Wire feeding system for automatic welding of wire drawing robot and control method

Abstract

The invention discloses a wire feeding system for automatic welding of a wire drawing robot and a control method, and the method comprises the steps: collecting a real-time position signal of a sliding block through a position sensor every single detection period, and transmitting the real-time position signal to a controller; according to the fluctuation center gear and the real-time position signal of the sliding block, the output torque gear of the power assisting device is obtained through calculation; the sliding block fluctuation center position and the sliding block fluctuation range are calculated every single adjustment period; the adjustment period comprises a plurality of detection periods; updating a gear adjustment numerical value group according to the fluctuation range of the sliding block; the fluctuation center gear is updated according to the gear adjustment numerical value set and the sliding block fluctuation center position; the fluctuation center position and the fluctuation range of the sliding block are regularly calculated, so that the output torque of the power assisting device can be more accurately controlled, and the stability and the welding quality of the welding process are improved; the gear adjusting numerical value set is dynamically adjusted according to real-time data, so that torque output of the power assisting device better meets the requirement in the actual welding process.

Description

Technical Field

[0001] The invention belongs to the technical field of wire drawing welding, and in particular relates to a wire feeding system and a control method for automatic welding of a wire drawing robot. Background Art

[0002] Wire drawing welding is a highly efficient welding technology. Wire drawing welding realizes alternating welding between short circuit welding stage and arc welding stage by alternately performing positive wire feeding and negative wire drawing. During the wire drawing welding process, the front-end welding wire feeding device is equipped with a servo motor. The servo motor will rotate forward and reverse at high speed to drive the welding wire to reciprocate. Due to limited power, a power assist device needs to be installed 2-4m behind the servo motor. The power assist device drags the welding wire reel to feed the wire to the front-end servo motor. Since the speed of the front-end motor changes rapidly, the power assist device needs to adjust the wire feeding force in real time according to the tension change of the welding wire path; The control target of the power-assisting device is to make the slider fluctuate within a certain range on both sides of the midpoint. If the wire feeding fluctuation is biased to the rear, the front-end servo motor will not be able to draw back the welding wire and wire will pile up. If the wire feeding fluctuation is biased to the front, the front-end servo motor will not be able to pull the wire and welding will cause arcing. Since the detection method is the welding wire tension detection, the feedback has poor real-time performance, resulting in large fluctuations in the conveying of the welding wire, which cannot be smoothly controlled. Summary of the invention

[0003] The object of the present invention is to provide a wire feeding system and control method for automatic welding of a wire drawing robot, wherein the wire stacking state of the welding wire is detected by a welding wire detection device, and the gear position of the assisting device is adjusted according to the wire stacking state to ensure smooth welding.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is: In the first aspect, the present invention provides a wire feeding system for automatic welding of a wire drawing robot, comprising a power assist device, a welding wire detection device and a welding wire feeding device; the welding wire on the welding wire reel is sequentially fed to the welding gun after passing through the power assist device, the welding wire detection device and the welding wire feeding device; the servo motor drives the welding wire feeding device to move, and the welding wire feeding device drives the welding wire to reciprocate; The welding wire detection device comprises a slider, a connecting tube and a fixed outer sleeve; the connecting tube is arranged in the outer sleeve, and the welding wire is arranged in the connecting tube; one end of the connecting tube is connected to the power-assisting device, and one end of the connecting tube is connected to the slider; the slider can slide along the outer sleeve, and a position sensor for detecting the slider is arranged in the outer sleeve; the position sensor and the power-assisting device are electrically connected to the controller; The connecting tube bends in the outer sleeve as the welding wire bends, and the bent connecting tube drives the slider to slide. The position sensor collects the position signal of the slider and sends it to the controller. The controller adjusts the gear position of the power assist device according to the position signal detected by the position sensor.

[0005] Furthermore, one end of the outer sleeve is connected to a power assist device, and the other end of the outer sleeve is connected to a welding wire conveying device.

[0006] Furthermore, the power assist device includes a DC motor, a magnetic powder clutch and a roller for conveying welding wire, the DC motor drives the roller to rotate through the magnetic powder clutch; the DC motor is electrically connected to the controller through a half-bridge drive circuit; the power assist device is provided with N torque gears, and the controller adjusts the torque gear of the power assist device through the DC motor and the magnetic powder clutch.

[0007] In a second aspect, the present invention provides a wire feeding control method for automatic welding of a wire drawing robot, the wire feeding control method is applied to the wire feeding system described in the first aspect, and the wire feeding control method comprises: Initialize the gear adjustment value group and set the initial value of the fluctuation center gear of the power assist device; At each single detection cycle, the real-time position signal of the slider is collected by the position sensor and sent to the controller, and the output torque position of the power assist device is calculated based on the fluctuation center position and the real-time position signal of the slider; The slider fluctuation center position and the slider fluctuation range are calculated every single adjustment cycle; the adjustment cycle includes several detection cycles; the gear adjustment value group is updated according to the slider fluctuation range; the fluctuation center gear is updated according to the gear adjustment value group and the slider fluctuation center position.

[0008] Furthermore, the output torque position of the power assist device is calculated based on the fluctuation center position and the real-time position signal of the slider, and the calculation process includes: The slider travel range is recorded as the slider maximum travel value To the minimum stroke value of the slider , and set the center value of the slider travel range; When the slider is at the maximum stroke value When the center value of the slider travel range is 0, the output torque gear of the power assist device is calculated according to the fluctuation center gear and the real-time position signal of the slider, and the expression formula is: ; ; When the slider is at the minimum stroke value When the center value of the slider travel range is 0, the output torque gear of the power assist device is calculated according to the fluctuation center gear and the real-time position signal of the slider, and the expression formula is: ; In the formula, It is expressed as the output torque gear of the power assist device; It is indicated as the fluctuation center gear position of the power assist device; The slider is at the minimum travel value of the slider Feedback voltage of the position sensor; The slider is at the maximum travel value of the slider Feedback voltage of the position sensor; is the feedback voltage of the position sensor when the slider is at the center of the slider travel range; The feedback voltage of the position sensor to detect the real-time position of the slider; Represents a rounding function.

[0009] Further, the process of updating the fluctuation center gear position according to the gear adjustment value group and the slider fluctuation center position includes: The gear adjustment value group includes six gear adjustment values, which are respectively recorded as a, b, c, e, f and g; The center value of the slider travel range to the maximum slider travel value The range is divided into the first front stroke, the second front stroke, the third front stroke, and the fourth front stroke; the center value of the slider stroke range to the minimum slider stroke value The range is divided into a first rear stroke, a second rear stroke, a third rear stroke and a fourth rear stroke in sequence; When the fluctuation center position of the slider is within the first front stroke during the detection period, the fluctuation center gear position of the control power assist device retains the current gear value; when the fluctuation center position of the slider is within the second front stroke during the detection period, the fluctuation center gear position of the control power assist device increases by a gear position; when the fluctuation center position of the slider is within the first front stroke during the detection period, the fluctuation center gear position of the control power assist device increases by b gear positions; when the fluctuation center position of the slider is within the first front stroke during the detection period, the fluctuation center gear position of the control power assist device increases by c gear positions; When the fluctuation center position of the slider is within the first rear section of the stroke during the detection cycle, the fluctuation center gear position of the power-assisting device is controlled to retain the current gear value; when the fluctuation center position of the slider is within the second rear section of the stroke during the detection cycle, the fluctuation center gear position of the power-assisting device is controlled to be reduced by e gears; when the fluctuation center position of the slider is within the third rear section of the stroke during the detection cycle, the fluctuation center gear position of the power-assisting device is controlled to be reduced by f gears; when the fluctuation center position of the slider is within the fourth rear section of the stroke during the detection cycle, the fluctuation center gear position of the power-assisting device is controlled to be reduced by g gears.

[0010] Furthermore, the process of updating the gear adjustment value group according to the slider fluctuation range includes: When the slider is between the second front stroke and the third front stroke, the voltage feedback value of the position sensor is recorded as the front center voltage value When the slider is between the second rear stroke and the third rear stroke, the voltage feedback value of the position sensor is recorded as the rear center voltage value ; During the adjustment period, the position sensor detects the slider fluctuation range and obtains the minimum limit voltage. and the maximum limiting voltage ; When the minimum limit voltage and the maximum limiting voltage Both are at the front center voltage value To the rear center voltage value Keep the preset values ​​of a, b, c, e, f and g.

[0011] Furthermore, the process of updating the gear adjustment value group according to the slider fluctuation range includes: when ,and When; for the minimum limit voltage The voltage value of the front center The difference is calculated by PI operation to obtain the first gear difference and the second gear difference, and the expression formula is: ; ; ; In the formula, is the minimum limit voltage in the kth adjustment cycle; Expressed as the minimum limit voltage in the kth adjustment cycle The voltage value of the front center The difference, is the first gear difference in the kth adjustment cycle, is the second gear difference in the kth adjustment cycle; i represents the adjustment cycle number; k represents the number of the current adjustment cycle; , Expressed as a scale parameter; , Expressed as an integral parameter; Adjust the values ​​of b and c according to the first gear difference; the expression formula is: ; ; Adjust the value of e according to the second gear difference; ; In the formula, , and is the gear adjustment value in the kth adjustment cycle; , and It is the gear adjustment value in the k-1th adjustment cycle.

[0012] Furthermore, the process of updating the gear adjustment value group according to the slider fluctuation range includes: when ,and When the maximum limit voltage The voltage value of the rear center The difference is calculated by PI operation to obtain the third gear difference and the fourth gear difference, and the expression formula is: ; ; ; In the formula, is the maximum limit voltage in the kth adjustment cycle; Expressed as the maximum limit voltage in the kth adjustment cycle The voltage value of the rear center The difference, is the third gear difference in the kth adjustment cycle, is the fourth gear difference in the kth adjustment cycle; i represents the adjustment cycle number; k represents the number of the current adjustment cycle; , Expressed as a scale parameter; , Expressed as an integral parameter; Adjust the values ​​of f and g according to the third gear difference; the expression formula is: ; ; Adjust the value of a according to the fourth gear difference; ; In the formula, , and is the gear adjustment value in the kth adjustment cycle; , and It is the gear adjustment value in the k-1th adjustment cycle.

[0013] Furthermore, the process of updating the gear adjustment value group according to the slider fluctuation range includes: when ,and When the minimum limit voltage The voltage value of the front center The difference is calculated by PI operation to obtain the fifth gear difference, and the maximum limit voltage The voltage value of the rear center The difference is calculated by PI operation to obtain the sixth gear difference, and the expression formula is: ; ; ; ; In the formula, is the minimum limit voltage in the kth adjustment cycle; Expressed as the minimum limit voltage in the kth adjustment cycle The voltage value of the front center The difference, is the fifth gear position difference in the kth adjustment cycle, is the maximum limit voltage in the kth adjustment cycle; Expressed as the maximum limit voltage in the kth adjustment cycle The voltage value of the rear center The difference between is the sixth gear difference in the kth adjustment cycle; i represents the adjustment cycle number; k represents the number of the current adjustment cycle; , Expressed as a scale parameter; , Expressed as an integral parameter; The values ​​of a, b, c, e, f and g are adjusted according to the fifth gear difference and the sixth gear difference; the expression formula is: ; ; ; ; ; ; In the formula, , , , , and is the gear adjustment value in the kth adjustment cycle; , , , , and It is the gear adjustment value in the k-1th adjustment cycle.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The welding wire detection device described in the present invention comprises a slider, a connecting tube and a fixed outer sleeve; the connecting tube is arranged in the outer sleeve, and the welding wire is arranged in the connecting tube; one end of the connecting tube is connected to the power-assisting device, and one end of the connecting tube is connected to the slider; the connecting tube bends in the outer sleeve as the welding wire, and the bent connecting tube drives the slider to slide, and the position sensor collects the position signal of the slider and sends it to the controller, and the controller adjusts the gear of the power-assisting device according to the position signal detected by the position sensor; the welding wire detection device has a simple structure, and the stacking state of the welding wire can be effectively judged by detecting the position of the slider, and the direct physical feedback mechanism provides real-time monitoring of the welding wire tension during welding, and the controller can quickly respond to changes in the slider position and timely adjust the gear of the power-assisting device to adapt to changes in the welding wire tension during welding.

[0015] In the present invention, the real-time position signal of the slider is collected by the position sensor at every single detection cycle and sent to the controller, and the output torque gear of the power assist device is calculated according to the fluctuation center gear and the real-time position signal of the slider; the torque gear can be adaptively adjusted according to the real-time position signal of the slider to adapt to changes in the welding process, ensuring an immediate response to the wire tension during the welding process, thereby improving the stability of the welding process.

[0016] In the present invention, the slider fluctuation center position and the slider fluctuation range are calculated every single adjustment cycle; the adjustment cycle includes a plurality of detection cycles; the gear adjustment value group is updated according to the slider fluctuation range; the fluctuation center gear is updated according to the gear adjustment value group and the slider fluctuation center position, and then the output torque gear of the power assist device is calculated according to the fluctuation center gear and the slider real-time position signal; by regularly calculating the slider's fluctuation center position and fluctuation range, the output torque of the power assist device can be more accurately controlled, thereby improving the stability and welding quality of the welding process; the gear adjustment value group is dynamically adjusted according to real-time data, so that the torque output of the power assist device is more in line with the needs of the actual welding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a structural diagram of a wire feeding system for automatic welding of a wire drawing robot provided in Embodiment 1; Figure 2 is a structural diagram of a welding wire detection device provided in Embodiment 1; Figure 3 It is a schematic diagram of the slider travel range provided in this embodiment 2.

[0018] In the figure, 1 is a welding wire reel, 2 is a power assist device, 3 is welding wire, 4 is a welding wire detection device, 41 is an outer sleeve, 42 is a connecting pipe, 43 is a slider, and 5 is a welding wire conveying device. DETAILED DESCRIPTION

[0019] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0020] It should be noted that in the description of the present invention, the directions or positional relationships indicated by the terms "front", "rear", "left", "right", "up", "down", "inside", "outside", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention rather than requiring the present invention to be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. The terms "front", "rear", "left", "right", "up", and "down" used in the description of the present invention refer to the directions in the accompanying drawings, and the terms "inside" and "outside" refer to the directions toward or away from the geometric center of a specific component, respectively.

[0021] Example 1 like Figure 1 to Figure 2 As shown, a wire feeding system for automatic welding of a wire drawing robot comprises a power assist device 2, a welding wire detection device 4 and a welding wire feeding device 5; the welding wire 3 on the welding wire reel 1 is sequentially conveyed to the welding gun after passing through the power assist device 2, the welding wire detection device 4 and the welding wire feeding device 5; the servo motor drives the welding wire feeding device 5 to move, and the welding wire feeding device 5 drives the welding wire to reciprocate; The power assist device 2 includes a DC motor, a magnetic powder clutch and a roller for conveying welding wire. The DC motor drives the roller to rotate through the magnetic powder clutch. The DC motor is electrically connected to the controller through a half-bridge drive circuit. The power assist device is provided with N torque gears, and N is 99 in this embodiment. The controller adjusts the torque gear of the power assist device through the DC motor and the magnetic powder clutch.

[0022] The welding wire detection device 4 includes a slider 43, a connecting tube 42 and a fixed outer sleeve 41; one end of the outer sleeve 41 is connected to the power-assisting device 2, and the other end of the outer sleeve 41 is connected to the welding wire feeding device 5; the connecting tube 42 is arranged in the outer sleeve 41, and the welding wire 3 is arranged in the connecting tube 42; one end of the connecting tube 42 is connected to the power-assisting device 2, and one end of the connecting tube 42 is connected to the slider 43; the slider 43 can slide along the outer sleeve 41, and a position sensor for detecting the slider is arranged in the outer sleeve 41; the position sensor and the power-assisting device 2 are electrically connected to the controller; The connecting tube 42 bends as the welding wire 3 bends in the outer sleeve 41, and the bent connecting tube 42 drives the slider 43 to slide. The position sensor collects the position signal of the slider 43 and sends it to the controller. The controller adjusts the gear position of the power assist device 2 according to the position signal detected by the position sensor.

[0023] The welding wire detection device in this embodiment has a simple structure, and the wire stacking state of the welding wire can be effectively judged by detecting the position of the slider. The direct physical feedback mechanism provides real-time monitoring of the welding wire tension during the welding process. The controller can quickly respond to changes in the slider position and adjust the gear position of the power assist device in time to adapt to changes in the welding wire tension during the welding process.

[0024] Example 2 This embodiment provides a wire feeding control method for automatic welding of a wire drawing robot. The wire feeding control method described in this embodiment is applied to the wire feeding system described in Example 1. The wire feeding control method includes: Initializing a gear adjustment value group, wherein the gear adjustment value group includes six gear adjustment values, which are respectively recorded as a, b, c, e, f and g, and the gear adjustment value range is 1 to 15; setting the initial value of the fluctuation center gear of the power assist device; At each single detection cycle, the real-time position signal of the slider is collected by the position sensor and sent to the controller. The output torque position of the power assist device is calculated based on the fluctuation center position and the real-time position signal of the slider. The calculation process includes: The slider travel range is recorded as the slider maximum travel value To the minimum stroke value of the slider , and set the center value of the slider travel range; When the slider is at the maximum stroke value When the center value of the slider travel range is 0, the output torque gear of the power assist device is calculated according to the fluctuation center gear and the real-time position signal of the slider, and the expression formula is: ; ; When the slider is at the minimum stroke value When the center value of the slider travel range is 0, the output torque gear of the power assist device is calculated according to the fluctuation center gear and the real-time position signal of the slider, and the expression formula is: ; In the formula, It is expressed as the output torque gear of the power assist device; It is indicated as the fluctuation center gear position of the power assist device; The slider is at the minimum travel value of the slider Feedback voltage of the position sensor; The slider is at the maximum travel value of the slider Feedback voltage of the position sensor; is the feedback voltage of the position sensor when the slider is at the center of the slider travel range; The feedback voltage of the position sensor to detect the real-time position of the slider; Represents a rounding function.

[0025] The slider fluctuation center position and the slider fluctuation range are calculated every single adjustment cycle; the adjustment cycle includes several detection cycles; and the process of updating the gear adjustment value group according to the slider fluctuation range includes: The center value of the slider travel range to the maximum slider travel value The range is divided into the first front stroke, the second front stroke, the third front stroke, and the fourth front stroke; the center value of the slider stroke range to the minimum slider stroke value The range is divided into a first rear stroke, a second rear stroke, a third rear stroke and a fourth rear stroke in sequence; When the slider is between the second front stroke and the third front stroke, the voltage feedback value of the position sensor is recorded as the front center voltage value When the slider is between the second rear stroke and the third rear stroke, the voltage feedback value of the position sensor is recorded as the rear center voltage value During the adjustment period, the position sensor detects the fluctuation range of the slider and obtains the minimum limit voltage and the maximum limiting voltage ; When the minimum limit voltage and the maximum limiting voltage Both are at the front center voltage value To the rear center voltage value Keep the preset values ​​of a, b, c, e, f and g.

[0026] when ,and When; for the minimum limit voltage The voltage value of the front center The difference is calculated by PI operation to obtain the first gear difference and the second gear difference, and the expression formula is: ; ; ; In the formula, is the minimum limit voltage in the kth adjustment cycle; Expressed as the minimum limit voltage in the kth adjustment cycle The voltage value of the front center The difference, is the first gear difference in the kth adjustment cycle, is the second gear difference in the kth adjustment cycle; i represents the adjustment cycle number; k represents the number of the current adjustment cycle; , Expressed as a scale parameter; , Expressed as an integral parameter; Adjust the values ​​of b and c according to the first gear difference; the expression formula is: ; ; Adjust the value of e according to the second gear difference; ; In the formula, , and is the gear adjustment value in the kth adjustment cycle; , and It is the gear adjustment value in the k-1th adjustment cycle.

[0027] when ,and When the maximum limit voltage The voltage value of the rear center The difference is calculated by PI operation to obtain the third gear difference and the fourth gear difference, and the expression formula is: ; ; ; In the formula, is the maximum limit voltage in the kth adjustment cycle; Expressed as the maximum limit voltage in the kth adjustment cycle The voltage value of the rear center The difference, is the third gear difference in the kth adjustment cycle, is the fourth gear difference in the kth adjustment cycle; i represents the adjustment cycle number; k represents the number of the current adjustment cycle; , Expressed as a scale parameter; , Expressed as an integral parameter; Adjust the values ​​of f and g according to the third gear difference; the expression formula is: ; ; Adjust the value of a according to the fourth gear difference; ; In the formula, , and is the gear adjustment value in the kth adjustment cycle; , and It is the gear adjustment value in the k-1th adjustment cycle.

[0028] when ,and When the minimum limit voltage The voltage value of the front center The difference is calculated by PI operation to obtain the fifth gear difference, and the maximum limit voltage The voltage value of the rear center The difference is calculated by PI operation to obtain the sixth gear difference, and the expression formula is: ; ; ; ; In the formula, is the minimum limit voltage in the kth adjustment cycle; Expressed as the minimum limit voltage in the kth adjustment cycle The voltage value of the front center The difference, is the fifth gear position difference in the kth adjustment cycle, is the maximum limit voltage in the kth adjustment cycle; Expressed as the maximum limit voltage in the kth adjustment cycle The voltage value of the rear center The difference between is the sixth gear difference in the kth adjustment cycle; i represents the adjustment cycle number; k represents the number of the current adjustment cycle; , Expressed as a scale parameter; , Expressed as an integral parameter; The values ​​of a, b, c, e, f and g are adjusted according to the fifth gear difference and the sixth gear difference; the expression formula is: ; ; ; ; ; ; In the formula, , , , , and is the gear adjustment value in the kth adjustment cycle; , , , , and It is the gear adjustment value in the k-1th adjustment cycle.

[0029] In this embodiment, by periodically calculating the fluctuation center position and fluctuation range of the slider, the output torque of the power assist device can be controlled more accurately, thereby improving the stability and quality of the welding process; the gear adjustment value group is dynamically adjusted according to real-time data, so that the torque output of the power assist device is more in line with the needs of the actual welding process.

[0030] like Figure 3 As shown, the process of updating the fluctuation center gear position according to the gear adjustment value group and the slider fluctuation center position includes: When the fluctuation center position of the slider is within the first front stroke during the detection period, the fluctuation center gear position of the control power assist device retains the current gear value; when the fluctuation center position of the slider is within the second front stroke during the detection period, the fluctuation center gear position of the control power assist device increases by a gear position; when the fluctuation center position of the slider is within the first front stroke during the detection period, the fluctuation center gear position of the control power assist device increases by b gear positions; when the fluctuation center position of the slider is within the first front stroke during the detection period, the fluctuation center gear position of the control power assist device increases by c gear positions; When the fluctuation center position of the slider is within the first rear section of the stroke during the detection cycle, the fluctuation center gear position of the power-assisting device is controlled to retain the current gear value; when the fluctuation center position of the slider is within the second rear section of the stroke during the detection cycle, the fluctuation center gear position of the power-assisting device is controlled to be reduced by e gears; when the fluctuation center position of the slider is within the third rear section of the stroke during the detection cycle, the fluctuation center gear position of the power-assisting device is controlled to be reduced by f gears; when the fluctuation center position of the slider is within the fourth rear section of the stroke during the detection cycle, the fluctuation center gear position of the power-assisting device is controlled to be reduced by g gears.

[0031] In this embodiment, the torque gear can be adaptively adjusted according to the real-time position signal of the slider to adapt to changes in the welding process, ensuring an immediate response to the wire tension during the welding process, thereby improving the stability of the welding process.

[0032] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A wire feeding system for automatic welding of a wire drawing robot, characterized in that: It includes a power assist device, a welding wire detection device and a welding wire conveying device; the welding wire on the welding wire reel is sequentially conveyed to the welding gun after passing through the power assist device, the welding wire detection device and the welding wire conveying device; The welding wire detection device comprises a slider, a connecting tube and a fixed outer sleeve; the connecting tube is arranged in the outer sleeve, and the welding wire is arranged in the connecting tube; one end of the connecting tube is connected to the power-assisting device, and one end of the connecting tube is connected to the slider; the slider can slide along the outer sleeve, and a position sensor for detecting the slider is arranged in the outer sleeve; the position sensor and the power-assisting device are electrically connected to the controller; The connecting tube bends in the outer sleeve as the welding wire bends, and the bent connecting tube drives the slider to slide. The position sensor collects the position signal of the slider and sends it to the controller. The controller adjusts the gear position of the power assist device according to the position signal detected by the position sensor.

2. The wire feeding system according to claim 1, characterized in that: One end of the outer sleeve is connected to the power assist device, and the other end of the outer sleeve is connected to the welding wire conveying device.

3. The wire feeding system according to claim 1, characterized in that: The power assist device comprises a DC motor, a magnetic powder clutch and a roller for conveying welding wire, wherein the DC motor drives the roller to rotate via the magnetic powder clutch; the DC motor is electrically connected to the controller via a half-bridge drive circuit; the power assist device is provided with N torque gears, and the controller adjusts the torque gear of the power assist device via the DC motor and the magnetic powder clutch.

4. The wire feeding control method of the wire feeding system according to any one of claims 1 to 3, characterized in that: include: Initialize the gear adjustment value group and set the initial value of the fluctuation center gear of the power assist device; At each single detection cycle, the real-time position signal of the slider is collected by the position sensor and sent to the controller, and the output torque position of the power assist device is calculated based on the fluctuation center position and the real-time position signal of the slider; The slider fluctuation center position and the slider fluctuation range are calculated every single adjustment cycle; the adjustment cycle includes several detection cycles; the gear adjustment value group is updated according to the slider fluctuation range; the fluctuation center gear is updated according to the gear adjustment value group and the slider fluctuation center position.

5. The control method according to claim 4, characterized in that: The output torque gear of the power assist device is obtained by calculating the gear of the fluctuation center and the real-time position signal of the slider, and the calculation process includes: The slider travel range is recorded as the slider maximum travel value To the minimum stroke value of the slider , and set the center value of the slider travel range; When the slider is at the maximum stroke value When the center value of the slider travel range is 0, the output torque gear of the power assist device is calculated according to the fluctuation center gear and the real-time position signal of the slider, and the expression formula is: ； ； When the slider is at the minimum stroke value When the center value of the slider travel range is 0, the output torque gear of the power assist device is calculated according to the fluctuation center gear and the real-time position signal of the slider, and the expression formula is: ； In the formula, It is indicated as the output torque gear of the power assist device; It is indicated as the fluctuation center gear position of the power assist device; The slider is at the minimum travel value of the slider Feedback voltage of the position sensor; The slider is at the maximum travel value of the slider Feedback voltage of the position sensor; is the feedback voltage of the position sensor when the slider is at the center of the slider travel range; The feedback voltage of the position sensor to detect the real-time position of the slider; Represents a rounding function.

6. The control method according to claim 5, characterized in that: The process of updating the fluctuation center gear position according to the gear adjustment value group and the slider fluctuation center position includes: The gear adjustment value group includes six gear adjustment values, which are respectively recorded as a, b, c, e, f and g; The center value of the slider travel range to the maximum slider travel value The range is divided into the first front stroke, the second front stroke, the third front stroke, and the fourth front stroke; the center value of the slider stroke range to the minimum slider stroke value The range is divided into a first rear stroke, a second rear stroke, a third rear stroke and a fourth rear stroke in sequence; When the fluctuation center position of the slider is within the first front stroke during the detection period, the fluctuation center gear position of the control power assist device retains the current gear value; when the fluctuation center position of the slider is within the second front stroke during the detection period, the fluctuation center gear position of the control power assist device increases by a gear position; when the fluctuation center position of the slider is within the first front stroke during the detection period, the fluctuation center gear position of the control power assist device increases by b gear positions; when the fluctuation center position of the slider is within the first front stroke during the detection period, the fluctuation center gear position of the control power assist device increases by c gear positions; When the fluctuation center position of the slider is within the first rear section of the stroke during the detection cycle, the fluctuation center gear position of the power-assisting device is controlled to retain the current gear value; when the fluctuation center position of the slider is within the second rear section of the stroke during the detection cycle, the fluctuation center gear position of the power-assisting device is controlled to be reduced by e gears; when the fluctuation center position of the slider is within the third rear section of the stroke during the detection cycle, the fluctuation center gear position of the power-assisting device is controlled to be reduced by f gears; when the fluctuation center position of the slider is within the fourth rear section of the stroke during the detection cycle, the fluctuation center gear position of the power-assisting device is controlled to be reduced by g gears.

7. The control method according to claim 6, characterized in that: The process of updating the gear adjustment value group according to the slider fluctuation range includes: When the slider is between the second front stroke and the third front stroke, the voltage feedback value of the position sensor is recorded as the front center voltage value When the slider is between the second rear stroke and the third rear stroke, the voltage feedback value of the position sensor is recorded as the rear center voltage value ; During the adjustment period, the position sensor detects the slider fluctuation range and obtains the minimum limit voltage. and the maximum limiting voltage ; When the minimum limit voltage and the maximum limiting voltage Both are at the front center voltage value To the rear center voltage value Keep the preset values ​​of a, b, c, e, f and g.

8. The control method according to claim 7, characterized in that: The process of updating the gear adjustment value group according to the slider fluctuation range includes: when ,and When; for the minimum limit voltage The voltage value of the front center The difference is calculated by PI operation to obtain the first gear difference and the second gear difference, and the expression formula is: ； ； ； In the formula, is the minimum limit voltage in the kth adjustment cycle; Expressed as the minimum limit voltage in the kth adjustment cycle The voltage value of the front center The difference, is the first gear difference in the kth adjustment cycle, is the second gear difference in the kth adjustment cycle; i represents the adjustment cycle number; k represents the number of the current adjustment cycle; , Expressed as a scale parameter; , Expressed as an integral parameter; Adjust the values ​​of b and c according to the first gear difference; the expression formula is: ； ； Adjust the value of e according to the second gear difference; ； In the formula, , and is the gear adjustment value in the kth adjustment cycle; , and It is the gear adjustment value in the k-1th adjustment cycle.

9. The control method according to claim 7, characterized in that: The process of updating the gear adjustment value group according to the slider fluctuation range includes: when ,and When the maximum limit voltage The voltage value of the rear center The difference is calculated by PI operation to obtain the third gear difference and the fourth gear difference, and the expression formula is: ； ； ； In the formula, is the maximum limit voltage in the kth adjustment cycle; Expressed as the maximum limit voltage in the kth adjustment cycle The voltage value of the rear center The difference, is the third gear difference in the kth adjustment cycle, is the fourth gear difference in the kth adjustment cycle; i represents the adjustment cycle number; k represents the number of the current adjustment cycle; , Expressed as a scale parameter; , Expressed as an integral parameter; Adjust the values ​​of f and g according to the third gear difference; the expression formula is: ； ； Adjust the value of a according to the fourth gear difference; ； In the formula, , and is the gear adjustment value in the kth adjustment cycle; , and It is the gear adjustment value in the k-1th adjustment cycle.

10. The control method according to claim 7, characterized in that: The process of updating the gear adjustment value group according to the slider fluctuation range includes: when ,and When the minimum limit voltage The voltage value of the front center The difference is calculated by PI operation to obtain the fifth gear difference, and the maximum limit voltage The voltage value of the rear center The difference is calculated by PI operation to obtain the sixth gear difference, and the expression formula is: ； ； ； ； In the formula, is the minimum limit voltage in the kth adjustment cycle; Expressed as the minimum limit voltage in the kth adjustment cycle The voltage value of the front center The difference, is the fifth gear position difference in the kth adjustment cycle, is the maximum limit voltage in the kth adjustment cycle; Expressed as the maximum limit voltage in the kth adjustment cycle The voltage value of the rear center The difference between is the sixth gear difference in the kth adjustment cycle; i represents the adjustment cycle number; k represents the number of the current adjustment cycle; , Expressed as a scale parameter; , Expressed as an integral parameter; The values ​​of a, b, c, e, f and g are adjusted according to the fifth gear difference and the sixth gear difference; the expression formula is: ； ； ； ； ； ； In the formula, , , , , and is the gear adjustment value in the kth adjustment cycle; , , , , and It is the gear adjustment value in the k-1th adjustment cycle.

Images