CN114310042B - Control method of welding robot and related equipment - Google Patents
Control method of welding robot and related equipment Download PDFInfo
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- CN114310042B CN114310042B CN202111603713.3A CN202111603713A CN114310042B CN 114310042 B CN114310042 B CN 114310042B CN 202111603713 A CN202111603713 A CN 202111603713A CN 114310042 B CN114310042 B CN 114310042B
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Abstract
The invention provides a control method of a welding robot and related equipment, belonging to the technical field of welding, and the method comprises the following steps: when a welding request is received, acquiring a first number of welding guns and a second number of first welding guns of the welding robots, wherein the first welding guns are activated welding guns, and the first number of welding guns is required by the welding robots to weld according to the welding request; comparing the first quantity with the second quantity to obtain a comparison result; adjusting the number of first welding guns of the welding robot according to the comparison result to enable the number of the first welding guns to reach the first number; and controlling the first welding gun to weld. According to the invention, the welding robot can automatically set and correct the number of welding guns required by welding, manual setting and verification are not needed, and the welding cost of the welding robot is reduced.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a control method of a welding robot and related equipment.
Background
With the improvement of the automation level of the automobile industry, a technology of automatically welding by using a welding robot has been popularized.
When the welding robot performs welding, a plurality of welding guns may be needed to perform welding. The number of the welding guns is usually set and checked by welding monitoring personnel, and the time required by manual setting and checking is long, so that the welding cost of the welding robot is high.
Disclosure of Invention
The invention provides a control method of a welding robot and related equipment, which are used for solving the problem of high welding cost of the welding robot.
In one aspect, the present invention provides a method for controlling a welding robot, including:
when a welding request is received, acquiring a first number of welding guns and a second number of first welding guns of the welding robots, wherein the first welding guns are activated welding guns, and the first number of welding guns is required by the welding robots to weld according to the welding request;
comparing the first quantity with the second quantity to obtain a comparison result;
adjusting the number of first welding guns of the welding robot according to the comparison result to enable the number of the first welding guns to reach the first number;
and controlling the first welding gun to weld.
In one embodiment, the step of controlling the first welding gun to weld includes:
acquiring an identifier of the first welding gun;
acquiring a set position where the first welding gun is located according to the identification, and acquiring an actual position where the first welding gun is located;
when the set position of the first welding gun is matched with the actual position before the first welding, controlling the first welding gun to weld;
and when the set position of the first welding gun is not matched with the actual position before the first welding, controlling the first welding gun to move to the set position corresponding to the first welding gun and then welding.
In one embodiment, the step of controlling the first welding gun to weld includes:
acquiring each first welding position according to the welding request, and controlling the first welding gun to move to a second welding position for welding, wherein the second welding position is any one of the first welding positions;
when the second welding position is welded, controlling the first welding gun to move to a backspacing position corresponding to the first welding gun, and re-determining the second welding position in each unwelded first welding position;
and returning to the step of controlling the first welding gun to move to the second welding position for welding.
In one embodiment, the step of controlling the first welding gun to move to the corresponding retreat position of the first welding gun comprises:
controlling the first welding gun to move according to a set moving track;
after the first welding gun is moved, acquiring the current position of the first welding gun;
determining that the first welding gun moves to the retracted position when the current position matches the retracted position;
when the current position is not matched with the backspacing position, a first moving track is determined according to the current position and the backspacing position, and the first welding gun is moved according to the first moving track, so that the first welding gun is moved to the backspacing position.
In an embodiment, the step of adjusting the number of first welding guns of the welding robot according to the comparison result so that the number of first welding guns reaches the first number includes:
activating a third number of second welding guns when the comparison result shows that the first number is larger than the second number, wherein the third number is a difference value between the first number and the second number, and the second welding guns are in a dormant state;
and when the comparison result shows that the first quantity is smaller than the second quantity, controlling the first welding guns of the third quantity to enter a dormant state.
In an embodiment, when the comparison result is that the first number is smaller than the second number, the step of controlling the third number of first welding guns to enter the sleep state includes:
when the comparison result shows that the first quantity is smaller than the second quantity, outputting prompt information indicating whether the first quantity is correct or not;
and controlling the third quantity of first welding guns to enter a dormant state when a determination operation triggered based on the prompt message is detected.
In another aspect, the present invention also provides a welding robot, including:
the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a first number of welding guns required by a welding robot for welding and a second number of first welding guns of the welding robot according to a welding request when the welding request is received, and the first welding guns are activated;
the comparison module is used for comparing the first quantity with the second quantity to obtain a comparison result;
the adjusting module is used for adjusting the number of first welding guns of the welding robot according to the comparison result so that the number of the first welding guns reaches the first number;
and the control module is used for controlling the first welding gun to weld.
In another aspect, the present invention also provides a welding robot, including: a welding gun, a memory, and a processor;
the welding gun is used for welding;
the memory is to store program instructions;
the processor is used for calling the program instructions in the memory to execute the control method of the welding robot.
In another aspect, the present invention also provides a computer-readable storage medium having a computer program stored thereon; when executed, the computer program realizes the control method of the welding robot as described above.
In another aspect, the present invention also provides a computer program product comprising a computer program which, when executed by a processor, implements the control method of the welding robot as described above.
According to the control method and the related equipment of the welding robot, when the welding request is received, the first number of the welding guns required by the welding robot for welding and the second number of the welding guns activated by the welding robot are obtained according to the welding request, the first number and the second number are compared to obtain a comparison result, the number of the first welding guns is adjusted according to the comparison result to enable the number of the first welding guns to reach the first number, and finally the first welding guns are controlled to weld. According to the invention, the welding robot can automatically set and correct the number of welding guns required by welding, manual setting and verification are not needed, and the welding cost of the welding robot is reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a system architecture diagram of the control method of the welding robot according to the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of the control method of the welding robot according to the present invention;
fig. 3 is a detailed flowchart of step S40 in the second embodiment of the control method of the welding robot according to the present invention;
fig. 4 is a detailed flowchart of step S40 in the third embodiment of the control method of the welding robot according to the present invention;
fig. 5 is a detailed flowchart of step S46 in the fourth embodiment of the control method of the welding robot according to the present invention;
FIG. 6 is a block diagram of a welding robot of the present invention;
fig. 7 is a schematic diagram of a hardware structure of the welding robot of the present invention.
Specific embodiments of the present disclosure have been shown by way of example in the drawings and will be described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
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.
The present invention provides a method for controlling a welding robot, which can be realized by a system architecture diagram shown in fig. 1. As shown in fig. 1, a welding gun 110 is provided on the welder robot 100, and the welding gun 110 may be a stud welding gun. A plurality of welding guns 110 can be arranged on the welding robot 110, that is, the welding robot 110 can inform the welding guns 110 to weld, so that the welding robot can accurately weld each welding position. The welding robot 100 is provided with a control cabinet (not shown) in which a plurality of interfaces are provided. When the plug of welding gun 110 is plugged into the interface, welding gun 110 is activated, i.e., welding gun 110 can be controlled by welding robot 100.
The following describes the technical solutions of the present invention and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
Referring to fig. 2, fig. 2 is a first embodiment of a control method of a welding robot according to the present invention, the control method of the welding robot including the steps of:
and step S10, when a welding request is received, acquiring a first quantity of welding guns required by the welding robot for welding and a second quantity of first welding guns of the welding robot according to the welding request, wherein the first welding guns are activated welding guns.
In this embodiment, the welding robot is provided with a control cabinet, and a plurality of interfaces are provided in the control cabinet. The plug of welding gun can be connected to every interface, and after the plug of welding gun was inserted the interface, the communication of welding gun was activated for welding robot can control welding gun and weld.
The welder may send a welding request to the welding robot. The welder operator can input a welder request on the control of the welding robot. The welding robot resolves the welding request when receiving the welding request, thereby obtaining a first number of welding guns required by the welding robot to weld. The welding request can carry an identification of the parts to be welded, and the welding robot can determine the first number of welding guns required by the welding robot to weld the parts through the identification. Alternatively, the welding request includes a first number of welding guns input by the welder to perform the weld.
The welding robot also acquires a second number of its own first welding guns. The first welding gun is referred to as the active welding gun, i.e. the first welding gun is the welding gun which can be controlled by the welding robot. The welding robot may acquire the second number of first welding guns by means of scanning.
And step S20, comparing the first quantity with the second quantity to obtain a comparison result.
After obtaining the first quantity and the second quantity, the welding robots compare the first quantity and the second quantity to obtain a comparison result. The comparison result comprises that the first quantity is larger than the second quantity, the second quantity is equal to the first quantity, and the first quantity is smaller than the second quantity.
And S30, adjusting the number of the first welding guns of the welding robot according to the comparison result, so that the number of the first welding guns reaches a first number.
The device can adjust the quantity of the first welding guns of the welding robot according to the comparison result after the comparison result is determined, so that the quantity of the first welding guns reaches the first quantity. It will be appreciated that the welding robot will adjust the number of welding guns activated to the number of welding guns required to perform the weld to meet the welder requirements of the welding robot. The adjustment may be by outputting a prompt, for example, if the first number is greater than the second number, the welding robot outputs a prompt that increases N number of activated welding guns, where N is the difference between the first number and the second number, and the technician will insert the plugs of the inactivated welding guns into the N number of interfaces in the control cabinet.
And step S40, controlling the first welding gun to weld.
The welding robot can control each first welding gun to weld after the quantity of the first welding guns is adjusted.
In the technical scheme that this embodiment provided, when receiving the welding request, obtain the first quantity of the welding gun that the welding robot needed and the second quantity of the welding gun of welding robot activation according to the welding request, compare first quantity and second quantity and obtain the comparison result to the quantity that makes first welding gun according to the quantity of comparison result adjustment first welding gun reaches first quantity, controls first welding gun at last and welds. According to the invention, the welding robot can automatically set and correct the number of welding guns required by welding, manual setting and verification are not needed, and the welding cost of the welding robot is reduced.
Referring to fig. 3, fig. 3 is a second embodiment of the control method of the welding robot of the present invention, and based on the first embodiment, step S40 includes:
step S41, the identification of the first welding gun is obtained.
In this embodiment, each first bond has a corresponding identification, identified as the tool number of the first bonder. Each welding gun has a corresponding initial position in the welding robot, and the initial position is the corresponding retraction position of the welding gun. Before the welding gun performs welding, the welding gun must be in a corresponding backspacing position so as to avoid welding to a position which does not need welding or a vehicle body which is touched due to the fact that the welding gun moves in the welding gun process and makes mistakes.
The welding robot stores the association relationship between the identification of each welding gun and the backspacing position, and the backspacing position can be expressed by coordinates. The backing position is the setting position corresponding to the welding gun.
And S42, acquiring the set position of the first welding gun according to the identification, and acquiring the actual position of the first welding gun.
The welding robot can obtain the set position where the first welding gun is located in the stored association relation for the mark, and obtain the actual position where the first welding gun is located. The actual position can be confirmed through the image that welding robot's image acquisition module gathered, contains first welding gun in the image, can confirm the coordinate that actual position corresponds through image recognition.
And S43, controlling the first welding gun to weld when the set position of the first welding gun is matched with the actual position before the first welding.
The welding robot can determine whether the set position of each first welding gun is matched with the actual position before the first welding, namely whether the set position coordinate is matched with the actual position coordinate is compared. If the horizontal coordinate difference value of the two coordinates is smaller than the first difference value and the vertical coordinate difference value of the two coordinates is smaller than the second difference value, the two coordinates are matched, namely the actual position of the first welding gun is matched with the set position. At this time, the welding robot controls the first welding gun to perform welding.
And S44, when the set position of the first welding gun is not matched with the actual position before the first welding, controlling the first welding gun to move to the set position corresponding to the first welding gun and then welding.
When the difference value of the horizontal coordinates of the two coordinates is larger than or equal to the first difference value and/or the difference value of the vertical coordinates is larger than or equal to the second difference value, the set position can be determined not to be matched with the actual position. The welding robot needs to control the first welding gun to move to the corresponding set position of the first welding gun and then weld. The movement locus of the first welding gun can be determined according to the coordinates of the set position and the coordinates of the actual position.
In the technical scheme that this embodiment provided, welding robot still need ensure that first welding rifle is in the backspacing position after the quantity of the first welding rifle of adjustment to avoid first welding rifle to touch the automobile body in welding process.
Referring to fig. 4, fig. 4 is a third embodiment of the control method of the welding robot of the present invention, and based on the first or second embodiment, step S40 includes:
and S45, acquiring each first welding position according to the welding request, and controlling the first welding gun to move to a second welding position for welding, wherein the second welding position is any first welding position.
In this embodiment, the first welding gun is required to perform welding at a plurality of welding positions. The welding robot determines parts needing to be welded based on the welding machine request, and then distributes corresponding welding positions to each first welding gun, namely the welding robot can obtain each first welding position corresponding to the first welding gun according to the welding request. And the welding robot controls the first welding gun to move to the second welding position for welding. The second bonding location is any of the first bonding locations. When welding robot removed first welding rifle to first welding position, welding robot can monitor whether first welding rifle removed to second welding position, if confirm first welding rifle and remove to second welding position, then control first welding rifle and weld.
And S46, when the second welding position is welded, controlling the first welding gun to move to the corresponding retraction position of the first welding gun, and re-determining the second welding position in each unwelded first welding position.
When the first welding gun completes welding at the second welding position each time, the first welding gun needs to retreat to the initial position of the first welding gun, and the initial position is the retreat position. And when the second welding position is welded, controlling the first welding gun to move to the backspacing position corresponding to the first welding gun, and re-determining the second welding position in each unwelded first welding position. The welding robot then returns to the step of controlling the first welding gun to move to the second welding position for welding, i.e. repeatedly executing step S41 and step S42 until the first welding gun completes welding at all the first welding positions.
In this embodiment, the welding robot obtains each first welding position according to the welding request, and controls the first welding gun to move to the second welding position for welding, and when the second welding position completes welding, controls the first welding gun to move to the backspacing position corresponding to the first welding gun, and then performs new welding at the second welding position, so as to avoid the gun head of the first welding gun from colliding with the vehicle body in the transition track (the track of the welding position moving to the backspacing position is the transition track).
Referring to fig. 5, fig. 5 shows a fourth embodiment of the control method of the welding robot according to the present invention, and based on the third embodiment, step S46 includes:
in step S461, the first welding gun is controlled to move according to the set moving track.
In the present embodiment, in the process of retracting the first welding gun from the second welding position where welding is completed to the retracted position, it is necessary to verify whether the first welding gun completes the correct retraction to the retracted position. The second welding position and the track of the backspacing position are preset and stored by the welding robot, and the welding robot controls the first welding gun to move according to the set moving track.
Step S462, after the first welding gun finishes moving, obtain the current position where the first welding gun is located.
After the first welding gun is moved late, it is necessary to verify whether the first welding gun is correctly retracted to the first welding position. The welding robot acquires the current position of the first welding gun. The current position is obtained in the same manner as the actual position, and specific reference is made to the above description, which is not repeated herein.
In step S463, when the current position matches the retracted position, it is determined that the first welding gun moves to the retracted position.
The welder robot may determine whether the current position matches the retracted position. The matching determination mode of the current position and the backspacing position refers to the matching determination mode of the actual position and the set position, and is not described herein again.
If the current position is matched with the backspacing position, the first welding gun can be determined to move to the backspacing position.
Step 464, when the current position is not matched with the backspacing position, determining a first moving track according to the current position and the backspacing position, and moving the first welding gun according to the first moving track so as to move the first welding gun to the backspacing position.
And if the current position is not matched with the backspacing position, determining a first moving track based on the current position and the backspacing position, wherein the first moving track is determined based on the coordinates of the current position and the coordinates of the backspacing position. The welding robot controls the first welding gun to move according to the first moving track so that the first welding gun moves to the backspacing position.
In this embodiment, after the first welding gun is retracted, it is necessary to determine whether the first welding gun is in the retracted position, so as to ensure that the first welding gun is not in the retracted position for welding, which results in the tip of the first welding gun contacting the body of the touch welding robot.
In one embodiment, step S30 includes:
activating a third number of second welding guns when the first number is larger than the second number according to the comparison result, wherein the third number is the difference value between the first number and the second number, and the second welding guns are in a dormant state;
and when the comparison result shows that the first quantity is smaller than the second quantity, controlling the first welding guns of the third quantity to enter a dormant state.
In this embodiment, when the comparison result indicates that the first number is greater than the second number, a third number of second welding guns needs to be activated. The third quantity is a difference between the first quantity and the second quantity, and the second welding gun is a welding gun in a dormant state, i.e., the second welding gun is a welding gun that cannot be controlled by the welding robot.
And if the comparison result shows that the first quantity is smaller than the second quantity, controlling the second welding guns of the third quantity to carry out the dormant state.
In addition, if the first quantity is smaller than the second quantity as a result of the comparison, a pop-up prompt box needs to be popped up for confirmation, that is, prompt information indicating whether the first quantity is correct or not is output, so that a welder is prompted to confirm. If the welding personnel confirm, namely the welding robot detects the determined operation based on the prompt information, the first welding guns of the third quantity are controlled to be in the dormant state.
The present invention also provides a welding robot, and referring to fig. 6, the welding robot 600 includes:
an obtaining module 610, configured to, when receiving a welding request, obtain, according to the welding request, a first number of welding guns required by a welding robot to perform welding and a second number of first welding guns of the welding robot, where the first welding guns are activated welding guns;
the comparison module 620 compares the first quantity and the second quantity to obtain a comparison result;
the adjusting module 630 adjusts the number of the first welding guns of the welding robot according to the comparison result, so that the number of the first welding guns reaches a first number;
and the control module 640 is used for controlling the first welding gun to weld.
In one embodiment, the welding robot 600 includes:
an obtaining module 610 for obtaining an identifier of a first welding gun;
the obtaining module 610 is configured to obtain a set position where the first welding gun is located according to the identifier, and obtain an actual position where the first welding gun is located;
the control module 640 is configured to control the first welding gun to weld when the set position of the first welding gun is matched with the actual position before the first welding;
the control module 640 is configured to control the first welding gun to move to the set position corresponding to the first welding gun and then weld when the set position of the first welding gun is not matched with the actual position before the first welding.
In one embodiment, the welding robot 600 includes:
an obtaining module 610, configured to obtain each first welding position according to a welding request, and control the first welding gun to move to a second welding position for welding, where the second welding position is any first welding position;
the control module 640 is configured to control the first welding gun to move to a backspacing position corresponding to the first welding gun when welding is completed at the second welding position, and to re-determine the second welding position in each of the unwelded first welding positions;
and the execution module is used for returning to execute the step of controlling the first welding gun to move to the second welding position for welding.
In one embodiment, the welding robot 600 includes:
the control module 640 is used for controlling the first welding gun to move according to a set moving track;
the obtaining module 610 is configured to obtain a current position of the first welding gun after the first welding gun completes moving;
the determining module is used for determining that the first welding gun moves to the backspacing position when the current position is matched with the backspacing position;
the determining module is used for determining a first moving track according to the current position and the backspacing position when the current position is not matched with the backspacing position, and moving the first welding gun according to the first moving track so as to enable the first welding gun to move to the backspacing position.
In one embodiment, the welding robot 600 includes:
the activation module is used for activating a third number of second welding guns when the first number is larger than the second number according to the comparison result, wherein the third number is the difference value between the first number and the second number, and the second welding guns are in the dormant state;
the control module 640 is configured to control the first welding guns of the third number to enter the sleep state when the comparison result indicates that the first number is smaller than the second number.
In one embodiment, the welding robot 600 includes:
the output module is used for outputting prompt information whether the first quantity is correct or not when the comparison result shows that the first quantity is smaller than the second quantity;
and the control module 640 is used for controlling the third quantity of the first welding guns to enter a dormant state when the determination operation triggered based on the prompt message is detected.
Fig. 7 is a hardware block diagram of a welding robot shown in accordance with an exemplary embodiment.
The welding robot 700 may include: the process 701 includes, for example, a CPU, memory 702, and transceiver 703 and welding gun 704. Those skilled in the art will appreciate that the configuration shown in fig. 7 does not constitute a limitation of the welding robot, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components. The memory 702 may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. The welding gun 704 is used to perform welding.
The processor 701 may call a computer program stored in the memory 702 to complete all or part of the steps of the control method of the welding robot described above.
The transceiver 703 is used for receiving information transmitted from and transmitting information to an external device.
A non-transitory computer-readable storage medium, instructions in which, when executed by a processor of a welding robot, enable the welding robot to execute the control method of the welding robot.
A computer program product comprising a computer program which, when executed by a processor of a welding robot, enables the welding robot to execute the above-mentioned welding robot control method.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (8)
1. A method of controlling a welding robot, comprising:
when a welding request is received, acquiring a first number of welding guns and a second number of first welding guns of the welding robots, wherein the first welding guns are activated welding guns, and the first number of welding guns is required by the welding robots to weld according to the welding request;
comparing the first quantity with the second quantity to obtain a comparison result;
adjusting the number of first welding guns of the welding robot according to the comparison result to enable the number of the first welding guns to reach the first number;
controlling the first welding gun to weld;
the step of controlling the first welding gun to weld comprises:
acquiring an identifier of the first welding gun;
acquiring a set position where the first welding gun is located according to the identification, and acquiring an actual position where the first welding gun is located;
when the set position of the first welding gun is matched with the actual position before the first welding, controlling the first welding gun to weld;
and when the set position of the first welding gun is not matched with the actual position before the first welding, controlling the first welding gun to move to the set position corresponding to the first welding gun and then welding.
2. The control method of the welding robot according to claim 1, wherein the step of controlling the first welding gun to perform welding includes:
acquiring each first welding position according to the welding request, and controlling the first welding gun to move to a second welding position for welding, wherein the second welding position is any one of the first welding positions;
when the second welding position is welded, controlling the first welding gun to move to a backspacing position corresponding to the first welding gun, and re-determining the second welding position in each unwelded first welding position;
and returning to the step of controlling the first welding gun to move to the second welding position for welding.
3. The control method of the welding robot according to claim 2, wherein the step of controlling the first welding gun to move to the retracted position corresponding to the first welding gun comprises:
controlling the first welding gun to move according to a set moving track;
after the first welding gun is moved, acquiring the current position of the first welding gun;
determining that the first welding gun moves to the retracted position when the current position matches the retracted position;
when the current position is not matched with the backspacing position, a first moving track is determined according to the current position and the backspacing position, and the first welding gun is moved according to the first moving track, so that the first welding gun is moved to the backspacing position.
4. The method for controlling a welding robot according to any one of claims 1 to 3, wherein the step of adjusting the number of first welding guns of the welding robot to the first number according to the comparison result comprises:
activating a third number of second welding guns when the comparison result shows that the first number is larger than the second number, wherein the third number is a difference value between the first number and the second number, and the second welding guns are in a dormant state;
and when the comparison result shows that the first quantity is smaller than the second quantity, controlling the first welding guns of the third quantity to enter a dormant state.
5. The control method of the welding robot according to claim 4, wherein the step of controlling the third number of the first welding guns to enter the sleep state when the comparison result is that the first number is smaller than the second number comprises:
when the comparison result is that the first quantity is smaller than the second quantity, outputting prompt information indicating whether the first quantity is correct;
and controlling the third quantity of first welding guns to enter a dormant state when a determination operation triggered based on the prompt message is detected.
6. A welding robot, comprising:
the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a first number of welding guns required by a welding robot for welding and a second number of first welding guns of the welding robot according to a welding request when the welding request is received, and the first welding guns are activated;
the comparison module is used for comparing the first quantity with the second quantity to obtain a comparison result;
the adjusting module is used for adjusting the number of first welding guns of the welding robot according to the comparison result so that the number of the first welding guns reaches the first number;
the control module is used for controlling the first welding gun to weld;
the obtaining module is further configured to: acquiring an identifier of the first welding gun; the system comprises a mark, a first welding gun and a second welding gun, wherein the mark is used for identifying the position of the first welding gun;
the control module is specifically configured to: when the set position of the first welding gun is matched with the actual position before the first welding, controlling the first welding gun to weld;
and when the set position of the first welding gun is not matched with the actual position before the first welding, controlling the first welding gun to move to the set position corresponding to the first welding gun and then welding.
7. A welding robot, comprising: a welding gun, a memory, and a processor;
the welding gun is used for welding;
the memory is to store program instructions;
the processor is used for calling the program instructions in the memory to execute the control method of the welding robot according to any one of claims 1 to 5.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program; the computer program, when executed, implements the control method of the welding robot of any one of claims 1-5.
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| CN202111603713.3A CN114310042B (en) | 2021-12-24 | 2021-12-24 | Control method of welding robot and related equipment |
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| CN202111603713.3A CN114310042B (en) | 2021-12-24 | 2021-12-24 | Control method of welding robot and related equipment |
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| US4804811A (en) * | 1987-04-03 | 1989-02-14 | Erico Fastening Systems, Inc. | Multi-operator grid system for stud welding |
| CN104646880A (en) * | 2014-06-26 | 2015-05-27 | 柳州市够旺贸易有限公司 | Welding machine |
| CN110170779A (en) * | 2019-06-25 | 2019-08-27 | 广汽本田汽车有限公司 | A kind of welding system |
| CN210619742U (en) * | 2019-10-10 | 2020-05-26 | 湖北淡雅香生物科技股份有限公司 | Positioning cutter film-coated workpiece combination |
| CN113618267A (en) * | 2021-10-08 | 2021-11-09 | 季华实验室 | Robot automatic welding control method and device, electronic equipment and storage medium |
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| US9700953B2 (en) * | 2014-06-25 | 2017-07-11 | Honda Motor Co., Ltd. | Adaptive welding apparatus, control system, and method of controlling an adaptive welding apparatus |
| CN111203884B (en) * | 2020-01-19 | 2021-10-15 | 吉利汽车研究院（宁波）有限公司 | Robot control method and device |
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| US4804811A (en) * | 1987-04-03 | 1989-02-14 | Erico Fastening Systems, Inc. | Multi-operator grid system for stud welding |
| CN104646880A (en) * | 2014-06-26 | 2015-05-27 | 柳州市够旺贸易有限公司 | Welding machine |
| CN110170779A (en) * | 2019-06-25 | 2019-08-27 | 广汽本田汽车有限公司 | A kind of welding system |
| CN210619742U (en) * | 2019-10-10 | 2020-05-26 | 湖北淡雅香生物科技股份有限公司 | Positioning cutter film-coated workpiece combination |
| CN113618267A (en) * | 2021-10-08 | 2021-11-09 | 季华实验室 | Robot automatic welding control method and device, electronic equipment and storage medium |
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