Stud welding method and device for multiple welding devices, equipment and storage medium

Abstract

The invention provides a stud welding method and device for multiple welding devices, equipment and a storage medium, and the method comprises the steps that the screw hole types and the traversal sequence of multiple target screw holes are determined based on a side plate design drawing, and the target welding device corresponding to each screw hole type is determined; a screw hole instruction set is constructed for each target screw hole, the target welding device rotates to a target operation station under the first instruction and executes feeding and welding under the second instruction, and the third instruction is used for controlling the welding arm to move to the next target screw hole; and starting the welding arm based on a welding instruction set consisting of a plurality of screw hole instruction sets. According to the technical scheme, different types of target screw holes can be recognized according to the side plate design drawing, the welding instruction of the target welding device is bound to each target screw hole, the welding arm intelligently switches different target welding devices through the rotating disc for feeding and welding, and the welding efficiency is improved. Welding of studs of different specifications can be completed through one-time traversal, and the welding efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of welding control technology, and in particular to a stud welding method, device, equipment and storage medium for multiple welding devices. Background Art

[0002] The ring main unit is a common equipment in the power system. The ring main unit is welded from multiple side panels. Before welding the side panels, multiple studs need to be welded on each side panel of the ring main unit for installing various internal devices. Due to the large number of studs, the manual welding process can no longer meet current needs. How to achieve efficient automated welding has become the key to improving production efficiency. In the related technology, some solutions for welding through welding arms have appeared. A feeding pipe connected to a feeding device is set at the welding arm. The welding arm is moved to the top of the screw hole of the side panel through laser positioning or image recognition technology. After loading through the feeding pipe, the welding arm is controlled to perform arc welding, thereby realizing automatic welding.

[0003] However, the same side plate may include screw holes of different sizes, and the screw holes of different sizes are not necessarily regularly distributed. The existing welding scheme can only complete welding according to the distribution of one screw hole first, and then weld according to the distribution of another screw hole, resulting in low welding efficiency. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a stud welding method, device, equipment, and storage medium with multiple welding devices, which can intelligently switch welding devices for welding according to the distribution of screw holes to improve welding efficiency.

[0005] In a first aspect, an embodiment of the present invention provides a stud welding method for multiple welding devices, which is applied to a welding arm, wherein the welding arm comprises a rotating disk, and a laser positioner and a plurality of candidate welding devices are installed on the rotating disk along the rotation direction, and the sizes of the studs loaded by the candidate welding devices are different from each other, and the method comprises: Determine a plurality of target screw holes in the side panel design drawing imported into the configuration interface, determine the screw hole type and traversal order of each of the target screw holes, and configure a target welding device corresponding to each of the screw hole types through the configuration interface; Based on any of the target screw holes, determine the target distance for moving to the target screw hole that is located next in the traversal order, and construct a screw hole instruction set, wherein the screw hole instruction set includes a first instruction, a second instruction, and a third instruction, the first instruction is used to control the rotating disk to rotate the corresponding target welding device to a target work station, the second instruction is used to control the target welding device to perform loading and welding, and the third instruction is used to instruct the welding arm to move based on the laser locator and the target distance; The plurality of screw hole instruction sets are arranged into a welding instruction set based on the traversal order, and the welding arm is started based on the welding instruction set.

[0006] According to some embodiments of the present invention, the side panel design drawing includes a plurality of designed screw holes, determining the screw hole type and traversal order of each of the target screw holes, and configuring the target welding device corresponding to each of the screw hole types through the configuration interface, including: Identify idle screw holes and candidate screw holes from the side panel design drawing, wherein the candidate screw holes are marked with preset welding marks, and the idle screw holes are not marked with the welding marks; Determine the design screw hole size of each candidate screw hole based on the side panel design drawing, determine the corresponding screw hole type based on the design screw hole size, and determine the traversal order of the candidate screw holes; Arrange and display the various screw hole types in descending order based on the designed screw hole size on the configuration interface, construct device options, and determine the candidate welding devices corresponding to each screw hole type based on the selection operation in the device options, wherein the device options include the various candidate welding devices; Based on any of the screw hole types, a preset stud size of the corresponding candidate welding device is obtained, and when the preset stud size matches the designed screw hole size, the candidate welding device is determined as the target welding device, wherein the preset stud size is used to indicate the actual size of the stud loaded by the candidate welding device.

[0007] According to some embodiments of the present invention, determining a target distance for moving to the target screw hole that is next in the traversal order includes: Traversing the target screw holes row by row in the side panel design drawing, and recording the first image position of the reference screw holes currently traversed; Determine the next target screw hole traversed in the same row as the adjacent screw hole, or, when the reference screw hole is the last target screw hole in the same row, determine the target screw hole closest to the reference screw hole in the next row as the adjacent screw hole; Determine the second image position of the adjacent screw hole, determine the screw hole distance based on the first image position and the second image position, determine the target distance of the reference screw hole based on the screw hole distance, determine the adjacent screw hole as a new reference screw hole and continue traversing.

[0008] According to some embodiments of the present invention, determining the target distance of the reference screw hole based on the screw hole distance includes: When the reference screw hole is the first target screw hole, a preset screw hole size is determined based on the corresponding preset stud size and a preset size mapping table, and an image scale is determined based on the preset screw hole size of the reference screw hole and the designed screw hole size, wherein the size mapping table records a size mapping relationship between a stud and a screw hole; Alternatively, when the reference screw hole is not the first target screw hole, obtaining the image scale; The target distance is determined based on the screw hole distance and the image scale.

[0009] According to some embodiments of the present invention, the rotating disk includes a plurality of optional installation positions, the laser positioner and each of the candidate welding devices are installed at different optional installation positions, and before constructing the screw hole instruction set, the method further includes: Determine a first installation position of each of the target welding devices, and determine a second installation position of the laser locator; constructing a target mapping table based on target position differences between each of the first installation positions and the second installation positions; The traversal direction of each target screw hole is determined based on the side panel design drawing, and a line break mark is added to the last target screw hole in each row.

[0010] According to some embodiments of the present invention, constructing a screw hole instruction set includes: Determine the corresponding target position difference based on the target mapping table, determine the direction of rotation from the laser positioner to the target welding device as a first direction, and construct the first instruction based on the first direction and the target position difference, wherein the first instruction is used to control the rotation of the rotating disk; Constructing a corresponding second instruction of the target welding device, wherein the second instruction is used to instruct the target welding device to perform stud loading and welding in sequence; constructing a fourth instruction based on the second direction and the target position difference, wherein the second direction is the opposite direction of the first direction, and the fourth instruction is used to control the rotation of the rotating disk; The third instruction is constructed based on the target moving direction and the target distance, wherein the third instruction is used to control the welding arm to move after starting the laser locator, and when the next target screw hole does not include the line break mark, the target moving direction is the traversal direction, or when the next target screw hole includes the line break mark, the target moving direction includes the line break direction and the traversal direction; The screw hole instruction set is constructed based on the first instruction, the second instruction, the fourth instruction and the third instruction.

[0011] According to some embodiments of the present invention, when the traversal order of the target screw hole is at the first place, constructing the screw hole instruction set based on the first instruction, the second instruction, the fourth instruction and the third instruction includes: Constructing a reset instruction for the welding arm, wherein the reset instruction is used to instruct the laser positioner to be reset to the target work station, and the welding arm to be reset to a preset welding start position, and the welding start position is used to indicate the top angle of the side plate to be welded that is closest to the target screw hole; Determine a reference distance from the welding start position to the target screw hole based on the side panel design drawing, and generate a welding standby instruction for the welding arm based on the reference distance; The screw hole instruction set is constructed based on the reset instruction, the welding standby instruction, the first instruction, the second instruction, the fourth instruction, and the third instruction.

[0012] In a second aspect, an embodiment of the present invention provides a stud welding device for a multi-welding device, comprising at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions executable by the at least one control processor, and the instructions are executed by the at least one control processor so that the at least one control processor can execute the stud welding method for a multi-welding device as described in the first aspect above.

[0013] In a third aspect, an embodiment of the present invention provides an electronic device, comprising a stud welding device of the multi-welding device as described in the second aspect above.

[0014] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute the stud welding method of a multi-welding device as described in the first aspect above.

[0015] According to the stud welding method of multiple welding devices in the embodiment of the present invention, there are at least the following beneficial effects: a plurality of target screw holes are determined in the side panel design drawing imported into the configuration interface, the screw hole type and traversal order of each of the target screw holes are determined, and the target welding device corresponding to each of the screw hole types is configured through the configuration interface; based on any of the target screw holes, the target distance to move to the target screw hole at the next position in the traversal order is determined, and a screw hole instruction set is constructed, wherein the screw hole instruction set includes a first instruction, a second instruction and a third instruction, the first instruction is used to control the rotating disk to rotate the corresponding target welding device to the target work station, the second instruction is used to control the target welding device to perform loading and welding, and the third instruction is used to instruct the welding arm to move based on the laser locator and the target distance; the plurality of screw hole instruction sets are arranged into a welding instruction set based on the traversal order, and the welding arm is started based on the welding instruction set. According to the technical solution of the embodiment of the present invention, different types of target screw holes can be identified according to the side panel design drawing, and the welding instructions of the target welding device can be bound to each target screw hole. The welding arm intelligently switches different target welding devices through the rotating disk for loading and welding, and the welding of studs of different specifications can be completed in one traversal, thereby improving the welding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a three-dimensional diagram of a welding arm provided by one embodiment of the present invention; Figure 2 is a three-dimensional diagram of a rotating disk provided by one embodiment of the present invention; Figure 3 is a schematic diagram of the distribution of screw holes in a side plate provided by an embodiment of the present invention; Figure 4 is a flow chart of a stud welding method of a multi-welding device provided by another embodiment of the present invention; Figure 5 It is a structural diagram of a stud welding device of a multi-welding device provided in another embodiment of the present invention. DETAILED DESCRIPTION

[0017] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0018] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0019] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0020] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0021] An embodiment of the present invention provides a stud welding method, device, equipment, and storage medium for multiple welding devices, wherein the stud welding method for multiple welding devices includes: determining multiple target screw holes in a side panel design drawing imported into a configuration interface, determining the screw hole type and traversal order of each of the target screw holes, and configuring a target welding device corresponding to each of the screw hole types through the configuration interface; based on any of the target screw holes, determining a target distance to move to the target screw hole that is next in the traversal order, and constructing a screw hole instruction set, wherein the screw hole instruction set includes a first instruction, a second instruction, and a third instruction, wherein the first instruction is used to control the rotating disk to rotate the corresponding target welding device to a target work station, the second instruction is used to control the target welding device to perform loading and welding, and the third instruction is used to instruct the welding arm to move based on the laser locator and the target distance; arranging the multiple screw hole instruction sets into a welding instruction set based on the traversal order, and starting the welding arm based on the welding instruction set. According to the technical solution of the embodiment of the present invention, different types of target screw holes can be identified according to the side panel design drawing, and the welding instructions of the target welding device can be bound to each target screw hole. The welding arm intelligently switches different target welding devices through the rotating disk for loading and welding, and the welding of studs of different specifications can be completed in one traversal, thereby improving the welding efficiency.

[0022] First, refer to Figure 1 and Figure 2 , Figure 1 A three-dimensional diagram of a welding arm 10 provided in an embodiment of the present invention, Figure 2A three-dimensional diagram of a rotating disk 20 provided in an embodiment of the present invention, wherein the welding arm 10 of this embodiment includes a rotating disk 20, and a laser locator 33 and a plurality of candidate welding devices are installed on the rotating disk 20 along the rotation direction, and the sizes of the studs loaded by each candidate welding device are different from each other. The rotating disk 20 includes a plurality of optional installation positions, and the laser locator 33 and each candidate welding device are installed at different optional installation positions.

[0023] It should be noted that a target side plate 40 is placed at the welding position of the welding arm 10, and the target side plate 40 can be of any shape, for example Figure 1 The rectangular parallelepiped shown may also be an irregular shape and can be set according to the actual needs of the ring network cabinet.

[0024] It should be noted that, in this embodiment, a rotating disk 20 is provided at the operating end of the welding arm 10, and the rotating disk 20 includes a plurality of optional mounting positions, and the optional mounting positions are distributed along the rotatable direction, and each optional mounting position is used to install a laser locator 33 or a candidate welding device. Of course, the above-mentioned device can also be set as a detachable structure, which is convenient for removal for maintenance or replacement of devices of different specifications.

[0025] like Figure 1 As shown, the rotating disk 20 is arranged in the vertical direction at the operating end of the welding arm 10, and the target working position of the rotating disk 20 is the central working position. When the candidate welding device is located at the target working position, the welding head performs welding downward, and when the laser locator 33 is located at the target working position, the laser emitting device of the laser locator 33 emits laser downward to locate the target screw hole 41. The welding arm 10 can switch different devices to the target working position by controlling the rotation of the rotating disk 20.

[0026] It should be noted that the candidate welding device is Figure 1 Taking the first welding device 31 and the second welding device 32 shown as examples, in the rotating disk 20, the first welding device 31 is installed on the left side of the laser locator 33, and the second welding device 32 is installed on the right side of the laser locator 33. The rotating disk 20 can switch from the first welding device 31 to the laser locator 33 by rotating clockwise along the vertical plane, and switch to the second welding device 32 by rotating again, and reverse selection is achieved by rotating counterclockwise. Of course, the first welding device 31 and the second welding device 32 can also be installed on the left or right side of the laser locator 33. This embodiment does not limit the relative position of the laser locator 33 and the candidate welding devices. It is sufficient to switch between different devices by rotating the rotating disk 20. Of course, a third welding device can be added to the right side of the second welding device 32 or a fourth welding device can be added to the left side of the first welding device 31 according to actual needs. The number of candidate welding devices is not limited here. For the convenience of description, the following will be described. Figure 1The first welding device 31 and the second welding device 32 are shown for explanation of the principle.

[0027] It is worth noting that the rotating disk 20 can also be arranged in the horizontal direction, the first welding device 31, the laser locator 33 and the second welding device 32 are arranged downward, and the upper end is connected to the rotating disk 20. The rotating disk 20 can realize the device switching by rotating in the horizontal direction. This embodiment does not limit the installation direction of the rotating disk 20. The installation direction of the first welding device 31, the laser locator 33 and the second welding device 32 can be adjusted according to the installation direction of the rotating disk 20. For the convenience of description, this embodiment is based on Figure 1 The rotating disk 20 shown is installed along a vertical plane for principle description.

[0028] It should be noted that the laser locator 33 can be used for mobile positioning. The side panel usually has multiple screw holes. The laser locator 33 can locate and identify the circular through holes through laser. During the movement of the welding arm 10, the laser locator 33 can be used to identify the screw holes, so as to determine whether the screw holes are aligned and improve the accuracy of the movement. The specific principle of the laser locator 33 is a technology well known to those skilled in the art and will not be elaborated here.

[0029] It should be noted that the connection of the candidate welding device with the feeding mechanism is a technology well known to those skilled in the art, and this embodiment does not involve structural improvements of the welding device, and a conventional structure can be used to simultaneously achieve welding of the feeding. Figure 2 As shown, the first welding device 31 includes a first feeding pipe 311 and a first welding head 312. The first feeding pipe 311 is connected to the first feeding device, and the first feeding device can deliver the first stud to the first feeding pipe 311. When the first welding device 31 is located at the target working station, the first feeding pipe 311 outputs the first stud to the target screw hole 41. After the first stud falls into the target screw hole 41, the first welding head 312 performs arc welding to weld the first stud in the target screw hole 41. The second welding device 32 includes a second feeding pipe 321 and a second welding head 322. The second feeding pipe 321 is connected to the second feeding device, and the second feeding device can input the second stud to the second feeding pipe 321. The specific principle is the same as that of the first welding device 31, and will not be repeated here.

[0030] It is worth noting that the sizes of the studs loaded by each candidate welding device of this embodiment are different from each other, for example Figure 1 and Figure 2 As shown in FIG. 1 , the first welding device 31 is used for loading and welding the first stud, and the second welding device 32 is used for loading and welding the second stud. The sizes of the first stud and the second stud are different from each other.

[0031] The following is based on Figure 1 and Figure 2The welding arm structure shown is used to further illustrate the technical solution of the embodiment of the present invention.

[0032] Reference Figure 4 , Figure 4 A flow chart of a stud welding method of a multi-welding device provided in an embodiment of the present invention, the stud welding method of the multi-welding device includes but is not limited to the following steps: S10, determining a plurality of target screw holes in the side panel design drawing imported into the configuration interface, determining the screw hole type and traversal order of each target screw hole, and configuring a target welding device corresponding to each screw hole type through the configuration interface; S20, based on any target screw hole, determining a target distance to move to the target screw hole that is next in the traversal order, and constructing a screw hole instruction set, wherein the screw hole instruction set includes a first instruction, a second instruction, and a third instruction, the first instruction is used to control the rotating disk to rotate the corresponding target welding device to the target work station, the second instruction is used to control the target welding device to perform loading and welding, and the third instruction is used to instruct the welding arm to move based on the laser locator and the target distance; S30, arranging a plurality of screw hole instruction sets into a welding instruction set based on a traversal order, and starting the welding arm based on the welding instruction set.

[0033] It should be noted that the target side plate may include multiple screw holes, which may be distributed at equal distances or irregularly. Figure 1 In the case of equidistant distribution as shown, not every screw hole needs to be welded with a stud. Therefore, in this embodiment, the side panel design drawing can be input into the control device of the welding arm 10 (such as a common host computer), which can be the target screw hole 41 that needs to be welded marked in the side panel design drawing, for example Figure 3 As shown, the target screw hole 41 is filled in the side panel design drawing, so that the filled screw hole is determined as the target screw hole 41. Other identifiers can also be used, and no limitation is made here. It is sufficient that the target screw hole can be identified by image recognition technology.

[0034] It should be noted that when performing image recognition, the movement process of the welding arm can be simulated for traversal, for example Figure 1 and Figure 3 As shown, taking the upper left corner of the side panel design drawing as the starting point, after traversing one row to the right, move down to the next row, and traverse the next row to the left, the serial number of each target screw hole traversed is determined as the traversal order.

[0035] For example, Figure 3 As shown, in the target side plate 40, the traversal order of the first screw hole 411 is 1, the traversal order of the second screw hole 412 is 2, the third screw hole 413 does not belong to the target screw hole and the traversal order is not recorded, the traversal order of the fourth screw hole 414 is 4, and so on.

[0036] It should be noted that the target side panel of the present embodiment includes at least a plurality of types of screw holes. The screw hole types of the present embodiment may correspond to the models, specifications, etc. of the screw holes, and may represent screw holes of different sizes. In the field of manufacturing, screw holes and studs are usually standard structures. Therefore, after the target screw holes are identified in the side panel design drawing, the screw hole types may be determined according to the size of the target screw holes. Of course, the specific screw hole specifications may not be determined, but multiple screw hole types may be arranged in order of size. For example, after determining the first type and the second type, the configuration interface displays the first type as a small screw hole and the second type as a large screw hole. When welding the target side panel, the production personnel must be aware of the studs corresponding to the large and small screw holes of the side panel currently being produced. This is because the studs that can be loaded by each candidate welding device are also known. For example Figure 1 and Figure 2 For the two candidate welding devices shown, if the size of the stud loaded by the first welding device 31 is smaller than the size of the stud loaded by the second welding device 32, the first type can be directly bound to the first welding device 31, and the second type can be bound to the second welding device 32 in the configuration interface. When the size of the stud placed by the loading mechanism of the candidate welding device is correct, the production personnel can bind the screw hole type and the corresponding target welding device through a simple size comparison, without the need for complex size settings, thereby improving configuration efficiency.

[0037] It should be noted that after multiple target screw holes are identified in the side panel design drawing, the distance between two target screw holes can be determined by simple image distance measurement. The target distance in this embodiment is not used to move to the target screw hole currently being welded, but to move to the next target screw hole. Figure 3 As shown, the first screw hole 411 and the second screw hole 412 are both target screw holes, so the first distance L1 between the two is used as the target distance of the first screw hole 411, the third screw hole 413 is not the target screw hole, and the fourth screw hole 414 is the target screw hole, so the second distance L2 between the second screw hole 412 and the fourth screw hole 414 is the target distance of the second screw hole 412, and so on.

[0038] It should be noted that after determining the target distance, this embodiment constructs a screw hole instruction set based on each target screw hole. In the case of multiple candidate welding devices, to complete the welding of a target screw hole, it is necessary to move the corresponding target welding device to the target work station in the steering wheel so that the target welding device can perform welding in the target screw hole. After the welding is completed, the welding arm is controlled to move horizontally to the next target screw hole to perform the same action. Based on this, since the target distance of this embodiment is the distance to move to the next target screw hole, this embodiment can control the target welding arm to align with the first target screw hole during the process of resetting the welding arm. Each time a target screw hole is reached, the screw hole instruction set bound to the target screw hole is called to perform welding and trigger movement to the next target screw hole, thereby realizing continuous calling of the screw hole instruction set and completing the welding of each target screw hole.

[0039] It should be noted that the screw hole instruction set of this embodiment includes a first instruction. According to the description of the above embodiment, each target screw hole corresponds to a screw hole type, and each screw hole type is bound to a target welding device. Therefore, this embodiment can use the above association relationship to determine the target welding device corresponding to each target screw hole. When the target welding device is determined, the control device can know the operation to be performed to make the target welding device located at the target work station, such as the rotation angle of the rotating disk. For mechanical control, each device of the rotating disk usually corresponds to a control state, and the control state corresponding to the target welding device can be written into the first instruction.

[0040] For example, Figure 1 and Figure 3 As shown, the first welding device 31 corresponds to a smaller screw hole type (first type), and the second welding device 32 corresponds to a larger screw hole type (second type). The rotating disk 20 can characterize the rotation distance by the position state or the position difference between different devices. In this embodiment, three preset position states are taken as an example. The first position state corresponds to the first welding device 31 being located at the target work station, the second position state corresponds to the laser locator being located at the target work station, and the third position state corresponds to the second welding device 32 being located at the target work station. Figure 3The first screw hole 411 shown is of the first type, the second screw hole 412 is of the second type, and the fourth screw hole 414 is of the second type. The first type is bound to the first welding device 31, and the second type is bound to the second welding device 32. When constructing the first instruction for the first screw hole 411, the target welding device is determined to be the first welding device 31 according to the first type, and the first instruction records a "first position state", so that the rotating disk 20 rotates clockwise to the first position state after receiving the first instruction, so that the first welding device 31 is located at the target work station; similarly, the first instructions for the second screw hole 412 and the fourth screw hole 414 record a "third position state", so that the rotating disk 20 rotates counterclockwise to the third position state after receiving the first instruction, so that the second welding device 32 is located at the target work station.

[0041] It should be noted that the second instruction is used to instruct each target welding device to perform loading and welding, and the identifier of the corresponding target welding device is recorded in the second instruction of each target screw hole. For example, "first welding device" is recorded in the second instruction of the above-mentioned first screw hole 411, so that the welding arm 10 can start the first welding device 31 to load the first stud with a smaller size based on the second instruction, and weld the first stud in the first screw hole 411; similarly, "second welding device" is recorded in the second instruction of the second screw hole 412, so that the welding arm 10 can start the second welding device 32 to load the second stud with a larger size based on the second instruction, and weld the second stud in the second screw hole 412.

[0042] It is worth noting that since the first instruction and the second instruction are universal for different target screw holes of the same screw hole type (the corresponding target welding devices are the same), the first first instruction and the second instruction of each screw hole type are saved after being constructed, and the corresponding first instruction and the second instruction are directly obtained when the screw hole instruction set is constructed for the next target screw hole of the same screw hole type, thereby eliminating repeated instruction construction and improving the efficiency of welding pre-processing.

[0043] Exemplarily, the second screw hole 412 and the fourth screw hole 414 are of the same screw hole type (second type). When constructing the screw hole instruction set based on the second screw hole 412, the first instruction and the second instruction are associated with the second type and saved in the control device of the welding arm. When starting to construct the screw hole instruction set of the fourth screw hole 414, the control device is queried based on the second type, and the matched first instruction and second instruction are directly applied. Similarly, the fifth screw hole 415 and the first screw hole 411 are both of the first type. When constructing the screw hole instruction set of the fifth screw hole 415, the first instruction and the second instruction of the first screw hole 411 are queried based on the first type and applied.

[0044] It should be noted that, according to the description of the above embodiment, the first instruction and the second instruction can be shared by multiple target screw holes of the same screw hole type, but the third instruction cannot be shared. The third instruction is used to control the welding arm to move to the next target screw hole after completing welding, and the distribution of target screw holes of different target side plates is different. Figure 1 The side panel with evenly distributed screw holes may also need to reserve studs at different positions due to different positions of internally installed parts. Therefore, in this embodiment, after determining the distribution of target screw holes based on the side panel design drawing, the target distance between two target screw holes is first determined. The target distance moves from one target screw hole to the next target screw hole. Since the distribution of the target screw holes may be irregular, each target distance may be unequal, such as Figure 3 As shown, L1 and L2 are both target distances. Since the second screw hole 412 is adjacent to the first screw hole 411, and the third screw hole 413 is between the fourth screw hole 414 and the second screw hole 412, L2 must be greater than L1. This means that each target screw hole must construct a third instruction based on its associated target distance, and the corresponding target distance is recorded in the third instruction. For example, referring to Figure 1 The third instruction of the first screw hole 411 records the first distance L1, and the third instruction of the second screw hole 412 records the second distance L2. After completing the welding of the first screw hole 411, the welding arm 10 adjusts the laser locator to the target action position and starts the laser locator 33, moves according to L1 recorded in the third instruction, aligns with the second screw hole 412 after moving, and determines whether the second screw hole 412 is aligned through the laser locator 33; after completing the welding of the second screw hole 412, the welding arm 10 moves according to L2 recorded in the third instruction, aligns with the fourth screw hole 414 after moving, and so on.

[0045] It is worth noting that after constructing the screw hole instruction set, this embodiment arranges each screw hole instruction set according to the traversal order of the target screw hole to obtain a welding instruction set. The welding instruction set is stored in the control device of the welding arm. The control device extracts the screw hole instruction set in sequence, controls the steering wheel to rotate based on the first instruction, controls the corresponding target welding device to perform welding based on the second instruction, controls the movement of the welding arm based on the third instruction, and identifies the screw holes through a laser locator during the movement to ensure the target distance and then align the target screw holes.

[0046] For example, continue to refer to the above Figure 3The first screw hole 411, the second screw hole 412 and the fourth screw hole 414 shown, the traversal order of the first screw hole 411 is 1, and the screw hole instruction set is [first position state, first welding device, L1], the traversal order of the second screw hole is 2, and the screw hole instruction set is [third position state, second welding device, L2], the traversal order of the fourth screw hole 414 is 3, and taking the target distance from the fourth screw hole 414 to the fifth screw hole 415 as L3 as an example, the screw hole instruction set is [third position state, second welding device, L3], then the welding instruction set is {[first position state, first welding device, L1], [third position state, second welding device, L2], [third position state, second welding device, L3]}, after starting the welding arm for welding, the control device first obtains [first position state, first welding device, L1] to perform related processing of the first screw hole 411, and so on.

[0047] For example, Figures 1 to 3 As shown, the welding process of this embodiment is briefly described as follows: after starting welding, adjust the laser locator 33 to the target work station, move to the first screw hole 411 until the laser locator 33 detects the shape of the screw hole, call the above-mentioned screw hole instruction set [first position state, first welding device, L1], rotate the steering wheel 20 counterclockwise to adjust the first welding device 31 to the target work station, send a welding instruction to the first welding device 31, the first welding device 31 feeds the first stud to the first screw hole 411 and completes the arc welding, rotate the steering wheel 20 clockwise to adjust the laser locator 33 to the target work station, obtain the first distance L1 to control the welding arm 10 to move right to the second screw hole 412, and complete the execution of the screw hole instruction set of the first screw hole 411. Because the second screw hole 412 is reached, the corresponding screw hole instruction set [third position state, second welding device, L2] is called, and the welding of the second screw hole 412 is completed with reference to the above method, which will not be repeated here.

[0048] In addition, in one embodiment, the side panel design includes a plurality of design screw holes, referring to Figure 5 Step S10 specifically includes but is not limited to the following steps: S11, identifying idle screw holes and candidate screw holes from the side panel design drawing, wherein the candidate screw holes are marked with preset welding marks, and the idle screw holes are not marked with welding marks; S12, determining a design screw hole size of each candidate screw hole based on the side panel design drawing, determining a corresponding screw hole type based on the design screw hole size, and determining a traversal order of the candidate screw holes; S13, displaying various screw hole types in a configuration interface in descending order based on the designed screw hole size, constructing device options, and determining candidate welding devices corresponding to each screw hole type based on a selection operation in the device options, wherein the device options include various candidate welding devices; S14, based on any screw hole type, obtain the preset stud size of the corresponding candidate welding device, and when the preset stud size matches the designed screw hole size, determine the candidate welding device as the target welding device, wherein the preset stud size is used to indicate the actual size of the stud loaded by the candidate welding device.

[0049] It should be noted that the same type of target side panels can have different welding schemes, so the side panel design drawing can be common to multiple side panel products. Multiple designed screw holes are set in the target side panel, and each designed screw hole can be marked as a target screw hole according to the actual needs of the product. Unmarked screw holes are identified as idle screw holes, and welding is not performed on idle screw holes. In this embodiment, welding marks are added to the target screw holes that need to be welded in the side panel design drawing, and welding marks do not need to be added to the screw holes that do not need to be welded, so that the target screw holes can be determined by simple mark recognition. The welding mark can be in any form as long as it can distinguish between the two types of screw holes from the image recognition level. For example Figure 3 As shown, the welding mark is to fill the inside of the screw hole with color, so that the control device of the welding arm can determine the filled designed screw holes as candidate screw holes, such as the first screw hole 411, the second screw hole 412, the fourth screw hole 414 and the sixth screw hole 416, etc., and the unfilled designed screw holes are determined as idle screw holes, such as the third screw hole 413.

[0050] It should be noted that, in this embodiment, the screw hole type is used to characterize the relative sizes of different screw holes. The designed screw hole with a welding mark is first determined as a candidate screw hole. Before determining it as a target screw hole, it is also necessary to determine whether the candidate screw hole matches the stud size of the corresponding target welding device to avoid welding errors. Therefore, the designed screw hole size can be determined based on the image recognition of the side panel design drawing. After determining the corresponding target welding arm, the preset stud size of the loading stud of each candidate welding arm is known. The designed screw hole size of the screw hole type can be compared with the preset stud size of the target welding device. When the two match, it can be determined that all candidate screw holes of the same screw hole type match the loading stud of the corresponding target welding device, and can be determined as the target screw hole and the subsequent instruction construction operation can be performed.

[0051] It should be noted that after determining the types of screw holes, each screw hole type can be displayed in the configuration interface, and a corresponding device option can be constructed for each screw hole type, and each candidate welding arm can be filled in the device option. Each device option is a single option, and the selected options between multiple device options conflict with each other. For example, the screw hole type refers to the above-mentioned first type and second type as an example. After selecting the first welding device in the first type, the first welding device cannot be selected in the device selection of the second type, or an error message is prompted after selecting the first welding device, to avoid screw holes of different sizes corresponding to the same target welding device.

[0052] In addition, in one embodiment, referring to Figure 5 In step S20, the target distance to move to the target screw hole that is next in the traversal order is determined, which specifically includes but is not limited to the following steps: S21, traversing the target screw holes row by row in the side panel design drawing, and recording the first image position of the reference screw hole currently traversed; S22, determining the next target screw hole traversed in the same row as the adjacent screw hole, or, when the reference screw hole is the last target screw hole in the same row, determining the target screw hole closest to the reference screw hole in the next row as the adjacent screw hole; S23, determining the second image position of the adjacent screw hole, determining the screw hole distance based on the first image position and the second image position, determining the target distance of the reference screw hole based on the screw hole distance, determining the adjacent screw hole as a new reference screw hole and continuing traversal.

[0053] It should be noted that after the side panel design drawing is input into the control device, Figure 3 The target screw holes are traversed row by row in the direction shown. The traversal directions of the target screw holes in two adjacent rows are opposite. After reaching the last target screw hole in each row, jump to the closest target screw hole in the next row and continue traversing the row. Figure 3 As shown, in the side panel design drawing, the first row traverses to the right to the first screw hole 411, the second screw hole 412, the fourth screw hole 414 and the fifth screw hole 415. The fifth screw hole 415 is the last target screw hole in the first row. The designed screw hole located below the fifth screw hole 415 is an idle screw hole and is not traversed. It jumps to the sixth screw hole 416 next to it and continues to traverse to the left.

[0054] It should be noted that this embodiment determines the currently traversed target screw hole as the reference screw hole, and the next target screw hole as the adjacent screw hole. The first image position of the reference screw hole and the second image position of the adjacent screw hole can be the corresponding horizontal coordinates of the centers of the corresponding screw holes. The screw hole distance in the side panel design drawing can be determined based on the first image position and the second image position.

[0055] It is worth noting that the screw hole distance is obtained by traversing the side panel design drawing, so the screw hole distance is the distance in the drawing, not the actual distance. When controlling the movement of the welding arm, the actual distance must be used as the basis. Therefore, after obtaining the screw hole distance, this embodiment also needs to convert the screw hole distance into the target distance, so that the target distance is the actual distance to ensure the accuracy of the movement.

[0056] It is worth noting that in step S22, when the adjacent screw hole is located in the next row of the reference screw hole, the screw hole distance determined based on the first image position and the second image position is the sum of the two distances, including the distance of the next row and the translation distance, such as Figure 3As shown, when the reference screw hole is the fifth screw hole 415 and the adjacent screw hole is the sixth screw hole 416, the screw hole distance is L4+L5. Of course, when the welding arm 10 can move obliquely, the straight-line distance between the fifth screw hole 415 and the sixth screw hole 416 can also be directly used as the screw hole distance.

[0057] In addition, in one embodiment, referring to Figure 5 In step S23, the target distance of the reference screw hole is determined based on the screw hole distance, which specifically includes but is not limited to the following steps: S231, when the reference screw hole is the first target screw hole, determining a preset screw hole size based on a corresponding preset stud size and a preset size mapping table, and determining an image scale based on the preset screw hole size of the reference screw hole and the design screw hole size, wherein the size mapping table records a size mapping relationship between the stud and the screw hole; S232, when the reference screw hole is not the first target screw hole, obtaining the image scale; S233, determining the target distance based on the screw hole distance and the image scale.

[0058] It should be noted that in order to convert the distance in the image into the actual distance, this embodiment uses the first target screw hole to construct an image scale, and uses the image scale to represent the conversion coefficient between the distance in the image and the actual distance, so that the target distance can be calculated based on the screw hole distance and the image scale.

[0059] It should be noted that in order to avoid inconsistency between manually input data and the scale of image recognition, this embodiment does not require manual input of the image scale. When traversing to the first target screw hole, since the preset stud size is known, its corresponding preset screw hole size is also known according to the process standard. This embodiment pre-saves the size mapping table in the control device. After traversing to the reference screw hole, the preset stud size is determined according to the target welding device corresponding to the screw hole type, and the preset screw hole size corresponding to the preset stud size is queried from the size mapping table. The preset screw hole size is the actual size, and the ratio of the preset screw hole size to the identified design screw hole size is determined as the image scale. Since the image scale of each designed screw hole in the side panel design drawing must be the same, it is only necessary to determine the image scale once, and the subsequent target screw holes can be directly called.

[0060] In addition, in one embodiment, referring to Figure 5 In step S20, before constructing the screw hole instruction set, the following steps are also included but not limited to: S41, determining a first installation position of each target welding device and a second installation position of a laser locator; S42, constructing a target mapping table based on the target position difference between each first installation position and the second installation position; S43, determining the traversal direction of each target screw hole based on the side panel design drawing, and adding a line break mark for the last target screw hole in each row.

[0061] It should be noted that if Figure 1 and Figure 2 As shown, the steering wheel 20 includes a plurality of optional installation positions. Although a laser locator or a candidate welding device is not necessarily installed thereon, the position of the optional installation position is fixed and knowable. In this embodiment, after installing the laser locator and the welding device, the installation position of each candidate welding device can be set in the control device. After determining the target welding device of each screw hole type based on the scheme of the above embodiment, the first installation position of the target welding device and the second installation position of the laser locator are determined. The welding arm needs to use the laser locator to identify and locate the screw holes during movement. Therefore, when executing the screw hole instruction set, it is necessary to rotate back and forth between the target welding device and the laser locator. In this embodiment, the target position difference is used as the rotation distance indication of the rotating disk to ensure accurate rotation.

[0062] For example, refer to Figure 2 For example, the first welding device 31 corresponds to installation position A, the laser locator 33 corresponds to installation position B, and the second welding device 32 corresponds to installation position C. The target position difference between the first welding device 31 and the laser locator 33 is 1, and the target position difference between the second welding device 32 and the laser locator 33 is 1. If the third welding device is installed on the right side of the second welding device 32, the target position difference with the laser locator is 2, and so on.

[0063] It should be noted that the traversal direction of the target screw hole can refer to Figure 3 As shown, the welding direction of the welding arm 10 can be used as a reference. Figure 3 Taking welding from the upper left corner to the right as an example, the traversal direction of the first row is left, the traversal direction of the second row is right, and so on.

[0064] It should be noted that the target distance of this embodiment is used to characterize the distance between a target screw hole and the next target screw hole, so it is necessary to determine the position of the next target screw hole. This embodiment adds a line break mark to the last target screw hole in each row based on the traversal direction, for example Figure 3 In the example, a line break mark is added to the fifth screw hole 415 in the first row, a line break mark is added to the seventh screw hole 417 in the second row, and so on.

[0065] In addition, in one embodiment, referring to Figure 5 In step S20, a screw hole instruction set is constructed, which specifically includes but is not limited to the following steps: S51, determining a corresponding target position difference based on a target mapping table, determining a direction of rotation from the laser positioner to the target welding device as a first direction, constructing a first instruction based on the first direction and the target position difference, the first instruction being used to control the rotation of the rotating disk; S52, constructing a second instruction of the corresponding target welding device, wherein the second instruction is used to instruct the target welding device to perform stud loading and welding in sequence; S53, constructing a fourth instruction based on the second direction and the target position difference, wherein the second direction is the opposite direction of the first direction, and the fourth instruction is used to control the rotation of the rotating disk; S54, constructing a third instruction based on the target moving direction and the target distance, wherein the third instruction is used to control the welding arm to start the laser locator and then move, and when the next target screw hole does not include a line break mark, the target moving direction is a traversal direction, or when the next target screw hole includes a line break mark, the target moving direction includes the line break direction and the traversal direction in sequence; S55, constructing a screw hole instruction set based on the first instruction, the second instruction, the fourth instruction and the third instruction.

[0066] It should be noted that when constructing the screw hole instruction set, since the laser locator 33 needs to be used during the movement process, when the target screw hole is reached, the laser locator 33 is located at the target work station and needs to be rotated to the target welding device based on the first instruction. In this embodiment, the corresponding position difference is determined based on the target mapping table, and the relative direction of the laser locator 33 and the target welding device is determined as the first direction. The first instruction is constructed based on the first direction and the target position difference, for example Figure 1 As shown, the first direction corresponding to the first welding device 31 is the counterclockwise direction. After rotating one position in the counterclockwise direction, the first welding device 31 is located at the target operation position. At the same time, in the first instruction, the embodiment records that the instruction execution subject is the rotating disk 20.

[0067] It should be noted that, according to the description of the above embodiment, the second instruction needs to record the target welding device and be able to drive the target welding device to complete loading and welding. For example, the first welding device 31 is preset with a first loading instruction and a first welding instruction, and the second welding device 32 is preset with a second loading instruction and a second welding instruction. When the target screw hole corresponds to the first welding device 31, the second instruction includes the first loading instruction and the first welding instruction in sequence.

[0068] It should be noted that the third instruction of this embodiment is to control the movement of the welding arm 10. Prior to this, this embodiment further constructs a fourth instruction based on the second direction and the target position difference, and determines the execution object of the fourth instruction as the steering wheel 20, so that the steering wheel 20 can perform an action opposite to the first instruction, and rotate the laser locator 33 to the target work station, so that the target screw hole can be identified and located during the process of moving the welding arm.

[0069] It should be noted that if the next target screw hole does not include a line break mark, it only needs to be translated along the current line, and the target movement direction is the traversal direction of the above embodiment. During the welding process, the translation is usually performed based on the spatial coordinate system constructed by the welding arm. Therefore, the target movement direction can be represented by the positive direction of the X-axis or the negative direction of the X-axis, and no further restrictions are made here. If the next target screw hole includes a line break mark, the target movement direction includes both the line break direction and the traversal direction. For example Figure 3 As shown, when constructing the third instruction for the fifth screw hole 415, the target moving directions include down and left, where down corresponds to the line feed direction and left is the traversal direction, and movement is performed according to the corresponding target distance. For example, the target distance for moving downward is L4, and the target distance for moving to the left is L5.

[0070] It should be noted that after obtaining the above four instructions, the first instruction, the second instruction, the fourth instruction and the third instruction are arranged in sequence to obtain the screw hole instruction set.

[0071] In addition, in one embodiment, referring to Figure 5 When the target screw hole is first in the traversal order, step S55 specifically includes but is not limited to the following steps: S551, constructing a reset instruction for the welding arm, wherein the reset instruction is used to instruct the laser positioner to be reset to the target work station, and the welding arm to be reset to a preset welding start position, and the welding start position is used to indicate the top angle of the side plate to be welded that is closest to the target screw hole; S552, determining a reference distance from the welding start position to the target screw hole based on the side panel design drawing, and generating a welding standby instruction for the welding arm based on the reference distance; S553, construct a screw hole instruction set based on the reset instruction, the welding standby instruction, the first instruction, the second instruction, the fourth instruction and the third instruction.

[0072] It should be noted that, according to the description of the above embodiment, the last third instruction of the screw hole instruction set is used to move to the next target screw hole. For the target screw hole that is not the first one, the movement and screw hole alignment can be completed according to the screw hole instruction set of the previous target screw hole. This embodiment constructs an additional reset instruction and a welding standby instruction for the first target screw hole, so that the screw hole instruction set of the first target screw hole can be directly called after welding is started. In this screw hole instruction set, the reset instruction and the welding standby instruction are used to control the welding arm to move above the first target screw hole, that is, the screw hole instruction set of the first target screw hole includes two movement processes, and the remaining screw hole instruction sets have only one movement process.

[0073] It should be noted that the reset command is used to reset the laser locator to the target workstation, so that the laser locator can be used for positioning during the movement, and the welding arm is reset to the welding start position, which is a pre-set position. This embodiment uses the top corner closest to the first target screw hole as the welding start position, so that the movement of the welding arm can be accurately positioned based on the side panel design drawing. The path from the top corner to the target screw hole can be determined, and the reference distance can be calculated based on the image scale, so the welding standby command of the welding arm can be generated based on the reference distance.

[0074] It should be noted that after the welding arm starts welding, the first screw hole instruction set is called from the welding instruction set, the welding arm is reset to the welding starting position based on the reset instruction, and then the welding standby instruction is called to control the welding arm to move above the target screw hole, and then subsequent instructions are called to perform the welding of the target screw hole.

[0075] like Figure 5 As shown, Figure 5 1 is a structural diagram of a stud welding device of a multi-welding device provided by an embodiment of the present invention. The present invention also provides a stud welding device of a multi-welding device, comprising: The processor 401 may be implemented by a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application; The memory 402 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 402 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 402, and the processor 401 calls and executes the stud welding method of the multi-welding device of the embodiment of the present application; Input / output interface 403, used to implement information input and output; Communication interface 404, used to realize communication interaction between the device and other devices, which can be realized through wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WIFI, Bluetooth, etc.); A bus 405 that transmits information between various components of the device (e.g., processor 401, memory 402, input / output interface 403, and communication interface 404); The processor 401 , the memory 402 , the input / output interface 403 and the communication interface 404 are connected to each other in communication within the device via the bus 405 .

[0076] An embodiment of the present application further provides an electronic device, comprising a stud welding device of the multi-welding device as described above.

[0077] An embodiment of the present application further provides a storage medium, which is a computer-readable storage medium and stores a computer program. When the computer program is executed by a processor, the stud welding method of the multi-welding device is implemented.

[0078] As a non-transient computer-readable storage medium, the memory can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and are implemented to be located in one place, or may also be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0079] It will be appreciated by those skilled in the art that all or some of the steps and systems in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or transient medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically include computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0080] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above-mentioned implementation mode. Technical personnel familiar with the field can also make various equivalent deformations or substitutions under the shared conditions without violating the spirit of the present invention. These equivalent deformations or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A stud welding method using multiple welding devices, characterized in that: Applied to a welding arm, the welding arm comprises a rotating disk, the rotating disk is provided with a laser positioner and a plurality of candidate welding devices along the rotating direction, the sizes of the studs loaded by the candidate welding devices are different from each other, the method comprises: Determine a plurality of target screw holes in the side panel design drawing imported into the configuration interface, determine the screw hole type and traversal order of each of the target screw holes, and configure a target welding device corresponding to each of the screw hole types through the configuration interface; Based on any of the target screw holes, determine the target distance for moving to the target screw hole that is located next in the traversal order, and construct a screw hole instruction set, wherein the screw hole instruction set includes a first instruction, a second instruction, and a third instruction, the first instruction is used to control the rotating disk to rotate the corresponding target welding device to a target work station, the second instruction is used to control the target welding device to perform loading and welding, and the third instruction is used to instruct the welding arm to move based on the laser locator and the target distance; The plurality of screw hole instruction sets are arranged into a welding instruction set based on the traversal order, and the welding arm is started based on the welding instruction set.

2. The stud welding method of multiple welding devices according to claim 1, characterized in that: The side panel design drawing includes a plurality of designed screw holes, determining the screw hole type and traversal order of each of the target screw holes, and configuring the target welding device corresponding to each of the screw hole types through the configuration interface, including: Identify idle screw holes and candidate screw holes from the side panel design drawing, wherein the candidate screw holes are marked with preset welding marks, and the idle screw holes are not marked with the welding marks; Determine the design screw hole size of each candidate screw hole based on the side panel design drawing, determine the corresponding screw hole type based on the design screw hole size, and determine the traversal order of the candidate screw holes; Arrange and display the various screw hole types in descending order based on the designed screw hole size on the configuration interface, construct device options, and determine the candidate welding devices corresponding to each screw hole type based on the selection operation in the device options, wherein the device options include the various candidate welding devices; Based on any of the screw hole types, a preset stud size of the corresponding candidate welding device is obtained, and when the preset stud size matches the designed screw hole size, the candidate welding device is determined as the target welding device, wherein the preset stud size is used to indicate the actual size of the stud loaded by the candidate welding device.

3. The stud welding method of multiple welding devices according to claim 2, characterized in that: Determining a target distance for moving to the target screw hole that is next in the traversal order includes: Traversing the target screw holes row by row in the side panel design drawing, and recording the first image position of the reference screw holes currently traversed; Determine the next target screw hole traversed in the same row as the adjacent screw hole, or, when the reference screw hole is the last target screw hole in the same row, determine the target screw hole closest to the reference screw hole in the next row as the adjacent screw hole; Determine the second image position of the adjacent screw hole, determine the screw hole distance based on the first image position and the second image position, determine the target distance of the reference screw hole based on the screw hole distance, determine the adjacent screw hole as a new reference screw hole and continue traversing.

4. The stud welding method of multiple welding devices according to claim 3, characterized in that: Determining the target distance of the reference screw hole based on the screw hole distance includes: When the reference screw hole is the first target screw hole, a preset screw hole size is determined based on the corresponding preset stud size and a preset size mapping table, and an image scale is determined based on the preset screw hole size of the reference screw hole and the designed screw hole size, wherein the size mapping table records a size mapping relationship between a stud and a screw hole; Alternatively, when the reference screw hole is not the first target screw hole, obtaining the image scale; The target distance is determined based on the screw hole distance and the image scale.

5. The stud welding method of multiple welding devices according to claim 1, characterized in that: The rotating disk includes a plurality of optional installation positions, the laser locator and each of the candidate welding devices are installed at different optional installation positions, and before constructing the screw hole instruction set, the method further includes: Determine a first installation position of each of the target welding devices, and determine a second installation position of the laser locator; constructing a target mapping table based on target position differences between each of the first installation positions and the second installation positions; The traversal direction of each target screw hole is determined based on the side panel design drawing, and a line break mark is added to the last target screw hole in each row.

6. The stud welding method of multiple welding devices according to claim 5, characterized in that: Build a screw hole instruction set, including: Determine the corresponding target position difference based on the target mapping table, determine the direction of rotation from the laser positioner to the target welding device as a first direction, and construct the first instruction based on the first direction and the target position difference, wherein the first instruction is used to control the rotation of the rotating disk; Constructing a corresponding second instruction of the target welding device, wherein the second instruction is used to instruct the target welding device to perform stud loading and welding in sequence; constructing a fourth instruction based on the second direction and the target position difference, wherein the second direction is the opposite direction of the first direction, and the fourth instruction is used to control the rotation of the rotating disk; The third instruction is constructed based on the target moving direction and the target distance, wherein the third instruction is used to control the welding arm to move after starting the laser locator, and when the next target screw hole does not include the line break mark, the target moving direction is the traversal direction, or when the next target screw hole includes the line break mark, the target moving direction includes the line break direction and the traversal direction; The screw hole instruction set is constructed based on the first instruction, the second instruction, the fourth instruction and the third instruction.

7. The stud welding method of multiple welding devices according to claim 6, characterized in that: When the traversal order of the target screw hole is at the first place, constructing the screw hole instruction set based on the first instruction, the second instruction, the fourth instruction and the third instruction includes: Constructing a reset instruction for the welding arm, wherein the reset instruction is used to instruct the laser positioner to be reset to the target work station, and the welding arm to be reset to a preset welding start position, and the welding start position is used to indicate the top angle of the side plate to be welded that is closest to the target screw hole; Determine a reference distance from the welding start position to the target screw hole based on the side panel design drawing, and generate a welding standby instruction for the welding arm based on the reference distance; The screw hole instruction set is constructed based on the reset instruction, the welding standby instruction, the first instruction, the second instruction, the fourth instruction, and the third instruction.

8. A stud welding device with multiple welding devices, characterized in that: It includes at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions that can be executed by the at least one control processor, and the instructions are executed by the at least one control processor to enable the at least one control processor to execute the stud welding method of the multi-welding device as described in any one of claims 1 to 7.

9. An electronic device, characterized in that: A stud welding device comprising the multi-welding device according to claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the stud welding method of a multi-welding device according to any one of claims 1 to 7.

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