CN112743260B - Robot welding control method, robot welding control apparatus, and storage medium - Google Patents
Robot welding control method, robot welding control apparatus, and storage medium Download PDFInfo
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- CN112743260B CN112743260B CN201911046276.2A CN201911046276A CN112743260B CN 112743260 B CN112743260 B CN 112743260B CN 201911046276 A CN201911046276 A CN 201911046276A CN 112743260 B CN112743260 B CN 112743260B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
Abstract
The application discloses a robot welding control method, which comprises the steps of obtaining a first instruction, setting a welding function mark of a target monitoring thread in at least one monitoring thread to be in an open state, setting the at least one monitoring thread to be a global monitoring thread, setting the global monitoring thread in the global state, and monitoring the states of welding machine equipment and a robot; polling the current states of the welding machine equipment of all channels through the target monitoring thread so as to check the state of the welding machine equipment corresponding to each channel; the channels comprise information related to the robots, and each channel corresponds to one robot and one welding machine device; and controlling the robot corresponding to each channel to perform welding control according to the current polling result. By means of the method, the states of the welding machine equipment of all the channels can be monitored and tracked by the aid of the target monitoring threads, occupied amount of the threads is reduced, and motion stability of the robot is improved.
Description
Technical Field
The application relates to the technical field of robots, in particular to a robot welding control method, robot welding control equipment and a storage medium.
Background
With the rapid development of economy, the application of the robot in the industrial field is more and more extensive, and the robot becomes an important driving force for reducing the production cost, improving the production efficiency, improving the industrial manufacturing capability and realizing intelligent manufacturing; industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices for industrial fields, can automatically perform work, and are machines which realize various functions by means of self power and control capability.
Because the welding working environment of an industrial field is often severe and has great harm to the bodies of workers, a great deal of demand is brought to the use of robots to replace workers for welding work; at present, the welding function of an industrial robot is mostly realized by using an extended function package, and if a user purchases the welding function package, the robot can be used for connecting a welding machine to complete the welding work of an industrial field.
Because the information of the welding machine parameters of the welding function packet is a binding channel, and each channel needs to be monitored through a respective task thread to complete welding work, resource exhaustion can be caused, robot Control Software (RCS) cannot be started, or even if the channels are started, the problems that the RCS runs and is blocked due to excessive occupied memory and the like can be caused, and the normal work of the robot is seriously influenced.
Disclosure of Invention
The application provides a robot welding control method, which is used for monitoring and tracking states of welding machine equipment of all channels by using a target monitoring thread, reducing the occupation amount of the thread and improving the motion stability of a robot.
In order to solve the above technical problem, a first aspect of the present application provides a robot welding control method, including: acquiring a first instruction to set a welding function flag of a target monitoring thread in at least one monitoring thread to be in an on state, wherein the at least one monitoring thread is a global monitoring thread which is set in the global state and used for monitoring states of welding machine equipment and a robot; polling the current states of the welding machine equipment of all channels through a target monitoring thread to check the state of the welding machine equipment corresponding to each channel, wherein the channels comprise information related to the robot, and each channel corresponds to one robot and one welding machine equipment; and controlling the robot corresponding to each channel to perform welding control according to the current polling result.
Based on the first aspect of the present application, in a first implementation manner of the first aspect of the present application, the information related to the robot includes a welding execution program, and the method further includes: judging whether a welding execution program is loaded in each channel; if the welding executive program is not loaded in each channel, the welding function flag is set to be in an invalid state, and the channels are not polled.
Whether each channel is polled is judged by judging whether the welding execution program is loaded on each channel, so as to further judge the state of the welding machine equipment in each channel.
Based on the first aspect of the present application to the first implementation manner of the first aspect, in a second implementation manner of the first aspect of the present application, the method further includes: receiving an arc starting instruction, wherein the arc starting instruction comprises welding parameters, and the welding parameters are used for welding control; receiving a second instruction, and judging whether the welding parameters in the second instruction are the same as the welding parameters in the arc starting instruction; and if the welding parameters in the second command are different from the welding parameters in the arc starting command, updating the welding parameters in the arc starting command into the welding parameters in the second command.
Whether the welding parameters are modified or not is judged by comparing the arc starting instruction with the second instruction so as to update the welding parameters in real time, and the robot can carry out welding control according to the welding parameters.
Based on the first aspect of the present application to the first implementation manner and the second implementation manner of the first aspect, a third implementation manner of the first aspect of the present application includes: after the robot executes the welding control, acquiring a third instruction, and controlling the robot to execute an arc-closing action according to the third instruction; wherein the third instructions include arc extinction parameters and welding parameters.
After the welding control is executed, the robot can be controlled to execute arc-closing action by utilizing the arc-closing parameters in the received third instruction, so that the arc-closing control is realized.
Based on the first to third implementation manners of the first aspect of the present application, in a fourth implementation manner of the first aspect of the present application, the target monitoring thread includes a gas supply stopping monitoring task thread, and the method further includes: controlling the robot corresponding to each channel to perform welding control according to the current polling result comprises the following steps: monitoring whether each welding machine device stops air supply or not by utilizing the air supply stopping monitoring task thread; if the welding machine stops supplying gas, determining that welding fails, and controlling the robot to stop welding control; and if the welding machine equipment does not stop supplying air, controlling the robot to continue welding control.
The working state of the welding machine equipment is monitored by the gas supply stopping monitoring task thread, so that the working state of the welding machine equipment is corrected in time, and the influence of the welding machine equipment stopping gas supply on welding control or the waste caused by the fact that the welding machine equipment continues gas supply are avoided.
Based on the first aspect of the present application to the first implementation manner to the fourth implementation manner of the first aspect, in a fifth implementation manner of the first aspect of the present application, the target monitoring thread further includes an arc interruption monitoring task thread, and the method further includes: monitoring whether the welding seam has arc breakage or not by utilizing an arc breakage monitoring task thread; if the arc of the welding line is broken, determining that the welding fails, and controlling the robot to stop welding control; and if the welding seam has no broken arc, controlling the robot to continue to perform welding control.
The welding seam state can be monitored in real time through the arc-breaking monitoring task thread, and whether arc breaking exists or not is judged so as to carry out corresponding operation in time.
Based on the first to fifth implementation manners of the first to fifth aspects of the present application, in a sixth implementation manner of the first aspect of the present application, the target monitoring thread further includes a weld tracking task thread and a robot preparation signal confirmation task thread, the polling result includes a welding track of the robot and a state of the robot, the weld tracking task thread is used for tracking the welding track of the robot, and the robot preparation signal confirmation task thread is used for monitoring the state of the robot.
The welding track and the state of the robot can be tracked by the task thread which is confirmed through the welding seam tracking task thread and the robot preparation signal, so that real-time monitoring is realized, and the welding work is completed more accurately.
Based on the first aspect of the present application to the first implementation manner to the sixth implementation manner of the first aspect, a seventh implementation manner of the first aspect of the present application includes: and analyzing the first instruction to obtain the welding parameters in the first instruction, and loading the welding parameters into the welding machine equipment corresponding to each channel so that the robot executes welding control according to the welding parameters.
The first instruction is analyzed, and the analyzed welding parameters are loaded into the corresponding channel, so that the robot corresponding to the channel can weld.
A second aspect of the present application provides a robotic welding control device comprising a memory and a processor connected to each other, wherein the memory is adapted to store a computer program, which, when executed by the processor, is adapted to carry out the robotic welding control method as described above.
A fourth aspect of the present application provides a storage medium for storing a computer program for implementing the robot welding control method described above when executed by a processor.
The beneficial effect of this application is: the target monitoring program is set as a global monitoring thread, states of the welding machines in all channels can be detected by the global monitoring thread, so that each welding machine can be monitored and tracked, the monitoring thread does not need to be configured for each channel independently, the use amount of the monitoring thread can be effectively reduced, occupation amounts of thread locks and semaphore are reduced, occupation of a memory can be reduced, the problems that the robot cannot be started and operation jamming or unstable robot movement caused by insufficient memory in the use process are avoided, and running stability of the robot is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:
FIG. 1 is a schematic flow chart diagram illustrating an embodiment of a robot welding control method provided herein;
FIG. 2 is a schematic flow diagram of another embodiment of a robotic welding control method provided herein;
FIG. 3 is a diagram of data information for a channel in the embodiment shown in FIG. 2;
FIG. 4 is a schematic diagram of an embodiment of a robotic welding control apparatus provided herein;
FIG. 5 is a schematic structural diagram of another embodiment of a robotic welding control apparatus provided herein;
FIG. 6 is a schematic diagram of a configuration of an embodiment of a robotic control system provided herein;
fig. 7 is a schematic structural diagram of an embodiment of a storage medium provided in the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
At present, a control software system of some industrial robot manufacturers can support a plurality of channels, if the hardware can meet the requirements, the control software can support each channel to control one robot, for example, if at most four foreground channels are supported, at most four robots can be controlled, that is, at most four robots are controlled to be matched with a welding machine to complete welding work; each channel also corresponds to a background channel, the background channel is mainly used for performing some non-motion work, such as executing some input/output operations, and the like, and is not used for controlling the motion of the robot, and in this case, the control software of the robot supports at most 8 channels: 4 foreground channels and 4 background channels. The information of the welding machine parameters of the current welding function package is bound with channels, a plurality of threads are added in a welder service class read by the information of the welding machine parameters to monitor various states of the welding machine and realize some control flows, each channel can realize monitoring through respective task threads, so that the welding work is finished, and the channels are not influenced mutually; however, if one channel is monitored by using 4 threads, 32 threads exist in 8 channels, if the real-time thread occupies 8M of memory, the total occupied memory is 256M, the total number of thread locks and semaphores used by the threads is limited, and is at most 512, and there are 64 thread locks and semaphores corresponding to 8 channels, which occupy a large amount of memory and thread resources of the control system, and may cause resource exhaustion, and Robot Control Software (RCS) may not be started, or even if started, the problem of operating jam occurs due to too much occupied memory, and the normal operation of the robot is seriously affected, and the robot cannot be applied in the industrial field.
Referring to fig. 1, fig. 1 is a schematic flowchart illustrating an embodiment of a robot welding control method provided in the present application, the method including:
step 11: a first instruction is obtained to set a welding function flag of a target monitoring thread of the at least one monitoring thread to an on state.
After receiving the first instruction, determining a target monitoring thread corresponding to the first instruction from at least one monitoring thread, and setting a welding function mark of the target monitoring thread to be in an open state; the at least one monitoring thread is a global monitoring thread, and the global monitoring thread is arranged in the global and used for monitoring the states of the welding machine equipment and the robot, namely the monitoring thread is a global monitoring thread, and the global monitoring thread can mean that each monitoring thread can monitor the working states of the welding machine equipment and the robot of all channels.
It is to be understood that the at least one monitoring thread may include a cut gas monitoring task thread, an arc break monitoring task thread, a weld tracking task thread, and a robot arm signal confirmation task thread, although other monitoring threads may also be included. Correspondingly, the target monitoring thread may be one or more of a cut gas supply monitoring task thread, an arc interruption monitoring task thread, a weld tracking task thread, and a robot preparation signal confirmation task thread.
Step 12: and polling the current states of the welding machine equipment of all the channels through the target monitoring thread so as to check the state of the welding machine equipment corresponding to each channel.
The channels in the embodiment can be divided into a foreground channel and a background channel, the background channel is used for executing some input and output operations or network communication and the like, and is not used for controlling the robot or realizing welding in the background channel; the foreground channel is used for controlling the robot and realizing welding, and in the following description, the foreground channel is simply referred to as a channel, the channel includes information related to the robot, and each channel corresponds to one robot and one welding machine device.
Setting the welding function flag of the target monitoring thread to be in an open state, and polling the states of the welding machine equipment corresponding to all channels by using the target monitoring thread to acquire the states of the welding machine equipment; for example, the number of the target monitoring threads is two, and the two target monitoring threads are respectively used for monitoring whether the welding machine equipment stops air supply or arc stop, the number of the channels is 3, and the two target monitoring threads can monitor the 3 channels, so that the state of the welding machine equipment corresponding to each channel is obtained.
Step 13: and controlling the robot corresponding to each channel to perform welding control according to the current polling result.
The robot can be controlled by using the current polling result, so that each robot can perform welding control, and particularly, when the polling result indicates that the robot is required to perform welding, the robot can be controlled to perform welding control, such as under the condition that the welding equipment normally supplies air when the welding is not finished; and when the polling result is that welding is not needed, controlling the robot to stop welding in time, such as under the condition that the welding equipment continues to supply air after the welding is finished.
Compared with the prior art that each channel is required to be provided with at least one monitoring thread, the method for controlling welding of the robot can detect states of welding machines of all channels by using the global monitoring thread, monitor and track the states, does not need to configure the monitoring thread for each channel independently, can effectively reduce usage of the monitoring thread, reduces occupation of thread locks and semaphore, and further avoids the problems that the robot cannot be started, and operation is blocked or the robot is unstable in motion due to insufficient memory in the use process.
Referring to fig. 2, fig. 2 is a schematic flowchart illustrating another embodiment of a robot welding control method according to the present application, the method including:
step 21: and receiving an arc starting command.
The arc starting instruction is used as a welding starting instruction, the arc starting instruction comprises welding parameters and arc starting parameters, the welding parameters can be used for welding, and task threads such as gas supply stopping or arc stopping can be monitored in the arc starting instruction.
In this embodiment, the number of channels may be set by parameter configuration, for example, the number of channels is set to four; an arc welding function package is then loaded, which may include welding parameters such as current magnitude, voltage magnitude, or arc off time.
Step 22: and judging whether a welding execution program is loaded in each channel.
The welding execution program is included in the information related to the robot, and the welding execution program includes instructions related to welding start and end.
Step 23: and if the channels are loaded with the welding execution program, setting the welding function mark corresponding to each channel to be in an effective state.
If the channel is loaded with the welding program for execution, the welding function mark in the channel can be set to be in an open state after the arc starting instruction is executed, namely the welding function mark is set to be in an effective state.
It is understood that the welding function flag in this embodiment is used to indicate whether to perform polling, and when the welding function flag is set to the on state, the polling is performed; when the welding function flag is set to be in an invalid state, no polling is performed; the welding function starting mark can be used for setting the welding function mark to be an effective value, such as 1, for an operator, and the welding function closing mark can be used for setting the welding function mark to be an invalid value, such as 0, for the operator, and whether the welding function is started or not can be judged by reading the value of the welding function mark; if the welding function flag is set to be in an invalid state, the channels are not polled, namely if a certain channel does not start the welding function flag, the channel can be considered not to participate in a welding task, and the channel can be ignored and not polled when a target monitoring thread polls.
And step 24: and polling the current states of the welding machine equipment of all the channels through the target monitoring thread so as to check the state of the welding machine equipment corresponding to each channel.
In a specific embodiment, the target monitoring threads comprise an air supply stopping monitoring task thread, an arc breaking monitoring task thread, a welding seam tracking task thread and a robot preparation signal confirmation task thread, and the polling result comprises whether the welding machine equipment stops air supply, a welding track of the robot and the state of the robot.
Further, monitoring whether each welding machine device stops supplying air or not by using the air supply stopping monitoring task thread; if the welding machine equipment stops supplying gas, determining that welding fails, and controlling the robot to stop welding control; and if the welding machine equipment does not stop supplying air, controlling the robot to continue welding control.
Naturally, when the welding machine equipment stops supplying air and the robot is performing welding control currently, the welding machine equipment can be controlled to supply air continuously, namely the robot does not finish welding work at the moment and can continue welding only by supplying air to the welding machine equipment, and if the welding machine equipment stops supplying air, the welding machine equipment is controlled to supply air continuously; if the welding machine equipment does not stop supplying air, controlling the welding machine equipment to stop supplying air when the current robot finishes welding control, namely the robot finishes welding control at the moment and does not need the welding machine equipment to supply air, and controlling the welding machine equipment to stop supplying air if the welding machine equipment continues supplying air.
The arc breaking monitoring task thread can also be used for monitoring whether the welding line has arc breaking; if the welding seam has broken arc, determining that the welding has a fault, and controlling the robot to stop welding control; and if the welding seam has no broken arc, controlling the robot to continue to perform welding control.
The welding seam tracking task thread is used for tracking the welding track of the robot, and the robot welding control equipment can store the welding track of the robot after receiving the welding track of the robot and compare the welding track with a preset welding track to monitor whether the current welding track has deviation or not in real time so as to control the following welding operation more accurately.
The robot preparation signal confirms that the task thread is used for monitoring the state of the robot, and can confirm whether the robot executes other tasks currently, whether the robot can normally receive signals, whether the robot can normally work or whether the robot is close to a welding position and the like; if the polling result is that the robot cannot work normally, warning information can be sent out to remind an operator that the robot has a fault so as to repair the fault in time; similarly, whether the welding machine equipment can work normally can be detected, so that an operator can be reminded to maintain or replace the welding machine equipment.
Step 25: and receiving a second instruction, and judging whether the welding parameters in the second instruction are the same as the welding parameters in the arc starting instruction.
The second instruction may be a welding parameter setting instruction including a welding parameter, and the robot welding control device may determine whether the welding parameter setting instruction resets the welding parameter after acquiring the welding parameter setting instruction, that is, determine whether the welding parameter in the welding parameter setting instruction is the same as the welding parameter in the arc starting instruction.
Step 26: and if the welding parameters in the second command are different from the welding parameters in the arc starting command, updating the welding parameters in the arc starting command into the welding parameters in the second command.
If the welding parameters in the welding parameter setting instruction are different from the welding parameters in the arc starting instruction, the welding parameters are reset, and the welding parameters in the arc starting instruction can be updated so as to control the robot to execute welding control by using the updated welding parameters; if the welding parameters in the welding parameter setting instruction are the same as the welding parameters in the arc starting instruction, the welding parameters are not reset, and at the moment, the welding parameters in the arc starting instruction can be directly utilized to control the robot to execute welding control.
Step 27: and analyzing the first instruction to obtain the welding parameters in the first instruction, and loading the welding parameters into the welding machine equipment corresponding to each channel so that the robot executes welding control according to the welding parameters.
Welding parameters in the arc starting command can be loaded into each channel, and the robot is controlled to execute welding control according to the welding parameters.
Step 28: and after the robot executes the welding control, acquiring a third instruction, and controlling the robot to execute an arc-closing action according to the third instruction.
The third instruction is an arc-closing instruction which comprises arc-closing parameters and welding parameters, and the arc-closing instruction can be used for setting the arc-closing parameters after the welding is finished.
In a specific embodiment, as shown in fig. 3, all the channel classes and the welder control classes are stored in the channel comprehensive class, at least one mechanical unit class and a program execution thread class are stored in the channel class, information units of mechanical units are stored in the mechanical unit class, and the mechanical unit class includes a mechanical unit interpolator, a forward solver and a reverse solver; the program execution thread class is used for executing a program written by a user, comprises a script service class, a task executor and a welder service class, and is used for analyzing the user program; four target monitoring threads are stored in the welder control class: stopping air feeding monitoring task threads, arc breaking monitoring task threads, welding seam tracking task threads and robot preparation signal confirmation task threads, wherein the target monitoring threads belong to a global thread, and once an arc starting instruction is executed, the target monitoring threads are started and then start to poll each channel.
The welder service class stores parameter configuration information of welding equipment, and mainly controls 12 bytes of an input buffer of the welding equipment, different bits of different models of the welding equipment represent different meanings, for example, 9 bits represent gas supply, 10 bits represent wire supply, and 33-40 bits represent set welding current, a user can know how to control the welding equipment by inputting data to different positions according to the information, and meanwhile, the information of different bits can be read from the bytes of the output buffer of the welding equipment to obtain state information of the welding equipment.
In the embodiment, the threads for reading the welding machine parameters and monitoring the welding function are stored separately, the welder service class is still loaded to the foreground channel, and the system is ensured to still control a plurality of robots and welding machine equipment to work under the condition of hardware support, but target monitoring threads (a gas supply stopping monitoring task thread, an arc breaking monitoring task thread, a welding seam tracking task thread and a robot preparation signal confirmation task thread) related to welding are added to the whole situation, that is, all channels of the robot control system share the target monitoring threads, and the target monitoring threads can monitor tasks needing to be executed in all used channels in each period, so that the monitoring and welding tracking functions of at least one welding machine equipment can be ensured to work normally, and the number of the target monitoring threads can be reduced, for example, 4 tasks are provided, the maximum number of the target monitoring threads is only four, the occupied memory size is changed into 32M, the used thread locks and semaphore are reduced to 8, the occupied number of system resources is greatly reduced, and the problem that the used welding machine is blocked or the RCS cannot be started due to the occupation of a large number of the memory or thread resources can be greatly reduced.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an embodiment of the robot welding control apparatus provided in the present application, the robot welding control apparatus 40 includes a memory 41 and a processor 42 connected to each other, the memory 41 is used for storing a computer program, and the computer program is used for implementing the robot welding control method in the above embodiment when being executed by the processor 42.
The thread realizing the welding function is transferred to the whole from the channel, so that the occupied amount of the memory can be reduced, the problems that the robot cannot be started and the operation is blocked or the robot moves unstably due to insufficient memory in the use process are solved, the robot can be applied to an industrial field, and meanwhile, the system memory does not need to be enlarged and the cost does not need to be increased.
Referring to fig. 5, fig. 5 is a schematic structural diagram of another embodiment of the robot welding control apparatus provided in the present application, the robot welding control apparatus 50 includes an obtaining module 51 and a processing module 52, where the obtaining module 51 is configured to obtain a first instruction to set a welding function flag of a target monitoring thread in at least one monitoring thread to an on state, where at least one monitoring thread is a global monitoring thread, and the global monitoring thread is set in a global state and is configured to monitor states of a welder apparatus and a robot; the processing module 52 is configured to poll the current states of the welder devices of all channels through the target monitoring thread to check the state of the welder device corresponding to each channel, where each channel includes information related to the robot, and each channel corresponds to one robot and one welder device; and controlling the robot corresponding to each channel to perform welding control according to the current polling result.
In another alternative implementation, the processing module 52 is further configured to determine whether a welding execution program is loaded in each channel; if the welding executive program is not loaded in each channel, the welding function flag is set to be in an invalid state, and the channels are not polled.
In another optional implementation manner, the processing module 52 is further configured to receive an arc starting instruction, where the arc starting instruction includes welding parameters, and the welding parameters are used for performing welding control; receiving a second instruction, and judging whether the welding parameters in the second instruction are the same as the welding parameters in the arc starting instruction; and if the welding parameters in the second command are different from the welding parameters in the arc starting command, updating the welding parameters in the arc starting command into the welding parameters in the second command.
In another optional implementation manner, the processing module 52 is specifically configured to, after the robot performs welding control, acquire a third instruction, and control the robot to perform an arc extinguishing action according to the third instruction; wherein the third instructions include arc extinction parameters and welding parameters.
In another alternative implementation, the processing module 52 is specifically configured to monitor whether each welding machine device stops supplying air by using the air supply stopping monitoring task thread; if the welding machine equipment stops supplying gas, determining that welding fails, and controlling the robot to stop welding control; and if the welding machine equipment does not stop supplying air, controlling the robot to continue welding control.
In another optional implementation manner, the processing module 52 is specifically configured to monitor whether the weld has an arc interruption by using an arc interruption monitoring task thread; if the welding seam has broken arc, determining that the welding has a fault, and controlling the robot to stop welding control; and if the welding seam has no broken arc, controlling the robot to continue to perform welding control.
In another optional implementation manner, the processing module 52 is specifically configured to analyze the first instruction to obtain a welding parameter in the first instruction, and load the welding parameter into the welder device corresponding to each channel, so that the robot executes welding control according to the welding parameter.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an embodiment of a robot control system provided in the present application, a robot control system 60 includes a robot welding control device 61, a robot 62, and a welder device 63, the robot welding control device 61 is used for controlling the robot 62 and the welder device 63 to perform welding, and the robot welding control device 61 is the robot welding control device in the above embodiment.
Although the problem that the monitoring thread occupies a large amount of memory in the prior art can be solved by improving the memory size and the thread resource of the system, the hardware cost of the system is correspondingly improved, and the system cost is increased; however, the robot control system 60 provided in this embodiment adds all the target monitoring threads related to welding to the global, and one task corresponds to one target monitoring thread, and is recorded and operated in the global, so that the occupied memory resources are reduced, and the operation stability of the robot is improved.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an embodiment of a storage medium provided in the present application, where the storage medium 70 is used to store a computer program 71, and when the computer program 71 is executed by a processor, the computer program is used to implement the robot welding control method in the foregoing embodiment.
The storage medium 70 may be various media capable of storing program codes, such as a server, a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules or units is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each of the units may exist alone physically, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The above embodiments are merely examples, and not intended to limit the scope of the present application, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present application, or those directly or indirectly applied to other related arts, are included in the scope of the present application.
Claims (9)
1. A robot welding control method, characterized by comprising:
acquiring a first instruction to set a welding function flag of a target monitoring thread in at least one monitoring thread to be in an on state, wherein the at least one monitoring thread is a global monitoring thread which is set in the global state and used for monitoring states of welding machine equipment and a robot, and the at least one monitoring thread can comprise an air supply stopping monitoring task thread, an arc breaking monitoring task thread, a welding seam tracking task thread and a robot preparation confirmation task thread;
polling the current states of the welding machine devices of all channels through a target monitoring thread to check the state of the welding machine device corresponding to each channel, wherein the channels comprise information related to the robot, and each channel corresponds to one robot and one welding machine device;
the information related to the robot includes a welding executive, the method further comprising:
judging whether the welding execution program is loaded in each channel;
if not, setting the welding function mark to be in an invalid state, and not polling the channel;
and controlling the robot corresponding to each channel to perform welding control according to the current polling result.
2. The robotic welding control method of claim 1, further comprising:
receiving an arc starting instruction, wherein the arc starting instruction comprises welding parameters, and the welding parameters are used for welding control;
receiving a second instruction, and judging whether welding parameters in the second instruction are the same as welding parameters in the arc starting instruction or not;
and if not, updating the welding parameters in the arc starting command into the welding parameters in the second command.
3. The robotic welding control method of claim 2, further comprising:
and after the robot executes the welding control, acquiring a third instruction, and controlling the robot to execute an arc-closing action according to the third instruction, wherein the third instruction comprises arc-closing parameters and the welding parameters.
4. The robot welding control method according to any one of claims 1 to 3, wherein the target monitoring thread includes a task thread for stopping air supply monitoring, and the controlling the robot corresponding to each of the channels to perform welding control according to the current polling result includes:
monitoring whether each welding machine device stops supplying air or not by using the air supply stopping monitoring task thread;
if so, determining that welding fails, and controlling the robot to stop welding control;
and if not, controlling the robot to continue welding control.
5. The robot welding control method according to claim 4, wherein the target monitoring thread further includes an arc interruption monitoring task thread, and the controlling the robot corresponding to each of the channels to perform welding control according to the current polling result includes:
monitoring whether the welding line has arc breakage by using the arc breakage monitoring task thread;
if so, determining that welding fails, and controlling the robot to stop welding control;
and if not, controlling the robot to continue welding control.
6. The robotic welding control method of claim 4,
the target monitoring thread further comprises a welding seam tracking task thread and a robot preparation signal confirmation task thread, the polling result comprises a welding track of the robot and the state of the robot, the welding seam tracking task thread is used for tracking the welding track of the robot, and the robot preparation signal confirmation task thread is used for monitoring the state of the robot.
7. The robot welding control method according to claim 4, wherein the controlling the robot corresponding to each of the channels to perform welding control according to the current polling result includes:
and analyzing the first instruction to obtain welding parameters in the first instruction, and loading the welding parameters into the welding equipment corresponding to each channel so that the robot executes welding control according to the welding parameters.
8. A robotic welding control device, comprising a memory and a processor connected to each other, wherein the memory is configured to store a computer program, which when executed by the processor is configured to implement the robotic welding control method of any of claims 1-7.
9. A storage medium storing a computer program, characterized in that the computer program, when being executed by a processor, is adapted to carry out the robotic welding control method of any one of claims 1-7.
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| JP6029967B2 (en) * | 2012-12-14 | 2016-11-24 | 株式会社ダイヘン | Arc welding robot system |
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