CN114951910A - Welding gun control method and device - Google Patents
Welding gun control method and device Download PDFInfo
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- CN114951910A CN114951910A CN202210686177.6A CN202210686177A CN114951910A CN 114951910 A CN114951910 A CN 114951910A CN 202210686177 A CN202210686177 A CN 202210686177A CN 114951910 A CN114951910 A CN 114951910A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/10—Other electric circuits therefor; Protective circuits; Remote controls
Abstract
The application provides a welding gun control method and a device, wherein the welding gun control method comprises the following steps: the welding gun control method comprises the following steps: acquiring a set path of a welding gun; acquiring coordinates corresponding to a plurality of short circuit transitions of a welding gun during welding; determining a first short circuit transition frequency on a first side of the set path of the welding gun in the same time period according to the set path of the welding gun and coordinates corresponding to a plurality of short circuit transitions of the welding gun during welding; and a second short transition number located on a second side of the set path of the torch; and adjusting the horizontal position of the welding gun according to the first short circuit transition frequency and the second short circuit transition frequency. According to the technical scheme, the number of times of short circuit transition of the welding gun at different positions in the welding process is collected, the difference value of the number of times of short circuit transition at different positions is calculated, and horizontal position adjustment and vertical position adjustment are calculated according to the short circuit transition difference value, so that the position of the welding gun of the robot at the direct-current low-current stage can be adjusted more accurately.
Description
Technical Field
The application relates to the technical field of welding equipment, in particular to a welding gun control method and device.
Background
With the development of automatic welding equipment and technology, the welding robot can realize continuous popularization and application of high-efficiency, high-quality, high-flexibility and high-stability welding operation. Because the welding robot can only operate in a teaching and reproducing mode according to the taught track or the track generated by off-line programming, when the deviation such as group pairing deviation, positioning deviation, welding thermal deformation and the like occurs to the workpiece to be welded, the robot still operates according to the original track, welding deviation can be caused, and the welding quality is seriously reduced. Arc sensing as an arc welding sensing technology has the advantages that additional auxiliary tools except a welding gun are not needed, the accessibility and flexibility of a robot are not influenced, and automatic welding can be efficiently carried out by matching with contact sensing.
Traditionally, arc sensing is based on the principle that changes of dry elongation can be reflected to a certain extent according to changes and fluctuations of current in the swing welding process of a robot, whether the changes of swing phase and swing welding current deviate from an actual welding seam or not can be reflected through real-time analysis, the position of the tip of a welding wire is adjusted in real time, and the accuracy of a welding position is guaranteed.
In summary, how to correct the position of the welding gun to improve the accuracy of the welding position and avoid the occurrence of welding deviation, are all technical problems that need to be solved by technical personnel.
Disclosure of Invention
The application provides a welding gun control method and device, which are used for improving the control precision of a welding gun during welding.
The application provides a welding gun control method, which comprises the following steps:
acquiring a set path of a welding gun;
acquiring coordinates corresponding to a plurality of short circuit transitions of a welding gun during welding;
determining a first short circuit transition frequency on a first side of the set path of the welding gun within a first set time according to the set path of the welding gun and the acquired coordinates corresponding to a plurality of short circuit transitions of the welding gun during welding; and determining a second short circuit transition number on a second side of the set path of the welding gun within a second set time; the first set time and the second set time are equal, and the first set time and the second set time at least comprise a quarter period of a welding gun swing period;
and adjusting the horizontal position of the welding gun according to the first short circuit transition frequency and the second short circuit transition frequency.
According to the technical scheme, the number of times of short circuit transition of the welding gun at different positions in the welding process is collected, the difference value of the number of times of short circuit transition at different positions is calculated, and horizontal position adjustment and vertical position adjustment are calculated according to the short circuit transition difference value, so that the position of the welding gun of the robot at the direct-current low-current stage can be adjusted more accurately.
In a specific possible implementation, the adjusting the horizontal position of the welding gun according to the first short circuit transition frequency and the second short circuit transition frequency specifically includes:
comparing the first short circuit transition times with the second short circuit transition times; when the first short circuit transition frequency is larger than the second short circuit transition frequency, controlling the welding gun to move to the first side of the set path;
and when the first short circuit transition frequency is smaller than the second short circuit transition frequency, controlling the welding gun to move to the second side.
In a specific possible embodiment, the method further comprises:
calculating a horizontal position compensation amount according to the following formula so as to control and adjust the distance of the welding gun for horizontal position adjustment according to the horizontal position compensation amount:
wherein V represents the horizontal positionAmount of compensation, K i1 Denotes the left-end compensation coefficient, K p1 And a right-end compensation coefficient is represented, delta represents the difference value of the first short circuit transition times and the second short circuit transition times, and i represents the number of acquisition cycles.
In a specific embodiment, the method further comprises:
determining the third short circuit transition times of the welding gun in the first central area according to the set path of the welding gun and the obtained coordinates corresponding to the short circuit transitions of the welding gun during welding; and determining a fourth number of short circuit transitions of the torch within the second center region;
and adjusting the vertical position of the welding gun according to the third short circuit transition frequency and the fourth short circuit transition frequency.
In a specific possible embodiment, comparing said third number of short circuit transitions with said fourth number of short circuit transitions;
when the third short circuit transition frequency is larger than the fourth short circuit transition frequency, controlling the welding gun to move downwards;
and when the third short circuit transition frequency is smaller than the fourth short circuit transition frequency, controlling the welding gun to move upwards.
In a specific possible embodiment, the vertical position compensation amount is calculated according to the following formula to control the distance for adjusting the vertical position of the welding gun according to the vertical position compensation amount:
wherein H represents the vertical position compensation amount, K i2 Represents the upper position compensation coefficient, K p2 And the lower position compensation coefficient is represented, gamma represents the difference value of the third short circuit transition frequency and the fourth short circuit transition frequency, and i represents the number of acquisition cycles.
In a second aspect, a welder is provided, the welder comprising:
the data acquisition module is used for acquiring a set path of the welding gun; the coordinate system is used for acquiring coordinates corresponding to a plurality of short circuit transitions of the welding gun during welding;
the data processing module is used for determining the first short circuit transition times on the first side of the set path of the welding gun within a first set time according to the set path of the welding gun and the acquired coordinates corresponding to the plurality of short circuit transitions of the welding gun during welding; and determining a second short circuit transition number on a second side of the set path of the welding gun within a second set time; the first set time and the second set time are time periods when the welding gun starts timing when passing through the set path; the first set time is equal to the second set time; and the first set time and the second set time are at least more than one fourth of the fluctuation cycle of the welding gun; and adjusting the horizontal position of the welding gun according to the first short circuit transition frequency and the second short circuit transition frequency.
According to the technical scheme, the number of times of short circuit transition of the welding gun at different positions in the welding process is collected, the difference value of the number of times of short circuit transition at different positions is calculated, and horizontal position adjustment and vertical position adjustment are calculated according to the short circuit transition difference value, so that the position of the welding gun of the robot at the direct-current low-current stage can be adjusted more accurately.
In a specific embodiment, the data processing module is further specifically configured to compare the first short circuit transition number and the second short circuit transition number; when the first short circuit transition frequency is larger than the second short circuit transition frequency, controlling the welding gun to move to the first side of the set path; and when the first short circuit transition frequency is smaller than the second short circuit transition frequency, controlling the welding gun to move to the second side.
In a specific possible implementation manner, the data processing module is further configured to determine a third short circuit transition number of the welding gun in the first central area according to the set path of the welding gun and the obtained coordinates corresponding to the plurality of short circuit transitions of the welding gun during welding; and determining a fourth number of short circuit transitions of the torch within the second center region; and adjusting the vertical position of the welding gun according to the third short circuit transition frequency and the fourth short circuit transition frequency.
In a specific possible embodiment, the data processing module is further configured to compare the third short circuit transition number with the fourth short circuit transition number; when the third short circuit transition frequency is larger than the fourth short circuit transition frequency, controlling the welding gun to move downwards; and when the third short circuit transition times are smaller than the fourth short circuit transition times, controlling the welding gun to move upwards.
In a third aspect, a computer device is provided, which comprises a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the first aspect and any one of the possible design methods of the first aspect when executing the computer program.
In a fourth aspect, a computer-readable storage medium is provided that stores a method for performing the first aspect and any one of the possible designs of the first aspect.
In a fifth aspect, there is also provided a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of the first aspect of the present application and any one of the possible designs of the first aspect.
In addition, the technical effects brought by any one of the possible design manners in the third aspect to the fifth aspect may be referred to the effects brought by different design manners in the method portion, and are not described herein again.
Drawings
Fig. 1 is a schematic diagram of a short-circuit process provided in an embodiment of the present application;
FIG. 2 is a schematic view of a welding gun position and a swing direction according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a trajectory of a welding gun during welding according to an embodiment of the present disclosure;
FIG. 4 is a flowchart of a method for controlling a welding gun according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram illustrating short circuit transition times of a welding gun at different positions according to an embodiment of the present disclosure;
FIG. 6 is a block diagram of a welder provided in an embodiment of the present application;
fig. 7 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to the figures and examples. The features and advantages of the present application will become more apparent from the description.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
In addition, the technical features described below in the different embodiments of the present application may be combined with each other as long as they do not conflict with each other.
First, the short-circuit transition will be described. The transition mode of the small current domain in the direct current welding process is short circuit transition, and the short circuit transition can be divided into two stages, namely a short circuit stage and an arc stage. Referring to fig. 1, a method of determining a short-circuit state of a welding wire: when the arc voltage U < U 0 (U 0 Threshold value is determined for short-circuit voltage), the welding wire enters a short-circuit state when the arc voltage U is more than U 1 (U 1 Threshold is determined for arcing voltage), the wire enters the arcing stage and a short circuit transition can be determined to have occurred when the wire has undergone a complete short circuit and arcing determination process.
In order to facilitate understanding of the welding gun control method provided in the embodiment of the present application, an application scenario of the welding gun control method provided in the embodiment of the present application is introduced. Referring to fig. 2, fig. 2 shows a schematic view of the welding gun 10 provided in the embodiment of the present application during welding. During welding, the welding torch 10 is positioned above the machined workpiece 20, specifically, above the weld of the machined workpiece 20. The welding torch 10 performs welding on the weld line by setting the path control.
Referring also to fig. 3, fig. 3 shows a schematic view of the torch as it welds along the weld. When welding, the welding gun swings along a set path for welding. As shown in fig. 3, in the welding direction (the direction in which the welding gun travels), the welding gun forms a zigzag-shaped gun swing path including a swing positive half period located above the welding direction and a swing negative half period located below the welding direction.
When the welding gun does not deviate from the set path during welding, the welding direction is the set path. The welding direction of the welding gun is coincident with the set path, and the welding gun can weld along the welding seam. In this state, the wobble positive half cycle and wobble negative half cycle on both sides of the set path are symmetrical in structure.
When the welding direction of the welding gun is not along the set path in the welding process, the welding gun can be deviated during welding. The welding gun control method provided by the embodiment of the application is used for adjusting the welding path of the welding gun. The following is a detailed description thereof with reference to specific flow charts.
Referring to fig. 4, a welding gun control method provided in an embodiment of the present application includes the following steps:
step 001: acquiring a set path of a welding gun;
specifically, the position of the welding seam is determined by detecting the welding seam through a welding gun sensing device before welding, and a set path of the welding gun is planned and formed according to data when the welding seam is detected.
When a welding seam is detected specifically, the welding gun sensing device is connected with the welding gun body, and then welding equipment such as a welding power supply, a wire feeding device and a robot arm is connected. The welding power supply is provided with a sensing circuit for probe high-voltage sensing, when high-voltage sensing is needed, the high-voltage sensing circuit is switched on, the probe tip is enabled to load 500V high-voltage electricity, searching of a welding seam is carried out through a preset locating program of the robot, the position of the robot at the moment can be recorded through the on-off of an electric signal when the probe tip is in contact with the surface of a welded part, multiple times of operations are carried out, and the position of the welding seam can be accurately found by recording multiple point positions. Thereby determining the set path of the welding torch. When the positions are recorded, the robot constructs a coordinate system, and determines a set path of the welding gun by using positions in the coordinate system corresponding to the plurality of positions.
Step 002: acquiring coordinates corresponding to a plurality of short circuit transitions of a welding gun during welding;
specifically, in the welding process, coordinates corresponding to a plurality of short-circuit transitions of the welding gun during welding are obtained, and it should be understood that when a plurality of short-circuit transitions are selected, the short-circuit transitions at least include coordinates corresponding to half a period of short-circuit transitions. Taking the welding path shown in fig. 3 as an example, the collected multiple short circuit transitions should include at least half a cycle through the welding direction, such as collecting short circuit transition times of half a cycle, short circuit transition times of three-quarter cycles, or short circuit transition times of one cycle. It should be understood that, when the short-circuit transition times are collected, the collected short-circuit transition is ensured to comprise the short-circuit transition at the topmost end of the positive half period of the swing gun and the short-circuit transition at the bottommost end of the negative half period of the swing gun.
In addition, the coordinates for the short-circuit transition are coordinates in a coordinate system constructed based on the robot to which the welding gun is connected.
Step 003: determining a first short circuit transition frequency on a first side of the set path of the welding gun within a first set time according to the set path of the welding gun and the acquired coordinates corresponding to a plurality of short circuit transitions of the welding gun during welding; and determining a second short circuit transition number on a second side of the set path of the welding gun within a second set time;
specifically, in a coordinate system constructed by the robot, the set path and the short-circuit transition correspond to different coordinates, and the number of short-circuit transition times of different numbers on two sides of the set path can be judged based on the coordinates of the set path and the short-circuit transition times.
And when the short-circuit transition path is positioned on the second side of the set path, recording the short-circuit transition into a second short-circuit transition number.
It should be understood that, when the first setting time and the second setting time are specifically set, the first setting time is equal to the second setting time, and the first setting time and the second setting time include at least one-fourth of the swing period of the welding gun. For example, referring to fig. 3, taking the first set time as t1 and the second set time as t2 as an example, in fig. 3, t1 is equal to t2 is equal to one-quarter wobble period. Of course, in addition to the setting time shown in fig. 3, t1 ═ t2 ═ one-half wobble period, or one-half wobble period > (t1 ═ t2) > one-quarter wobble period may be used.
When the set time is adopted, the first short circuit transition times in the first set time are counted, wherein the first short circuit transition times comprise short circuit transition at the topmost end in the positive half cycle of the gun swing; and when counting the second short circuit transition times within the second set time, the second short circuit transition times comprise the short circuit transition at the bottommost end in the negative half cycle of the gun swinging.
Referring also to fig. 5, the first number of short circuit transitions and the second number of short circuit transitions are illustrated in fig. 5. Two wobble periods T1 and T2 are illustrated in fig. 5. As can be seen from fig. 5, in one swing cycle, when the welding gun is not offset, the first short-circuit transition number (left-end cycle short-circuit number) on the set path side and the second short-circuit transition number on the set path side are equal. With reference to the swing path shown in fig. 3, when the welding gun is deviated, that is, the swing path is not overlapped with the set path, the short-circuit transition times on both sides of the swing path are equal, but the short-circuit transition times on both sides of the set path are different.
Step 004: and adjusting the horizontal position of the welding gun according to the first short circuit transition frequency and the second short circuit transition frequency.
Specifically, when the horizontal position of the welding gun is adjusted according to the first short circuit transition frequency and the second short circuit transition frequency, the moving direction of the welding gun is controlled based on the difference value of the first short circuit transition frequency and the second short circuit transition frequency as an adjusting signal.
Illustratively, comparing the first short circuit transition times and the second short circuit transition times; when the first short circuit transition frequency is larger than the second short circuit transition frequency, controlling the welding gun to move to the first side of the set path; and when the first short circuit transition frequency is less than the second short circuit transition frequency, controlling the welding gun to move to the second side. Take the first short circuit transition number as N1 and the second short circuit transition number as N2 as an example. When N1 is larger than N2, namely the welding torch is deviated towards the second side of the set path, the welding torch is controlled to move towards the first side direction of the set path. When N1 < N2, namely the welding torch is deviated towards the first side of the set path, the welding torch is controlled to move towards the second side direction of the set path. If N1 is N2, the torch path coincides with the set path, and the torch does not deviate. The first side and the second side are referred to as both sides of the set path in the horizontal direction.
When the deviation of the welding gun is compensated, the compensation amount needs to be determined, specifically, the horizontal position compensation amount is calculated according to the following formula, so that the distance of the welding gun for horizontal position adjustment is controlled and adjusted according to the horizontal position compensation amount:
wherein V represents a horizontal position compensation amount, K i1 Denotes the left-end compensation coefficient, K p1 And a right-end compensation coefficient is represented, delta represents the difference value of the first short circuit transition times and the second short circuit transition times, and i represents the number of acquisition cycles.
As can be seen from the above description, in the welding gun control method provided in the embodiment of the present application, the number of times of short circuit transition of the welding gun at different positions in the welding process is collected, the difference between the number of times of short circuit transition at different positions is calculated, and the horizontal position adjustment and the vertical position adjustment are calculated according to the short circuit transition difference, so that the position of the welding gun of the robot at the stage of low direct current can be adjusted more accurately.
In addition, when the welding gun is adjusted, besides the horizontal position, the adjustment of the vertical direction is also involved, namely the adjustment of the vertical distance between the welding gun and the welding seam. Therefore, the welding gun control method provided by the embodiment of the application can further comprise the following steps:
step 005: determining the third short circuit transition times of the welding gun in the first central area according to the set path of the welding gun and the acquired coordinates corresponding to the plurality of short circuit transitions of the welding gun during welding; and determining a fourth number of short circuit transitions of the torch within the second center region;
specifically, referring to fig. 5, the first central area and the second central area are areas with a certain width along both sides of the set route, and the first central area and the second central area use the set route as a center line. Illustratively, a region with a width of 0.01cm on both sides of the set path is taken as a central region. And when counting the short circuit transition times, counting the short circuit transition times in the central area. It should be understood that the first central region and the second central region are referred to as two central regions spaced along a set path. In the specific statistics, the coordinates corresponding to the central area and the coordinates of the short-circuit transition path are used as references, and the short-circuit transition falling into the coordinate range corresponding to the central area is counted, so that the third short-circuit transition frequency and the fourth short-circuit transition frequency are obtained.
Wherein the first central region is located upstream of the second central region.
Step 006: and adjusting the vertical position of the welding gun according to the third short circuit transition frequency and the fourth short circuit transition frequency.
Specifically, when the horizontal position of the welding gun is adjusted according to the third short circuit transition frequency and the fourth short circuit transition frequency, the moving direction of the welding gun is controlled based on the difference value of the third short circuit transition frequency and the fourth short circuit transition frequency as an adjusting signal.
Illustratively, comparing the third short circuit transition number and the fourth short circuit transition number; when the third short circuit transition frequency is larger than the fourth short circuit transition frequency, controlling the welding gun to move downwards; and when the third short circuit transition frequency is less than the fourth short circuit transition frequency, controlling the welding gun to move upwards.
Take the third short transition number as N3 and the fourth short transition number as N4 as an example. When N3 > N4, that is, when the welding torch is deviated upward of the set path, the welding torch is controlled to move downward of the set path. When N3 < N4 indicates that the welding torch is offset downward of the set path, the welding torch is controlled to move upward of the set path. If N3 is N4, the torch path coincides with the set path, and the torch does not deviate. Wherein, the upper and lower parts of the set path are indicated as being located at both sides of the set path in the vertical direction.
When the deviation of the welding gun is compensated, the compensation amount needs to be determined, specifically, the vertical position compensation amount is calculated according to the following formula, so that the distance of the welding gun for vertical position adjustment is controlled and adjusted according to the vertical position compensation amount:
wherein H represents a vertical position compensation amount, K i2 Represents the upper position compensation coefficient, K p2 And a lower position compensation coefficient is represented, gamma represents the difference value of the third short circuit transition frequency and the fourth short circuit transition frequency, and i represents the number of acquisition cycles.
As can be seen from the above description, in the welding gun control method provided in the embodiment of the present application, the number of times of short circuit transition of the welding gun at different positions in the welding process is collected, the difference between the number of times of short circuit transition at different positions is calculated, and the horizontal position adjustment and the vertical position adjustment are calculated according to the short circuit transition difference, so that the position of the welding gun of the robot at the stage of low direct current can be adjusted more accurately.
As shown in fig. 6, an embodiment of the present application further provides a welder, including: the welding gun comprises a data acquisition module 30 and a data processing module 50, wherein the data acquisition module 30 is used for acquiring data of the welding gun, and the data processing module 50 is used for processing the data and adjusting the welding gun according to a data processing result. These will be described below.
The data acquisition module 30 is used for acquiring a set path of the welding gun; and the coordinates corresponding to the short circuit transitions of the welding gun during welding are obtained. Specifically, the data acquisition module 30 is used to acquire the internal voltage command of the welding power supply when the welding gun is in different position areas, and is used to determine the short-circuit transition state of welding, wherein the determination mode of the short-circuit state of the welding wire is as follows: when the arc voltage U < U 0 (U 0 For short-circuit voltage determinationThreshold), the welding wire enters a short-circuit state when the arc voltage U is more than U 1 (U 1 Threshold determination for arcing voltage), the welding wire enters the arcing stage, and when the welding wire undergoes a complete short circuit and arcing determination process, a short circuit transition can be determined to have occurred by an arc sensing unit on the welding gun. Reference may be made specifically to the relevant description of 001 to 002 of the above steps.
As an optional solution, the welder provided in the embodiment of the present application may further include a data storage module 40, where the data storage module 40 is configured to store data information of the number of short circuit transitions.
The data processing module 50 is used for determining a first short circuit transition frequency positioned on a first side of the set path of the welding gun within a first set time according to the set path of the welding gun and the acquired coordinates corresponding to a plurality of short circuit transitions of the welding gun during welding; determining a second short circuit transition frequency on a second side of the set path of the welding gun within a second set time; the first set time and the second set time are time periods when the welding gun starts timing when passing through a set path; the first set time is equal to the second set time; the first set time and the second set time are at least more than one fourth of the fluctuation period of the welding gun; and adjusting the horizontal position of the welding gun according to the first short circuit transition frequency and the second short circuit transition frequency. Refer specifically to 003 in step and to 004 in step.
During specific control, the data processing module 50 is further specifically configured to compare the first short circuit transition times with the second short circuit transition times; when the first short circuit transition frequency is larger than the second short circuit transition frequency, controlling the welding gun to move to the first side of the set path; and when the first short circuit transition times are smaller than the second short circuit transition times, controlling the welding gun to move to the second side. Reference is made specifically to the description in step 004.
During specific control, the data processing module 50 is further configured to determine a third short-circuit transition frequency of the welding gun in the first central area according to the set path of the welding gun and the obtained coordinates corresponding to the plurality of short-circuit transitions of the welding gun during welding; and determining a fourth number of short circuit transitions of the torch within the second center region; and adjusting the vertical position of the welding gun according to the third short circuit transition frequency and the fourth short circuit transition frequency. Reference is made specifically to the description in step 005.
In a specific possible embodiment, the data processing module 50 is further configured to compare the third short circuit transition number and the fourth short circuit transition number; when the third short circuit transition frequency is larger than the fourth short circuit transition frequency, controlling the welding gun to move downwards; and when the third short circuit transition frequency is less than the fourth short circuit transition frequency, controlling the welding gun to move upwards. Reference is made specifically to the description in step 006.
As can be seen from the above description, when the welding machine provided in the embodiment of the present application controls the welding gun, horizontal adjustment and vertical adjustment need to be performed, so the welding machine provided in the embodiment of the present application includes the water bottle female adjustment module and the vertical adjustment module, wherein the horizontal adjustment module is used to adjust the horizontal position of the welding gun, and when the welding gun needs to be horizontally adjusted, the data processing module 50 controls the horizontal adjustment module to drive the welding gun to perform horizontal adjustment according to the compensation amount that needs to be adjusted. Similarly, when the welding gun needs to be vertically adjusted, the data processing module 50 controls the vertical adjustment module to drive the welding gun to vertically adjust according to the compensation amount required to be adjusted.
According to the description, the times of short circuit transition of the welding gun at different positions in the welding process are collected, the difference value of the times of short circuit transition at different positions is calculated, and the horizontal position adjustment and the vertical position adjustment are calculated according to the short circuit transition difference value, so that the position of the welding gun of the robot at the direct-current low-current stage can be adjusted more accurately.
The embodiment of the present application further provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements the first aspect and any one of the possible design methods of the first aspect.
The embodiments of the present application further provide a computer-readable storage medium, which stores a method for executing the first aspect and any one of the possible designs of the first aspect.
Embodiments of the present application also provide a computer program product, which includes instructions that, when executed on a computer, cause the computer to perform the method according to any one of the first aspect and the possible designs of the first aspect of the present application.
It should be noted that the method of one or more embodiments of the present disclosure may be performed by a single device, such as a computer or server. The method of the embodiment can also be applied to a distributed scene, and is completed by the cooperation of a plurality of devices, the mobile terminal and the app program thereof. In such a distributed scenario, one of the multiple devices may only perform one or more steps of the method of one or more embodiments of the present disclosure, and the multiple devices may interact with each other to complete the method. In addition, the embodiment can also be deployed completely at the cloud, and the operation executing terminal is accessed and edited by depending on a browser.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
For convenience of description, the above devices are described as being divided into various modules by functions, and are described separately. Of course, the functionality of the modules may be implemented in the same one or more software and/or hardware implementations in implementing one or more embodiments of the present description.
The apparatus of the foregoing embodiment is used to implement the corresponding method in the foregoing embodiment, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.
Fig. 7 is a schematic diagram illustrating a more specific hardware structure of a computer device according to this embodiment, where the device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein the processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 are communicatively coupled to each other within the device via bus 1050.
The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute related programs to implement the technical solutions provided in the embodiments of the present disclosure.
The Memory 1020 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, or the like. The memory 1020 may store an operating system and other application programs, and when the technical solutions provided by the embodiments of the present specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and called by the processor 1010 for execution.
The input/output interface 1030 is used for connecting an input/output module to input and output information. The i/o module may be configured as a component in a device (not shown) or may be external to the device to provide a corresponding function. The input devices may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices may include a display, a speaker, a vibrator, an indicator light, etc.
The bus 1050 includes a path to transfer information between various components of the device, such as the processor 1010, memory 1020, input/output interface 1030, and communication interface 1040.
It should be noted that although the above-mentioned device only shows the processor 1010, the memory 1020, the input/output interface 1030, the communication interface 1040 and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, those skilled in the art will appreciate that the above-described apparatus may also include only those components necessary to implement the embodiments of the present description, and not necessarily all of the components shown in the figures.
Computer-readable media of the present embodiments, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the spirit of the present disclosure, features from the above embodiments or from different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present description as described above, which are not provided in detail for the sake of brevity.
In addition, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown in the provided figures, for simplicity of illustration and discussion, and so as not to obscure one or more embodiments of the disclosure. Furthermore, devices may be shown in block diagram form in order to avoid obscuring the understanding of one or more embodiments of the present description, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the one or more embodiments of the present description are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that one or more embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.
While the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic ram (dram)) may use the discussed embodiments.
Although the present application provides method steps as in embodiments or flowcharts, additional or fewer steps may be included based on routine or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. When an actual apparatus or client product executes, it may execute sequentially or in parallel (e.g., in the context of parallel processors or multi-threaded processing) according to the embodiments or methods shown in the figures.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, apparatus (system) or computer program product. Accordingly, embodiments of the present description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment. In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The terms "upper", "lower", and the like, indicate orientations or positional relationships that are based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application is not limited to any single aspect, nor is it limited to any single embodiment, nor is it limited to any combination and/or permutation of these aspects and/or embodiments. Moreover, each aspect and/or embodiment of the present application may be utilized alone or in combination with one or more other aspects and/or embodiments thereof.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present disclosure, and the present disclosure should be construed as being covered by the claims and the specification.
Claims (12)
1. A welding gun control method, characterized by comprising the steps of:
acquiring a set path of a welding gun;
acquiring coordinates corresponding to a plurality of short circuit transitions of a welding gun during welding;
determining a first short circuit transition frequency on a first side of the set path of the welding gun within a first set time according to the set path of the welding gun and the acquired coordinates corresponding to a plurality of short circuit transitions of the welding gun during welding; and determining a second short circuit transition number on a second side of the set path of the welding gun within a second set time; the first set time and the second set time are equal, and the first set time and the second set time at least comprise a quarter period of a welding gun swing period;
and adjusting the horizontal position of the welding gun according to the first short circuit transition frequency and the second short circuit transition frequency.
2. The welding gun control method according to claim 1, wherein the adjusting the horizontal position of the welding gun according to the first short circuit transition frequency and the second short circuit transition frequency specifically comprises:
comparing the first short circuit transition times with the second short circuit transition times; when the first short circuit transition frequency is larger than the second short circuit transition frequency, controlling the welding gun to move to the first side of the set path;
and when the first short circuit transition frequency is smaller than the second short circuit transition frequency, controlling the welding gun to move to the second side.
3. The weld gun control method according to claim 2, further comprising
Calculating a horizontal position compensation amount according to the following formula to control and adjust the distance of the welding gun for horizontal position adjustment according to the horizontal position compensation amount:
wherein V represents the horizontal position compensation amount, K i1 Denotes the left-end compensation coefficient, K p1 And indicating a right-end compensation coefficient, delta indicating the difference value of the first short circuit transition times and the second short circuit transition times, and i indicating the number of acquisition cycles.
4. The welding gun control method according to any one of claims 1 to 3, further comprising:
determining a third short circuit transition frequency of the welding gun in the first central area according to the set path of the welding gun and the obtained coordinates corresponding to the plurality of short circuit transitions of the welding gun during welding; and determining a fourth number of short circuit transitions of the torch within the second center region;
and adjusting the vertical position of the welding gun according to the third short circuit transition frequency and the fourth short circuit transition frequency.
5. The welding gun control method according to claim 4, characterized by comparing the third short circuit transition number and the fourth short circuit transition number;
when the third short circuit transition frequency is larger than the fourth short circuit transition frequency, controlling the welding gun to move downwards;
and when the third short circuit transition frequency is smaller than the fourth short circuit transition frequency, controlling the welding gun to move upwards.
6. The welding gun control method according to claim 5,
calculating a vertical position compensation amount according to the following formula so as to control and adjust the distance of the welding gun for vertical position adjustment according to the vertical position compensation amount:
wherein H represents the vertical position compensation amount, K i2 Represents the upper position compensation coefficient, K p2 And the lower position compensation coefficient is represented, gamma represents the difference value of the third short circuit transition frequency and the fourth short circuit transition frequency, and i represents the number of acquisition cycles.
7. A welding machine, comprising:
the data acquisition module is used for acquiring a set path of the welding gun; the coordinate system is used for acquiring coordinates corresponding to a plurality of short circuit transitions of the welding gun during welding;
the data processing module is used for determining the first short circuit transition times on the first side of the set path of the welding gun within a first set time according to the set path of the welding gun and the acquired coordinates corresponding to the plurality of short circuit transitions of the welding gun during welding; and determining a second short circuit transition number on a second side of the set path of the welding gun within a second set time; the first set time and the second set time are equal, and the first set time and the second set time at least comprise a quarter period of a swing period of the welding gun; and adjusting the horizontal position of the welding gun according to the first short circuit transition frequency and the second short circuit transition frequency.
8. The welding machine of claim 7, wherein the data processing module is further configured to compare the first short circuit transition number to the second short circuit transition number; when the first short circuit transition frequency is larger than the second short circuit transition frequency, controlling the welding gun to move to the first side of the set path; and when the first short circuit transition frequency is smaller than the second short circuit transition frequency, controlling the welding gun to move to the second side.
9. The welding machine according to claim 8, wherein the data processing module is further configured to determine a third number of short circuit transitions of the welding gun in the first central region according to the set path of the welding gun and the obtained coordinates corresponding to the plurality of short circuit transitions of the welding gun during welding; and determining a fourth number of short circuit transitions of the torch within the second center region; and adjusting the vertical position of the welding gun according to the third short circuit transition frequency and the fourth short circuit transition frequency.
10. The welder of claim 9, wherein the data processing module is further configured to compare the third number of short circuit transitions to the fourth number of short circuit transitions; when the third short circuit transition frequency is larger than the fourth short circuit transition frequency, controlling the welding gun to move downwards; and when the third short circuit transition times are smaller than the fourth short circuit transition times, controlling the welding gun to move upwards.
11. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the method of any of claims 1 to 6 when executing the computer program.
12. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for executing the method of any one of claims 1 to 6.
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| CN202210686177.6A CN114951910A (en) | 2022-06-16 | 2022-06-16 | Welding gun control method and device |
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