Welding gun switching method, spot welding robot and storage medium

Abstract

Embodiments of the present invention relate to the field of automation technology, and more particularly to a method for switching welding guns, a spot welding robot, and a storage medium. The method for switching welding guns is applied to a spot welding robot, which includes: a robot body, a spot welding device, an additional axis associated with the spot welding device, and a welding gun disposed on the spot welding device; wherein the additional axis is used to mount the associated spot welding device on the robot body; the method includes: determining whether the welding gun needs to be switched; if so, deactivating the additional axis associated with the current spot welding device on the spot welding robot body, and activating the target additional axis to be switched on the spot welding robot body, wherein the target additional axis is the additional axis associated with the spot welding device where a first target welding gun is located, and performing the spot welding process using the first target welding gun. This allows for the purpose of quickly switching welding guns by switching the spot welding device or the current welding gun of the spot welding device, thereby improving the efficiency of switching welding guns.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of automation technology, and in particular to a welding gun switching method, a spot welding robot, and a storage medium. Background Art

[0002] With the continuous improvement of automation and intelligent capabilities in spot welding operations, the application of spot welding robots is becoming increasingly widespread. To meet the demands of fast and efficient production lines and enable different welding processes at the same workstation, research into the spot welding robot's gun switching system has become particularly important. The gun switching system is a crucial component of the spot welding robot system and significantly impacts the entire process. Rapid gun switching reduces waiting time and plays a significant role in improving efficiency.

[0003] The inventors discovered that the current quick-change function of spot welding robots is primarily achieved through a gun changer. The robot system controls the signal and power supply to the welding gun, and then controls the gun changer to engage and disengage the welding gun, thereby achieving the disengagement between the robot body and the welding gun. This method can only use one welding gun at a time. If the process needs to be changed, the spot welding operation can only be continued after changing the gun using the gun changer. In work scenarios that require frequent switching of welding guns, this is not conducive to the stable operation of the spot welding gun and affects the welding efficiency of the welding gun. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a method for switching welding guns, a spot welding robot and a storage medium, so that the purpose of quickly switching welding guns can be achieved by switching spot welding equipment or switching the current welding gun of the spot welding equipment, thereby improving the efficiency of switching welding guns.

[0005] To solve the above technical problems, an embodiment of the present invention provides a method for switching welding guns, including: the method is applied to a spot welding robot, the spot welding robot comprising: a robot body, a spot welding device mounted on the robot body, an additional axis associated with the spot welding device, and a welding gun provided on the spot welding device; wherein the additional axis is used to mount the associated spot welding device on the robot body; the method comprises: judging whether it is necessary to switch the welding gun; if so and only one welding gun is configured on the current spot welding device, deactivating the additional axis associated with the current spot welding device on the spot welding robot body, and activating the target additional axis to be switched on the spot welding robot body, wherein the target additional axis is the additional axis associated with the target spot welding device where a first target welding gun is located, and using the first target welding gun to perform the spot welding process.

[0006] An embodiment of the present invention also provides a spot welding robot, comprising: a robot body, a spot welding device mounted on the robot body, an additional axis associated with the spot welding device, and a welding gun arranged on the spot welding device; wherein the additional axis is used to mount the associated spot welding device on the robot body; the robot body is provided with at least one processor and a memory communicatively connected to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the above-mentioned method of switching the welding gun.

[0007] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program, wherein the computer program implements the above-mentioned method for switching welding guns when executed by a processor.

[0008] Compared to related art, the present invention provides a method for switching welding guns for a spot welding robot. The spot welding robot includes a robot body, a spot welding device mounted on the robot body, an additional axis associated with the spot welding device, and a welding gun mounted on the spot welding device. The additional axis is used to mount the associated spot welding device on the robot body. The method includes determining whether the welding gun needs to be switched. If so, deactivating the additional axis associated with the current spot welding device on the spot welding robot body and activating a target additional axis to be switched on the spot welding robot body, wherein the target additional axis is the additional axis associated with the spot welding device where a first target welding gun is located, and performing a spot welding process using the first target welding gun. This method allows for rapid switching of welding guns by switching the spot welding device or the current welding gun of the spot welding device, thereby improving the efficiency of switching welding guns.

[0009] In addition, the method further includes: when it is determined that the welding gun needs to be switched and the current spot welding device is equipped with two welding guns, saving information of the welding gun installed on the current spot welding device before the switching to the spot welding robot; activating information of another welding gun on the current spot welding device, and performing the spot welding process using the other welding gun. This facilitates rapid switching of welding guns within a spot welding device.

[0010] In addition, the welding gun information includes the zero point position and angle when the welding gun is removed, which helps the spot welding robot to quickly switch the welding gun.

[0011] In addition, the method further includes: when a plurality of welding guns are installed on the target spot welding device and the first target welding gun is not the welding gun currently used by the target spot welding device, after activating the target additional axis to be switched on the spot welding robot body, switching the first target welding gun to the welding gun currently used by the target spot welding device.

[0012] In addition, at least two spot welding devices are provided on the body of the spot welding robot, and each of the spot welding devices is equipped with at least one welding gun.

[0013] In addition, the method further includes: before operating the spot welding robot, installing the spot welding equipment on the main body of the spot welding robot, associating each of the spot welding equipment with each of the additional axes, and setting the current welding gun of the spot welding equipment on each of the spot welding equipment. This facilitates switching welding guns within the spot welding equipment under complex working conditions.

[0014] Furthermore, setting the current welding gun of each spot welding device includes: when at least two welding guns are configured on the spot welding device, selecting only one welding gun as the currently used welding gun installed on the spot welding device; and when one welding gun is configured on the spot welding device, selecting the one welding gun as the currently used welding gun installed on the spot welding device. Installing one currently used welding gun on each device facilitates rapid switching of welding guns. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0016] Figure 1 This is a process of a method for switching welding guns according to an embodiment of the present invention. Figure 1 ;

[0017] Figure 2 This is a process of a method for switching welding guns according to an embodiment of the present invention. Figure 2 ;

[0018] Figure 3 This is a process of a method for switching welding guns according to an embodiment of the present invention. Figure 3 ;

[0019] Figure 4 It is a schematic structural diagram of a spot welding robot according to one embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, each embodiment of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be understood by those skilled in the art that in each embodiment of the present invention, many technical details are provided to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in this application can be implemented. The division of the following embodiments is for convenience of description and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined with each other and referenced to each other under the premise that there is no contradiction.

[0021] A first embodiment of the present invention relates to a method for switching welding guns, which is applied to a spot welding robot. The spot welding robot includes: a robot body, a spot welding device mounted on the robot body, an additional axis associated with the spot welding device, and a welding gun disposed on the spot welding device. The additional axis is used to mount the associated spot welding device on the robot body. In this embodiment, the method includes: determining whether the welding gun needs to be switched; if so, deactivating the additional axis associated with the current spot welding device on the spot welding robot body, activating a target additional axis to be switched on the spot welding robot body, wherein the target additional axis is the additional axis associated with the spot welding device where a first target welding gun is located, and performing a spot welding process using the first target welding gun. This method allows for rapid switching of welding guns by switching the current welding gun of the spot welding device, thereby improving the efficiency of switching welding guns.

[0022] The following is a detailed description of the implementation details of the welding gun switching method of this embodiment. The following content is only provided for ease of understanding and is not necessary for implementing this solution.

[0023] The method for switching the welding gun in this embodiment is as follows Figure 1 As shown, the specific steps include:

[0024] Step 101: Determine whether the welding gun needs to be switched.

[0025] In one example, the spot welding robot body is provided with at least two spot welding devices, or multiple ones. In this application, two spot welding devices are taken as an example, and each spot welding device is equipped with at least one welding gun. After the relevant equipment of the spot welding robot is configured, the spot welding robot is run. Since the spot welding robot may save the welding gun from the last work, after starting, it will first determine whether the welding gun needs to be switched.

[0026] Step 102: If only one welding gun is installed on the current spot welding device, the additional axis associated with the current spot welding device on the spot welding robot body is deactivated, and the target additional axis to be switched is activated on the spot welding robot body, wherein the target additional axis is the additional axis associated with the target spot welding device where the first target welding gun is located, and the spot welding process is performed using the first target welding gun.

[0027] Specifically, when only one welding gun is installed on the spot welding equipment, after the spot welding robot confirms that the welding gun needs to be switched, the additional axis associated with the current spot welding equipment on the spot welding robot body is deactivated, and the target additional axis to be switched is activated on the spot welding robot body, where the target additional axis is the additional axis associated with the spot welding equipment where the first target welding gun is located. After switching the welding gun, the spot welding robot performs the spot welding project, that is, performs the spot welding work.

[0028] In one example, before running the spot welding robot, the spot welding robot needs to be configured, specifically including first installing a spot welding device on the body of the spot welding robot. There can be multiple spot welding devices, and each spot welding device is associated with an additional axis. The association facilitates subsequent rapid switching of welding guns, and the current welding gun of the spot welding device is set on each spot welding device. When at least two welding guns are installed on the spot welding device, only one welding gun is selected as the current welding gun installed on the spot welding device; when one welding gun is set on the spot welding device, the one welding gun is used as the current welding gun installed on the spot welding device.

[0029] Compared to related art, the present invention provides a method for switching welding guns for a spot welding robot. The spot welding robot includes a robot body, a spot welding device mounted on the robot body, an additional axis associated with the spot welding device, and a welding gun disposed on the spot welding device. The additional axis is used to mount the associated spot welding device on the robot body. The method includes determining whether the welding gun needs to be switched. If so, deactivating the additional axis associated with the current spot welding device on the spot welding robot body and activating the target additional axis to be switched on the spot welding robot body, wherein the target additional axis is the additional axis associated with the spot welding device where a first target welding gun is located, and performing the spot welding process using the first target welding gun. When only one welding gun is mounted on the spot welding device, the method allows for quick switching of welding guns by switching the spot welding device, thereby improving the efficiency of switching welding guns.

[0030] One embodiment of the present invention relates to a method for switching welding guns. The second embodiment is substantially similar to the first embodiment, with the primary difference being that, in the aforementioned embodiment, each spot welding device is equipped with only one welding gun. In this embodiment, each spot welding device is equipped with two welding guns. Furthermore, those skilled in the art will appreciate that when a spot welding robot performs a spot welding task, some robots may be equipped with multiple spot welding devices and multiple welding guns. This embodiment uses the example of each spot welding device being equipped with two welding guns to describe how to switch between two welding guns on a single spot welding device.

[0031] The method for switching the welding gun in this embodiment is as follows Figure 2 As shown, the specific steps include:

[0032] Step 201: Determine whether the welding gun needs to be switched.

[0033] Step 202: Determine whether the current spot welding equipment is equipped with two welding guns.

[0034] This step is similar to step 102. Taking the example of configuring two welding guns on each spot welding device, after configuring the relevant equipment of the spot welding robot, the spot welding robot is run and determines whether two welding guns are installed on the spot welding device.

[0035] Step 203: When it is determined that the welding gun needs to be switched and two welding guns are configured on the current spot welding device, the information of the welding gun installed on the current spot welding device before the switching is saved to the spot welding robot; the information of the other welding gun is activated on the current spot welding device, and the spot welding process is performed using the other welding gun.

[0036] Specifically, when the robot determines that two welding guns are configured on the spot welding equipment, when the spot welding robot needs to switch the welding guns, that is, the information of one welding gun installed on the current spot welding equipment is saved to the spot welding robot, and the information of the other welding gun is downloaded to the additional axis associated with the current spot welding equipment. The information of the welding gun is the zero point position and angle of the welding gun when the gun is removed. After switching the welding guns, the spot welding robot performs the spot welding project, that is, performs the spot welding work.

[0037] In one example, before running the spot welding robot, the spot welding robot needs to be configured. Each spot welding device and welding gun can be preset with a serial number in advance, so that after installation, the spot welding device corresponds to the additional axis and the welding gun on the spot welding device. When replacing the welding gun in a spot welding device, the robot saves the information of one welding gun on the spot welding robot itself, and at the same time, the spot welding robot downloads the information of the other welding gun directly to the corresponding spot welding device. For example: Spot welding device No. 1 is equipped with two welding guns A and B. When welding gun A is switched to welding gun B, the robot will save the information of welding gun A on the spot welding robot itself, and download the information of welding gun B directly to spot welding device No. 1. Spot welding device No. 1 does not need to read or do anything else.

[0038] The above-mentioned configuration of the spot welding robot specifically includes: first installing a spot welding device on the body of the spot welding robot, and there may be multiple spot welding devices. Each spot welding device is associated with an additional axis, and the association facilitates subsequent rapid switching of welding guns. The current welding gun of the spot welding device is set on each spot welding device. When at least two welding guns are configured on the spot welding device, only one welding gun is selected as the current welding gun installed on the spot welding device; when one welding gun is provided on the spot welding device, the one welding gun is used as the current welding gun installed on the spot welding device.

[0039] Compared with the related art, the embodiment of the present invention is a method for switching welding guns applied to a spot welding robot, which includes a robot body, a spot welding device mounted on the robot body, an additional axis associated with the spot welding device, and a device.

[0040] The welding gun is mounted on the spot welding device; wherein the additional axis is used to mount the associated spot welding device on the robot body; the method comprises: determining whether it is necessary to switch the welding gun; if so, switching the spot welding robot body to the current spot welding device.

[0041] The additional axis to be switched is deactivated, and the target additional axis to be switched is activated on the spot welding robot body, wherein the target additional axis is the additional axis associated with the spot welding device where the first target welding gun is located, and the spot welding process is performed using the first target welding gun.

[0042] When the spot welding device is equipped with two welding guns, the purpose of switching the welding guns can be achieved on the spot welding device.

[0043] One embodiment of the present invention provides another method for switching welding guns, such as Figure 3 shown.

[0044] 0 Step 301, determine whether it is necessary to switch the welding gun.

[0045] Step 302: A target spot welding device is equipped with multiple welding guns, and a first target welding gun is not a welding gun currently used by the target spot welding device.

[0046] Step 303: After the target additional axis to be switched is activated on the spot welding robot body, the first target welding gun is switched to the welding gun currently used by the target spot welding device.

[0047] 5 Specifically, take spot welding equipment No. 1 and No. 2, welding guns A, B, C, and D as an example, among which spot welding equipment No. 1 is equipped with

[0048] Welding guns A and B, welding gun A is the current welding gun of spot welding device No. 1, spot welding device No. 2 is equipped with C and D, welding gun C is the current welding gun of spot welding device No. 2, that is, this embodiment switches from the current welding gun A of spot welding device No. 1 to the welding gun D of spot welding device No. 2, welding gun C can be understood as the first target welding gun, and welding gun B can be understood as the second target welding gun. When the spot welding robot needs

[0049] When switching welding guns, first switch the welding gun A installed on the current spot welding device No. 1 to the first target welding gun C, and then switch from the first target welding gun C to the second target welding gun D on spot welding device No. 2.

[0050] Compared with the related art, the embodiment of the present invention is equivalent to combining the above two embodiments. The method of switching welding guns in this embodiment, when two spot welding devices are equipped with two welding guns, enables the welding gun of the current spot welding device to be quickly switched to the second target welding gun installed on the other spot welding device, thereby improving the efficiency of switching welding guns.

[0051] The steps of the above methods are divided only for clarity of description. When implementing, they can be combined into one step or some of the 5 steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent.

[0052] Adding insignificant modifications or introducing insignificant designs to the algorithm or process without changing the core design of the algorithm and process are all within the scope of protection of this patent.

[0053] An embodiment of the present invention provides a schematic structural diagram of a spot welding robot, as shown in FIG. Figure 4As shown, the spot welding robot includes: a robot body 1, a spot welding device mounted on the robot body, an additional axis associated with the spot welding device (some components in the figure are not shown), and a welding gun provided on the spot welding device (some components in the figure are not shown); wherein, the additional axis is used to mount the associated spot welding device on the robot body; the robot body is provided with at least one processor and a memory communicatively connected to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to execute the method for switching the welding gun in the above embodiment.

[0054] Specifically, when the spot welding equipment is equipped with only one welding gun:

[0055] Before running the spot welding robot, it is necessary to configure the spot welding robot. Specifically, the robot is first installed with a spot welding device on the main body of the spot welding robot. There can be multiple spot welding devices, and each spot welding device is associated with an additional axis. This association facilitates the subsequent rapid switching of welding guns. The current welding gun of the spot welding device is set on each spot welding device. When at least two welding guns are installed on the spot welding device, only one welding gun is selected as the current welding gun installed on the spot welding device; when the spot welding device is equipped with one welding gun, the one welding gun is used as the current welding gun installed on the spot welding device. After the spot welding robot confirms that the welding gun needs to be switched, it deactivates the additional axis associated with the current spot welding device on the main body of the spot welding robot and then activates the target additional axis to be switched on the main body of the spot welding robot. The target additional axis is the additional axis associated with the spot welding device where the first target welding gun is located. After switching the welding guns, the spot welding robot performs the spot welding process, i.e., performs the spot welding work.

[0056] Specifically, when the spot welding equipment is equipped with two welding guns:

[0057] When a spot welding robot needs to switch welding guns, it saves the information of one welding gun installed on the current spot welding device to the spot welding robot and downloads the information of the other welding gun to the additional axis associated with the current spot welding device. The welding gun information is the zero position and angle of the welding gun when the gun is removed. After switching the welding guns, the spot welding robot performs the spot welding process, i.e., performs the spot welding work. Before running the spot welding robot, it needs to be configured. Each spot welding device and welding gun can be pre-set with a serial number so that after installation, the spot welding device is associated with the additional axis and the welding gun on the spot welding device. When replacing a welding gun in a spot welding device, the robot saves the information of one welding gun on the spot welding robot itself and downloads the information of the other welding gun directly to the corresponding spot welding device. For example, if spot welding device No. 1 is equipped with two welding guns, A and B, when welding gun A is switched to welding gun B, the robot saves the information of welding gun A on the spot welding robot itself and downloads the information of welding gun B directly to spot welding device No. 1. Spot welding device No. 1 does not need to read or perform other operations.

[0058] Specifically, when switching from a welding gun installed on a current spot welding device to a second target welding gun installed on another spot welding device.

[0059] Specifically, taking spot welding devices No. 1 and No. 2, and welding guns A, B, C, and D as an example, spot welding device No. 1 is equipped with welding guns A and B, with welding gun A being the current welding gun of spot welding device No. 1. Spot welding device No. 2 is equipped with welding guns C and D, with welding gun C being the current welding gun of spot welding device No. 2. This embodiment implements switching from the current welding gun A of spot welding device No. 1 to welding gun D of spot welding device No. 2. Welding gun C can be understood as the first target welding gun, and welding gun D can be understood as the second target welding gun. When the spot welding robot needs to switch welding guns, welding gun A installed on the current spot welding device No. 1 is first switched to the first target welding gun C, and then the first target welding gun C is switched to the second target welding gun D on spot welding device No. 2.

[0060] The memory and processor are connected using a bus, which can include any number of interconnected buses and bridges. The bus connects various circuits of one or more processors and memories. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits. These are all well known in the art and are therefore not described further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be a single component or multiple components, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by the processor is transmitted over a wireless medium via an antenna. Furthermore, the antenna receives data and transmits it to the processor.

[0061] The processor is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory can be used to store data used by the processor when performing operations.

[0062] One embodiment of the present invention relates to a computer-readable storage medium storing a computer program, which implements the above method embodiment when executed by a processor.

[0063] That is, those skilled in the art will understand that all or part of the steps in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a program, which is stored in a storage medium and includes a number of instructions for causing a device (which may be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc., various media that can store program code.

[0064] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present invention, and that in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A method for switching a welding gun, characterized in that: Applicable to a spot welding robot, the spot welding robot comprising: a robot body, a spot welding device mounted on the robot body, an additional axis associated with the spot welding device, and a welding gun provided on the spot welding device; wherein the additional axis is used to mount the associated spot welding device on the robot body; The method comprises: Determining whether the welding gun needs to be switched; If only one welding gun is configured and installed on the current spot welding device, the additional axis associated with the current spot welding device on the spot welding robot body is deactivated, and the target additional axis to be switched is activated on the spot welding robot body, wherein the target additional axis is the additional axis associated with the target spot welding device where the first target welding gun is located, and the spot welding process is performed using the first target welding gun; When it is determined that the welding gun needs to be switched and two welding guns are configured on the current spot welding device, the information of the welding gun installed on the current spot welding device before the switching is saved to the spot welding robot; the information of the other welding gun is activated on the current spot welding device, and the spot welding process is performed using the other welding gun.

2. The method for switching welding guns according to claim 1, characterized in that: The welding gun information is the zero point position and angle of the welding gun when it is unhooked.

3. The method for switching welding guns according to claim 1, characterized in that: The method further comprises: In a case where a plurality of welding guns are configured on the target spot welding device and the first target welding gun is not the welding gun currently used by the target spot welding device, after activating the target additional axis to be switched on the spot welding robot body, the first target welding gun is switched to the welding gun currently used by the target spot welding device.

4. The method for switching welding guns according to any one of claims 1 to 3, characterized in that: At least two spot welding devices are provided on the body of the spot welding robot, and each of the spot welding devices is equipped with at least one welding gun.

5. The method for switching welding guns according to claim 1, characterized in that: The method further comprises: Before operating the spot welding robot, the spot welding devices are installed on the body of the spot welding robot, each of the spot welding devices is associated with each of the additional axes, and a current welding gun of the spot welding device is set on each of the spot welding devices.

6. The method for switching welding guns according to claim 5, characterized in that: The step of setting the current welding gun of the spot welding device on each of the spot welding devices specifically includes: When the spot welding device is equipped with at least two welding guns, only one welding gun is selected as the current welding gun installed on the spot welding device; When the spot welding device is provided with one welding gun, the one welding gun is used as the current welding gun installed on the spot welding device.

7. A spot welding robot, characterized in that: include: A robot body, a spot welding device mounted on the robot body, an additional axis associated with the spot welding device, and a welding gun provided on the spot welding device; wherein the additional axis is used to mount the associated spot welding device on the robot body; The robot body is provided with at least one processor and a memory in communication with the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the welding gun switching method according to any one of claims 1 to 6.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the welding gun switching method according to any one of claims 1 to 6 is implemented.

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