Mechanical arm control method and control device for electron beam welding workshop, mechanical arm and electron beam welding workshop

Abstract

The invention discloses a mechanical arm control method and device of an electron beam welding workshop, a mechanical arm and the electron beam welding workshop, and relates to the technical field of mechanical arms. The mechanical arm control method for the electron beam welding workshop comprises the steps that a first trigger signal is responded, and a current station where a to-be-welded part is located is determined; based on the preset welding path and the current station where the to-be-welded part is located, a corresponding target station is determined in the multiple preset stations; under the condition that processing of the current station where the to-be-welded part is located is finished, the to-be-welded part is moved to a target station; and determining the current station where the to-be-welded part is located repeatedly, determining a corresponding target station in the multiple processing stations on the basis of the preset welding path and the current station where the to-be-welded part is located, and under the condition that processing of the current station where the to-be-welded part is located is finished, welding the to-be-welded part to the target station. And the to-be-welded part is moved to the target station till the to-be-welded part completes the preset welding path. The working efficiency of the mechanical arm in the electron beam welding workshop is improved.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a robotic arm control method, control device, robotic arm, and electron beam welding workshop for an electron beam welding workshop. Background Technology

[0002] Electron beam welding, as an advanced welding process with high energy density, deep penetration, and a small heat-affected zone, is widely used in high-end manufacturing fields such as aerospace, nuclear energy equipment, and precision instruments. During electron beam welding, the workpiece typically requires multiple passes and angles of welding in a vacuum environment, placing high demands on welding path accuracy, station switching efficiency, and the level of automation control.

[0003] Current electron beam welding workshops generally employ fixed welding equipment combined with manual or semi-automatic handling to transfer workpieces between different workstations. This approach has the following drawbacks: Firstly, manual intervention easily introduces positioning errors, affecting welding consistency. Secondly, workstation switching relies on preset timing sequences or simple sensor signals, lacking dynamic correlation with the welding path and making it difficult to adapt to the flexible scheduling requirements of complex welding tasks. Furthermore, in multi-workstation collaborative operation scenarios, if the robotic arm or handling system cannot intelligently decide the next target workstation based on the current welding progress, it can easily lead to process interruptions, cycle time imbalances, or even equipment conflicts, restricting welding efficiency and production line flexibility.

[0004] In recent years, although some automated welding systems have introduced robotic arms for workpiece gripping and posture adjustment, their control logic is mostly based on static task sequences, which cannot achieve path-driven adaptive station migration. Therefore, there is an urgent need for a control method that can dynamically plan station flow according to the welding path and achieve close collaboration between the robotic arm and the welding process to improve the intelligence level and production efficiency of electron beam welding workshops. Summary of the Invention

[0005] The main objective of this invention is to provide a robotic arm control method, control device, robotic arm, and electron beam welding workshop for an electron beam welding workshop, aiming to improve the working efficiency of the robotic arm in the electron beam welding workshop.

[0006] To achieve the above objectives, this invention proposes a robotic arm control method for an electron beam welding workshop, wherein the electron beam welding workshop includes multiple preset workstations, and the robotic arm control method for the electron beam welding workshop includes:

[0007] In response to the first trigger signal, the current position of the workpiece to be welded is determined; Based on the preset welding path and the current station of the workpiece to be welded, the corresponding target station is determined among multiple preset stations; Once the current station where the workpiece to be welded is located has finished processing, move the workpiece to the target station. Repeatedly execute the steps of determining the current station of the workpiece to be welded, determining the corresponding target station among multiple processing stations based on the preset welding path and the current station of the workpiece to be welded, and moving the workpiece to be welded to the target station after the current station of the workpiece to be welded has finished processing until the workpiece to be welded completes the preset welding path.

[0008] In one embodiment, the multiple preset workstations include a preparation workstation and an ultrasonic cleaning workstation; the step of determining the corresponding target workstation among the multiple preset workstations based on the preset welding path and the current workstation where the workpiece to be welded is located specifically includes: When the current station of the part to be welded is the preparation station, the target station is determined as the ultrasonic cleaning station from among multiple preset stations based on the preset welding path and the preparation station.

[0009] In one embodiment, the plurality of preset workstations include spot welding workstations; the step of determining the corresponding target workstation among the plurality of preset workstations based on the preset welding path and the current workstation where the workpiece to be welded is located specifically includes: When the current station of the part to be welded is the ultrasonic cleaning station, the target station is determined as the spot welding station from among multiple preset stations based on the preset welding path and the ultrasonic cleaning station.

[0010] In one embodiment, the plurality of preset workstations includes a demagnetization workstation; the step of determining the corresponding target workstation among the plurality of preset workstations based on the preset welding path and the current workstation where the workpiece to be welded is located specifically includes: When the current station of the part to be welded is the spot welding station, the target station is determined as the demagnetizing station from among multiple preset stations based on the preset welding path and spot welding station.

[0011] In one embodiment, the plurality of preset workstations include an electron beam welding workstation; the step of determining the corresponding target workstation among the plurality of preset workstations based on the preset welding path and the current workstation where the workpiece to be welded is located specifically includes: When the current station of the workpiece to be welded is the demagnetization station, the target station is determined as the electron beam welding station among multiple preset stations based on the preset welding path and the demagnetization station.

[0012] In one embodiment, the plurality of preset stations include an annealing station; the step of determining the corresponding target station among the plurality of preset stations based on the preset welding path and the current station of the workpiece to be welded specifically includes: When the current station of the workpiece to be welded is the electron beam welding station, the target station is determined to be the annealing station from among multiple preset stations based on the preset welding path and the electron beam welding station.

[0013] In one embodiment, after the step of determining the current position of the workpiece to be welded in response to a first trigger signal, the method further includes: In response to the second trigger signal, it is determined that the current station of the workpiece to be welded is in an abnormal state, and the movement of the workpiece to be welded is stopped.

[0014] The present invention also proposes a control device comprising a memory, a processor, and a robotic arm control program for an electron beam welding workshop stored in the memory and executable on the processor, the robotic arm control program for an electron beam welding workshop being configured to implement the steps of the robotic arm control method for an electron beam welding workshop as described in any of the preceding claims.

[0015] The present invention also proposes a robotic arm, which includes the control device as described above.

[0016] The present invention also proposes an electron beam welding workshop, which includes a robotic arm as described above.

[0017] This invention provides a robotic arm control method for an electron beam welding workshop, which effectively improves the working efficiency of the robotic arm. The electron beam welding workshop includes multiple preset workstations. The robotic arm control method includes: responding to a first trigger signal to determine the current workstation of the workpiece to be welded; determining a corresponding target workstation among the multiple preset workstations based on a preset welding path and the current workstation of the workpiece; moving the workpiece to be welded to the target workstation after processing at the current workstation has ended; repeating the steps of determining the current workstation of the workpiece, determining the corresponding target workstation among the multiple processing workstations based on the preset welding path and the current workstation of the workpiece, and moving the workpiece to the target workstation after processing at the current workstation has ended until the workpiece completes the preset welding path. This method automates the welding process, enables path-driven workstation scheduling, and achieves collaborative control of the robotic arm, thereby effectively improving the working efficiency of the robotic arm in the electron beam welding workshop. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1This is a flowchart illustrating the robotic arm control method for the electron beam welding workshop of the present invention. Figure 2 This is a flowchart illustrating an embodiment of the robotic arm control method for an electron beam welding workshop according to the present invention.

[0020] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0022] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0023] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0024] Electron beam welding, as an advanced welding process with high energy density, deep penetration, and a small heat-affected zone, is widely used in high-end manufacturing fields such as aerospace, nuclear energy equipment, and precision instruments. During electron beam welding, the workpiece typically requires multiple passes and angles of welding in a vacuum environment, placing high demands on welding path accuracy, station switching efficiency, and the level of automation control.

[0025] Current electron beam welding workshops generally employ fixed welding equipment combined with manual or semi-automatic handling to transfer workpieces between different workstations. This approach has the following drawbacks: Firstly, manual intervention easily introduces positioning errors, affecting welding consistency. Secondly, workstation switching relies on preset timing sequences or simple sensor signals, lacking dynamic correlation with the welding path and making it difficult to adapt to the flexible scheduling requirements of complex welding tasks. Furthermore, in multi-workstation collaborative operation scenarios, if the robotic arm or handling system cannot intelligently decide the next target workstation based on the current welding progress, it can easily lead to process interruptions, cycle time imbalances, or even equipment conflicts, restricting welding efficiency and production line flexibility.

[0026] In recent years, although some automated welding systems have introduced robotic arms for workpiece gripping and posture adjustment, their control logic is mostly based on static task sequences, which cannot achieve path-driven adaptive station migration. Therefore, there is an urgent need for a control method that can dynamically plan station flow according to the welding path and achieve close collaboration between the robotic arm and the welding process to improve the intelligence level and production efficiency of electron beam welding workshops.

[0027] To solve the above problems, refer to Figure 1 This application proposes a robotic arm control method for an electron beam welding workshop, wherein the electron beam welding workshop includes multiple preset workstations, and the robotic arm control method for the electron beam welding workshop includes: Step S100: In response to the first trigger signal, determine the current position of the workpiece to be welded; Step S200: Based on the preset welding path and the current station where the workpiece to be welded is located, determine the corresponding target station among multiple preset stations; Step S300: After the current station where the workpiece to be welded is located has been completed, move the workpiece to be welded to the target station; Step S400: Repeat the steps of determining the current station of the workpiece to be welded, determining the corresponding target station among multiple processing stations based on the preset welding path and the current station of the workpiece to be welded, and moving the workpiece to be welded to the target station after the current station of the workpiece to be welded has been processed until the workpiece to be welded completes the preset welding path.

[0028] Understandably, electron beam welding workshops typically have multiple preset workstations to allow the workpiece to be welded to undergo corresponding processing at different workstations, such as ultrasonic cleaning or spot welding, ensuring that the workpiece reaches its target state after processing at these workstations. Each preset workstation is equipped with a corresponding triggering component, enabling the main control device in the electron beam welding workshop to confirm the current workstation position and control the corresponding workstation to perform the appropriate processing. The control device in the robotic arm of the electron beam welding workshop is electrically connected to the main control device, establishing a communication connection for the main control device to send and receive control commands. For example, when the workpiece to be welded is moved to any of the preset workstations by other moving components, the triggering component at that workstation outputs a corresponding first trigger signal to the main control device. The main control device then confirms the current workstation position based on this first trigger signal and sends the processed information to the control device in the robotic arm, allowing the control device to confirm the current workstation position of the workpiece to be moved.

[0029] In this embodiment, the preset welding path in the electron beam welding workshop is a fixed preset welding path. All parts to be welded entering the electron beam welding workshop must pass through the complete preset welding path to ensure that the processing of the parts to be welded in the electron beam welding workshop achieves the preset target. Therefore, the robotic arm will determine the target station to which the parts to be welded need to be moved after processing at the current station by using the preset welding path and the current station of the parts to be welded. This allows the robotic arm to quickly move the parts to be welded to the target station after processing at the current station, so that the parts to be welded can quickly enter the target station for corresponding processing.

[0030] In this embodiment, the electron beam welding workshop includes multiple preset workstations, meaning that the workpiece to be welded needs to be processed through multiple preset workstations within the electron beam welding workshop. In other words, the workpiece to be welded has different current workstations and target workstations at different times in the electron beam welding workshop. The robotic arm needs to move the workpiece to be welded to different preset workstations and determine the target workstation to which the workpiece to be welded needs to be moved next based on the preset welding path and the current workstation. Therefore, the robotic arm needs to repeatedly confirm the current workstation of the workpiece to be welded and, based on the preset welding path and the current workstation, determine the corresponding target workstation among multiple processing workstations so that the workpiece to be welded is moved to the target workstation after processing at its current workstation is completed, until the workpiece to be welded completes the preset welding path.

[0031] By adopting this robotic arm control method in an electron beam welding workshop, the working efficiency of the robotic arm in the workshop can be effectively improved. The electron beam welding workshop includes multiple preset workstations. The robotic arm control method includes: responding to a first trigger signal to determine the current workstation of the workpiece to be welded; based on a preset welding path and the current workstation of the workpiece, determining a corresponding target workstation among the multiple preset workstations; moving the workpiece to be welded to the target workstation after processing at the current workstation; repeating the steps of determining the current workstation of the workpiece, determining the corresponding target workstation among the multiple processing workstations based on the preset welding path and the current workstation of the workpiece, and moving the workpiece to the target workstation after processing at the current workstation until the workpiece completes the preset welding path. This method automates the welding process, enables path-driven workstation scheduling, and achieves collaborative control of the robotic arm, thereby effectively improving the working efficiency of the robotic arm in the electron beam welding workshop.

[0032] refer to Figure 2 In one embodiment of the present invention, the multiple preset workstations include a preparation workstation and an ultrasonic cleaning workstation; the step of determining the corresponding target workstation among the multiple preset workstations based on the preset welding path and the current workstation of the workpiece to be welded specifically includes: Step S210: If the current station of the part to be welded is the preparation station, the target station is determined as the ultrasonic cleaning station among multiple preset stations based on the preset welding path and the preparation station.

[0033] Understandably, ultrasonic cleaning is a crucial pretreatment step in electron beam welding workshops. Ultrasonic cleaning removes contaminants from the surface of the workpieces to be welded, improving welding quality and reliability, enhancing material surface activity, and making it suitable for complex geometries. Specifically, ultrasonic cleaning effectively removes oil, grease, residual cutting fluid, dust, oxides, and other organic or inorganic contaminants from the workpiece surface. If these contaminants are not removed, they may volatilize in a high-vacuum environment, contaminating the electron gun system or affecting welding quality. Secondly, electron beam welding is typically performed in a high-vacuum environment, requiring extremely high surface cleanliness. Surface contaminants may decompose at high temperatures, generating gases and leading to defects such as weld porosity and inclusions. Ultrasonic cleaning can significantly reduce these defects, improving weld density and mechanical properties. Furthermore, residual volatile substances (such as grease and moisture) release gases in the vacuum chamber, reducing vacuum levels and even damaging the electron gun or vacuum pump. Ultrasonic cleaning helps maintain stable operation of welding equipment and extends its service life. Finally, cleaned metal surfaces are more conducive to good metallurgical bonding, facilitating effective absorption of electron beam energy and stable molten pool formation. Finally, ultrasonic cleaning utilizes the cavitation effect to penetrate into tiny gaps, blind holes, or complex structures within workpieces, achieving thorough cleaning—something traditional cleaning methods struggle to accomplish.

[0034] refer to Figure 2 In one embodiment of the present invention, the plurality of preset workstations include spot welding workstations; the step of determining the corresponding target workstation among the plurality of preset workstations based on the preset welding path and the current workstation where the workpiece to be welded is located specifically includes: Step S220: If the current station of the part to be welded is the ultrasonic cleaning station, the target station is determined as the spot welding station among multiple preset stations based on the preset welding path and the ultrasonic cleaning station.

[0035] Understandably, before formal continuous electron beam welding, two or more parts to be welded need to be precisely aligned and temporarily fixed. Electron beam spot welding can be used as a tack weld, applying a small amount of localized fusion at critical locations to prevent misalignment of the workpieces during clamping or placement into the vacuum chamber. Compared to mechanical fixtures, spot welding is more reliable and does not introduce external clamping stress or contamination. Secondly, spot welding can pre-close assembly gaps, ensuring the stability of the subsequent main weld pool and avoiding defects such as insufficient penetration, undercut, or lack of fusion due to excessive gaps. For thin-walled or precision components, proper placement of spot welds can effectively control thermal deformation. Furthermore, electron beam welding is usually performed in a high-vacuum chamber, making real-time adjustment using external fixtures impossible. Therefore, spot welding with an electron beam before or within the vacuum chamber is a necessary means to achieve high-precision assembly. In electron beam welding workshops, spot welding is mainly used for precise positioning of assembly, gap control, and deformation reduction, and in some cases, it is directly used as a functional connection method. It is an indispensable auxiliary or main process step to ensure high-precision, high-quality electron beam welding.

[0036] refer to Figure 2 In one embodiment of the present invention, the plurality of preset workstations includes a demagnetizing workstation; the step of determining the corresponding target workstation among the plurality of preset workstations based on the preset welding path and the current workstation where the workpiece to be welded is located specifically includes: Step S230: When the current station of the part to be welded is a spot welding station, the target station is determined as the demagnetizing station among multiple preset stations based on the preset welding path and spot welding station.

[0037] In this embodiment, demagnetization is a crucial pretreatment step in the electron beam welding workshop. Its main function is to eliminate residual magnetic fields on the workpiece, ensuring the stability and accuracy of the electron beam welding process. It is understood that an electron beam, composed of negatively charged high-speed electrons, is deflected by the Lorentz force in a magnetic field. If the workpiece itself carries residual magnetism, such as from previous machining, magnetic particle inspection, or the use of electromagnetic fixtures, a local magnetic field will be generated around it. This magnetic field interferes with the focusing and trajectory of the electron beam, leading to weld deviation from the predetermined position, uneven penetration, poor weld formation, or even welding failure. Electron beam welding is commonly used in high-precision, high-reliability applications; even a very weak residual magnetism on the workpiece can cause a deviation of several millimeters in the electron beam, severely impacting micron-level positioning requirements. Demagnetization ensures a consistent electron beam path for each weld, improving process repeatability and product quality consistency. Furthermore, if ferromagnetic materials are magnetized, they will maintain their magnetic field after entering the high-vacuum welding chamber, potentially affecting the electromagnetic lens system or beam control system of the electron gun. In the electron beam welding workshop, the demagnetization station can be achieved using AC demagnetization, thermal demagnetization, etc.

[0038] refer to Figure 2In one embodiment of the present invention, the plurality of preset workstations include an electron beam welding workstation; the step of determining the corresponding target workstation among the plurality of preset workstations based on the preset welding path and the current workstation where the workpiece to be welded is located specifically includes: Step S240: If the current station of the workpiece to be welded is the demagnetizing station, the target station is determined as the electron beam welding station among multiple preset stations based on the preset welding path and the demagnetizing station.

[0039] Understandably, electron beam welding is the core step in the entire process, its fundamental function being to achieve deep melting, high precision, and high-quality bonding of materials using a high-energy focused electron beam in a vacuum environment. Electron beams have extremely high energy density, capable of instantly melting or even vaporizing metal, creating a keyhole effect. Furthermore, electron beam welding can weld materials ranging in thickness from tens of micrometers to hundreds of millimeters, with weld depth-to-width ratios reaching 10:1 or even 50:1, far exceeding traditional arc welding or laser welding. Electron beam welding is performed in a high-vacuum environment, effectively isolating air and avoiding contamination from gases such as oxygen, nitrogen, and hydrogen. The highly concentrated energy, low total heat input, and extremely narrow heat-affected zone of electron beam welding effectively reduce overall thermal deformation of the workpiece, making it suitable for welding precision parts, thin-walled structures, or heat-sensitive materials.

[0040] refer to Figure 2 In one embodiment of the present invention, the plurality of preset workstations include an annealing workstation; the step of determining the corresponding target workstation among the plurality of preset workstations based on the preset welding path and the current workstation where the workpiece to be welded is located specifically includes: Step S250: If the current station of the workpiece to be welded is the electron beam welding station, the target station is determined as the annealing station among multiple preset stations based on the preset welding path and the electron beam welding station.

[0041] Understandably, annealing is a crucial step in the post-weld heat treatment of welded parts. Its main functions are to improve the microstructure and properties of the weld joint, eliminate residual stress, enhance the plasticity and toughness of the material, and stabilize the workpiece dimensions. While electron beam welding involves concentrated heat input and a small heat-affected zone, it still generates significant thermal and structural stresses in the weld and surrounding area. These residual stresses can lead to deformation of the welded parts during subsequent processing or use, and can induce stress corrosion cracking in corrosive environments. Annealing heats the welded parts to an appropriate temperature and holds them there, causing stress relaxation and effectively reducing or homogenizing residual stresses. Furthermore, rapid cooling of the weld pool can easily lead to the formation of coarse columnar crystals, martensite, or other brittle and hard structures. Annealing promotes phase transformation and recrystallization, grain refinement and homogenization, reduces segregation, and improves microstructure stability, thereby enhancing the plasticity, toughness, and crack resistance of the weld and heat-affected zone. In electron beam welding workshops, the annealing process allows the workpieces to be welded to undergo controlled heating and cooling, optimizing the microstructure and properties of the weld joint, eliminating harmful residual stresses, and ensuring the structural integrity, dimensional stability, and long-term service safety of components in high-reliability application scenarios.

[0042] In one embodiment of the present invention, after the step of determining the current station of the workpiece to be welded in response to the first trigger signal, the method further includes: Step S500: In response to the second trigger signal, determine that the current station of the workpiece to be welded is in an abnormal state, and stop the movement of the workpiece to be welded.

[0043] In this embodiment, multiple preset workstations are communicatively connected to the main control device of the electron beam welding workshop, thereby receiving corresponding control signals from the main control device and uploading corresponding trigger signals to the main control device. For example, when the workpiece to be welded is at a certain preset workstation, that workstation will output a first trigger signal to the main control device, so that the main control device controls the corresponding workstation to perform a corresponding action, and outputs a first trigger signal to the control device of the robotic arm, so that the control device of the robotic arm can determine the current workstation where the workpiece to be welded is located based on the first trigger signal. If the equipment at a corresponding workstation is in an abnormal state, multiple preset workstations will output a corresponding second trigger signal to the main control device, so that the main control device can confirm that the current workstation where the workpiece to be welded is located is in an abnormal state based on the second trigger signal. At this time, the main control device will output a corresponding second trigger signal to the control device of the robotic arm, so that the robotic arm stops moving the workpiece to be welded, waiting for the operator to handle it, to avoid the workpiece to be welded being transferred to the target workstation without being processed at the corresponding preset workstation, resulting in damage to the workpiece to be welded.

[0044] The present invention also proposes a control device comprising a memory, a processor, and a robotic arm control program for an electron beam welding workshop stored in the memory and executable on the processor, the robotic arm control program for an electron beam welding workshop being configured to implement the steps of the robotic arm control method for an electron beam welding workshop as described in any of the preceding claims.

[0045] It is worth noting that since the control device of the present invention is based on the above-mentioned robotic arm control method in the electron beam welding workshop, the embodiments of the control device of the present invention include all the technical solutions of all embodiments of the above-mentioned robotic arm control method in the electron beam welding workshop, and the technical effects achieved are exactly the same, so they will not be repeated here.

[0046] The present invention also proposes a robotic arm, which includes the control device as described above.

[0047] It is worth noting that since the robotic arm of the present invention is based on the control device described above, the embodiments of the robotic arm of the present invention include all the technical solutions of all the embodiments of the control device described above, and the technical effects achieved are exactly the same, so they will not be repeated here.

[0048] The present invention also proposes an electron beam welding workshop, which includes a robotic arm as described above.

[0049] It is worth noting that since the electron beam welding workshop of the present invention is based on the above-mentioned robotic arm, the embodiments of the electron beam welding workshop of the present invention include all the technical solutions of all the embodiments of the above-mentioned robotic arm, and the technical effects achieved are exactly the same, which will not be repeated here.

[0050] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A method for controlling a robotic arm in an electron beam welding workshop, characterized in that, The electron beam welding workshop includes multiple pre-set workstations, and the robotic arm control method of the electron beam welding workshop includes: In response to the first trigger signal, the current position of the workpiece to be welded is determined; Based on the preset welding path and the current station of the workpiece to be welded, the corresponding target station is determined among multiple preset stations; Once the current station where the workpiece to be welded is located has finished processing, move the workpiece to the target station. Repeatedly execute the steps of determining the current station of the workpiece to be welded, determining the corresponding target station among multiple processing stations based on the preset welding path and the current station of the workpiece to be welded, and moving the workpiece to be welded to the target station after the current station of the workpiece to be welded has finished processing until the workpiece to be welded completes the preset welding path.

2. The robotic arm control method for an electron beam welding workshop as described in claim 1, characterized in that, Multiple preset workstations include a preparation workstation and an ultrasonic cleaning workstation; the step of determining the corresponding target workstation among the multiple preset workstations based on the preset welding path and the current workstation of the workpiece to be welded specifically includes: When the current station of the part to be welded is the preparation station, the target station is determined as the ultrasonic cleaning station from among multiple preset stations based on the preset welding path and the preparation station.

3. The robotic arm control method for an electron beam welding workshop as described in claim 2, characterized in that, Multiple preset workstations include spot welding workstations; the step of determining the corresponding target workstation among multiple preset workstations based on the preset welding path and the current workstation where the workpiece to be welded is located specifically includes: When the current station of the part to be welded is the ultrasonic cleaning station, the target station is determined as the spot welding station from among multiple preset stations based on the preset welding path and the ultrasonic cleaning station.

4. The robotic arm control method for an electron beam welding workshop as described in claim 3, characterized in that, Multiple preset workstations include a demagnetization workstation; the step of determining the corresponding target workstation among multiple preset workstations based on the preset welding path and the current workstation where the workpiece to be welded is located specifically includes: When the current station of the part to be welded is the spot welding station, the target station is determined as the demagnetizing station from among multiple preset stations based on the preset welding path and spot welding station.

5. The robotic arm control method for an electron beam welding workshop as described in claim 4, characterized in that, Multiple preset workstations include an electron beam welding workstation; the step of determining the corresponding target workstation among the multiple preset workstations based on the preset welding path and the current workstation where the workpiece to be welded is located specifically includes: When the current station of the workpiece to be welded is the demagnetization station, the target station is determined as the electron beam welding station among multiple preset stations based on the preset welding path and the demagnetization station.

6. The robotic arm control method for an electron beam welding workshop as described in claim 5, characterized in that, Multiple preset workstations include an annealing workstation; the step of determining the corresponding target workstation among multiple preset workstations based on the preset welding path and the current workstation where the workpiece to be welded is located specifically includes: When the current station of the workpiece to be welded is the electron beam welding station, the target station is determined to be the annealing station from among multiple preset stations based on the preset welding path and the electron beam welding station.

7. The robotic arm control method for an electron beam welding workshop as described in any one of claims 1 to 6, characterized in that, After the step of determining the current station of the workpiece to be welded in response to the first trigger signal, the method further includes: In response to the second trigger signal, it is determined that the current station of the workpiece to be welded is in an abnormal state, and the movement of the workpiece to be welded is stopped.

8. A control device, characterized in that, The control device includes a memory, a processor, and a robotic arm control program for an electron beam welding workshop stored in the memory and executable on the processor, the robotic arm control program for an electron beam welding workshop being configured to implement the steps of the robotic arm control method for an electron beam welding workshop as described in any one of claims 1 to 7.

9. A robotic arm, characterized in that, The robotic arm includes the control device as described in claim 8.

10. An electron beam welding workshop, characterized in that, The electron beam welding workshop includes the robotic arm as described in claim 9.

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