points, and improve the convenience of operation and the efficiency of welding task construction.

[0120] When operators need to update the point information of all points in the target welding task template, the system automatically switches the target point after each target point has been updated, so that operators can complete the update of all point information without having to switch target points at any time.

[0121] Step S70: Cancel the highlighting of the point information of the target point that was selected before the switch, and highlight the point information of the target point that is selected after the switch.

[0122] For example, after the point switching is completed, the welding system can remove the highlighting effect of the original target point before the switch and highlight the information of the new target point after the switch, so as to ensure that the user always knows which point is currently selected.

[0123] In this embodiment, when the operator needs to update the point information of all points in the target welding task template, the target point is automatically switched after the point information is updated at each target point. The operator can complete the point information update of all points without switching the target points throughout the process.

[0124] In one exemplary embodiment, after activating the force control function, the method further includes:

[0125] Display the status prompts corresponding to the activation state of the force control function. The status prompts corresponding to the activation state of the force control function are used to prompt the operator to perform drag operations on the welding actuator.

[0126] It should be noted that in traditional welding robot operation, once the force control function is activated, the system typically does not provide clear status feedback to the operator. This lack of status indication can easily lead to user errors, such as dragging without confirming that force control is activated, which may result in path recording failure or abnormal robot response. Furthermore, due to the lack of intuitive prompts, operators find it difficult to accurately determine whether the robot is in draggable mode, affecting operational efficiency and safety.

[0127] Status prompts can refer to text, graphics, light, or sound information used to provide operators with feedback on the current operating status of the welding robot, making it easier for users to identify and operate.

[0128] For example, once the welding system determines that the force control function has been successfully activated, it can display the corresponding status prompt information through at least one of the following: a display screen or a status indicator light, to inform the operator that a drag operation can be performed on the welding actuator to update the position information.

[0129] In some feasible implementations, an LED strip can be installed on the flange between the operating handle and the robot body. Different colors of the LED strip can indicate different operating states of the welding robot. For example, a yellow light can be lit when the force control function is activated, a green light can be lit when the teach pendant is controlled, and a red light can be lit when there is a fault. This allows the operator to easily and intuitively judge the status of the welding robot and perform the corresponding operation.

[0130] In this embodiment, by promptly displaying status prompts after the force control function is activated, operators can clearly understand whether the device is currently in a draggable state, avoiding operational failures or equipment damage due to misjudgment, thus improving operational safety and accuracy. At the same time, clear prompts also help lower the operational threshold for new users, improving the efficiency and ease of use of the overall welding task creation process, making it particularly suitable for flexible production environments that require frequent switching of operating modes.

[0131] In one exemplary embodiment, after activating the force control function, the method further includes:

[0132] In response to a trigger operation on the first control element, the force control function is turned off.

[0133] The activation and deactivation of the force control function can be integrated into a single control element. If the first control element is triggered when the force control function is activated, the force control function will be deactivated. If the first control element is triggered when the force control function is deactivated, the force control function will be activated.

[0134] In this embodiment, by integrating the force control function on and off on the first control element, the operator only needs to operate the control element on the welding actuator to switch the force control function, thereby simplifying the operation process and improving the ease of operation.

[0135] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0136] Based on the same inventive concept, this application also provides a welding task construction apparatus for implementing the welding task construction method described above. The solution provided by this apparatus is similar to the solution described in the above method; therefore, the specific limitations in one or more welding task construction apparatus embodiments provided below can be found in the limitations of the welding task construction method described above, and will not be repeated here.

[0137] In one exemplary embodiment, such as Figure 4As shown, a welding task construction device is provided, applied to a welding system. The welding system includes at least a welding robot, with a welding actuator at the end of the welding robot. A first control element and a second control element are mounted on the welding actuator. The welding task construction device includes: a first acquisition module 402, a start module 404, a second acquisition module 406, and an update module 408, wherein:

[0138] The first acquisition module 402 is used to acquire the target welding task template, which includes point information corresponding to at least one point.

[0139] The start module 404 is used to start the force control function in response to a trigger operation on the first control element;

[0140] The second acquisition module 406 is used to acquire the pose data of the welding robot end after the drag operation in response to the drag operation on the welding actuator.

[0141] The update module 408 is used to update the position information of the target position based on the pose data in response to a trigger operation on the second control element when the target position is selected. The target position is any one of the various positions.

[0142] In one exemplary embodiment, the welding system further includes a display; at least one third control element is also provided on the welding actuator; the first acquisition module 402 is further configured to:

[0143] In response to a first trigger operation for any third control element, a target welding task template is determined from multiple preset welding task templates based on the triggered third control element and the first trigger operation.

[0144] The target welding task template is displayed on the monitor.

[0145] In an exemplary embodiment, a fourth control element is further provided on the welding actuator; the first acquisition module 402 is further configured to:

[0146] Set the target point in the target welding task template to the selected state, where the target point can be any one of the points;

[0147] The target welding task template is displayed on the monitor, and the location information of the target points is highlighted.

[0148] In response to a trigger operation on the fourth control element, the selected target point is switched;

[0149] Remove the highlighting of the location information of the target point that was selected before the switch, and highlight the location information of the target point that is selected after the switch.

[0150] In one exemplary embodiment, the welding task construction apparatus further includes a display module, which, after updating the point information of the target point based on the pose data, is further configured to:

[0151] The updated point information of the target point is displayed on the target welding task template via the monitor;

[0152] Switch the selected target point according to the preset point order;

[0153] Remove the highlighting of the location information of the target point that was selected before the switch, and highlight the location information of the target point that is selected after the switch.

[0154] In one exemplary embodiment, the welding task construction apparatus further includes a display module, which, after activating the force control function, is also used to:

[0155] Display the status prompts corresponding to the activation state of the force control function. The status prompts corresponding to the activation state of the force control function are used to prompt the operator to perform drag operations on the welding actuator.

[0156] In one exemplary embodiment, the welding task construction apparatus further includes a shutdown module, which, after the force control function is activated, is also used to:

[0157] In response to a trigger operation on the first control element, the force control function is turned off.

[0158] Each module in the aforementioned welding task construction device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0159] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 5As shown, the computer device includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interfaces. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a welding task construction method. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0160] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0161] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0162] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0163] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0164] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0165] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0166] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0167] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for constructing welding tasks, characterized in that, The method is applied to a welding system, the welding system including at least a welding robot, the welding robot having a welding actuator at its end effector, and the welding actuator having a first control element and a second control element; the method includes: Obtain a target welding task template, wherein the target welding task template includes point information corresponding to at least one point; In response to a trigger operation on the first control element, the force control function is activated; In response to a drag operation on the welding actuator, the positional data of the welding robot end effector after the drag operation is acquired; When a target point is selected, in response to a trigger operation on the second control element, the point information of the target point is updated based on the pose data, wherein the target point is any one of the points.

2. The method according to claim 1, characterized in that, The welding system further includes a display; the welding actuator is also provided with at least one third control element; the acquisition of the target welding task template includes: In response to a first trigger operation for any of the third control elements, a target welding task template is determined from a plurality of preset welding task templates based on the triggered third control element and the first trigger operation. The target welding task template is displayed on the monitor.

3. The method according to claim 2, characterized in that, The welding actuator is also equipped with a fourth control element; the display of the target welding task template on the monitor includes: Set the target point in the target welding task template to the selected state, wherein the target point is any one of the points; The target welding task template is displayed on the monitor, and the location information of the target points is highlighted. In response to a trigger operation on the fourth control element, the target point in the selected state is switched; Remove the highlighting of the location information of the target point that was selected before the switch, and highlight the location information of the target point that is selected after the switch.

4. The method according to claim 2, characterized in that, After updating the position information of the target point based on the pose data, the method further includes: The updated point information of the target point is displayed on the target welding task template via the display. Switch the selected target point according to the preset point order; Remove the highlighting of the location information of the target point that was selected before the switch, and highlight the location information of the target point that is selected after the switch.

5. The method according to any one of claims 1 to 4, characterized in that, After activating the force control function, the method further includes: The system displays status prompts corresponding to the activation state of the force control function. These prompts are used to instruct the operator to perform a drag operation on the welding actuator.

6. The method according to any one of claims 1 to 4, characterized in that, After activating the force control function, the method further includes: In response to a trigger operation on the first control element, the force control function is disabled.

7. A welding task construction device, characterized in that, An apparatus for use in a welding system, the welding system comprising at least a welding robot, the welding robot having a welding actuator at its end effector, and the welding actuator having a first control element and a second control element; the apparatus includes: The first acquisition module is used to acquire a target welding task template, wherein the target welding task template includes point information corresponding to at least one point. A startup module is used to activate the force control function in response to a trigger operation on the first control element; The second acquisition module is used to acquire the pose data of the welding robot end after the drag operation in response to the drag operation of the welding actuator. An update module is configured to, in response to a trigger operation on the second control element, update the position information of the target position based on the pose data when the target position is selected, wherein the target position is any one of the positions.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. 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 steps of the method according to any one of claims 1 to 6.

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

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