CN114669935A - Method, device and computer readable medium for welding materials - Google Patents

Method, device and computer readable medium for welding materials Download PDF

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Publication number
CN114669935A
CN114669935A CN202210460261.6A CN202210460261A CN114669935A CN 114669935 A CN114669935 A CN 114669935A CN 202210460261 A CN202210460261 A CN 202210460261A CN 114669935 A CN114669935 A CN 114669935A
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Prior art keywords
welding gun
speed
welding
driving
determining
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CN114669935B (en
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李康
杨振江
李德聪
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Siemens Ltd China
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Siemens Ltd China
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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
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
    • 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
    • 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
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • 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
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0247—Driving means

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Resistance Welding (AREA)

Abstract

The invention provides a method, a device and a computer readable medium for welding materials, wherein the method comprises the following steps: monitoring the current position of the welding gun in real time; determining the position deviation between the current position of the welding gun and the target position; the target welding gun position is used for representing the distance between the welding gun and the welding point on the surface of the material when the welding quality requirement can be met; determining the driving speed of the driving motor according to the position deviation; the driving motor is used for driving the welding gun to move; and controlling the driving motor to move according to the driving speed so as to move the welding gun to a target position to weld the material. According to the scheme, the driving speed of the motor is determined according to the position deviation amount between the current position of the welding gun and the target position capable of meeting the welding quality requirement, so that the welding gun has higher accuracy when being moved to the target position capable of meeting the welding quality requirement, and the quality of welding materials is improved.

Description

Method, device and computer readable medium for welding materials
Technical Field
The invention relates to the technical field of electrical control, in particular to a material welding method, a material welding device and a computer readable medium.
Background
The welding process is a process for connecting two or more separated workpieces into a whole according to a certain form and position, and is an important method for metal processing at the present stage.
At present, welding is mainly performed manually in the field of metal processing. However, it is difficult to ensure the welding quality by manual welding, and especially for materials with complicated surface shapes, the welding difficulty is higher. Therefore, the welding quality is lower when the materials are welded manually at present.
Disclosure of Invention
The invention provides a material welding method, a material welding device and a computer readable medium, which can improve the welding quality when welding materials.
In a first aspect, an embodiment of the present invention provides a material welding method, including:
monitoring the current position of the welding gun in real time;
determining the position deviation of the current position of the welding gun and a target position; the target welding gun position is used for representing the distance between a welding gun and a welding point on the surface of the material when the welding quality requirement can be met;
determining the driving speed of the driving motor according to the position deviation; the driving motor is used for driving the welding gun to move;
and controlling the driving motor to move according to the driving speed so as to move the welding gun to the target welding gun position to weld the material.
In one possible implementation, the current position of the welding gun comprises a current height position of the welding gun; the target position comprises a preset target height of a welding gun during welding; the step of determining the position deviation of the current position of the welding gun from the target position includes: calculating the height deviation between the current height of the welding gun and the target height;
and/or the presence of a gas in the gas,
the current position of the welding gun comprises the current horizontal position of the welding gun; the target position comprises a preset target horizontal position when a welding gun performs welding; the step of determining the position deviation of the current position of the welding gun from the target position includes: and calculating the horizontal deviation between the current horizontal position of the welding gun and the target horizontal position.
In one possible implementation, the step of determining the driving speed of the driving motor according to the position deviation includes:
calculating the product of the position deviation and a preset first rotation speed coefficient to obtain a first driving speed; wherein the first speed coefficient is used to characterize a coefficient that converts distance to speed;
determining a second driving speed according to the shape of the surface of the material; wherein the second drive speed is used to characterize an additional speed when welding on a non-planar material surface;
and calculating the sum of the first driving speed and the second driving speed to obtain the driving speed of the driving motor.
In one possible implementation, the step of determining the second driving speed according to the shape of the surface of the material includes:
determining 0 as a value of the second driving speed when the shape of the surface of the material is a plane;
and when the shape of the surface of the material is non-planar, determining the product of the feeding speed of the material and a preset tangent value as the value of the second driving speed.
In one possible implementation, the step of determining the second driving speed according to the shape of the surface of the material includes:
obtaining the driving speed of the driving motor corresponding to the welding gun at the previous position;
calculating the product of the driving speed and a preset second rotation speed coefficient to obtain a second driving speed; wherein the second rotation speed coefficient is determined according to the shape of the surface of the material.
In a second aspect, an embodiment of the present invention provides a material welding device, including: the device comprises a real-time monitoring module, a position deviation determining module, a speed determining module and a motion control module;
the real-time monitoring module is configured to monitor the current position of the welding gun in real time;
the position deviation determining module is configured to determine the position deviation between the current position of the welding gun and a target position, which is obtained by the real-time monitoring module; the target welding gun position is used for representing the distance between a welding gun and a welding point on the surface of the material when the welding quality requirement can be met;
the speed determining module is configured to determine the driving speed of the driving motor according to the position deviation obtained by the position deviation determining module; the driving motor is used for driving the welding gun to move;
the motion control module is configured to control the driving motor to move according to the driving speed determined by the speed determination module so as to move the welding gun to the target welding gun position to weld materials.
In one possible implementation form of the method,
the current position of the welding gun comprises a current height position of the welding gun; the target position comprises a preset target height of a welding gun during welding;
the position deviation determining module is configured to calculate a height deviation between a current height of the welding gun and a target height when determining the position deviation between the current position of the welding gun and the target position;
and/or the presence of a gas in the gas,
the current position of the welding gun comprises the current horizontal position of the welding gun; the target position comprises a preset target horizontal position when the welding gun performs welding;
the position deviation determining module is configured to calculate a horizontal deviation between a current horizontal position of the welding gun and a target horizontal position when determining the position deviation between the current position of the welding gun and the target position.
In one possible implementation, the speed determination module, when determining the driving speed of the driving motor according to the position deviation, is configured to perform the following operations:
calculating the product of the position deviation and a preset first rotation speed coefficient to obtain a first driving speed; wherein the first speed coefficient is used to characterize a coefficient that converts distance to speed;
determining a second driving speed according to the shape of the surface of the material; wherein the second drive speed is used to characterize an additional speed of welding on the non-planar material surface;
and calculating the sum of the first driving speed and the second driving speed to obtain the driving speed of the driving motor.
In one possible implementation, the speed determination module, when determining the second driving speed according to the shape of the surface of the material, is configured to perform the following operations:
determining 0 as a value of the second driving speed when the shape of the surface of the material is a plane;
and when the shape of the surface of the material is non-planar, determining the product of the feeding speed of the material and a preset tangent value as the value of the second driving speed.
In one possible implementation, the speed determination module, when determining the second driving speed according to the shape of the surface of the material, is configured to perform the following operations:
obtaining the driving speed of the driving motor corresponding to the welding gun at the previous position;
calculating the product of the driving speed and a preset second rotation speed coefficient to obtain a second driving speed; wherein the second rotation speed coefficient is determined according to the shape of the surface of the material.
In a third aspect, an embodiment of the present invention further provides a computing device, including: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor is configured to invoke the machine-readable program to perform the method of any of the first aspects.
In a fourth aspect, the present invention also provides a computer-readable medium, on which computer instructions are stored, and when executed by a processor, the computer instructions cause the processor to execute the method according to any one of the first aspect.
In a fifth aspect, the present invention further provides a computer program product, which includes a computer program that, when executed by a processor, implements the method of any one of the first aspects.
According to the technical scheme, when the welding gun is controlled to weld materials, the current position of the welding gun is monitored in real time, and then the position deviation between the current position of the welding gun and the target position is determined. Further, the driving speed of the driving motor is determined according to the determined position deviation. Therefore, the driving motor can be controlled to move according to the driving speed, and the welding gun is moved to a target position to weld the material. Therefore, the scheme is that the position of the welding gun is monitored in real time to determine whether the current welding gun is at the target position capable of meeting the welding quality requirement, and then the driving speed of the motor is determined according to the position deviation amount, namely the driving speed of the motor is determined according to the position deviation amount. Therefore, the welding gun has higher accuracy when being moved to the target position capable of meeting the welding quality requirement, thereby improving the quality of welding materials.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method of welding materials provided in accordance with one embodiment of the present invention;
FIG. 2 is a flow chart of a method for determining drive speed provided by one embodiment of the present invention;
FIG. 3 is a flow chart of a method of determining a second drive speed provided by one embodiment of the present invention;
fig. 4 is a schematic diagram of a material welding device according to an embodiment of the present invention.
List of reference numerals
101: real-time monitoring of current position of welding gun
102: determining the position deviation between the current position of the welding gun and the target position
103: determining the driving speed of the driving motor according to the position deviation
104: controlling the driving motor to move according to the driving speed so as to move the welding gun to the target position to weld the material
201: calculating the product of the position deviation and a preset first speed coefficient to obtain a first driving speed
202: determining a second drive speed based on the shape of the surface of the material
203: calculating the sum of the first driving speed and the second driving speed to obtain the driving speed of the driving motor
301: obtaining the corresponding driving speed of the driving motor when the welding gun is at the previous position
302: calculating the product of the driving speed and a preset second rotation speed coefficient to obtain a second driving speed
401: the real-time monitoring module 402: position deviation determination module
403: the speed determination module 404: motion control module
Detailed Description
As mentioned above, in the metal processing field, the same kind or different kinds of metals are generally connected together by welding, which is a widely used metal processing method at present.
However, current welding processes are primarily performed manually. The manual welding method is not efficient, and more importantly, the welding quality is difficult to ensure, i.e., high-quality welding cannot be realized in a low-cost manner. Especially, in the environment of rapid development of current industrial technologies, the quality requirements of material welding are continuously improved, and the complexity of the welded materials is higher and higher. For example, welding corrugated plates, welding irregular workpieces, etc., which further makes it more and more difficult for the quality of manual welding to meet the requirements of industrial production.
Based on this, this scheme considers to follow the detection to the shape of material, adjusts the soldered connection in real time according to the shape on material surface to make the soldered connection weld the material in suitable position, thereby reach the purpose that improves welding quality.
As shown in fig. 1, the present invention provides a method for welding materials, which may include the steps of:
step 101: monitoring the current position of the welding gun in real time;
step 102: determining the position deviation between the current position of the welding gun and the target position; the target welding gun position is used for representing the distance between a welding gun and a welding point on the surface of the material when the welding quality requirement can be met;
step 103: determining the driving speed of the driving motor according to the position deviation; the driving motor is used for driving the welding gun to move;
step 104: and controlling the driving motor to move according to the driving speed so as to move the welding gun to a target position to weld the material.
In the embodiment of the invention, when the welding gun is controlled to weld materials, the current position of the welding gun is monitored in real time, and then the position deviation between the current position of the welding gun and the target position is determined. Further, the driving speed of the driving motor is determined according to the determined position deviation. Therefore, the driving motor can be controlled to move according to the driving speed, and the welding gun is moved to a target position to weld the material. Therefore, the scheme is that the position of the welding gun is monitored in real time to determine whether the current welding gun is at the target position capable of meeting the welding quality requirement, and then the driving speed of the motor is determined according to the position deviation amount, namely the driving speed of the motor is determined according to the position deviation amount. Therefore, the welding gun has higher accuracy when being moved to the target position capable of meeting the welding quality requirement, thereby improving the quality of welding materials.
The steps in FIG. 1 are described below with reference to specific examples.
First, in step 101, the current position of the welding gun is monitored in real time.
When welding operation is carried out, materials are usually driven to move by the feeding device, and a welding gun needs to carry out welding operation on a welding point on the surface of the materials. In practice, the height between the welding point and the welding head on the surface of the material may vary because the surface of the material is not necessarily a flat surface, for example, the material is corrugated board, and other irregular planes. And only when the welding head and the welding point meet a certain distance requirement, the welding quality can meet a certain requirement generally. Therefore, if the height of the welding gun is not adjusted, the welding quality cannot meet the requirement of the welding quality. Furthermore, not only the deviation in height, but also the material surface on the feeding device in practical applications is not necessarily placed in a standard manner, i.e. the welding grooves to be welded may be placed obliquely. Therefore, if the horizontal position of the welding gun is not adjusted, the welding gun cannot weld on the welding point on the surface of the material, and the welding quality can not meet the requirement.
Therefore, when monitoring the current position of the welding gun, monitoring the positions of the welding gun in the vertical direction and the horizontal direction can be included. For example, the current position of the welding torch may include a vertical position, i.e., a vertical height of the welding torch from a welding point on the surface of the material where the welding operation is to be performed. As another example, the current position of the welding torch may include a horizontal position, i.e., a horizontal distance of the welding torch from a welding point on the surface of the material where the welding operation is to be performed. For another example, the current position of the welding gun may also include a position in a vertical direction and a position in a horizontal direction, for example, the current position of the welding gun may be determined by generating three-dimensional coordinates of the current welding gun.
In determining the current height position of the welding gun, the height detection can be performed by a sensor. For example, the probe of the sensor is arranged to contact with the surface of the material, and the probe of the sensor is lifted or sunk along with the change of the height of the surface of the material. Therefore, the current position of the welding gun can be determined according to the lifting or sinking amount of the sensor probe. For example, the preset height between the welding gun and the welding point on the surface of the material is 50mm, and the sensor probe detects that the welding gun is lifted by 15 mm. Then it can be seen that the height difference between the welding gun and the welding point on the surface of the material is 35mm at this time, i.e. the welding gun is currently located at a height of 35 mm.
When the current horizontal position of the welding gun is determined, the distance change between the welding gun and the welding point can be detected through the sensor and the laser ranging mode, so that the current horizontal position of the welding gun is determined. If the set horizontal distance between the welding gun and the welding point is 30mm, and the distance obtained by laser ranging is 50mm, the situation that the welding gun is located at the position of 50mm at the moment is indicated, and the welding gun is not the standard distance for welding.
Then, in step 102, determining the position deviation of the current position of the welding gun and the target position; the target welding gun position is used for representing the distance between the welding gun and the welding point on the surface of the material when the welding quality requirement can be met.
Step 102, when determining the position deviation between the current position of the welding gun and the target position, may mainly include determining the position deviation in the vertical direction and the position deviation in the horizontal direction. For example, when the current position of the welding gun includes the current height position of the welding gun, the target position includes a preset target height of the welding gun during welding. Step 102 may calculate a height deviation of the current height of the torch from the target height. As shown in step 102, when the height between the preset welding torch and the welding point on the surface of the material is 50mm, that is, the preset target height of the welding torch for welding is 50mm, and the current height of the welding torch is 35mm, the height deviation between the current height of the welding torch and the target height is 35-50-15 mm.
For another example, when the current position of the welding gun includes a current horizontal position of the welding gun, the target position includes a preset target horizontal position of the welding gun during welding. Step 102 may calculate a horizontal deviation of the current horizontal position of the welding gun from the target horizontal position. As shown in step 102, when the horizontal distance between the preset welding gun and the welding point on the surface of the material is 30mm, that is, the preset target horizontal position of the welding gun when the welding gun performs welding is 30mm, and the current horizontal position of the welding gun is 50mm, the current horizontal deviation of the welding gun is 50-30-20 mm.
It should be noted that, when the current position of the welding gun includes both the height position and the horizontal position, the height deviation in the height direction and the horizontal deviation in the horizontal direction may be obtained respectively. When determining the driving speed of the driving motor, the driving speed of the driving motor for driving the welding gun to move in the vertical direction may be determined according to the height deviation, and the driving speed of the driving motor for driving the welding gun to move in the horizontal direction may be determined according to the horizontal deviation. Further, when the driving motor drives the welding gun to move, the driving motor driving the welding gun to move in the vertical direction moves according to the driving speed obtained according to the height deviation, and the driving motor driving the welding gun to move in the horizontal direction moves according to the driving speed obtained according to the horizontal deviation.
Further in step 103, determining a driving speed of the driving motor according to the position deviation; wherein, driving motor is used for driving the welder and removes.
When the driving motor is controlled, the amount of movement of the welding gun can be controlled by controlling the rotational speed of the driving motor. The greater the rotation speed value output to the driving motor, the longer the distance of the movement of the welding torch is controlled, and the smaller the rotation speed value output to the driving motor, the closer the distance of the movement of the welding torch is controlled.
Based on this, as shown in fig. 2, step 103, when determining the driving speed of the driving motor according to the position deviation, can be realized by the following steps:
step 201: calculating the product of the position deviation and a preset first speed coefficient to obtain a first driving speed; wherein the first speed coefficient is used for representing a coefficient for converting the distance into the speed;
step 202: determining a second driving speed according to the shape of the surface of the material; wherein the second drive speed is used to characterize an additional speed when welding is performed on the non-planar material surface;
step 203: and calculating the sum of the first driving speed and the second driving speed to obtain the driving speed of the driving motor.
In this embodiment, when determining the driving speed of the driving motor according to the position deviation, the product of the position deviation and the preset first rotation speed coefficient is first calculated to obtain the first driving speed. And then determining a second driving speed characterizing the speed correction when welding is performed on the non-planar material sheet surface according to the shape of the material surface. By summing the first driving speed and the second driving speed in this way, the driving speed of the driving motor can be obtained.
Therefore, when the driving speed of the driving motor is determined, the driving speed is correspondingly solved through the deviation of the position, and therefore the driving speed can be determined more accurately. In addition, the speed obtained by solving according to the deviation is corrected according to the shape of the surface of the material, and the accuracy of the solved driving speed is further improved, so that when the driving motor drives the welding gun to perform welding operation at the driving speed, the welding gun can be moved to the welding point on the surface of the material, and the welding quality is improved.
For example, the driving speed of the driving motor can be calculated by the following calculation formula:
v＝Err×Kp+vadd
in the formula, v is used to characterize the drive speed of the drive motor, ErrFor characterizing the position deviation of the current position of the welding gun from the target position, KpFor characterizing a first coefficient of rotation, vaddFor characterizing the second drive speed, i.e. the additional speed at which the welding operation is performed on a non-planar material surface.
Wherein the first rotation speed coefficient can be obtained by performing a pre-operation in advance. For example, by adjusting the speed of the drive motor, the amount of movement of the welding gun is determined. In this way, the first rotation speed coefficient can be obtained from the conversion relation between the speed of the driving motor and the movement amount of the welding gun. Of course, this first rotation rate is suitable for welding operations on flat surfaces. In practice, however, a large number of non-flat surfaces are present. Therefore, it is further necessary to determine a second driving speed according to the shape of the surface of the material to correct the first driving speed, so that the obtained driving speed is more suitable for being applied to a non-flat plane.
While determining the second drive speed based on the shape of the material surface at step 202, in one possible implementation, it may first be determined whether the shape of the material surface is planar. If the shape of the surface of the material is a plane, 0 can be determined as the value of the second driving speed, i.e. the driving speed of the driving motor can be directly derived from the position deviation and the first rotation speed coefficient. At this time, the driving speed of the driving motor is calculated by the formula v ═ Err×Kp(ii) a And if the shape of the surface of the material is non-planar, the product of the feed rate of the material and the preset tangent value may be determined as the value of the second driving speed. For example, the material is fed at a speed vhThe shape of the surface of the material is a bevel and the angle of the bevel is 50 DEG, then the second driving speed vadd＝vhX tan50 °, and the calculation formula of the driving speed of the driving motor at this time is v ═ Err×Kp+vhX tan 50. Thus, for different material surface shapes, different tangent values can be set, so that the driving speed can be adjusted according to the material surface shape.
Of course, in the above manner of determining the second driving speed, the shape of the material surface is more regular, and the position of the abrupt change on the material surface, such as the position of the protrusion or the depression on the material surface, can be detected in some manner. Therefore, the second driving speed can be calculated specifically by the above-described calculation formula of the second driving speed. In some other possible situations, the shape of the material surface may be irregular, and it is difficult to accurately detect the position of the abrupt change on the material surface, and it is difficult to obtain an accurate result by calculating the second driving speed using the above calculation formula of the second driving speed. In this case, as shown in fig. 3, the step 202, when determining the second driving speed according to the shape of the surface of the material, can also be implemented by:
step 301: obtaining the driving speed of a corresponding driving motor when the welding gun is at the previous position;
step 302: calculating the product of the driving speed and a preset second rotation speed coefficient to obtain a second driving speed; wherein the second rotation speed coefficient is determined according to the shape of the surface of the material.
In this embodiment, if the shape of the material surface is irregular, it is difficult to accurately detect the position where the sudden change occurs on the material surface. When the second driving speed is determined according to the shape of the surface of the material, the driving speed of the driving motor corresponding to the position of the welding gun at the previous position can be obtained first. And then calculating the product of the driving speed and a preset second rotation speed coefficient to obtain a second driving speed. For example, the second driving speed may be calculated by the following calculation formula:
vadd＝vlast×Kp2
in the formula, vlastFor characterizing the drive speed, K, of the corresponding drive motor of the welding gun in the previous positionp2For characterizing the preset second speed coefficient.
At this time, the calculation formula of the driving speed of the driving motor may be expressed as:
v＝Err×Kp+vlast×Kp2
wherein the second rotation speed coefficient can be determined according to the shape of the surface of the material. For example, when the shape fluctuation degree of the surface of the material is larger, the value of the second rotation speed coefficient is larger; the smaller the degree of fluctuation of the shape of the surface of the material is, the smaller the value of the second rotation speed coefficient is, which may be an empirical value. Therefore, the scheme can accurately calculate the second driving speed according to the detected abrupt change position of the surface of the material under the condition that the shape of the surface of the material is relatively regular, so that the accurate driving speed of the driving motor is obtained. And the current second driving speed can be estimated by using the driving speed of the driving motor and the second rotating speed coefficient obtained last time under the condition that the surface shape of the material is irregular, so that the driving speed of the driving motor can be accurately obtained.
Finally, in step 104, the driving motor is controlled to move according to the driving speed so as to move the welding gun to the target position to weld the material.
The welding gun can be driven to move by the driving motor, for example, the welding gun can be driven by at least one servo motor to move in the vertical direction, the welding gun can be driven by at least one servo motor to move in the horizontal direction, and the servo motor is generally controlled by controllers such as a PLC. Therefore, when the drive motor is controlled, the amount of movement of the welding gun can be controlled by controlling the rotation speed of the drive motor. The greater the rotation speed value output to the driving motor, the longer the distance of the movement of the welding torch is controlled, and the smaller the rotation speed value output to the driving motor, the closer the distance of the movement of the welding torch is controlled.
Therefore, when the driving speed of the driving motor is determined, the driving speed is output to the driving motor, and the driving motor can drive the welding gun to move to the target position where the welding operation is required. Of course, the surface of the material may be convex or concave. The resulting positional deviation may be negative or positive, i.e. the resulting driving speed may have positive and negative values, and the direction of movement of the welding gun may be controlled by the positive and negative values. For example, when the servo motor in the vertical direction is started, if the speed output to the driving motor is a positive value, the welding gun is controlled to move upwards, namely, to move in a direction away from the surface of the material; and if the speed output to the driving motor is a negative value, controlling the welding gun to move downwards, namely to move towards the direction close to the surface of the material. For another example, when the servo motor in the horizontal direction is turned on, if the speed output to the driving motor is a positive value, the welding gun is controlled to move rightwards, that is, the welding gun moves in the direction away from the welding point in the horizontal direction; and if the speed output to the driving motor is negative, controlling the welding gun to move leftwards, namely moving towards the direction close to the welding point in the horizontal direction.
As shown in fig. 4, an embodiment of the present invention provides a material welding apparatus, which may include: a real-time monitoring module 401, a position deviation determination module 402, a speed determination module 403, and a motion control module 404;
the real-time monitoring module 401 is configured to monitor the current position of the welding gun in real time;
a position deviation determining module 402 configured to determine a position deviation between the current position of the welding gun obtained by the real-time monitoring module 401 and the target position; the target welding gun position is used for representing the distance between a welding gun and a welding point on the surface of the material when the welding quality requirement can be met;
a speed determination module 403 configured to determine a driving speed of the driving motor based on the position deviation obtained by the position deviation determination module 402; the driving motor is used for driving the welding gun to move;
and a motion control module 404 configured to control the driving motor to move according to the driving speed determined by the speed determination module 403, so as to move the welding gun to the target welding gun position to weld the material.
In one possible implementation, the current position of the welding gun comprises a current height position of the welding gun; the target position comprises a preset target height of a welding gun during welding;
the position deviation determination module 402, when determining the position deviation between the current position of the welding gun and the target position, is configured to calculate a height deviation between the current height of the welding gun and the target height.
In one possible implementation, the current position of the welding gun comprises the current horizontal position of the welding gun; the target position comprises a preset target horizontal position when the welding gun performs welding;
the position deviation determination module 402, when determining the position deviation between the current position of the welding gun and the target position, is configured to calculate the horizontal deviation between the current horizontal position of the welding gun and the target horizontal position.
In one possible implementation, the speed determination module 403, when determining the driving speed of the driving motor according to the position deviation, is configured to perform the following operations:
calculating the product of the position deviation and a preset first rotation speed coefficient to obtain a first driving speed; the first rotation speed coefficient is used for representing a coefficient for converting the distance into the speed;
determining a second driving speed according to the shape of the surface of the material; wherein the second drive speed is used to characterize an additional speed when welding is performed on the non-planar material surface;
and calculating the sum of the first driving speed and the second driving speed to obtain the driving speed of the driving motor.
In one possible implementation, the speed determination module 403, when determining the second driving speed according to the shape of the surface of the material, is configured to perform the following operations:
when the shape of the surface of the material is a plane, determining 0 as a value of a second driving speed;
when the shape of the surface of the material is non-planar, the product of the feeding speed of the material and the preset tangent value is determined as the value of the second driving speed.
In one possible implementation, the speed determination module 403, when determining the second driving speed according to the shape of the surface of the material, is configured to perform the following operations:
obtaining the driving speed of a corresponding driving motor when the welding gun is at the previous position;
calculating the product of the driving speed and a preset second rotation speed coefficient to obtain a second driving speed; wherein the second rotation speed coefficient is determined according to the shape of the surface of the material.
An embodiment of the present invention also provides a computing device, including: at least one memory and at least one processor;
at least one memory for storing a machine readable program;
at least one processor, coupled to the at least one memory, for invoking a machine readable program to perform a method for welding a material as provided in any of the above embodiments.
The invention also provides a computer readable medium having stored thereon computer instructions which, when executed by a processor, cause the processor to perform a method of welding a material as provided in any of the above embodiments. The invention also provides a computer program product comprising a computer program which, when executed by a processor, implements a method of welding a material as described in any one of the above. Specifically, a system or an apparatus equipped with a storage medium on which software program codes that realize the functions of any of the embodiments described above are stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program codes stored in the storage medium.
In this case, the program code itself read from the storage medium can realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.
Examples of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, optical disks (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer via a communications network.
Further, it should be clear that the functions of any one of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform a part or all of the actual operations based on instructions of the program code.
Further, it is to be understood that the program code read out from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then causes a CPU or the like mounted on the expansion board or the expansion module to perform part or all of the actual operations based on instructions of the program code, thereby realizing the functions of any of the above-described embodiments.
It should be noted that not all steps and modules in the above flow and apparatus structure diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The system structure described in the above embodiments may be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by a plurality of physical entities, or some components in a plurality of independent devices may be implemented together. The welding device and the welding method for the materials are based on the same inventive concept.
In the above embodiments, the hardware module may be implemented mechanically or electrically. For example, a hardware module may comprise permanently dedicated circuitry or logic (such as a dedicated processor, FPGA or ASIC) to perform the corresponding operations. A hardware module may also comprise programmable logic or circuitry (e.g., a general-purpose processor or other programmable processor) that may be temporarily configured by software to perform the corresponding operations. The specific implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.
While the invention has been shown and described in detail in the drawings and in the preferred embodiments, it is not intended to limit the invention to the embodiments disclosed, and it will be apparent to those skilled in the art that various combinations of the code auditing means in the various embodiments described above may be used to obtain further embodiments of the invention, which are also within the scope of the invention.

Claims (10)

1. The welding method of material, its characterized in that includes:
monitoring the current position of the welding gun in real time;
determining the position deviation of the current position of the welding gun and a target position; the target welding gun position is used for representing the distance between a welding gun and a welding point on the surface of the material when the welding quality requirement can be met;
determining the driving speed of the driving motor according to the position deviation; the driving motor is used for driving the welding gun to move;
and controlling the driving motor to move according to the driving speed so as to move the welding gun to the target position to weld the material.
2. The method of claim 1,
the current position of the welding gun comprises a current height position of the welding gun; the target position comprises a preset target height of a welding gun during welding; the step of determining the position deviation of the current position of the welding gun from the target position includes: calculating the height deviation between the current height of the welding gun and the target height;
and/or the presence of a gas in the gas,
the current position of the welding gun comprises the current horizontal position of the welding gun; the target position comprises a preset target horizontal position when a welding gun performs welding; the step of determining the position deviation of the current position of the welding gun from the target position includes: and calculating the horizontal deviation between the current horizontal position of the welding gun and the target horizontal position.
3. The method of claim 1, wherein the step of determining the drive speed of the drive motor based on the position deviation comprises:
calculating the product of the position deviation and a preset first rotation speed coefficient to obtain a first driving speed; wherein the first speed coefficient is used to characterize a coefficient that converts distance to speed;
determining a second driving speed according to the shape of the surface of the material; wherein the second drive speed is used to characterize an additional speed when welding on a non-planar material surface;
and calculating the sum of the first driving speed and the second driving speed to obtain the driving speed of the driving motor.
4. A method according to claim 3, wherein the step of determining a second drive speed based on the shape of the surface of the material comprises:
determining 0 as a value of the second driving speed when the shape of the surface of the material is a plane;
and when the shape of the surface of the material is non-planar, determining the product of the feeding speed of the material and a preset tangent value as the value of the second driving speed.
5. A method according to claim 3, wherein the step of determining a second drive speed based on the shape of the surface of the material comprises:
obtaining the driving speed of the driving motor corresponding to the welding gun at the last position;
calculating the product of the driving speed and a preset second rotation speed coefficient to obtain a second driving speed; wherein the second rotation speed coefficient is determined according to the shape of the surface of the material.
6. Welding set of material, its characterized in that includes: the device comprises a real-time monitoring module, a position deviation determining module, a speed determining module and a motion control module;
the real-time monitoring module is configured to monitor the current position of the welding gun in real time;
the position deviation determining module is configured to determine the position deviation between the current position of the welding gun and a target position, which is obtained by the real-time monitoring module; the target welding gun position is used for representing the distance between a welding gun and a welding point on the surface of the material when the welding quality requirement can be met;
the speed determining module is configured to determine the driving speed of the driving motor according to the position deviation obtained by the position deviation determining module; the driving motor is used for driving the welding gun to move;
the motion control module is configured to control the driving motor to move according to the driving speed determined by the speed determination module so as to move the welding gun to the target welding gun position to weld materials.
7. The apparatus of claim 6,
the current position of the welding gun comprises a current height position of the welding gun; the target position comprises a preset target height of a welding gun during welding;
when determining the position deviation between the current position of the welding gun and a target position, the position deviation determining module is configured to calculate the height deviation between the current height of the welding gun and the target height;
and/or the presence of a gas in the gas,
the current position of the welding gun comprises a current horizontal position of the welding gun; the target position comprises a preset target horizontal position when the welding gun performs welding;
the position deviation determining module is configured to calculate a horizontal deviation between a current horizontal position of the welding gun and a target horizontal position when determining the position deviation between the current position of the welding gun and the target position.
8. The apparatus of claim 6, wherein the speed determination module, when determining the drive speed of the drive motor from the position deviation, is configured to:
calculating the product of the position deviation and a preset first rotation speed coefficient to obtain a first driving speed; wherein the first speed coefficient is used to characterize a coefficient that converts distance to speed;
determining a second driving speed according to the shape of the surface of the material; wherein the second drive speed is used to characterize an additional speed when welding on a non-planar material surface;
and calculating the sum of the first driving speed and the second driving speed to obtain the driving speed of the driving motor.
9. The apparatus of claim 8, wherein the speed determination module, when determining the second drive speed based on the shape of the surface of the material, is configured to:
determining 0 as a value of the second driving speed when the shape of the surface of the material is a plane;
and when the shape of the surface of the material is non-planar, determining the product of the feeding speed of the material and a preset tangent value as the value of the second driving speed.
10. The apparatus of claim 8, wherein the speed determination module, when determining the second drive speed based on the shape of the surface of the material, is configured to:
obtaining the driving speed of the driving motor corresponding to the welding gun at the previous position;
calculating the product of the driving speed and a preset second rotation speed coefficient to obtain a second driving speed; wherein the second rotation speed coefficient is determined according to the shape of the surface of the material.
CN202210460261.6A 2022-04-28 2022-04-28 Method, apparatus and computer readable medium for welding materials Active CN114669935B (en)

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