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

Abstract

The present invention provides a stud welding method, device, equipment, and storage medium for a multi-welding device. The method includes: determining the types and traversal orders of a plurality of target screw holes based on a side plate design drawing, and determining the target welding device corresponding to each screw hole type; constructing a screw hole instruction set for each target screw hole, wherein the target welding device rotates to a target operation station under a first instruction, performs feeding and welding under a second instruction, and a third instruction is used to control the welding arm to move to the next target screw hole; starting the welding arm based on a welding instruction set composed of a plurality of screw hole instruction sets. According to the technical solution of the embodiments of the present invention, different types of target screw holes can be identified according to the side plate design drawing, welding instructions of the target welding device are bound to each target screw hole, and the welding arm intelligently switches different target welding devices through a rotating disk for feeding and welding, and stud welding of different specifications can be completed through one traversal, improving the welding efficiency.

Description

Technical Field

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

[0002] A ring main unit is a common device in the power system. The ring main unit is formed by welding multiple side plates. Before welding the side plates, it is necessary to weld multiple studs at each side plate of the ring main unit for installing various internal components. Since the number of studs is large, the manual welding process can no longer meet the current requirements. How to achieve efficient automatic welding has become the key to improving production efficiency. In the related art, some solutions for welding through a welding arm have emerged. A feeding pipeline communicating with a feeding device is arranged at the welding arm. The welding arm is moved above the stud holes of the side plate through laser positioning or image recognition technology. After feeding through the feeding pipeline, the welding arm is controlled to perform drag arc welding, thereby realizing automatic welding.

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

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art. For this purpose, the present invention provides a stud welding method, device, equipment, and storage medium for multiple welding devices, which can intelligently switch welding devices according to the distribution of stud holes for welding, improving 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. The welding arm includes a rotating disk, and a laser locator and multiple candidate welding devices are installed along the rotation direction of the rotating disk. The sizes of the studs fed by each of the candidate welding devices are different from each other. The method includes:

[0006] Determine multiple target stud holes in the side plate design drawing imported into the configuration interface, determine the stud hole types and traversal orders of each of the target stud holes, and configure the target welding device corresponding to each of the stud hole types through the configuration interface;

[0007] Based on any one of the target screw holes, determine the target distance to move to the target screw hole whose traversal order is the next one, and construct a screw hole instruction set, where the screw hole instruction set includes a first instruction, a second instruction, and a third instruction. The first instruction is used to control the turntable to rotate the corresponding target welding device to a target operation station, the second instruction is used to control the target welding device to perform feeding and welding, and the third instruction is used to instruct the welding arm to move based on the laser locator and the target distance;

[0008] Arrange a plurality of the screw hole instruction sets into a welding instruction set based on the traversal order, and start the welding arm based on the welding instruction set.

[0009] According to some embodiments of the present invention, the side plate design drawing includes a plurality of design screw holes. Determine the screw hole types and traversal orders of each of the target screw holes, and configure the target welding device corresponding to each screw hole type through the configuration interface, including:

[0010] Identify idle screw holes and candidate screw holes from the side plate design drawing, where a preset welding mark is marked in the candidate screw holes, and the welding mark is not marked in the idle screw holes;

[0011] Based on the side plate design drawing, determine the design screw hole sizes of each of the candidate screw holes, determine the corresponding screw hole types based on the design screw hole sizes, and determine the traversal order of the candidate screw holes;

[0012] Arrange and display each of the screw hole types in descending order of the design screw hole sizes on the configuration interface, construct a device option, and determine the candidate welding device corresponding to each screw hole type based on a selection operation on the device option, where the device option includes each of the candidate welding devices;

[0013] Based on any one of the screw hole types, obtain the preset stud size of the corresponding candidate welding device. When the preset stud size matches the design screw hole size, determine the candidate welding device as the target welding device, where the preset stud size is used to indicate the actual size of the stud loaded by the candidate welding device.

[0014] According to some embodiments of the present invention, determining the target distance to move to the target screw hole whose traversal order is the next one includes:

[0015] Traverse the target screw holes row by row in the side plate design drawing, and record the first image position of the reference screw hole currently traversed;

[0016] Determine the adjacent screw hole as the next target screw hole traversed in the same row, 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;

[0017] 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 the new reference screw hole and continue traversing.

[0018] According to some embodiments of the present invention, determining the target distance of the reference screw hole based on the screw hole distance includes:

[0019] When the reference screw hole is the first target screw hole, determine the preset screw hole size based on the corresponding preset stud size and the preset size mapping table, and determine the image scale based on the preset screw hole size of the reference screw hole and the designed screw hole size, wherein the size mapping table records the size mapping relationship between the stud and the screw hole;

[0020] Or, when the reference screw hole is not the first target screw hole, obtain the image scale;

[0021] Determine the target distance based on the screw hole distance and the image scale.

[0022] According to some embodiments of the present invention, the turntable includes a plurality of selectable mounting positions, the laser locator and each of the candidate welding devices are mounted on different selectable mounting positions. Before constructing the screw hole instruction set, the method further includes:

[0023] Determine the first mounting position of each target welding device, and determine the second mounting position of the laser locator;

[0024] Construct a target mapping table based on the target position difference between each first mounting position and the second mounting position;

[0025] Determine the traversing direction of each target screw hole based on the side plate design drawing, and add a line break mark to the last target screw hole in each row.

[0026] According to some embodiments of the present invention, constructing the screw hole instruction set includes:

[0027] Determine the corresponding target position difference based on the target mapping table, determine the direction from the laser locator to the target welding device as the first direction, and construct the first instruction based on the first direction and the target position difference, where the first instruction is used to control the rotation of the turntable;

[0028] Construct a second instruction corresponding to the target welding device, where the second instruction is used to instruct the target welding device to perform stud feeding and welding in sequence;

[0029] Construct a fourth instruction based on the second direction and the target position difference, where the second direction is the opposite direction of the first direction, and the fourth instruction is used to control the rotation of the turntable;

[0030] Construct the third instruction based on the target movement direction and the target distance, where the third instruction is used to control the welding arm to move after starting the laser locator. When the next target screw hole does not include the line break mark, the target movement direction is the traversal direction, or when the next target screw hole includes the line break mark, the target movement direction includes the line break direction and the traversal direction;

[0031] Construct the screw hole instruction set based on the first instruction, the second instruction, the fourth instruction, and the third instruction.

[0032] According to some embodiments of the present invention, when the traversal order of the target screw holes 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:

[0033] Construct a reset instruction for the welding arm, where the reset instruction is used to instruct to reset the laser locator to the target operation station and reset the welding arm to a preset welding starting position, and the welding starting position is used to indicate the vertex angle of the side plate to be welded that is closest to the target screw hole;

[0034] Determine a reference distance from the welding starting position to the target screw hole based on the side plate design drawing, and generate a welding standby instruction for the welding arm based on the reference distance;

[0035] Construct the 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.

[0036] In a second aspect, an embodiment of the present invention provides a stud welding device for a multi-welding device, including at least one control processor and a memory communicatively connected to 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 the multi-welding device as described in the first aspect above.

[0037] In a third aspect, an embodiment of the present invention provides an electronic device, including a stud welding device with a multi-welding device as described in the second aspect above.

[0038] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions for executing the stud welding method of the multi-welding device as described in the first aspect above.

[0039] According to the stud welding method of the multi-welding device of the embodiment of the present invention, it has at least the following beneficial effects: determining a plurality of target screw holes in the side plate design drawing imported into the configuration interface, determining the screw hole types and traversal orders of each of the target screw holes, and configuring the target welding device corresponding to each screw hole type through the configuration interface; based on any one of the target screw holes, determining the target distance to move to the target screw hole whose traversal order is the next one, and constructing a screw hole instruction set, where the screw hole instruction set includes a first instruction, a second instruction, and a third instruction, the first instruction is used to control the turntable to rotate the corresponding target welding device to the target working station, the second instruction is used to control the target welding device to perform feeding 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 a plurality of the 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 plate design drawing, welding instructions for the target welding device are bound to each target screw hole, and the welding arm can intelligently switch different target welding devices through the turntable for feeding and welding, and can complete the stud welding of different specifications through one traversal, improving the welding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a perspective view of a welding arm provided by an embodiment of the present invention;

[0041] Figure 2 is a perspective view of a turntable provided by an embodiment of the present invention;

[0042] Figure 3 is a schematic diagram of the screw hole distribution in a side plate provided by an embodiment of the present invention;

[0043] Figure 4 is a flowchart of a stud welding method of a multi-welding device provided by another embodiment of the present invention;

[0044] Figure 5 is a structural diagram of a stud welding device of a multi-welding device provided by another embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0046] In the description of the present invention, it should be understood that with regard to the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc., is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 construed as a limitation of the present invention.

[0047] In the description of the present invention, the meaning of "several" is one or more, the meaning of "multiple" is two or more, "greater than", "less than", "exceeding", etc. are understood as not including the recited number, and "above", "below", "within", etc. are understood as including the recited number. If there is a description of "first" and "second", it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0048] In the description of the present invention, unless otherwise clearly defined, words such as "set", "installed", "connected", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meaning of the above words in the present invention in combination with the specific content of the technical solution.

[0049] An embodiment of the present invention provides a stud welding method, device, equipment, and storage medium for a multi-welding device. The stud welding method for the multi-welding device includes: determining a plurality of target screw holes in the side plate design drawing imported into the configuration interface, determining the screw hole types and traversal orders of each of the target screw holes, and configuring a target welding device corresponding to each screw hole type through the configuration interface; based on any one of the target screw holes, determining a target distance to move to the target screw hole whose traversal order is the next one, and constructing a screw hole instruction set. The screw hole instruction set includes a first instruction, a second instruction, and a third instruction. The first instruction is used to control the turntable to rotate the corresponding target welding device to the target working station. The second instruction is used to control the target welding device to perform feeding and welding. The third instruction is used to instruct the welding arm to move based on the laser locator and the target distance; arranging a plurality of the 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 plate design drawing, welding instructions for the target welding device are bound to each target screw hole, and the welding arm can intelligently switch different target welding devices through the turntable to perform feeding and welding, and the stud welding of different specifications can be completed through one traversal, improving the welding efficiency.

[0050] First, refer to Figure 1 and Figure 2 , Figure 1 which is a perspective view of the welding arm 10 provided by the embodiment of the present invention, Figure 2 and which is a perspective view of the turntable 20 provided by the embodiment of the present invention. The welding arm 10 of this embodiment includes a turntable 20. The turntable 20 is installed with a laser locator 33 and a plurality of candidate welding devices along the rotation direction. The sizes of the studs fed by each candidate welding device are different from each other. The turntable 20 includes a plurality of optional installation positions, and the laser locator 33 and each candidate welding device are installed in different optional installation positions.

[0051] It should be noted that a target side plate 40 is placed at the welding position of the welding arm 10. The target side plate 40 can be of any shape, such as Figure 1 the cuboid shown, or an irregular shape, which can be set according to the actual requirements of the ring main unit.

[0052] It should be noted that in this embodiment, a turntable 20 is provided at the operation end of the welding arm 10. The turntable 20 includes a plurality of optional installation positions, and the optional installation positions are distributed along the rotatable direction. Each optional installation position is used to install the laser locator 33 or the candidate welding device. Of course, the above devices can also be set as detachable structures, which are convenient for removing for maintenance or replacing devices of different specifications.

[0053] Such as Figure 1As shown, the rotating disk 20 is arranged vertically at the operating end of the welding arm 10. The target working station of the rotating disk 20 is the centered station. When the candidate welding device is located at the target working station, the welding head faces downward to perform welding. When the laser locator 33 is located at the target working station, the laser emitting device of the laser locator 33 emits laser downward to position the target screw hole 41. The welding arm 10 can switch different devices to the target working station by controlling the rotation of the rotating disk 20.

[0054] It should be noted that, taking the candidate welding devices as Figure 1 the first welding device 31 and the second welding device 32 shown as an example, 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 be rotated clockwise along the vertical plane to switch from the first welding device 31 to the laser locator 33, and rotated again to switch to the second welding device 32. Counterclockwise rotation realizes reverse selection. Of course, it is also possible that both the first welding device 31 and the second welding device 32 are installed on the left side or the right side of the laser locator 33. This embodiment does not limit the relative positions of the laser locator 33 and the candidate welding devices, as long as different devices can be switched by rotating the rotating disk 20. Of course, a third welding device can also 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 uses Figure 1 the first welding device 31 and the second welding device 32 shown to illustrate the principle.

[0055] It should be noted that the rotating disk 20 can also be arranged horizontally. The first welding device 31, the laser locator 33, and the second welding device 32 face downward and are connected to the rotating disk 20 at the upper end. The rotating disk 20 can achieve device switching by rotating horizontally. This embodiment does not limit the installation direction of the rotating disk 20. The installation orientations 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 uses Figure 1 the rotating disk 20 installed along the vertical plane shown for a principle description.

[0056] It should be noted that the laser locator 33 can be used for moving positioning. There are usually multiple screw holes on the side plate. The laser locator 33 can position and identify the circular through holes through laser. During the movement of the welding arm 10, the screw holes can be identified by the laser locator 33 during the movement, so as to judge whether the screw holes are aligned and improve the accuracy of movement. The specific principle of the laser locator 33 is well-known to those skilled in the art and will not be elaborated here.

[0057] It should be noted that the connection between the candidate welding device and the feeding mechanism is a well-known technology to those skilled in the art. This embodiment does not involve the structural improvement of the welding device, and a conventional structure can be used to achieve welding while feeding. For example, 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 convey 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 stud is welded in the target screw hole 41 by performing arc welding with the first welding head 312. 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.

[0058] It should be noted that the sizes of the studs fed by each candidate welding device in this embodiment are different from each other. For example, Figure 1 and Figure 2 As shown, the first welding device 31 is used to feed and weld the first stud, and the second welding device 32 is used to feed and weld the second stud. The sizes of the first stud and the second stud are different from each other.

[0059] Next, based on the Figure 1 and Figure 2 shown welding arm structure, the technical solution of the embodiment of the present invention will be further elaborated.

[0060] Referring to Figure 4 , Figure 4 is a flowchart of a stud welding method for a multi-welding device provided by an embodiment of the present invention. The stud welding method for the multi-welding device includes but is not limited to the following steps:

[0061] S10. Determine a plurality of target screw holes in the side plate design drawing imported in the configuration interface, determine the screw hole types and traversal orders of each target screw hole, and configure the target welding device corresponding to each screw hole type through the configuration interface;

[0062] S20. Based on any target screw hole, determine the target distance to move to the target screw hole whose traversal order is the next one, and construct a screw hole instruction set. The screw hole instruction set includes a first instruction, a second instruction, and a third instruction. The first instruction is used to control the turntable to rotate the corresponding target welding device to the target working station, the second instruction is used to control the target welding device to perform feeding and welding, and the third instruction is used to instruct the welding arm to move based on the laser locator and the target distance;

[0063] S30. Arrange multiple screw hole instruction sets into a welding instruction set according to the traversal order, and start the welding arm based on the welding instruction set.

[0064] It should be noted that the target side plate may include multiple screw holes. The multiple screw holes may be equidistantly distributed or irregularly distributed. In the case of equidistant distribution as shown in Figure 1 , not every screw hole needs to be welded with a stud. Therefore, in this embodiment, the side plate design drawing can be input into the control device (such as a common upper computer) of the welding arm 10. It can be the target screw holes 41 marked in the side plate design drawing. For example, Figure 3 as shown, fill the target screw holes 41 in the side plate design drawing, so as to determine the filled screw holes as the target screw holes 41. Other markings can also be used, which will not be limited here. As long as the target screw holes can be identified by image recognition technology.

[0065] It should be noted that when performing image recognition, the traversal process of the welding arm can be simulated. For example, Figure 1 and Figure 3 as shown, starting from the upper left corner of the side plate design drawing, after traversing one row to the right, move down to the next row, and traverse the next row to the left. Determine the serial number of each target screw hole traversed as the traversal order.

[0066] Exemplarily, as Figure 3 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 its traversal order is not recorded, and the traversal order of the fourth screw hole 414 is 4, and so on.

[0067] It should be noted that the target side plate in this embodiment includes at least multiple types of screw holes. The screw hole types in this embodiment can correspond to the models, specifications, etc. of the screw holes, as long as they can represent screw holes of different sizes. In the field of production and manufacturing, screw holes and studs are usually standard structures. Therefore, after identifying the target screw holes in the side plate design drawing, the screw hole types can be determined according to the sizes of the target screw holes. Of course, it is also possible not to determine the specific screw hole specifications, but to arrange multiple screw hole types in the order of size. For example, after determining the first type and the second type, display the first type as small screw holes and the second type as large screw holes in the configuration interface. When welding the target side plate, the production personnel must know the studs corresponding to the large and small screw holes of the current side plate being produced, because the studs that each candidate welding device can feed are also known. For example, Figure 1 and Figure 2For the two candidate welding devices shown, if the stud size loaded on the first welding device 31 is smaller than the stud size loaded on 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 stud sizes placed on the loading mechanisms of the candidate welding devices are correct, production personnel can bind the stud hole types and the corresponding target welding devices through simple size comparison without complex size settings, improving the configuration efficiency.

[0068] It should be noted that after identifying multiple target stud holes in the side plate design drawing, the distance between two target stud holes can be determined through simple image ranging. The target distance in this embodiment is not used to move to the target stud hole where welding is currently being performed, but to move to the next target stud hole. As Figure 3 shown, both the first stud hole 411 and the second stud hole 412 are target stud holes. Therefore, the first distance L1 between them is used as the target distance of the first stud hole 411. The third stud hole 413 is not a target stud hole, and the fourth stud hole 414 is a target stud hole. Therefore, the second distance L2 between the second stud hole 412 and the fourth stud hole 414 is the target distance of the second stud hole 412, and so on.

[0069] It should be noted that after determining the target distance, in this embodiment, a stud hole instruction set is constructed based on each target stud hole. In the case of having multiple candidate welding devices, to complete the welding of a target stud hole, it is necessary to move the corresponding target welding device to the target operation station in the turntable so that the target welding device can perform welding in the target stud hole. After completing the welding, then control the welding arm to traverse to the next target stud hole to perform the same action. Based on this, since the target distance in this embodiment is the distance to move to the next target stud hole, this embodiment can control the target welding arm to align with the first target stud hole during the reset process of the welding arm. Each time a target stud hole is reached, the stud hole instruction set bound to this target stud hole is called to perform welding and trigger the movement to the next target stud hole, thereby realizing the continuous call of the stud hole instruction set and completing the welding of each target stud hole.

[0070] It should be noted that the stud hole instruction set in this embodiment includes a first instruction. According to the description of the above embodiment, each target stud hole corresponds to a stud hole type, and each stud 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 stud hole. When the target welding device is determined, the control device can know the operations to be performed to make the target welding device located at the target operation station, such as the rotation angle of the turntable. For mechanical control, each device of the turntable usually corresponds to a control state. Just write the control state corresponding to the target welding device into the first instruction.

[0071] Exemplarily, asFigure 1 and Figure 3 As shown, the first welding device 31 corresponds to the smaller-sized screw hole type (the first type), and the second welding device 32 corresponds to the larger-sized screw hole type (the second type). The rotation distance of the rotating disk 20 can be characterized by the position state or the position difference between different devices. In this embodiment, taking the preset three position states as an example, the first position state corresponds to the first welding device 31 being at the target operation station, the second position state corresponds to the laser locator being at the target operation station, and the third position state corresponds to the second welding device 32 being at the target operation station. Figure 3 As shown, the first screw hole 411 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. The first instruction records "the first position state", so that after receiving the first instruction, the rotating disk 20 rotates clockwise to the first position state, making the first welding device 31 at the target operation station; similarly, the first instructions for the second screw hole 412 and the fourth screw hole 414 record "the third position state", so that after receiving the first instruction, the rotating disk 20 rotates counterclockwise to the third position state, making the second welding device 32 at the target operation station.

[0072] It should be noted that the second instruction is used to instruct each target welding device to perform feeding and welding. The identifier of the corresponding target welding device is recorded in the second instruction of each target screw hole. For example, in the second instruction of the above-mentioned first screw hole 411, "the first welding device" is recorded, so that the welding arm 10 can start the first welding device 31 to feed the smaller-sized first stud based on this second instruction and weld the first stud in the first screw hole 411; similarly, in the second instruction of the second screw hole 412, "the second welding device" is recorded, so that the welding arm 10 can start the second welding device 32 to feed the larger-sized second stud based on this second instruction and weld the second stud in the second screw hole 412.

[0073] It is worth noting that since the first instruction and the second instruction are common for different target screw holes of the same screw hole type (the corresponding target welding devices are the same), after constructing the first first instruction and the second instruction for each screw hole type, they are saved. When constructing the screw hole instruction set for the next target screw hole of the same screw hole type, the corresponding first instruction and second instruction are directly obtained, thus saving the repeated instruction construction and improving the efficiency of pre-welding processing.

[0074] Exemplarily, the second screw hole 412 and the fourth screw hole 414 are of the same screw hole type (the 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 stored in the control device of the welding arm. When starting to construct the screw hole instruction set of the fourth screw hole 414, query the control device based on the second type and directly apply the matched first instruction and second instruction. 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, query the first instruction and the second instruction of the first screw hole 411 based on the first type and apply them.

[0075] 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 the welding. The distributions of the target screw holes on different target side plates are different. Even for a side plate with evenly distributed screw holes as Figure 1 shown, due to the different positions of the internally installed components, it may be necessary to reserve studs at different positions. Therefore, in this embodiment, after determining the distribution of the target screw holes based on the side plate design drawing, first determine the target distance between two target screw holes. The target distance is the distance from one target screw hole to the next target screw hole. Since the distribution of the target screw holes can be irregular, each target distance can be unequal. As Figure 3 shown, both L1 and L2 are target distances. Since the second screw hole 412 is adjacent to the first screw hole 411, and there is a third screw hole 413 between the fourth screw hole 414 and the second screw hole 412, L2 must be greater than L1. This makes it necessary to construct the third instruction based on the target distance associated with each target screw hole and record the corresponding target distance in the third instruction. For example, referring to Figure 1 , the first distance L1 is recorded in the third instruction of the first screw hole 411, and the second distance L2 is recorded in the third instruction of the second screw hole 412. After the welding arm 10 completes the welding of the first screw hole 411, adjust the laser locator to the target working position and start the laser locator 33, and move according to L1 recorded in the third instruction. After moving, align with the second screw hole 412, and determine whether it is aligned with the second screw hole 412 through the laser locator 33; after the welding arm 10 completes the welding of the second screw hole 412, move according to L2 recorded in the third instruction, and after moving, align with the fourth screw hole 414, and so on.

[0076] It should be noted that, after constructing the screw hole instruction set in this embodiment, each screw hole instruction set is arranged according to the traversal order of the target screw holes 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 sets 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 the laser locator during the movement to align with the target screw holes after ensuring the target distance.

[0077] Exemplarily, continuing to refer to the above Figure 3 shown first screw hole 411, second screw hole 412, and fourth screw hole 414, 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]. Taking the traversal order of the second screw hole as 2, the screw hole instruction set is [third position state, second welding device, L2]. Taking the traversal order of the fourth screw hole 414 as 3 and 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 relevant processing on the first screw hole 411, and so on.

[0078] Exemplarily, as Figures 1 to 3 shown, the welding process of this embodiment is briefly described as follows: After starting welding, adjust the laser locator 33 to the target working station, move towards the first screw hole 411 until the laser locator 33 detects the screw hole shape, call the above 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 working 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 pull arc welding, rotate the steering wheel 20 clockwise to adjust the laser locator 33 to the target working station, obtain the first distance L1 and control the welding arm 10 to move rightward to the second screw hole 412, complete the execution of the screw hole instruction set of the first screw hole 411. Since the second screw hole 412 is reached, call the corresponding screw hole instruction set [third position state, second welding device, L2], and complete the welding of the second screw hole 412 by referring to the above method, which will not be repeated here.

[0079] In addition, in one embodiment, the side plate design drawing includes multiple design screw holes. Referring to Figure 5 , step S10 specifically includes but is not limited to the following steps:

[0080] S11. Identify the idle screw holes and candidate screw holes from the side plate design drawing, where the candidate screw holes are marked with a preset welding mark, and the idle screw holes are not marked with a welding mark;

[0081] S12. Determine the designed screw hole sizes of each candidate screw hole based on the side plate design drawing, determine the corresponding screw hole types based on the designed screw hole sizes, and determine the traversal order of the candidate screw holes;

[0082] S13. Arrange and display each screw hole type from largest to smallest based on the designed screw hole sizes in the configuration interface, construct device options, and determine the candidate welding devices corresponding to each screw hole type based on the selection operation on the device options, where the device options include each candidate welding device;

[0083] S14. Based on any screw hole type, obtain the preset stud size of the corresponding candidate welding device. When the preset stud size matches the designed screw hole size, determine the candidate welding device as the target welding device, where the preset stud size is used to indicate the actual size of the stud loaded by the candidate welding device.

[0084] It should be noted that the same type of target side plate can have different welding schemes. Therefore, the side plate design drawing can be common to multiple side plate products. There are multiple designed screw holes in the target side plate, and each designed screw hole can be marked as a target screw hole according to the actual product requirements. Those not marked are identified as idle screw holes, and no welding is performed on the idle screw holes. In this embodiment, welding marks are added to the target screw holes that need to be welded in the side plate design drawing, and no welding marks need to be added to the screw holes that do not need to be welded, so as to determine the target screw holes through simple mark recognition. The welding mark can be in any form as long as it can distinguish the two types of screw holes at 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 hole as a candidate screw hole, such as the first screw hole 411, the second screw hole 412, the fourth screw hole 414, and the sixth screw hole 416, etc. The unfilled designed screw holes are determined as idle screw holes, such as the third screw hole 413.

[0085] 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 holes with welding marks are first determined as candidate screw holes. Before being determined as target screw holes, it is also necessary to determine whether the screw sizes of the candidate screw holes match those of the studs of the corresponding target welding devices to avoid welding errors. Therefore, the designed screw hole sizes can be determined based on image recognition of the side plate design drawing. After determining the corresponding target welding arm, the preset screw sizes of the feeding studs of each candidate welding arm are known. The designed screw hole sizes of this screw hole type can be compared with the preset screw sizes of the target welding devices. When the two match, it can be determined that all candidate screw holes of the same screw hole type match the feeding studs of the corresponding target welding devices and can be determined as target screw holes and subsequent instruction construction operations can be executed.

[0086] It should be noted that after determining each screw hole type, each screw hole type can be displayed in the configuration interface, and corresponding device options are constructed for each screw hole type. Each candidate welding arm is filled in the device options. Each device option is a single-choice option, and the selected options among multiple device options conflict with each other. For example, taking the above-mentioned first type and second type as examples of screw hole types, when the first welding device is selected 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 different-sized screw holes corresponding to the same target welding device.

[0087] In addition, in one embodiment, referring to Figure 5 , in step S20, determining the target distance of the target screw hole whose traversal order is the next one, specifically includes but is not limited to the following steps:

[0088] S21, traversing the target screw holes row by row in the side plate design drawing, and recording the first image position of the currently traversed reference screw hole;

[0089] S22, determining the adjacent screw hole as the next target screw hole traversed in the same row, 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;

[0090] 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, and determining the adjacent screw hole as the new reference screw hole and continuing the traversal.

[0091] It should be noted that after inputting the side plate design drawing into the control device, the target screw holes can be traversed row by row according to the Figure 3 shown direction. The traversal directions of the target screw holes in adjacent rows are opposite. After reaching the last target screw hole in each row, jump to the target screw hole closest to the next row and continue the traversal of that row. AsFigure 3 As shown, in the side plate design drawing, the first screw hole 411, the second screw hole 412, the fourth screw hole 414, and the fifth screw hole 415 are traversed from right to left in the first row. The fifth screw hole 415 is the last target screw hole in the first row. The designed screw hole below the fifth screw hole 415 is an idle screw hole and is not traversed. Then it jumps to the adjacent sixth screw hole 416 and continues to traverse to the left.

[0092] It should be noted that in this embodiment, the currently traversed target screw hole is determined as the reference screw hole, and the next target screw hole is 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 abscissas at the centers of the corresponding screw holes. It is only necessary to determine the screw hole distance in the side plate design drawing based on the first image position and the second image position.

[0093] It is worth noting that the screw hole distance is obtained by traversing the side plate design drawing. Therefore, 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, in this embodiment, after obtaining the screw hole distance, it is also necessary 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.

[0094] It is worth noting that in step S22, when the adjacent screw hole is in the next row below the reference screw hole, the screw hole distance determined based on the first image position and the second image position is the sum of two distances, including the distance of moving down one row and the translation distance. As Figure 3 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.

[0095] In addition, in one embodiment, referring to Figure 5 , in step S23, determining the target distance of the reference screw hole based on the screw hole distance specifically includes but is not limited to the following steps:

[0096] S231, when the reference screw hole is the first target screw hole, determine the preset screw hole size based on the corresponding preset stud size and the preset size mapping table. Determine the image scale based on the preset screw hole size of the reference screw hole and the designed screw hole size, where the size mapping table records the size mapping relationship between the stud and the screw hole;

[0097] S232, when the reference screw hole is not the first target screw hole, obtain the image scale;

[0098] S233, determine the target distance based on the screw hole distance and the image scale.

[0099] It should be noted that in order to convert the distance in the figure to the actual distance, in this embodiment, the first target screw hole is used to construct an image scale, and the conversion coefficient between the distance in the figure and the actual distance is characterized by the image scale. Furthermore, the target distance can be calculated based on the screw hole distance and the image scale.

[0100] It should be noted that in order to avoid the inconsistency between the manually input data and the scale recognized by the image, this embodiment does not require manual input of the image scale. When the first target screw hole is traversed, since the preset stud size is known and the corresponding preset screw hole size is also known according to the process standard, this embodiment pre-saves a size mapping table in the control device. After traversing 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 recognized design screw hole size is determined as the image scale. Since the image scales of all the design screw holes in the side plate design drawing are necessarily the same, the image scale only needs to be determined once, and the subsequent target screw holes can directly call it.

[0101] In addition, in one embodiment, referring to Figure 5 , before constructing the screw hole instruction set in step S20, the following steps are included but not limited to:

[0102] S41, determining the first installation positions of each target welding device and determining the second installation position of the laser locator;

[0103] S42, constructing a target mapping table based on the target position differences between each first installation position and the second installation position;

[0104] S43, determining the traversal direction of each target screw hole based on the side plate design drawing and adding a line break mark to the last target screw hole in each row.

[0105] It should be noted that as Figure 1 and Figure 2 shown, the steering wheel 20 includes multiple optional installation positions. Although a laser locator or a candidate welding device is not necessarily installed, the positions of the optional installation positions are fixed and known. In this embodiment, after installing the laser locator and the welding device, the installation positions of each candidate welding device can be set in the control device. After determining the target welding devices of each screw hole type based on the solution 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 for screw hole recognition and positioning during the movement process. Therefore, when executing the screw hole instruction set, it must rotate back and forth between the target welding device and the laser locator. This embodiment uses the target position difference as the rotation distance indication of the turntable to ensure accurate rotation.

[0106] Exemplarily, referring to Figure 2 , for example, the first welding device 31 corresponds to the installation position A, the laser locator 33 corresponds to the installation position B, the second welding device 32 corresponds to the 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 a third welding device is installed on the right side of the second welding device 32, the target position difference from the laser locator is 2, and so on.

[0107] It should be noted that the traversal direction of the target screw holes can be referred to Figure 3 as shown. The welding direction of the welding arm 10 can be used as a reference basis. Taking the welding arm 10 starting from the upper left corner of Figure 3 and welding to the right as an example, the traversal direction of the first row is to the left, and the traversal direction of the second row is to the right, and so on.

[0108] It should be noted that the target distance in this embodiment is used to characterize the distance between one target screw hole and the next target screw hole. Therefore, it is necessary to determine the position of the next target screw hole. Based on the traversal direction in this embodiment, a line break mark is added to the last target screw hole in each row. For example, Figure 3 in

[0109] a line break mark is added to the fifth screw hole 415 in the first row, and a line break mark is added to the seventh screw hole 417 in the second row, and so on. Figure 5 In addition, in one embodiment, referring to

[0110] S51, determine the corresponding target position difference based on the target mapping table, determine the direction from the laser locator to the target welding device as the first direction, and construct a first instruction based on the first direction and the target position difference. The first instruction is used to control the rotation of the turntable;

[0111] S52, construct a second instruction for the corresponding target welding device, where the second instruction is used to instruct the target welding device to perform stud feeding and welding in sequence;

[0112] S53, construct a fourth instruction based on the second direction and the target position difference, where the second direction is the reverse direction of the first direction, and the fourth instruction is used to control the rotation of the turntable;

[0113] S54, construct a third instruction based on the target movement direction and the target distance, where the third instruction is used to control the movement of the welding arm after starting the laser locator. When the next target screw hole does not include a line break mark, the target movement direction is the traversal direction, or when the next target screw hole includes a line break mark, the target movement direction sequentially includes the line break direction and the traversal direction;

[0114] S55. Construct a screw hole instruction set based on the first instruction, the second instruction, the fourth instruction, and the third instruction.

[0115] It should be noted that when constructing the screw hole instruction set, since the laser locator 33 needs to be used during the movement, when reaching the position of the target screw hole, the laser locator 33 is located at the target working 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 between 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 1 position in the counterclockwise direction, the first welding device 31 is located at the target working station. At the same time, in this embodiment, the instruction execution subject is recorded as the turntable 20 in the first instruction.

[0116] 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 feeding and welding. For example, the first welding device 31 is preset with a first feeding instruction and a first welding instruction, and the second welding device 32 is preset with a second feeding instruction and a second welding instruction. When the target screw hole corresponds to the first welding device 31, the second instruction sequentially includes the first feeding instruction and the first welding instruction.

[0117] It should be noted that the third instruction in this embodiment is to control the movement of the welding arm 10. Before that, in this embodiment, a fourth instruction is further constructed based on the second direction and the target position difference, and the execution object of the fourth instruction is determined 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 working station, so as to identify and position the target screw hole during the movement of the welding arm.

[0118] It should be noted that if the next target screw hole does not include a line break mark, only translation along the current line is required, and the target movement direction is the traversal direction of the above embodiment. During the welding process, translation is usually performed based on the space coordinate system constructed by the welding arm. Therefore, the target movement direction can be represented by the positive direction or the negative direction of the X-axis, which will not be limited 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 movement direction includes down and left. Down corresponds to the line break direction, and left is the traversal direction, and it can be moved according to the corresponding target distance. For example, the target distance for moving down is L4, and the target distance for moving left is L5.

[0119] It should be noted that after obtaining the above 4 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.

[0120] In addition, in one embodiment, referring to Figure 5 , when the traversal order of the target screw hole is at the first place, step S55 specifically includes but is not limited to the following steps:

[0121] S551, construct a reset instruction for the welding arm, where the reset instruction is used to indicate resetting the laser locator to the target operation station and resetting the welding arm to a preset welding starting position, and the welding starting position is used to indicate the top corner of the side plate to be welded that is closest to the target screw hole;

[0122] S552, determine the reference distance from the welding starting position to the target screw hole based on the side plate design drawing, and generate a welding standby instruction for the welding arm based on the reference distance;

[0123] 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.

[0124] 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 target screw holes that are not at the first place, the movement and screw hole alignment can be completed according to the screw hole instruction set of the previous target screw hole. In this embodiment, a reset instruction and a welding standby instruction are additionally constructed for the target screw hole at the first place, so that the screw hole instruction set of the first target screw hole can be directly called after the welding is started. In this screw hole instruction set, the welding arm is controlled to move above the first target screw hole through the reset instruction and the welding standby instruction, that is, the screw hole instruction set of the first target screw hole includes two movement processes, and the other screw hole instruction sets only have one movement process.

[0125] It should be noted that the reset instruction is used to reset the laser locator to the target operation station, so that the laser locator can be used for positioning during the movement process, and the welding arm is reset to the welding starting position. The welding starting position is a pre-set position. In this embodiment, the top corner closest to the first target screw hole is used as the welding starting position, so that the movement of the welding arm can be accurately positioned based on the side plate design drawing. The path from the top corner to the target screw hole can be determined, and the reference distance can be calculated according to the image scale. Therefore, a welding standby instruction for the welding arm can be generated based on the reference distance.

[0126] It should be noted that after the welding arm starts welding, the first screw hole instruction set is called from the welding instruction set. Based on the reset instruction, the welding arm is reset to the welding starting position, then the welding standby instruction is called to control the welding arm to move above the target screw hole, and then the subsequent instructions are called to perform the welding of the target screw hole.

[0127] As Figure 5 shown Figure 5 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, including:

[0128] A processor 401, which can be implemented in ways such as 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 by the embodiments of the present application;

[0129] A memory 402, which can be implemented in forms such as 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 implementing the technical solutions provided by the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 402 and are called by the processor 401 to execute the stud welding method of the multi-welding device of the present application embodiment;

[0130] An input / output interface 403, which is used to implement information input and output;

[0131] A communication interface 404, which is used to implement communication interaction between this device and other devices, and can implement communication through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.);

[0132] A bus 405, which transmits information between various components of the device (such as the processor 401, the memory 402, the input / output interface 403, and the communication interface 404);

[0133] Among them, the processor 401, the memory 402, the input / output interface 403, and the communication interface 404 are communicatively connected to each other inside the device through the bus 405.

[0134] The embodiments of the present application also provide an electronic device, including the stud welding device of the multi-welding device as described above.

[0135] The embodiments of the present application also provide a storage medium, which is a computer-readable storage medium. The storage medium stores a computer program, and when the computer program is executed by a processor, it implements the stud welding method of the multi-welding device described above.

[0136] As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and may be located in one place, or may 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 solution of this embodiment.

[0137] Those of ordinary skill in the art can understand that all or some of the steps and systems disclosed above can be implemented as software, firmware, hardware, and appropriate combinations thereof. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or can be implemented as hardware, or can be implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include a computer storage medium (or non-transitory medium) and a communication medium (or transitory medium). As is well known to those of ordinary skill 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 includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cartridges, tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, as is well known to those of ordinary skill in the art, a communication medium generally includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and may include any information delivery medium.

[0138] The above is a specific description of the preferred embodiments of the present invention, but the present invention is not limited to the above embodiments. Those skilled in the art can also make various equivalent deformations or substitutions without departing from the spirit of the present invention, and these equivalent deformations or substitutions are all included within 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; Arranging the plurality of 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; Configuring the target welding device corresponding to each of the screw hole types through the configuration interface includes: 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; 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.

2. The stud welding method of multiple welding devices according to claim 1, characterized in that: The side plate design drawing includes a plurality of designed screw holes, and the screw hole type and traversal order of each target screw hole are determined. After determining the candidate welding device corresponding to each screw hole type based on the selection operation of the device option, the method further includes: 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 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.

4. 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.

5. The stud welding method of multiple welding devices according to claim 4, 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.

6. The stud welding method of multiple welding devices according to claim 5, 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.

7. 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 so that the at least one control processor can execute the stud welding method of the multi-welding device as described in any one of claims 1 to 6.

8. An electronic device, characterized in that: A stud welding device comprising the multi-welding device according to claim 7.

9. 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 6.

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