Welding control device, method, storage medium and processor

Abstract

Embodiments of the present application provide a welding control device, method, storage medium, and processor. The welding control device includes: a first welding device, including an electric welding mechanism, configured to control the electric welding mechanism to weld at a welding position of an object to be welded; a second welding device, including a high-energy beam welding mechanism, connected to the electric welding mechanism, configured to control the high-energy beam welding mechanism to weld at a weld at the current welding position of the high-energy beam welding mechanism; and a processor, configured to control the frequency of the welding operation of the first welding device to keep the temperature of the molten pool below the critical temperature of the current welding position, and / or to control the second welding device to perform a remelting operation. By controlling the frequency of the device's welding operation, the temperature of the molten pool can be effectively controlled, enabling automated welding operations without the need for pre-placed pads. Furthermore, root welding and remelting welding can be performed simultaneously, improving the metal microstructure of the weld and thereby effectively improving welding quality.

Description

Technical Field

[0001] The present application relates to the field of welding, and in particular to a welding control device, method, storage medium and processor. Background Art

[0002] In welding operations in the engineering machinery and shipbuilding industries, the accuracy of blanking and pre-welding assembly is difficult to ensure, resulting in excessively large gaps reserved for welds. Alternatively, large gap welds are formed to ensure the overall size of the structural parts. Due to the large gap size, the molten pool temperature during welding is too high, and the molten metal in the molten pool will collapse. In the prior art, a backing pad is usually pre-placed on the back of the weld before welding, and a forced forming method is used to weld large gaps using an electric welding mechanism. However, this method cannot be applied to closed structures because a backing pad cannot be pre-placed in a closed structure, and the installation and removal of the pad are difficult. Moreover, after the electric welding mechanism welds the gap, the weld left behind does not meet the high-strength requirements. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a welding control device, method, storage medium and processor.

[0004] In order to achieve the above objectives, the present application provides a first aspect of a welding control device, comprising:

[0005] The first welding device includes an electric welding mechanism, which is used to control the electric welding mechanism to perform welding at a welding position of an object to be welded;

[0006] A second welding device includes a high-energy beam welding mechanism connected to the electric welding mechanism, and the second welding device is used to control the high-energy beam welding mechanism to weld the weld at the current welding position of the first welding device; and

[0007] The processor is configured to control the frequency of the welding operation of the first welding device so that the temperature of the molten pool is lower than the critical temperature of the current welding position, and / or control the second welding device to perform a remelting operation, wherein the critical temperature of the current welding position refers to a temperature threshold that allows welding at the current welding position.

[0008] A second aspect of the present application provides a welding control method, which is applied to a welding control device, and the method includes: after the electric welding mechanism completes welding at the previous welding position of the object to be welded, controlling the electric welding mechanism to move from the previous welding position to the current welding position; determining the critical temperature of the current welding position based on the welding data of the previous welding position; obtaining the current temperature of the molten pool; when the current temperature is less than or equal to the critical temperature of the current welding position, controlling the electric welding mechanism to enter a welding state to weld the current welding position; when the current temperature is greater than the critical temperature of the current welding position, controlling the electric welding mechanism to enter a standby state until the current temperature is less than or equal to the critical temperature of the current welding position.

[0009] A third aspect of the present application provides a machine-readable storage medium having instructions stored thereon. When the instructions are executed by a processor, the processor is configured to execute the above-mentioned welding control method.

[0010] A fourth aspect of the present application provides a processor configured to execute the above-mentioned welding control method.

[0011] According to the above technical solution, the electric welding mechanism is used to weld the welding position of the object to be welded, and the high-energy beam welding mechanism is used to weld the weld at the current welding position of the high-energy beam welding mechanism. The high-energy beam welding mechanism is connected to the electric welding mechanism, integrating the first welding device and the second welding device, so that the base welding and remelting welding can be performed simultaneously. The frequency of the welding operation of the first welding device on the object to be welded is controlled so that the temperature of the molten pool is lower than the critical temperature of the current welding position, and the second welding device can also be controlled to remelt the weld and the gap between the weld and the side wall. Not only can the object to be welded be repeatedly welded without pre-setting a pad, the temperature of the molten pool can be effectively controlled to be lower than the critical temperature, solving the technical problem of large-size or closed structural parts with large gaps. While realizing automated welding operations, the metal microstructure of the weld can also be improved, thereby effectively improving the welding quality.

[0012] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present application but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0014] Figure 1 Schematically shows a structural block diagram of a welding control device according to an embodiment of the present application;

[0015] Figure 2Schematically shows a structural block diagram of a welding control device according to another embodiment of the present application;

[0016] Figure 3 Schematically shows a schematic diagram of a welding control device according to an embodiment of the present application;

[0017] Figure 4 A schematic diagram of welding performed by a high-energy beam welding mechanism according to an embodiment of the present application is shown;

[0018] Figure 5 A schematic diagram of welding performed by an electric welding mechanism according to an embodiment of the present application is shown;

[0019] Figure 6 The figure schematically shows a flow chart of a welding control method according to an embodiment of the present application;

[0020] Figure 7 Schematically shows a schematic diagram of steps before the electric welding mechanism performs welding at the previous welding position according to an embodiment of the present application;

[0021] Figure 8 The schematic diagram shows the steps after the welding mechanism completes welding at the current welding position according to an embodiment of the present application;

[0022] Figure 9 The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown.

[0023] Reference numerals

[0024] 010-electric welding mechanism, 020-high-energy beam welding mechanism, 030-mounting rod, 041-first rotating assembly, 042-second rotating assembly, 051-first sliding assembly, 052-second sliding assembly, 060-first fixed assembly, 070-laser relative distance adjustment mechanism, 080-tracking device, 090-infrared sensing device, 100-second fixed assembly, 1-object to be welded, 2-welding gun, 3-welding wire, 4-molten droplet, 5-laser beam. DETAILED DESCRIPTION

[0025] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0026] In one embodiment, Figure 1The following schematically shows a structural block diagram of a welding control device according to an embodiment of the present application. In an embodiment of the present application, a welding control device is provided, comprising:

[0027] The first welding device 102 includes an electric welding mechanism, which is used to control the electric welding mechanism to perform welding at a welding position of the object to be welded;

[0028] The second welding device 104 includes a high-energy beam welding mechanism connected to the electric welding mechanism, and the second welding device is used to control the high-energy beam welding mechanism to weld the weld at the current welding position of the first welding device;

[0029] The processor 106 is used to control the frequency of the welding operation of the first welding device so that the temperature of the molten pool is lower than the critical temperature of the current welding position, and / or control the second welding device to perform a remelting operation, wherein the critical temperature of the current welding position refers to the temperature threshold that allows welding at the current welding position.

[0030] The first welding device 102 can be a device for performing a root weld on the object to be welded. A root weld is a process performed on the root of the groove on the back side of a thick plate when welding a single-sided groove. This process is done to prevent angular deformation or burn-through during subsequent welding. During the root weld operation on the object to be welded, the processor can control the first welding device 102, which is equipped with a welding mechanism, to perform a root weld on the welding position of the object to be welded. The first welding device 102 includes a welding mechanism, which can be a welding gun that can perform arc welding. The principle of arc welding is to use the heat generated by an arc discharge to melt the welding rod and the structural component, so that the gap between the objects to be welded can be connected after condensation. The object to be welded refers to a product that requires welding due to a large gap between structural components. Furthermore, it can also refer to an integrated product composed of multiple products. The welding position refers to any position on the gap groove of the object to be welded where the welding operation is performed.

[0031] The second welding device 104 can be used to remelt the welded object. The second welding device 104 includes a high-energy beam welding mechanism, which uses a focused laser beam as an energy source to generate heat in the weldment, thereby performing the welding operation. Due to the optical properties of lasers, such as refraction and focusing, laser welding is well-suited for welding micro-parts and difficult-to-reach areas. Laser welding also offers low heat input, minimal welding deformation, and immunity to electromagnetic field influences. The high-energy beam welding mechanism can be connected to the electric welding mechanism via a screw. After the first welding device 102 performs a root weld on the welded object, forming a weld, the high-energy beam welding mechanism can remelt the weld at the current welding position of the first welding device 102 to perform remelting welding. The current welding position of the first welding device 102 refers to the current welding position of the electric welder on the welded object. By melting the weld formed after the welding operation, the second welding device 104 can effectively reduce the number of pores. Melting the weld and the sidewall of the groove effectively improves the joint strength of the weld.

[0032] A molten pool refers to a shaped portion of liquid metal that forms on the weldment under the influence of a heat source during welding. When welding objects with large gaps, the temperature of the molten pool will gradually increase if the welding device continues welding. The critical temperature of the current welding position refers to the temperature threshold that allows welding at the current welding position. When the molten pool temperature exceeds the critical temperature of the current welding position, the molten metal in the molten pool cannot overcome its own gravity and collapses, thereby affecting the weld quality of the object to be welded. Therefore, the weld quality of the object to be welded is negatively correlated with the molten pool temperature. To overcome the problem of molten metal collapse caused by excessively high molten pool temperature during welding, the processor 106, through the above-mentioned device, can control the frequency of the welding operation and the heat input to the object to be welded during welding, thereby preventing the collapse of the deposited metal in the molten pool. Furthermore, the processor 106 can also control the second welding device 104 to perform a remelting operation, remelting the weld at the current welding position of the first welding device 102 to improve the metal microstructure of the weld. The sidewall of the slight gap between the weld and the groove can also be remelted, thereby effectively improving the welding quality.

[0033] In one embodiment, Figure 2 Schematically shows a structural block diagram of a welding control device according to another embodiment of the present application. Figure 2The welding control device also includes: an infrared sensing device 108, which is configured to obtain the current temperature of the molten pool in real time; the processor 106 is further configured to: after controlling the electric welding mechanism to complete welding at the previous welding position of the object to be welded, control the electric welding mechanism to move from the previous welding position to the current welding position; determine the critical temperature of the current welding position according to the welding data of the previous welding position; when the current temperature is less than or equal to the critical temperature of the current welding position, control the electric welding mechanism to enter a welding state to weld the current welding position; when the current temperature is greater than the critical temperature of the current welding position, control the electric welding mechanism to enter a standby state until the current temperature is less than or equal to the critical temperature of the current welding position.

[0034] The infrared sensing device 108 can be an infrared camera or an infrared sensor. The infrared sensing device can use the thermal effect of infrared radiation to measure the temperature of the object without direct contact with the object being measured. Specifically, the infrared sensing device can be configured to obtain the current temperature of the molten pool in real time.

[0035] The previous welding position is relative to the current welding position. It refers to the welding position at which the welding mechanism performed welding operations on the object to be welded. After controlling the welding mechanism to complete welding at the previous welding position of the object to be welded, the processor 106 can control the welding mechanism to move from the previous welding position to the current welding position. Furthermore, the processor 106 can also determine the critical temperature of the current welding position based on the welding data of the previous welding position. Welding data refers to controllable parameters that can determine the energy supply and conversion conditions of the welding mechanism, such as heating and pressurization, during the welding process of the welding mechanism. This includes various data such as welding current, arc voltage, welding time, and electrode diameter.

[0036] Furthermore, based on the current temperature of the molten pool, if the processor 106 determines that the current temperature is less than or equal to the critical temperature of the current welding position, it can control the welding mechanism to enter a welding state, thereby controlling the welding mechanism to perform welding operations at the current welding position. The welding mechanism entering the welding state can refer to the welding gun entering an arcing state during arc welding, melting the welding rod and the welding position of the object to be welded for welding. Conversely, the standby state can refer to the welding gun entering an arc extinguishing state, ceasing welding operations. Therefore, in order to reduce heat input to the object to be welded during continuous welding operations, if the processor 106 determines that the current temperature is greater than the critical temperature of the current welding position, it can control the welding mechanism to enter a standby state until the current temperature is less than or equal to the critical temperature of the current welding position. In this way, the processor can prevent the collapse of molten metal in the molten pool caused by excessive temperatures while controlling the welding mechanism to continuously perform the root welding operation.

[0037] In one embodiment, the infrared sensing device 108 is further configured to obtain the surface temperature of the weld at the current welding position; the welding control device further includes: a tracking device 110, configured to obtain the gap data of the weld and transmit the surface temperature and the gap data of the weld to the processor; the processor 106 is further configured to: after the electric welding mechanism completes welding at the current welding position, detect whether there is a weld at the current welding position; when it is determined that there is a weld at the current welding position, determine the remelting power of the high-energy beam welding mechanism, the relative position between the high-energy beam welding mechanism and the electric welding mechanism, the direction of the high-energy beam welding mechanism, and the distance and angle between the first light beam and the second light beam according to the surface temperature and the gap data of the weld; and control the high-energy beam welding mechanism to weld the weld at the current welding position with the remelting power.

[0038] refer to Figure 2 The tracking device 110 can be a laser tracker. Laser tracking involves illuminating a moving target with a laser and controlling the measurement system's direction based on the deviation angle between the laser signal reflected from the target and the optical axis of the measurement system. Furthermore, data about the moving target can be obtained based on the reflected laser signal. Specifically, during welding by the welding control device, the tracking device 110 can acquire gap data in real time. This weld gap data refers to the width, length, groove angle, strength, hardness, and thermal conductivity of the gap between the weld and the sidewalls of the groove, which is formed after the welding operation. Furthermore, the tracking device 110 can transmit the acquired data to the processor 106, including the weld gap data and the weld surface temperature acquired by the infrared sensor 108. Based on the functions of the aforementioned devices, after the welding mechanism completes welding at the current welding position, the processor 106 can detect the presence of a weld at the current welding position through the tracking device 110.

[0039] Furthermore, if a weld is determined to exist at the current welding position, the processor 106 determines the remelting power of the high-energy beam welding mechanism, the relative position between the high-energy beam welding mechanism and the electric welding mechanism, the direction of the high-energy beam welding mechanism, and the distance and angle between the first and second light beams based on the acquired weld surface temperature and weld gap data. The remelting power refers to the energy of the laser beam of the high-energy beam welding mechanism; a higher remelting power indicates a higher laser beam energy. If the weld surface temperature is high, the processor 106 needs to control the remelting power of the high-energy beam welding mechanism to avoid excessive heat input from the laser beam to the welded object. The high-energy beam welding mechanism and the electric welding mechanism can be connected by a screw; the smaller the relative distance between them, the higher the combined heat input to the welded object. By appropriately adjusting the relative position between the high-energy beam welding mechanism and the electric welding mechanism, the processor 106 can adjust the heat input of the welding control device to the welded object. The direction of the high-energy beam welding mechanism corresponds to the direction of the laser beam, as the welding control device moves from the previous welding position to the current welding position during the welding process. Accordingly, when the tracking device 110 detects the presence of a weld, the high-energy beam welding mechanism also needs to adjust the direction of the laser beam according to the displacement of the welding control device so that the laser beam can be aligned with the weld or the gap between the weld and the side wall for remelting welding. In addition, the laser beam also includes two beams of light, namely a first beam and a second beam, which can remelt the weld and the side walls of the two side grooves respectively. Since the gap and groove are gradually welded together during the welding process, the distance and relative angle between the two beams of light need to be adjusted according to the welding situation so that the welding operation can be performed accurately at the position where welding is required. After the above parameters and structures are adjusted accordingly, the processor 106 can control the high-energy beam welding mechanism to weld the weld at the current welding position with the remelting power.

[0040] In one embodiment, the first welding device further includes a first adjustment mechanism configured to adjust the position, direction, and swing width of the welding mechanism.

[0041] In one embodiment, the first adjustment mechanism includes a first rotating assembly for adjusting the direction and swing width of the welding mechanism; and a first sliding assembly for adjusting the position of the welding mechanism.

[0042] Specifically, refer to Figure 3The first adjustment mechanism includes: a first rotating assembly 041, connected to the welding mechanism 010, for adjusting the direction and swing width of the welding mechanism 010; and a first sliding assembly 051, connected to the first rotating assembly 041, for adjusting the position of the welding mechanism 010 on the mounting rod 030. To adjust the direction of the welding mechanism 010 and allow it to swing during welding, the first rotating assembly 041 is installed on the mounting rod. The first rotating assembly 041, which can be one or more oscillators, runs through the mounting rod 030 and allows the welding mechanism 010 to rotate around the mounting rod 030. The first rotating assembly 041 is connected to the welding mechanism 010, driving the welding mechanism 010 to rotate around the mounting rod 030, thereby changing its direction. Furthermore, the swing width of the welding mechanism around the mounting rod 030 can be adjusted. The first sliding assembly 051 runs through the mounting rod 030 and is connected to the welding mechanism 010. The first sliding assembly 051 can slide on the mounting rod 030 to adjust the position of the welding mechanism 010 on the mounting rod 030 .

[0043] In one embodiment, the second welding device 104 further includes: a high-energy beam relative distance adjustment component, configured to adjust the distance and angle between the first beam and the second beam of the high-energy beam welding mechanism; a second adjustment mechanism, configured to adjust the relative position between the high-energy beam welding mechanism and the electric welding mechanism, as well as the direction of the high-energy beam welding mechanism.

[0044] In one embodiment, the second adjustment mechanism further includes: a second rotating assembly for adjusting the direction of the high-energy beam welding mechanism; and a second sliding assembly for adjusting the position of the high-energy beam welding mechanism.

[0045] The second welding device also includes a laser relative distance adjustment mechanism 070. Specifically, refer to Figure 3High-energy beam welding mechanism 020 includes two laser beams. Laser relative distance adjustment mechanism 070 adjusts the distance and angle between the first and second beams to accommodate different gap sizes and groove angles, allowing high-energy beam welding mechanism 020 to more accurately remelt the weld location. The second adjustment mechanism includes: a second rotating assembly 042, connected to high-energy beam welding mechanism 020 and used to adjust the direction of high-energy beam welding mechanism 020; and a second sliding assembly 052, connected to second rotating assembly 042 and used to adjust the position of high-energy beam welding mechanism 020 on mounting rod 030. To adjust the direction of high-energy beam welding mechanism 020, second rotating assembly 042 is provided on mounting rod 030. Specifically, the second rotating component 042 can be one or more oscillators, which run through the mounting rod 030, so that the high-energy beam welding mechanism 020 can rotate around the mounting rod 030 with the mounting rod 030 as the center, and is connected to the high-energy beam welding mechanism 020, thereby driving the high-energy beam welding mechanism 020 to rotate around the mounting rod 030 to change the direction of the high-energy beam welding mechanism 020.

[0046] refer to Figure 3 , this application mainly provides a welding control device, including:

[0047] The electric welding mechanism 010 is used to weld the object to be welded; the high-energy beam welding mechanism 020 is used to weld the weld seam existing on the object welded by the electric welding mechanism 010;

[0048] The mounting rod 030 runs through the multiple adjustment mechanisms;

[0049] Multiple adjustment mechanisms include at least a first adjustment mechanism and a second adjustment mechanism. The first adjustment mechanism is used to adjust the position and swing width of the welding mechanism 010, and the second adjustment mechanism is used to adjust the relative position between the high-energy beam welding mechanism 020 and the welding mechanism 010 and the direction of the high-energy beam welding mechanism 020.

[0050] When the welding mechanism 010 is welding the object to be welded, the position of the welding mechanism 010 can be adjusted by the first adjustment mechanism. Figure 4 Specifically, the electric welding mechanism can be a welding gun 2. During the welding process of the welding wire 3 on the welding gun 2, a molten droplet 4 will be generated at the front end of the welding wire 3 and fall into the molten pool in the gap. During the welding process, the electric welding mechanism 010 can move from one welding position to another welding position for welding according to the welding conditions of the object to be welded. This avoids the problem of the molten metal collapsing due to excessively high molten pool temperature caused by continuous welding at a certain point during the welding process. Specifically, the high-energy beam of the high-energy beam welding mechanism 020 can be a laser beam, an electron beam, an ion beam, an electric spark, an ultra-high frequency induction shock, solar energy, and synchrotron radiation, etc. Reference Figure 5 When the electric welding mechanism 010 welds the object to be welded, the laser beam of the high-energy beam welding mechanism 020 can perform laser welding on the object to be welded 1 to remelt the weld produced by the electric welding mechanism 010 to improve the weld metal microstructure and thus increase the weld strength.

[0051] Furthermore, electric welding mechanism 010 is slidably connected to mounting rod 030 via a first adjustment mechanism, and high-energy beam welding mechanism 020 is slidably connected to mounting rod 030 via a second adjustment mechanism. Mounting rod 030 may be a screw or a slide rail. In this way, the positions of electric welding mechanism 010 and high-energy beam welding mechanism 020 on mounting rod 030 can be flexibly adjusted according to the actual needs of the welding operation.

[0052] refer to Figure 3 As a specific embodiment of the present application, the first adjustment mechanism herein includes: a first rotating assembly 041, connected to the welding mechanism 010, for adjusting the direction and swing width of the welding mechanism 010; and a first sliding assembly 051, connected to the first rotating assembly 041, for adjusting the position of the welding mechanism 010 on the mounting rod 030. To adjust the direction of the welding mechanism 010 and allow it to swing during welding, the first rotating assembly 041 is provided on the mounting rod. The first rotating assembly 041 can be one or more oscillators, extending through the mounting rod 030. The first rotating assembly 041 can cause the welding mechanism 010 to rotate about the mounting rod 030, with the mounting rod 030 as the center. The first rotating assembly 041 is connected to the welding mechanism 010, thereby driving the welding mechanism 010 to rotate about the mounting rod 030, thereby changing its direction. Furthermore, the swing width of the welding mechanism about the mounting rod 030 can also be adjusted. The first sliding assembly 051 passes through the mounting rod 030 and is connected to the welding mechanism 010. The first sliding assembly 051 can slide on the mounting rod 030 to adjust the position of the welding mechanism 010 on the mounting rod 030.

[0053] refer to Figure 3 The welding control device of the present application further includes a first fixing assembly 060 for fixing the welding mechanism 010 to the first adjustment mechanism. During the process of adjusting the position, direction, and swing width of the welding mechanism 010, the first fixing assembly 060 can fix the welding mechanism to the first adjustment mechanism, thereby increasing the stability of the structure.

[0054] refer to Figure 3The first fixed component 060 is connected to the first sliding component 051 and the first rotating component 041 . The first sliding component 051 adjusts the position of the welding mechanism 010 through the first fixed component 060 , and the first rotating component 041 adjusts the direction of the welding mechanism 010 through the first fixed component 060 .

[0055] The first fixing assembly 060 is connected to the first sliding assembly 051 and the first rotating assembly 041. When the first sliding assembly 051 slides on the mounting rod 030, the first fixing assembly 060 can move together, thereby adjusting the position of the welding mechanism. When the first rotating assembly 041 rotates around the mounting rod 030, it can drive the first fixing assembly 060 to rotate around the mounting rod, thereby adjusting the direction of the welding mechanism 010.

[0056] refer to Figure 3 In one embodiment, the second adjustment mechanism of the present application includes: a second rotating component 042 connected to the high-energy beam welding mechanism 020, and the second rotating component 042 is used to adjust the direction of the high-energy beam welding mechanism 020.

[0057] refer to Figure 3 In one embodiment, the second adjustment mechanism of the present application further includes: a second sliding assembly 052, connected to the second rotating assembly 042, and the second sliding assembly 052 is used to adjust the position of the high-energy beam welding mechanism 020 on the mounting rod 030.

[0058] To adjust the direction of high-energy beam welding mechanism 020, a second rotating assembly 042 is provided on mounting rod 030. Specifically, second rotating assembly 042 can be one or more oscillators, extending through mounting rod 030. This oscillator allows high-energy beam welding mechanism 020 to rotate about mounting rod 030, with mounting rod 030 as the center. The oscillator is connected to high-energy beam welding mechanism 020, thereby driving high-energy beam welding mechanism 020 to rotate about mounting rod 030, thereby changing its direction. A second sliding assembly 052 is connected to second rotating assembly 042 and high-energy beam welding mechanism 020, respectively. When second sliding assembly 052 slides relative to the mounting rod, the position of second rotating assembly 042 also follows the sliding movement of second sliding assembly 052 on the mounting rod. Second sliding assembly 052 can adjust the position of high-energy beam welding mechanism 020 on mounting rod 030.

[0059] refer to Figure 3 As a specific embodiment of the present application, the high-energy beam welding mechanism 020 of the present application further includes a laser relative distance adjustment mechanism 070. High-energy beam welding mechanism 020 includes two laser beams. Laser relative distance adjustment mechanism 070 can adjust the distance and angle between the first and second beams to accommodate different gap sizes and groove angles, enabling more accurate remelting of the weld.

[0060] refer to Figure 3 In one embodiment, the welding control device of the present application further includes a tracking device 080 connected to the first sliding assembly 051 for detecting plate data and gap data of the objects to be welded. Specifically, tracking device 080 may be a laser tracker to identify the plate data and gap data of different objects to be welded, as well as the gap data of the weld seam, to improve welding accuracy.

[0061] refer to Figure 3 In one embodiment, the welding control device of the present application further includes an infrared sensing device 090, which is fixed to the mounting rod 030 and located between the electric welding mechanism 010 and the high-energy beam welding mechanism 020. Specifically, the infrared sensing device 090 may be an infrared camera or an infrared sensor. During the welding process, the infrared sensing device 090 can detect in real time the molten pool temperature of the electric welding mechanism 010 when performing arc welding at the current welding position, as well as the surface temperature of the weld when the rear high-energy beam welding mechanism 020 is performing laser remelting welding.

[0062] In addition, the welding control device of the present application further includes a second fixing assembly 100 for fixing the infrared sensor device 090 on the mounting rod 030 to increase the stability between the structures.

[0063] refer to Figures 1 to 3The present application provides a welding control device, which, as the most specific embodiment of the present application, includes: a high-energy beam welding mechanism 020, used to weld the weld seam existing on the product after welding by the welding mechanism 010; a mounting rod 030, which runs through multiple adjustment mechanisms; the multiple adjustment mechanisms include at least a first adjustment mechanism and a second adjustment mechanism, with the first adjustment mechanism being used to adjust the position and swing width of the welding mechanism 010. The first adjustment mechanism includes a first rotating assembly 041, which is connected to the welding mechanism 010 and is used to adjust the direction and swing width of the welding mechanism 010; a first sliding assembly 051, which is connected to the first rotating assembly 041 and is used to adjust the position of the welding mechanism 010 on the mounting rod 030. A first fixing assembly 060 is used to fix the welding mechanism 010 to the first adjustment mechanism. First fixed assembly 060 is connected to first sliding assembly 051 and first rotating assembly 041. First sliding assembly 051 adjusts the position of welding mechanism 010 through first fixed assembly 060, while first rotating assembly 041 adjusts the direction of welding mechanism 010 through first fixed assembly 051. Second rotating assembly 042, a second adjustment mechanism, is connected to high-energy beam welding mechanism 020 and is used to adjust its direction. Second sliding assembly 052 is connected to second rotating assembly 042 and is used to adjust the position of high-energy beam welding mechanism 020 on mounting rod 030. The second adjustment mechanism is used to adjust the relative position between high-energy beam welding mechanism 020 and welding mechanism 010, as well as its direction. Welding mechanism 010 is slidably connected to mounting rod 030 via the first adjustment mechanism, while high-energy beam welding mechanism 020 is slidably connected to mounting rod 030 via the second adjustment mechanism. High-energy beam welding mechanism 020 also includes a laser relative distance adjustment mechanism 070. Used to adjust the distance and angle between the first and second beams of high-energy beam welding mechanism 020. Tracking device 080, connected to first sliding assembly 051, is used to detect plate and gap data of the objects to be welded. Infrared sensor device 090, fixed to mounting rod 030 and located between welding mechanism 010 and high-energy beam welding mechanism 020, is used to detect the molten pool temperature during arc welding by front welding mechanism 010 and the surface temperature of the weld seam during laser remelting by rear high-energy beam welding mechanism 020. Second fixing assembly 100 is used to secure infrared sensor device 090 to mounting rod 030.

[0064] It should be noted that in addition to the connection methods mentioned in the above technical solutions and some specific implementation methods, the connection method between the various components in this application can be bolt connection. The advantage of bolt connection is that it is easy to disassemble and install, which provides convenience for subsequent installation and maintenance.

[0065] The welding control device of the present application is described above through specific embodiments. It can be understood that the structural body and size of the welding control device of the present application are not limited to the specific structural form of the above embodiments, and can also be other structural forms, as long as the electric welding mechanism 010 and the high-energy beam welding mechanism 020 can adjust their relative positions to perform arc welding and laser welding at the same time, so as to be able to weld the object to be welded, thereby improving the welding quality of the object to be welded and having good installation reliability.

[0066] Secondly, in order to better understand the technical solution and usage method of the present application, the preferred embodiments are described below in combination with relatively comprehensive preferred technical features.

[0067] Figure 6 The flowchart of the welding control method according to the embodiment of the present application is shown schematically. Figure 6 As shown, in one embodiment of the present application, a welding control method is provided, which is applied to a welding control device, including:

[0068] S602, after the electric welding mechanism completes welding at the last welding position of the object to be welded, the electric welding mechanism is controlled to move from the last welding position to the current welding position.

[0069] S604: Determine the critical temperature of the current welding position based on the welding data of the previous welding position.

[0070] S606, obtaining the current temperature of the molten pool.

[0071] S608, determining whether the current temperature is less than or equal to the critical temperature of the current welding position, if so, executing S610; if not, executing S612.

[0072] S610, controlling the electric welding mechanism to enter a welding state to perform welding at the current welding position.

[0073] S612, controlling the electric welding mechanism to enter a standby state until the current temperature is less than or equal to the critical temperature of the current welding position.

[0074] The object to be welded can refer to a product with a large gap between structural parts that requires welding. Furthermore, it can also refer to an integrated product composed of multiple products. A welding position refers to any location on the gap groove of the object to be welded where welding is performed. The previous welding position refers to the welding position at which the welding mechanism currently welds the object to be welded. The previous welding position refers to the welding position at which the welding mechanism previously welded the object to be welded at the moment before the current moment. After the welding mechanism completes welding at the previous welding position of the object to be welded, the processor can control the welding mechanism to move from the previous welding position to the current welding position. The processor can then determine the critical temperature of the current welding position based on the welding data of the previous welding position. Welding data refers to controllable parameters that determine the energy supply and switching conditions of the welding mechanism, such as heating and pressurization, during the welding process of the object to be welded. These parameters include welding current, arc voltage, welding time, and electrode diameter. The critical temperature of the current welding position refers to the temperature threshold that allows welding to proceed at the current welding position. When the temperature of the molten pool exceeds the critical temperature of the current welding position, the molten metal in the pool cannot overcome its own gravity and collapses, thus affecting the weld quality of the object being welded. Therefore, the weld quality of the object being welded is negatively correlated with the molten pool temperature. After the welding mechanism completes welding at the previous welding position of the object being welded, the processor can use an infrared sensor to obtain the current temperature of the molten pool. If the current temperature is determined to be less than or equal to the critical temperature of the current welding position, the processor controls the welding mechanism to enter a welding state to weld at the current welding position. The welding state can refer to the welding gun entering an arc-ignited state during arc welding, melting the electrode and the welding position of the object to be welded for welding. Conversely, the standby state can refer to the welding gun entering an arc-extinguished state, suspending welding. Therefore, to reduce heat input to the object being welded during continuous welding, the processor can control the welding mechanism to enter a standby state if it determines that the current temperature is greater than the critical temperature of the current welding position, until the current temperature is less than or equal to the critical temperature of the current welding position. In this way, the processor can avoid the problem of collapse of molten metal in the molten pool caused by excessive temperature when controlling the electric welding mechanism to continuously perform the root welding operation.

[0075] In one embodiment, the welding data includes the welding current of the previous welding position, and determining the critical temperature of the current welding position based on the welding data of the previous welding position includes: searching for a welding speed that matches the welding current of the previous welding position from a preset relationship table, wherein the preset relationship table is established based on a matching relationship between current and speed determined based on multiple historical welding data; determining the molten droplet's own gravity at the previous welding position based on the welding time and welding speed of the previous welding position; and determining the critical temperature of the current welding position based on the molten droplet's own gravity and the gap data of the objects to be welded.

[0076] Specifically, the welding data includes the welding current at the previous welding position. The processor can search a preset relationship table for a welding speed that matches the welding current at the previous welding position. This preset relationship table is established based on the current-speed matching relationship determined from multiple historical welding data. For example, the corresponding welding speed can be found based on the welding current, and the corresponding droplet weight can be found based on the welding duration and welding speed. The welding duration refers to the duration of the welding operation on the target object after the welding mechanism enters the welding state. Figure 4 The schematic diagram of welding is shown schematically. Figure 4 The welding mechanism can be a welding gun 2. When the welding gun 2 performs arc welding, a molten metal droplet forms from the end of the welding wire 3 and then transfers to the gap between the objects to be welded, forming a molten pool. The weight of the molten metal droplet is the mass of the molten metal droplet. The gap data of the objects to be welded refers to the gap width, length, groove angle, and other data required for welding within the objects to be welded or between the objects to be welded. The processor uses the weight of the molten metal droplet and the gap data to determine the critical temperature of the current welding position.

[0077] In one embodiment, the gap data includes a gap size, and determining the critical temperature of the current welding position according to the gap data and the droplet data includes: when the size of the gap in the gap data is greater than the droplet diameter in the droplet data, calculating the critical temperature of the current welding position according to formula (1):

[0078]

[0079] Where T is the critical temperature of the current welding position, a and b are empirical constants, and G is the weight of the molten droplet at the previous welding position.

[0080] The gap size refers to the width between the two groove surfaces in the gap. Droplet data includes the droplet diameter and the droplet's own weight. After the welding mechanism completes welding at the previous welding position, it controls the welding mechanism to move from the previous welding position to the current welding position. At this point, the processor searches a preset relationship table for a welding speed that matches the welding current at the previous welding position. It then determines the droplet diameter and droplet's own weight at the previous welding position based on the welding duration and welding speed.

[0081] For example, suppose the processor determines that the gap size between the objects to be welded is L. The processor can determine the droplet diameter d and the droplet's own gravity G at the previous welding position from the preset relationship table. The surface tension σ of the droplet needs to be determined based on the current temperature of the droplet. Figure 4 The molten droplet at the front end of the wire or the transition into the gap to form a molten pool, the current temperature of the molten droplet is the current temperature of the molten pool. Therefore, the surface tension of the molten droplet is calculated according to formula (3):

[0082] σ=a(1-bT1) (3);

[0083] Where σ is the surface tension of the droplet, T1 is the current temperature of the molten pool, and a and b are empirical constants.

[0084] Assuming that the processor determines that the gap size L is greater than or equal to the droplet diameter d of the previous welding position, the droplet will be subject to two forces: the surface tension of the droplet and the droplet's own gravity. At this time, it is necessary to satisfy the balance between the droplet surface tension σ and the droplet's own gravity G, that is, the droplet surface tension σ is equal to the droplet's own gravity G, so that the molten metal in the molten pool can overcome its own gravity without collapsing. Therefore, when the processor determines that the gap size L is greater than the droplet diameter d of the previous welding position, it must control the current temperature of the molten pool not to exceed the critical temperature of the current welding position to ensure that the bottom welding operation is completed. At this time, the processor can calculate the critical temperature of the current welding position to ensure that the molten metal in the molten pool does not collapse based on the relationship between the above-mentioned gap size, the droplet diameter of the previous welding position, the surface tension of the molten pool, the current temperature of the molten pool, and the droplet's own gravity.

[0085] In one embodiment, the gap data further includes a groove angle, and determining the critical temperature of the current welding position of the molten pool according to the gap data and the droplet data includes: when the size of the gap in the gap data is less than or equal to the droplet diameter in the droplet data, calculating the critical temperature of the current welding position of the molten pool temperature according to formula (2):

[0086]

[0087] Where T is the critical temperature of the current welding position, a, b, and k are empirical constants, G is the weight of the molten droplet at the previous welding position, and θ is the groove angle.

[0088] For example, suppose the processor determines that the size of the gap between the objects to be welded is L. The processor can determine the droplet diameter d and the droplet's own gravity G at the previous welding position from the preset relationship table. The surface tension σ of the droplet needs to be determined based on the current temperature of the droplet. Figure 4 The molten droplet at the front end of the wire or the transition into the gap to form a molten pool, the current temperature of the molten droplet is the current temperature of the molten pool. Therefore, the surface tension of the molten droplet is calculated according to formula (3):

[0089] σ=a(1-bT1) (3);

[0090] Where σ is the surface tension of the droplet, T1 is the current temperature of the molten pool, and a and b are empirical constants.

[0091] Assuming that the processor determines that the gap size L is less than or equal to the droplet diameter d of the previous welding position, the droplet will be affected by the surface tension of the droplet, the droplet's own gravity, and the force generated by the droplet. At this time, it is necessary to satisfy the balance between the droplet surface tension σ, the droplet's own gravity G, and the force F generated by the gap groove on the droplet. That is, the droplet surface tension σ plus the force F generated by the gap groove on the droplet plus the droplet's own gravity G, so that the molten metal in the molten pool can overcome its own gravity without collapsing. Among them, the force F generated by the gap groove on the droplet can be calculated according to formula (4):

[0092] F = kGcosθ (4);

[0093] Among them, F is the force exerted by the gap groove on the molten droplet, G is the gravity of the molten droplet at the previous welding position, θ is the groove angle, and k is an empirical constant.

[0094] Therefore, when the processor determines that gap size L ≤ droplet diameter d, it must control the current molten pool temperature to not exceed the critical temperature of the current welding position to ensure the completion of the root pass welding operation. At this time, the processor can calculate the critical temperature of the current welding position to ensure that the molten metal in the molten pool does not collapse based on the relationship between the gap size, the droplet diameter at the previous welding position, the surface tension of the molten pool, the molten pool temperature, the force exerted by the gap groove on the droplet, and the weight of the droplet at the previous welding position.

[0095] Figure 7 The figure schematically shows the steps before the welding control device performs welding on the previous welding position according to one embodiment of the present application. Figure 7 As shown, in one embodiment of the present application, the control method further includes:

[0096] S702, obtaining first gap data of the objects to be welded and initial plate data of the objects to be welded before welding at the previous welding position.

[0097] S704: Determine first welding data of the welding mechanism for welding at the previous welding position according to the initial plate data and the first gap data.

[0098] S706, controlling the electric welding mechanism to weld the previous welding position according to the first welding data.

[0099] Before the welding mechanism performs welding at the last welding position of the object to be welded, the processor can obtain the first gap data of the object to be welded and the initial plate data of the object to be welded before welding at the last welding position. Before welding at the last welding position, the first gap data corresponding to the object to be welded includes the gap size and groove angle. The initial plate data of the object to be welded includes the plate type, plate strength, and plate thickness of the object to be welded. The gap data of the object to be welded will change during the welding process, while the initial plate data is always fixed and does not change due to the welding operation.

[0100] Furthermore, before controlling the welding mechanism to perform welding, the processor can first determine the first welding data for the welding mechanism when welding at the previous welding position based on the gap size, groove angle, and initial plate data of the objects to be welded. The first welding data is for the previous welding position. The first welding data includes various types of parameters. For example, the welding current, arc voltage, welding speed, wire (rod) diameter, current polarity, wire extension length, shielding gas flow rate, etc. of the welding gun during welding. At this time, the processor can control the welding mechanism to weld at the previous welding position according to the first welding data.

[0101] In one embodiment, the method also includes: obtaining second gap data of the object to be welded after welding at the previous welding position; determining a first gap change value of the weld based on the first gap data and the second gap data; determining second welding data of the welding mechanism when welding at the current welding position based on the first gap change value; and controlling the welding mechanism to weld at the current welding position based on the second welding data.

[0102] The processor can control the welding mechanism to enter the welding state after welding the object to be welded at the previous welding position. If the processor determines that the current temperature of the molten pool is less than or equal to the critical temperature of the current welding position, the processor will control the welding mechanism to enter the welding state and move the welding mechanism from the previous welding position to the current welding position. At this time, after the processor controls the welding mechanism to weld the object to be welded, there will be a weld in the gap of the object to be welded. At the same time, the gap size and groove angle of the object to be welded will be deformed during the welding process. Then, when the corresponding welding mechanism performs the next welding, it is necessary to adjust the welding data of the welding mechanism to adapt to the gap of the object to be welded after the change. Therefore, the processor can obtain the second gap data corresponding to the object to be welded before controlling the welding mechanism to weld the current welding position (that is, after welding the previous welding position). Wherein, the second gap data is relative to the first gap data, and the second gap data includes the gap size and groove angle of the object to be welded.

[0103] Furthermore, the processor can determine the first gap change value of the object to be welded based on the first gap data and the second gap data. The first gap change value refers to the difference in gap size before and after and the difference in groove angle before and after after the welding mechanism completes welding for the previous welding position. The processor can determine the second welding data of the welding mechanism for the current welding position based on the determined first gap change value. Among them, the second welding data is relative to the first welding data and is for the current welding position, and the second welding data includes a variety of different types of parameters. For example, the welding current, arc voltage, welding speed, and welding wire (electrode) diameter, current polarity, welding wire extension length, shielding gas flow rate, etc. of the welding gun during welding. At this time, the processor can control the welding mechanism to weld the current welding position according to the second welding data.

[0104] In one embodiment, the gap data includes a gap size, and the method includes: in the process of controlling the welding mechanism to weld the previous welding position and / or the current welding position, determining the gap size of the previous welding position in real time; when the gap size of the previous welding position is less than or equal to the first width, controlling the welding mechanism not to swing; when the gap size of the previous welding position is greater than the first width and less than or equal to the second width, controlling the welding mechanism to swing, and the swing width is a first preset swing width; when the gap size of the previous welding position is greater than the second width, controlling the welding mechanism to swing, and the swing width is a second preset swing width; wherein, the first preset swing width is less than the second preset swing width, and the first width is less than the second width.

[0105] During the welding process, in order to improve the welding quality, the processor can control the welding mechanism to perform welding on the previous welding position and / or the current welding position, and determine the gap size of the previous welding position in real time to control the swing of the welding mechanism, thereby preventing the swing of the welding mechanism from increasing the difficulty of controlling the formation of the molten pool during the welding process. The gap size of the previous welding position refers to the width of the gap between the objects to be welded at the current time obtained by the processor during the welding process. In this way, the processor can control the welding mechanism to swing to form a wider weld to ensure better fusion of the weld and the base material and to discharge gases such as nitrogen and carbon monoxide in the molten pool to reduce porosity defects.

[0106] For example, assuming that the processor can determine that the first width is 3mm, the first width is the critical width of the gap size for controlling the welding mechanism to start the swing operation. When the gap size L≤3mm of the previous welding position, the processor can control the welding mechanism not to swing. The processor can determine that the second width is 5mm, and when the gap size 3mm≤L≤5mm of the previous welding position, the processor can control the welding mechanism to start the swing operation of the welding mechanism. Moreover, the processor can control the swing width of the welding mechanism to be a first preset swing width. Specifically, the processor can set the first preset swing width to the gap size of the previous welding position. The processor can also determine that when the gap size of the previous welding position is greater than the second width, the welding mechanism is controlled to perform the swing operation, and the swing width of the welding mechanism is a second preset swing width. Specifically, the processor can set the second preset swing width to the gap size L+1mm of the previous welding position.

[0107] In one embodiment, the high-energy beam welding mechanism is connected to the electric welding mechanism via a screw, the high-energy beam welding mechanism includes at least a first beam and a second beam, and the gap data includes a gap size and a groove angle. Figure 8 The schematic diagram shows the steps after the welding control device completes welding at the current welding position according to the embodiment of the present application. Figure 8 As shown, in one embodiment of the present application, the control method further includes:

[0108] S802, after the electric welding mechanism completes welding at the current welding position, determine whether there is a weld in the area below the high-energy beam welding mechanism, if so, execute S804, if not, execute S806.

[0109] S804, obtaining the surface temperature of the weld and the gap data of the weld at the current welding position.

[0110] S806, controlling the high energy beam welding mechanism not to start.

[0111] S808 , determining the remelting power of the high-energy beam welding mechanism and the distance and angle between the first beam and the second beam of the high-energy beam welding mechanism according to the surface temperature and the weld gap data.

[0112] S810, controlling the high energy beam welding mechanism to weld the weld at a remelting power.

[0113] Since the temperature of the molten pool is negatively correlated with the connection strength of the weld during the welding process, in industries with high requirements for weld strength, it is necessary to strictly ensure the connection strength of the weld and avoid the side walls from failing to be welded and fused. Furthermore, the present application also adds laser welding on the basis of arc welding. The high-energy beam welding mechanism is a device that uses a focused laser beam as energy to bombard the weldment to generate heat for welding operations. Since the laser has optical properties such as refraction and focusing, laser welding is very suitable for welding micro parts and parts with poor accessibility. In addition, laser welding has low heat input, small welding deformation, and is not affected by electromagnetic fields. During the welding process, the electric welding mechanism will move from the previous welding position to the current welding position, and the high-energy beam welding mechanism is connected to the electric welding mechanism through a screw. Therefore, during the welding process, the high-energy beam welding mechanism will also move along with the movement of the electric welding mechanism.

[0114] After the electric welding mechanism completes the welding operation, the processor can control the high-energy beam welding mechanism to laser remelt the weld seam formed by the electric welding mechanism. This can remelt the unfused sidewalls and improve the weld metal microstructure to enhance weld strength. After the electric welding mechanism completes welding at the current welding position, the processor can obtain information about whether a weld seam exists in the area below the high-energy beam welding mechanism. If a weld seam is determined to exist, the laser welding operation is performed. Specifically, since the electric welding mechanism generates heat input from the welded object during welding, the surface temperature of the weld seam will also change. The high-energy beam welding mechanism also generates heat input to the weld seam during the laser remelting operation. Therefore, during the laser welding process, it is necessary to avoid excessively high weld seam surface temperatures, which would increase the heat input to the welded object, causing the molten metal in the molten pool to collapse and affecting the weld joint strength. Therefore, if a weld seam is determined to exist, the processor can obtain the surface temperature of the weld seam and the weld gap data at the current welding position of the high-energy beam welding mechanism. The weld gap data refers to the process of simultaneously performing arc welding and laser welding on the object to be welded. The weld gap data includes the gap size and the groove angle.

[0115] Furthermore, the processor can determine the remelting power of the high-energy beam welding mechanism and the distance and angle between the first and second beams of the high-energy beam welding mechanism based on the surface temperature and weld gap data, thereby controlling the high-energy beam welding mechanism to weld the weld at the remelting power. The laser power can be determined based on the weld surface temperature, gap size, and groove angle of the weld using a welding data database obtained from the technician's previous welding experience. The high-energy beam welding mechanism includes two beams, namely a first beam and a second beam. It will be understood that the first beam and the second beam are relative. After the welding equipment performs large-gap root welding to form the weld, the first and second beams of the high-energy beam welding mechanism are used to simultaneously laser remelt the two side walls of the gap of the welding object. Figure 3 The schematic diagram of high energy beam welding mechanism for welding is shown schematically, refer to Figure 3 The laser beam 5 can adapt to the changing gap conditions during the welding process by changing the distance and angle between the first and second beams. Therefore, the processor can control the high-energy beam welding mechanism to determine the distance and angle between the first and second beams based on the gap data of the weld during the welding process, so as to achieve more precise welding of the weld and ensure that the weld can achieve the required welding strength.

[0116] In one embodiment, determining the remelting power of a high-energy beam welding mechanism and the distance and angle between a first beam and a second beam of the high-energy beam welding mechanism based on surface temperature and weld gap data includes: obtaining the surface temperature of the weld in real time during welding of the weld at the current welding position; and controlling the high-energy beam welding mechanism to adjust the remelting power according to the surface temperature when the surface temperature is greater than the surface critical temperature, so that when the high-energy beam welding mechanism according to the corresponding adjusted remelting power welds the weld, the surface temperature is less than or equal to the surface critical temperature.

[0117] Since laser welding also generates heat input to the weld, the heat input of the high-energy beam welding mechanism must also be controlled during the welding process to ensure weld strength. While the processor is controlling the weld at the current welding position, the surface temperature of the weld changes in real time. Therefore, the processor can obtain the surface temperature of the weld in real time using an infrared sensor. If the surface temperature of the weld is determined to be greater than the critical surface temperature, the processor can control the high-energy beam welding mechanism to adjust the remelting power based on the surface temperature. The critical surface temperature corresponds to the surface temperature of the weld during the high-energy beam welding process. If the surface temperature of the weld is too high, the combined heat input of laser and arc welding during the simultaneous welding operation of the high-energy beam welding mechanism and the electric welding mechanism can cause the molten pool temperature to overheat, leading to collapse of the molten metal in the molten pool. To avoid this, a critical surface temperature can be set for the weld surface. Technicians can establish a welding data database based on previous welding experience. The processor can then use this parameter database to determine the critical surface temperature based on the strength of the materials being welded.

[0118] In one embodiment, the method further includes: obtaining the surface temperature of the weld in real time during welding of the weld at the current welding position; determining the distance between the high-energy beam welding mechanism and the electric welding mechanism based on the surface temperature; and when the surface temperature is greater than the surface critical temperature, controlling the high-energy beam welding mechanism to move away from the electric welding mechanism so that when the high-energy beam welding mechanism, after adjusting its position, welds the weld at the current welding position, the surface temperature of the weld is less than or equal to the surface critical temperature.

[0119] While the processor is controlling the welding of the weld at the current welding position, the surface temperature of the weld changes in real time. Therefore, the processor can obtain the weld surface temperature in real time using an infrared sensor. However, when the electric welding mechanism and the high-energy beam welding mechanism are simultaneously performing welding operations, the combined heat inputs from the arc welding and laser welding processes can cause the molten pool temperature to overheat. When welding high-strength steel or specialty steel, the weld quality requirements are high, and minimizing the impact of heat input on weld quality is crucial. Therefore, if the infrared sensor detects that the weld surface temperature exceeds the critical surface temperature, the processor can control the high-energy beam welding mechanism to move away from the electric welding mechanism to reduce the combined heat between the arc and laser heat sources. This ensures that the weld surface temperature at the current welding position is less than or equal to the critical surface temperature when the high-energy beam welding mechanism is positioned. During the welding process, the distance between the high-energy beam welding mechanism and the electric welding mechanism is adjusted in real time to reduce the combined heat between the arc and laser heat sources, thereby improving the weld metal microstructure and weld performance.

[0120] In one embodiment, the gap data includes a gap size and a groove angle, and the method further includes: in the process of controlling the high-energy beam welding mechanism to weld the weld at the current welding position with remelting power, real-time detecting the weld gap data of the weld at the current welding position, the weld gap data including the gap size and groove angle of the weld at the current welding position; determining the change value of the gap size and the change value of the groove angle of the weld at the current welding position according to the weld gap data; adjusting the width and angle between the first beam and the second beam of the high-energy beam welding mechanism according to the change value of the gap size and the change value of the groove angle, so that the change value of the width between the first beam and the second beam is equal to the change value of the gap size, and the change value of the angle between the first beam and the second beam is equal to the change value of the groove angle.

[0121] During the process of controlling a high-energy beam welding mechanism to weld the weld at the current welding position at a remelting power, the gap data between the objects to be welded changes in real time. Therefore, when the first and second beams of the high-energy beam welding mechanism are laser remelting the sidewalls of the weld, the width and angle between the first and second beams also need to be adjusted in real time. The weld gap data includes the gap size and groove angle of the weld at the current welding position. Specifically, the change in the gap size and the change in the groove angle of the weld at the current welding position can be determined based on the real-time weld gap data of the weld at the current welding position. Based on the change in the gap size and the change in the groove angle, the width and angle between the first and second beams of the high-energy beam welding mechanism are adjusted so that the change in the width between the first and second beams is equal to the change in the gap size, and the change in the angle between the first and second beams is equal to the change in the groove angle. For example, assuming the change in the gap size of the weld gap data is a, the processor can control the change in the width between the first and second beams of the high-energy beam welding mechanism to be equal to a. Assuming the groove angle of the weld gap data is θ1, the processor can control the change in the groove angle between the first and second beams of the high-energy beam welding mechanism to be equal to θ1. In this way, the processor can control the specific change in the gap size and groove angle between the first and second beams of the high-energy beam welding mechanism, allowing the high-energy beam welding mechanism to weld the weld more precisely, effectively avoiding the risk of unfused sidewalls, and thus obtaining a higher-quality welded object.

[0122] Through the above technical solution, a high-energy beam welding mechanism and an electric welding mechanism are connected. The electric welding mechanism performs welding at the welding position of the object to be welded, and the high-energy beam welding mechanism performs welding at the weld seam at the current welding position of the high-energy beam welding mechanism. The integration of the first welding device and the second welding device allows simultaneous root pass welding and remelting welding of the object to be welded. After the electric welding mechanism completes welding at the previous welding position of the object to be welded, the critical temperature of the molten pool at the current welding position can be accurately determined based on the molten droplet data on the electric welding mechanism and the gap data and plate data of the object to be welded. Furthermore, while controlling the movement and swinging of the electric welding mechanism, the electric welding mechanism is dynamically controlled to perform arc ignition for welding or arc extinguishing for cooling based on the temperature of the molten pool. By controlling the temperature of the molten pool, the heat input to the object to be welded can be effectively reduced during the welding process. After welding at the previous welding position is completed, the electric welding mechanism is controlled to move from the previous welding position of the object to be welded to the current welding position, thereby controlling the electric welding mechanism to perform welding at the current welding position. This allows repeated welding of the object to be welded while controlling the heat input. Furthermore, when the high-energy beam welding mechanism and the electric welding mechanism are simultaneously welding, the gap data of the gap and the surface temperature of the weld can be obtained in real time through the laser tracking and infrared sensing device to adjust the power of the high-energy beam welding mechanism and the distance between the high-energy beam welding mechanism and the electric welding mechanism, and accurately control the heat input of the high-energy beam welding mechanism to the weld. As a result, not only can the welding object be automated without the need for a pre-set pad, but the problem of collapse of the molten metal in the molten pool due to excessively high molten pool temperature during the welding process can also be avoided. Furthermore, this solution can also control and adjust the position and direction of the high-energy beam welding mechanism, as well as the angle and distance of the laser beam, so that the high-energy beam welding mechanism can accurately laser remelt the weld after welding by the electric welding mechanism. This can effectively avoid the risk of unfused sidewalls and improve the metal microstructure of the weld, thereby effectively improving the welding quality.

[0123] Figure 6 FIG. 1 is a flow chart of a welding control method in one embodiment. It should be understood that although Figure 6 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 6 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0124] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the welding control method can be implemented by adjusting the kernel parameters.

[0125] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0126] An embodiment of the present application provides a storage medium on which a program is stored. When the program is executed by a processor, the above-mentioned welding control method is implemented.

[0127] An embodiment of the present application provides a processor, which is used to run a program, wherein the above-mentioned welding control method is executed when the program is run.

[0128] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 9 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected via a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store data of a method for controlling base welding. The network interface A02 of the computer device is used to communicate with an external terminal via a network connection. When the computer program B02 is executed by the processor A01, a welding control method is implemented.

[0129] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the steps of the welding control method are implemented.

[0130] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program that initializes the steps of the welding control method.

[0131] Those skilled in the art will understand that Figure 9The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0132] In one embodiment, the welding control device provided by the present application can be implemented in the form of a computer program. The computer program can be used in Figure 9 The computer device shown in FIG. 1 is run on the computer device shown in FIG. The memory of the computer device can store various program modules constituting the program for controlling the root pass welding, such as, Figure 1 The first welding device 102 and the second welding device 104 are shown. The computer program composed of various program modules enables the processor to execute the steps of the welding control method of each embodiment of the present application described in this specification.

[0133] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0134] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0135] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0136] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0137] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0138] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0139] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0140] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0141] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A welding control device, characterized in that: include: The first welding device includes an electric welding mechanism, which is used to control the electric welding mechanism to perform welding at a welding position of an object to be welded; a second welding device comprising a high-energy beam welding mechanism, the high-energy beam welding mechanism being connected to the electric welding mechanism, the second welding device being used to control the high-energy beam welding mechanism to weld a weld at a current welding position of the first welding device; and a processor, configured to control the frequency of the welding operation of the first welding device so that the temperature of the molten pool is lower than a critical temperature of the current welding position, and / or control the second welding device to perform a remelting operation, wherein the critical temperature of the current welding position refers to a temperature threshold that allows welding at the current welding position, at which the molten metal in the molten pool can overcome its own gravity without collapsing; The processor is further configured to: After the electric welding mechanism completes welding at the current welding position, detecting whether there is a weld at the current welding position; When it is determined that a weld exists at the current welding position, determining, based on a surface temperature of the weld at the current welding position and gap data of the weld, a remelting power of the high-energy beam welding mechanism, a relative position between the high-energy beam welding mechanism and the electric welding mechanism, a direction of the high-energy beam welding mechanism, and a distance and an angle between the first light beam and the second light beam; The high-energy beam welding mechanism is controlled to weld the weld at the current welding position with the remelting power, so that when the high-energy beam welding mechanism with the remelting power welds the weld at the current welding position, the surface temperature of the weld is less than or equal to the surface critical temperature.

2. The welding control device according to claim 1, characterized in that: The welding control device further comprises: an infrared sensing device configured to obtain a current temperature of the molten pool; The processor is further configured to: After controlling the electric welding mechanism to complete welding at a previous welding position of the object to be welded, controlling the electric welding mechanism to move from the previous welding position to the current welding position; Determining a critical temperature of a current welding position based on the welding data of the previous welding position; When the current temperature is less than or equal to the critical temperature of the current welding position, controlling the electric welding mechanism to enter a welding state to weld the current welding position; When the current temperature is greater than the critical temperature of the current welding position, the electric welding mechanism is controlled to enter a standby state until the current temperature is less than or equal to the critical temperature of the current welding position.

3. The welding control device according to claim 2, characterized in that: The infrared sensing device is further configured to obtain the surface temperature of the weld at the current welding position; The welding control device further comprises: A tracking device is configured to obtain gap data of the weld and transmit the surface temperature and the gap data of the weld to the processor.

4. The welding control device according to claim 2, characterized in that: The first welding device further includes a first adjustment mechanism configured to adjust the position, direction, and swing width of the electric welding mechanism.

5. The welding control device according to claim 4, characterized in that: The first adjustment mechanism includes: A first rotating assembly is used to adjust the direction and swing width of the welding mechanism; The first sliding assembly is used to adjust the position of the welding mechanism.

6. The welding control device according to claim 1, characterized in that: The second welding device further comprises: a high-energy beam relative distance adjustment component, configured to adjust the distance and angle between the first beam and the second beam of the high-energy beam welding mechanism; The second adjustment mechanism is configured to adjust the relative position between the high-energy beam welding mechanism and the electric welding mechanism, and the direction of the high-energy beam welding mechanism.

7. The welding control device according to claim 6, characterized in that: The second adjustment mechanism further includes: a second rotating assembly, for adjusting the direction of the high-energy beam welding mechanism; The second sliding assembly is used to adjust the position of the high-energy beam welding mechanism.

8. A welding control method, characterized in that: Applied to the welding control device according to claim 1, the method comprises: After the welding mechanism completes welding at a previous welding position of the object to be welded, controlling the welding mechanism to move from the previous welding position to the current welding position; Determine the critical temperature of the current welding position based on the welding data of the previous welding position; Obtaining the current temperature of the molten pool; When the current temperature is less than or equal to the critical temperature of the current welding position, controlling the electric welding mechanism to enter a welding state to weld the current welding position; When the current temperature is greater than the critical temperature of the current welding position, the electric welding mechanism is controlled to enter a standby state until the current temperature is less than or equal to the critical temperature of the current welding position.

9. The welding control method according to claim 8, characterized in that: The welding data includes the welding current of the previous welding position, and determining the critical temperature of the current welding position according to the welding data of the previous welding position includes: Searching for a welding speed that matches the welding current of the previous welding position from a preset relationship table, wherein the preset relationship table is established based on a matching relationship between current and speed determined based on a plurality of historical welding data; determining the weight of the molten droplet at the previous welding position according to the welding time and the welding speed of the previous welding position; The critical temperature of the current welding position is determined according to the gravity of the molten droplet itself and the gap data of the objects to be welded.

10. The welding control method according to claim 9, characterized in that: The gap data includes a gap size, and determining the critical temperature of the current welding position according to the gravity of the molten droplet itself and the gap data of the objects to be welded includes: When the size of the gap in the gap data is larger than the droplet diameter of the previous welding position, the critical temperature of the current welding position is calculated according to formula (1): （1）； in, T is the critical temperature of the current welding position, a and b is an empirical constant, G is the weight of the molten droplet at the previous welding position.

11. The welding control method according to claim 9, wherein: The gap data includes a gap size and a groove angle, and determining the critical temperature of the current welding position according to the gravity of the molten droplet itself and the gap data of the objects to be welded includes: When the size of the gap in the gap data is less than or equal to the droplet diameter of the previous welding position, the critical temperature of the current welding position is calculated according to formula (2): （2）； in, T is the critical temperature of the current welding position, a, b, k is an empirical constant, G is the weight of the molten droplet at the previous welding position, is the groove angle.

12. The welding control method according to claim 8, wherein: The method further comprises: Acquire first gap data of the objects to be welded and initial plate data of the objects to be welded before welding at the previous welding position; determining first welding data for welding at the previous welding position by the welding mechanism according to the initial plate data and the first gap data; The electric welding mechanism is controlled to perform welding on the previous welding position according to the first welding data.

13. The welding control method according to claim 12, wherein: The method further comprises: Acquiring second gap data of the objects to be welded after welding at the previous welding position; Determine a first gap change value of the objects to be welded according to the first gap data and the second gap data; determining second welding data for welding by the welding mechanism at the current welding position according to the first gap change value; The electric welding mechanism is controlled to perform welding on the current welding position according to the second welding data.

14. The welding control method according to any one of claims 8 to 13, characterized in that: The gap data includes gap size, and the method includes: In the process of controlling the electric welding mechanism to weld the previous welding position and / or the current welding position, determining the gap size of the previous welding position in real time; When the gap size at the previous welding position is less than or equal to the first width, controlling the welding mechanism not to swing; When the gap size of the previous welding position is greater than the first width and less than or equal to the second width, controlling the welding mechanism to swing, and the swing width is a first preset swing width; When the gap size of the previous welding position is greater than the third width, controlling the welding mechanism to swing, and the swing width is a second preset swing width; The first preset swing width is smaller than the second preset swing width, the first width is smaller than the second width, and the second width is smaller than the third width.

15. The welding control method according to claim 8, wherein: A high-energy beam welding mechanism is connected to the electric welding mechanism via a screw, the high-energy beam welding mechanism includes at least a first beam and a second beam, the gap data includes a gap size and a groove angle, and the method further includes: After the electric welding mechanism completes welding at the current welding position, determining whether there is a weld in the area below the high-energy beam welding mechanism; When it is determined that a weld exists, obtaining surface temperature of the weld and weld gap data at the current welding position; determining a remelting power of the high-energy beam welding mechanism and a distance and an angle between a first beam and a second beam of the high-energy beam welding mechanism according to the surface temperature and the gap data of the weld; The high-energy beam welding mechanism is controlled to weld the weld at the remelting power.

16. The welding control method according to claim 15, characterized in that: Determining the remelting power of the high-energy beam welding mechanism and the distance and angle between the first beam and the second beam of the high-energy beam welding mechanism according to the surface temperature and the gap data of the weld includes: During welding of the weld at the current welding position, obtaining the surface temperature of the weld in real time; When the surface temperature is greater than the surface critical temperature, the high-energy beam welding mechanism is controlled to adjust the remelting power according to the surface temperature, so that when the high-energy beam welding mechanism with the corresponding adjusted remelting power welds the weld, the surface temperature is less than or equal to the surface critical temperature.

17. The welding control method according to claim 15, wherein: The method further comprises: During welding of the weld at the current welding position, obtaining the surface temperature of the weld in real time; determining a distance between the high-energy beam welding mechanism and the electric welding mechanism according to the surface temperature; When the surface temperature is greater than the surface critical temperature, the high-energy beam welding mechanism is controlled to move away from the electric welding mechanism so that when the high-energy beam welding mechanism, after adjusting its position, welds the weld at the current welding position, the surface temperature of the weld is less than or equal to the surface critical temperature.

18. The welding control method according to claim 15, wherein: The gap data includes gap size and groove angle, and the method further includes: In the process of controlling the high-energy beam welding mechanism to weld the weld at the current welding position at the remelting power, real-time detection of weld gap data of the weld at the current welding position, wherein the weld gap data includes a gap size and a groove angle of the weld at the current welding position; Determining a change value of a weld gap size and a change value of a groove angle at the current welding position according to the weld gap data; The width and angle between the first beam and the second beam of the high-energy beam welding mechanism are adjusted according to the change value of the gap size and the change value of the groove angle, so that the change value of the width between the first beam and the second beam is equal to the change value of the gap size, and the change value of the angle between the first beam and the second beam is equal to the change value of the groove angle.

19. A processor, characterized in that: The device is configured to execute the welding control method according to any one of claims 8 to 18.

20. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by a processor, the processor is configured to execute the welding control method according to any one of claims 8 to 18.

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