US 2026/0108970 A1Published application

Method and system for driving soft welding gun

AssigneeSuzhou Iview Intelligent Technology Co.,Ltd.

InventorsYongzhe LI, Wenqi ZHONG, Jinlong ZHAO, Zhenyu WANG, Weijuan ZHAO, Zhonghua NI

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Abstract

This application relates to a method and a system for driving a soft welding gun. The method includes: obtaining a displacement of a driving rope; calculating a reference value of a welding gun tip pose based on the displacement of the driving rope; obtaining a welding current and a welding voltage; calculating a change value of a distance between a welding gun nozzle tip and a workpiece based on the welding current and the welding voltage; and inputting the reference value of the welding gun tip pose and the change value of the distance between the welding gun nozzle tip and the workpiece to a preset welding gun pose estimation model, and solving to obtain a real-time pose of the soft welding gun tip.

Claims9

Dependent claims

A method for driving the soft welding gun, comprising:

obtaining a displacement of the driving rope (500), in which the driving rope is connected to the nozzle (300) of the soft welding gun, and the driving rope is used to control the extension and retraction of the elastic member (400) sleeved on the welding cable (200);
calculating a reference value of a soft welding gun tip pose based on the displacement of the driving rope;
obtaining a tension value of the driving rope through the rope tension measurement subsystem (600) arranged on the driving rope;
calculating friction between the driving rope and an elastic body based on the reference value of the soft welding gun tip pose;
calculating a correction value of a soft welding gun tip attitude through the upper computer (800) based on a preset elastic coefficient of the elastic body, the tension value of the driving rope, and the friction between the driving rope and the elastic body;
obtaining a welding current and a welding voltage through the electrical parameter acquisition card (900) arranged on the welding cable;
calculating a change value of a distance between a soft welding gun nozzle tip and a workpiece based on the welding current and the welding voltage;
inputting the preset reference value of the welding gun tip pose, the change value of the distance between the soft welding gun nozzle tip and the workpiece, and the attitude correction value of the welding gun tip pose to the preset welding gun pose estimation model;
and
solving, by using the welding gun pose estimation model, to obtain the real-time pose of the soft welding gun tip, wherein a formula is as follows:
P
f
=
Γ
⁡
(
P
r
,
Δ
⁢
d
,
Δ
⁢
D
)
wherein Pf is the real-time pose of the soft welding gun tip, Γ(⋅) is a correction model of the soft welding gun tip pose, Pr is the reference value of the welding gun tip pose, Δd is the correction value of the welding gun tip attitude, and ΔD is the change value of the distance between the welding gun nozzle tip and the workpiece.

25 more elements

An apparatus for driving a soft welding gun, wherein the apparatus comprises:

a driving rope displacement obtaining module, configured to obtain a displacement of a driving rope, in which the driving rope is connected to the nozzle of the soft welding gun, and the driving rope is used to control the extension and retraction of the elastic member sleeved on the welding cable;
a welding gun pose reference calculation module, configured to calculate a reference value of a welding gun tip pose based on the displacement of the driving rope;
a welding gun current and voltage obtaining module, configured to obtain a welding current and a welding voltage;
a welding gun-workpiece distance calculation module, configured to calculate a change value of a distance between a soft welding gun nozzle tip and a workpiece based on the welding current and the welding voltage;
and
a real-time pose solving module based on the pose model, configured to input the reference value of the soft welding gun tip pose and the change value of the distance between the soft welding gun nozzle tip and the workpiece to a preset welding gun pose estimation model, and solve to obtain a real-time pose of the soft welding gun tip.

3 more elements

Dependencies are inferred from the claim text.