Automatic welding arcing control method, device and equipment and medium

Abstract

The invention discloses an automatic welding arc starting control method, device and equipment and a medium, and relates to the field of automatic welding. According to the method, the three-dimensional coordinates are recorded, so that the position of the welding seam in the space can be comprehensively and accurately presented, the defect of low precision of manual positioning is overcome, reliable basic data are provided for subsequent accurate arcing, and then the two-dimensional coordinates are extracted from the three-dimensional coordinates. The operation calibrates the error generated by the distance between the welding gun and the coordinate scanning device, so that the welding gun can be accurately aligned with the arcing position, and the condition of poor arcing caused by plane position deviation is reduced. And meanwhile, the welding gun is controlled to the initial working position of the welding gun, so that the initial welding state can be unified and standardized. And the extension length of the welding wire and the position of the welding gun are ensured to be in the optimal set state before each welding arc starting, so that the accuracy of the CTWD distance during welding and the distance during welding wire sending is improved, and the welding error caused by manually determining the extension lengths of the CTWD and the welding wire for welding is reduced.

Description

Technical Field

[0001] The invention relates to the field of automated welding, and in particular to an automated welding arc starting control method, device, equipment and medium. Background Art

[0002] Before the traditional automatic welding trolley starts welding, it is necessary to manually adjust the welding gun position through the controller, adjust the appropriate CTWD (Contact Tip to Work Distance, i.e. the distance from the conductive tip to the workpiece) and the extension length of the welding wire. The CTWD distance has an important influence on the stability of parameters such as current and voltage during the welding process. If the CTWD distance is not appropriate, it may cause arc instability, insufficient or excessive welding penetration, and even welding defects.

[0003] In the prior art, the operator usually controls the automatic welding carriage through a controller to move the welding gun to a roughly appropriate position. This process requires the operator to perform based on experience and visual judgment. This process may require repeated adjustments, and different welding processes and workpieces require different CTWD distances, generally between a few millimeters and more than ten millimeters. The operator needs to use tools such as calipers or rely on experience to estimate this distance, and then use the controller to fine-tune the upper and lower positions of the welding gun. At the same time, the operator needs to operate the buttons to adjust the position of the welding gun and the length of the welding wire extension, and this process also depends on the operator's experience. Human visual errors and operational instability will result in low accuracy of the CTWD distance and the distance to release the welding wire. The distance after each adjustment may vary due to different operators or different operating states of the same operator, thereby affecting the consistency of welding quality.

[0004] It can be seen that how to improve the accuracy of CTWD distance and wire release distance during welding is a technical problem that needs to be solved urgently by people in this field. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide an automated welding arc control method, device, equipment and medium, which solves the problem of low accuracy and poor reliability of CTWD distance and wire release distance caused by manual welding. The specific scheme is as follows:

[0006] In a first aspect, the present application provides an automatic welding arc starting control method, which is applied to an automatic welding controller, comprising:

[0007] Identify and record the three-dimensional coordinates of the weld;

[0008] After moving the welding gun to a preset welding arc starting position, determining the two-dimensional coordinates of the preset welding arc starting position from the three-dimensional coordinates;

[0009] Determining the width and depth of the preset welding arc starting position based on the two-dimensional coordinates;

[0010] Controlling the welding gun to the initial working position of the welding gun, and controlling the wire feeder to retract the welding wire;

[0011] The welding gun is controlled to a target welding arc starting position, and the wire feeder is controlled to feed the wire to a target position.

[0012] Optionally, controlling the welding gun to an initial working position of the welding gun includes:

[0013] Controlling the welding gun to move on a first coordinate axis to a boundary position of the first coordinate axis, where the first coordinate axis is a coordinate axis where any coordinate in the two-dimensional coordinate system is located;

[0014] The welding gun is controlled to move on a second coordinate axis to a boundary position of the second coordinate axis, where the second coordinate axis is a coordinate axis where another coordinate in the two-dimensional coordinate system is located except the coordinate on the first coordinate axis.

[0015] Optionally, controlling the wire feeder to retract the welding wire includes:

[0016] The wire feeder is controlled to retract the welding wire by a first preset distance, wherein the first preset distance is greater than a distance by which the welding wire is exposed from the welding gun.

[0017] Optionally, controlling the welding gun to a target welding arc starting position includes:

[0018] Controlling the welding power supply to output a voltage signal through the conductive nozzle of the welding gun;

[0019] The welding gun is controlled to move toward the target welding arc starting position until the conductive tip is short-circuited with the surface of the base material and a voltage value on the welding gun is detected to be less than a voltage threshold.

[0020] Optionally, controlling the welding gun to move in the direction of the target welding arc starting position until the conductive tip is short-circuited with the surface of the base material and detecting that the voltage value on the welding gun is less than a voltage threshold includes:

[0021] Controlling the welding gun to move in the direction of the first coordinate axis until a short circuit occurs between the conductive tip and the surface of the base material and detecting that the voltage value on the welding gun is less than the voltage threshold;

[0022] Control the welding gun to be away from the surface of the base material by a second preset distance on the first coordinate axis;

[0023] Controlling the wire feeder to feed the welding wire until a short circuit occurs between the conductive tip and the surface of the base material and a voltage value on the welding gun is detected to be less than the voltage threshold;

[0024] The welding gun is controlled to move a third preset distance on the first coordinate axis.

[0025] Optionally, controlling the welding gun to move in the direction of the target welding arc starting position until the conductive tip is short-circuited with the surface of the base material and detecting that the voltage value on the welding gun is less than a voltage threshold includes:

[0026] Controlling the welding gun to move a fourth preset distance on the second coordinate axis;

[0027] Controlling the welding gun to move in the direction of the first coordinate axis until a short circuit occurs between the conductive tip and the surface of the base material and detecting that the voltage value on the welding gun is less than the voltage threshold;

[0028] Recording a fifth distance moved by the welding gun in the direction of the first coordinate axis;

[0029] When the fifth distance satisfies the relationship between the third preset distance and the depth, it is determined that the position of the welding gun is within the weld; otherwise, the welding gun is controlled to move the fifth distance in the opposite direction on the first coordinate axis, and then the process jumps back to the step of controlling the welding gun to move the fourth preset distance on the second coordinate axis.

[0030] Optionally, also include:

[0031] Controlling the welding gun to move a sixth preset distance on the first coordinate axis;

[0032] Controlling the welding gun to move in a first direction on the second coordinate axis until a short circuit occurs between the conductive tip and the surface of the base material and detecting that the welding gun voltage is less than the voltage threshold, and recording the current position of the welding gun as a first position;

[0033] Controlling the welding gun to move in a second direction on the second coordinate axis until a short circuit occurs between the conductive tip and the surface of the base material and detecting that the welding gun voltage is less than the voltage threshold, and recording the current position of the welding gun as a second position;

[0034] determining half of the displacement difference between the first position and the second position on the second coordinate axis as a seventh distance;

[0035] The welding gun is controlled to move the seventh distance in the first direction.

[0036] In a second aspect, the present application provides an automatic welding arc control device, which is applied to an automatic welding controller, comprising:

[0037] A three-dimensional coordinate determination module, used to identify and record the three-dimensional coordinates of the weld;

[0038] A two-dimensional coordinate determination module, used for determining the two-dimensional coordinates of the preset welding arc starting position from the three-dimensional coordinates after moving the welding gun to the preset welding arc starting position;

[0039] An arc starting data determination module, used to determine the width and depth of the preset welding arc starting position based on the two-dimensional coordinates;

[0040] A preparation module, used for controlling the welding gun to an initial working position of the welding gun, and controlling the wire feeder to retract the welding wire;

[0041] The moving module is used to control the welding gun to the target welding arc starting position and control the wire feeder to feed the wire to the target position.

[0042] In a third aspect, the present application provides an electronic device, including:

[0043] Memory, used to store computer programs;

[0044] The processor is used to execute the computer program to implement the above-mentioned automatic welding arc starting control method.

[0045] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the above-mentioned automatic welding arc starting control method is implemented.

[0046] It can be seen that in this application, by recording three-dimensional coordinates, the position of the weld in space can be presented in an all-round and accurate manner, which makes up for the defect of low manual positioning accuracy, provides reliable basic data for subsequent precise arc starting, and then extracts two-dimensional coordinates from the three-dimensional coordinates, focusing on the plane where the arc starting point is located, and further refines the positioning of the arc starting position. This operation calibrates the error caused by the distance between the welding gun and the coordinate scanning device, so that the welding gun can be more accurately aligned with the arc starting position, reducing the poor arc starting caused by plane position deviation. At the same time, controlling the welding gun to the initial working position of the welding gun can unify and standardize the state at the beginning of welding. It is ensured that before each welding arc starts, the wire extension length and the welding gun position are in the optimal setting state, thereby improving the accuracy of the CTWD distance during welding and the distance when the welding wire is sent out, improving the welding quality, and reducing the welding errors caused by manual determination of CTWD and wire extension length for welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0048] Figure 1 A flow chart of an automated welding arc starting control method provided in an embodiment of the present application;

[0049] Figure 2 A diagram of an automatic welding arc control device provided in an embodiment of the present application;

[0050] Figure 3 A schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] The core of this application is to provide an automatic welding arc starting control method.

[0053] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0054] At present, in the prior art, the operator usually controls the automatic welding carriage through the controller to move the welding gun to a roughly appropriate position. This process requires the operator to perform based on experience and visual judgment. This process may require repeated adjustments, and different welding processes and workpieces require different CTWD distances, generally between a few millimeters and more than ten millimeters. The operator needs to use the controller to fine-tune the upper and lower positions of the welding gun and the length of the welding wire. This process also depends on the experience of the operator. Human visual errors and operational instability will lead to low accuracy of the CTWD distance and the distance to release the welding wire. The distance after each adjustment may vary due to different operators or different operating states of the same operator, thereby affecting the consistency of welding quality. Therefore, how to solve the problem of low accuracy of the CTWD distance and the distance to release the welding wire during manual welding is a technical problem that people in this field need to solve urgently.

[0055] The hardware conditions required for the application in this application include: laser vision sensor, electric moving device of welding gun, welding power supply, wire feeder, welding gun, automatic welding controller, etc.

[0056] See also Figure 1 As shown, in order to solve the above problems, the embodiment of the present application discloses an automatic welding arc starting control method, which is mainly used in butt welds. The weld type can be a symmetrical weld such as a V-type, double V-type, X-type, U-type, etc., and can include:

[0057] S11. Identify and record the three-dimensional coordinates of the weld.

[0058] In this embodiment, obtaining the precise position information of the weld in space can provide basic data for subsequent operations. By recording the three-dimensional coordinates of the weld, the system can fully understand the shape, direction and position distribution of the weld on the workpiece. Compared with manual visual judgment of the weld position, this step greatly improves the accuracy and comprehensiveness of the weld position information acquisition with the help of equipment such as laser vision sensors. It can accurately identify the subtle features and complex shapes of the weld, providing a reliable basis for the subsequent precise control of the movement of the welding gun, thereby avoiding the problem of inaccurate welding gun positioning caused by manual judgment errors and improving the accuracy of the welding arc starting position.

[0059] S12, after moving the welding gun to a preset welding arc starting position, determining the two-dimensional coordinates of the preset welding arc starting position from the three-dimensional coordinates.

[0060] In this embodiment, based on the acquired three-dimensional coordinates of the weld, the specific preset welding arc starting position is focused on, and its three-dimensional information is simplified into two-dimensional coordinates, so that parameters related to welding arc starting, such as width and depth, can be calculated more accurately later. Determining the two-dimensional coordinates can eliminate the interference of the height direction (Z axis) on the calculation of key parameters of the arc starting position, so that the calculation is more focused on the position and size relationship within the plane.

[0061] S13, determining the width and depth of the preset welding arc starting position based on the two-dimensional coordinates.

[0062] In this embodiment, the width and depth of the weld at this position are calculated based on the two-dimensional coordinates of the preset welding arc starting position, combined with the type of weld (such as V-type, double V-type, etc.) and the pre-set weld geometry model. These parameters are crucial for determining key welding process parameters such as welding current, voltage, and wire feeding speed, and directly affect the welding quality. According to different weld types and arc starting positions, the key dimensional parameters required for welding are automatically and accurately determined. Compared with manual estimation of weld width and depth based on experience, the accuracy and consistency of parameter determination are greatly improved. It avoids the problem of unreasonable setting of welding process parameters due to differences in manual experience, ensures stable and high-quality welding on different workpieces and welds, and improves the stability and reliability of welding quality.

[0063] S14, controlling the welding gun to its initial working position, and controlling the wire feeder to retract the welding wire.

[0064] In this embodiment, after the welding gun finishes the last welding process, the different positions of the welding gun and the different exposed lengths of the welding wire will cause different degrees of errors in each welding. Therefore, moving the welding gun to a suitable initial working position can make the starting position of the welding gun unified and prepare for the formal welding arc starting.

[0065] In a specific embodiment, controlling the welding gun to the initial working position of the welding gun includes: controlling the welding gun to move to the boundary position of the first coordinate axis on the first coordinate axis, the first coordinate axis is the coordinate axis where any coordinate in the two-dimensional coordinate is located; controlling the welding gun to move to the boundary position of the second coordinate axis on the second coordinate axis, the second coordinate axis is the coordinate axis where another coordinate in the two-dimensional coordinate is located except the coordinate on the first coordinate axis. Among them, controlling the wire feeder to retract the welding wire includes: controlling the wire feeder to retract the welding wire by a first preset distance, the first preset distance is greater than the distance of the welding wire exposed from the welding gun. In this embodiment, by moving the welding gun to the boundary position of a coordinate axis in the two-dimensional coordinate, a reference point is provided for the subsequent precise adjustment of the position of the welding gun in the direction of the coordinate axis. With the boundary position as a reference, the distance and speed of the welding gun moving to the preset welding arc starting position in the direction of the coordinate axis can be calculated and controlled more clearly and accurately, and the accuracy and stability of the positioning of the welding gun in a complex two-dimensional plane are greatly improved by constructing a complete two-dimensional plane positioning reference system. Whether it is a simple butt weld or a weld with a complex shape, it can ensure that the welding gun accurately reaches the welding arc starting position, reduce welding defects caused by positioning errors, improve the consistency and stability of welding quality, and enhance the adaptability of the automated welding system to different welding tasks. At the same time, retracting the welding wire can fully separate the welding wire from possible interference factors during the retraction process, and create good conditions for subsequent precise wire feeding to the target position, ensuring that the welding wire can accurately and stably participate in the welding process at the moment of welding arc starting. It ensures that the welding wire is in the best state every time the welding arc is started, improving the stability of the welding process and the consistency of welding quality. In addition, this active adjustment of the welding wire state enhances the adaptability of the automated welding system to different working conditions and welding tasks, reduces the need for manual intervention, and improves production efficiency.

[0066] S15, controlling the welding gun to the target welding arc starting position, and controlling the wire feeder to feed the wire to the target position.

[0067] In this embodiment, the welding gun and welding wire are accurately positioned to the actual position of the welding arc start, creating conditions for arc start welding. By accurately controlling the wire feeder to feed the wire to the target position, it is ensured that the welding wire can accurately participate in the welding process at the moment of arc start, forming a stable arc and a good welding molten pool. High-precision control of the target welding arc start position is achieved, ensuring that the welding gun and welding wire start welding at the optimal position. Compared with the situation that is difficult to accurately control during manual operation, the accuracy of the arc start position and the accuracy of wire feeding are greatly improved, and the welding defects caused by arc start position deviation and inaccurate wire feeding, such as incomplete penetration and porosity, are reduced, thereby improving the consistency and stability of welding quality.

[0068] In this embodiment, controlling the welding gun to the target welding arc starting position includes: controlling the welding power supply to output a voltage signal through the conductive nozzle of the welding gun; controlling the welding gun to move in the direction of the target welding arc starting position until the conductive nozzle and the surface of the base material are short-circuited and the voltage value on the welding gun is detected to be less than the voltage threshold. In this embodiment, by controlling the welding power supply to output a voltage signal, and taking the conductive nozzle and the base material short-circuited and the voltage less than the threshold as the judgment basis, it is possible to accurately determine that the welding gun reaches the target welding arc starting position. Compared with simply relying on coordinate positioning, this method based on electrical signal feedback can more directly and accurately perceive the actual contact state between the welding gun and the base material. It can be understood that in actual welding, factors such as workpiece material and surface state are variable. This supplementary method can automatically adapt to different welding conditions by monitoring the voltage signal in real time. For example, for a base material with an oxide layer or uneven roughness on the surface, the appropriate arc starting point can be accurately found by relying on voltage feedback, and the arc starting effect will not be affected by the surface condition, thereby enhancing the versatility and adaptability of the automated welding system.

[0069] Among them, in a specific implementation, the welding gun is controlled to move in the direction of the first coordinate axis until the conductive tip and the surface of the base material are short-circuited and the voltage value on the welding gun is detected to be less than the voltage threshold; the welding gun is controlled to be away from the base material surface by a second preset distance on the first coordinate axis; the wire feeder is controlled to send the welding wire until the conductive tip and the surface of the base material are short-circuited and the voltage value on the welding gun is detected to be less than the voltage threshold; the welding gun is controlled to move a third preset distance on the first coordinate axis. In this implementation, the welding gun is controlled to be away from the base material surface by a second preset distance to create a suitable space for the wire feeding operation, so as to avoid interference caused by premature contact between the welding wire and the base material during wire feeding. The wire feeder is controlled to send the welding wire until the short circuit occurs again and the voltage is less than the threshold, and the position where the welding wire reaches the base material can be accurately determined according to the feedback of the electrical signal, so as to ensure that the welding wire is in the best position at the moment of arcing, and improve the accuracy and stability of wire feeding. Reduce welding defects caused by wire feeding position deviation, such as incomplete penetration, pores, etc., and improve the consistency of welding quality. And the welding gun is controlled to move the third preset distance on the first coordinate axis, so as to fine-tune the arcing position. Under complex welding conditions, such as uneven parent material and irregular weld shape, this fine-tuning operation can enable the welding gun to be more accurately aligned with the optimal arc starting point, further improving the arc starting quality and welding effect.

[0070] In a specific implementation, further, the welding gun is controlled to move a fourth preset distance on the second coordinate axis; the welding gun is controlled to move in the direction of the first coordinate axis until a short circuit occurs between the conductive nozzle and the surface of the base material and the voltage value on the welding gun is detected to be less than the voltage threshold; the fifth distance moved by the welding gun in the direction of the first coordinate axis is recorded; when the fifth distance meets the relationship with the third preset distance and the depth, it is determined that the welding gun position is within the weld, otherwise the welding gun is controlled to move the fifth distance in the opposite direction on the first coordinate axis, and then jumps back to the step of controlling the welding gun to move the fourth preset distance on the second coordinate axis. In this implementation, the welding gun is controlled to move the fourth preset distance on the second coordinate axis because the welding gun is initially in the initial working position, so it explores in another direction, and through the coordinated movement of the two coordinate axis directions, the welding gun can be more comprehensively and accurately positioned to the precise position of the weld. Then, the welding gun is controlled to move in the direction of the first coordinate axis again until the short circuit occurs and the voltage is less than the threshold, and the fifth distance moved is recorded. By judging the relationship with the third preset distance and the weld depth, it can effectively verify whether the current position of the welding gun is within the weld. This verification method based on distance relationship and electrical signal feedback provides double protection for the welding gun position.

[0071] Finally, in this embodiment, the welding gun is controlled to move the sixth preset distance on the first coordinate axis; the welding gun is controlled to move in the first direction on the second coordinate axis until the conductive tip and the surface of the base material are short-circuited and the welding gun voltage is detected to be less than the voltage threshold, and the current position of the welding gun is recorded as the first position; the welding gun is controlled to move in the second direction on the second coordinate axis until the conductive tip and the surface of the base material are short-circuited and the welding gun voltage is detected to be less than the voltage threshold, and the current position of the welding gun is recorded as the second position; half of the displacement difference between the first position and the second position on the second coordinate axis is determined as the seventh distance; the welding gun is controlled to move in the first direction for the seventh distance. In this embodiment, by controlling the welding gun to move in two opposite directions on the second coordinate axis respectively until it is short-circuited with the base material and recording the position, half of the displacement difference between the two positions on the second coordinate axis is calculated as the seventh distance, and then the welding gun is controlled to move in the first direction by the distance, the center position of the weld in the direction of the second coordinate axis can be accurately determined. When facing welds of various complex shapes, such as curved welds and welds with inconsistent groove angles, this method can accurately find the center of the weld in the direction of the second coordinate axis through multiple measurements and calculations. Compared with traditional single-direction positioning, it can better adapt to welds of different shapes and sizes, improve the applicability and reliability of the automated welding system under complex working conditions, effectively reduce welding defects caused by complex weld shapes, and improve the stability of welding quality.

[0072] It can be seen that in this application, by recording three-dimensional coordinates, the position of the weld in space can be presented in an all-round and accurate manner, which makes up for the defect of low manual positioning accuracy, provides reliable basic data for subsequent precise arc starting, and then extracts two-dimensional coordinates from the three-dimensional coordinates, focusing on the plane where the arc starting point is located, and further refines the positioning of the target welding arc starting position. This operation calibrates the error caused by the distance between the welding gun and the coordinate scanning device, so that the welding gun can be more accurately aligned with the target welding arc starting position, reducing the poor arc starting caused by plane position deviation. At the same time, controlling the welding gun to the initial working position of the welding gun can unify and standardize the state at the start of welding. It is ensured that before each welding arc starts, the wire extension length and the welding gun position are in the optimal setting state, thereby improving the accuracy of the CTWD distance during welding and the distance when the welding wire is sent out, improving the welding quality, and reducing the welding errors caused by manually determining the CTWD and the wire extension length for welding.

[0073] See also Figure 2 As shown, the embodiment of the present invention discloses an automatic welding arc starting control device, which is applied to an automatic welding controller, comprising:

[0074] A three-dimensional coordinate determination module 11 is used to identify and record the three-dimensional coordinates of the weld;

[0075] A two-dimensional coordinate determination module 12, used to determine the two-dimensional coordinates of the preset welding arc starting position from the three-dimensional coordinates after moving the welding gun to the preset welding arc starting position;

[0076] An arc starting data determination module 13, used to determine the width and depth of the preset welding arc starting position based on the two-dimensional coordinates;

[0077] A preparation module 14 is used to control the welding gun to the initial working position of the welding gun and control the wire feeder to retract the welding wire;

[0078] The moving module 15 is used to control the welding gun to a target welding arc starting position, and control the wire feeder to feed the wire to a target position.

[0079] In this application, by recording three-dimensional coordinates, the position of the weld in space can be presented in an all-round and accurate manner, which makes up for the defect of low manual positioning accuracy, provides reliable basic data for subsequent precise arc starting, and then extracts two-dimensional coordinates from the three-dimensional coordinates, focuses on the plane where the arc starting point is located, and further refines the positioning of the arc starting position of the target welding. This operation calibrates the error caused by the distance between the welding gun and the coordinate scanning device, so that the welding gun can be more accurately aligned with the arc starting position, reducing the poor arc starting caused by the plane position deviation. At the same time, controlling the welding gun to the initial working position of the welding gun can unify and standardize the state at the beginning of welding. It is ensured that before each welding arc starts, the wire extension length and the welding gun position are in the optimal setting state, thereby improving the accuracy of the CTWD distance during welding and the distance when the welding wire is sent out, improving the welding quality, and reducing the welding errors caused by the manual determination of CTWD and the wire extension length for welding.

[0080] In some specific embodiments, the preparation module 14 includes:

[0081] A first preparation unit, used for controlling the welding gun to move on a first coordinate axis to a boundary position of the first coordinate axis, where the first coordinate axis is a coordinate axis where any coordinate in the two-dimensional coordinate system is located;

[0082] The second preparation unit is used to control the welding gun to move on a second coordinate axis to a boundary position of the second coordinate axis, where the second coordinate axis is a coordinate axis where another coordinate in the two-dimensional coordinate system is located except the coordinate on the first coordinate axis.

[0083] In some specific embodiments, the preparation module 14 includes:

[0084] A third preparation unit is used to control the wire feeder to retract the welding wire by a first preset distance, wherein the first preset distance is greater than the distance by which the welding wire is exposed from the welding gun.

[0085] In some specific embodiments, the mobile module 15 includes:

[0086] A power-on module, used to control the welding power source to output a voltage signal through the conductive nozzle of the welding gun;

[0087] The indication module is used to control the welding gun to move toward the target welding arc starting position until the conductive nozzle is short-circuited with the surface of the base material and the voltage value on the welding gun is detected to be less than a voltage threshold.

[0088] In some specific embodiments, the mobile module 15 includes:

[0089] A first indication module, used for controlling the welding gun to move in the direction of the first coordinate axis until the conductive tip is short-circuited with the surface of the base material and a voltage value on the welding gun is detected to be less than the voltage threshold;

[0090] A first moving module, used for controlling the welding gun to be away from the surface of the base material by a second preset distance on the first coordinate axis;

[0091] A second indication module is used to control the wire feeder to feed the welding wire until the conductive nozzle is short-circuited with the surface of the base material and the voltage value on the welding gun is detected to be less than the voltage threshold;

[0092] The second moving module is used to control the welding gun to move a third preset distance on the first coordinate axis.

[0093] In some specific embodiments, the mobile module 15 includes:

[0094] A third moving module, used for controlling the welding gun to move a fourth preset distance on the second coordinate axis;

[0095] A third indication module is used to control the welding gun to move in the direction of the first coordinate axis until the conductive tip is short-circuited with the surface of the base material and the voltage value on the welding gun is detected to be less than the voltage threshold;

[0096] A recording module, used for recording a fifth distance moved by the welding gun in the direction of the first coordinate axis;

[0097] A determination module is used to determine that the position of the welding gun is within the weld when the fifth distance satisfies the relationship between the third preset distance and the depth; otherwise, the welding gun is controlled to move in the opposite direction on the first coordinate axis by the fifth distance, and then jumps back to the step of controlling the welding gun to move the fourth preset distance on the second coordinate axis.

[0098] In some specific implementations, the mobile module 15 further includes:

[0099] a fourth moving module, used for controlling the welding gun to move a sixth preset distance on the first coordinate axis;

[0100] a first position determination module, configured to control the welding gun to move in a first direction on the second coordinate axis until a short circuit occurs between the conductive tip and the surface of the base material and the welding gun voltage is detected to be less than the voltage threshold, and record the current position of the welding gun as the first position;

[0101] a second position determination module, used for controlling the welding gun to move in a second direction on the second coordinate axis until a short circuit occurs between the conductive tip and the surface of the base material and the welding gun voltage is detected to be less than the voltage threshold, and recording the current position of the welding gun as the second position;

[0102] a center position determination module, configured to determine half of the displacement difference between the first position and the second position on the second coordinate axis as a seventh distance;

[0103] The fifth moving module is used to control the welding gun to move the seventh distance in the first direction.

[0104] Furthermore, the present application also discloses an electronic device. Figure 3 This is a structural diagram of an electronic device 20 according to an exemplary embodiment, and the content in the figure cannot be regarded as any limitation on the scope of use of this application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the automatic welding arc control method disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0105] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0106] In addition, the memory 22, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0107] The operating system 221 is used to manage and control the hardware devices and computer program 222 on the electronic device 20, which can be Windows Server, Netware, Unix, Linux, etc. In addition to the computer program that can be used to complete the automatic welding arc control performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include computer programs that can be used to complete other specific tasks.

[0108] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned automatic welding arc control method is implemented. The specific steps of the method can refer to the corresponding contents disclosed in the aforementioned embodiments, and will not be repeated here.

[0109] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0110] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0111] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0112] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0113] The technical solution provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. An automatic welding arc control method, characterized in that: Applied to automatic welding controllers, including: Identify and record the three-dimensional coordinates of the weld; After moving the welding gun to a preset welding arc starting position, determining the two-dimensional coordinates of the preset welding arc starting position from the three-dimensional coordinates; Determining the width and depth of the preset welding arc starting position based on the two-dimensional coordinates; Controlling the welding gun to the initial working position of the welding gun, and controlling the wire feeder to retract the welding wire; The welding gun is controlled to a target welding arc starting position, and the wire feeder is controlled to feed the wire to a target position.

2. The automatic welding arc starting control method according to claim 1, characterized in that: The controlling the welding gun to the initial working position of the welding gun comprises: Controlling the welding gun to move on a first coordinate axis to a boundary position of the first coordinate axis, where the first coordinate axis is a coordinate axis where any coordinate in the two-dimensional coordinate system is located; The welding gun is controlled to move on a second coordinate axis to a boundary position of the second coordinate axis, where the second coordinate axis is a coordinate axis where another coordinate in the two-dimensional coordinate system is located except the coordinate on the first coordinate axis.

3. The automatic welding arc starting control method according to claim 1, characterized in that: The controlling wire feeder to retract the welding wire comprises: The wire feeder is controlled to retract the welding wire by a first preset distance, wherein the first preset distance is greater than a distance by which the welding wire is exposed from the welding gun.

4. The automatic welding arc starting control method according to claim 1, characterized in that: The controlling the welding gun to the target welding arc starting position comprises: Controlling the welding power supply to output a voltage signal through the conductive nozzle of the welding gun; The welding gun is controlled to move toward the target welding arc starting position until the conductive tip is short-circuited with the surface of the base material and a voltage value on the welding gun is detected to be less than a voltage threshold.

5. The automatic welding arc starting control method according to claim 4, characterized in that: The step of controlling the welding gun to move toward the target welding arc starting position until the conductive tip is short-circuited with the surface of the base material and detecting that the voltage value on the welding gun is less than a voltage threshold value comprises: Controlling the welding gun to move in the direction of the first coordinate axis until a short circuit occurs between the conductive tip and the surface of the base material and detecting that the voltage value on the welding gun is less than the voltage threshold; Control the welding gun to be away from the surface of the base material by a second preset distance on the first coordinate axis; Controlling the wire feeder to feed the welding wire until a short circuit occurs between the conductive tip and the surface of the base material and a voltage value on the welding gun is detected to be less than the voltage threshold; The welding gun is controlled to move a third preset distance on the first coordinate axis.

6. The automatic welding arc starting control method according to claim 5, characterized in that: After controlling the welding gun to move a third preset distance on the first coordinate axis, the method further includes: Controlling the welding gun to move a fourth preset distance on the second coordinate axis; Controlling the welding gun to move in the direction of the first coordinate axis until a short circuit occurs between the conductive tip and the surface of the base material and detecting that the voltage value on the welding gun is less than the voltage threshold; Recording a fifth distance moved by the welding gun in the direction of the first coordinate axis; When the fifth distance satisfies the relationship between the third preset distance and the depth, it is determined that the position of the welding gun is within the weld; otherwise, the welding gun is controlled to move the fifth distance in the opposite direction on the first coordinate axis, and then the process jumps back to the step of controlling the welding gun to move the fourth preset distance on the second coordinate axis.

7. The automatic welding arc starting control method according to claim 6, characterized in that: Also includes: Controlling the welding gun to move a sixth preset distance on the first coordinate axis; Controlling the welding gun to move in a first direction on the second coordinate axis until a short circuit occurs between the conductive tip and the surface of the base material and detecting that the welding gun voltage is less than the voltage threshold, and recording the current position of the welding gun as a first position; Controlling the welding gun to move in a second direction on the second coordinate axis until a short circuit occurs between the conductive tip and the surface of the base material and detecting that the welding gun voltage is less than the voltage threshold, and recording the current position of the welding gun as a second position; determining half of the displacement difference between the first position and the second position on the second coordinate axis as a seventh distance; The welding gun is controlled to move the seventh distance in the first direction.

8. An automatic welding arc control device, characterized in that: Applied to automatic welding controllers, including: A three-dimensional coordinate determination module, used to identify and record the three-dimensional coordinates of the weld; A two-dimensional coordinate determination module, used for determining the two-dimensional coordinates of the preset welding arc starting position from the three-dimensional coordinates after moving the welding gun to the preset welding arc starting position; An arc starting data determination module, used to determine the width and depth of the preset welding arc starting position based on the two-dimensional coordinates; A preparation module, used for controlling the welding gun to an initial working position of the welding gun, and controlling the wire feeder to retract the welding wire; The moving module is used to control the welding gun to the target welding arc starting position and control the wire feeder to feed the wire to the target position.

9. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor is used to execute the computer program to implement the automatic welding arc starting control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Used to store computer programs; wherein, when the computer program is executed by a processor, the automatic welding arc starting control method as described in any one of claims 1 to 7 is implemented.

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