A method, apparatus, equipment, and medium for calling welding trajectory coordinates.

Abstract

This invention provides a method, apparatus, device, and medium for recalling welding trajectory coordinates, relating to the welding field. The method includes: upon detecting sensing information at any turntable station, determining the target fixture number of the target fixture at the current welding station, wherein the turntable station includes the current welding station; determining a recall instruction from a preset trajectory coordinate mapping library based on the target fixture number, the recall instruction instructing the welding equipment to perform welding on the target fixture according to the target trajectory coordinates; the sensing information is generated after the distance between the identification sensor at the turntable station and the preset fixture carrying the sensing block is less than a preset distance. This invention not only enables dynamic recall of welding trajectory coordinates at the welding station during turntable rotation, avoiding errors caused by inconsistent relative positions of the fixtures, but also reduces the number of sensing blocks required, lowering production costs and improving operational efficiency.

Description

Technical Field

[0001] This invention relates to the field of welding, and more particularly to a method, apparatus, equipment, and medium for retrieving welding trajectory coordinates. Background Technology

[0002] In a multi-station rotary welding station, the coordinates of the corresponding welding trajectory point are usually called according to the target fixture on the current welding station to achieve precise welding.

[0003] However, in actual operation, since the fixture with the sensing block is not always at the current welding station, it is impossible to know the number of the target fixture at the current welding station, and thus it is impossible to call the coordinates of the welding trajectory point. Summary of the Invention

[0004] This invention provides a method, apparatus, device, and medium for calling welding trajectory coordinates, which solves the technical defect of existing technology that cannot identify the fixture number on the current welding station, and provides a technical solution for identifying the fixture number on the current welding station based on any turntable station.

[0005] In a first aspect, the present invention provides a method for calling welding trajectory coordinates, comprising:

[0006] Upon detecting sensor information at any turntable station, determine the target fixture number of the target fixture at the current welding station, where the turntable station includes the current welding station;

[0007] Based on the target fixture number, a call instruction is determined from a preset trajectory coordinate mapping library. The call instruction is used to instruct the welding equipment to be called to weld the welding target of the target fixture according to the target trajectory coordinates.

[0008] The sensing information is generated after the distance between the identification sensor on the turntable station and the preset fixture carrying the sensing block is less than a preset distance;

[0009] The preset trajectory coordinate mapping library is determined based on the correspondence between preset fixture numbers and preset trajectory coordinates.

[0010] This invention provides a method for calling welding trajectory coordinates, which further includes, before determining the target fixture number of the target fixture above the current welding station:

[0011] For any given fixture, determine the fixture number of the fixture;

[0012] Set any one of the fixtures as a preset fixture for carrying the sensor block, and determine the corresponding marking fixture number of the preset fixture.

[0013] This invention provides a method for calling welding trajectory coordinates, wherein determining the target fixture number of the target fixture above the current welding station includes:

[0014] If the sensor information is detected at any turntable station, it is determined that the turntable station corresponds to the preset fixture.

[0015] Based on the positional relationship between the marked fixture number and the turntable station, the target fixture number of the target fixture above the current welding station is determined.

[0016] This invention provides a method for calling welding trajectory coordinates, wherein determining the target fixture number of the target fixture above the current welding station based on the positional relationship between the marked fixture number and the turntable station includes:

[0017] Determine the first relative positional relationship between the marked fixture number and each fixture number;

[0018] Determine the second relative positional relationship between the current welding station and each turntable station;

[0019] The marked fixture number is processed according to the first relative position relationship and the second relative position relationship to determine the target fixture number of the target fixture above the current welding station.

[0020] This invention provides a method for calling welding trajectory coordinates, wherein determining the target fixture number of the target fixture above the current welding station based on the positional relationship between the marked fixture number and the turntable station includes:

[0021] Obtain the current rotation angle of the turntable motor;

[0022] The target fixture number of the target fixture above the current welding station is determined based on the current rotation angle.

[0023] This invention provides a method for retrieving welding trajectory coordinates. Before determining the target fixture number of the target fixture at the current welding station after recognizing the sensing information at any turntable station, the method further includes:

[0024] For any given fixture, determine the fixture number and set a sensor block with different identification features on each fixture;

[0025] Construct a correspondence between sensing blocks with different recognition features and different sensing information;

[0026] The identification features include at least one of the following: sensor block type features, sensor block quantity features, and sensor block orientation features;

[0027] The orientation features of the sensing blocks include multiple sensing blocks arranged in the horizontal direction, which have different characteristics due to their different relative positions after being identified by the identification sensor, and sensing blocks arranged in the vertical direction, which have different characteristics due to their different sensing strengths after being identified by the identification sensor.

[0028] This invention provides a method for calling welding trajectory coordinates. Before determining the calling instruction from a preset trajectory coordinate mapping library, the method further includes:

[0029] Obtain all target position data of the welding target corresponding to the target fixture number from all position sensing data, wherein all target position data includes at least the position parameters of each clamping part that is relatively set for clamping the welding target;

[0030] If the position parameter is less than a first preset value or greater than a second preset value, a control command is generated. The control command is used to instruct the clamping part to move back and forth to clamp the welding target.

[0031] The present invention provides a method for calling welding trajectory coordinates, wherein the clamping part is a cylinder, and each cylinder includes four input and output buses, which are respectively used to control the cylinder's forward movement, backward movement, position sensing data of the cylinder's forward movement, and position sensing data of the cylinder's backward movement.

[0032] The four cylinders are respectively disposed on the outer surface of the welding target in the horizontal direction;

[0033] For each fixture, an input / output control submodule is set up, and the input / output control submodule is connected to all input / output buses of all cylinders corresponding to the fixture.

[0034] All input / output control submodules are connected to the device bus in the main line conduit.

[0035] Secondly, the present invention provides a device for calling welding trajectory coordinates, comprising:

[0036] The first determining module is used to determine the target fixture number of the target fixture at the current welding station when sensing information at any turntable station is detected, wherein the turntable station includes the current welding station;

[0037] The second determining module is used to determine a calling instruction from a preset trajectory coordinate mapping library according to the target fixture number. The calling instruction is used to instruct the welding equipment to be called to weld the welding target of the target fixture according to the target trajectory coordinates.

[0038] The sensing information is generated after the distance between the identification sensor on the turntable station and the preset fixture carrying the sensing block is less than a preset distance;

[0039] The preset trajectory coordinate mapping library is determined based on the correspondence between preset fixture numbers and preset trajectory coordinates.

[0040] Thirdly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for calling the welding trajectory coordinates.

[0041] Fourthly, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for invoking welding trajectory coordinates as described above.

[0042] This invention provides a method, apparatus, device, and medium for calling welding trajectory coordinates. It determines the distance between the identification sensor at the turntable station and the preset fixture carrying the induction block is less than a preset distance. Upon detecting induction information at any turntable station, it determines the target fixture number of the target fixture at the current welding station. Based on the target fixture number, it determines a calling instruction from a preset trajectory coordinate mapping library. Then, it calls the welding equipment to weld the target fixture according to the target trajectory coordinates. This invention enables the preset fixture carrying the induction block to determine the target fixture number above the current welding station based on the induction information, as long as it is identified by the identification sensor, thereby achieving welding of the target. This invention not only dynamically calls the welding trajectory coordinates of the welding station during turntable rotation, avoiding errors caused by inconsistent relative positions of the fixtures, but also reduces the number of induction blocks required, lowering production costs and improving operational efficiency. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0044] Figure 1 This is one of the flowcharts illustrating the method for calling welding trajectory coordinates provided by the present invention;

[0045] Figure 2 This is the second flowchart illustrating the method for calling welding trajectory coordinates provided by the present invention;

[0046] Figure 3 This is a flowchart illustrating the process of determining the target fixture number provided by the present invention;

[0047] Figure 4 This is one of the flowcharts illustrating the process of determining the target fixture number provided by the present invention;

[0048] Figure 5 This is the second flowchart illustrating the process of determining the target fixture number of the target fixture provided by the present invention;

[0049] Figure 6 This is one of the structural schematic diagrams of the welding trajectory coordinate calling device provided by the present invention;

[0050] Figure 7 This is the second schematic diagram of the structure of the welding trajectory coordinate calling device provided by the present invention;

[0051] Figure 8 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0053] In multi-station rotary welding stations, because there are multiple sets of welding fixtures that change position as the rotary table rotates, the welding trajectory needs to handle the welding of multiple sets of fixtures simultaneously. This places high demands on the precision and consistency of each set of fixtures. If the positions of all fixtures relative to the welding station cannot be adjusted to a high level of consistency, welding trajectory deviation will occur, resulting in poor welding, or even damage to the battery, rendering it unusable. However, the adjustment is very difficult. Once loosening or misalignment occurs, readjusting and calibrating for consistency is time-consuming, labor-intensive, and challenging.

[0054] This invention provides a method that uses a proximity sensor to avoid errors caused by inconsistent relative positions of the fixtures, reduces the difficulty of adjusting the fixture position, reduces the risk of welding defects, and improves the welding pass rate. However, in actual use, due to the continuous rotation of the fixture on the turntable station, it is impossible to accurately identify the fixture number on the current welding station, thus making it impossible to call the corresponding welding trajectory point coordinates.

[0055] To address the aforementioned technical problems, this invention provides a method, apparatus, device, and medium for retrieving welding trajectory coordinates. Based on the use of proximity sensors, a proximity sensor is installed under all the fixtures at each workstation, and a sensing block is installed on one of the fixtures to detect the workstation where the fixture with this number is located. Then, through a program algorithm, the fixture number corresponding to the current welding workstation is calculated, and the corresponding welding trajectory point coordinates are retrieved according to the fixture number of the welding workstation. Figure 1 This is one of the flowcharts illustrating the method for calling welding trajectory coordinates provided by the present invention. The method includes:

[0056] Step 101: Upon detecting the sensing information at any turntable station, determine the target fixture number of the target fixture at the current welding station, where the turntable station includes the current welding station;

[0057] Step 102: Based on the target fixture number, determine the calling instruction from the preset trajectory coordinate mapping library. The calling instruction is used to instruct the welding equipment to be called to weld the welding target of the target fixture according to the target trajectory coordinates.

[0058] The sensing information is generated after the distance between the identification sensor on the turntable station and the preset fixture carrying the sensing block is less than a preset distance;

[0059] The preset trajectory coordinate mapping library is determined based on the correspondence between preset fixture numbers and preset trajectory coordinates.

[0060] In step 101, the present invention can set identification sensors on all stations on the turntable station. Among all the fixtures corresponding to the turntable station, one fixture is selected as a preset fixture, and a sensing block is set on the preset fixture. For example, if there are fixtures 1, 2, 3, 4, 5, 6, 7 and 8, the present invention can set a sensing block on fixture 1 or fixture 6. When the sensing information on any turntable station is detected, it is considered that the position of the fixture rotation corresponds to the turntable station and there is no positional deviation. At this time, it can be known that the sensing block is currently located at one of the turntable stations. Based on the relative position of this turntable station and the current welding station, the number of the fixture at the current welding station can be calculated according to the number on the preset fixture.

[0061] Optionally, the turntable station includes the current welding station. If the number of the preset fixture is 1, all fixtures are numbered in a clockwise direction, sequentially as fixture 2, fixture 3, fixture 4, fixture 5, fixture 6, fixture 7, and fixture 8. Similarly, for the turntable station, all stations can be marked in a clockwise direction, for example, station identifier 1, station identifier 2, station identifier 3, station identifier 4, station identifier 5, station identifier 6, station identifier 7, and station identifier 8. Station identifier 1 is currently at the current welding station. If the preset fixture with the sensing block is at station identifier 7, then the fixture corresponding to the current welding station should be fixture 7. If the preset fixture with the sensing block is at station identifier 3, then the fixture corresponding to the current welding station should be fixture 3.

[0062] Optionally, the sensing information is generated after the distance between the identification sensor on the turntable station and the preset fixture carrying the sensing block is less than a preset distance. In order to ensure that the positions of all fixtures relative to the welding station are highly consistent, the present invention can not only set the proximity sensor, but also continuously adjust the preset distance. The sensing information can only be identified when the preset fixture carrying the sensing block is accurately positioned above the identification sensor on the turntable station. Therefore, the preset distance will be set to the distance between the identification sensor and the preset fixture carrying the sensing block that is just less than the preset distance to generate the sensing information. The advantage of this approach is that it can better reduce the error caused by the inconsistency of the relative positions of the fixtures, thereby reducing the difficulty of adjusting the fixture position, reducing the risk of welding defects, and improving the welding qualification rate.

[0063] In step 102, the present invention first determines a preset trajectory coordinate mapping library based on the correspondence between preset fixture numbers and preset trajectory coordinates. After establishing the correspondence between each preset fixture number and its corresponding welding trajectory, the present invention only needs to determine the fixture number at the current welding station to realize the calling of the welding trajectory coordinates of its corresponding fixture. Optionally, according to the target fixture number, a calling instruction is determined from the preset trajectory coordinate mapping library. The calling instruction is used to instruct the welding equipment to be called to weld the welding target of the target fixture according to the target trajectory coordinates.

[0064] Optionally, before determining the target fixture number of the target fixture at the current welding station after identifying the sensing information at any turntable station, the method further includes:

[0065] For any given fixture, determine the fixture number and set a sensor block with different identification features on each fixture;

[0066] Construct a correspondence between sensing blocks with different recognition features and different sensing information;

[0067] The identification features include at least one of the following: sensor block type features, sensor block quantity features, and sensor block orientation features;

[0068] The orientation features of the sensing blocks include multiple sensing blocks arranged in the horizontal direction, which have different characteristics due to their different relative positions after being identified by the identification sensor, and sensing blocks arranged in the vertical direction, which have different characteristics due to their different sensing strengths after being identified by the identification sensor.

[0069] In one embodiment of the present invention, a sensing block is set on any fixture, and the fixture number at the current welding station is determined based on a corresponding algorithm. As another optional embodiment of the present invention, after determining the fixture number of each fixture, a sensing block with different identification features is set on each fixture, and a correspondence between the sensing block with different identification features and different sensing information is constructed to identify different sensing information. Thus, when the identification sensor at the current welding station identifies any sensing information, the fixture number corresponding to the sensing information can be directly determined.

[0070] Optionally, to distinguish different sensing information, at least one of the following can be used: sensing block type characteristics, sensing block quantity characteristics, and sensing block orientation characteristics. For example, the sensing block type characteristics can correspond to different types and strengths of sensing information identified by the recognition sensor, while the sensing block quantity characteristics can be combined with the sensing block type characteristics. For example, some recognition sensors can identify two or three sensing information on a certain fixture, while others can only identify one sensing information on a certain fixture. Another example is the sensing block orientation characteristics, which include the distinguishing features resulting from the different relative positions of multiple sensing blocks arranged horizontally after being identified by the recognition sensor. For example, matrix sensing information composed of multiple sensing blocks; circular sensing information composed of multiple sensing blocks; linear sensing information composed of multiple sensing blocks; discontinuous sensing information composed of multiple sensing blocks, etc.

[0071] Optionally, the orientation feature of the sensing block may also include the distinguishing features generated by the sensing blocks arranged in the vertical direction due to different sensing strengths after being identified by the identification sensor. In the vertical direction, different sensing blocks can be set at different heights, thereby dividing the area within a preset distance into multiple different height standards, corresponding to the distance between the identification sensor and different preset clamps carrying the sensing blocks, corresponding to different sensing intensities, and thus corresponding to different sensing information.

[0072] Optionally, before determining the invocation instruction from a preset trajectory coordinate mapping library, the method further includes:

[0073] Obtain all target position data of the welding target corresponding to the target fixture number from all position sensing data, wherein all target position data includes at least the position parameters of each clamping part that is relatively set for clamping the welding target;

[0074] If the position parameter is less than a first preset value or greater than a second preset value, a control command is generated. The control command is used to instruct the clamping part to move back and forth to clamp the welding target.

[0075] Optionally, the clamping part is a cylinder, and each cylinder includes four input and output buses, which are respectively used to control the cylinder's forward movement, backward movement, forward movement position sensing data, and backward movement position sensing data.

[0076] The four cylinders are respectively disposed on the outer surface of the welding target in the horizontal direction;

[0077] For each fixture, an input / output control submodule is set up, and the input / output control submodule is connected to all input / output buses of all cylinders corresponding to the fixture.

[0078] All input / output control submodules are connected to the device bus in the main line conduit.

[0079] Optionally, in order to improve the welding qualification rate, the present invention not only adopts proximity sensing to determine whether the relative position between the fixture and the turntable station meets the standard, but also judges whether the welding target to be welded is clamped at the welding station, thereby minimizing the risk of welding defects. Specifically, the present invention sets four cylinders in four directions of the welding target in the horizontal direction, and each cylinder is set with four adjustment points, corresponding to the position sensing data of controlling the cylinder to move forward, controlling the cylinder to move backward, the position sensing data of the cylinder moving forward, and the position sensing data of the cylinder moving backward.

[0080] Before determining the call instruction from the preset trajectory coordinate mapping library, all target position data corresponding to the welding target number are obtained from all position sensing data. The target position data includes at least the position parameters of each clamping part relative to the welding target for clamping. If the position parameter is less than a first preset value or greater than a second preset value, it is considered that the position sensing data of the cylinder moving forward or the position sensing data of the cylinder moving backward may have a deviation in the clamping position of the welding target at the current welding station due to reasons such as turntable rotation, equipment aging, or electrical insufficiency. At this time, the clamping position needs to be adjusted, and then a control instruction is generated. The control instruction is used to instruct the clamping part to move back and forth to clamp the welding target. The movement of the clamping part to clamp the welding target is achieved by the forward movement of the control cylinder and the backward movement of the control cylinder.

[0081] Optionally, since each clamping cylinder in this invention has four input / output buses, and each clamping fixture requires four cylinders, and there are multiple clamping fixtures in this application, the number of input / output buses becomes excessive. From a physical perspective, the clamping part on each cylinder is connected to the rotating shaft of the turntable station via the input / output buses for overall wiring, further narrowing the already confined space of the main wiring conduit. This can lead to abnormal rotation of the rotating station and poor contact of the input / output buses. To solve this technical problem, this invention optionally provides an input / output control submodule for each clamping fixture, and connects the input / output buses through the input / output control submodule. This not only makes the wiring more aesthetically pleasing, but also reduces the number of wires connected to the main wiring conduit, thereby reducing abnormal rotation and poor contact caused by excessive wires and improving work efficiency.

[0082] This invention provides a method, apparatus, device, and medium for calling welding trajectory coordinates. It determines the distance between the identification sensor at the turntable station and the preset fixture carrying the induction block is less than a preset distance. Upon detecting induction information at any turntable station, it determines the target fixture number of the target fixture at the current welding station. Based on the target fixture number, it determines a calling instruction from a preset trajectory coordinate mapping library. Then, it calls the welding equipment to weld the target fixture according to the target trajectory coordinates. This invention enables the preset fixture carrying the induction block to determine the target fixture number above the current welding station based on the induction information, as long as it is identified by the identification sensor, thereby achieving welding of the target. This invention not only dynamically calls the welding trajectory coordinates of the welding station during turntable rotation, avoiding errors caused by inconsistent relative positions of the fixtures, but also reduces the number of induction blocks required, lowering production costs and improving operational efficiency.

[0083] Figure 2 This is a second flowchart illustrating the method for calling welding trajectory coordinates provided by the present invention. Before determining the target fixture number of the target fixture above the current welding station, the method further includes:

[0084] Step 201: For any fixture, determine the fixture number;

[0085] Step 202: Set any one of the fixtures as a preset fixture for carrying the sensor block, and determine the corresponding mark fixture number of the preset fixture.

[0086] In step 201, the present invention can number each clamp sequentially according to its relative position on the turntable in a clockwise or counterclockwise manner, for example, clamp 1, clamp 2, clamp 3, clamp 4, clamp 5, clamp 6, clamp 7, clamp 8, clamp 9 and clamp 10.

[0087] In step 202, the present invention can set any one of the clamps as a preset clamp carrying the sensing block. For example, the sensing block is set on clamp 5, that is, clamp 5 is the preset clamp, and 5 is the clamp number; or the sensing block is set on clamp 9, that is, clamp 9 is the preset clamp, and 9 is the clamp number.

[0088] Figure 3 This is a flowchart illustrating the process of determining the target fixture number provided by the present invention. The process of determining the target fixture number of the target fixture above the current welding station includes:

[0089] Step 301: If the sensor information of any turntable station is detected, determine that the turntable station corresponds to the preset fixture;

[0090] Step 302: Determine the target fixture number of the target fixture above the current welding station based on the positional relationship between the marked fixture number and the turntable station.

[0091] In step 301, when the sensing information of the sensor on any turntable station is detected, it is considered that each fixture is in the alignment state of the turntable station. At this time, the turntable station corresponding to the preset fixture carrying the sensing block can be determined according to the source of the sensing information.

[0092] In step 302, since the number of the preset fixture carrying the sensing block is known, and the orientation of the turntable station corresponding to the current preset fixture carrying the sensing block is known, this application can use a clockwise or counterclockwise method to number the preset fixture when making the preset number, so as to determine the target fixture number of the target fixture above the current welding station according to the positional relationship between the marked fixture number and the turntable station.

[0093] Figure 4 This is one of the flowcharts illustrating the process of determining the target fixture number of a target fixture according to the present invention. The step of determining the target fixture number of the target fixture above the current welding station based on the positional relationship between the marked fixture number and the turntable station includes:

[0094] Step 401: Determine the first relative positional relationship between the marked fixture number and each fixture number;

[0095] Step 402: Determine the second relative positional relationship between the current welding station and each turntable station;

[0096] Step 403: Process the marked fixture number according to the first relative position relationship and the second relative position relationship to determine the target fixture number of the target fixture above the current welding station.

[0097] In step 401, if the marking fixture number is 1, then its first relative position relationship can be understood as follows: fixture 8 is to the left of fixture 1, fixture 2 is to the right of fixture 1, fixture 3 is to the right of fixture 2, fixture 4 is to the right of fixture 3, and so on.

[0098] In step 402, if the current welding station is identified as 1, then its second relative position relationship can be understood as follows: turntable station 8 is to the left of the current welding station 1, turntable station 2 is to the right of the current welding station 1, turntable station 3 is to the right of turntable station 2, turntable station 4 is to the right of turntable station 3, and so on.

[0099] In step 403, the marked fixture number is processed according to the first relative position relationship and the second relative position relationship to determine the target fixture number of the target fixture above the current welding station. In conjunction with the embodiments in steps 401 to 402, if the turntable station that currently obtains sensing information is 6, that is, there is a sensing block on the turntable station 6, then the positional relationship between the marked fixture number and the turntable station is processed according to the first relative position relationship and the second relative position relationship. Since the identifier of the current welding station is 1, it is then concluded that the target fixture number of the target fixture above the current welding station is 6.

[0100] Figure 5 This is the second flowchart illustrating the process of determining the target fixture number of a target fixture according to the present invention. The step of determining the target fixture number above the current welding station based on the positional relationship between the marked fixture number and the turntable station includes:

[0101] Step 501: Obtain the current rotation angle of the turntable motor;

[0102] Step 502: Determine the target fixture number of the target fixture above the current welding station based on the current rotation angle.

[0103] In step 501, an angle sensor is installed in the turntable station to obtain the current rotation angle of the turntable motor.

[0104] In step 503, the present invention can record the fixture number on the current welding station when the turntable motor is not rotating, so as to continuously update the fixture number on the current welding station while continuously acquiring the current rotation angle. In such an embodiment, the fixture number on the current welding station can change once for each preset rotation angle, for example, by adding one to the original number.

[0105] In another embodiment, when sensing information is detected at any turntable station, the current rotation angle of the turntable motor is recorded. Based on the positional relationship between the marked fixture number and the turntable station, the target fixture number of the target fixture above the current welding station is determined. The accuracy of the target fixture number of the target fixture above the current welding station is verified based on the current rotation angle of the turntable motor.

[0106] Figure 6 This is one of the structural schematic diagrams of the welding trajectory coordinate recall device provided by the present invention, such as... Figure 6 As shown, the identification sensor is positioned above the rotary table station. In fact, the identification sensor can be positioned at any rotary table station. This invention does not impose any limit on the number of identification sensors. The sensing block is positioned on the fixture. The sensing block can be positioned on any fixture. The current welding station is located below the rotary table station. This invention aims to obtain the number of the fixture above the current welding station in order to call the welding trajectory coordinates.

[0107] Figure 7 This is the second structural schematic diagram of the welding trajectory coordinate recall device provided by the present invention. The present invention provides a welding trajectory coordinate recall device, including a first determining module 1. The first determining module is used to determine the target fixture number of the target fixture at the current welding station when the sensing information at any turntable station is detected. The turntable station includes the current welding station. The working principle of the first determining module 1 can be referred to the aforementioned step 101, and will not be repeated here.

[0108] The welding trajectory coordinate calling device further includes a second determining module 2. The second determining module is used to determine a calling instruction from a preset trajectory coordinate mapping library according to the target fixture number. The calling instruction is used to instruct the welding equipment to be called to weld the welding target of the target fixture according to the target trajectory coordinate. The working principle of the second determining module 2 can be referred to the aforementioned step 102, and will not be repeated here.

[0109] The sensing information is generated after the distance between the identification sensor on the turntable station and the preset fixture carrying the sensing block is less than a preset distance;

[0110] The preset trajectory coordinate mapping library is determined based on the correspondence between preset fixture numbers and preset trajectory coordinates.

[0111] This invention provides a method, apparatus, device, and medium for calling welding trajectory coordinates. It determines the distance between the identification sensor at the turntable station and the preset fixture carrying the induction block is less than a preset distance. Upon detecting induction information at any turntable station, it determines the target fixture number of the target fixture at the current welding station. Based on the target fixture number, it determines a calling instruction from a preset trajectory coordinate mapping library. Then, it calls the welding equipment to weld the target fixture according to the target trajectory coordinates. This invention enables the preset fixture carrying the induction block to determine the target fixture number above the current welding station based on the induction information, as long as it is identified by the identification sensor, thereby achieving welding of the target. This invention not only dynamically calls the welding trajectory coordinates of the welding station during turntable rotation, avoiding errors caused by inconsistent relative positions of the fixtures, but also reduces the number of induction blocks required, lowering production costs and improving operational efficiency.

[0112] Figure 8 This is a schematic diagram of the structure of the electronic device provided by the present invention. For example... Figure 8 As shown, the electronic device may include a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 can call logical instructions in the memory 830 to execute a method for calling welding trajectory coordinates. This method includes: upon detecting sensing information at any turntable station, determining the target fixture number of the target fixture at the current welding station, the turntable station including the current welding station; determining a calling instruction from a preset trajectory coordinate mapping library based on the target fixture number, the calling instruction instructing the welding equipment to weld the target fixture according to the target trajectory coordinates; the sensing information is generated after the distance between the identification sensor at the turntable station and the preset fixture carrying the sensing block is less than a preset distance; the preset trajectory coordinate mapping library is determined based on the correspondence between preset fixture numbers and preset trajectory coordinates.

[0113] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0114] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute a method for calling welding trajectory coordinates provided by the above methods. The method includes: upon recognizing sensing information at any turntable station, determining the target fixture number of the target fixture at the current welding station, wherein the turntable station includes the current welding station; determining a calling instruction from a preset trajectory coordinate mapping library based on the target fixture number, wherein the calling instruction is used to instruct the welding equipment to be called to weld the welding target of the target fixture according to the target trajectory coordinates; the sensing information is generated after the distance between the identification sensor at the turntable station and the preset fixture carrying the sensing block is less than a preset distance; the preset trajectory coordinate mapping library is determined according to the correspondence between preset fixture numbers and preset trajectory coordinates.

[0115] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements a method for invoking welding trajectory coordinates provided by the methods described above. This method includes: upon detecting sensing information at any turntable station, determining a target fixture number for a target fixture at the current welding station, the turntable station including the current welding station; determining a invoking instruction from a preset trajectory coordinate mapping library based on the target fixture number, the invoking instruction instructing a welding device to weld the welding target of the target fixture according to the target trajectory coordinates; the sensing information is generated after the distance between the identification sensor at the turntable station and the preset fixture carrying the sensing block is less than a preset distance; the preset trajectory coordinate mapping library is determined based on the correspondence between preset fixture numbers and preset trajectory coordinates.

[0116] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0117] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for calling welding trajectory coordinates, characterized in that, include: For any fixture, determine the fixture number of the fixture, set any fixture among all fixtures as a preset fixture that carries the sensing block, and determine the corresponding marking fixture number of the preset fixture; If the sensor information is detected at any turntable station, it is determined that the turntable station corresponds to the preset fixture, and the turntable station includes the current welding station; Based on the positional relationship between the marked fixture number and the turntable station, determine the target fixture number of the target fixture above the current welding station; Based on the target fixture number, a call instruction is determined from a preset trajectory coordinate mapping library. The call instruction is used to instruct the welding equipment to be called to weld the welding target of the target fixture according to the target trajectory coordinates. The sensing information is generated after the distance between the identification sensor on the turntable station and the preset fixture carrying the sensing block is less than a preset distance; The preset trajectory coordinate mapping library is determined based on the correspondence between preset fixture numbers and preset trajectory coordinates.

2. The method for calling welding trajectory coordinates according to claim 1, characterized in that, Determining the target fixture number of the target fixture above the current welding station based on the positional relationship between the marked fixture number and the turntable station includes: Determine the first relative positional relationship between the marked fixture number and each fixture number; Determine the second relative positional relationship between the current welding station and each turntable station; The marked fixture number is processed according to the first relative position relationship and the second relative position relationship to determine the target fixture number of the target fixture above the current welding station.

3. The method for calling welding trajectory coordinates according to claim 1, characterized in that, Determining the target fixture number of the target fixture above the current welding station based on the positional relationship between the marked fixture number and the turntable station includes: Obtain the current rotation angle of the turntable motor; The target fixture number of the target fixture above the current welding station is determined based on the current rotation angle.

4. The method for calling welding trajectory coordinates according to claim 1, characterized in that, Before determining the target fixture number of the target fixture at the current welding station after recognizing the sensing information at any turntable station, the method further includes: For any given fixture, determine the fixture number and set a sensor block with different identification features on each fixture; Construct a correspondence between sensing blocks with different recognition features and different sensing information; The identification features include at least one of the following: sensor block type features, sensor block quantity features, and sensor block orientation features; The orientation features of the sensing blocks include multiple sensing blocks arranged in the horizontal direction, which have different characteristics due to their different relative positions after being identified by the identification sensor, and sensing blocks arranged in the vertical direction, which have different characteristics due to their different sensing strengths after being identified by the identification sensor.

5. The method for calling welding trajectory coordinates according to claim 1, characterized in that, Before determining the calling instruction from the preset trajectory coordinate mapping library, the method further includes: Obtain all target position data of the welding target corresponding to the target fixture number from all position sensing data, wherein all target position data includes at least the position parameters of each clamping part that is relatively set for clamping the welding target; If the position parameter is less than a first preset value or greater than a second preset value, a control command is generated. The control command is used to instruct the clamping part to move back and forth to clamp the welding target.

6. The method for calling welding trajectory coordinates according to claim 5, characterized in that, The clamping part is a cylinder, and each cylinder includes four input and output buses, which are respectively used to control the cylinder's forward movement, backward movement, forward movement position sensing data, and backward movement position sensing data. The four cylinders are respectively disposed on the outer surface of the welding target in the horizontal direction; For each fixture, an input / output control submodule is set up, and the input / output control submodule is connected to all input / output buses of all cylinders corresponding to the fixture. All input / output control submodules are connected to the device bus in the main line conduit.

7. A device for recalling welding trajectory coordinates, characterized in that, include: The first determining module is configured to: determine the fixture number of any fixture; set any fixture among all fixtures as a preset fixture carrying a sensing block; determine the marked fixture number corresponding to the preset fixture; determine that the turntable station corresponds to the preset fixture when sensing information from a sensor on any turntable station is detected, wherein the turntable station includes the current welding station; and determine the target fixture number of the target fixture above the current welding station based on the positional relationship between the marked fixture number and the turntable station. The second determining module is used to determine a calling instruction from a preset trajectory coordinate mapping library according to the target fixture number. The calling instruction is used to instruct the welding equipment to be called to weld the welding target of the target fixture according to the target trajectory coordinates. The sensing information is generated after the distance between the identification sensor on the turntable station and the preset fixture carrying the sensing block is less than a preset distance; The preset trajectory coordinate mapping library is determined based on the correspondence between preset fixture numbers and preset trajectory coordinates.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method for calling the welding trajectory coordinates as described in any one of claims 1-6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method for calling the welding trajectory coordinates as described in any one of claims 1-6.

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