Control system, method and equipment of girth welding machine and medium

Abstract

The embodiment of the invention provides a control system, method and equipment of a girth welding machine and a medium. A hand wheel pulse generator of the system is used for generating a pulse signal according to preset teaching parameters and sending the pulse signal to a motion control module; the motion control module is used for generating a driving signal based on the pulse signal and sending the driving signal to the servo motor driving module through the PLC control module, and the servo motor driving module is used for driving a mechanical part of the girth welding machine to move to a target position based on the driving signal, generating a first feedback signal corresponding to the target position and sending the first feedback signal to the PLC control module; the PLC control module is used for analyzing the first feedback signal to obtain teaching data and storing the teaching data so that the circular seam welding machine can call the teaching data during welding, the servo motor driving module drives mechanical parts of the circular seam welding machine to conduct automatic welding on the basis of the teaching data, the remodeling debugging time can be shortened, and the welding efficiency can be improved. And the welding precision and quality are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of girth welding, in particular to a control system, method, device and medium of a girth welding machine. BACKGROUND

[0002] At present, in the field of special machine welding, with the continuous improvement of the requirements of industrial manufacturing on welding precision, production flexibility and operation convenience, the limitations of the traditional welding position control mode are increasingly prominent. At present, for the setting of the welding gun movement, lifting and top stretching mechanism position, if relying on manual programming or fixed parameter configuration, not only the operator needs to have deep programming foundation and welding process knowledge, but also it is difficult to accurately position when facing complex workpiece welds, and the programming process is tedious and the debugging period is long, which is difficult to adapt to the production demand of multiple varieties and small batches.

[0003] At the same time, the traditional mode has high dependence on the experience of the operator, and the threshold for new employees to start is high. The error and uncertainty of manual adjustment by artificial can easily cause welding defects such as undercut and incomplete penetration, affecting the stability of welding quality. When switching workpiece specifications, reconfiguring parameters requires a lot of time to invest repeatedly, and the production flexibility and efficiency are limited, and it is also difficult to realize the reuse of process experience. SUMMARY

[0004] The main purpose of the embodiments of the present application is to propose a control system, method, device and medium of a girth welding machine, which aims to realize one-time teaching and data storage when welding a new workpiece, and direct calling when welding again, greatly shortening the changeover debugging time and improving the welding precision and quality.

[0005] To achieve the above purpose, the first aspect of the embodiments of the present application proposes a control system of a girth welding machine, the system comprising a PLC control module, a hand wheel pulse generator, a motion control module and a servo motor driving module, the motion control module and the servo motor driving module are connected with the PLC control module respectively, and the hand wheel pulse generator is connected with the motion control module.

[0006] The hand wheel pulse generator is used to generate a pulse signal according to the preset teaching parameters, and send the pulse signal to the motion control module;

[0007] The motion control module is used to analyze the pulse signal, generate a driving signal, and send the driving signal to the servo motor driving module through the PLC control module;

[0008] The servo motor driving module is used to drive the mechanical parts of the girth welding machine to move to a target position based on the driving signal, and generate a first feedback signal corresponding to the target position and send it to the PLC control module;

[0009] The PLC control module is configured to analyze the first feedback signal to obtain teaching data, and store the teaching data, so that the ring seam welder calls the teaching data during welding, and drives the mechanical components of the ring seam welder to automatically weld based on the teaching data through the servo motor driving module.

[0010] The system provided by the first aspect only needs to perform teaching and store data once when welding a new workpiece, and directly calls the data when welding again, which greatly saves the time cost of repeated teaching, avoids re-adjusting parameters and planning paths every time, and releases the operator from tedious repetitive work. At the same time, since the teaching data is accurately stored and directly called, the consistency and stability of the welding process can be effectively guaranteed, the errors caused by manual repeated operation are reduced, the overall quality qualification rate of the welded workpiece is improved, the production efficiency is further improved, and the material waste and rework cost caused by inconsistent operation are reduced.

[0011] In a possible implementation manner, the handwheel pulse generator comprises an encoder;

[0012] The handwheel pulse generator is configured to generate a pulse signal according to preset teaching parameters, and send the pulse signal to the motion control module, which comprises:

[0013] The handwheel pulse generator is configured to be manually rotated by a user to generate rotation direction and angle information to obtain the preset teaching parameters;

[0014] The encoder is configured to encode the preset teaching parameters, generate the pulse signal, and send the pulse signal to the motion control module.

[0015] In a possible implementation manner, the servo motor driving module comprises a plurality of servo drivers and a plurality of servo motors corresponding to the plurality of servo drivers. Each servo driver is connected to a corresponding servo motor, and each servo motor is connected to different mechanical components of the ring seam welder;

[0016] The servo motor driving module is configured to drive the mechanical components of the ring seam welder to move to a target position based on the driving signal, and generate a first feedback signal corresponding to the target position and send the first feedback signal to the PLC control module, which comprises:

[0017] Each servo motor is configured to drive the mechanical components of the ring seam welder connected to the servo motor to move to a target position based on the driving signal transmitted by the servo motor driving module;

[0018] Each servo driver is configured to generate a first feedback signal corresponding to the target position and send the first feedback signal to the PLC control module.

[0019] In a possible implementation, each of the servo drives comprises an absolute value encoder.

[0020] The absolute value encoder is configured to collect a current position of a mechanical component of the ring seam welding machine when the system is powered off, generate a second feedback signal corresponding to the current position, and send the second feedback signal to the PLC control module for storage.

[0021] In a possible implementation, the system further comprises an interaction module connected to the PLC control module.

[0022] The interaction module is configured to send a product model input by a user and welding parameters corresponding to the product model to the PLC control module, wherein the welding parameters comprise at least one of the following:

[0023] a welding angle and a welding speed.

[0024] The PLC control module is configured to store the welding parameters, so that the ring seam welding machine calls the welding parameters according to the product model during welding, and then the mechanical components of the ring seam welding machine automatically weld based on the welding parameters.

[0025] In a possible implementation, the ring seam welding machine comprises a first welding gun and a second welding gun, and the first welding gun and the second welding gun are respectively connected to the servo motor drive module.

[0026] The interaction module is further configured to send a welding gun selection instruction input by a user to the PLC control module, wherein the input welding gun selection instruction comprises an instruction of selecting the first welding gun for welding, an instruction of selecting the second welding gun for welding, and an instruction of selecting the first welding gun and the second welding gun for welding at the same time.

[0027] The PLC control module is further configured to control the servo motor drive module based on the input welding gun selection instruction, and drive a welding gun corresponding to the input welding gun selection instruction to weld.

[0028] In a possible implementation, the system further comprises a laser sensor module connected to the PLC control module.

[0029] The laser sensor module is configured to detect a position of a workpiece to be welded in the ring seam welding machine, and send position information to the PLC control module.

[0030] The PLC control module is configured to compare the position information with preset position information, obtain a comparison result, and control the servo motor driving module to stop driving the mechanical component of the ring seam welder when the comparison result is different.

[0031] To achieve the above object, a second aspect of the embodiments of the present application provides a control method of a ring seam welder, the method comprising:

[0032] The hand wheel pulse generator is configured to obtain preset teaching parameters, generate a pulse signal according to the preset teaching parameters, and send the pulse signal to the motion control module;

[0033] The motion control module is configured to analyze the pulse signal, generate a driving signal, and send the driving signal to the servo motor driving module through the PLC control module;

[0034] The servo motor driving module is configured to drive the mechanical component of the ring seam welder to move to a target position based on the driving signal, and generate a first feedback signal corresponding to the target position and send the first feedback signal to the PLC control module;

[0035] The PLC control module is configured to analyze the first feedback signal, obtain teaching data, and store the teaching data, so that the ring seam welder calls the teaching data when welding, and drives the mechanical component of the ring seam welder to automatically weld based on the teaching data through the servo motor driving module.

[0036] Through the method provided by the second aspect, only one teaching and data storage are needed when a new workpiece is welded, and the teaching data can be directly called when welding again, which greatly saves the time cost of repeated teaching, avoids re-adjusting parameters and planning paths every time, and releases the operator from tedious repetitive work. At the same time, since the teaching data is accurately stored and directly called, the consistency and stability of the welding process can be effectively guaranteed, the errors caused by manual repeated operation can be reduced, the overall quality qualification rate of the welded workpiece can be improved, the production efficiency can be further improved, and the material waste and rework cost caused by inconsistent operation can be reduced.

[0037] In a third aspect, an electronic device is provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the control method of the ring seam welder as described in any possible implementation manner of the second aspect when executing the computer program.

[0038] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program, and the computer program implements the control method of the ring seam welder as described in any possible implementation manner of the second aspect when executed by a processor. Attached Figure Description

[0039] Figure 1 This is a structural block diagram of the control system of the circumferential welder provided in an embodiment of this application;

[0040] Figure 2 This is a schematic diagram of the servo motor drive module circuit provided in an embodiment of this application;

[0041] Figure 3 This is a schematic diagram of the laser sensor module circuit provided in an embodiment of this application;

[0042] Figure 4 This is a flowchart of the control method for the circumferential welder provided in the embodiments of this application;

[0043] Figure 5 This is a structural block diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0044] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described one or more embodiments are merely some embodiments of this specification, and not all embodiments. All other embodiments obtained by those skilled in the art based on one or more embodiments of this specification without creative effort should fall within the protection scope of this document.

[0045] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0047] Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0048] Currently, for the setting of the welding gun movement, lifting and extension mechanism position, if relying on manual programming or fixed parameter configuration, not only the operator needs to have deep programming foundation and welding process knowledge, but also it is difficult to accurately position when facing complex workpiece welds, and the programming process is tedious, the debugging period is long, and it is difficult to adapt to the production needs of multiple varieties and small batches. At the same time, the traditional mode has high dependence on the experience of the operator, and the threshold for new employees is high, and the error and uncertainty of manual adjustment can easily cause welding defects such as undercut and incomplete penetration, affecting the stability of the welding quality. When switching workpiece specifications, reconfiguring parameters requires a lot of time and effort, and the production flexibility and efficiency are limited, and it is also difficult to reuse process experience.

[0049] Based on this, the embodiment of the application provides a control system, method, device and medium of a ring seam welding machine, aiming to realize teaching and storing data only once when welding a new workpiece, and directly calling when welding again, greatly shortening the changeover debugging time and improving the welding precision and quality.

[0050] The embodiments of the application will be further described below with reference to the drawings.

[0051] Figure 1 is a structural block diagram of a control system of a ring seam welding machine provided by the embodiment of the application.

[0052] In a first aspect, as Figure 1 shown, a control system of a ring seam welding machine is provided, the system comprising a PLC control module, a handwheel pulse generator, a motion control module and a servo motor driving module, the motion control module and the servo motor driving module being connected with the PLC control module respectively, and the handwheel pulse generator being connected with the motion control module; the handwheel pulse generator is used to generate a pulse signal according to preset teaching parameters, and send the pulse signal to the motion control module; the motion control module is used to analyze the pulse signal, generate a driving signal, and send the driving signal to the servo motor driving module through the PLC control module; the servo motor driving module is used to drive the mechanical components of the ring seam welding machine to move to a target position based on the driving signal, and generate a first feedback signal corresponding to the target position and send it to the PLC control module; the PLC control module is used to analyze the first feedback signal to obtain teaching data, and store the teaching data, so that the ring seam welding machine calls the teaching data when welding, and drives the mechanical components of the ring seam welding machine to automatically weld based on the teaching data through the servo motor driving module.

[0053] It should be noted that the control system of the girth welding machine comprises a PLC control module, a hand wheel pulse generator, a motion control module and a servo motor driving module, the motion control module and the servo motor driving module are connected with the PLC control module respectively, and the hand wheel pulse generator is connected with the motion control module, wherein the hand wheel pulse generator is used for generating a pulse signal according to preset teaching parameters and sending the pulse signal to the motion control module, the motion control module is used for demodulating the pulse signal to generate a driving signal and sending the driving signal to the servo motor driving module through the PLC control module; the servo motor driving module is used for driving mechanical components of the girth welding machine to move to a target position based on the driving signal and generating a first feedback signal corresponding to the target position and sending the first feedback signal to the PLC control module. The hand wheel pulse generator is a device for generating a pulse signal by manually rotating a hand wheel and accurately controlling mechanical movement. When an operator rotates the hand wheel, the internal mechanical or photoelectric structure will generate a pulse signal corresponding to the rotation speed and direction. These signals are transmitted to the motion control module, and the system calculates the movement amount and speed according to the number and frequency of the pulses, and then generates a driving signal, which is sent to the servo motor driving module through the PLC control module. The servo motor driving module drives the servo motor and other execution components to complete accurate actions to drive the mechanical components of the girth welding machine to move to the target position and generate a first feedback signal corresponding to the target position, which is sent to the PLC control module. The hand wheel pulse generator is used to control the movement of the mechanical components of the girth welding machine to the target position, so that the operator does not need to perform complex programming and can control the movement of the equipment in real time by rotating the hand wheel. The stability of the pulse signal ensures that the positioning error is extremely small. In addition, some hand wheels are also equipped with a magnification selection button, which can adjust the pulse output ratio according to the requirements, and the fine tuning accuracy and fast moving efficiency are taken into account. In addition, the mechanical components of the girth welding machine include a welding gun, a top stretching mechanism and the like, and the preset teaching parameters can be parameters of a preset horizontal movement position of the welding gun, or parameters of a preset vertical position of the welding gun, or parameters of a preset position of the top stretching mechanism, which are not limited here.

[0054] It also needs to be explained that the PLC control module is used to analyze the first feedback signal, obtain the teaching data, and store the teaching data, so that the ring seam welder calls the teaching data during welding, and drives the mechanical parts of the ring seam welder based on the teaching data through the servo motor driving module for automatic welding. The PLC control module can collect the first feedback signal of the servo motor driving module in real time, and store it in the form of data in its internal memory, so that even if the equipment is powered off, these data can be stably retained. When welding the same kind of workpiece again, there is no need to re-teach, and the PLC control module can directly call the stored teaching data from the memory, and accurately control each execution part according to the data instructions, such as driving the servo motor to move the welding gun along the preset trajectory, controlling the top stretching mechanism to rise to the specified height, and ensuring that the relative position of the welding gun and the workpiece ring seam always meets the welding requirements. Not only can it save the time of repeated teaching and greatly shorten the welding preparation stage, but also can completely avoid the parameter deviation that may occur during manual repeated adjustment through the stable storage and accurate calling of the data by the PLC control module, ensure the consistency of each welding action, and further improve the precision and quality stability of the ring seam welding.

[0055] Through the system provided by the first aspect, only one teaching and data storage are needed when welding a new workpiece, and the data is directly called when welding again, which greatly saves the time cost of repeated teaching, avoids the need to re-adjust parameters and plan paths for each welding, and frees the operator from tedious repetitive work. At the same time, since the teaching data is accurately stored and directly called, the consistency and stability of the welding process can be effectively guaranteed, the errors caused by manual repeated operation can be reduced, the overall quality of the welded workpiece can be improved, the production efficiency can be further improved, and the material waste and rework cost caused by inconsistent operation can be reduced.

[0056] In a possible implementation manner, the handwheel pulse generator includes an encoder; and the handwheel pulse generator is configured to generate a pulse signal according to preset teaching parameters and send the pulse signal to the motion control module, including: the handwheel pulse generator is configured to be mechanically rotated by a user to generate rotation direction and angle information to obtain the preset teaching parameters; and the encoder is configured to encode the preset teaching parameters, generate the pulse signal, and send the pulse signal to the motion control module.

[0057] It should be noted that the hand wheel pulse generator includes an encoder, the hand wheel pulse generator is used for the user to rotate the hand wheel mechanically, generates rotation direction and angle information to obtain a preset teaching parameter, the encoder is used for encoding the preset teaching parameter, generating a pulse signal, and sending the pulse signal to the motion control module. When the operator rotates the hand wheel, the mechanical rotation of the hand wheel generates rotation direction and angle information to obtain a preset teaching parameter, wherein the preset teaching parameter can be a parameter of a preset horizontal movement position of a welding gun, or a parameter of a preset vertical position of the welding gun, or a parameter of a preset extension mechanism position, which is not limited herein. The encoder can accurately capture each small rotation of the hand wheel through internal photoelectric or electromagnetic induction principle, ensure that the output pulse signal strictly corresponds to the rotation amount of the hand wheel, and then convert the mechanical operation of generating rotation direction and angle information into a corresponding electric pulse signal, so as to realize accurate fine adjustment of mechanical parts of the ring seam welding machine and improve the accuracy of ring seam welding.

[0058] In a possible implementation manner, the servo motor driving module includes a plurality of servo drivers and a plurality of servo motors corresponding to the plurality of servo drivers one by one, each servo driver is connected to a corresponding servo motor, and each servo motor is connected to a mechanical part of a different ring seam welding machine; the servo motor driving module is configured to drive the mechanical part of the ring seam welding machine to move to a target position based on the driving signal, and generate a first feedback signal corresponding to the target position and send the first feedback signal to the PLC control module, and each servo motor is configured to drive the mechanical part of the ring seam welding machine connected to the servo motor to move to a target position based on the driving signal transmitted by the servo motor driving module; and each servo driver is configured to generate a first feedback signal corresponding to the target position and send the first feedback signal to the PLC control module.

[0059] It should be noted that the servo motor driving module includes a plurality of servo drives and a plurality of servo motors corresponding to the plurality of servo drives, each servo drive is connected with a corresponding servo motor, each servo motor is connected with a mechanical component of a different ring seam welder, and each servo motor is used to drive the mechanical component of the ring seam welder connected with the servo motor to move to a target position based on a driving signal transmitted by the servo motor driving module; each servo drive is used to generate a first feedback signal corresponding to the target position and send the first feedback signal to the PLC control module. Each servo drive is responsible for receiving a driving signal of the PLC control module and converting the driving signal into a current and voltage signal recognizable by the servo motor. The servo motor corresponding to the servo drive serves as an execution component and outputs a corresponding rotating speed and torque under the driving of the servo drive to achieve precise position and speed control. The target position is fed back to the servo drive, and the servo drive generates a first feedback signal corresponding to the target position and sends the first feedback signal to the PLC control module for processing. Since the load and action requirements of each servo motor are different, the independent servo drive must be used for separate control to avoid problems such as uneven power distribution, instruction response delay, and deviation correction conflict when multiple motors share a drive. For example, in some embodiments, as shown in FIG. 8, the servo motor driving module includes a spindle servo drive S1 and a corresponding spindle motor M3, a moving motor servo drive S2 and a corresponding moving motor M4, and a top extension motor servo drive S3 and a corresponding top extension motor M5. The spindle servo drive S1 is used to receive an instruction such as a workpiece rotating speed, drive the spindle motor M3 to stably output a rotating speed, and correct fluctuations. The moving motor servo drive S2 is used to receive an instruction such as a welding gun translation position, drive the moving motor M4 to accurately move the welding gun in the horizontal direction, and the top extension motor servo drive S3 receives an instruction such as a top pushing workpiece moving in the horizontal direction, and drives the top extension motor M5 to accurately move in the horizontal direction. Figure 2

[0060] In one possible implementation, each servo drive includes an absolute value encoder. The absolute value encoder is used to collect a current position of the mechanical component of the ring seam welder when the system is powered off, generate a second feedback signal corresponding to the current position, and send the second feedback signal to the PLC control module for storage.

[0061] ​It should be noted that each servo driver includes an absolute value encoder for collecting the current position of the mechanical components of the ring seam welding machine when the system is powered off, generating a second feedback signal corresponding to the current position, and sending it to the PLC control module for storage. The absolute value encoder is integrated inside the servo driver, responsible for real-time detection of the absolute position of the motor, and transmits the position signal to the servo driver. It can remember the absolute position of the motor shaft, and even if the power is off, the data will not be lost. When the device restarts, the servo driver can directly read the position before power off stored by the absolute value encoder, avoiding collision or rework of the workpiece or actuator due to position loss, and avoiding the error of repositioning after welding interruption.

[0062] In a possible implementation manner, the system further comprises an interaction module connected with the PLC control module; the interaction module is configured to send a product model input by a user and welding parameters corresponding to the product model to the PLC control module, wherein the welding parameters comprise at least one of the following: a welding angle, a welding speed; and the PLC control module is configured to store the welding parameters, so that the ring seam welding machine calls the welding parameters according to the product model during welding, and then the mechanical components of the ring seam welding machine automatically weld based on the welding parameters.

[0063] In some embodiments, it is necessary to note that the system further comprises an interaction module connected with the PLC control module, for sending the product model input by the user and the welding parameters corresponding to the product model to the PLC control module, wherein the welding parameters include at least one of the following: welding angle, welding speed; the PLC control module is used for storing the welding parameters, so that the circular seam welder calls the welding parameters according to the product model during welding, and then the mechanical parts of the circular seam welder automatically weld based on the welding parameters. Through the interaction module such as touch screen, operation panel, etc., the product model and specific values corresponding to the product model such as welding angle, welding speed, etc. are directly input. Since these parameters are difficult to set through the handwheel pulse generator, the application embodiment sets to set directly through the interaction module, and the manual input data and teaching are combined. The advantages of the two operation modes can be fully utilized to form a complementary effect. Manual input can accurately set standardized parameters to ensure the accuracy and consistency of the values of key parameters and avoid the deviation of basic parameters caused by the difference in operation method during teaching. Teaching can intuitively record dynamic action logic through actual operation track, which is especially suitable for capturing complex or non-standard track. The operator does not need to input path data through tedious coordinate calculation. This combination not only retains the precise controllability of manual input on fixed parameters, but also simplifies the setting process of complex actions with the help of teaching, reduces the technical threshold of operators, and does not need to deeply master parameter programming logic. Only action demonstration is needed through teaching, and then key parameters are manually supplemented. At the same time, the parameters can be fine-tuned through manual input after teaching, further improving the control precision, and finally realizing efficient, accurate and easy-to-operate equipment debugging and running effect.

[0064] In a possible implementation manner, the circular seam welder comprises a first welding gun and a second welding gun, and the first welding gun and the second welding gun are respectively connected with the servo motor driving module; the interaction module is further used for sending the welding gun selection instruction input by the user to the PLC control module, wherein the input welding gun selection instruction includes: an instruction for selecting the first welding gun for welding, an instruction for selecting the second welding gun for welding, and an instruction for selecting the first welding gun and the second welding gun for welding at the same time; and the PLC control module is further used for controlling the servo motor driving module based on the input welding gun selection instruction to drive the welding gun corresponding to the input welding gun selection instruction to weld.

[0065] It should be noted that the girth seam welding machine comprises a first welding gun and a second welding gun, which are connected with the servo motor driving module respectively, and the interaction module is further used for sending the welding gun selection instruction input by the user to the PLC control module, wherein the input welding gun selection instruction comprises: an instruction of selecting the first welding gun for welding, an instruction of selecting the second welding gun for welding, and an instruction of selecting the first welding gun and the second welding gun for welding simultaneously; and the PLC control module is further used for controlling the servo motor driving module based on the input welding gun selection instruction to drive the welding gun corresponding to the input welding gun selection instruction to weld. In some embodiments, two welding guns, i.e., the first welding gun and the second welding gun, are arranged in the girth seam welding machine, and the welding gun selection instruction is sent to the PLC control module through the interaction module to select one or both welding guns to start simultaneously, when facing a single-sided girth seam of a single workpiece, the first welding gun or the second welding gun can be started alone to avoid energy waste caused by the idle of the other welding gun, and the adjustment time can also be reduced by selecting the welding gun more suitable for the current workpiece position; when facing a scenario requiring bilateral synchronous welding, the two welding guns can be started simultaneously and independently work according to the preset parameters, for example, the first welding gun is responsible for the inner girth seam welding, and the second welding gun synchronously processes the outer girth seam, or the left and right welding guns correspond to the two end girth seams of the workpiece respectively, which can compress the welding time by nearly half and greatly improve the efficiency during batch production. In addition, when one of the welding guns is temporarily disabled due to failure, the other welding gun can be switched to continue working immediately to reduce the equipment downtime.

[0066] In a possible implementation manner, the system further comprises a laser sensor module connected with the PLC control module; the laser sensor module is used for detecting the position of the workpiece to be welded in the girth seam welding machine and sending position information to the PLC control module; and the PLC control module is used for comparing the position information with preset position information to obtain a comparison result, and controlling the servo motor driving module to stop driving the mechanical components of the girth seam welding machine when the comparison result is different.

[0067] It should be noted that the system further comprises a laser sensor module, for example, Figure 3As shown, the laser sensor module includes a first laser sensor U6 and a second laser sensor U7, which are respectively connected with the PLC control module, for detecting the position of the workpiece to be welded in the ring seam welding machine, and sending the position information to the PLC control module, and the PLC control module compares the position information with the preset position information, such as whether the workpiece center offset is aligned with the center of the main shaft of the equipment, determines the welding starting point or judges whether the flatness of the workpiece end face is tilted, etc., obtains the comparison result, and in the case of different comparison results, controls the servo motor drive module to stop driving the mechanical parts of the ring seam welding machine, solves the key problem of workpiece positioning deviation affecting the weld quality in traditional welding, and avoids defects such as welding deviation or edge biting due to inaccurate positioning. In addition, this detection method does not need to be in direct contact with the workpiece, which will not damage the surface of the workpiece due to mechanical contact, and can also adapt to high-temperature, dust and other welding environments, reducing the wear of the sensor itself.

[0068] Figure 4 is an optional flowchart of the control method of the ring seam welding machine provided by the embodiment of the present application, Figure 4 The method in the embodiment of the present application can include but is not limited to steps S100 to S400.

[0069] In a second aspect, the embodiment of the present application provides a control method of a ring seam welding machine, which comprises:

[0070] S100, obtaining preset teaching parameters by using a handwheel pulse generator, generating a pulse signal according to the preset teaching parameters, and sending the pulse signal to a motion control module.

[0071] S200, using the motion control module to analyze the pulse signal, generating a driving signal, and sending the driving signal to a servo motor drive module through a PLC control module.

[0072] S300, using the servo motor drive module to drive the mechanical parts of the ring seam welding machine to move to a target position based on the driving signal, and generating a first feedback signal corresponding to the target position and sending it to the PLC control module.

[0073] It should be noted that the control system of the girth welding machine comprises a PLC control module, a hand wheel pulse generator, a motion control module and a servo motor driving module, the motion control module and the servo motor driving module are connected with the PLC control module respectively, and the hand wheel pulse generator is connected with the motion control module, wherein the hand wheel pulse generator is used for generating a pulse signal according to preset teaching parameters and sending the pulse signal to the motion control module, the motion control module is used for demodulating the pulse signal to generate a driving signal and sending the driving signal to the servo motor driving module through the PLC control module; the servo motor driving module is used for driving mechanical components of the girth welding machine to move to a target position based on the driving signal and generating a first feedback signal corresponding to the target position and sending the first feedback signal to the PLC control module. The hand wheel pulse generator is a device for generating a pulse signal by manually rotating a hand wheel and accurately controlling mechanical movement. When an operator rotates the hand wheel, the internal mechanical or photoelectric structure will generate a pulse signal corresponding to the rotation speed and direction. These signals are transmitted to the motion control module, and the system calculates the movement amount and speed according to the number and frequency of the pulses, and then generates a driving signal which is sent to the servo motor driving module through the PLC control module. The servo motor driving module drives the servo motor and other execution components to complete accurate actions to drive the mechanical components of the girth welding machine to move to the target position and generate a first feedback signal corresponding to the target position and send the first feedback signal to the PLC control module. The hand wheel pulse generator is used to control the movement of the mechanical components of the girth welding machine to the target position, so that the operator does not need to perform complex programming and can control the movement of the equipment in real time by rotating the hand wheel. The stability of the pulse signal ensures that the positioning error is extremely small. In addition, some hand wheels are also equipped with a magnification selection button, which can adjust the pulse output ratio according to the requirements, and the fine tuning accuracy and fast moving efficiency are taken into account. In addition, the mechanical components of the girth welding machine include a welding gun, a top stretching mechanism and the like, and the preset teaching parameters can be parameters of a preset horizontal movement position of the welding gun, or parameters of a preset vertical position of the welding gun, or parameters of a preset position of the top stretching mechanism, which are not limited herein.

[0074] S400, the PLC control module is used for analyzing the first feedback signal to obtain teaching data, and the teaching data is stored, so that the girth welding machine calls the teaching data during welding, and the mechanical components of the girth welding machine are driven by the servo motor driving module to automatically weld based on the teaching data.

[0075] It should be noted that the PLC control module is used to analyze the first feedback signal, obtain the teaching data, and store the teaching data, so that the ring seam welder calls the teaching data during welding, and drives the mechanical parts of the ring seam welder based on the teaching data through the servo motor driving module to automatically weld. The PLC control module can collect the first feedback signal of the servo motor driving module in real time, and store the data in the internal memory. Even if the device is powered off, these data can be stably retained. When welding the same kind of workpiece again, there is no need to re-teach, and the PLC control module can directly call the stored teaching data from the memory, and accurately control each execution part according to the data instruction, such as driving the servo motor to move the welding gun according to the preset trajectory, controlling the top stretching mechanism to rise to the specified height, and ensuring that the relative position of the welding gun and the workpiece ring seam always meets the welding requirements. Not only can the time of repeated teaching be saved, but also the welding preparation stage can be greatly shortened. Through the stable storage and accurate calling of the data by the PLC control module, the parameter deviation that may occur during manual repeated adjustment can be completely avoided, the consistency of each welding action can be ensured, and the precision and quality stability of the ring seam welding can be improved.

[0076] Through the method provided by the second aspect, only one teaching and data storage are needed when welding a new workpiece, and the data is directly called when welding again, which greatly saves the time cost of repeated teaching, avoids re-adjusting parameters and planning paths for each welding, and releases the operator from tedious repetitive work. At the same time, since the teaching data is accurately stored and directly called, the consistency and stability of the welding process can be effectively ensured, the errors caused by manual repeated operation can be reduced, the overall quality of the welded workpiece can be improved, the production efficiency can be further improved, and the material waste and rework cost caused by inconsistent operation can be reduced.

[0077] The embodiment of the application further provides an electronic device, as shown in the figure, the electronic device 1400 comprises: Figure 5

[0078] one or more processors 1410;

[0079] a memory 1420, one or more programs are stored on the memory 1420, when the one or more programs are executed by the one or more processors 1410, the one or more processors 1410 realize the control method of the ring seam welder provided by any one of the embodiments of the application.

[0080] ​The memory 1420, as a non-transitory network system, can be used to store non-transitory software programs and non-transitory computer executable programs. In addition, the memory 1420 can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory 1420 can optionally include a memory 1420 disposed remotely with respect to the processor 1410, which can be connected to the processor 1410 through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0081] The memory 1420 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 1420 can store an operating system and other application programs. When the technical solutions provided by the embodiments of the present specification are implemented by software or firmware, the related program codes are stored in the memory 1420 and are called and executed by the processor 1410 to implement the method of the embodiments of the present application.

[0082] The processor 1410 can be implemented in the form of a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, etc., for executing related programs to implement the technical solutions provided by the embodiments of the present application.

[0083] In some embodiments, the electronic device further includes:

[0084] An input / output interface for realizing information input and output;

[0085] A communication interface for realizing communication interaction between the device and other devices, which can realize communication through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.);

[0086] A bus for transmitting information between various components (such as the processor 1410, the memory 1420, the input / output interface, and the communication interface) of the device;

[0087] The processor 1410, the memory 1420, the input / output interface, and the communication interface can realize communication connection between each other inside the device through the bus.

[0088] An embodiment of the present application further provides a computer readable storage medium, which stores computer executable instructions for implementing the control method of the girth welding machine.

[0089] An embodiment of the present application further provides a computer program product, which comprises a computer program or computer instructions stored in a computer readable storage medium, and a processor of a computer device reads the computer program or computer instructions from the computer readable storage medium, and the processor executes the computer program or computer instructions, so that the computer device implements the control method of the girth welding machine provided by any one of the embodiments of the present application.

[0090] The system architecture and application scenarios described in the embodiments of the present application are for more clearly illustrating the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. It can be understood by those skilled in the art that, with the evolution of system architecture and the appearance of new application scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0091] It can be understood by those skilled in the art that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, the processes of the above-mentioned embodiments can be included. In each embodiment of the present application, any reference to memory, storage, database or other medium can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0092] As will be appreciated by one of ordinary skill in the art, all or some steps, systems of the above-disclosed methods can be implemented as software, firmware, hardware, or suitable combinations thereof. Some or all of the physical components or modules can 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 can be distributed on computer readable media, which can comprise computer storage media (or non-transitory media), and communication media (or transitory media). As is well known to those of ordinary skill in the art, computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of 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 technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Further, as is well known to those of ordinary skill in the art, communication media typically embodies 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 includes any information delivery media.

[0093] The above description is made with reference to some embodiments of the present application, and is not intended to limit the scope of the present application. Any modification, equivalent replacement and improvement made by those of ordinary skill in the art without departing from the scope and spirit of the present application shall fall within the scope of the present application.

[0094] As will be appreciated by one of ordinary skill in the art, all or some steps, systems, functional modules / units of the above-disclosed methods can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0095] The terms "first", "second", "third", "fourth" etc. (if any) in the description and the drawings of the present application are used to distinguish similar objects, and do not necessarily indicate a particular order or sequence. It should be understood that the data thus used can be interchanged, where appropriate, so that the embodiments of the present application described herein can be carried out in other than the order shown or described herein. Furthermore, the terms "comprise" and "have", and any variations thereof, are intended to cover non-exclusive inclusion, for example, processes, methods, systems, products or devices that comprise a list of steps or units need not necessarily comprise only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to such processes, methods, products or devices.

[0096] In addition, the various functional units in the embodiments of the present application can be integrated in one processing unit, or each can exist physically as a separate unit, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware, or in the form of a software functional unit.

[0097] Each of the embodiments in the present specification is described in a progressive manner, and the same or similar parts between the embodiments can be mutually referred to. Each of the embodiments focuses on the difference from other embodiments. In particular, for the system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the description of the method embodiments.

[0098] The above describes specific embodiments of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the acts or steps recited in the claims can be performed in an order other than that described in the embodiments and still achieve desirable results. In addition, the processes depicted in the figures do not necessarily require the particular order shown or sequential order to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous or possible.

[0099] The preferred embodiments of the embodiments of the present application are described above with reference to the accompanying drawings, and are not limited to the scope of the present application. Any modifications, equivalent replacements and improvements made by those skilled in the art without departing from the scope and spirit of the embodiments of the present application shall be within the scope of the embodiments of the present application.

Claims

1. A control system for a circular seam welder, characterized in that, The system comprises a PLC control module, a hand wheel pulse generator, a motion control module and a servo motor driving module, the motion control module and the servo motor driving module are connected with the PLC control module respectively, and the hand wheel pulse generator is connected with the motion control module; The hand wheel pulse generator is used for generating a pulse signal according to preset teaching parameters and sending the pulse signal to the motion control module; The motion control module is used for analyzing the pulse signal, generating a driving signal and sending the driving signal to the servo motor driving module through the PLC control module; The servo motor driving module is used for driving mechanical components of the ring seam welding machine to move to a target position based on the driving signal and generating a first feedback signal corresponding to the target position and sending the first feedback signal to the PLC control module; The PLC control module is used for analyzing the first feedback signal, obtaining teaching data and storing the teaching data, so that the ring seam welding machine calls the teaching data during welding, drives the mechanical components of the ring seam welding machine to automatically weld based on the teaching data through the servo motor driving module.

2. The system of claim 1, wherein, The hand wheel pulse generator comprises an encoder; The hand wheel pulse generator is used for generating a pulse signal according to preset teaching parameters and sending the pulse signal to the motion control module, which comprises: The hand wheel pulse generator is used for a user to rotate a hand wheel mechanically, generate rotation direction and angle information to obtain the preset teaching parameters; The encoder is used for encoding the preset teaching parameters, generating the pulse signal and sending the pulse signal to the motion control module.

3. The system of claim 1, wherein, The servo motor driving module comprises a plurality of servo drivers and a plurality of servo motors corresponding to the plurality of servo drivers, each servo driver is connected with a corresponding servo motor, and each servo motor is connected with different mechanical components of a ring seam welding machine; The servo motor driving module is used for driving the mechanical components of the ring seam welding machine to move to a target position based on the driving signal and generating a first feedback signal corresponding to the target position and sending the first feedback signal to the PLC control module, which comprises: Each servo motor is used for driving the mechanical components of the ring seam welding machine connected with the servo motor to move to a target position based on the driving signal transmitted by the servo motor driving module; Each servo driver is used for generating a first feedback signal corresponding to the target position and sending the first feedback signal to the PLC control module.

4. The system of claim 3, wherein, Each servo driver comprises an absolute value encoder; The absolute value encoder is used for collecting a current position of the mechanical components of the ring seam welding machine when the system is powered off, generating a second feedback signal corresponding to the current position and sending the second feedback signal to the PLC control module for storage.

5. The system of claim 1, wherein, The system further comprises an interaction module connected with the PLC control module; The interaction module is used for sending a product model input by a user and welding parameters corresponding to the product model to the PLC control module, wherein the welding parameters comprise at least one of the following: Welding angle, welding speed The PLC control module is configured to store the welding parameters, so that the ring seam welding machine calls the welding parameters according to the product model during welding, and then makes the mechanical components of the ring seam welding machine automatically weld based on the welding parameters.

6. The system of claim 5, wherein, The ring seam welding machine comprises a first welding torch and a second welding torch, and the first welding torch and the second welding torch are respectively connected to the servo motor driving module. The interaction module is further configured to send a welding torch selection instruction input by a user to the PLC control module, wherein the input welding torch selection instruction comprises an instruction to select the first welding torch for welding, an instruction to select the second welding torch for welding, and an instruction to select the first welding torch and the second welding torch for simultaneous welding. The PLC control module is further configured to control the servo motor driving module based on the input welding torch selection instruction to drive the welding torch corresponding to the input welding torch selection instruction to weld.

7. The system of claim 1, wherein, The system further comprises a laser sensor module connected to the PLC control module. The laser sensor module is configured to detect the position of a workpiece to be welded in the ring seam welding machine and send position information to the PLC control module. The PLC control module is configured to compare the position information with preset position information to obtain a comparison result, and control the servo motor driving module to stop driving the mechanical components of the ring seam welding machine if the comparison result is different.

8. A control method of a circular seam welding machine, characterized by, The method is applied to the control system of the ring seam welding machine of claim 1, and the method comprises: The handwheel pulse generator is used to obtain preset teaching parameters, generate a pulse signal according to the preset teaching parameters, and send the pulse signal to the motion control module; The motion control module is used to analyze the pulse signal, generate a driving signal, and send the driving signal to the servo motor driving module through the PLC control module; The servo motor driving module is used to drive the mechanical components of the ring seam welding machine to move to a target position based on the driving signal, generate a first feedback signal corresponding to the target position, and send the first feedback signal to the PLC control module; The PLC control module is used to analyze the first feedback signal to obtain teaching data, store the teaching data, so that the ring seam welding machine calls the teaching data during welding, and drives the mechanical components of the ring seam welding machine to automatically weld based on the teaching data through the servo motor driving module.

9. An electronic device, comprising: The electronic device comprises a memory and a processor, the memory stores a computer program, and the processor implements the control method of the ring seam welding machine of claim 8 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer executable instructions for causing a computer to execute the control method of the ring seam welding machine of claim 8.

Images