CN112621033A - Welding gun positioning method, device, equipment and storage medium - Google Patents
Welding gun positioning method, device, equipment and storage medium Download PDFInfo
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- CN112621033A CN112621033A CN202011458223.4A CN202011458223A CN112621033A CN 112621033 A CN112621033 A CN 112621033A CN 202011458223 A CN202011458223 A CN 202011458223A CN 112621033 A CN112621033 A CN 112621033A
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- 238000004590 computer program Methods 0.000 description 3
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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
- 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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
Abstract
The embodiment of the invention discloses a method, a device, equipment and a storage medium for positioning a welding gun, wherein the method comprises the following steps: acquiring a first target position point and a second target position point which are respectively positioned at two sides of the groove; the first target position point is located on the first side end face, and the second target position point is located on the second side end face; emitting laser beams along a connecting line of the first target position point and the second target position point through a laser emitter, and acquiring a welding seam groove image through a laser camera; and determining a target central point of the groove according to the weld groove image, and controlling the welding gun to move to the target central point. According to the technical scheme provided by the embodiment of the invention, the welding point of the welding gun is positioned, a large amount of labor cost and time cost are saved, the positioning efficiency is improved, meanwhile, the visual error existing in the positioning of human eyes is avoided, and the positioning precision of the welding gun is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of welding technology and robot control, in particular to a welding gun positioning method, a welding gun positioning device, welding gun positioning equipment and a storage medium.
Background
With the continuous progress of science and technology, welding technology is rapidly developed, various automatic welding devices come into the sight of people, and the requirements on the accuracy of the welding technology are higher.
The existing automatic welding device needs to perform positioning on a welding gun in a manual mode, particularly, after the welding gun is moved to the position area of a groove, the specific welding point of the welding gun is adjusted in the manual mode, welding operation is performed by the welding point, smooth proceeding of the welding operation is guaranteed, and then a welding seam which accords with a welding process is obtained.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a storage medium for positioning a welding gun, which are used for realizing accurate positioning of the welding gun.
In a first aspect, an embodiment of the present invention provides a method for positioning a welding gun, including:
acquiring a first target position point and a second target position point which are respectively positioned at two sides of the groove; the first target position point is located on the first side end face, and the second target position point is located on the second side end face;
emitting laser beams along a connecting line of the first target position point and the second target position point through a laser emitter, and acquiring a welding seam groove image through a laser camera;
and determining a target central point of the groove according to the weld groove image, and controlling the welding gun to move to the target central point.
In a second aspect, an embodiment of the present invention provides a positioning apparatus for a welding gun, including:
the device comprises a target position point acquisition module, a first positioning module, a second positioning module and a control module, wherein the target position point acquisition module is used for acquiring a first target position point and a second target position point which are respectively positioned at two sides of a groove; the first target position point is located on the first side end face, and the second target position point is located on the second side end face;
the welding seam groove image acquisition module is used for transmitting laser beams along a connecting line of the first target position point and the second target position point through a laser transmitter and acquiring a welding seam groove image through a laser camera;
and the target central point moving module is used for determining the target central point of the groove according to the welding seam groove image and controlling the welding gun to move to the target central point.
In a third aspect, an embodiment of the present invention further provides a positioning apparatus for a welding gun, where the apparatus includes:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a method of positioning a weld gun according to any embodiment of the invention.
In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, implement a method of positioning a welding gun according to any embodiment of the present invention.
According to the technical scheme provided by the embodiment of the invention, after the first target position point and the second target position point which are respectively positioned at two sides of the groove are obtained, the welding seam groove image is obtained through the laser emitter and the laser camera, the target center point of the groove is further determined, and the welding gun is controlled to move to the target center point, so that the welding point of the welding gun is positioned, a large amount of labor cost and time cost are saved, the positioning efficiency is improved, meanwhile, the visual error existing in the positioning of human eyes is avoided, and the positioning accuracy of the welding gun is improved.
Drawings
Fig. 1A is a flowchart of a positioning method of a welding gun according to an embodiment of the present invention;
fig. 1B is a groove structure diagram provided in the first embodiment of the present invention;
FIG. 1C is a schematic diagram of the positions of a first target location point and a second target location point according to an embodiment of the present invention;
FIG. 1D is a schematic diagram of a laser beam path according to one embodiment of the present invention;
FIG. 1E is a schematic diagram of a target center point and a groove center line according to an embodiment of the present invention;
fig. 2 is a block diagram of a positioning device of a welding gun according to a second embodiment of the present invention;
fig. 3 is a block diagram of a positioning apparatus for a welding gun according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1A is a flowchart of a positioning method for a welding gun according to an embodiment of the present invention, where the embodiment is applicable to positioning a welding gun at a slope, the method may be executed by a positioning device for a welding gun according to an embodiment of the present invention, the positioning device may be implemented by software and/or hardware, and may be integrated on a welding gun, and the method specifically includes the following steps:
s110, acquiring a first target position point and a second target position point which are respectively positioned at two sides of the groove; the first target position point is located on the first side end face, and the second target position point is located on the second side end face.
The welding gun is a part for executing welding operation in the welding process, and in the embodiment of the disclosure, the welding gun comprises an electric welding gun which generates heat through high current and high voltage of the welding machine and collects the heat at a terminal to melt the welding wire, the melted welding wire penetrates into a part to be welded, and the welded parts in the weldment are firmly connected into a whole after cooling; the groove is formed by processing and assembling the part to be welded of the weldment and has a groove with a certain geometric shape, and the groove has the function of ensuring the welding quality, for example, as shown in fig. 1B, a top view structure diagram and a bottom view structure diagram of the groove are shown; as shown in fig. 1C, the first target position point and the second target position point are respectively located at two sides of the groove, that is, on the first side end surface and the second side end surface, and both the first target position point and the second target position point can be represented by coordinates, for example, a coordinate system is established on the upper surface of the weldment, and each point on the upper surface of the weldment can be represented by a unique coordinate.
Optionally, in an embodiment of the present invention, the obtaining a first target position point and a second target position point respectively located at two sides of the groove includes: controlling a welding gun to move to the position above the first side end face, and controlling the welding gun to vertically move downwards until a welding wire is in contact with the first side end face, wherein a contact point of the welding wire and the first side end face is used as a first target position point; and controlling the welding gun to move to the position above the second side end face and vertically move downwards until the welding wire is in contact with the second side end face, and taking the contact point of the welding wire and the second side end face as a second target position point. The welding wire is positioned on the welding gun and at the lowest end of the welding gun, and when the welding gun is controlled to move vertically downwards, once the welding wire is bent, the welding wire is indicated to be in contact with the surface of a weldment. Specifically, the method further includes, after taking a contact point of the welding wire with the first side end surface as a first target position point: moving the welding gun vertically upwards to a safe position; and/or after taking the contact point of the welding wire and the second side end surface as a second target position point, the welding wire further comprises: moving the welding gun vertically upwards to a safe position. In the moving process of the welding gun, the welding gun can be lifted and away from the weldment in order to avoid friction and scratch between the welding gun and the weldment after the first target position point is obtained and the second target position point is obtained, so that the safety of the moving process of the welding gun is ensured.
Judge whether welding wire and weldment surface contact, can also detect through the mode of weak current feedback, it is specific, control welder and remove to the top of first side end face to control welder moves the back perpendicularly downwards, still include: if the voltage value of the welding wire is detected to be larger than a first preset threshold value, the welding wire is determined to be in contact with the first side end face; after controlling the welding gun to move to the position above the second side end face and controlling the welding gun to vertically move downwards, the method further comprises the following steps: and if the voltage value of the welding wire is detected to be larger than a second preset threshold value, determining that the welding wire is in contact with the second side end face. The welding wire and the weldment are made of metal materials, when the welding wire is in contact with the surface of the weldment, the welding wire and the weldment form a conductive loop, the current on the welding wire is obviously increased, and a voltage value generated due to current surge can be accurately detected through a voltage detection device on the welding gun, so that when the voltage value of the welding wire is detected to be increased and changed, the fact that the welding wire is in contact with the surface of the weldment can be confirmed. Particularly, since different metal materials have different conductivities, if the second side end surface and the first side end surface are different metal materials, the first preset threshold value and the second preset threshold value can be set to different values, so that accurate voltage change values can be obtained according to different metal materials; if the second side end face and the first side end face are made of the same metal material, the first preset threshold value and the second preset threshold value can be set to be the same numerical value, meanwhile, in the moving process of the welding gun, the phenomenon of mistaken contact such as scratch and the like can occur, and further, the mistaken detection voltage with a smaller numerical value is generated, and the setting of the first preset threshold value and the second preset threshold value can avoid the mistaken detection voltage with a smaller numerical value as the contact voltage with the first side end face or the second side end face; in addition, both the first preset threshold and the second preset threshold may be set to 0, that is, when the voltage value is greater than 0, it is determined that the welding gun has contacted the base material, and when the voltage value is equal to 0, it is determined that the welding gun has not contacted the base material.
And S120, emitting laser beams along a connecting line of the first target position point and the second target position point through a laser emitter, and acquiring a weld groove image through a laser camera.
The laser emitter can be installed on the welding gun or installed near the welding gun, for example, on a connecting rod driving the welding gun to move, and is installed near the welding gun, and is used for emitting a laser beam to the upper surface of the welding part from above the welding part, the laser emitter emits laser along a connecting line of a first target position point and a second target position point, because the first target position point and the second target position point are respectively located at two sides of a groove, the laser beam emitted by the laser emitter can certainly pass through the groove, when the laser beam irradiates on the surface of the welding part, a clear laser path can be displayed in a welding groove image acquired by a laser camera, but at the groove position, due to the depression of the groove, the groove position does not present a welding groove image, as shown in fig. 1D, and a middle broken welding groove image can be acquired.
S130, determining a target central point of the groove according to the weld groove image, and controlling the welding gun to move to the target central point.
As shown in fig. 1D, an end point a and an end point B in the weld groove image are intersection points of the laser beam path and the groove edge, a midpoint of a connection line between the end point a and the end point B is a point on the groove center line, and then the welding gun is controlled to move to the target center point according to coordinates of the point, and a welding operation is performed from the target center point, so that it is ensured that a welding track is at the center line position of the groove, the melted welding wires are uniformly distributed on both sides of the groove center line, and then a desired weld is obtained after cooling, and welding requirements of the welding process are met.
Optionally, in an embodiment of the present invention, after controlling the welding gun to move to the target central point, the method further includes: and obtaining the depth information of the groove, and determining the vertical movement distance of the welding gun according to the length requirement of the welding wire. When the welding gun performs a welding task, the welding wire has a certain length requirement, for example, the length of the welding wire needs to reach 15 mm, and the depth of the groove is 20 mm, at this time, the welding gun needs to be controlled to move downwards by 5 mm through a longitudinal sliding mechanism, so that the welding wire contacts the bottom end of the groove. The depth information of the groove can be obtained by directly obtaining the thickness information of the weldment, and further the depth information of the groove is determined according to the thickness information of the weldment, for example, the depth of the groove is equal to the thickness of the weldment, and the depth of the groove is two thirds of the thickness of the weldment; the depth information of the groove can be measured and obtained through a laser measurement scale.
Specifically, as shown in fig. 1E, since the target center point is only determined to be located on the groove center line, the position of the target center point on the groove center line may be at any position of an upper end (e.g., point C), a middle end (e.g., point D), a lower end (e.g., point E), and the welding gun performs a welding operation by reciprocating motion during welding, when the welding gun reaches the boundary of the groove after welding up or down from the target center point, the welding operation is performed in a reverse direction, for example, the target center point is point C in fig. 1E, the welding gun performs welding down from point C along the groove center line, when the welding gun reaches the lower boundary of the groove, the welding operation is performed in a reverse direction again until the upper boundary of the groove, and then performs welding in a reverse direction down until the position of the welding gun returns to the point C and stops, that.
Optionally, in an embodiment of the present invention, the controlling the welding gun to move to the target central point includes: and controlling the welding gun to move to the target central point through a ball screw. The ball screw cylinder rod is a transmission device for converting rotary motion into linear motion, has the characteristics of high precision, reversibility, high efficiency, small friction resistance and the like, and in the embodiment of the invention, kinetic energy generated by the rotary motion of balls in a ball screw is used for dragging a welding gun to move along the vertical direction; the ball screw may include a screw, a nut, a steel ball, a pre-pressing sheet, a reverser, a dust catcher, etc., and in the embodiment of the present invention, the constituent components of the ball screw are not particularly limited.
According to the technical scheme provided by the embodiment of the invention, after the first target position point and the second target position point which are respectively positioned at two sides of the groove are obtained, the welding seam groove image is obtained through the laser emitter and the laser camera, the target center point of the groove is further determined, and the welding gun is controlled to move to the target center point, so that the welding point of the welding gun is positioned, a large amount of labor cost and time cost are saved, the positioning efficiency is improved, meanwhile, the visual error existing in the positioning of human eyes is avoided, and the positioning accuracy of the welding gun is improved.
Example two
Fig. 2 is a block diagram of a positioning device for a welding gun according to a second embodiment of the present invention, where the positioning device specifically includes: a target location point acquisition module 210, a weld groove image acquisition module 220, and a target center point movement module 230.
A target position point obtaining module 210, configured to obtain a first target position point and a second target position point that are located on two sides of the groove, respectively; the first target position point is located on the first side end face, and the second target position point is located on the second side end face;
the weld groove image acquisition module 220 is configured to transmit a laser beam along a connection line between the first target position point and the second target position point through a laser transmitter, and acquire a weld groove image through a laser camera;
and a target center point moving module 230, configured to determine a target center point of the groove according to the weld groove image, and control the welding gun to move to the target center point.
According to the technical scheme provided by the embodiment of the invention, after the first target position point and the second target position point which are respectively positioned at two sides of the groove are obtained, the welding seam groove image is obtained through the laser emitter and the laser camera, the target center point of the groove is further determined, and the welding gun is controlled to move to the target center point, so that the welding point of the welding gun is positioned, a large amount of labor cost and time cost are saved, the positioning efficiency is improved, meanwhile, the visual error existing in the positioning of human eyes is avoided, and the positioning accuracy of the welding gun is improved.
Optionally, on the basis of the foregoing technical solution, the target location point obtaining module 210 specifically includes:
the first target position point acquisition unit is used for controlling a welding gun to move to the position above the first side end face and controlling the welding gun to vertically move downwards until a welding wire is in contact with the first side end face, and a contact point of the welding wire and the first side end face is used as a first target position point;
and the second target position point acquisition unit is used for controlling the welding gun to move to the position above the second side end surface and controlling the welding gun to vertically move downwards until the welding wire is in contact with the second side end surface, and taking the contact point of the welding wire and the second side end surface as a second target position point.
Optionally, on the basis of the above technical solution, the positioning device for the welding gun further includes:
the first voltage value acquisition module is used for determining that the welding wire is in contact with the first side end face if the voltage value of the welding wire is detected to be larger than a first preset threshold value.
And/or a second voltage value acquisition module, configured to determine that the welding wire is in contact with the second side end surface if the voltage value of the welding wire is detected to be greater than a second preset threshold.
Optionally, on the basis of the above technical solution, the positioning device for the welding gun further includes:
and the groove depth information acquisition module is used for acquiring the depth information of the groove and determining the vertical movement distance of the welding gun according to the length requirement of the welding wire.
Optionally, on the basis of the above technical scheme, the groove depth information obtaining module specifically includes:
the thickness information acquisition unit is used for acquiring the thickness information of the weldment and determining the depth information of the groove according to the thickness information of the weldment;
or a groove depth information measuring unit for measuring the depth information of the groove by a laser measuring scale.
Optionally, on the basis of the above technical solution, the positioning device for the welding gun further includes:
and the first safety position moving module is used for vertically and upwards moving the welding gun to a safety position after a contact point of the welding wire and the first side end surface is taken as a first target position point.
And/or a second safety position moving module, which is used for moving the welding gun to a safety position vertically and upwards after the contact point of the welding wire and the second side end surface is taken as a second target position point.
Optionally, on the basis of the above technical solution, the target central point moving module 230 is specifically configured to control the welding gun to move to the target central point through a ball screw.
The device can execute the positioning method of the welding gun provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details not described in detail in this embodiment, reference may be made to the method provided in any embodiment of the present invention.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a positioning apparatus of a welding gun according to a third embodiment of the present invention. Fig. 3 illustrates a block diagram of an exemplary device 12 suitable for use in implementing embodiments of the present invention. The device 12 shown in fig. 3 is only an example and should not bring any limitations to the functionality and scope of use of the embodiments of the present invention.
As shown in FIG. 3, device 12 is in the form of a general purpose computing device. The components of device 12 may include, but are not limited to: one or more processors or processing units 16, a memory 28, and a bus 18 that couples various system components including the memory 28 and the processing unit 16.
The memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 3, and commonly referred to as a "hard drive"). Although not shown in FIG. 3, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing by executing programs stored in the memory 28, for example, to implement the positioning method of the welding gun according to the embodiment of the present invention. Namely: acquiring a first target position point and a second target position point which are respectively positioned at two sides of the groove; the first target position point is located on the first side end face, and the second target position point is located on the second side end face; emitting laser beams along a connecting line of the first target position point and the second target position point through a laser emitter, and acquiring a welding seam groove image through a laser camera; and determining a target central point of the groove according to the weld groove image, and controlling the welding gun to move to the target central point.
Example four
The fourth embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for positioning a welding gun according to any embodiment of the present invention; the method comprises the following steps:
acquiring a first target position point and a second target position point which are respectively positioned at two sides of the groove; the first target position point is located on the first side end face, and the second target position point is located on the second side end face;
emitting laser beams along a connecting line of the first target position point and the second target position point through a laser emitter, and acquiring a welding seam groove image through a laser camera;
and determining a target central point of the groove according to the weld groove image, and controlling the welding gun to move to the target central point.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method of positioning a welding gun, comprising:
acquiring a first target position point and a second target position point which are respectively positioned at two sides of the groove; the first target position point is located on the first side end face, and the second target position point is located on the second side end face;
emitting laser beams along a connecting line of the first target position point and the second target position point through a laser emitter, and acquiring a welding seam groove image through a laser camera;
and determining a target central point of the groove according to the weld groove image, and controlling the welding gun to move to the target central point.
2. The method of claim 1, wherein said obtaining a first target location point and a second target location point on either side of the bevel comprises:
controlling a welding gun to move to the position above the first side end face, and controlling the welding gun to vertically move downwards until a welding wire is in contact with the first side end face, wherein a contact point of the welding wire and the first side end face is used as a first target position point;
and controlling the welding gun to move to the position above the second side end face and vertically move downwards until the welding wire is in contact with the second side end face, and taking the contact point of the welding wire and the second side end face as a second target position point.
3. The method of claim 2, further comprising, after controlling the welding torch to move above the first lateral end surface and controlling the welding torch to move vertically downward:
if the voltage value of the welding wire is detected to be larger than a first preset threshold value, the welding wire is determined to be in contact with the first side end face;
after controlling the welding gun to move to the position above the second side end face and controlling the welding gun to vertically move downwards, the method further comprises the following steps:
and if the voltage value of the welding wire is detected to be larger than a second preset threshold value, determining that the welding wire is in contact with the second side end face.
4. The method of claim 1, further comprising, after controlling the movement of the welding torch to the target center point:
and obtaining the depth information of the groove, and determining the vertical movement distance of the welding gun according to the length requirement of the welding wire.
5. The method of claim 4, wherein the obtaining depth information for the groove comprises:
obtaining thickness information of a weldment, and determining depth information of the groove according to the thickness information of the weldment;
or measuring the depth information of the groove through a laser measuring scale.
6. The method of claim 2, further comprising, after taking a contact point of the welding wire with the first side end surface as a first target location point:
moving the welding gun vertically upwards to a safe position;
and/or after taking the contact point of the welding wire and the second side end surface as a second target position point, the welding wire further comprises:
moving the welding gun vertically upwards to a safe position.
7. The method of claim 1, wherein the controlling the welding gun to move to the target center point comprises:
and controlling the welding gun to move to the target central point through a ball screw.
8. A positioning device for a welding gun, comprising:
the device comprises a target position point acquisition module, a first positioning module, a second positioning module and a control module, wherein the target position point acquisition module is used for acquiring a first target position point and a second target position point which are respectively positioned at two sides of a groove; the first target position point is located on the first side end face, and the second target position point is located on the second side end face;
the welding seam groove image acquisition module is used for transmitting laser beams along a connecting line of the first target position point and the second target position point through a laser transmitter and acquiring a welding seam groove image through a laser camera;
and the target central point moving module is used for determining the target central point of the groove according to the welding seam groove image and controlling the welding gun to move to the target central point.
9. An apparatus for positioning a welding gun, the apparatus comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a method of positioning a weld gun according to any one of claims 1-7.
10. A storage medium containing computer executable instructions which, when executed by a computer processor, are for performing a method of positioning a welding gun according to any one of claims 1-7.
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