Wire stickout adjustment method, device, electronic device and readable storage medium

Abstract

Embodiments of the present application provide a welding wire dry extension adjustment method and device, electronic equipment and readable storage medium, comprising: setting the welding wire extension length of the welding wire as a preset length in advance, and controlling the intelligent robot to move the welding gun, recording the current position of the welding gun as a to-be-detected position and recording the target orientation of the welding gun in the case that the current position of the welding gun and the laser detection area meet a first preset condition; in the case that an adjustment instruction is received, moving the welding gun to the to-be-detected position and adjusting the orientation of the welding gun to be consistent with the target orientation; controlling the welding wire to extend along the target orientation, and in the case that the welding wire end of the welding wire and the laser detection area meet a second preset condition, moving the welding wire to the welding position indicated by the welding instruction in response to the welding instruction. The length of the welding wire is fixed as the preset length each time the length of the welding wire dry extension is adjusted, the accuracy of the welding wire length adjustment is improved, the welding effect is ensured, and the working precision and the working efficiency are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding, in particular to a welding wire dry extension adjusting method and device, an electronic device and a readable storage medium. BACKGROUND

[0002] With the increasing requirement of automation in factories, industrial robots are increasingly widely used in the manufacturing field, and the application of welding-related robots is booming. The most widely used application in the current industrial welding robot is the gas metal arc welding. The gas metal arc welding needs to be filled with welding wire, and the part of the welding wire that extends out of the welding gun nozzle is the dry extension of the welding wire, as shown in Figure 1

[0003] In the related art, the dry extension of the welding wire is usually manually adjusted to a reasonable value (standard value) before starting to use the industrial welding robot for welding, and before starting each welding, the operator usually manually adjusts the dry extension of the welding wire to the standard value in a visual manner. However, this manual adjustment method cannot ensure that the length of the dry extension of the welding wire is exactly the same, which reduces the accuracy of the adjustment of the length of the dry extension of the welding wire and leads to poor welding results. SUMMARY

[0004] To overcome the problems in the related art, the present application provides a welding wire dry extension adjusting method, device, electronic device and readable storage medium.

[0005] In a first aspect, the present application provides a welding wire dry extension adjusting method, which comprises:

[0006] The welding wire extension length of the welding wire is pre-set as a preset length, and the intelligent robot is controlled to move the welding gun. When it is detected that the welding wire end of the welding wire meets a first preset condition with the laser detection area, the current position of the welding gun is recorded as a to-be-detected position, and the target orientation of the welding gun is recorded.

[0007] When the adjusting instruction is received, the welding gun is moved to the to-be-detected position, and the orientation of the welding gun is adjusted to be consistent with the target orientation.

[0008] The welding wire is controlled to extend along the target orientation. When it is detected that the welding wire end of the welding wire meets a second preset condition with the laser detection area, the welding wire is moved to the welding position indicated by the welding instruction; the current welding wire length of the welding wire is the preset length.

[0009] Optionally, the method further comprises:

[0010] Based on the to-be-detected position, a first position is determined; when the welding gun is in the first position, the welding wire has no intersection with the laser detection area. ​

[0011] Move the welding torch from the position to be tested to the first position;

[0012] The step of moving the welding wire to the welding position indicated by the welding command in response to the welding command includes:

[0013] In response to a welding command, the welding wire is moved from the first position to the welding position indicated by the welding command.

[0014] Optionally, the target orientation is perpendicular to the laser plane corresponding to the laser detection area formed by the laser emitted by the laser emitter.

[0015] Optionally, the method for controlling the intelligent robot to move the welding torch includes:

[0016] The intelligent robot is controlled to move the welding torch sequentially according to a first preset displacement.

[0017] The method further includes:

[0018] Based on sensors, the resistance value corresponding to the current welding torch position is obtained after each movement;

[0019] If the difference between the first resistance value corresponding to the current welding torch position and the second resistance value corresponding to the previous welding torch position is greater than a first preset threshold, it is determined that the welding wire end and the laser detection area meet the first preset condition.

[0020] Optionally, controlling the extension and retraction of the welding wire along the target direction includes:

[0021] When the welding torch is in the position to be detected, if the sensor detects that the current resistance value is less than the preset resistance value, the welding wire is controlled to extend successively along the first direction according to the second preset displacement.

[0022] The method further includes:

[0023] When the welding wire elongates once based on the second preset displacement, the resistance value under the current elongation state is obtained;

[0024] If the difference between the third resistance value corresponding to the current elongation state and the fourth resistance value corresponding to the previous elongation state detected by the sensor is greater than the second preset threshold, it is determined that the end of the welding wire and the laser detection area meet the second preset condition.

[0025] Optionally, controlling the extension and retraction of the welding wire along the target direction includes:

[0026] When the welding torch is in the position to be detected, if the sensor detects that the current resistance value is greater than or equal to the preset resistance value, the welding wire is controlled to shrink to the target length along the second direction;

[0027] The welding wire is controlled to extend sequentially along the first direction according to a second preset displacement;

[0028] The method further includes:

[0029] When the welding wire elongates once based on the second preset displacement, the resistance value under the current elongation state is obtained;

[0030] If the difference between the third resistance value corresponding to the current elongation state and the fourth resistance value corresponding to the previous elongation state detected by the sensor is greater than the second preset threshold, it is determined that the end of the welding wire and the laser detection area meet the second preset condition.

[0031] Secondly, the present invention provides a welding wire extension adjustment device, the device comprising:

[0032] The first determining module is used to pre-set the extension length of the welding wire to a preset length, and control the intelligent robot to move the welding gun. When the welding wire end and the laser detection area meet the first preset conditions, the module records the current position of the welding gun as the position to be detected and records the target orientation of the welding gun.

[0033] The first moving module is used to move the welding torch to the position to be detected and adjust the orientation of the welding torch to be consistent with the target orientation when receiving an adjustment command;

[0034] The first adjustment module is used to control the extension and retraction of the welding wire along the target direction. When the welding wire end and the laser detection area meet the second preset condition, the module moves the welding wire to the welding position indicated by the welding command in response to the welding command. The current welding wire length is the preset length.

[0035] Optionally, the device further includes:

[0036] The second determining module is used to determine a first position based on the position to be detected; when the welding torch is in the first position, the welding wire and the laser detection area do not intersect.

[0037] The first moving submodule is used to move the welding torch from the position to be detected to the first position;

[0038] The first adjustment module includes:

[0039] The second moving submodule is used to move the welding wire from the first position to the welding position indicated by the welding command in response to the welding command.

[0040] Optionally, the first determining module includes:

[0041] The first control module is used to control the intelligent robot to move the welding torch sequentially according to a first preset displacement.

[0042] The device further includes:

[0043] The first acquisition module is used to acquire the resistance value corresponding to the current welding gun position after each movement, based on the sensor.

[0044] The first determining submodule is used to determine that the end of the welding wire and the laser detection area meet the first preset condition when the difference between the first resistance value corresponding to the current welding gun position and the second resistance value corresponding to the previous moving welding gun position is greater than the first preset threshold.

[0045] Optionally, the first adjustment module includes:

[0046] The second control module is used to control the welding wire to extend sequentially along the first direction according to the second preset displacement when the sensor detects that the current resistance value is less than the preset resistance value when the welding gun is in the detection position.

[0047] The device further includes:

[0048] The second acquisition module is used to acquire the resistance value of the current elongation state when the welding wire elongates once based on the second preset displacement.

[0049] The second determining submodule is used to determine that the end of the welding wire and the laser detection area meet the second preset condition when the difference between the third resistance value corresponding to the current elongation state and the fourth resistance value corresponding to the previous elongation state detected by the sensor is greater than the second preset threshold.

[0050] Optionally, the first adjustment module includes:

[0051] The third control module is used to control the welding wire to shrink the target length along the second direction when the welding torch is in the position to be detected and the sensor detects that the current resistance value is greater than or equal to the preset resistance value.

[0052] The fourth control module is used to control the welding wire to extend sequentially along the first direction according to the second preset displacement;

[0053] The device further includes:

[0054] The second acquisition module is used to acquire the resistance value of the current elongation state when the welding wire elongates once based on the second preset displacement.

[0055] The second determining submodule is used to determine that the end of the welding wire and the laser detection area meet the second preset condition when the difference between the third resistance value corresponding to the current elongation state and the fourth resistance value corresponding to the previous elongation state detected by the sensor is greater than the second preset threshold.

[0056] Thirdly, the present invention provides an electronic device comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the program, implements the welding wire dry extension adjustment method as described in any one of the first aspects above.

[0057] Fourthly, the present invention provides a readable storage medium that, when the instructions in the storage medium are executed by a processor of an electronic device, enables the electronic device to perform the steps in the wire extension adjustment method as described in any of the embodiments of the first aspect above.

[0058] In this embodiment of the invention, by presetting the extension length of the welding wire to a preset length, and controlling the intelligent robot to move the welding gun, when the current position of the welding gun and the laser detection area meet the first preset condition, the current position of the welding gun is recorded as the position to be detected and the target orientation of the welding gun is recorded; when receiving an adjustment command, the welding gun is moved to the position to be detected and the orientation of the welding gun is adjusted to be consistent with the target orientation; the welding wire is controlled to extend and retract along the target orientation, and when the end of the welding wire and the laser detection area meet the second preset condition, in response to the welding command, the welding wire is moved to the welding position indicated by the welding command; the current length of the welding wire is the preset length. In this way, by pre-setting the extension length of the welding wire and determining the detection position by adjusting the welding gun position based on the determined wire length and the first preset condition, the welding gun can be directly moved to the detection position in subsequent processes. By adjusting the extension length of the welding wire, and meeting the second preset condition, the current wire length can be determined as the preset length. This method ensures that the wire length remains fixed at the preset length each time the wire extension is adjusted, improving the accuracy of wire length adjustment and thus ensuring welding effect. Furthermore, using whether the end of the welding wire meets the second preset condition in the laser detection area as the criterion for wire length adjustment controls and ensures that the wire length is the preset length, avoiding manual adjustment of the wire extension length and automating the wire extension adjustment process, thereby improving the working accuracy and efficiency of wire extension adjustment. Attached Figure Description

[0059] To more clearly illustrate the technical solutions in the embodiments of the present 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1 This is a schematic diagram of the dry extension of a welding wire provided in an embodiment of the present invention;

[0061] Figure 2 This is a flowchart of the steps of a welding wire dry extension adjustment method provided in an embodiment of the present invention;

[0062] Figure 3 This is a schematic diagram illustrating a sensor and laser emitter configuration according to an embodiment of the present invention;

[0063] Figure 4 This is a schematic diagram of a specific process for adjusting the dry extension of welding wire provided in an embodiment of the present invention;

[0064] Figure 5 This is a schematic diagram of the welding torch movement path for a welding wire extension adjustment method provided in an embodiment of the present invention;

[0065] Figure 6 This is a structural diagram of a welding wire extension adjustment device provided in an embodiment of the present invention;

[0066] Figure 7 This is a structural diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0067] The technical solutions of the embodiments of the present 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 the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0068] Figure 2 This is a flowchart illustrating the steps of a welding wire extension adjustment method provided in an embodiment of the present invention, as shown below. Figure 2 As shown, the method may include:

[0069] Step 101: Preset the extension length of the welding wire to a preset length, and control the intelligent robot to move the welding gun. When the welding wire end and the laser detection area meet the first preset condition, record the current position of the welding gun as the position to be detected and record the target orientation of the welding gun.

[0070] In this embodiment of the invention, before welding begins, the welding wire is passed through the welding torch, and the extension length of the welding wire is preset to a predetermined length. This preset length can be set according to actual welding requirements, and this embodiment of the invention does not impose any limitations on it. After setting the extension length of the welding wire, the intelligent robot is controlled to move the welding torch. The intelligent robot can be a six-axis robot, and the welding torch can be mounted as a tool on the sixth axis of the six-axis robot. By controlling the six-axis robot, the position of the welding torch can be moved and its orientation adjusted.

[0071] The sensing module is fixedly installed, for example, in the middle of the path the welding torch takes back to the starting point after welding, to reduce unnecessary robot movement. The sensing module can be a sensor, such as a photosensor. A laser emitter can be placed opposite the sensor, and the laser emitted by this emitter forms a laser detection area. The laser emitter can be a line laser emitter, and the laser detection area formed by the line laser emitter can be triangular. The sensor continuously detects the laser detection area and obtains its resistance value. When the laser illuminates the sensor, i.e., when the laser detection area covers the sensor, the sensor's resistance is low; when the laser is blocked, i.e., when the laser detection area cannot cover the sensor, the sensor's resistance is high. Therefore, the characteristic that the sensor can detect and sense whether the welding wire is blocking the laser in the laser detection area can be used to control the extension length of the welding wire. When the end of the welding wire is exactly in the laser detection area during the movement of the welding torch, i.e., when the sensor just senses that the welding wire is blocking the laser in the laser detection area, this can be used as a criterion for controlling the extension length of the welding wire. For example, the sensor and the laser emitter can be arranged as follows: Figure 3 Set it as shown. Figure 3 The area marked by the diagonal line is the laser detection area.

[0072] The intelligent robot moves the welding torch. When the tip of the welding wire and the laser detection area meet a first preset condition, the current position of the welding torch is determined as the detection position, and its position information is recorded. Simultaneously, the target orientation of the welding torch nozzle is also recorded. The position information of the detection position may include the coordinates of the welding torch's center point. The first preset condition may include the welding torch moving to the current position where the tip of the welding wire is exactly in contact with the laser detection area. Since the extension length of the welding wire is fixed at this point (i.e., a preset length), when the tip of the welding wire is exactly in contact with the laser detection area and is exactly on the laser plane of the laser detection area, the distance between the current position of the welding torch and the laser plane of the laser detection area is also a fixed distance. This fixed distance is determined as the target distance, which can be based on the distance between the welding torch's center point and the tip of the welding wire, which has been configured with a preset length. That is, since the extension length of the welding wire is fixed, the first preset condition can also be that the distance between the current position of the welding torch and the laser plane of the laser detection area is the target distance.

[0073] The target orientation can be the direction perpendicular to the laser plane corresponding to the laser detection area formed by the laser emitted by the laser emitter. Specifically, the welding wire can extend in a first direction and retract in a second direction. The first direction can be the direction perpendicular to and facing the laser plane, and the second direction is the opposite direction of the first direction. In other words, the welding torch nozzle is facing the laser detection area, and the welding wire extends in the direction of the laser plane and retracts in the opposite direction.

[0074] Step 102: Upon receiving an adjustment command, move the welding torch to the position to be tested and adjust the orientation of the welding torch to be consistent with the target orientation.

[0075] In this embodiment of the invention, upon receiving an adjustment command, based on a pre-recorded detection position, an intelligent robot moves the welding torch to the detection position and adjusts the orientation of the welding torch to align with the target orientation, that is, the nozzle of the welding torch is oriented towards the laser plane of the laser detection area. The adjustment command is used to instruct the wire extension adjustment.

[0076] Step 103: Control the welding wire to extend and retract along the target direction. When the end of the welding wire and the laser detection area meet the preset condition, and the end of the welding wire and the laser detection area meet the second preset condition, in response to the welding command, move the welding wire to the welding position indicated by the welding command; the current welding wire length is the preset length.

[0077] In this embodiment of the invention, after moving the welding torch to the detection position and adjusting its orientation, the welding wire is controlled to extend and retract along the target direction. If, during the extension and retraction of the welding wire, the end of the welding wire and the laser detection area meet a second preset condition, it indicates that the current length of the welding wire meets the welding requirements, thus completing the wire extension adjustment. Upon receiving a welding command, the welding wire can be moved to the welding position indicated by the command. Specifically, a sensing module can detect whether the end of the welding wire and the laser detection area meet the second preset condition. If the sensing module detects that the end of the welding wire and the laser detection area meet the second preset condition, it sends a signal to the input / output module (IO module). Upon receiving the signal, the wire feeding control unit stops the welding wire length adjustment and moves the welding torch via an intelligent robot.

[0078] The second preset condition can be that the end of the welding wire is exactly in contact with the laser detection area. When the welding torch is in the detection position, if the end of the welding wire and the laser detection area meet the second preset condition, that is, when the end of the welding wire is exactly in contact with the laser detection area, the current length of the welding wire is the preset length. The first preset condition can be the same as the second preset condition. For example, the first preset condition and the second preset condition can both be that the end of the welding wire is exactly in contact with the laser detection area; the first preset condition and the second preset condition can also be different, but the first preset condition and the second preset condition are essentially equivalent. That is, the first preset condition can be set to the distance between the current position of the welding torch and the laser plane of the laser detection area as the target distance, and the second preset condition can be set to detect that the end of the welding wire is exactly in contact with the laser detection area. However, the first preset condition and the second preset condition are essentially the same, that is, when the distance between the current position of the welding torch and the laser plane of the laser detection area is the target distance, the end of the welding wire is exactly in contact with the laser detection area. In other words, the detection method and conditions corresponding to the first preset condition may be different from those corresponding to the second preset condition, but the state of the welding wire or welding gun is exactly the same in both cases if the first preset condition or the second preset condition is met.

[0079] In summary, in this embodiment of the invention, by pre-setting the extension length of the welding wire to a preset length and controlling the intelligent robot to move the welding gun, when the current position of the welding gun and the laser detection area meet the first preset condition, the current position of the welding gun is recorded as the position to be detected and the target orientation of the welding gun is recorded; when an adjustment command is received, the welding gun is moved to the position to be detected and the orientation of the welding gun is adjusted to be consistent with the target orientation; the welding wire is controlled to extend and retract along the target orientation; when the end of the welding wire and the laser detection area meet the second preset condition, in response to the welding command, the welding wire is moved to the welding position indicated by the welding command; the current length of the welding wire is the preset length. In this way, by pre-setting the extension length of the welding wire and determining the detection position by adjusting the welding gun position based on the determined wire length and the first preset condition, the welding gun can be directly moved to the detection position in subsequent processes. By adjusting the extension length of the welding wire, and meeting the second preset condition, the current wire length can be determined as the preset length. This method ensures that the wire length remains fixed at the preset length each time the wire extension is adjusted, improving the accuracy of wire length adjustment and thus ensuring welding effect. Furthermore, using whether the end of the welding wire meets the second preset condition in the laser detection area as the criterion for wire length adjustment controls and ensures that the wire length is the preset length, avoiding manual adjustment of the wire extension length and automating the wire extension adjustment process, thereby improving the working accuracy and efficiency of wire extension adjustment.

[0080] Optionally, embodiments of the present invention may further include the following steps:

[0081] Step 201: Based on the position to be detected, determine the first position; when the welding torch is in the first position, the welding wire and the laser detection area do not intersect.

[0082] In this embodiment of the invention, when the end of the welding wire and the laser detection area meet a second preset condition, i.e., the current length of the welding wire is adjusted to a preset length, the welding torch can be moved out of the detection position. For example, after determining the detection position, a first position can be predetermined based on that position. The first position can be a safe position, selected as a position where the welding wire and the welding torch do not intersect with the laser detection area when the welding torch is in the first position. Simultaneously, to facilitate the intelligent robot moving the welding torch to the detection position and the welding position, a position can be selected that ensures there are no obstacles on the straight path from the first position to both the detection position and the welding position, and that it does not affect other tooling components.

[0083] Step 202: Move the welding torch from the position to be tested to the first position.

[0084] Accordingly, step 103, "in response to a welding command, moving the welding wire to the welding position indicated by the welding command," may include:

[0085] Step 202: In response to the welding command, move the welding wire from the first position to the welding position indicated by the welding command.

[0086] In this embodiment of the invention, after adjusting the wire extension, the welding torch can be moved from the position to be tested to the first position, and then, upon receiving a welding command, it can be moved from the first position to the welding position indicated by the welding command.

[0087] Understandably, the first position can be used as the waiting position for adjusting the wire extension. Before adjusting the wire extension, the intelligent robot is controlled to move the wire to the first position and then move it from the first position to the position to be tested.

[0088] In this embodiment of the invention, by pre-determining a first position and adjusting the welding wire length, the welding torch is first moved to the first position and then to the welding position. This facilitates the intelligent robot's operation of moving the welding torch to the welding position indicated by the welding command. The movement path of the welding torch will not be blocked by obstacles, and it will not affect the work of other tooling components. This improves the standardization of the entire welding process and further enhances welding efficiency.

[0089] Optionally, step 101 may include the following steps:

[0090] Step 301: Control the intelligent robot to move the welding torch sequentially according to the first preset displacement.

[0091] In this embodiment of the invention, the intelligent robot is controlled to adjust the welding torch position according to a first preset displacement. For example, to more accurately adjust the welding torch position so that the welding wire tip and the laser detection area meet the first preset condition, the value of the first preset displacement can be set to a small value, such as 1 mm. For example, the intelligent robot can be moved using a jog mode, or the welding torch can be moved using an incremental mode after setting the first preset displacement as an increment. It is understood that this embodiment of the invention does not limit the direction of movement of the intelligent robot moving the welding torch, but to further improve efficiency, the direction of movement of the intelligent robot moving the welding torch can be set to the target orientation, that is, the vertical direction of the laser plane corresponding to the laser detection area.

[0092] Accordingly, the implementation of the present invention may also include the following steps:

[0093] Step 302: Based on the sensor, obtain the resistance value corresponding to the current welding torch position after each movement.

[0094] In this embodiment of the invention, after each movement of the welding torch, the sensor resistance value detected by the sensor after this movement is obtained based on the sensor. For example, when laser light shines on the sensor, the resistance detected by the sensor decreases; the weaker the light intensity or the absence of laser light, the greater the resistance. It is understood that the resistance change characteristics of the photosensitive sensor will vary depending on the specific photosensitive sensor. For example, the resistance change characteristics of the photosensitive sensor may be that the resistance decreases when there is light and increases when there is no light; or the resistance may increase when there is light and decrease when there is no light.

[0095] Step 303: If the difference between the first resistance value corresponding to the current welding torch position and the second resistance value corresponding to the previous welding torch position is greater than the first preset threshold, determine that the welding wire end and the laser detection area meet the first preset condition.

[0096] In this embodiment of the invention, after each movement and acquisition of a resistance value, the resistance value detected in the current movement is compared with the resistance value detected in the previous movement. If the difference between the first resistance value corresponding to the current welding torch position and the second resistance value corresponding to the welding torch position at the previous movement is greater than a first preset threshold, it indicates that the end of the welding wire is in contact with the laser detection area, and thus it can be determined that the end of the welding wire and the laser detection area meet the first preset condition. Here, "the difference between the first resistance value and the second resistance value is greater than the first preset threshold" means that the first resistance value is greater than the second resistance value, that is, the difference between the first resistance value and the second resistance value is greater than the first preset threshold. The first preset threshold can be determined based on the resistance difference of the sensor under and without laser irradiation, and this embodiment of the invention does not impose any limitations on this.

[0097] In this embodiment of the invention, by moving the welding torch sequentially based on a first preset displacement and obtaining the resistance value corresponding to the position of the welding torch after each movement, and comparing whether the resistance value after two consecutive movements is greater than a first preset threshold, it can be reflected whether the end of the welding wire is exactly in contact with the laser detection area. In this way, it can be automatically determined whether the end of the welding wire and the laser detection area meet the first preset condition. Since the sensor has a fast response speed in obtaining the resistance value, the detection efficiency is improved to a certain extent. Furthermore, the high precision of the sensor ensures the accuracy of the measurement results, making the result of whether the end of the welding wire and the laser detection area meet the first preset condition indirectly measured by the sensor more reliable, which helps to improve the performance and stability of the overall system.

[0098] Optionally, step 103 may include the following steps:

[0099] Step 401: When the welding torch is in the position to be detected, if the sensor detects that the current resistance value is less than the preset resistance value, control the welding wire to extend successively along the first direction according to the second preset displacement.

[0100] In this embodiment of the invention, when the welding torch is moved to the detection position, if the sensor detects that the current resistance value is less than a preset resistance value, it indicates that the laser emitted by the laser emitter is not blocked when the welding torch is at the detection position. Therefore, the welding wire can be controlled by the wire feeding control unit to extend sequentially along the first direction according to a second preset displacement. That is, the welding wire is controlled to extend by a second preset displacement distance in the first direction each time. The wire feeding control unit can be a welding machine, a wire feeder, etc. The second preset displacement can be the same as or different from the first preset displacement, and the second preset position can be set to a smaller value.

[0101] Accordingly, embodiments of the present invention may further include the following steps:

[0102] Step 402: When the welding wire elongates once based on the second preset displacement, obtain the resistance value under the current elongation state.

[0103] In this embodiment of the invention, when the welding wire extends by a second preset displacement, the sensor resistance value detected by the sensor in the current extension state is obtained.

[0104] Step 403: If the difference between the third resistance value corresponding to the current elongation state and the fourth resistance value corresponding to the previous elongation state detected by the sensor is greater than the second preset threshold, it is determined that the end of the welding wire and the laser detection area meet the second preset condition.

[0105] In this embodiment of the invention, after each extension of the welding wire and acquisition of a resistance value, the resistance value detected in the current extension state is compared with the sensor resistance value detected in the previous extension state. If the difference between the third resistance value corresponding to the current extension state and the fourth resistance value corresponding to the previous extension state is greater than a second preset threshold, it indicates that the end of the welding wire is in contact with the laser detection area, and thus it can be determined that the end of the welding wire and the laser detection area meet the second preset condition. Here, "the difference between the third and fourth resistance values ​​is greater than the second preset threshold" means that the third resistance value is greater than the fourth resistance value, that is, the difference between the third resistance value and the fourth resistance value is greater than the second preset threshold. The second preset threshold can be the same as or different from the first preset threshold. The second preset threshold can be determined based on the pre-detected sensor resistance difference under laser irradiation, and this embodiment of the invention does not impose any restrictions on this.

[0106] In this embodiment of the invention, by controlling the welding wire to extend based on a second preset displacement and obtaining the resistance value corresponding to the current extension state after each extension, and comparing whether the resistance value after two consecutive extensions is greater than a second preset threshold, it can be reflected whether the end of the welding wire is exactly in contact with the laser detection area. In this way, it can automatically determine whether the end of the welding wire and the laser detection area meet the second preset condition. Since the sensor has a fast response speed in obtaining the resistance value, the detection efficiency is improved to a certain extent. Furthermore, the sensor can ensure the accuracy of the measurement results with high precision, making the result of whether the end of the welding wire and the laser detection area meet the second preset condition indirectly measured by the sensor more reliable, which helps to improve the performance and stability of the overall system.

[0107] Optionally, step 103 may also include the following steps:

[0108] Step 501: When the welding torch is in the position to be detected, if the sensor detects that the current resistance value is greater than or equal to the preset resistance value, control the welding wire to shrink the target length along the second direction.

[0109] In this embodiment of the invention, when the welding torch is moved to the detection position, if the sensor detects that the current resistance value is greater than or equal to a preset resistance value, it indicates that the laser emitted by the laser emitter is blocked by the welding wire when the welding torch is at the detection position. Therefore, the welding wire needs to be retracted and withdrawn along the second direction until the laser is no longer blocked, that is, after the resistance value detected by the sensor in real time is less than the preset resistance value, the welding wire is then controlled by the wire feeding control unit to extend along the first direction according to the second preset displacement. The wire feeding control unit can control the welding wire to retract along the second direction by a target length. This target length can be set according to actual needs. Based on the target length value, the number of times the wire feeding control unit retracts the welding wire can be adjusted so that the laser emitted by the laser emitter is no longer blocked, that is, the resistance value detected by the sensor in real time is less than the preset resistance value.

[0110] Step 502: Control the welding wire to extend sequentially along the first direction according to the second preset displacement.

[0111] In this embodiment of the invention, when the welding wire elongation length is adjusted and the laser is no longer blocked, the welding wire is controlled to extend by a second preset displacement distance in the first direction each time.

[0112] Accordingly, embodiments of the present invention may further include the following steps:

[0113] Step 503: When the welding wire elongates once based on the second preset displacement, obtain the resistance value under the current elongation state.

[0114] In this embodiment of the invention, when the welding wire extends by a second preset displacement, the resistance value detected by the sensor at the current extension state is obtained.

[0115] Step 504: If the difference between the third resistance value corresponding to the current elongation state and the fourth resistance value corresponding to the previous elongation state detected by the sensor is greater than the second preset threshold, it is determined that the end of the welding wire and the laser detection area meet the second preset condition.

[0116] In this embodiment of the invention, after each extension of the welding wire to obtain a resistance value, the resistance value detected in the current extension state is compared with the resistance value detected in the previous extension state. If the difference between the third resistance value corresponding to the current extension state and the fourth resistance value corresponding to the previous extension state is greater than a second preset threshold, it indicates that the end of the welding wire is exactly in contact with the laser detection area, and it can be determined that the end of the welding wire and the laser detection area meet the second preset condition. Here, "the difference between the third and fourth resistance values ​​is greater than the second preset threshold" means that the third resistance value is greater than the fourth resistance value, that is, the difference between the third resistance value and the fourth resistance value is greater than the second preset threshold. The second preset threshold can be the same as or different from the first preset threshold. The second preset threshold can be determined based on the resistance difference of the sensor under and without laser irradiation, and this embodiment of the invention does not impose any restrictions on this.

[0117] In this embodiment of the invention, the current resistance value is first detected by a sensor to ensure that the welding wire does not obstruct the laser detection area before the welding wire extension length is adjusted. Then, the welding wire is controlled to extend based on a second preset displacement, and the resistance value corresponding to the current extension state after each extension is obtained. By comparing the resistance values ​​after two extensions, it can be determined whether the welding wire end is exactly in contact with the laser detection area. This ensures that the laser detection area is not obstructed before the welding wire extension length is adjusted, and it is convenient to determine the moment when the welding wire end is exactly in contact with the laser detection area by extending the welding wire successively. High precision ensures the accuracy of the measurement results, making the result of whether the welding wire end and the laser detection area meet the second preset condition indirectly measured by the sensor more reliable, which helps to improve the performance and stability of the overall system.

[0118] For example, Figure 4 A schematic diagram illustrating the specific process of adjusting the dry extension of welding wire is shown. Figure 5 A schematic diagram of the welding torch movement path for a method of adjusting welding wire extension is shown, as follows: Figure 4 as well as Figure 5As shown, before the first welding, the on-site operator manually adjusts the welding wire extension to a preset length to meet the welding process requirements. The welding torch is moved by controlling the movement of an intelligent robot. Specifically, the robot's jog mode (or incremental mode after setting a small increment) can be used to control the welding torch to move along the target direction. If the welding wire tip did not block the laser after the previous movement, but blocks the laser after the current movement, it is considered that the welding wire tip is exactly in the laser detection area. That is, when the difference between the first resistance value corresponding to the current welding torch position and the second resistance value corresponding to the previous welding torch position is greater than a first preset threshold, it is determined that the welding wire tip and the laser detection area meet the first preset condition, and the current position of the welding torch is determined as the detection position p. check The target orientation of the welding torch is recorded. Upon receiving an adjustment command, the intelligent robot moves the welding torch to the position to be inspected, p. check The welding torch is aligned with the target orientation, and the sensor module is controlled via the input / output module. The sensor detects whether the current resistance value of the welding torch at the detection position is less than a preset resistance value. If not, the wire feeding control unit first controls the welding wire to retract to the target length, and then controls the welding wire to extend along the target orientation by a second preset displacement. If yes, the wire feeding control unit controls the welding wire to extend along the target orientation by a second preset displacement. The sensor acquires the resistance value of the current extension state after each extension. If the sensor detects that the difference between the third resistance value corresponding to the current extension state and the fourth resistance value corresponding to the previous extension state is greater than a second preset threshold, it determines that the end of the welding wire meets the second preset condition. At this time, the extension length of the welding wire is the preset length. The sensor module then sends a signal to the input / output module, which controls the wire feeding control unit to stop operating and controls the intelligent robot to move the welding torch from the detection position to a predetermined first position p. safe In response to the welding command, then from the first position p safe Move to the welding position indicated by the welding command. Thus, in each welding process, the welding torch's movement path is as follows: from the intelligent robot's origin to the first position, then to the inspection position for wire extension adjustment, after adjustment, it moves from the inspection position back to the first position, and then from the first position to the welding position. Simultaneously, only one manual initialization configuration is required; subsequent wire extension adjustments can be automated through the above steps, ensuring efficiency while improving the positioning accuracy of the welding path and guaranteeing welding quality.

[0119] Figure 6 This is a schematic diagram of the structure of a welding wire extension adjustment device provided in an embodiment of the present invention, as shown below. Figure 6 As shown, the device may specifically include:

[0120] The first determining module 601 is used to pre-set the extension length of the welding wire to a preset length, and control the intelligent robot to move the welding gun. When the welding wire end and the laser detection area meet the first preset conditions, the module records the current position of the welding gun as the position to be detected and records the target orientation of the welding gun.

[0121] The first moving module 602 is used to move the welding torch to the position to be detected and adjust the orientation of the welding torch to be consistent with the target orientation when receiving an adjustment command;

[0122] The first adjustment module 603 is used to control the extension and retraction of the welding wire along the target direction. When the welding wire end and the laser detection area meet the second preset condition, the welding wire is moved to the welding position indicated by the welding command in response to the welding command. The current welding wire length is the preset length.

[0123] Optionally, the device further includes:

[0124] The second determining module is used to determine a first position based on the position to be detected; when the welding torch is in the first position, the welding wire and the laser detection area do not intersect.

[0125] The first moving submodule is used to move the welding torch from the position to be detected to the first position;

[0126] The first adjustment module 603 includes:

[0127] The second moving submodule is used to move the welding wire from the first position to the welding position indicated by the welding command in response to the welding command.

[0128] Optionally, the first determining module 601 includes:

[0129] The first control module is used to control the intelligent robot to move the welding torch sequentially according to a first preset displacement.

[0130] The device further includes:

[0131] The first acquisition module is used to acquire the resistance value corresponding to the current welding gun position after each movement, based on the sensor.

[0132] The first determining submodule is used to determine that the end of the welding wire and the laser detection area meet the first preset condition when the difference between the first resistance value corresponding to the current welding gun position and the second resistance value corresponding to the previous moving welding gun position is greater than the first preset threshold.

[0133] Optionally, the first adjustment module 603 includes:

[0134] The second control module is used to control the welding wire to extend sequentially along the first direction according to the second preset displacement when the sensor detects that the current resistance value is less than the preset resistance value when the welding gun is in the detection position.

[0135] The device further includes:

[0136] The second acquisition module is used to acquire the resistance value of the current elongation state when the welding wire elongates once based on the second preset displacement.

[0137] The second determining submodule is used to determine that the end of the welding wire and the laser detection area meet the second preset condition when the difference between the third resistance value corresponding to the current elongation state and the fourth resistance value corresponding to the previous elongation state detected by the sensor is greater than the second preset threshold.

[0138] Optionally, the first adjustment module 603 includes:

[0139] The third control module is used to control the welding wire to shrink the target length along the second direction when the welding torch is in the position to be detected and the sensor detects that the current resistance value is greater than or equal to the preset resistance value.

[0140] The fourth control module is used to control the welding wire to extend sequentially along the first direction according to the second preset displacement;

[0141] The device further includes:

[0142] The second acquisition module is used to acquire the resistance value of the current elongation state when the welding wire elongates once based on the second preset displacement.

[0143] The second determining submodule is used to determine that the end of the welding wire and the laser detection area meet the second preset condition when the difference between the third resistance value corresponding to the current elongation state and the fourth resistance value corresponding to the previous elongation state detected by the sensor is greater than the second preset threshold.

[0144] The present invention also provides an electronic device, see [link to relevant documentation]. Figure 7 It includes: a processor 701, a memory 702, and a computer program 7021 stored in the memory and executable on the processor. When the processor executes the program, it implements the welding wire dry extension adjustment method of the foregoing embodiment.

[0145] The present invention also provides a readable storage medium, wherein when the instructions in the storage medium are executed by the processor of an electronic device, the electronic device is able to perform the wire extension adjustment method of the foregoing embodiments.

[0146] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0147] The algorithms and displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, this invention is not directed to any particular programming language. It should be understood that the contents of the invention described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of the invention.

[0148] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0149] Similarly, it should be understood that, in order to simplify the invention and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof. However, this disclosure should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the following claims, inventive aspects lie in fewer than all features of a single foregoing disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into this detailed description, wherein each claim itself is a separate embodiment of the invention.

[0150] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0151] The various component embodiments of the present invention can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some or all of the components in the sorting device according to the present invention. The present invention can also be implemented as a device or apparatus program for performing part or all of the methods described herein. Such a program implementing the present invention can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0152] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0153] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0154] It should be noted that all actions involving the acquisition of signals, information, or data in this application are carried out in compliance with the relevant data protection laws and policies of the country where the application is located, and with the authorization granted by the owner of the relevant device.

[0155] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0156] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for adjusting the dry extension of welding wire, characterized in that, The method includes: The welding wire extension length is preset to a predetermined length, and the intelligent robot is controlled to move the welding torch sequentially according to a first preset displacement. Based on sensors, the resistance value corresponding to the current welding torch position is obtained after each movement. If the difference between the first resistance value corresponding to the current welding torch position and the second resistance value corresponding to the previous welding torch position is greater than a first preset threshold, it is determined that the welding wire end and the laser detection area meet a first preset condition. The first preset condition includes that the welding wire end is exactly in contact with the laser detection area when the welding torch moves to the current position. When the welding wire tip and the laser detection area meet the first preset condition, the current position of the welding gun is recorded as the position to be detected and the target orientation of the welding gun is recorded; the laser detection area is composed of laser emitted by the laser emitter, and the laser emitter is located in the opposite direction of the sensor; Upon receiving an adjustment command, the welding torch is moved to the position to be tested and the orientation of the welding torch is adjusted to match the target orientation. The welding wire is controlled to extend and retract along the target direction. When the welding gun is in the detection position, if the sensor detects that the current resistance value is less than the preset resistance value, the welding wire is controlled to extend successively along the first direction according to the second preset displacement. When the welding wire elongates once based on the second preset displacement, the resistance value under the current elongation state is obtained; If the sensor detects that the difference between the third resistance value corresponding to the current elongation state and the fourth resistance value corresponding to the previous elongation state is greater than the second preset threshold, it is determined that the end of the welding wire and the laser detection area meet the second preset condition; the second preset condition includes that the end of the welding wire is exactly connected to the laser detection area, and the current length of the welding wire is the preset length; When the welding wire tip and the laser detection area meet the second preset condition, in response to the welding command, the welding wire is moved to the welding position indicated by the welding command; the current welding wire length is the preset length.

2. The method according to claim 1, characterized in that, The method further includes: Based on the location to be detected, a first position is determined; when the welding torch is in the first position, the welding wire and the laser detection area do not intersect. Move the welding torch from the position to be tested to the first position; The step of moving the welding wire to the welding position indicated by the welding command in response to the welding command includes: In response to a welding command, the welding wire is moved from the first position to the welding position indicated by the welding command.

3. The method according to claim 1, characterized in that, The target orientation is perpendicular to the laser plane corresponding to the laser detection area formed by the laser emitted by the laser emitter.

4. The method according to claim 1, characterized in that, The control of extending or retracting the welding wire along the target direction includes: When the welding torch is in the position to be detected, if the sensor detects that the current resistance value is greater than or equal to the preset resistance value, the welding wire is controlled to shrink to the target length along the second direction; The welding wire is controlled to extend sequentially along the first direction according to a second preset displacement; The method further includes: When the welding wire elongates once based on the second preset displacement, the resistance value under the current elongation state is obtained; If the difference between the third resistance value corresponding to the current elongation state and the fourth resistance value corresponding to the previous elongation state detected by the sensor is greater than the second preset threshold, it is determined that the end of the welding wire and the laser detection area meet the second preset condition.

5. A welding wire extension adjustment device, characterized in that, The device includes: The first determining module is used to pre-set the extension length of the welding wire to a preset length and control the intelligent robot to move the welding gun sequentially according to a first preset displacement; based on sensors, it acquires the resistance value corresponding to the current welding gun position after each movement; if the difference between the first resistance value corresponding to the current welding gun position and the second resistance value corresponding to the previous welding gun position is greater than a first preset threshold, it determines that the welding wire end and the laser detection area meet a first preset condition; the first preset condition includes that the welding wire end and the laser detection area are exactly connected when the welding gun moves to the current position; if the welding wire end and the laser detection area meet the first preset condition, it records the current position of the welding gun as the position to be detected and records the target orientation of the welding gun; the laser detection area is composed of laser emitted by a laser emitter, and the laser emitter is located in the opposite direction of the sensor; The first moving module is used to move the welding torch to the position to be detected and adjust the orientation of the welding torch to be consistent with the target orientation when receiving an adjustment command; The first adjustment module is used to control the extension and retraction of the welding wire along the target direction. When the welding wire end and the laser detection area meet the second preset condition, the module moves the welding wire to the welding position indicated by the welding command in response to the welding command. The current welding wire length is the preset length. The first adjustment module includes: The second control module is used to control the welding wire to extend sequentially along the first direction according to the second preset displacement when the sensor detects that the current resistance value is less than the preset resistance value when the welding gun is in the detection position. The device further includes: The second acquisition module is used to acquire the resistance value of the current elongation state when the welding wire elongates once based on the second preset displacement. The second determining submodule is used to determine that the end of the welding wire and the laser detection area meet the second preset condition when the difference between the third resistance value corresponding to the current elongation state and the fourth resistance value corresponding to the previous elongation state detected by the sensor is greater than the second preset threshold; the second preset condition includes that the end of the welding wire is exactly connected to the laser detection area, and the current length of the welding wire is the preset length.

6. The apparatus according to claim 5, characterized in that, The device further includes: The second determining module is used to determine a first position based on the position to be detected; when the welding torch is in the first position, the welding wire and the laser detection area do not intersect. The first moving submodule is used to move the welding torch from the position to be detected to the first position; The first adjustment module includes: The second moving submodule is used to move the welding wire from the first position to the welding position indicated by the welding command in response to the welding command.

7. An electronic device, characterized in that, include: A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the wire dry extension adjustment method as described in any one of claims 1-4.

8. A readable storage medium, characterized in that, When the instructions in the storage medium are executed by the processor of the electronic device, the electronic device is able to perform the wire extension adjustment method according to any one of claims 1-4.

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