Soft soldering gun, driving method and system for soft soldering gun

Abstract

This application relates to a flexible soldering gun, a driving method and a system for a flexible soldering gun. The method includes: obtaining the displacement of the driving rope; calculating a reference value of the pose of the end of the soldering gun based on the displacement of the driving rope; obtaining the welding current and the welding voltage; calculating a distance change value between the end of the soldering gun nozzle and the workpiece based on the welding current and the welding voltage; inputting the reference value of the pose of the end of the soldering gun and the distance change value between the end of the soldering gun nozzle and the workpiece into a preset soldering gun pose estimation model and solving to obtain the real-time pose of the end of the flexible soldering gun. By using this method, the information obtained by joint sensing is all implicit information, such as rope displacement, rope tension, and welding electrical parameters. Without the need for additional vision or position sensors, the real-time pose of the end of the flexible soldering gun can be detected without delay in a narrow space; since an external vision sensor is not used, the volume of the end of the flexible soldering gun can be greatly reduced, making it more suitable for working conditions in narrow spaces.

Description

Technical Field

[0001] This application relates to the technical field of pose sensing of soft robotic arms, and particularly to a soft soldering gun, a driving method and system for a soft soldering gun. Background Art

[0002] There are a large number of complex welding structures in application fields such as ocean engineering, petrochemical pipelines, national defense and military industries, and ships. Welding operations often need to be carried out in narrow spaces. The geometric dimensions of traditional welding robot equipment and soldering guns are fixed and not suitable for welding operations in narrow spaces. At present, welding operations in narrow spaces usually need to be completed manually, which is not only time-consuming and laborious, 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 elastomers and its control method are disclosed, belonging 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 elastomers. The camera is used to detect the pose of the robotic arm. The high-voltage module includes a voltage generation module, a voltage amplification module, and a power supply module, and is used to provide the driving voltage for 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 elastomers is composed of several soft units connected in series. Each soft unit can achieve axial elongation and bending in any direction under the driving voltage. Therefore, the robotic arm has super redundant degrees of freedom, is lightweight, and has flexible movement. The present invention can capture the pose information of the soft robotic arm through the camera and perform real-time pose control on the soft robotic arm based on the pose information, with simple operation, strong robustness, and good control effect.

[0004] However, existing soft soldering guns lack dedicated sensing devices, resulting in their inability to obtain the end pose in real time during the welding process. If the end of the soldering gun nozzle deviates from the predetermined process parameters, poor forming and welding defects are likely to occur. Summary of the Invention

[0005] 1. Problems to be Solved

[0006] Based on this, it is necessary to provide a soft soldering gun, a driving method and system for a soft soldering gun that can obtain the end pose in real time for the above technical problems.

[0007] 2. Technical Solutions

[0008] In the first aspect, this application provides a soft soldering gun. The soft soldering gun includes: a welding machine, a welding cable is provided on the welding machine, a nozzle is provided at a section of the welding cable far from the welding machine, an elastic member is sleeved on the welding cable, and a driving rope for controlling the expansion and contraction of the elastic member is provided on the nozzle.

[0009] In a second aspect, the present application provides a method for driving a flexible soldering gun. The method includes:

[0010] Obtaining the displacement of the driving rope;

[0011] Calculating a reference value of the pose of the end of the soldering gun based on the displacement of the driving rope;

[0012] Obtaining the welding current and the welding voltage;

[0013] Calculating the change value of the distance between the end of the soldering gun nozzle and the workpiece based on the welding current and the welding voltage;

[0014] Inputting the reference value of the pose of the end of the soldering gun and the change value of the distance between the end of the soldering gun nozzle and the workpiece into a preset soldering gun pose estimation model and solving to obtain the real-time pose of the end of the flexible soldering gun.

[0015] In one embodiment, after calculating the reference value of the pose of the end of the soldering gun based on the displacement of the driving rope, it further includes:

[0016] Obtaining the tension value of the driving rope;

[0017] Calculating the friction force between the driving rope and the elastic body based on the reference value of the pose of the end of the soldering gun;

[0018] Calculating a correction value of the pose of the end of the soldering gun based on the elastic coefficient of the preset elastic body, the tension value of the driving rope, and the friction force between the driving rope and the elastic body.

[0019] In one embodiment, inputting into the soldering gun pose estimation model and solving to obtain the real-time pose of the end of the flexible soldering gun includes:

[0020] Inputting the reference value of the preset pose of the end of the soldering gun, the change value of the distance between the end of the soldering gun nozzle and the workpiece, and the correction value of the pose of the end of the soldering gun into a preset soldering gun pose estimation model;

[0021] The soldering gun pose estimation model solves to obtain the real-time pose of the end of the flexible soldering gun, and the formula is as follows:

[0022] ;

[0023] Wherein, is the real-time pose of the end of the flexible soldering gun, is the pose correction model of the end of the flexible soldering gun, is the reference value of the pose of the end of the soldering gun, is the correction value of the pose of the end of the soldering gun, is the change value of the distance between the end of the soldering gun nozzle and the workpiece.

[0024] In one embodiment, the reference value of the pose of the torch end is calculated based on forward kinematics, and the formula is as follows:

[0025] ;

[0026] Wherein, is the reference value of the pose of the torch end, is the forward kinematics transfer matrix of the flexible torch, is the displacement of the driving rope.

[0027] In one embodiment, calculating the correction value of the torch end attitude includes:

[0028] Calculating the deformation of the elastomer based on the rope tension and correcting the torch end attitude based on the deformation of the elastomer. The correction formula is as follows:

[0029] ;

[0030] Wherein, is the correction value of the torch end attitude, is the elastic coefficient of the elastomer, is the relationship between the force on the driving rope and the force at the end of the flexible torch, is the th tensile force on the driving rope, is the th frictional force between the driving rope and the elastomer.

[0031] Thirdly, the present application also provides a flexible torch drive system. The system includes:

[0032] A driving rope displacement acquisition module for acquiring the displacement of the driving rope;

[0033] A torch pose reference calculation module for calculating the reference value of the pose of the torch end based on the displacement of the driving rope;

[0034] A torch current and voltage acquisition module for acquiring the welding current and welding voltage;

[0035] A torch-workpiece distance calculation module for calculating the distance change value between the end of the torch nozzle and the workpiece based on the welding current and welding voltage;

[0036] A pose model solving real-time pose module for inputting the reference value of the pose of the torch end and the distance change value between the end of the torch nozzle and the workpiece into a preset torch pose estimation model and solving to obtain the real-time pose of the end of the flexible torch.

[0037] Fourthly, the present application also provides a computer device. The computer device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the following steps are implemented:

[0038] Obtain the displacement of the driving rope;

[0039] Calculate the reference value of the end pose of the welding torch based on the displacement of the driving rope;

[0040] Obtain the welding current and welding voltage;

[0041] Calculate the distance change value between the end of the welding torch nozzle and the workpiece based on the welding current and the welding voltage;

[0042] Input the reference value of the end pose of the welding torch and the distance change value between the end of the welding torch nozzle and the workpiece into a preset welding torch pose estimation model and solve to obtain the real-time pose of the end of the flexible welding torch.

[0043] Fifthly, the present application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the following steps are implemented:

[0044] Obtain the displacement of the driving rope;

[0045] Calculate the reference value of the end pose of the welding torch based on the displacement of the driving rope;

[0046] Obtain the welding current and welding voltage;

[0047] Calculate the distance change value between the end of the welding torch nozzle and the workpiece based on the welding current and the welding voltage;

[0048] Input the reference value of the end pose of the welding torch and the distance change value between the end of the welding torch nozzle and the workpiece into a preset welding torch pose estimation model and solve to obtain the real-time pose of the end of the flexible welding torch.

[0049] Sixthly, the present application also provides a computer program product. The computer program product includes a computer program. When the computer program is executed by a processor, the following steps are implemented:

[0050] Obtain the displacement of the driving rope;

[0051] Calculate the reference value of the end pose of the welding torch based on the displacement of the driving rope;

[0052] Obtain the welding current and welding voltage;

[0053] Calculate the distance change value between the end of the welding torch nozzle and the workpiece based on the welding current and the welding voltage;

[0054] Input the reference value of the end pose of the welding torch and the variation value of the distance between the end of the welding torch nozzle and the workpiece into a preset welding torch pose estimation model and solve it to obtain the real-time pose of the end of the flexible welding torch.

[0055] 3. Beneficial Effects

[0056] With the above method in this application, all the information obtained by the sensors set at the end of the driving rope is implicit information, such as rope displacement, rope tension, and welding electrical parameters. Without the need to set additional vision or position sensors at the nozzle end, the non-delay online detection of the end pose of the flexible welding torch can be achieved in a narrow space; since no external vision sensor is used, the volume of the end of the flexible welding torch can be greatly reduced, making it more suitable for working conditions in narrow spaces. Description of the Drawings

[0057] Figure 1 It is a schematic structural diagram of a flexible welding torch in an embodiment;

[0058] Figure 2 It is a schematic structural diagram of a flexible welding torch drive system in an embodiment;

[0059] Figure 3 It is a flowchart of a flexible welding torch drive method in an embodiment;

[0060] Figure 4 It is a specific flowchart of a flexible welding torch drive method in an embodiment;

[0061] Figure 5 It is a structural block diagram of a flexible welding torch drive system in an embodiment;

[0062] Figure 6 It is an internal structure diagram of a computer device in an embodiment.

[0063] Reference 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, upper computer; 900, electrical parameter acquisition card. Detailed Embodiments

[0064] In order to make the objectives, technical solutions, and advantages of this application clearer, the following further elaborates on this application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely used to explain this application and are not used to limit this application.

[0065] A flexible soldering gun provided by the present application specifically includes: a welding machine 100, a welding cable 200 is electrically connected to the welding machine 100, a nozzle 300 is detachably connected to a section of the welding cable 200 away from the welding machine 100, an elastic member 400 is sleeved on the welding cable 200, and a driving rope 500 for controlling the expansion and contraction of the elastic member 400 is connected to the nozzle 300. The elastic member is specifically a spring in this embodiment.

[0066] Among them, the welding machine 100 is connected to the upper computer 800 through an electrical parameter acquisition card 900. The number of driving ropes 500 is not limited. The number of driving ropes 500 in this embodiment is 3. Each driving rope 500 is connected to a displacement measuring instrument 710 and a tensile force measuring instrument 610. The displacement measuring instrument 710 and the tensile force measuring instrument 610 are respectively electrically connected to the upper computer 800 for sending the measured displacement value and tensile force value to the upper 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 tensile force measuring instrument 610 is ILBS-M2.

[0067] The flexible soldering gun driving method provided by the embodiment of the present application can be applied to an application environment as shown in Figure 1 ; as shown in Figure 1 , Figure 2 , Figure 3 and Figure 4 shown, the three displacement measuring instruments 710 in this embodiment form a rope displacement measuring subsystem 700 for obtaining the displacement of the driving rope 500, reading the angular displacement value of the servo motor through the displacement measuring instrument 710, and sending the data to the upper computer 800. The three tensile force measuring instruments 610 form a rope tensile force measuring subsystem 600, which is connected to the upper computer 800 for measuring the tensile force received by the driving rope 500 and sending the measurement result to the upper computer 800; the electrical parameter acquisition card 900 is connected to the welding machine 100 and the upper computer 800 to form an electrical parameter sensing subsystem for collecting electrical parameters and sending the results to the upper computer 800. The upper computer 800 is a welding gun end position estimation subsystem, which comprehensively estimates the pose of the welding gun end by combining the reference value of the welding gun end pose, the deformation amount of the elastic body, and the distance between the nozzle 300 and the workpiece. The method includes the following steps:

[0068] Step 202, obtain the displacement of the driving rope.

[0069] Among them, the driving rope drives the expansion and contraction of the driving rope through a servo motor. The servo motor is electrically connected to the upper computer, and the upper computer can detect the angular displacement data of the servo motor. The upper computer converts the angular displacement data of the servo motor into the displacement amount of the driving rope.

[0070] Step 204: Calculate the reference value of the pose of the torch end based on the displacement of the driving rope.

[0071] Step 206: Obtain the welding current and welding voltage.

[0072] Among them, there is a certain relationship between the arc parameters and the nozzle height, and this characteristic can be used to characterize the relative position between the flexible torch and the workpiece; after arc starting, the welding current and voltage are read from the I / O interface of the welding machine through an electrical parameter acquisition card, and the arc signal is transmitted to the upper computer.

[0073] Step 208: Calculate the change value of the distance between the end of the torch nozzle and the workpiece based on the welding current and welding voltage.

[0074] Among them, the upper computer estimates the distance between the end of the torch and the workpiece by processing and analyzing the arc signal, and provides the pose correction value of the pose of the torch end.

[0075] Exemplarily, when using a gas metal arc welding machine with a constant voltage characteristic, the relationship between the welding current and the distance between the end of the torch nozzle and the workpiece is as follows:

[0076] ;

[0077] Among them, is the welding current, is the distance between the end of the torch nozzle and the workpiece, and are preset constants, which need to be obtained through calibration before welding.

[0078] Step 210: Input the reference value of the preset pose of the torch end and the change value of the distance between the end of the torch nozzle and the workpiece into the preset torch pose estimation model and solve to obtain the real-time pose of the end of the flexible torch.

[0079] In the above flexible torch driving method, the pose of the welding end is inferred by measuring the rope displacement and tension, without the need for an additional vision sensor, and the non-delay online detection of the position of the end of the flexible torch is realized under the condition of a narrow space, which can greatly reduce the volume of the end of the torch.

[0080] In one embodiment, since the elastomer is prone to axial contraction under the condition of rope control, there is an error in the pose of the torch end calculated by forward kinematics, and the error needs to be corrected. The specific correction operations include:

[0081] Obtain the displacement of the driving rope; calculate the reference value of the pose of the torch end based on the displacement of the driving rope; obtain the welding current and welding voltage; calculate the distance change value between the end of the torch nozzle and the workpiece based on the welding current and welding voltage; input the preset reference value of the pose of the torch end and the distance change value between the end of the torch nozzle and the workpiece into the preset torch pose estimation model and solve to obtain the real-time pose of the end of the flexible torch.

[0082] Among them, the host computer calculates the deformation amount of the elastic body according to the rope tension and provides the correction value of the pose of the torch end. The axial contraction of the elastic body is related to the tension of the driving rope and can be calculated by the following formula:

[0083] ;

[0084] Among them, is the tension of the rope, are the tensions of the three driving ropes;

[0085] ; ;

[0086] Among them, is the correction value of the pose of the torch end, is the elastic coefficient of the elastic body, is the relationship between the force on the driving rope and the force on the end of the flexible torch, are the tensions of the three driving ropes, , is the friction between the driving rope and the elastic body, and the friction between the driving rope and the elastic body is calculated through the reference value of the current pose of the torch end.

[0087] In this embodiment, the host computer calculates the deformation amount of the elastic body based on the rope tension, calculates the friction between the driving rope and the elastic body through the reference value of the current pose of the torch end, and finally calculates the correction value of the pose of the torch end through the tension of the driving rope and the friction between the driving rope and the elastic body.

[0088] In one embodiment, there is a certain relationship between the arc parameters and the nozzle height. The relative position between the flexible torch and the workpiece can be characterized by the arc parameters, which specifically include the following steps:

[0089] After starting the arc, read the welding current and voltage from the I / O interface of the welding machine through the electrical parameter acquisition card and transmit the arc signal to the host computer. The host computer estimates the distance between the end of the torch and the workpiece by processing and analyzing the arc signal and provides the attitude correction value of the pose of the torch end.

[0090] Exemplarily, when using a gas metal arc welding machine with constant voltage characteristics, the relationship between the welding current and the distance between the end of the torch nozzle and the workpiece is as follows:

[0091] ;

[0092] Among them, is the welding current, is the distance between the end of the welding torch nozzle and the workpiece, and are preset constants, which need to be obtained through calibration before welding;

[0093] During the welding process, the change of the distance between the end of the welding torch nozzle and the workpiece can be calculated by the change of the welding current . .

[0094] Finally, through the welding torch pose estimation model, the real-time pose of the end of the flexible welding torch is comprehensively solved . For example, it can be calculated by the following formula:

[0095] ;

[0096] Among them, is the real-time pose of the end of the flexible welding torch, is the correction model of the end pose of the flexible welding torch, is the reference value of the end pose of the welding torch, is the correction value of the end attitude of the welding torch, is the change value of the distance between the end of the welding torch nozzle and the workpiece.

[0097] It is worth mentioning that the welding cable and the drive rope in the present invention can be extended. It can be seen that all the sensing devices of the method in the present invention are deployed at the far end of the welding torch and are far away from the welding torch nozzle. The end pose of the welding torch is inferred according to the implicit information of the welding process. At the same time, the present invention does not require an additional vision sensor, realizes the non-delay online detection of the position of the end of the flexible welding torch under the condition of a narrow space, and can greatly reduce the volume of the end of the welding torch.

[0098] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown sequentially according to the indication of the arrows, these steps do not necessarily need to be executed sequentially according to the indication of the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages do not necessarily need to be executed at the same moment, but can be executed at different moments. The execution order of these steps or stages does not necessarily need to be sequential, but can be executed alternately or alternately with at least a part of the steps or stages in other steps or other steps.

[0099] Based on the same inventive concept, an embodiment of the present application further provides a soft soldering gun driving system for implementing the soft soldering gun driving method involved above. The solution for solving the problem provided by this device is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the soft soldering gun driving device provided below can refer to the limitations on the soft soldering gun driving method in the above text, and will not be repeated here.

[0100] In one embodiment, as Figure 5 shown, a soft soldering gun driving system is provided, including: a driving rope displacement acquisition module, a soldering gun pose reference calculation module, a soldering gun current and voltage acquisition module, a soldering gun workpiece distance calculation module, and a pose model solving real-time pose module, where:

[0101] The driving rope displacement acquisition module is used to acquire the driving rope displacement;

[0102] The soldering gun pose reference calculation module is used to calculate the reference value of the end pose of the soldering gun based on the driving rope displacement;

[0103] The soldering gun current and voltage acquisition module is used to acquire the welding current and welding voltage;

[0104] The soldering gun workpiece distance calculation module is used to calculate the distance change value between the end of the soldering gun nozzle and the workpiece based on the welding current and welding voltage;

[0105] The pose model solving real-time pose module is used to input the reference value of the end pose of the soldering gun and the distance change value between the end of the soldering gun nozzle and the workpiece into a preset soldering gun pose estimation model and solve to obtain the real-time pose of the end of the soft soldering gun.

[0106] In one embodiment, the soldering gun pose reference calculation module is further used to: acquire the tension value of the driving rope; calculate the friction force between the driving rope and the elastic body based on the reference value of the end pose of the soldering gun; calculate the correction value of the end pose of the soldering gun based on the preset elastic coefficient of the elastic body, the tension value of the driving rope, and the friction force between the driving rope and the elastic body.

[0107] In one embodiment, the soldering gun pose reference calculation module is further used to: input the preset reference value of the end pose of the soldering gun, the distance change value between the end of the soldering gun nozzle and the workpiece, and the correction value of the end pose of the soldering gun into a preset soldering gun pose estimation model; the soldering gun pose estimation model solves to obtain the real-time pose of the end of the soft soldering gun, and the formula is as follows: ; where is the real-time pose of the end of the soft soldering gun, is the end pose correction model of the soft soldering gun, is the reference value of the end pose of the soldering gun, is the correction value of the end pose of the soldering gun, is the variation value of the distance between the end of the welding torch nozzle and the workpiece.

[0108] In one embodiment, the welding torch pose reference calculation module is further configured to: calculate a reference value of the end pose of the welding torch based on forward kinematics, and the formula is as follows: ; where is the reference value of the end pose of the welding torch, is the forward kinematics transfer matrix of the flexible welding torch, is the displacement of the driving rope.

[0109] In one embodiment, the welding torch pose reference calculation module is further configured to: calculate the deformation amount of the elastic body based on the rope tension and correct the end pose of the welding torch based on the deformation amount of the elastic body, and the correction formula is as follows: ; where is the correction value of the end pose of the welding torch, is the elastic coefficient of the elastic body, is the relationship between the force on the driving rope and the force on the end of the flexible welding torch, is the tension force on the th driving rope, is the friction force between the

[0110] Each module in the above flexible welding torch drive system can be implemented in whole or in part by software, hardware, and their combination. Each of the above modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each of the above modules.

[0111] In one embodiment, a computer device is provided. The computer device can be a server, and its internal structure diagram can be as Figure 6 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, it implements a flexible welding torch drive method.

[0112] In one embodiment, a computer device is provided. The computer device can be a terminal, and its internal structure diagram can be as Figure 6As shown. 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 computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a method for driving a software welding torch. Those skilled in the art can understand, Figure 6 The structure shown in is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0113] In one embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps in the above method embodiments are implemented.

[0114] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by the processor, the steps in the above method embodiments are implemented.

[0115] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by the processor, the steps in the above method embodiments are implemented.

[0116] 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 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.

[0117] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. 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 methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. 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. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0118] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, 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, it should be considered as the scope recorded in this specification.

[0119] The above-described embodiments only represent several implementation manners of the present application. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A driving method for a flexible soldering gun, characterized in that, The soft soldering gun includes: a welding machine (100), a welding cable (200) is provided on the welding machine (100), a nozzle (300) is provided at a section of the welding cable (200) far from the welding machine (100), an elastic member (400) is sleeved on the welding cable (200), a driving rope (500) for controlling the expansion and contraction of the elastic member (400) is provided on the nozzle (300), an electrical parameter acquisition card (900) is provided on the welding cable (200), the welding machine (100) is connected to a host computer (800) through the electrical parameter acquisition card (900), a rope tension measurement subsystem (600) for measuring the tension of the driving rope (500) is provided on the driving rope (500), and a rope displacement measurement subsystem (700) for measuring the displacement of the driving rope (500) is provided on the driving rope (500); The driving method of the soft soldering gun includes: Obtain the displacement of the driving rope; Calculate the reference value of the pose at the end of the soldering gun based on the displacement of the driving rope; Obtain the tension value of the driving rope; Calculate the friction force between the driving rope and the elastic body based on the reference value of the pose at the end of the soldering gun; Calculate the correction value of the pose at the end of the soldering gun based on the preset elastic coefficient of the elastic body, the tension value of the driving rope, and the friction force between the driving rope and the elastic body. The formula is as follows: F = [f1, f2, f3]; Wherein, F is the tension force received by the rope, and f1, f2, f3 are the tension forces received by the three driving ropes; Δd = kΨ(f1 - F μ1 , f2 - F μ2 , f3 - F μ3 ); Among them, Δd is the correction value of the posture of the torch end, k is the elastic coefficient of the elastomer, Ψ() is the relationship between the force on the driving rope and the force on the end of the soft torch, f1, f2, f3 are the tensions on the three driving ropes, F μ1 , F μ2 , F μ3 is the friction force between the driving rope and the elastomer, and the friction force between the driving rope and the elastomer is calculated through the reference value of the current posture of the torch end; Obtain the welding current and welding voltage; Calculate the distance change value between the end of the soldering gun nozzle and the workpiece based on the welding current and welding voltage; Input the reference value of the pose at the end of the soldering gun, the pose correction value at the end of the soldering gun, and the distance change value between the end of the soldering gun nozzle and the workpiece into a preset soldering gun pose estimation model and solve to obtain the real-time pose at the end of the soft soldering gun; The soldering gun pose estimation model solves to obtain the real-time pose at the end of the soft soldering gun. The formula is as follows: P f = Γ(P r , Δd, ΔD); Among them, P f is the real-time pose of the end of the flexible welding torch, Γ(·) is the pose correction model of the end of the flexible welding torch, P r is the reference value of the pose of the end of the welding torch, Δd is the correction value of the pose of the end of the welding torch, and ΔD is the change value of the distance between the end of the welding torch nozzle and the workpiece.

2. The soft soldering gun driving method according to claim 1, wherein, The calculation of the reference value of the pose at the end of the soldering gun based on the displacement of the driving rope includes: Calculate the reference value of the pose at the end of the soldering gun based on forward kinematics. The formula is as follows: P r = T G ΔL; Among them, P r is the reference value of the pose at the end of the welding torch, T G is the forward kinematics transfer matrix of the flexible welding torch, and ΔL is the displacement of the driving rope.

3. A soft soldering gun driving device, characterized in that, The device includes: A driving rope displacement acquisition module for acquiring the displacement of the driving rope; The welding torch pose reference calculation module is used to calculate the reference value of the end pose of the welding torch based on the displacement of the driving rope; obtain the tension value of the driving rope; calculate the friction force between the driving rope and the elastic body based on the reference value of the end pose of the welding torch; calculate the correction value of the end pose of the welding torch based on the preset elastic coefficient of the elastic body, the tension value of the driving rope, and the friction force between the driving rope and the elastic body. The formula is as follows: F = [f1, f2, f3]; where F is the tension force on the rope, and f1, f2, f3 are the tension forces on the three driving ropes; Δd = kΨ(f1 - F μ1 , f2 - F μ2 , f3 - F μ3 ); where Δd is the correction value of the end pose of the welding torch, k is the elastic coefficient of the elastic body, Ψ() is the relationship between the force on the driving rope and the force on the end of the flexible welding torch, f1, f2, f3 are the tension forces on the three driving ropes, and F μ1 , F μ2 , F μ3 is the friction force between the driving rope and the elastic body, and the friction force between the driving rope and the elastic body is calculated through the reference value of the current end pose of the welding torch; A soldering gun current and voltage acquisition module for acquiring the welding current and welding voltage; A soldering gun workpiece distance calculation module for calculating the distance change value between the end of the soldering gun nozzle and the workpiece based on the welding current and welding voltage; A pose model solving real-time pose module for inputting the reference value of the pose at the end of the soldering gun, the pose correction value at the end of the soldering gun, and the distance change value between the end of the soldering gun nozzle and the workpiece into a preset soldering gun pose estimation model and solving to obtain the real-time pose at the end of the soft soldering gun; The soldering gun pose estimation model solves to obtain the real-time pose at the end of the soft soldering gun. The formula is as follows: P f = Γ(P r , Δd, ΔD); Among them, P f is the real-time pose of the end of the flexible welding torch, Γ(·) is the pose correction model of the end of the flexible welding torch, P r is the reference value of the pose of the end of the welding torch, Δd is the correction value of the pose of the end of the welding torch, and ΔD is the change value of the distance between the end of the welding torch nozzle and the workpiece.

4. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 2.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method according to any one of claims 1 to 2.

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