Soft welding gun and driving method and system of soft welding gun

Abstract

The invention relates to a soft welding gun and a driving method and system of the soft welding gun. The method comprises the following steps: acquiring the displacement of a driving rope; calculating a reference value of the tail end pose of the welding gun based on the displacement of the driving rope; welding current and welding voltage are obtained; calculating a distance change value between the tail end of a welding gun nozzle and a workpiece based on the welding current and the welding voltage; and inputting the reference value of the pose of the tail end of the welding gun and the change value of the distance between the tail end of the nozzle of the welding gun and the workpiece into a preset welding gun pose estimation model, and solving to obtain the real-time pose of the tail end of the soft welding gun. By the adoption of the method, the information obtained through combined sensing is implicit information such as rope displacement, rope tension and welding electrical parameters, no extra visual or position sensor is needed, and non-delay online detection of the soft welding gun tail end pose can be achieved in a narrow space; due to the fact that an external visual sensor is not adopted, the size of the tail end of the soft welding gun can be greatly reduced, and the soft welding gun is more suitable for narrow space working conditions.

Description

Technical Field

[0001] The present application relates to the technical field of soft robot arm posture sensing, and in particular to a soft welding gun, and a driving method and system for the soft welding gun. Background Art

[0002] There are a large number of complex welding structures in application fields such as marine engineering, petrochemical pipelines, national defense and military industry, and ships. Welding operations often need to be carried out in a small space. The geometric dimensions of traditional welding robot equipment and welding guns are fixed, which are not suitable for welding operations in a small space. At present, welding operations in a small space usually need to be completed manually, which is not only time-consuming and labor-intensive, but also difficult to ensure the consistency of welding quality.

[0003] As shown in Chinese patent CN115091439B, a modular soft robotic arm system based on dielectric elastomer and a control method thereof are disclosed, which belongs to the field of soft robots. The soft robotic arm system includes a mounting frame, a host computer, a camera, a high-voltage module, a signal acquisition module and a modular soft robotic arm based on dielectric elastomer. The camera is used to detect the posture of the robotic arm, and the high-voltage module includes a voltage generation module, a voltage amplification module and a power supply module, which are used to provide the driving voltage of the robotic arm. The signal acquisition module is used to detect the driving voltage of the robotic arm. The modular soft robotic arm based on dielectric elastomer is composed of several soft units connected in series, and each soft unit can achieve axial elongation and bending in any direction under the driving voltage, so the robotic arm has super redundant degrees of freedom, light structure and flexible movement. The present invention can capture the posture information of the soft robotic arm through a camera, and perform real-time posture control on the soft robotic arm based on the posture information, which is simple to operate, strong in robustness and good in control effect.

[0004] However, existing soft welding guns lack dedicated sensing devices, which makes it impossible to obtain the end position in real time during the welding process. If the end of the welding gun nozzle deviates from the predetermined process parameters, poor forming and welding defects are likely to occur. Summary of the invention

[0005] 1. Problem to be solved Based on this, it is necessary to provide a soft welding gun, a driving method and a system for the soft welding gun that can obtain the end position in real time in response to the above technical problems.

[0006] 2. Technical solution In a first aspect, the present application provides a soft welding gun, which comprises a welding machine, a welding cable provided on the welding machine, a nozzle provided at a section of the welding cable away from the welding machine, an elastic member sleeved on the welding cable, and a driving rope for controlling the extension and retraction of the elastic member provided on the nozzle.

[0007] In a second aspect, the present application provides a method for driving a soft welding gun. The method comprises: Get the displacement of the driving rope; Calculate the reference value of the welding gun end posture based on the displacement of the driving rope; Get welding current and welding voltage; Calculate the distance change between the end of the welding gun nozzle and the workpiece based on the welding current and the welding voltage; The reference value of the welding gun end posture and the distance change value between the welding gun nozzle end and the workpiece are input into a preset welding gun posture estimation model and solved to obtain the real-time posture of the soft welding gun end.

[0008] In one of the embodiments, after calculating the reference value of the welding gun tip posture based on the driving rope displacement, the method further includes: Get the tension value of the driving rope; The friction force between the driving rope and the elastic body is calculated based on the reference value of the welding gun end posture; The correction value of the welding gun tip posture is calculated based on the preset elastic coefficient of the elastic body, the tension value of the driving rope and the friction between the driving rope and the elastic body.

[0009] In one embodiment, inputting into the welding gun pose estimation model and solving to obtain the real-time pose of the end of the soft welding gun includes: Inputting the preset reference value of the welding gun end posture, the distance change value between the welding gun nozzle end and the workpiece, and the posture correction value of the welding gun end posture into a preset welding gun posture estimation model; The welding gun posture estimation model is solved to obtain the real-time posture of the end of the soft welding gun. The formula is as follows: ; in, is the real-time position of the end of the soft welding gun. It is the posture correction model of the soft welding gun end. is the reference value of the welding gun end posture, is the correction value of the welding gun end posture, It is the change in distance between the end of the welding gun nozzle and the workpiece.

[0010] In one embodiment, the reference value of the welding gun end posture is calculated based on forward kinematics, and the formula is as follows: ; in, is the reference value of the welding gun end posture, is the forward kinematic transfer matrix of the soft welding gun, To drive the rope displacement.

[0011] In one embodiment, calculating the correction value of the welding gun tip posture includes: The deformation of the elastic body is calculated based on the rope tension, and the welding gun end posture is corrected based on the deformation of the elastic body. The correction formula is as follows: ; in, is the correction value of the welding gun end posture, is the elastic modulus of the elastic body, The relationship between the force on the driving rope and the force on the end of the soft welding gun is shown in the figure. For the The tension on the driving rope is For the The friction between the driving rope and the elastic body.

[0012] In a third aspect, the present application also provides a soft welding gun driving system. The system comprises: A driving rope displacement acquisition module, used for acquiring the driving rope displacement; A welding gun posture reference calculation module is used to calculate a reference value of the welding gun end posture based on the displacement of the driving rope; A welding gun current and voltage acquisition module is used to obtain welding current and welding voltage; A welding gun workpiece distance calculation module, used to calculate the distance change value between the welding gun nozzle end and the workpiece based on the welding current and welding voltage; The posture model solves the real-time posture module, which is used to input the reference value of the welding gun end posture and the distance change value between the welding gun nozzle end and the workpiece into a preset welding gun posture estimation model and solve to obtain the real-time posture of the soft welding gun end.

[0013] In a fourth aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program: Get the displacement of the driving rope; Calculate the reference value of the welding gun end posture based on the displacement of the driving rope; Get welding current and welding voltage; Calculate the distance change between the end of the welding gun nozzle and the workpiece based on the welding current and the welding voltage; The reference value of the welding gun end posture and the distance change value between the welding gun nozzle end and the workpiece are input into a preset welding gun posture estimation model and solved to obtain the real-time posture of the soft welding gun end.

[0014] In a fifth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented: Get the displacement of the driving rope; Calculate the reference value of the welding gun end posture based on the displacement of the driving rope; Get welding current and welding voltage; Calculate the distance change between the end of the welding gun nozzle and the workpiece based on the welding current and the welding voltage; The reference value of the welding gun end posture and the distance change value between the welding gun nozzle end and the workpiece are input into a preset welding gun posture estimation model and solved to obtain the real-time posture of the soft welding gun end.

[0015] In a sixth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented: Get the displacement of the driving rope; Calculate the reference value of the welding gun end posture based on the displacement of the driving rope; Get welding current and welding voltage; Calculate the distance change between the end of the welding gun nozzle and the workpiece based on the welding current and the welding voltage; The reference value of the welding gun end posture and the distance change value between the welding gun nozzle end and the workpiece are input into a preset welding gun posture estimation model and solved to obtain the real-time posture of the soft welding gun end.

[0016] 3. Beneficial effects This application adopts the above method, and the information obtained by the sensor set at the end of the driving rope is implicit information, such as rope displacement, rope tension, and welding electrical parameters. There is no need to set additional visual or position sensors at the nozzle end, so that the delay-free online detection of the posture of the soft welding gun end can be achieved in a small space; since no external visual sensor is used, the volume of the soft welding gun end can be greatly reduced, making it more suitable for working conditions in a small space. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the structure of a soft welding gun in one embodiment; Figure 2 A schematic diagram of the structure of a soft welding gun driving system in one embodiment; Figure 3 A flowchart of a method for driving a software welding gun in one embodiment; Figure 4 A specific flow chart of a method for driving a software welding gun in one embodiment; Figure 5 is a structural block diagram of a soft welding gun driving system in one embodiment; Figure 6 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment.

[0018] Figure numerals: 100, welding machine; 200, welding cable; 300, nozzle; 400, elastic member; 500, driving rope; 600, rope tension measurement subsystem; 610, tension measuring instrument; 700, rope displacement measurement subsystem; 710, displacement measuring instrument; 800, host computer; 900, electrical parameter acquisition card. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0020] A soft welding gun provided in the present application specifically includes: a welding machine 100, a welding cable 200 is electrically connected to the welding machine 100, a section of the welding cable 200 away from the welding machine 100 is detachably connected to a nozzle 300, an elastic member 400 is sleeved on the welding cable 200, and a driving rope 500 for controlling the extension and retraction of the elastic member 400 is connected to the nozzle 300, and the elastic member in this embodiment is specifically a spring.

[0021] Among them, the welding machine 100 is connected to the host computer 800 through the electrical parameter acquisition card 900, the number of the driving ropes 500 is not limited, and the number of the driving ropes 500 in this embodiment is 3, each driving rope 500 is connected to a displacement measuring instrument 710 and a tension measuring instrument 610, and the displacement measuring instrument 710 and the tension measuring instrument 610 are electrically connected to the host computer 800 respectively, and are used to send the measured displacement value and tension value to the host computer 800 for analysis and calculation. In this embodiment, the specific model of the electrical parameter acquisition card 900 is NI USB-6008, the specific model of the displacement measuring instrument 710 is HPS-1000mm-V10, and the specific model of the tension measuring instrument 610 is ILBS-M2.

[0022] The software welding gun driving method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown; Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, the three displacement measuring instruments 710 in this embodiment constitute a rope displacement measurement subsystem 700, which is used to obtain the displacement of the driving rope 500, read the angular displacement value of the servo motor through the displacement measuring instrument 710, and send the data to the host computer 800. Three tension measuring instruments 610 constitute a rope tension measurement subsystem 600, which is connected to the host computer 800, and is used to measure the tension exerted on the driving rope 500, and send the measurement results to the host computer 800; the electrical parameter acquisition card 900 is connected to the welding machine 100 and the host computer 800, forming an electrical parameter sensing subsystem, which is used to collect electrical parameters and send the results to the host computer 800. The host computer 800 is a welding gun end position estimation subsystem, which comprehensively estimates the welding gun end posture reference value, the elastic body deformation variable, and the distance between the nozzle 300 and the workpiece. The method comprises the following steps: Step 202, obtaining the displacement of the driving rope.

[0023] The driving rope is driven to extend and retract by a servo motor, and the servo motor is electrically connected to a host computer. The host computer can detect the angular displacement data of the servo motor, and the host computer converts the angular displacement data of the servo motor into the displacement of the driving rope.

[0024] Step 204 , calculating a reference value of the welding gun tip posture based on the displacement of the driving rope.

[0025] Step 206, obtaining welding current and welding voltage.

[0026] Among them, there is a certain correlation between the arc parameters and the nozzle height, and this characteristic can be used to characterize the relative position of the soft welding gun and the workpiece; after the arc is started, the welding current and voltage are read from the I / O interface of the welding machine through the electrical parameter acquisition card, and the arc signal is transmitted to the host computer.

[0027] Step 208 : Calculate the distance change between the welding gun nozzle end and the workpiece based on the welding current and the welding voltage.

[0028] Among them, the host computer estimates the distance between the end of the welding gun and the workpiece by processing and analyzing the arc signal, and provides a posture correction value for the position of the end of the welding gun.

[0029] For example, when a metal arc welding machine with a constant pressure characteristic is used, the welding current and the distance between the end of the welding gun nozzle and the workpiece have the following relationship: ; in, is the welding current, is the distance between the end of the welding gun nozzle and the workpiece, and It is a preset constant and needs to be obtained through calibration before welding.

[0030] Step 210 , input the preset reference value of the welding gun end posture and the distance change value between the welding gun nozzle end and the workpiece into the preset welding gun posture estimation model and solve to obtain the real-time posture of the software welding gun end.

[0031] In the above-mentioned soft welding gun driving method, the welding end posture is inferred by measuring the rope displacement and tension. No additional visual sensor is required. The delay-free online detection of the position of the soft welding gun end can be achieved in a small space, which can greatly reduce the volume of the welding gun end.

[0032] In one embodiment, since the elastic body is prone to axial contraction under rope control conditions, the welding gun end posture calculated by forward kinematics has errors, and the errors need to be corrected. The specific correction operations include: Acquire the displacement of the driving rope; calculate the reference value of the welding gun end posture based on the driving rope displacement; acquire the welding current and welding voltage; calculate the distance change value between the welding gun nozzle end and the workpiece based on the welding current and welding voltage; input the preset reference value of the welding gun end posture and the distance change value between the welding gun nozzle end and the workpiece into the preset welding gun posture estimation model and solve to obtain the real-time posture of the soft welding gun end.

[0033] Among them, the host computer calculates the deformation of the elastic body according to the rope tension and provides the correction value of the welding gun end posture. The axial contraction of the elastic body is related to the tension on the driving rope, which can be calculated by the following formula: ; in, is the tension on the rope, is the tension on the three driving ropes; ;.

[0034] in, is the correction value of the welding gun end posture, is the elastic modulus of the elastic body, The relationship between the force on the driving rope and the force on the end of the soft welding gun is shown in the figure. is the tension on the three driving ropes, , is the friction force between the driving rope and the elastic body, which is calculated by the reference value of the current welding gun end posture.

[0035] In this embodiment, the host computer calculates the deformation of the elastic body based on the rope tension, and calculates the friction between the driving rope and the elastic body through the reference value of the current welding gun end posture, and finally calculates the correction value of the welding gun end posture through the tension of the driving rope and the friction between the driving rope and the elastic body.

[0036] In one embodiment, the arc parameters are related to the nozzle height, and the arc parameters can be used to characterize the relative position between the soft welding gun and the workpiece, which specifically includes the following steps: After the arc is started, the welding current and voltage are read from the I / O interface of the welding machine through the electrical parameter acquisition card, and the arc signal is transmitted to the host computer. The host computer estimates the distance between the end of the welding gun and the workpiece by processing and analyzing the arc signal, and provides the posture correction value of the end of the welding gun.

[0037] For example, when a metal arc welding machine with a constant pressure characteristic is used, the welding current and the distance between the end of the welding gun nozzle and the workpiece have the following relationship: ; in, is the welding current, is the distance between the end of the welding gun nozzle and the workpiece, and It is a preset constant and needs to be obtained through calibration before welding; During the welding process, the change of welding current can be , calculate the change in the distance between the end of the welding gun nozzle and the workpiece .

[0038] Finally, the real-time posture of the end of the welding gun is comprehensively solved through the welding gun posture estimation model. For example, it can be calculated by the following formula: ; in, is the real-time position of the end of the soft welding gun. It is the posture correction model of the soft welding gun end. is the reference value of the welding gun end posture, is the correction value of the welding gun end posture, It is the change in distance between the end of the welding gun nozzle and the workpiece.

[0039] It is worth mentioning that the welding cable and the driving rope in the present invention can be extended. It can be seen that all the sensing devices of the method described in the present invention are deployed at the far end of the welding gun, far away from the welding gun nozzle. The position of the welding gun end is inferred based on the implicit information of the welding process. At the same time, the present invention does not require additional visual sensors, and can realize the delay-free online detection of the position of the soft welding gun end in a small space, which can greatly reduce the volume of the welding gun end.

[0040] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0041] Based on the same inventive concept, the embodiment of the present application also provides a soft welding gun driving system for implementing the soft welding gun driving method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of one or more soft welding gun driving devices provided below can refer to the limitations of the soft welding gun driving method above, and will not be repeated here.

[0042] In one embodiment, Figure 5 As shown, a soft welding gun driving system is provided, including: a driving rope displacement acquisition module, a welding gun posture reference calculation module, a welding gun current and voltage acquisition module, a welding gun workpiece distance calculation module and a posture model solution real-time posture module, wherein: A driving rope displacement acquisition module, used for acquiring the driving rope displacement; A welding gun posture reference calculation module is used to calculate a reference value of the welding gun end posture based on the displacement of the driving rope; A welding gun current and voltage acquisition module is used to obtain welding current and welding voltage; A welding gun workpiece distance calculation module, used to calculate the distance change value between the welding gun nozzle end and the workpiece based on the welding current and welding voltage; The posture model solves the real-time posture module, which is used to input the reference value of the welding gun end posture and the distance change value between the welding gun nozzle end and the workpiece into a preset welding gun posture estimation model and solve to obtain the real-time posture of the soft welding gun end.

[0043] In one embodiment, the welding gun posture reference calculation module is also used to: obtain the tension value of the drive rope; calculate the friction between the drive rope and the elastic body based on the reference value of the welding gun end posture; calculate the correction value of the welding gun end posture based on the preset elastic coefficient of the elastic body, the tension value of the drive rope and the friction between the drive rope and the elastic body.

[0044] In one embodiment, the welding gun posture reference calculation module is further used to: input the preset reference value of the welding gun end posture, the distance change value between the welding gun nozzle end and the workpiece, and the posture correction value of the welding gun end posture into a preset welding gun posture estimation model; the welding gun posture estimation model is solved to obtain the real-time posture of the software welding gun end, and the formula is as follows: ;in, is the real-time position of the end of the soft welding gun. It is the posture correction model of the soft welding gun end. is the reference value of the welding gun end posture, is the correction value of the welding gun end posture, It is the change in distance between the end of the welding gun nozzle and the workpiece.

[0045] In one embodiment, the welding gun posture reference calculation module is further used to calculate the reference value of the welding gun end posture based on forward kinematics, and the formula is as follows: ;in, is the reference value of the welding gun end posture, is the forward kinematic transfer matrix of the soft welding gun, To drive the rope displacement.

[0046] In one embodiment, the welding gun posture reference calculation module is further used to: calculate the deformation of the elastic body based on the rope tension and correct the welding gun end posture based on the deformation of the elastic body, and the correction formula is as follows: ;in, is the correction value of the welding gun end posture, is the elastic modulus of the elastic body, The relationship between the force on the driving rope and the force on the end of the soft welding gun is shown in the figure. For the The tension on the driving rope is For the The friction between the driving rope and the elastic body.

[0047] Each module in the above-mentioned software welding gun driving system can be implemented in whole or in part by software, hardware and their combination. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0048] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 6As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a soft welding gun driving method is implemented.

[0049] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be shown in FIG. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner may be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for driving a soft welding gun is implemented. It can be understood by those skilled in the art that the structure shown in FIG. Y is only a block diagram of a partial structure related to the present application scheme, and does not constitute a limitation on the computer device to which the present application scheme is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0050] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0051] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0052] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0053] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0054] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0055] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0056] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A soft welding gun, characterized in that: The soft welding gun comprises: a welding machine (100), the welding machine (100) is provided with a welding cable (200), a section of the welding cable (200) away from the welding machine (100) is provided with a nozzle (300), an elastic member (400) is sleeved on the welding cable (200), the nozzle (300) is provided with a driving rope (500) for controlling the extension and retraction of the elastic member (400), the welding cable (200) is provided with an electrical parameter acquisition card (900), the welding machine (100) is connected to a host computer (800) via the electrical parameter acquisition card (900), the driving rope (500) is provided with a rope tension measurement subsystem (600) for measuring the tension of the driving rope (500), and the driving rope (500) is provided with a rope displacement measurement subsystem (700) for measuring the displacement of the driving rope (500).

2. A method for driving a soft welding gun, characterized in that: The software welding gun driving method comprises: Get the displacement of the driving rope; Calculate the reference value of the welding gun end posture based on the displacement of the driving rope; Get welding current and welding voltage; Calculate the distance change between the end of the welding gun nozzle and the workpiece based on the welding current and the welding voltage; The reference value of the welding gun end posture and the distance change value between the welding gun nozzle end and the workpiece are input into a preset welding gun posture estimation model and solved to obtain the real-time posture of the soft welding gun end.

3. The method for driving a soft welding gun according to claim 2, characterized in that: After calculating the reference value of the welding gun tip posture based on the driving rope displacement, the method further includes: Get the tension value of the driving rope; The friction force between the driving rope and the elastic body is calculated based on the reference value of the welding gun end posture; The correction value of the welding gun tip posture is calculated based on the preset elastic coefficient of the elastic body, the tension value of the driving rope and the friction between the driving rope and the elastic body.

4. The method for driving a soft welding gun according to claim 3, characterized in that: The input to the welding gun posture estimation model and solving to obtain the real-time posture of the end of the soft welding gun includes: Inputting the preset reference value of the welding gun end posture, the distance change value between the welding gun nozzle end and the workpiece, and the posture correction value of the welding gun end posture into a preset welding gun posture estimation model; The welding gun posture estimation model is solved to obtain the real-time posture of the end of the soft welding gun. The formula is as follows: ； in, is the real-time position of the end of the soft welding gun. It is the posture correction model of the soft welding gun end. is the reference value of the welding gun end posture, is the correction value of the welding gun end posture, It is the change in distance between the end of the welding gun nozzle and the workpiece.

5. The method for driving a soft welding gun according to claim 2, characterized in that: The reference value for calculating the welding gun end posture based on the driving rope displacement includes: The reference value of the welding gun end position is calculated based on forward kinematics. The formula is as follows: ； in, is the reference value of the welding gun end posture, is the forward kinematic transfer matrix of the soft welding gun, To drive the rope displacement.

6. The method according to claim 3, characterized in that The correction value for calculating the welding gun end posture includes: The deformation of the elastic body is calculated based on the rope tension, and the welding gun end posture is corrected based on the deformation of the elastic body. The correction formula is as follows: ； in, is the correction value of the welding gun end posture, is the elastic modulus of the elastic body, The relationship between the force on the driving rope and the force on the end of the soft welding gun is shown in the figure. For the The tension on the driving rope is For the The friction between the driving rope and the elastic body.

7. A soft welding gun driving device, characterized in that: The device comprises: A driving rope displacement acquisition module, used for acquiring the driving rope displacement; A welding gun posture reference calculation module is used to calculate a reference value of the welding gun end posture based on the displacement of the driving rope; A welding gun current and voltage acquisition module is used to obtain welding current and welding voltage; A welding gun workpiece distance calculation module, used to calculate the distance change value between the welding gun nozzle end and the workpiece based on the welding current and welding voltage; The posture model solves the real-time posture module, which is used to input the reference value of the welding gun end posture and the distance change value between the welding gun nozzle end and the workpiece into a preset welding gun posture estimation model and solve to obtain the real-time posture of the soft welding gun end.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 2 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 2 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 2 to 6 are implemented.

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