Intelligent automatic welding collaborative control method and device and electronic equipment

Abstract

This invention provides an intelligent automatic welding collaborative control method applied to a main control equipment. The method includes: acquiring real-time status signals from multiple workstations; determining a target workstation based on first and second material request signals, and controlling a first robotic arm to perform assembly operations of terminals and a circuit board to be welded at the target workstation. During the assembly operation, a clamping control signal is sent to the target workstation to clamp the terminals and make the circuit board to be welded plug and connect with the terminals. After the assembly operation is completed, a processing-ready signal is generated and sent to the welding robotic arm corresponding to the target workstation, so that the welding robotic arm spatially locks the target workstation; controlling the welding robotic arm to perform welding operations at the target workstation, and simultaneously controlling the first robotic arm to perform parallel operations based on the real-time status signals of other workstations. This intelligent automatic welding collaborative control method enables parallel operations of welding and material loading / unloading, improving production cycle time and welding quality.

Description

Technical Field

[0001] This invention relates to the field of automated welding control technology, and in particular to an intelligent automated welding collaborative control method, device, electronic equipment, and storage medium. Background Technology

[0002] Currently, in the field of circuit board terminal soldering, production is generally carried out using either purely manual soldering or semi-automated soldering equipment. In semi-automated mode, typically only a single welding robotic arm is equipped to perform the final soldering action, while the preceding material assembly process still heavily relies on manual operation by the operator. Specifically, the operator must manually load multiple terminals sequentially and accurately insert them into the corresponding holes on the circuit board to be soldered. After confirming that the assembly is correct, the single welding robotic arm is then started to perform point-by-point soldering. Furthermore, when changing production for different circuit board models, it is usually necessary to stop the machine and manually change the entire set of fixed tooling, and the welding trajectory of the robotic arm requires tedious point-by-point teaching and calibration.

[0003] However, the aforementioned existing technologies face significant technical bottlenecks in practical applications. First, the heavy reliance on manual pre-positioning of circuit boards and terminals results in extremely low overall automation. Manual assembly is slow and prone to fatigue, and a single welding robotic arm must wait for manual assembly to complete before it can intervene. This creates a severe time conflict between loading / unloading and welding processes, preventing parallel operation of multiple processes and leading to a low overall production cycle. Second, manual insertion is prone to misalignment or loose insertion of terminals, and conventional equipment lacks a robust automatic pre-welding status detection mechanism. It cannot provide timely warnings when terminal assembly is obstructed or circuit board warping occurs, easily resulting in batches of defective products. Finally, existing systems suffer from poor flexibility, time-consuming multi-product changeovers, and cumbersome array solder joint debugging, failing to meet the urgent demands of modern industry for high-efficiency, high-flexibility, and unmanned production. Summary of the Invention

[0004] The purpose of this invention is to propose an intelligent automatic welding collaborative control method, device, electronic equipment, storage medium, and computer program product, which can solve the technical problems of low automation and slow production cycle caused by high dependence on manual assembly in the prior art, realize parallel multi-threaded operation of welding and loading / unloading, and improve production cycle and welding quality.

[0005] This invention provides an intelligent automatic welding collaborative control method applied to a main control equipment, comprising: acquiring real-time status signals of multiple workstations, wherein the real-time status signals include at least a first material request signal corresponding to a terminal block and a second material request signal corresponding to a circuit board to be welded; determining a target workstation based on the first material request signal and the second material request signal, and controlling a first robotic arm to perform an assembly operation of a terminal block and a circuit board to be welded at the target workstation, wherein during the assembly operation, a clamping control signal is sent to the target workstation to clamp the terminal block and make the circuit board to be welded plug and engage with the terminal block; after the assembly operation is completed, generating a processing ready signal and sending the processing ready signal to the welding robotic arm corresponding to the target workstation, so that the welding robotic arm spatially locks the target workstation; controlling the welding robotic arm to perform welding operations at the target workstation, and synchronously controlling the first robotic arm to perform parallel operations according to the real-time status signals of other workstations. Therefore, by scheduling the first robotic arm to assemble based on the material request signal and sending a processing ready signal to lock the welding robotic arm in space after the assembly is completed, the collaborative control logic enables the welding operation and the loading and unloading assembly operation to be executed in parallel safely and independently at different workstations, which significantly improves the overall production cycle time. At the same time, the space locking and parallel scheduling mechanism effectively avoids physical collisions and logical deadlocks when multiple robotic arms work together.

[0006] In another illustrative embodiment of the intelligent automatic welding collaborative control method of the present invention, the control of the first robotic arm to perform the assembly operation of terminals and circuit boards to be welded at the target workstation includes: based on the first material request signal, controlling the first robotic arm to simultaneously pick up multiple terminals from the feeding area through a multi-channel adsorption mechanism mounted on its end, and placing the multiple terminals in the fixture at the target workstation; sending the clamping control signal to the target workstation to trigger the action of the cylinder positioning mechanism integrated in the fixture to physically align and clamp the multiple terminals; based on the second material request signal, controlling the first robotic arm to acquire the circuit board to be welded, and placing the circuit board to be welded on the fixture, so that the sockets on the circuit board to be welded are engaged with the terminals. Thus, by using the multi-channel adsorption mechanism to simultaneously pick up multiple terminals, the feeding efficiency is significantly improved; and by using the cylinder positioning mechanism integrated in the fixture for physical alignment and clamping, the accuracy of the terminal and circuit board insertion is ensured, effectively avoiding the problems of misalignment or incomplete insertion caused by manual insertion.

[0007] In another illustrative embodiment of the intelligent automatic welding collaborative control method of the present invention, the multi-channel adsorption mechanism includes multiple suction nozzles arranged side by side. Each suction nozzle has a contour-following groove on its end face that matches the asymmetrical irregular contour of the terminal block. Controlling the first robotic arm to simultaneously pick up multiple terminal blocks via the multi-channel adsorption mechanism at its end includes: controlling the first robotic arm to press down, causing the contour-following groove to engage with the contour of the terminal block; activating the integrated vacuum generator corresponding to the suction nozzle, drawing negative pressure through the holes on the terminal block to adsorb it; and controlling the integrated vacuum generator to switch to air blowing mode when the terminal block is placed on the fixture to assist in the detachment of the terminal block. Thus, by providing a contour-following groove on the end face of the suction nozzle that matches the asymmetrical irregular contour of the terminal block, the adsorption process can stably engage with the terminal block, avoiding deviation during gripping. Combined with the negative pressure extraction and air blowing mode switching of the integrated vacuum generator, rapid and reliable gripping and precise release of the terminal block are achieved, improving the stability of material handling.

[0008] In another illustrative embodiment of the intelligent automatic welding collaborative control method of the present invention, the feeding area is provided with an end-feeding position, and a pressure plate is provided above the upstream queuing side adjacent to the end-feeding position; controlling the first robotic arm to synchronously pick up multiple terminals from the feeding area through a multi-channel adsorption mechanism mounted at its end includes: when the terminals move towards the end-feeding position, the pressure plate limits the top of the terminals in the queue that have not yet entered the end-feeding position, so that the terminals are restricted within a preset track when squeezed by subsequent incoming materials, preventing the terminals from tilting upwards or being squeezed out; controlling the first robotic arm, under the limiting cooperation of the pressure plate, to pick up the multiple terminals located at the end-feeding position that are not blocked by the pressure plate through the multi-channel adsorption mechanism. Therefore, a pressure plate is set above the upstream queuing side, which effectively limits the terminals in the queue when they are squeezed by subsequent incoming materials, preventing the terminals from tilting upwards or being squeezed out of the track. At the same time, the pressure plate cleverly avoids the end picking position, allowing the robotic arm to smoothly pick up the terminal head without interference, ensuring the continuity of material supply and the reliability of material picking.

[0009] In another illustrative embodiment of the intelligent automatic welding collaborative control method of the present invention, the feeding area is provided with an end-feeding position, and the end-feeding position is provided with a stepped structure; before controlling the first robotic arm to simultaneously pick up multiple terminals from the feeding area through the multi-channel adsorption mechanism mounted at its end, the method further includes: when the terminal at the head position moves to the end-feeding position, the recessed position at the bottom of the terminal engages with the stepped structure to provide posture support for the terminal and prevent the terminal at the head position from tilting. Thus, by providing a stepped structure at the end-feeding position, the recessed position at the bottom of the terminal can engage with the stepped structure, providing stable posture support for the head terminal and preventing it from tilting forward, thereby ensuring that the multi-channel adsorption mechanism can accurately align and pick up the terminals.

[0010] In another illustrative embodiment of the intelligent automatic welding collaborative control method of the present invention, before sending the processing ready signal to the welding robotic arm corresponding to the target workstation, the method further includes: controlling a ranging sensor mounted on the first robotic arm or the tooling to measure the height of at least two preset detection points on the surface of the circuit board to be welded at the target workstation to obtain actual height data; determining whether the difference between the actual height data and the preset standard height is less than a preset flatness threshold; if it is less than the preset flatness threshold, determining that the circuit board to be welded is not bent and not jammed, triggering the step of generating the processing ready signal. Thus, by introducing a pre-welding height measurement and flatness judgment mechanism based on a ranging sensor, the system can automatically identify whether the circuit board is bent or whether the terminal assembly is jammed before welding, forming a complete quality prediction closed loop, effectively avoiding batch scrap caused by defective welding, and improving production yield.

[0011] In another illustrative embodiment of the intelligent automatic welding collaborative control method of the present invention, controlling the welding robotic arm to perform welding operations at the target workstation includes: acquiring the board type information of the circuit board to be welded corresponding to the target workstation; acquiring the coordinates of the first reference point of the first welding unit and the second reference point of the second welding unit of the circuit board to be welded; determining the preset horizontal spacing and preset vertical spacing between adjacent welding points within the same welding unit according to the board type information; calculating the target coordinates of the remaining welding points within the first welding unit based on the first reference point coordinates, the preset horizontal spacing, and the preset vertical spacing; and calculating the target coordinates of the remaining welding points within the second welding unit based on the second reference point coordinates, the preset horizontal spacing, and the preset vertical spacing, wherein the calculation formula for the target coordinates is: P m,r,c =P m +(r−1)⋅ΔX+(c−1)⋅ΔY, where, Pm,r,c Let P be the target coordinates of the welding point in the r-th row and c-th column within the m-th welding unit. m Let ΔX be the reference point coordinates of the m-th welding unit, ΔY be the preset horizontal spacing, and m be 1 or 2. r and c are both positive integers, and r and c cannot both be 1. The welding robot arm is controlled to sequentially execute the welding operation according to the calculated target coordinates. Therefore, by employing a two-dimensional matrix calculation algorithm based on reference point coordinates and preset spacing, the system can automatically calculate the target coordinates of all welding points when facing multiple array welding points, requiring only a few reference points. This eliminates the tedious point-by-point teaching and calibration process, significantly improving debugging efficiency during multi-product changeovers.

[0012] In another illustrative embodiment of the intelligent automatic welding collaborative control method of the present invention, the end of the welding robotic arm is equipped with a dual-path welding mechanism, which includes two synchronously moving soldering iron tips and two independent solder delivery tubes. Controlling the welding robotic arm to sequentially execute the welding operation according to the target coordinates includes: controlling the two synchronously moving soldering iron tips to simultaneously contact two adjacent pins to be soldered for synchronous heating; after heating reaches a preset time, controlling the two independent solder delivery tubes to synchronously output solder wire of a preset length to the two pins to be soldered. Thus, by using the dual-path welding mechanism to control the two synchronously moving soldering iron tips to simultaneously contact adjacent pins and independently deliver solder, the two solder joints can be heated simultaneously and uniformly, effectively solving the quality consistency problems such as inconsistent solder joint size and poor solder penetration caused by single-path solder delivery, and significantly increasing the efficiency of a single welding operation.

[0013] In another illustrative embodiment of the intelligent automatic welding collaborative control method of the present invention, the step of spatially locking the welding robotic arm to the target workstation includes: after receiving the processing ready signal, the welding robotic arm returns a confirmation response signal to the first robotic arm; based on the confirmation response signal, the first robotic arm marks a three-dimensional space at a preset distance above the target workstation as an interference forbidden zone in the global motion path planning, and schedules the first robotic arm to go to other unlocked workstations to perform parallel assembly operations. Thus, through the bidirectional confirmation response signal and the control strategy of marking interference forbidden zones in the global motion path planning, multiple robotic arms can achieve strict spatial interlocking and dynamic obstacle avoidance during high-speed parallel operation, ensuring the safety of collaborative production.

[0014] In another illustrative embodiment of the intelligent automatic welding collaborative control method of the present invention, the feeding area is equipped with a multi-channel vibratory feeding system. Before controlling the first robotic arm to synchronously pick up multiple terminals from the feeding area, the method further includes: acquiring sensor signals at the ends of each linear feeding channel in the multi-channel vibratory feeding system; when the sensor signal indicates that the material queue quantity of the target linear feeding channel reaches a preset full-load threshold, triggering a lateral air-blowing valve located at the intersection of the circular vibratory track and the target linear feeding channel to blow the subsequently overflowing terminals back into the vibratory feeder for circulation. Thus, by introducing a lateral air-blowing anti-overflow mechanism based on sensor signals into the multi-channel vibratory feeding system, when a certain linear channel is full, subsequent excess terminals can be automatically blown back into the vibratory feeder for circulation, effectively preventing material congestion and ensuring a stable material supply under high-cycle production.

[0015] This invention also provides an intelligent automatic welding collaborative control device applied to a main control equipment, comprising: a status acquisition module for acquiring real-time status signals of multiple workstations, wherein the real-time status signals include at least a first material request signal corresponding to a terminal block and a second material request signal corresponding to a circuit board to be welded; an assembly scheduling module for determining a target workstation based on the first material request signal and the second material request signal, and controlling a first robotic arm to perform an assembly operation of a terminal block and a circuit board to be welded at the target workstation, wherein during the assembly operation, a clamping control signal is sent to the target workstation to clamp the terminal block and make the circuit board to be welded plug and engage with the terminal block; an interlocking communication module for generating a processing ready signal after the assembly operation is completed, and sending the processing ready signal to the welding robotic arm corresponding to the target workstation, so that the welding robotic arm spatially locks the target workstation; and a parallel execution module for controlling the welding robotic arm to perform welding operations at the target workstation, and synchronously controlling the first robotic arm to perform parallel operations according to the real-time status signals of other workstations. Thus, through the coordinated work of various functional modules, parallel multi-threaded operations of welding and loading / unloading were achieved, improving production cycle time and welding quality.

[0016] In an illustrative embodiment of the intelligent automatic welding collaborative control device of the present invention, the assembly scheduling module is specifically used for: based on the first material request signal, controlling the first robotic arm to simultaneously pick up multiple terminals from the feeding area through a multi-channel adsorption mechanism mounted at its end, and placing the multiple terminals in the fixture at the target station; sending the clamping control signal to the target station to trigger the action of the cylinder positioning mechanism integrated in the fixture to physically align and clamp the multiple terminals; based on the second material request signal, controlling the first robotic arm to acquire the circuit board to be welded, and placing the circuit board to be welded on the fixture, so that the sockets on the circuit board to be welded are connected to the terminals. Thus, this module, through the combination of multi-channel adsorption and cylinder positioning, significantly improves the feeding efficiency and ensures the accuracy of the connection.

[0017] In another illustrative embodiment of the intelligent automatic welding collaborative control device of the present invention, the parallel execution module is specifically used for: acquiring the board type information of the circuit board to be welded corresponding to the target workstation; acquiring the first reference point coordinates of the first welding unit and the second reference point coordinates of the second welding unit of the circuit board to be welded; determining the preset horizontal spacing and preset vertical spacing between adjacent welding points within the same welding unit according to the board type information; calculating the target coordinates of the remaining welding points within the first welding unit based on the first reference point coordinates, the preset horizontal spacing and the preset vertical spacing; and calculating the target coordinates of the remaining welding points within the second welding unit based on the second reference point coordinates, the preset horizontal spacing and the preset vertical spacing, wherein the calculation formula for the target coordinates is: P m,r,c =P m +(r−1)⋅ΔX+(c−1)⋅ΔY, where, P m,r,c Let P be the target coordinates of the welding point in the r-th row and c-th column within the m-th welding unit. m Let ΔX be the reference point coordinates of the m-th welding unit, ΔY be the preset horizontal spacing, and m be either 1 or 2. r and c are both positive integers, and r and c cannot both be 1. The welding robot arm is controlled to sequentially execute the welding operations according to the calculated target coordinates. Thus, this module automatically obtains the welding point coordinates through a matrix calculation algorithm, eliminating the tedious point-by-point teaching and significantly improving debugging and changeover efficiency.

[0018] The present invention also provides an electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the intelligent automatic welding collaborative control method as described in any of the preceding claims.

[0019] The present invention also provides a non-volatile computer-readable storage medium containing computer-executable instructions that, when executed by at least one processor, cause the at least one processor to perform the intelligent automatic welding collaborative control method as described in any of the preceding claims.

[0020] The present invention also provides a computer program product comprising a computer program that, when executed by a processor, implements the intelligent automatic welding collaborative control method as described in any of the preceding claims. Attached Figure Description

[0021] The following figures are for illustrative purposes only and do not limit the scope of the invention.

[0022] Figure 1 This is a schematic diagram illustrating one embodiment of the intelligent automatic welding collaborative control method of the present invention.

[0023] Figure 2 This is a schematic diagram illustrating one embodiment of the tooling used to explain the present invention.

[0024] Figure 3 This is a schematic diagram illustrating one embodiment of the feeding area of ​​the present invention.

[0025] Figure 4 This is a schematic diagram illustrating one embodiment of the intelligent automatic welding collaborative control device of the present invention.

[0026] The reference numerals in the attached figures are as follows:

[0027] 10 First robotic arm

[0028] 11. Multi-channel adsorption mechanism

[0029] 12 Integrated Vacuum Generator

[0030] 13 Grippers

[0031] 20 Welding Robotic Arms

[0032] 21 Dual-path welding mechanism

[0033] 30 workstations

[0034] 40 tooling

[0035] 41 Receiving tank

[0036] 42 Cylinder Positioning Mechanism

[0037] 50 Feeding device

[0038] 51. Material Supply Area

[0039] 511 End Picking Position

[0040] 512 Step Structure

[0041] 513 pressure plate

[0042] 5131 Limiting protrusion

[0043] A Feeding direction

[0044] 60 terminal blocks

[0045] 61 Pins to be soldered

[0046] 410 Status Acquisition Module

[0047] 420 Assembly Scheduling Module

[0048] 430 Interlock Communication Module

[0049] 440 Parallel Execution Module Detailed Implementation

[0050] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described with reference to the accompanying drawings. In the drawings, the same reference numerals indicate components with the same or similar structures but the same function.

[0051] In this document, “illustrative” means “serving as an example, illustration or description”, and any illustration or implementation described herein as “illustrative” should not be construed as a more preferred or advantageous technical solution.

[0052] To keep the drawings concise, only the parts relevant to the invention are shown schematically in each figure, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, only one of the components with the same structure or function is shown schematically, or only one is labeled.

[0053] In this article, "one" can mean not only "only one" but also "more than one". In this article, "first", "second", etc., are used only to distinguish them from each other, not to indicate their importance or order.

[0054] Please see Figure 1This invention provides an intelligent automatic welding collaborative control method applied to a main control device. In a real industrial production environment, the main control device can be a programmable logic controller (PLC), an industrial control computer (IPC), or other control equipment. The entire intelligent welding system typically includes at least one first robotic arm 10, at least two welding robotic arms 20, multiple workstations 30, and at least one loading device 50 in its hardware topology. The number of workstations 30 can be the same as or more than the number of welding robotic arms 20. For example, in a typical application scenario, the system is configured with one first robotic arm 10 for loading and unloading (such as a six-axis collaborative robotic arm with a large load) and two welding robotic arms 20 for performing welding actions (such as a high-precision six-axis collaborative robotic arm), with four workstations 30 arranged around the robotic arms, one of which is responsible for the welding operations of two workstations 30. The main control device can establish electrical or communication connections with the aforementioned hardware devices and various underlying sensors and actuators via industrial Ethernet, fieldbus, or wireless communication modules to achieve collaborative control of the hardware and software.

[0055] After entering the dynamic working process, the main control device first acquires real-time status signals from multiple workstations 30. These real-time status signals include at least a first material request signal corresponding to the terminal block 60 and a second material request signal corresponding to the circuit board to be soldered. The main control device reads the level feedback data from photoelectric sensors or proximity switches at each workstation 30 in real time through multi-threaded polling or interrupt triggering to determine whether the platform at the current workstation 30 is in a material shortage state. Based on the first and second material request signals, the scheduling algorithm within the main control device determines the target workstation with the highest priority and sends motion control commands to the underlying drive controller of the first robotic arm 10, controlling the first robotic arm 10 to perform the assembly operation of the terminal block 60 and the circuit board to be soldered at the target workstation. During the assembly operation, the main control device sends a clamping control signal to the target workstation, driving the underlying actuator to clamp the terminal block 60 and connect the circuit board to be soldered to the terminal block 60.

[0056] After the assembly operation is completed, the main control equipment generates a processing ready signal and sends it to the welding robotic arm 20 corresponding to the target workstation, so that the welding robotic arm 20 spatially locks onto the target workstation. Subsequently, the welding robotic arm 20 is controlled to perform welding operations at the target workstation, while the first robotic arm 10 is simultaneously controlled to perform parallel loading and unloading operations based on the real-time status signals of other workstations 30. Through this control link, the first robotic arm 10 and the welding robotic arm 20 can perform their respective functions without interfering with each other, realizing multi-threaded parallel operation and effectively breaking through the efficiency bottleneck of traditional serial operation.

[0057] In some optional implementations, prior to the aforementioned dynamic operation, the main control device integrates a fully intelligent scheduling function for pre-process preparation. After the operator powers on the device, they can scan the production work order using an external barcode scanner. Upon receiving the work order information, the main control device can achieve one-click start and one-click model change. Specifically, the main control device has a pre-stored mapping relationship between work order information and production programs. By querying this mapping relationship based on the parsed work order information, the system automatically switches to the current production model program, and each robotic arm automatically returns to its position and enters standby mode. Simultaneously, the main control device can also receive remote messages through a host computer, enabling unmanned remote scheduling. Before formal operation, the main control device also reads sensor signals from the integrated upper and lower board machine to confirm whether there is a circuit board to be soldered at the front end and verifies whether the tooling model 40 on workstation 30 matches the current work order, thereby completing intelligent error prevention.

[0058] Please refer to the following: Figure 1 and Figure 2 In some embodiments, the dynamic process of controlling the first robotic arm 10 to perform assembly operations is as follows: Based on a first material request signal, the main control device controls the first robotic arm 10 to simultaneously pick up multiple terminals 60 from the feeding area 51 of the feeding device 50 (e.g., pick up 3 or 5 at a time) through the multi-channel adsorption mechanism 11 mounted at its end, and places these multiple terminals 60 into the tooling 40 at the target station. Figure 2 As shown, the terminal block 60 is typically inserted upside down into the receiving groove 41 of the fixture 40, with the pins to be soldered facing upwards. Subsequently, the main control device sends a clamping control signal to the target station, triggering the cylinder positioning mechanism 42 integrated within the fixture 40. The cylinder push rod of the cylinder positioning mechanism 42 extends towards the terminal block 60, working in conjunction with the side wall of the receiving groove 41 to physically align and fix the terminal block 60. Next, based on a second material request signal, the first robotic arm 10 is controlled to acquire the circuit board to be soldered and place it on the fixture 40. The fixture 40 is equipped with a positioning structure. Because the positioning structure on the fixture 40 provides precise guidance to the circuit board to be soldered, the upward-facing pins to be soldered 61 can be smoothly inserted into the corresponding holes on the circuit board. Furthermore, the end of the first robotic arm 10 can also be equipped with an electric gripper 13. Compared to traditional cylinder grippers with fixed stroke, electric grippers can flexibly adjust the opening and closing degree through stroke commands issued by the main control device, thus being compatible with four or more different types of circuit boards and achieving "multi-purpose use with one hand". For example, it can assist in placing wiring terminals and also grip circuit boards of different sizes.

[0059] In some embodiments, the multi-channel adsorption mechanism 11 includes multiple suction nozzles arranged side by side. To ensure the stability of the gripping, each suction nozzle has a contour-following groove on its end face that matches the asymmetrical profile of the terminal 60. During actual gripping, the first robotic arm 10 is controlled to press down, causing the contour-following groove to engage with the top profile of the terminal 60; subsequently, the main control device sends an electrical signal to activate the integrated vacuum generator 12, which corresponds to each suction nozzle, and draws negative pressure through the holes on the terminal 60 to firmly adsorb the terminal 60. When the terminal 60 is placed on the fixture 40, the main control device controls the integrated vacuum generator 12 to switch to positive pressure blowing mode to assist the terminal 60 in quickly detaching from the suction nozzle.

[0060] Please see Figure 3 In some embodiments, the feeding area 51 of the feeding device 50 is provided with an end-receiving position 511, and a pressure plate 513 is provided above the upstream queuing side adjacent to the end-receiving position 511. When the terminals 60 move towards the end-receiving position 511 in the feeding direction A, the pressure plate 513 limits the top of the terminals 60 that have not yet entered the queue at the end-receiving position 511, so that the terminals 60 are restricted within a preset track when squeezed by subsequent incoming materials, preventing the terminals 60 from tilting upwards or being squeezed out. The first robotic arm 10 is controlled to pick up multiple terminals 60 located at the end-receiving position 511 and not blocked by the pressure plate 513 under the limiting action of the pressure plate 513 through the multi-channel adsorption mechanism 11.

[0061] Furthermore, the pressure plate 513 can have different structural embodiments to adapt to different physical conditions. In one embodiment, the pressure plate 513 is a fixed transparent acrylic plate that spans directly across and is fixed above the track in the queuing area, maintaining a small gap with the top of the terminal 60 for passive positioning. In another embodiment, the pressure plate 513 is a vertically movable component driven by a cylinder or linear motor, and its end has a limiting protrusion 5131. The limiting protrusion 5131 faces the terminal. For example, when the multi-channel adsorption mechanism 11 is ready to pick up material, the main control device controls the pressure plate 513 to press down, and the limiting protrusion 5131 falls precisely between the two pins 61 to be soldered of the first terminal 60 in the queuing queue (i.e., the terminal immediately adjacent to the end picking position 511). Therefore, the active physical obstruction of the queued terminals 60 in the feeding direction A cuts off the squeezing and pushing force of subsequent incoming materials on the terminals 60 at the end picking position 511, allowing the multi-channel adsorption mechanism 11 to easily and vertically suck up the terminals 60 from the end picking position 511. Furthermore, a stepped structure 512 is provided at the end picking position 511. The recessed position at the bottom of the terminals 60 overlaps with the stepped structure 512, thereby providing posture support for the terminals 60 and preventing them from tilting forward.

[0062] The feeding area 51 is equipped with a multi-channel vibrating feeding system. The main control equipment acquires sensor signals from the end of each linear feeding channel in real time. When the sensor signal indicates that the number of materials queuing in the target linear feeding channel has reached the preset full load threshold, the main control equipment triggers the lateral air-blowing valve located at the junction of the circular vibrating track and the target linear feeding channel to blow the overflow terminals 60 that subsequently attempt to enter the channel back into the vibrating plate for circulation, effectively avoiding material congestion.

[0063] In some implementations, before sending the processing-ready signal to the welding robot arm 20, the main control device controls a distance sensor mounted on the first robot arm 10 or tooling 40 to measure the height of at least two preset detection points on the surface of the circuit board to be welded at the target station. It then determines whether the difference between the actual height data and the preset standard height is less than a preset flatness threshold. If it is less than the threshold, it is determined that the circuit board to be welded is not bent or jammed, triggering the generation of a processing-ready signal; if it is greater than or equal to the threshold, it is determined that an assembly abnormality has occurred, and the main control device immediately generates an abnormality alarm signal (such as illuminating a red light in a three-color LED or a pop-up window in the monitoring interface), and suspends the assembly and welding operations at the current station, awaiting manual intervention. As a reasonable alternative, the height measurement here can also be replaced by acquiring images through an industrial camera and using 2D visual feature comparison or 3D visual contour scanning to determine the assembly status.

[0064] In some implementations, the process of controlling the welding robotic arm 20 to perform welding operations employs efficient two-dimensional matrix calculation logic. Specifically, the main control device first acquires the board type information of the circuit board to be welded corresponding to the target workstation (e.g., by scanning the QR code on the circuit board to obtain work order information). Next, it acquires the coordinates of the first reference point of the first welding unit and the second reference point of the second welding unit (these reference points are typically manually entered via a teach pendant and stored in memory during the initial type change). Based on the board type information, the main control device can access the database to determine the preset lateral and longitudinal spacing between adjacent welding points within the same welding unit. Subsequently, the algorithm automatically calculates the target coordinates of the remaining welding points based on the reference point coordinates and the preset spacing. The formula for calculating the target coordinates is: P m,r,c =P m +(r−1)⋅ΔX+(c−1)⋅ΔY. Where, P m,r,c Let P be the target coordinates of the welding point in the r-th row and c-th column within the m-th welding unit. mLet ΔX be the coordinates of the reference point of the m-th welding unit, ΔY be the preset horizontal spacing, m be 1 or 2, and r and c be positive integers, with r and c not both equal to 1. Using this algorithm, the main control device calculates the complete coordinate sequence and converts it into servo drive commands, controlling the welding robotic arm 20 to perform welding operations sequentially according to the calculated coordinates. This array-based point adjustment technology allows the operator to teach only a very small number of reference points, and the system can automatically calculate the coordinates of all weld points on the board, greatly reducing the debugging workload during product changeovers.

[0065] For example, suppose a circuit board contains a first welding unit on the left and a second welding unit on the right, each unit containing 6 solder points in 3 rows and 2 columns. During initial debugging, the operator only needs to teach the first solder point at the top left corner of the first welding unit as the first reference point, and the first solder point at the top left corner of the second welding unit as the second reference point. The main control device automatically substitutes the pre-stored horizontal spacing ΔX and vertical spacing ΔY into the above formula, instantly calculating the coordinates of the remaining 5 solder points in the first welding unit. After the welding robotic arm 20 completes welding the 6 points in the first welding unit, the main control device directly calls the coordinates of the second reference point, seamlessly switches to the second welding unit, and similarly calculates and completes welding the remaining 5 solder points in the second welding unit. This array-based point adjustment technology greatly reduces the debugging workload during model changeovers.

[0066] During the specific welding operation, the end of the welding robotic arm 20 is equipped with a dual-path welding mechanism 21, which includes two synchronously moving soldering iron tips and two independent solder feed tubes. The two soldering iron tips can be a combination of two independent soldering iron tips joined together, or two heating ends machined on the same heat-conducting substrate. The main control device controls the two soldering iron tips to simultaneously contact two adjacent pins 61 to be soldered for synchronous heating. After heating reaches a preset time (e.g., 1.5 seconds, to ensure the solder pads reach the melting temperature), the main control device controls the stepper motors in the two independent solder feed tubes to operate, synchronously outputting a preset length of solder wire to the two pins 61 to be soldered. When the welding robotic arm 20 is equipped with a dual-path welding mechanism, the two solder joints corresponding to the two synchronously moving soldering iron tips can be considered as the same solder joint when calculating the points in the first and second welding units mentioned above. The dual-path synchronous heating and independent solder delivery structure not only multiplies the efficiency of single soldering, but more importantly, it ensures that two adjacent solder joints are heated simultaneously and evenly, fundamentally solving the quality consistency problems such as inconsistent solder joint size and poor solder penetration caused by traditional single-path solder delivery. Furthermore, as an extension of this embodiment, the soldering robotic arm 20 can be controlled to move to a cleaning station on one side during idle periods, using a sponge component driven by a rotary motor to automatically clean the soldering iron tip, scraping away residual solder oxide dross.

[0067] In some implementations, a robust software interlocking mechanism is employed to spatially lock the welding robot arm 20 onto the target workstation. Upon receiving a processing-ready signal, the welding robot arm 20 sends a confirmation signal back to the first robot arm 10. Based on this confirmation signal, the first robot arm 10 marks a predetermined distance above the target workstation as an interference-restricted zone in its global motion path planning. That is, a virtual safety isolation space is defined in the underlying coordinate system. Before the welding robot arm 20 completes welding and sends a release signal, any motion trajectory generation algorithm of the first robot arm 10 will automatically treat this virtual space as an insurmountable obstacle and be scheduled to perform parallel assembly operations at other unlocked workstations, thereby completely eliminating the risk of physical collisions between the robot arms.

[0068] To more clearly demonstrate the collaborative relationship between the various components of this invention, the following is a brief description of an embodiment of the dynamic collaborative operation process of the main control equipment throughout the entire production process:

[0069] At the start of production, the multi-channel vibrating feeding system continuously delivers terminal blocks 60 to the end-feeding station 511. After the main control equipment detects a material request from a station 30, it dispatches the first robotic arm 10 to the feeding area 51. The first robotic arm 10 uses a multi-path adsorption mechanism 11 to pick up multiple terminal blocks 60 and transport them to the fixture 40 at that station 30. Subsequently, the main control equipment triggers a cylinder positioning mechanism 42 to clamp the terminals and controls the first robotic arm 10 to pick up the circuit board to be soldered and place it on the fixture 40 to complete the insertion. Next, the main control equipment uses a distance sensor to detect the height, and after confirming that the surface is level, sends a processing-ready signal to the corresponding welding robotic arm 20. The welding robotic arm 20 replies with a confirmation signal and locks the space above the station. Then, based on the coordinates calculated by the matrix, it uses a dual-path welding mechanism 21 to complete synchronous heating and soldering point by point. During this welding process, the first robotic arm 10 automatically avoids the locked space and seamlessly moves to the next requesting station 30 to repeat the above loading and unloading assembly actions. This cycle is repeated to achieve efficient parallel production in an assembly line manner.

[0070] Please see Figure 4 The present invention also provides an intelligent automatic welding collaborative control device for use in main control equipment. The device is logically divided into multiple functional modules, specifically including a status acquisition module 410, an assembly scheduling module 420, an interlock communication module 430, and a parallel execution module 440.

[0071] The status acquisition module 410 is used to acquire real-time status signals of multiple workstations. The real-time status signals include at least a first material request signal corresponding to the terminal block 60 and a second material request signal corresponding to the circuit board to be soldered.

[0072] The assembly scheduling module 420 is used to determine the target workstation based on the first material request signal and the second material request signal, and control the first robotic arm 10 to perform the assembly operation of the terminal block 60 and the circuit board to be soldered at the target workstation. During the assembly operation, a clamping control signal is sent to the target workstation to clamp the terminal block 60 and make the circuit board to be soldered plug into the terminal block 60. In some embodiments, the assembly scheduling module 420 is specifically used to: based on the first material request signal, control the first robotic arm 10 to simultaneously pick up multiple terminal blocks 60 from the feeding area 51 through the multi-channel adsorption mechanism 11 mounted at its end, and place the multiple terminal blocks 60 in the fixture 40 at the target workstation; subsequently, send a clamping control signal to the target workstation to trigger the cylinder positioning mechanism 42 integrated in the fixture 40 to physically align and clamp the multiple terminal blocks 60; then, based on the second material request signal, control the first robotic arm 10 to pick up the circuit board to be soldered and place the circuit board on the fixture 40, so that the socket on the circuit board to be soldered plugs into the terminal block 60.

[0073] The interlock communication module 430 is used to generate a processing ready signal after the assembly operation is completed, and send the processing ready signal to the welding robot arm 20 corresponding to the target station, so that the welding robot arm 20 spatially locks the target station.

[0074] The parallel execution module 440 is used to control the welding robotic arm 20 to perform welding operations at the target workstation, and synchronously control the first robotic arm 10 to perform parallel operations based on the real-time status signals of other workstations. In some embodiments, the parallel execution module 440 is specifically used to: acquire the board type information of the circuit board to be welded corresponding to the target workstation; acquire the coordinates of the first reference point of the first welding unit and the second reference point of the second welding unit of the circuit board to be welded; determine the preset horizontal spacing and preset vertical spacing between adjacent welding points within the same welding unit according to the board type information; calculate the target coordinates of the remaining welding points within the first welding unit based on the first reference point coordinates, the preset horizontal spacing, and the preset vertical spacing; and calculate the target coordinates of the remaining welding points within the second welding unit based on the second reference point coordinates, the preset horizontal spacing, and the preset vertical spacing. The formula for calculating the target coordinates is: P m,r,c =P m +(r−1)⋅ΔX+(c−1)⋅ΔY. Where, P m,r,c Let P be the target coordinates of the welding point in the r-th row and c-th column within the m-th welding unit. m Let ΔX be the reference point coordinates of the m-th welding unit, ΔY be the preset horizontal spacing, and m be either 1 or 2. r and c are both positive integers, and r and c cannot both be 1. After calculating the target coordinates, the parallel execution module 440 controls the welding robotic arm 20 to perform welding operations sequentially according to the calculated coordinates.

[0075] It should be noted that all additional technical solutions and detailed features in the aforementioned intelligent automatic welding collaborative control method embodiments (such as the specific adsorption and blowing control logic of the multi-channel adsorption mechanism, the limiting cooperation of the pressure plate, the placement / insertion quality prediction based on the distance sensor, the specific application of the matrix calculation formula, the synchronous control of the dual-channel welding mechanism, and the lateral blowing anti-overflow mechanism, etc.) can be integrated as specific functional sub-modules or execution code segments into the status acquisition module 410, assembly scheduling module 420, interlock communication module 430, or parallel execution module 440 of this device. Since its working principle is completely consistent with the method embodiments, for the sake of brevity, each device sub-module will not be described in detail here.

[0076] This invention also provides an electronic device, which can be an industrial control computer deployed on a production line or a general-purpose server. Specifically, the electronic device includes a communication interface, a communication bus, at least one processor, and a memory communicatively connected to the processor. The processor, communication interface, and memory communicate with each other via the communication bus. The communication interface is used for data interaction with external sensors, actuators, or other network nodes. The processor possesses powerful logical operation and multi-threaded processing capabilities. The memory stores computer software or instruction code executable by the processor. When executed by the processor, these instructions can implement the operations corresponding to the intelligent automatic welding collaborative control method described in any of the above embodiments.

[0077] The present invention also provides a non-volatile computer-readable storage medium containing computer-executable instructions, which, when executed by a processor, cause the processor to perform the intelligent automatic welding collaborative control method described in any of the above embodiments. The storage medium may include various media capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory, random access memory, magnetic disk, or optical disk.

[0078] This invention also provides a computer program product, comprising a computer program that, when executed by a processor, implements the intelligent automatic welding collaborative control method described in any of the above embodiments. This program product can be packaged as independent industrial control software and deployed in existing automated production lines, effectively improving the flexibility and intelligence level of industrial production.

[0079] It should be understood that although this specification describes various embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other implementations that can be understood by those skilled in the art. The nouns and pronouns referring to people in this patent application are not limited to specific genders.

[0080] The detailed descriptions listed above are merely specific descriptions of feasible embodiments of the present invention and are not intended to limit the scope of protection of the present invention. All equivalent implementation schemes or modifications made without departing from the spirit of the present invention, such as combinations, divisions or repetitions of features, should be included within the scope of protection of the present invention.

Claims

1. An intelligent automatic welding collaborative control method, applied to a main control equipment, characterized in that, include: Acquire real-time status signals of multiple workstations, wherein the real-time status signals include at least a first material request signal corresponding to a terminal block (60) and a second material request signal corresponding to a circuit board to be soldered; Based on the first material request signal and the second material request signal, a target workstation is determined, and the first robotic arm (10) is controlled to perform an assembly operation of the terminal block (60) and the circuit board to be welded at the target workstation. In the assembly operation, a clamping control signal is sent to the target workstation to clamp the terminal block (60) and make the circuit board to be welded plug and match the terminal block (60). After the assembly operation is completed, a processing ready signal is generated and the processing ready signal is sent to the welding robot arm (20) corresponding to the target station so that the welding robot arm (20) spatially locks the target station; The welding robotic arm (20) is controlled to perform welding operations at the target workstation, and the first robotic arm (10) is simultaneously controlled to perform parallel operations based on the real-time status signals of other workstations.

2. The intelligent automatic welding collaborative control method according to claim 1, characterized in that, The control of the first robotic arm (10) to perform the assembly operation of the wiring terminal (60) and the circuit board to be soldered at the target workstation includes: Based on the first material request signal, the first robotic arm (10) is controlled to simultaneously pick up multiple terminals (60) from the feeding area (51) through the multi-channel adsorption mechanism (11) mounted at its end, and place the multiple terminals (60) in the tooling (40) of the target station; Send the clamping control signal to the target workstation to trigger the cylinder positioning mechanism (42) integrated in the tooling (40) to perform physical alignment and clamping of the plurality of terminals (60); Based on the second material request signal, the first robotic arm (10) is controlled to acquire the circuit board to be welded and place the circuit board to be welded on the tooling (40) so that the socket on the circuit board to be welded is connected to the terminal block (60).

3. The intelligent automatic welding collaborative control method according to claim 2, characterized in that, The multi-channel adsorption mechanism (11) includes multiple suction nozzles arranged side by side, and the end face of each suction nozzle is provided with a contour-following clearance groove that matches the asymmetrical irregular contour of the terminal block (60); the control of the first robotic arm (10) to simultaneously pick up multiple terminal blocks (60) through the multi-channel adsorption mechanism (11) mounted at its end includes: Control the first robotic arm (10) to press down, so that the contour-following clearance groove fits into the outline of the terminal block (60); Turn on the integrated vacuum generator (12) corresponding to the suction nozzle, and draw negative pressure through the hole on the terminal (60) to adsorb the terminal (60). When the terminal block (60) is placed on the fixture (40), the integrated vacuum generator (12) is switched to the blowing state to assist the terminal block (60) in detaching.

4. The intelligent automatic welding collaborative control method according to claim 2, characterized in that, The feeding area (51) is provided with an end-feeding position (511), and a pressure plate (513) is provided above the upstream queuing side adjacent to the end-feeding position (511); the control of the first robotic arm (10) to simultaneously pick up multiple terminals (60) from the feeding area (51) through the multi-channel adsorption mechanism (11) mounted at the end, including: When the terminal (60) moves towards the end picking position (511) in a queue, the pressure plate (513) limits the top of the terminal (60) in the queue that has not yet entered the end picking position (511), so that the terminal (60) is restricted within the preset track when it is squeezed by the subsequent incoming material, preventing the terminal (60) from tilting upward or being squeezed out. The first robotic arm (10) is controlled to pick up the plurality of terminals (60) located at the end picking position (511) and not blocked by the pressure plate (513) through the multi-channel adsorption mechanism (11) under the limiting cooperation of the pressure plate (513).

5. The intelligent automatic welding collaborative control method according to claim 2, characterized in that, The feeding area (51) is provided with an end-feeding position (511), and a stepped structure (512) is provided at the end-feeding position (511); before controlling the first robotic arm (10) to simultaneously pick up multiple terminals (60) from the feeding area (51) through the multi-channel adsorption mechanism (11) mounted at the end, the method further includes: When the terminal (60) at the head position moves to the end material picking position (511), the recessed position at the bottom of the terminal (60) engages with the stepped structure (512) to provide posture support for the terminal (60) and prevent the terminal (60) at the head position from tilting.

6. The intelligent automatic welding collaborative control method according to claim 2, characterized in that, Before sending the processing-ready signal to the welding robot arm (20) corresponding to the target station, the method further includes: Control the distance sensor mounted on the first robotic arm (10) or the tooling (40) to measure the height of at least two preset detection points on the surface of the circuit board to be welded at the target workstation and obtain the actual height data; Determine whether the difference between the actual height data and the preset standard height is less than a preset flatness threshold. If the flatness is less than the preset flatness threshold, it is determined that the circuit board to be welded is not bent and not stuck, triggering the step of generating a processing ready signal.

7. The intelligent automatic welding collaborative control method according to claim 1, characterized in that, Controlling the welding robotic arm (20) to perform welding operations at the target workstation includes: Obtain the board type information of the circuit board to be welded corresponding to the target workstation; Obtain the coordinates of the first reference point of the first welding unit and the second reference point of the second welding unit of the circuit board to be welded; Based on the plate type information, determine the preset transverse spacing and preset longitudinal spacing between adjacent welding points within the same welding unit; Based on the coordinates of the first reference point, the preset horizontal spacing, and the preset vertical spacing, the target coordinates of the remaining welding points inside the first welding unit are calculated; and based on the coordinates of the second reference point, the preset horizontal spacing, and the preset vertical spacing, the target coordinates of the remaining welding points inside the second welding unit are calculated. The formula for calculating the target coordinates is as follows: P m,r,c =P m +(r−1)⋅ΔX+(c−1)⋅ΔY Among them, P m,r,c Let P be the target coordinates of the welding point in the r-th row and c-th column within the m-th welding unit. m Let be the reference point coordinates of the m-th welding unit, ΔX be the preset horizontal spacing, ΔY be the preset vertical spacing, m be 1 or 2, r and c be positive integers, and r and c are not both 1; The welding robotic arm (20) is controlled to perform the welding operation sequentially according to the calculated target coordinates.

8. The intelligent automatic welding collaborative control method according to claim 7, characterized in that, The welding robotic arm (20) is equipped with a dual-path welding mechanism (21) at its end. The dual-path welding mechanism (21) includes two synchronously moving soldering iron tips and two independent solder feeding tubes. Controlling the welding robotic arm (20) to sequentially perform the welding operation according to the target coordinates includes: The two synchronously moving soldering iron tips simultaneously contact two adjacent pins (61) to be soldered for synchronous heating; After the heating reaches the preset time, the two independent solder tubes are controlled to synchronously output solder wire of preset length to the two pins (61) to be soldered.

9. The intelligent automatic welding collaborative control method according to claim 1, characterized in that, The step of spatially locking the welding robotic arm (20) to the target workstation includes: After receiving the processing ready signal, the welding robotic arm (20) returns a confirmation response signal to the first robotic arm (10); Based on the confirmation response signal, the first robotic arm (10) marks the three-dimensional space above the target workstation at a preset distance as an interference restricted area in the global motion path planning, and schedules the first robotic arm (10) to go to other unlocked workstations to perform parallel assembly operations.

10. The intelligent automatic welding collaborative control method according to claim 2, characterized in that, The feeding area (51) is equipped with a multi-channel vibratory feeding system. Before controlling the first robotic arm (10) to simultaneously pick up multiple terminals (60) from the feeding area (51), the method further includes: Acquire sensor signals from the ends of each linear feeding channel in the multi-channel vibratory feeding system; When the sensor signal indicates that the number of materials queuing in the target linear feeding channel reaches the preset full load threshold, the lateral air blowing valve located at the junction of the circular vibration track and the target linear feeding channel is triggered to blow the subsequent overflowing terminal (60) back into the vibrating plate for circulation.

11. An intelligent automatic welding collaborative control device, characterized in that, Applied to main control equipment, the device includes: The status acquisition module (410) is used to acquire real-time status signals of multiple workstations, wherein the real-time status signals include at least a first material request signal corresponding to the wiring terminal (60) and a second material request signal corresponding to the circuit board to be soldered. The assembly scheduling module (420) is used to determine the target station based on the first material request signal and the second material request signal, and control the first robotic arm (10) to perform the assembly operation of the terminal block (60) and the circuit board to be welded at the target station. In the assembly operation, a clamping control signal is sent to the target station to clamp the terminal block (60) and make the circuit board to be welded plug and match the terminal block (60). An interlocking communication module (430) is used to generate a processing ready signal after the assembly operation is completed, and send the processing ready signal to the welding robot arm (20) corresponding to the target station, so that the welding robot arm (20) spatially locks the target station; The parallel execution module (440) is used to control the welding robot arm (20) to perform welding operations at the target station and to synchronously control the first robot arm (10) to perform parallel operations according to the real-time status signals of other stations.

12. The intelligent automatic welding collaborative control device according to claim 11, characterized in that, The assembly scheduling module (420) is specifically used for: Based on the first material request signal, the first robotic arm (10) is controlled to simultaneously pick up multiple terminals (60) from the feeding area (51) through the multi-channel adsorption mechanism (11) mounted at the end, and place the multiple terminals (60) in the tooling (40) of the target station; Send the clamping control signal to the target workstation to trigger the cylinder positioning mechanism (42) integrated in the tooling (40) to perform physical alignment and clamping of the plurality of terminals (60); Based on the second material request signal, the first robotic arm (10) is controlled to acquire the circuit board to be welded and place the circuit board to be welded on the tooling (40) so that the socket on the circuit board to be welded is connected to the terminal block (60).

13. The intelligent automatic welding collaborative control device according to claim 11, characterized in that, The parallel execution module (440) is specifically used for: Obtain the board type information of the circuit board to be welded corresponding to the target workstation; Obtain the coordinates of the first reference point of the first welding unit and the second reference point of the second welding unit of the circuit board to be welded; Based on the plate type information, determine the preset lateral spacing and preset longitudinal spacing between adjacent welding points within the same welding unit; Based on the coordinates of the first reference point, the preset horizontal spacing, and the preset vertical spacing, the target coordinates of the remaining welding points inside the first welding unit are calculated. Based on the coordinates of the second reference point, the preset horizontal spacing, and the preset vertical spacing, the target coordinates of the remaining welding points inside the second welding unit are calculated. The formula for calculating the target coordinates is as follows: P m,r,c =P m +(r−1)⋅ΔX+(c−1)⋅ΔY Among them, P m,r,c Let P be the target coordinates of the welding point in the r-th row and c-th column within the m-th welding unit. m Let be the reference point coordinates of the m-th welding unit, ΔX be the preset horizontal spacing, ΔY be the preset vertical spacing, m be 1 or 2, r and c be positive integers, and r and c are not both 1; The welding robotic arm (20) is controlled to perform the welding operation sequentially according to the calculated target coordinates.

14. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the intelligent automatic welding collaborative control method as described in any one of claims 1 to 10.

15. A non-volatile computer-readable storage medium containing computer-executable instructions, characterized in that, When the computer-executable instructions are executed by at least one processor, the at least one processor is caused to perform the intelligent automatic welding collaborative control method as described in any one of claims 1 to 10.

16. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the intelligent automatic welding collaborative control method as described in any one of claims 1 to 10.

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