CN112589801B - Real-time control method, device, terminal and storage medium for robot and welding machine - Google Patents
Real-time control method, device, terminal and storage medium for robot and welding machine Download PDFInfo
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- CN112589801B CN112589801B CN202011464545.XA CN202011464545A CN112589801B CN 112589801 B CN112589801 B CN 112589801B CN 202011464545 A CN202011464545 A CN 202011464545A CN 112589801 B CN112589801 B CN 112589801B
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- B25J9/00—Programme-controlled manipulators
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Abstract
The disclosure provides a real-time control method, a real-time control device, a real-time control terminal and a real-time control storage medium for a robot and a welding machine, and relates to the technical field of automation. The method comprises the following steps: sending a first current value to the end of the welding machine, wherein the first current value is a welding initial current value used by the welding machine; sending a first track signal to a robot end, wherein the first track information is used for indicating the robot end to move according to the track signal; calculating to obtain a second current value according to a first preset mode, and sending the second current value to the end of the welding machine, wherein the second current value is the current value of the welding machine during real-time welding; and acquiring a third current value fed back by a welding machine end in real time, and controlling the robot to adjust the position according to the second current value and the third current value and a second preset mode, so that the robot can adjust the position of the robot according to the welding machine state (current and voltage) of each control cycle, and the welding effect is optimal.
Description
Technical Field
The invention relates to the technical field of automation, in particular to a real-time control method, a real-time control device, a real-time control terminal and a real-time control storage medium for a robot and a welding machine.
Background
With the application of industrial robots to various fields, particularly in the welding field, on one hand, the physical and mental health of workers is often harmed due to the fact that the welding work environment is severe, high temperature and high radiation, and the manual welding work efficiency is low, the welding quality is poor, and the requirements of the welding manufacturing industry on the welding quality which is higher and higher cannot be met, so that the robot automatic welding workstation gradually replaces manual welding.
In a welding robot control system, a robot controller can adopt an analog quantity or digital quantity communication mode to control a welding machine and a robot, and in the prior art, in the welding process, when the real-time welding current (voltage) of the welding machine is abnormal, the robot controller cannot rapidly respond or adjust the position of the robot according to the real-time welding current (voltage) of the welding machine, so that the welding effect is poor.
The applicant of the present invention finds that the prior art has at least the following technical problems:
in the prior art, when the real-time welding current (voltage) of a welding machine is abnormal in the welding process, a robot controller cannot rapidly respond or adjust the position of the robot according to the real-time current (voltage) of the welding machine, so that the welding effect is poor.
Disclosure of Invention
The invention aims to provide a real-time control method, a real-time control device, a real-time control terminal and a real-time control storage medium for a robot and a welding machine, which are used for solving the problems in the background technology as follows: in the prior art, when the real-time welding current (voltage) of a welding machine is abnormal in the welding process, a robot controller cannot rapidly respond or adjust the position of the robot according to the real-time current (voltage) of the welding machine, so that the welding effect is poor.
To achieve the above object, according to one aspect of the present disclosure, there is provided a real-time control method for a robot and a welding machine, the method including:
sending a first current value to the end of the welding machine, wherein the first current value is a welding initial current value used by the welding machine;
sending a first track signal to a robot end, wherein the first track information is used for indicating the robot end to move according to the track signal;
calculating to obtain a second current value according to a first preset mode, and sending the second current value to the end of the welding machine, wherein the second current value is the current value of the welding machine during real-time welding;
and acquiring a third current value fed back by the welding machine end in real time, and controlling the robot to adjust the position according to a second preset mode according to the second current value and the third current value.
In a possible implementation manner, the second preset manner includes:
acquiring a first position value fed back by a welding machine end in real time, and sending the second current value, the third current value and the first position value to a computer terminal, wherein the second current value, the third current value and the first position information are used for enabling the computer terminal to obtain a second position value according to a third preset mode, and the second position value is a corrected position value;
and obtaining a second position value of the computer terminal, and sending the second position value to the robot end, wherein the second position value is used for adjusting the position of the robot in real time.
In a possible implementation manner, the second current value, the third current value, and the first position information are used to enable the computer terminal to obtain a second position value according to a third preset manner, where the third preset manner includes:
calculating a position correction value through a first algorithm according to the second current value and the third current value;
the first algorithm is as follows:
dz＝PI(Acmd-Afb) (1)
wherein A iscmdRepresenting said second current value, AfbIndicating the third current value, dz indicating the position correction value;
calculating to obtain a second position value through a second algorithm and a third algorithm according to the position correction value and the first position value;
wherein the first position value comprises an initial position value and an initial attitude value;
initial position value: v ═ x0, y0, z 0;
initial attitude value: rot ═ aij]The initial position value rot is a rotation matrix of 3 × 3;
the second algorithm is: v. ofadjust＝[x0+dz*a02,y0+dz*a12,z0+dz*a22] (2)
The third algorithm is: rot (Rot)adjust＝rot (3)
Wherein the second position value comprises a final position value and a final attitude value, vadjustIndicating the final position value, rotadjustThe final pose value is represented.
In a possible implementation manner, the second preset manner includes:
and judging the second current value and the third current value, controlling the robot to enable the welding machine end to be close to the workpiece when the second current value is larger than the third current value, and controlling the robot to enable the welding machine end to be far away from the workpiece when the second current value is smaller than the third current value.
In a possible implementation manner, the calculating the second current value according to the first current value and the welding time period at the end of the welder according to the first preset manner includes:
acquiring a first current value and a welding time period of a welding machine end, and calculating a second current value according to a fourth algorithm;
the fourth algorithm is:
wherein A isi,i+1(T) represents a second current value, T, during the welding time period up to the i-th to i + 1-thiAn initial time value, T, representing said welding time periodi+1Represents the end time value of the welding time period, t is a variable, and t represents any time in the welding time periodTime value of an intended time point, AiRepresenting said first current value, Ai+1The current value at which the welding time period is at the end time value.
In a possible implementation manner, the calculating the second current value according to the first current value and the welding time period at the end of the welder according to the first preset manner includes:
acquiring a first current value and a welding time period of a welding machine end, and calculating a second current value according to a fifth algorithm;
the fifth algorithm is:
Ai,i+1(t)＝a*x3+b*x2*(1-x)+c*x*(1-x)2+d*(1-x)3 (5)
wherein A isi,i+1(t) represents a second current value until the period of welding time from i to i + 1; x is an independent variable, and x is defined as
Wherein T isi+1Representing an end time value of the welding time period, t being a variable, t representing a time value at any time point within the welding time period;
the coefficient a takes the value Ai+1The coefficient b takes the value 3 x Ai+1-AVi+1The coefficient c takes the value AVi+3*AiThe coefficient d takes the value of Ai；
Wherein A isiRepresenting said first current value, Ai+1Representing the current value, AV, at the end time value of the welding time periodiRepresenting the value of the current change, AV, at the start time of the welding time periodi+1Representing the current change value at the end time value of the welding time period.
In one possible implementation, before the sending the first current value and the first time information to the welder end, the method further includes:
acquiring a first instruction input by an operator, and sending the first instruction to a welding machine end, wherein the first instruction is used for enabling the welding machine end to enter an arc starting state;
and sending a fourth current value to the end of the welding machine, wherein the fourth current value is an arc starting current value preset by an operator and used for arc starting of the end of the welding machine.
According to another aspect of the present disclosure, there is provided a real-time control apparatus for a robot and a welder, the apparatus including:
a first execution unit configured to send a first current value to the welder end, the first current value being a welding initial current value used by a welder;
the second execution unit is configured to send a first track signal to the robot end, wherein the first track information is used for indicating the robot end to move according to the track signal;
the third execution unit is configured to calculate a second current value according to a first preset mode, and send the second current value to the welding machine end, wherein the second current value is a current value of the welding machine end during real-time welding;
and the fourth execution unit is used for acquiring a third current value fed back by the welding machine end in real time and controlling the robot to adjust the position according to the second current value and the third current value and a second preset mode.
According to another aspect of the embodiments of the present disclosure, there is provided a terminal, where the terminal includes a processor and a memory, where at least one program code is stored in the memory, and the at least one program code is loaded and executed by the processor, so as to implement the real-time control method for robots and welders according to any one of the foregoing possible implementation manners.
According to another aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium, wherein at least one program code is stored in the computer-readable storage medium, and the at least one program code is loaded and executed by a processor to implement the real-time control method for robots and welders according to any one of the above-mentioned possible implementation manners.
According to another aspect of the embodiments of the present disclosure, there is provided a computer program product or a computer program, the computer program product or the computer program comprising computer program code, the computer program code being stored in a computer-readable storage medium, the computer program code being read by a processor of a computer device from the computer-readable storage medium, the computer program code being executed by the processor, so that the computer device performs the operations performed in the above robot and welder real-time control method.
One or more technical solutions in the embodiments of the present application have at least one or more of the following technical effects:
the embodiment of the invention provides a real-time control method for a robot and a welding machine, which comprises the following steps: sending a first current value to the end of the welding machine, wherein the first current value is a welding initial current value used by the welding machine; sending a first track signal to a robot end, wherein the first track information is used for indicating the robot end to move according to the track signal; calculating to obtain a second current value according to a first preset mode, and sending the second current value to the end of the welding machine, wherein the second current value is the current value of the welding machine during real-time welding; the method comprises the steps of obtaining a third current value fed back by a welding machine end in real time, controlling the robot to adjust the position according to a second preset mode according to the second current value and the third current value, calculating an initial current value through a first preset mode according to an initial current value preset by a user to obtain a real-time welding current value, calculating the initial current value according to the current value fed back by the welding machine end in real time and the initial current value through the first preset mode to obtain a real-time welding current value, and controlling the robot to adjust the position according to the second preset mode, so that a robot controller can rapidly respond to or adjust the position of the robot according to the real-time current (voltage) of the welding machine, and the welding effect is better.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
FIG. 1 is a schematic illustration of an implementation environment for a robot and welder real-time control method design provided in accordance with an exemplary embodiment;
FIG. 2 is a flow chart of a method for real-time control of a robot and welder provided in accordance with an exemplary embodiment;
FIG. 3 is a block diagram of a real-time control apparatus for a robot and welder provided in accordance with an exemplary embodiment;
FIG. 4 is a schematic diagram illustrating a second current value of a real-time control method for a robot and a welder varying over time according to an exemplary embodiment;
FIG. 5 is a schematic illustration of an implementation environment for a robot and welder real-time control method design in accordance with an exemplary embodiment;
FIG. 6 is a schematic diagram of an implementation environment for a robot and welder real-time control method design according to an exemplary embodiment.
Description of reference numerals: 101. a controller; 102. a robot; 103. a welding machine; 104. a computer terminal; 105. a power source; 110. a first execution unit; 120. a second execution unit; 130. a third execution unit; 140. and a fourth execution unit.
Detailed Description
To make the objects, technical solutions and advantages of the present disclosure more apparent, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
FIG. 1 is a schematic diagram of an implementation environment for a real-time control method design of a robot and a welder, the implementation environment including: the welding machine comprises a controller 101, a robot 102, a welder 103, a computer terminal 104 and a power supply 105, wherein the controller 101 is respectively connected with the robot 102, the welder 103 and the computer terminal 104, and the power supply 105 is connected with the controller 101, the robot 102, the welder 103 and the computer 104 and supplies electric energy, wherein the robot 102 can adopt a six-axis industrial mechanical arm.
It can be understood that the controller 101 and the welder 103 communicate with each other in real time by using a general industrial Field bus (Field bus), which is an industrial data bus rapidly developed in recent years, and mainly solves the problem of digital communication between Field devices such as intelligent instruments, controllers, and actuators in an industrial Field and information transmission between the Field control devices and a high-level control system. The field bus is highly regarded by many standards groups and computer manufacturers due to a series of outstanding advantages, such as simplicity, reliability, economy and practicality, the field bus category includes EtherCAT, Powerlink and CClink, etc., preferably EtherCAT, EtherCAT (Ethernet for Control Automation Technology ) is a real-time Ethernet solution for industrial Automation, the performance is superior, the use is simple, the controller 101 can obtain real-time welding current data of the welding machine end 103 through the communication Technology, and when the real-time welding current data is abnormal in the welding process, the controller 101 adjusts the current (voltage) by controlling the robot 102 to adjust the track in time, so that the welding effect is optimal.
And a target application program is installed in the controller 101, a second current value can be calculated according to a first preset mode through the target application program, and the second current value is sent to the end 103 of the welding machine, wherein the second current value is a current value of the end 103 of the welding machine during real-time welding. Sending a first current value to the end of the welding machine 103, wherein the first current value is a welding initial current value used by the welding machine 103; sending a first track signal to the robot 102, where the first track information is used to instruct the robot 102 to move according to the track signal; and acquiring a third current value fed back by the welding machine 103 end in real time, and controlling the robot 102 to adjust the position according to the second current value and the third current value and a second preset mode.
Fig. 2 is a flowchart of a real-time control method for the robot and the welder 103 according to an exemplary embodiment, as shown in fig. 2, the method includes the following steps:
in step S110, a first current value is sent to the welding machine 103, where the first current value is a welding initial current value used by the welding machine 103.
In step S120, a first track signal is sent to the robot 102, and the first track information is used to instruct the robot 102 to move according to the track signal.
In step S130, a second current value is calculated according to a first preset manner, and the second current value is sent to the welding machine 103, where the second current value is a current value of the welding machine 103 during real-time welding.
In step S140, a third current value fed back by the welding machine 103 in real time is obtained, and the robot 102 is controlled to adjust the position according to the second current value and the third current value in a second preset manner.
Specifically, an initial current value preset by a user is a first current value, a second current value is obtained by calculating the first current value in a first preset mode, the second current value is obtained by calculating the first current value according to a third current value fed back by a welding machine 103 end in real time and the first current value in the first preset mode, and the robot 102 is controlled to adjust the position in a second preset mode, so that the controller 101 can rapidly respond to or adjust the position of the robot 102 according to the real-time current (voltage) of the welding machine 103, and the welding effect is better.
In a possible implementation, the second preset manner according to step S140 includes:
acquiring a first position value fed back by a welding machine 103 end in real time, and sending the second current value, the third current value and the first position value to a computer terminal 104, wherein the second current value, the third current value and the first position information are used for enabling the computer terminal 104 to obtain a second position value according to a third preset mode, and the second position value is a corrected position value;
and obtaining a second position value of the computer terminal 104, and sending the second position value to the robot 102, wherein the second position value is used for adjusting the position of the robot 102 in real time.
Further, the second current value, the third current value and the first position information are used to enable the computer terminal 104 to obtain a second position value according to a third preset mode, where the third preset mode includes:
calculating a position correction value through a first algorithm according to the second current value and the third current value;
the first algorithm is as follows:
dz＝PI(Acmd-Afb) (1)
wherein A iscmdRepresenting said second current value, AfbIndicating the third current value, dz indicating the position correction value;
calculating to obtain a second position value through a second algorithm and a third algorithm according to the position correction value and the first position value;
wherein the first position value comprises an initial position value and an initial attitude value;
initial position value: v ═ x0, y0, z 0;
initial attitude value: rot ═ aij]The initial position value rot is a rotation matrix of 3 × 3;
the second algorithm is: v. ofadjust＝[x0+dz*a02,y0+dz*a12,z0+dz*a22] (2)
The third algorithm is: rot (Rot)adjust＝rot (3)
Wherein the second position value comprises a final position value and a final attitude value, vadjustIndicating the final position value, rotadjustThe final pose value is represented.
Specifically, as shown in fig. 5, the computer terminal 104 includes a PI controller, the PI controller is a linear controller, which forms a control deviation from a given value and an actual output value, and linearly combines the proportion and integral of the deviation to form a control amount, and controls the controlled object, the computer terminal 104 calculates the difference between a second current value and a third current value, and then calculates a position correction value for each welding time period using the PI controller, and the controller 101 calculates the second position value by a second algorithm and a third algorithm based on the position correction value and the first position value to adjust the position of the robot 102 in real time After the second algorithm and the third algorithm are calculated, a second position value is obtained, the second position value is used for adjusting the position of the robot 102, and the robot 102 has higher adjustment precision and quicker response due to the specific second position value.
In a possible embodiment, as shown in fig. 5, the second preset mode includes:
and judging the second current value and the third current value, controlling the robot 102 to enable the end of the welding machine 103 to be close to the workpiece when the second current value is larger than the third current value, and controlling the robot 102 to enable the end of the welding machine 103 to be far away from the workpiece when the second current value is smaller than the third current value.
It can be understood that the flow in the second preset mode provided in this embodiment may be implemented by a plurality of different algorithms;
specifically, by directly judging the magnitude of the second current value and the third current value, when the second current value is greater than the third current value, it is indicated that the workpiece needs to be welded more closely, and when the second current value is less than the third current value, it is indicated that the workpiece needs to be kept away due to excessive welding, and by the method, the end 103 of the welding machine can be quickly adjusted, so that the end 103 of the welding machine can quickly respond according to the third current value fed back by the end 103 of the welding machine in real time, and the situations of over-welding or insufficient welding can be prevented.
In a possible embodiment, the calculating the second current value according to the first current value and the welding time period of the welding machine 103 end according to the first preset mode comprises:
acquiring a first current value and a welding time period of a welding machine 103 end, and calculating a second current value according to a fourth algorithm;
the fourth algorithm is:
wherein A isi,i+1(T) represents a second current value, T, during the welding time period up to the i-th to i + 1-thiAn initial time value, T, representing said welding time periodi+1Representing the end time value of said welding time period, t being a variable, t representing the time value at any point in time within said welding time period, AiRepresenting said first current value, Ai+1The current value at which the welding time period is at the end time value.
Further, before the sending the first current value and the first time information to the welding machine 103, the method further includes:
acquiring a first instruction input by an operator, and sending the first instruction to a welding machine 103 end, wherein the first instruction is used for enabling the welding machine 103 end to enter an arc starting state;
and sending a fourth current value to the welding machine 103 end, wherein the fourth current value is an arc starting current value preset by an operator and used for arc starting of the welding machine 103 end.
Specifically, as shown in FIG. 4, T0To T1The time period is an arc striking period, an operator sends a first instruction and a fourth current value to the end of the welding machine 103, the end 103 of the welding machine performs arc striking according to the fourth current value, wherein the fourth current value is a constant current value, and the arc striking of the welding machine 103 is to ensure stable combustion of an electric arc so as to normally perform a welding process;
T1to T5This time period is the welding period, i.e., an overall welding time period, and for easier understanding, T is shown in the figure1To T5The welding section is divided into T1To T2(S12)、T2To T3(S23)、T3To T4(S34) And T4To T5(S45) Four time periods of (1), wherein S12Starting current A of1A first current value preset for a user, and a next time period S23Has a starting current of S12End current A of2By analogy, the principle can be adopted in the following time period;
preferably, in preparation for arc extinction by the welder 103, for a final time period S45In (b), its starting current A4A constant current for this period of time;
T5to T6The time period is an arc extinguishing period, an operator sends an arc extinguishing command and an arc extinguishing current value to the welding machine 103, the welding machine 103 performs arc extinguishing according to the arc extinguishing current value, wherein the arc extinguishing current value is a constant current value, and the arc extinguishing current value is a constant current value, so that the welding machine 103 is more stable in arc extinguishing, and unnecessary loss caused by arc sparks due to unstable current is avoided.
In a possible embodiment, the calculating the second current value according to the first current value and the welding time period of the welding machine 103 end according to the first preset mode comprises:
acquiring a first current value and a welding time period of a welding machine 103 end, and calculating a second current value according to a fifth algorithm;
the fifth algorithm is:
Ai,i+1(t)＝a*x3+b*x2*(1-x)+c*x*(1-x)2+d*(1-x)3 (5)
wherein A isi,i+1(t) represents a second current value until the period of welding time from i to i + 1; x is an independent variable, and x is defined as
Wherein T isi+1Representing an end time value of the welding time period, t being a variable, t representing a time value at any time point within the welding time period;
the coefficient a takes the value Ai+1The coefficient b takes the value of3*Ai+1-AVi+1The coefficient c takes the value AVi+3*AiThe coefficient d takes the value of Ai；
Wherein A isiRepresenting said first current value, Ai+1Representing the current value, AV, at the end time value of the welding time periodiRepresenting the value of the current change, AV, at the start time of the welding time periodi+1Representing the current change value at the end time value of the welding time period.
Specifically, in the present embodiment, the second current value obtained by the fifth algorithm is a smooth current value, and when a user needs a smooth welding current command, the second current value can be obtained by using the method provided in the present embodiment.
Referring to fig. 3, the present disclosure also provides a real-time control apparatus for a robot and a welder, including:
the first execution unit 110 is configured to send a first current value to the end of the welding machine 103, wherein the first current value is a welding initial current value used by the welding machine 103;
a second execution unit 120 configured to send a first track signal to the robot 102 end, where the first track information is used to instruct the robot 102 end to move according to the track signal;
the third execution unit 130 is configured to calculate a second current value according to a first preset mode, and send the second current value to the welding machine 103, where the second current value is a current value of the welding machine 103 during real-time welding;
and the fourth execution unit 140 acquires a third current value fed back by the welding machine 103 end in real time, and controls the robot 102 to adjust the position according to the second current value and the third current value in a second preset manner.
In an exemplary embodiment, there is also provided a robot and welder 103 real-time control terminal, which may be: a smart phone, a tablet, a notebook or a desktop computer, a terminal may also be referred to by other names as user equipment, a portable terminal, a laptop terminal, a desktop terminal, etc.
Generally, a terminal includes: a processor and a memory.
The processor may include one or more Processing cores, such as a 4-core processor, an 8-core processor, and the like, and the processor may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field Programmable Gate Array), PLA (Programmable Logic Array), and the like. The processor may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state.
The memory may include one or more computer-readable storage media, which may be non-transitory. The memory may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices.
In an exemplary embodiment, there is also provided a storage medium comprising instructions, such as a memory comprising instructions, executable by a processor of a terminal to perform the video distribution method described above. Alternatively, the storage medium is a non-transitory computer-readable storage medium, which may be, for example, a ROM (Read-Only Memory), a RAM (Random Access Memory), a CD-ROM (Compact Disc Read-Only Memory), a magnetic tape, a floppy disk, an optical data storage device, and the like.
In an exemplary embodiment, there is also provided a computer program product including computer program code stored in a computer-readable storage medium, the computer program code being read by a processor of a computer apparatus from the computer-readable storage medium, the computer program code being executed by the processor to cause the computer apparatus to perform operations performed in the video distribution method described above
The invention is not described in detail, but is well known to those skilled in the art.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (9)
1. A real-time control method for a robot and a welding machine is characterized by comprising the following steps:
sending a first current value to the end of the welding machine, wherein the first current value is a welding initial current value used by the welding machine;
sending a first track signal to a robot end, wherein the first track information is used for indicating the robot end to move according to the track signal;
calculating to obtain a second current value according to a first preset mode, and sending the second current value to the end of the welding machine, wherein the second current value is the current value of the welding machine during real-time welding;
acquiring a third current value fed back by a welding machine end in real time, and controlling the robot to adjust the position according to a second preset mode according to the second current value and the third current value;
the second preset mode comprises the following steps:
acquiring a first position value fed back by a welding machine end in real time, and sending the second current value, the third current value and the first position value to a computer terminal, wherein the second current value, the third current value and the first position information are used for enabling the computer terminal to obtain a second position value according to a third preset mode, and the second position value is a corrected position value;
and obtaining a second position value of the computer terminal, and sending the second position value to the robot end, wherein the second position value is used for adjusting the position of the robot in real time.
2. The method according to claim 1, wherein the second current value, the third current value and the first position information are used for enabling the computer terminal to obtain the second position value according to a third preset mode, and the third preset mode comprises:
calculating a position correction value through a first algorithm according to the second current value and the third current value;
the first algorithm is as follows:
dz＝PI(Acmd-Afb) (1)
wherein A iscmdRepresenting said second current value, AfbIndicating the third current value, dz indicating the position correction value;
calculating to obtain a second position value through a second algorithm and a third algorithm according to the position correction value and the first position value;
wherein the first position value comprises an initial position value and an initial attitude value;
initial position value: v ═ x0, y0, z 0;
initial attitude value: rot ═ aij]The initial position value rot is a rotation matrix of 3 × 3;
the second algorithm is: v. ofadjust＝[x0+dz*a02,y0+dz*a12,z0+dz*a22] (2)
The third algorithm is: rot (Rot)adjust＝rot (3)
Wherein the second position value comprises a final position value and a final attitude value, vadjustIndicating the final position value, rotadjustThe final pose value is represented.
3. The method according to claim 1, wherein the second predetermined manner comprises:
and judging the second current value and the third current value, controlling the robot to enable the welding machine end to be close to the workpiece when the second current value is larger than the third current value, and controlling the robot to enable the welding machine end to be far away from the workpiece when the second current value is smaller than the third current value.
4. The method of claim 1, wherein calculating the second current value based on the first current value and the welding time period at the end of the welder in a first predetermined manner comprises:
acquiring a first current value and a welding time period of a welding machine end, and calculating a second current value according to a fourth algorithm;
the fourth algorithm is:
wherein A isi,i+1(T) represents a second current value, T, during the welding time period up to the i-th to i + 1-thiAn initial time value, T, representing said welding time periodi+1Representing the end time value of said welding time period, t being a variable, t representing the time value at any point in time within said welding time period, AiRepresenting said first current value, Ai+1The current value at which the welding time period is at the end time value.
5. The method of claim 1, wherein calculating the second current value based on the first current value and the welding time period at the end of the welder in a first predetermined manner comprises:
acquiring a first current value and a welding time period of a welding machine end, and calculating a second current value according to a fifth algorithm;
the fifth algorithm is:
Ai,i+1(t)＝a*x3+b*x2*(1-x)+c*x*(1-x)2+d*(1-x)3 (5)
wherein A isi,i+1(t) represents the second welding time period from the i-th to i + 1-thA current value;
x is an independent variable, and x is defined as
Wherein T isi+1Representing an end time value of the welding time period, t being a variable, t representing a time value at any time point within the welding time period;
the coefficient a takes the value Ai+1The coefficient b takes the value 3 x Ai+1-AVi+1The coefficient c takes the value AVi+3*AiThe coefficient d takes the value of Ai；
Wherein A isiRepresenting said first current value, Ai+1Representing the current value, AV, at the end time value of the welding time periodiRepresenting the value of the current change, AV, at the start time of the welding time periodi+1Representing the current change value at the end time value of the welding time period.
6. The method of claim 1, wherein prior to said sending a first current value to said welder end, said method further comprises:
acquiring a first instruction input by an operator, and sending the first instruction to a welding machine end, wherein the first instruction is used for enabling the welding machine end to enter an arc starting state;
and sending a fourth current value to the end of the welding machine, wherein the fourth current value is an arc starting current value preset by an operator and used for arc starting of the end of the welding machine.
7. A real-time control device for a robot and a welding machine, the device comprising:
a first execution unit configured to send a first current value to the welder end, the first current value being a welding initial current value used by a welder;
the second execution unit is configured to send a first track signal to the robot end, wherein the first track information is used for indicating the robot end to move according to the track signal;
the third execution unit is configured to calculate a second current value according to a first preset mode, and send the second current value to the welding machine end, wherein the second current value is a current value of the welding machine end during real-time welding;
the fourth execution unit is used for acquiring a third current value fed back by the welding machine end in real time and controlling the robot to adjust the position according to the second current value and the third current value and a second preset mode;
the second preset mode comprises the following steps:
acquiring a first position value fed back by a welding machine end in real time, and sending the second current value, the third current value and the first position value to a computer terminal, wherein the second current value, the third current value and the first position information are used for enabling the computer terminal to obtain a second position value according to a third preset mode, and the second position value is a corrected position value;
and obtaining a second position value of the computer terminal, and sending the second position value to the robot end, wherein the second position value is used for adjusting the position of the robot in real time.
8. A terminal, characterized in that the terminal comprises a processor and a memory, wherein the memory stores at least one program code, and the at least one program code is loaded and executed by the processor to realize the real-time control method of the robot and the welder according to any one of the claims 1-6.
9. A computer-readable storage medium, wherein at least one program code is stored in the computer-readable storage medium, and the at least one program code is loaded and executed by a processor to implement the real-time control method for the robot and the welder according to any one of claims 1-6.
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