CN114669935B - Method, apparatus and computer readable medium for welding materials - Google Patents
Method, apparatus and computer readable medium for welding materials Download PDFInfo
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- CN114669935B CN114669935B CN202210460261.6A CN202210460261A CN114669935B CN 114669935 B CN114669935 B CN 114669935B CN 202210460261 A CN202210460261 A CN 202210460261A CN 114669935 B CN114669935 B CN 114669935B
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- 238000003466 welding Methods 0.000 title claims abstract description 307
- 239000000463 material Substances 0.000 title claims abstract description 145
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000012544 monitoring process Methods 0.000 claims abstract description 19
- 239000000758 substrate Substances 0.000 claims 1
- 238000004364 calculation method Methods 0.000 description 7
- 238000003860 storage Methods 0.000 description 6
- 230000001788 irregular Effects 0.000 description 5
- 238000004590 computer program Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 239000000523 sample Substances 0.000 description 4
- 239000002184 metal Substances 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005555 metalworking Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
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- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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Classifications
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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
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 the target position to weld the materials. According to the scheme, the driving speed of the motor is determined according to the position deviation between the current position of the welding gun and the target position capable of meeting the welding quality requirement, so that the welding gun is moved to the target position capable of meeting the welding quality requirement with higher accuracy, and the quality of welding materials is improved.
Description
Technical Field
The present invention relates to the field of electrical control technology, and in particular, to a method and apparatus for welding materials, and a computer readable medium.
Background
The welding process is a process of connecting two or more than two 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 during welding in the field of metal processing. However, it is difficult to ensure the welding quality by manual welding, especially for materials with relatively complex surface shapes, and the welding difficulty is greater. Therefore, the welding quality is low when the materials are welded manually at present.
Disclosure of Invention
The invention provides a method, a device and a computer readable medium for welding materials, which can improve the welding quality when welding the materials.
In a first aspect, an embodiment of the present invention provides a method for welding materials, including:
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 the target welding gun position to weld the materials.
In one possible implementation, the current position of the welding gun comprises the current height position of the welding gun; the target position comprises a target height of a preset welding gun when welding is carried out; the step of determining the position deviation of the current position of the welding gun from the target position comprises the following steps: calculating the height deviation between the current height of the welding gun and the target height;
and/or the number of the groups of groups,
the current position of the welding gun comprises the current horizontal position of the welding gun; the target position comprises a target horizontal position when a preset welding gun welds; the step of determining the position deviation of the current position of the welding gun from the target position comprises the following steps: and calculating the horizontal deviation between the current horizontal position of the welding gun and the target horizontal position.
In one possible implementation manner, 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 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 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 the value of the second driving speed when the shape of the material surface 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 last position;
calculating the product of the driving speed and a preset second rotating speed coefficient to obtain the second driving speed; wherein the second rotation speed coefficient is determined according to the shape of the material surface.
In a second aspect, an embodiment of the present invention provides a welding apparatus for materials, including: the system 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 the target position, which is obtained by the real-time monitoring module; 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;
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;
and 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 the materials.
In one possible implementation of the present invention,
the current position of the welding gun comprises the current height position of the welding gun; the target position comprises a target height of a preset welding gun when welding is carried out;
the position deviation determining module is configured to calculate the height deviation between the current height of the welding gun and the target height when determining the position deviation between the current position of the welding gun and the target position;
and/or the number of the groups of groups,
the current position of the welding gun comprises the current horizontal position of the welding gun; the target position comprises a target horizontal position when a preset welding gun welds;
the position deviation determining module is configured to calculate a horizontal deviation of a current horizontal position of the welding gun from a target horizontal position when determining the position deviation of the current position of the welding gun from 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 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 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 speed determination module, when determining the second driving speed according to the shape of the material surface, is configured to perform the following operations:
determining 0 as the value of the second driving speed when the shape of the material surface 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 material surface, is configured to perform the following operations:
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 rotating speed coefficient to obtain the second driving speed; wherein the second rotation speed coefficient is determined according to the shape of the material surface.
In a third aspect, embodiments of the present invention also provide a computing device, including: at least one memory and at least one processor;
the at least one memory for storing 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, embodiments of the present invention also provide a computer readable medium having stored thereon computer instructions which, when executed by a processor, cause the processor to perform the method of any of the first aspects.
In a fifth aspect, embodiments of the present invention also provide a computer program product comprising a computer program which, when executed by a processor, implements the method of any 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, a 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 further moved to the target position to realize the welding of materials. Therefore, the method and the device can determine whether the current welding gun is at the target position capable of meeting the welding quality requirement by monitoring the position of the welding gun in real time, and further determine the driving speed of the motor according to the position deviation amount, namely the driving speed of the motor is determined through the position deviation amount. Therefore, the welding gun is moved to a target position which can meet the welding quality requirement, and the accuracy is high, so that the quality of welding materials is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained based on these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method of welding materials provided in one embodiment of the present invention;
FIG. 2 is a flow chart of a method for determining a driving speed according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for determining a second driving speed according to an embodiment of the present invention;
fig. 4 is a schematic view of a welding device for materials according to an embodiment of the present invention.
List of reference numerals
101: real-time monitoring of the current position of the 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 materials
201: calculating the product of the position deviation and a preset first rotation speed coefficient to obtain a first driving speed
202: determining a second driving speed according to 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 driving speed of the corresponding driving motor of the welding gun at the last position
302: calculating the product of the driving speed and a preset second rotating speed coefficient to obtain a second driving speed
401: real-time monitoring module 402: position deviation determining module
403: the speed determination module 404: motion control module
Detailed Description
As described above, in the field of metal working, it is common to join metals of the same kind or different kinds together by means of welding, and this is a metal working method widely used in the current stage.
However, the current welding process is mainly performed manually. The manual welding method is not efficient, and more importantly, the welding quality is difficult to ensure, namely, high-quality welding cannot be realized in a low-cost mode. Especially in the environment of rapid development of the current industrial technology, the quality requirement of material welding is continuously improved, and the complexity of the welded materials is also higher and higher. Such as welding of corrugated sheets, welding of irregular workpieces, etc., which further results in an increasing difficulty in meeting the requirements of industrial production with regard to the quality of manual welding.
Based on this, this scheme is considered 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 the welding gun and the 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 the target position to weld the materials.
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, a 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 further moved to the target position to realize the welding of materials. Therefore, the method and the device can determine whether the current welding gun is at the target position capable of meeting the welding quality requirement by monitoring the position of the welding gun in real time, and further determine the driving speed of the motor according to the position deviation amount, namely the driving speed of the motor is determined through the position deviation amount. Therefore, the welding gun is moved to a target position which can meet the welding quality requirement, and the accuracy is high, so that the quality of welding materials is improved.
The individual steps of fig. 1 are described below in connection with specific embodiments.
First, in step 101, the current position of the welding gun is monitored in real time.
When carrying out welding operation, normally the material can be driven by material feeding unit and remove, and welder needs to carry out welding operation to the welding point on material surface. In practice, the surface of the material is not necessarily a flat surface, for example, the material is corrugated board, and other irregular planes, which can cause the height between the welding point and the welding head on the surface of the material to change. And the welding quality can reach a certain requirement only if the welding head and the welding point meet a certain distance requirement. Therefore, if the height of the welding gun is not adjusted, the welding quality cannot meet the requirement of the welding quality. In addition, not only is the deviation in height, but in practical applications the material surface on the feed device is not necessarily standard, i.e. the weld groove to be welded may be inclined. Thus, if the horizontal position of the welding gun is not adjusted, the welding gun is not welded on the welding point on the surface of the material, and the welding quality can not meet the requirement.
Thus, monitoring the current position of the welding gun may include monitoring the position of the welding gun in both the vertical and horizontal directions. For example, the current position of the welding gun can include a position in a vertical direction, i.e., a vertical height of the welding gun 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 include a horizontal position, i.e., a horizontal distance of the welding gun from a welding point on the surface of the material where the welding operation is desired. For another example, the current position of the welding gun can also include a position in a vertical direction and a position in a horizontal direction, for example, the current position of the welding gun can be determined by generating three-dimensional coordinates of the current welding gun.
When the current height position of the welding gun is determined, the height detection can be performed through a sensor. For example, the probe of the sensor is arranged to be in contact with the surface of the material, and the sensor probe can be lifted or sunk along with the change of the height of the surface of the material. Thus, the current position of the welding gun can be determined according to the lifting or sinking amount of the sensor probe. If the height between the preset welding gun and the welding point on the surface of the material is 50mm, the sensor probe detects that the welding point is lifted by 15mm. It is then known that the height difference between the welding gun and the welding point on the surface of the material is 35mm, i.e. the current height of the welding gun is 35mm.
When the current horizontal position of the welding gun is determined, the current horizontal position of the welding gun can be detected through the sensor, and the distance change between the welding gun and the welding point can be detected through a laser ranging mode, so that the current horizontal position of the welding gun is determined. If the horizontal distance between the welding gun and the welding point is set to be 30mm and the distance obtained by laser ranging is 50mm, the horizontal position of the welding gun at the moment is 50mm, and the horizontal position is not the standard distance for welding.
Then in 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 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 a positional deviation of the current position of the welding gun from the target position, may mainly include determining a deviation of the positional deviation in the vertical direction from 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 the preset target height of the welding gun when welding. Step 102 may calculate the height deviation of the current height of the welding gun from the target height. As in step 102, when the preset welding gun is 50mm high from the welding point on the surface of the material, that is, the preset target height is 50mm when the welding gun is welding, and the current height of the welding gun is 35mm, the deviation between the current height of the welding gun and the target height is 35-50= -15mm.
For another example, when the current position of the welding gun includes the current horizontal position of the welding gun, the target position includes a preset target horizontal position when the welding gun performs welding. Step 102 may calculate a horizontal deviation of the current horizontal position of the welding gun from the target horizontal position. As 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 target horizontal position when the preset welding gun is 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. In 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 welder to remove.
When the driving motor is controlled, the movement amount of the welding gun can be controlled by controlling the rotation speed of the driving motor. The larger the rotation speed value output to the driving motor is, the longer the distance for controlling the movement of the welding gun is, the smaller the rotation speed value output to the driving motor is, and the closer the distance for controlling the movement of the welding gun is.
Based on this, as shown in fig. 2, step 103 may be implemented by, when determining the driving speed of the driving motor according to the positional deviation:
step 201: calculating the product of the position deviation and a preset first rotation speed coefficient to obtain a first driving speed; wherein the first rotation 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 on a 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 calculated first to obtain the first driving speed. And then determining a second driving speed for correcting the speed when welding on the non-planar material sheet according to the shape of the material surface. Thus, the driving speed of the driving motor can be obtained by summing the first driving speed and the second driving speed.
Therefore, when the driving speed of the driving motor is determined, the driving speed is correspondingly solved through the deviation amount of the position, and the driving speed can be accurately determined. In addition, the speed obtained by solving 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＝E rr ×K p +v add
in the calculation formula, v is used for representing the driving speed of the driving motor, E rr For characterizing the position deviation between the current position of the welding gun and the target position, K p For characterising the first rotation speed coefficient, v add For characterizing the second drive speed, i.e. the additional speed when performing the welding operation on a non-planar material surface.
Wherein the first rotation speed coefficient can be obtained by pre-operation in advance. For example, the amount of movement of the welding gun is determined by adjusting the speed of the drive motor. Thus, the first rotation speed coefficient can be obtained according to the conversion relation between the speed of the driving motor and the movement amount of the welding gun. Of course, this first rotation rate coefficient is suitable for welding operations on flat surfaces. However, in practice there are a large number of non-flat surfaces. Therefore, it is further necessary to determine the 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 in step 202 the second drive speed is determined based on the shape of the material surface, in one possible implementation, it may first be determined whether the shape of the material surface is planar. If the shape of the material surface 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 obtained from the position deviation and the first rotation speed coefficient. At this time, the driving speed of the driving motor is calculated as v=e rr ×K p The method comprises the steps of carrying out a first treatment on the surface of the And if 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 can be determined as the value of the second driving speed. For example, the feeding speed of the material is v h Shape of material surfaceIn the form of a bevel, with an angle of 50 °, the second driving speed v add ＝v h X tan50 °, and the driving speed of the driving motor at this time is calculated as v=e rr ×K p +v h X tan50 °. Therefore, different tangent values can be set for different material surface shapes, so that the driving speed is 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 still relatively regular, and the position of the abrupt change on the material surface, such as the position of the protrusion or 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 cases, the shape of the surface of the material may be irregular, and it is difficult to accurately detect the position of the abrupt change on the surface of the material, and further it is difficult to obtain an accurate result by calculating the second driving speed using the above-mentioned calculation formula of the second driving speed. In this case, as shown in fig. 3, step 202 may be further implemented by the following steps when determining the second driving speed according to the shape of the material surface:
step 301: obtaining the driving speed of a driving motor corresponding to the welding gun at the last position;
step 302: calculating the product of the driving speed and a preset second rotating speed coefficient to obtain a second driving speed; wherein the second rotation speed coefficient is determined according to the shape of the material surface.
In this embodiment, if the shape of the material surface is irregular, it is difficult to accurately detect the position on the material surface where the mutation occurs. 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 welding gun at the last position can be obtained. And then calculating the product of the driving speed and a preset second rotating speed coefficient to obtain a second driving speed. For example, the second driving speed may be calculated by the following calculation formula:
v add ＝v last ×K p2
calculation ofIn the formula, v last For characterizing the driving speed, K, of the corresponding driving motor of the welding gun in the last position p2 And the second rotating speed coefficient is used for representing a preset second rotating speed coefficient.
At this time, the calculation formula of the driving speed of the driving motor can be expressed as:
v＝E rr ×K p +v last ×K p2
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 material surface is larger, the value of the second rotation speed coefficient is larger; the smaller the degree of fluctuation of the shape of the material surface, the smaller the value of the second rotation speed coefficient, which may be an empirical value. Therefore, the second driving speed can be accurately calculated 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 regular, and 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 obtained last time and the second rotating speed coefficient under the condition that the surface shape of the material is irregular, so that the driving speed of the driving motor can be obtained more accurately.
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 materials.
The welding gun can be driven to move through a driving motor, for example, the welding gun can be driven to move in the vertical direction through at least one servo motor in the vertical direction, the welding gun can be driven to move in the horizontal direction through at least one servo motor in the horizontal direction, and the servo motor is controlled through a controller 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 rotational speed of the drive motor. The larger the rotation speed value output to the driving motor is, the longer the distance for controlling the movement of the welding gun is, the smaller the rotation speed value output to the driving motor is, and the closer the distance for controlling the movement of the welding gun is.
Therefore, after 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 needs to be performed. Of course, since the material surface 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 gun may be controlled by positive and negative values. For example, when the servo motor in the vertical direction is started, the speed output to the driving motor is positive, and then the welding gun is controlled to move upwards, namely, to move in a direction far away from the surface of the material; and when the speed output to the driving motor is negative, controlling the welding gun to move downwards, namely, moving in a direction approaching to the surface of the material. For another example, when the servo motor in the horizontal direction is started, the speed output to the driving motor is a positive value, and then the welding gun is controlled to move rightward, namely, move in the direction away from the welding point in the horizontal direction; and when the speed output to the driving motor is negative, the welding gun is controlled to move leftwards, namely, move in a direction approaching to the welding point in the horizontal direction.
As shown in fig. 4, an embodiment of the present invention provides a welding device for materials, which may include: a real-time monitoring module 401, a position deviation determining module 402, a speed determining 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;
the position deviation determining module 402 is configured to determine the position deviation between the current position of the welding gun and the target position, which is obtained by the real-time monitoring module 401; 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;
a speed determining module 403 configured to determine a driving speed of the driving motor according to the position deviation obtained by the position deviation determining 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 for welding the material.
In one possible implementation, the current position of the welding gun comprises the current height position of the welding gun; the target position comprises a target height when a preset welding gun welds;
the position deviation determination module 402, when determining a position deviation of a current position of the welding gun from a target position, is configured to calculate a height deviation of the current position of the welding gun from 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 target horizontal position when a preset welding gun performs welding;
the position deviation determination module 402, when determining a position deviation of a current position of the welding gun from a target position, is configured to calculate a horizontal deviation of the current position of the welding gun from 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; wherein 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 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 speed determination module 403, when determining the second driving speed according to the shape of the material surface, is configured to perform the following operations:
when the shape of the material surface is a plane, determining 0 as a value of the 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 material surface, is configured to perform the following operations:
obtaining the driving speed of a driving motor corresponding to the welding gun at the last position;
calculating the product of the driving speed and a preset second rotating speed coefficient to obtain a second driving speed; wherein the second rotation speed coefficient is determined according to the shape of the material surface.
One embodiment of the present invention also provides a computing device comprising: 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 the method of welding of materials provided by any of the embodiments described above.
The invention also provides a computer readable medium having stored thereon computer instructions which, when executed by a processor, cause the processor to perform the method of welding a material provided by any of the embodiments described above. The invention also provides a computer program product comprising a computer program which when executed by a processor implements a method of welding any of the above-mentioned materials. Specifically, a system or apparatus provided with a storage medium on which a software program code realizing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or apparatus may be caused to read out and execute the program code stored in the storage medium.
In this case, the program code itself read from the storage medium may realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code form part of the present invention.
Examples of the storage medium for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer by a communication network.
Further, it should be apparent that the functions of any 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 part or all of the actual operations based on the instructions of the program code.
Further, it is understood that the program code read out by the storage medium is written into a memory provided in an expansion board inserted into a computer or into a memory provided in an expansion module connected to the computer, and then a CPU or the like mounted on the expansion board or the expansion module is caused to perform part and all of actual operations based on instructions of the program code, thereby realizing the functions of any of the above embodiments.
It should be noted that not all the steps and modules in the above processes and the structure diagrams of the devices are necessary, and some steps or modules may be omitted according to actual needs. The execution sequence 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 multiple physical entities, or may be implemented jointly by some components in multiple independent devices. The welding device of the materials and the welding method of the materials are based on the same invention conception.
In the above embodiments, the hardware module may be mechanically or electrically implemented. For example, a hardware module may include permanently dedicated circuitry or logic (e.g., a dedicated processor, FPGA, or ASIC) to perform the corresponding operations. The hardware modules may also include 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 particular implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.
While the invention has been illustrated and described in detail in the drawings and in the preferred embodiments, the invention is not limited to the disclosed embodiments, and it will be appreciated by those skilled in the art that the code audits of the various embodiments described above may be combined to produce further embodiments of the invention, which are also within the scope of the invention.
Claims (8)
1. A method of welding materials, comprising:
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;
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 materials,
wherein, 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 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 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.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the current position of the welding gun comprises the current height position of the welding gun; the target position comprises a target height of a preset welding gun when welding is carried out; the step of determining the position deviation of the current position of the welding gun from the target position comprises the following steps: calculating the height deviation between the current height of the welding gun and the target height;
and/or the number of the groups of groups,
the current position of the welding gun comprises the current horizontal position of the welding gun; the target position comprises a target horizontal position when a preset welding gun welds; the step of determining the position deviation of the current position of the welding gun from the target position comprises the following steps: 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 second drive speed based on the shape of the surface of the material comprises:
determining 0 as the value of the second driving speed when the shape of the material surface 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 the tangent value of the preset material inclined plane angle as the value of the second driving speed.
4. The method of claim 1, wherein the step of determining the 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 rotating speed coefficient to obtain the second driving speed; wherein the second rotation speed coefficient is determined according to the shape of the material surface.
5. Welding set of material, its characterized in that includes: the system 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 the target position, which is obtained by the real-time monitoring module; 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;
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,
wherein 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 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 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.
6. The apparatus of claim 5, wherein the device comprises a plurality of sensors,
the current position of the welding gun comprises the current height position of the welding gun; the target position comprises a target height of a preset welding gun when welding is carried out;
the position deviation determining module is configured to calculate the height deviation between the current height of the welding gun and the target height when determining the position deviation between the current position of the welding gun and the target position;
and/or the number of the groups of groups,
the current position of the welding gun comprises the current horizontal position of the welding gun; the target position comprises a target horizontal position when a preset welding gun welds;
the position deviation determining module is configured to calculate a horizontal deviation of a current horizontal position of the welding gun from a target horizontal position when determining the position deviation of the current position of the welding gun from the target position.
7. The apparatus of claim 5, 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 the value of the second driving speed when the shape of the material surface 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 the tangent value of the preset material inclined plane angle as the value of the second driving speed.
8. The apparatus of claim 5, 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 last position;
calculating the product of the driving speed and a preset second rotating speed coefficient to obtain the second driving speed; wherein the second rotation speed coefficient is determined according to the shape of the material surface.
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