Arc welding control method, device, equipment and storage medium

Abstract

The application belongs to the technical field of robots, and discloses an arc welding control method, device, equipment and storage medium; the method comprises the following steps: acquiring welding data of a welding power source and acquiring a welding result of a welding robot; the welding effect of the welding robot is evaluated based on the welding data and the welding result; when the evaluation result does not satisfy a preset condition, the welding control priority is acquired; the welding parameters of the welding power source are adjusted based on the welding control priority, and the adjusted welding parameters are obtained, so that the welding power source performs arc welding according to the welding parameters; in the welding process, real-time parameters and a welding result are collected; when it is judged that the welding effect is not as expected based on the parameters and the welding result, the priority of the welding robot to the welding parameters of the welding power source is replaced, the welding parameters are re-set according to the real-time parameters and the welding result, so that the welding parameters of the welding power source can be more flexibly controlled, and a better welding effect can be obtained.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to an arc welding control method, apparatus, equipment, and storage medium. Background Technology

[0002] With the popularization of information technology, data going to the cloud has become an inevitable trend. Some process records and processing operations can be recorded and completed on the cloud control, truly realizing that the data of the entire operation process can be changed at will and all process data can be traced. Currently, in existing arc welding robot systems, the robot is controlled as the master station, and the welding machine and other external devices are only used as slave stations to execute the master station's commands. High-end welding power supplies can only execute relevant mechanical instructions.

[0003] In the field of arc welding robots, the welding power source can only act as a slave station to cooperate with the robot, and is the controlled party. When the existing welding cloud management system is connected to the welding power source, the welding power source also only acts as a slave station controlled by the welding management system. Therefore, the current application in the market is that if the robot is equipped with a cloud management system and wants to connect to it, the cloud management system only has the function of a slave station for data monitoring. It cannot have the complete welding management system function to monitor data and issue changes to the welding power source data. In other words, the master control authority can only be selected as one of the two. Under this limitation, during the arc welding robot control welding process, it is impossible to adjust the welding parameters with large deviations in time, resulting in unsatisfactory welding effect of the welding robot control. Summary of the Invention

[0004] The main objective of this invention is to provide an arc welding control method, apparatus, equipment, and storage medium, aiming to solve the technical problem that in the existing technology, the welding parameters with large deviations cannot be adjusted in a timely manner during the arc welding robot control welding process, resulting in unsatisfactory welding effects.

[0005] To achieve the above objectives, the present invention provides an arc welding control method, the method comprising the following steps:

[0006] Acquire welding data from the welding power source and obtain welding results from the welding robot;

[0007] The welding effect of the welding robot is evaluated based on the welding data and the welding results to obtain the evaluation results;

[0008] If the evaluation result does not meet the preset conditions, the welding robot shall be given priority in welding control.

[0009] The welding parameters of the welding power source are adjusted based on the welding control priority to obtain the adjusted welding parameters, so that the welding power source performs arc welding according to the adjusted welding parameters.

[0010] Optionally, the evaluation of the welding effect of the welding robot based on the welding data and the welding results to obtain the evaluation result includes:

[0011] The welding data and welding results are analyzed, and the presence of welding defects in the arc welding is determined based on the analysis results.

[0012] When welding defects exist in the arc welding, the current welding effect of the welding robot is evaluated based on the welding defects.

[0013] Optionally, the step of performing data analysis on the welding data and welding results, and determining whether there are welding defects in the arc welding based on the analysis results, includes:

[0014] Check whether the welding data exceeds the parameter threshold;

[0015] When the welding data does not exceed the parameter threshold, the welding data and the preset parameters are compared to obtain the target preset parameters corresponding to the welding data. The preset parameters are welding parameters pre-set for different welding steps or different welding processes, and the target preset parameters are preset parameters that successfully match the welding steps or welding processes corresponding to the welding data.

[0016] Determine whether there are welding defects in the arc welding based on the target preset parameters;

[0017] The welding results are then analyzed to obtain the welding steps and welding errors.

[0018] Based on the welding steps and the welding errors, it is determined whether there are welding defects in the arc welding.

[0019] Optionally, adjusting the welding parameters of the welding robot based on the welding control priority to obtain the adjusted welding parameters includes:

[0020] Calculate the data difference between the welding data and the target preset parameters;

[0021] When the data difference exceeds a preset data threshold, the welding parameters of the welding robot are adjusted to obtain initial welding parameters;

[0022] Image analysis is performed on the welding results to obtain the actual welding deviation, wherein the actual welding deviation includes welding steps and welding errors;

[0023] The initial welding parameters are adjusted based on the actual welding deviation to obtain the adjusted welding parameters.

[0024] Optionally, after adjusting the welding parameters of the welding robot based on the welding control priority, the method further includes:

[0025] The offset of the welding robot is calculated based on the welding data and the welding results;

[0026] The offset is sent to the welding robot so that the welding robot adjusts its motion trajectory according to the offset.

[0027] Optionally, adjusting the welding parameters of the welding power source based on the welding control priority to obtain adjusted welding parameters, so that the welding power source performs arc welding according to the welding parameters, includes:

[0028] When the welding power source performs arc welding according to the adjusted welding parameters, the welding parameters are fed back to the welding robot, and the welding control priority is transferred to the welding robot so that the welding robot performs arc welding according to the welding parameters.

[0029] Optionally, the step of adjusting the welding parameters of the welding power source based on the welding control priority to obtain adjusted welding parameters, so that the welding power source performs arc welding according to the welding parameters, further includes:

[0030] Repeatedly acquire welding data from the welding power source to obtain the welding results from the welding robot;

[0031] The welding results of the welding robot are evaluated based on the welding data and the welding results.

[0032] When the evaluation results meet the preset conditions, the control priority of the welding robot is maintained.

[0033] Furthermore, to achieve the above objectives, the present invention also proposes an arc welding control device, the arc welding control device comprising:

[0034] The welding effect evaluation module is used to obtain welding data from the welding power source and the welding results from the welding robot.

[0035] The welding effect evaluation module is also used to evaluate the welding effect of the welding robot based on the welding data and the welding results, and obtain the evaluation result;

[0036] An arc welding control module is used to acquire welding control priority of the welding robot when the evaluation result does not meet the preset conditions.

[0037] The arc welding control module is also used to adjust the welding parameters of the welding power source based on the welding control priority to obtain the adjusted welding parameters, so that the welding power source performs arc welding according to the adjusted welding parameters.

[0038] Furthermore, to achieve the above objectives, the present invention also proposes an arc welding control device, the arc welding control device comprising: a memory, a processor, and an arc welding control program stored in the memory and executable on the processor, the arc welding control program being configured to implement the steps of the arc welding control method as described above.

[0039] In addition, to achieve the above objectives, the present invention also proposes a storage medium storing an arc welding control program, which, when executed by a processor, implements the steps of the arc welding control method as described above.

[0040] This invention collects real-time parameters and welding results during the welding process. When the welding effect is not as expected based on the parameters and welding results, it replaces the welding robot's priority on the welding parameters of the welding power source and resets the welding parameters according to the real-time parameters and welding results. This allows for more flexible control of the welding parameters of the welding power source and achieves better welding results. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the structure of the arc welding control equipment in the hardware operating environment involved in the embodiments of the present invention;

[0042] Figure 2 This is a flowchart illustrating the first embodiment of the arc welding control method of the present invention;

[0043] Figure 3 This is a schematic diagram of the control logic between the arc welding robot and the arc welding power source in one embodiment of the arc welding control method of the present invention.

[0044] Figure 4 This is a schematic diagram illustrating the operational logic of the arc welding robot, arc welding power supply, and arc welding cloud controller in one embodiment of the arc welding control method of the present invention.

[0045] Figure 5 This is a schematic diagram illustrating the alternation of priority between the arc welding robot and the arc welding cloud controller in one embodiment of the arc welding control method of the present invention.

[0046] Figure 6 This is a flowchart illustrating the second embodiment of the arc welding control method of the present invention;

[0047] Figure 7 This is a structural block diagram of the first embodiment of the arc welding control device of the present invention.

[0048] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0049] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0050] Reference Figure 1 , Figure 1 This is a schematic diagram of the arc welding control equipment structure of the hardware operating environment involved in the embodiments of the present invention.

[0051] like Figure 1 As shown, the arc welding control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0052] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the arc welding control equipment and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0053] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and an arc welding control program.

[0054] exist Figure 1 In the arc welding control device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the arc welding control device of the present invention can be set in the arc welding control device. The arc welding control device calls the arc welding control program stored in the memory 1005 through the processor 1001 and executes the arc welding control method provided in the embodiment of the present invention.

[0055] This invention provides an arc welding control method, referring to... Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of an arc welding control method according to the present invention.

[0056] In this embodiment, the arc welding control method includes the following steps:

[0057] Step S10: Obtain welding data from the welding power source and obtain the welding results from the welding robot.

[0058] It should be noted that the arc welding control method can be applied to arc welding robots, arc welding power supplies, and arc welding cloud controllers. The arc welding power supply, acting as a slave station, performs arc welding on the target object based on arc welding parameters issued by the arc welding robot or the arc welding cloud controller. For details on the control logic between the arc welding robot and the arc welding power supply, please refer to [reference needed]. Figure 3 . Figure 3 Specifically, it also includes: workbench, ground wire, arc welding power supply, communication line, main circuit cable, control cabinet, wire spool, welding wire, gas pipe, gas cylinder, robot wire feeder, wire feeder control line, etc.

[0059] To further clarify, the operation of the arc welding robot, arc welding power supply, and arc welding cloud controller can be referenced. Figure 4 , Figure 4 The Zhongyun Control Management System can be understood as the arc welding cloud controller. The robot control system in the figure can be understood as the robot controller inside the arc welding robot, which controls the welding power source to perform welding work.

[0060] It should be emphasized that, Figure 3 or Figure 4 It can be understood that the welding power supply, wire feeder and other equipment are slave stations. The characteristic of a slave station is that other external devices can be connected in parallel indefinitely but are all controlled by the master station. This invention makes it possible to switch the control of the entire system by adopting an alternating takeover of the robot master station and the cloud control master station.

[0061] Furthermore, the cloud control and management system connects to the robot system and welding power supply via the network, and can be operated via PC or mobile phone, including data monitoring and data distribution management.

[0062] It should be noted that the execution subject of this embodiment is an arc welding control device (or cloud controller). The arc welding control device has functions such as data processing, data communication and program execution. The arc welding control device can be an integrated controller, a control computer or other devices with similar functions. This embodiment does not limit the scope of the invention.

[0063] Understandably, during the welding process, the welding power source can perform welding actions according to the issued parameters or the preset parameters. In this process, obtaining the welding data of the welding power source can involve identifying or collecting the welding parameters that the welding power source is currently executing.

[0064] It should be understood that the welding power source performs welding based on the issued or set welding parameters. During the welding process, the current welding result can be captured by an image acquisition device (such as a camera or video camera), which is the result of welding the product to be welded. The captured welding image is used as the welding result.

[0065] Step S20: Evaluate the welding effect of the welding robot based on the welding data and the welding results, and obtain the evaluation results.

[0066] Understandably, the welding effect of the welding robot is evaluated based on the welding data and the welding results. The evaluation result can be the difference between the welding data and the standard data, and the welding image is used to identify whether the welding meets the standard.

[0067] It should be noted that the evaluation of the welding effect of the welding robot based on the welding data and the welding results can be achieved by performing data analysis on the welding data and welding results, and determining whether there are welding defects in the arc welding based on the analysis results; when there are welding defects in the arc welding, the current welding effect of the welding robot is evaluated based on the welding defects.

[0068] It is understood that data analysis of the welding data and welding results can be used to determine whether the welding parameters exceed the parameter threshold, and analysis of the welding results can be used to perform image analysis on the acquired welding images to determine whether the welding steps are correct and whether there are errors or omissions in the welding content in the images.

[0069] It should be understood that welding defects can include errors in welding steps, welding positions, excessive welding gaps, and deviations in welding parameters. While errors in welding steps or welding positions can directly lead to poor welding results, image recognition of the welding results can further determine if gaps exceed a threshold. If the gaps do not exceed the threshold, the welding result is considered acceptable; if they do exceed the threshold, the welding result is considered unacceptable.

[0070] It should be noted that the data analysis of the welding data and welding results, and the determination of whether there are welding defects in the arc welding based on the analysis results, includes: checking whether the welding data exceeds a parameter threshold; when the welding data does not exceed the parameter threshold, comparing the welding data with preset parameters to obtain target preset parameters corresponding to the welding data, wherein the preset parameters are welding parameters pre-set for different welding steps or different welding processes, and the target preset parameters are preset parameters that successfully match the welding steps or welding processes corresponding to the welding data; determining whether there are welding defects in the arc welding based on the target preset parameters; and performing image analysis on the welding results to obtain the welding steps and welding errors; and determining whether there are welding defects in the arc welding based on the welding steps and the welding errors.

[0071] Furthermore, the parameter threshold can be a pre-set offset range of welding parameters in the welding data. For example, if the welding parameters are 0.7, 1.5, and 108, and the parameter threshold can be 0.5-1.2, 1.2-1.5, and 100-110, then since the welding parameters 0.7, 1.5, and 108 fall within the range of the parameter threshold, it is considered that they do not exceed the parameter threshold. If any one or more parameters exceed the parameter threshold, then the welding data is considered to exceed the parameter threshold.

[0072] Furthermore, the preset parameters can be pre-set parameters for different welding steps or processes during the welding process of the welding robot. These parameters are matched with the welding steps or processes corresponding to the welding data, and the welding parameters corresponding to the successfully matched steps or processes are used as target preset parameters. The target preset parameters are compared with the current welding data. If the welding parameters are different or the data deviation between the welding parameters and the preset welding parameters is too large, a welding defect is considered to exist in the current arc welding.

[0073] Furthermore, the image analysis of the welding results can be performed using algorithms such as template matching, blob analysis, and deep learning to analyze the acquired welding images. These algorithms can identify welding steps and welding errors in the image, compare the current welding gap corresponding to the current welding step with a preset welding gap threshold for that step, and determine whether a welding defect exists based on the comparison result. It can be understood that the presence of welding defects in arc welding can be determined separately through analysis of welding data and analysis of welding results, or the welding steps and welding parameters can be obtained through image recognition of the welding results, followed by data analysis, and the combination of welding data analysis and welding result analysis can be used to determine whether a welding defect exists.

[0074] Step S30: When the evaluation result does not meet the preset conditions, the welding control priority of the welding robot is obtained.

[0075] Understandably, if the evaluation result is that the welding is qualified, it can be considered that the evaluation result meets the preset conditions, and the next welding step can be carried out; if the evaluation result is that the welding is unqualified, it can be considered that the evaluation result does not meet the conditions, and welding control priority is obtained.

[0076] It should be noted that in this embodiment, both the cloud controller and the robot can act as the master station to control the welding parameters of the welding power supply of the slave station. When the current evaluation result does not meet the preset conditions, it can be understood that the welding parameters corresponding to the current welding power supply do not meet the standards and cannot meet the welding requirements of the current welding step and welding process. In this case, the cloud controller obtains the welding priority at the welding robot. At this time, the cloud controller can control the welding power supply to adjust the welding parameters and adjust the welding defects.

[0077] In practical implementation, the welding robot, as the highest-priority controller, executes its trajectory and all welding parameters of the slave welding power supply according to the data provided by the robot. After diagnostic analysis of all welding data, if a significant deviation from the actual data is detected during the welding process that may affect the welding effect, the cloud controller reclaims the welding data priority from the robot and issues instructions to the slave welding power supply to automatically change the corresponding welding parameters, achieving intelligent welding. For details on the alternating control priority between the welding robot and the cloud controller over the welding power supply, please refer to [reference needed]. Figure 5 ,based on Figure 5 The priority control strategy in this context provides a foundation for the AI ​​system to issue control commands to the welding robot after the future blockchain cloud platform is integrated with artificial intelligence, ensuring a smooth transfer of control between the robot and the AI.

[0078] Step S40: Adjust the welding parameters of the welding power source based on the welding control priority to obtain the adjusted welding parameters, so that the welding power source performs arc welding according to the adjusted welding parameters.

[0079] Understandably, welding parameters are calculated based on welding parameters and welding errors. The cloud controller then calculates the error ratio based on these welding parameters and errors, and adjusts the welding parameters accordingly. Alternatively, the error of each welding parameter can be obtained based on image recognition or data analysis, and the welding parameters can be adjusted based on the specific error.

[0080] In practice, adjusting welding parameters based on specific errors can be done as follows: the current welding error is 'a', the current welding parameters are 0.7, 1.5, 108, and the standard welding parameters are 0.8, 1.35, 105. The parameters 0.7+a, 1.35+a, and 108-a are taken as the adjusted parameters, and these parameters are sent to the welding power source for arc welding.

[0081] This embodiment collects real-time parameters and welding results during the welding process. When the welding effect is not as expected based on the parameters and welding results, it replaces the welding robot's priority on the welding parameters of the welding power source and resets the welding parameters according to the real-time parameters and welding results. This allows for more flexible control of the welding parameters of the welding power source and achieves better welding results.

[0082] refer to Figure 6 , Figure 6 This is a flowchart illustrating a second embodiment of an arc welding control method according to the present invention.

[0083] Based on the first embodiment described above, the arc welding control method of this embodiment includes the following in step S40:

[0084] Step S41: Calculate the data difference between the welding data and the target preset parameters.

[0085] It is understood that the target preset parameters can be obtained after multiple experiments, and can be the welding parameters that provide the best welding effect for the current welding step or the current welding process.

[0086] It should be understood that welding data can be understood as the welding parameters of the welding power source during the welding process. These welding parameters can be parameters that have been set before the next adjustment of the welding power source and will not change, or they can be real-time parameters of the welding power source that are continuously collected to take into account the possible deformation that may occur during the continuous execution of the welding action. This embodiment uses welding data as a real-time parameter as an example for explanation.

[0087] It should be noted that by analyzing the data difference, the difference between the welding data and the target preset parameters can be found, and it can be further determined whether the current welding action is due to data distortion causing poor welding results, or whether the welding results are due to inaccurate parameter settings or other problems. If the welding parameters are fixed, the welding count and welding parameter setting time in the welding data can be compared with the welding count threshold and welding parameter time threshold in the target preset parameters to determine whether the welding count is too high or the current parameter is used for too long, resulting in unsatisfactory welding results.

[0088] Step S42: When the data difference exceeds a preset data threshold, the welding parameters of the welding robot are adjusted to obtain initial welding parameters.

[0089] Understandably, when the welding data is welding parameters, the preset data threshold can be understood as the preset parameter range. When the welding data is the number of welding operations or the welding time, the preset welding data threshold can be the maximum number of welding operations or the maximum welding parameter setting time.

[0090] It should be noted that by analyzing the data difference, the difference between the welding data and the target preset parameters can be found, and it can be further determined whether the current welding action is due to data distortion causing poor welding results, or whether the welding results are due to inaccurate parameter settings or other problems. If the welding parameters are fixed, the welding count and welding parameter setting time in the welding data can be compared with the welding count threshold and welding parameter time threshold in the target preset parameters to determine whether the welding count is too high or the current parameter is used for too long, resulting in unsatisfactory welding results.

[0091] Further, when the preset data threshold is exceeded, the welding parameters of the welding robot are adjusted to obtain the initial welding parameters. This can be done by adjusting the welding parameters to standard welding parameters, or by adding or subtracting errors from the current parameters to obtain the adjusted parameters.

[0092] Step S43: Perform image analysis on the welding results to obtain the actual welding deviation, wherein the actual welding deviation includes welding steps and welding errors.

[0093] Understandably, the welding result here can be a welding image captured during the welding process, and the welding content, welding steps, and welding gap can be identified through algorithms.

[0094] It should be understood that the actual welding deviation can be understood as the step deviation and the welding gap deviation. The step deviation may or may not exist. The welding gap can be compared with the gap threshold. When the identified welding gap is less than the gap threshold, it can be regarded as non-existent, and a certain numerical offset space is given to avoid excessive convergence and frequent adjustments.

[0095] In practical implementation, the cloud controller can receive both welding data and welding images, and then combine the welding data and welding formation images for comprehensive analysis. By capturing real-time welding images, it can quickly analyze welding defects in the welding process. When welding defects are detected, it can quickly seize control of the robot and provide the best control response. For example, after cloud diagnosis (i.e., determining whether welding defects have occurred), it sends instructions to the welding power supply to change the welding parameters, and at the same time sends instructions to the robot to fine-tune the robot's movement trajectory through offset control, thereby solving the problem of weld seam offset (weld seam not centered). By changing the welding parameters and weld seam trajectory, it can achieve precise and intelligent welding.

[0096] Step S44: Adjust the initial welding parameters according to the actual welding deviation to obtain the adjusted welding parameters.

[0097] It should be noted that after adjusting the welding parameters of the welding robot based on the welding control priority, the process further includes: calculating the offset of the welding robot based on the welding data and the welding result; and sending the offset to the welding robot so that the welding robot adjusts its motion trajectory according to the offset.

[0098] Understandably, based on the welding data and welding results, the actual welding deviation between the adjusted welding parameters can be obtained. Not every welding deviation can be changed by the welding power source. After obtaining the actual deviation, the parameters that the welding robot needs to adjust are calculated based on the parameters that need to be adjusted in the actual deviation, such as robot angle and robot position. The corresponding parameters that need to be adjusted are then sent to the welding robot. At this time, the cloud controller acts as the master station, and the welding robot can make adjustments according to the adjustment parameters sent by the cloud controller.

[0099] It should be emphasized that after obtaining the adjusted welding parameters so that the welding power source performs arc welding according to the welding parameters, the process includes: when the welding power source performs arc welding according to the adjusted welding parameters, feeding the welding parameters back to the welding robot, and transferring the welding control priority to the welding robot so that the welding robot performs arc welding according to the welding parameters.

[0100] Understandably, the control priority of the welding power source is communicated between the welding robot and the cloud controller. When the cloud controller detects that the welding result is not ideal, it adjusts the welding parameters and controls the welding power source to weld according to the adjusted welding parameters based on the priority of the cloud controller. At the same time, the adjusted welding parameters are sent to the welding robot, and the welding control priority is transferred to the welding robot. Subsequently, the welding robot maintains the priority and controls the welding power source to weld according to the adjusted welding parameters.

[0101] It should be further emphasized that after obtaining the adjusted welding parameters so that the welding power source performs arc welding according to the welding parameters, the process also includes: repeatedly acquiring the welding data of the welding power source and acquiring the welding result of the welding robot; evaluating the welding result of the welding robot based on the welding data and the welding result; and maintaining the control priority of the welding robot when the evaluation result meets preset conditions.

[0102] In this context, it is understandable that the alternating control of the welding power source between the welding robot and the cloud controller can be interpreted as enabling the cloud controller to monitor the welding effect in real time and obtain the control priority of the welding power source based on the welding effect. More specifically, the cloud controller has higher authority and can take over the control priority of the welding power source from the welding robot.

[0103] This embodiment compares welding data with the target preset parameters to determine whether the parameters occur actively or passively. Furthermore, it performs image analysis on the welding results to determine whether the welding gap meets the requirements. It judges whether the current welding parameters need to be adjusted from multiple perspectives, including parameter deviation and welding gap deviation. When adjustment is needed, the welding parameters are adjusted based on the welding gap identified by the welding data and welding results. As a result, the welding power source can perform welding based on more accurate welding parameters, resulting in better welding effects.

[0104] Furthermore, this embodiment of the invention also proposes a storage medium storing an arc welding control program, which, when executed by a processor, implements the steps of the arc welding control method described above.

[0105] Reference Figure 7 , Figure 7 This is a structural block diagram of the first embodiment of the arc welding control device of the present invention.

[0106] like Figure 7 As shown, the arc welding control device proposed in this embodiment of the invention includes:

[0107] The welding effect evaluation module 10 is used to acquire welding data from the welding power source and the welding results from the welding robot.

[0108] The welding effect evaluation module 10 is also used to evaluate the welding effect of the welding robot based on the welding data and the welding results, and obtain the evaluation result.

[0109] Arc welding control module 20 is used to obtain welding control priority of the welding robot when the evaluation result does not meet the preset conditions;

[0110] The arc welding control module 20 is further configured to adjust the welding parameters of the welding power source based on the welding control priority to obtain the adjusted welding parameters, so that the welding power source performs arc welding according to the adjusted welding parameters.

[0111] This embodiment collects real-time parameters and welding results during the welding process. When the welding effect is not as expected based on the parameters and welding results, it replaces the welding robot's priority on the welding parameters of the welding power source and resets the welding parameters according to the real-time parameters and welding results. This allows for more flexible control of the welding parameters of the welding power source and achieves better welding results.

[0112] In one embodiment, the welding effect evaluation module 10 is further used to perform data analysis on the welding data and welding results, and to determine whether there are welding defects in the arc welding based on the analysis results;

[0113] When welding defects exist in the arc welding, the current welding effect of the welding robot is evaluated based on the welding defects.

[0114] In one embodiment, the welding effect evaluation module 10 is further configured to determine whether the welding data exceeds a parameter threshold.

[0115] When the welding data does not exceed the parameter threshold, the welding data and the preset parameters are compared to obtain the target preset parameters corresponding to the welding data. The preset parameters are welding parameters pre-set for different welding steps or different welding processes, and the target preset parameters are preset parameters that successfully match the welding steps or welding processes corresponding to the welding data.

[0116] Determine whether there are welding defects in the arc welding based on the target preset parameters;

[0117] The welding results are then analyzed to obtain the welding steps and welding errors.

[0118] Based on the welding steps and the welding errors, it is determined whether there are welding defects in the arc welding.

[0119] In one embodiment, the arc welding control module 20 is further configured to calculate the data difference between the welding data and the target preset parameters;

[0120] When the data difference exceeds a preset data threshold, the welding parameters of the welding robot are adjusted to obtain initial welding parameters;

[0121] Image analysis is performed on the welding results to obtain the actual welding deviation, wherein the actual welding deviation includes welding steps and welding errors;

[0122] The initial welding parameters are adjusted based on the actual welding deviation to obtain the adjusted welding parameters.

[0123] In one embodiment, the arc welding control module 20 is further configured to calculate the offset of the welding robot based on the welding data and the welding result;

[0124] The offset is sent to the welding robot so that the welding robot adjusts its motion trajectory according to the offset.

[0125] In one embodiment, the arc welding control module 20 is further configured to feed back the welding parameters to the welding robot when the welding power source performs arc welding according to the adjusted welding parameters, and transfer the welding control priority to the welding robot so that the welding robot performs arc welding according to the welding parameters.

[0126] In one embodiment, the arc welding control module 20 is further configured to repeatedly acquire welding data from the welding power source and acquire the welding results of the welding robot;

[0127] The welding results of the welding robot are evaluated based on the welding data and the welding results.

[0128] When the evaluation results meet the preset conditions, the control priority of the welding robot is maintained.

[0129] It should be understood that the above are merely illustrative examples and do not constitute any limitation on the technical solutions of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any restrictions on this.

[0130] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this invention. In practical applications, those skilled in the art can select some or all of the workflow to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0131] Furthermore, it should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0132] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0133] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory (ROM) / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0134] It should be understood that although the steps in the flowcharts of this application's embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0135] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. An arc welding control method, characterized in that, The arc welding control method includes: Acquire welding data from the welding power source and obtain welding results from the welding robot; The welding effect of the welding robot is evaluated based on the welding data and the welding results to obtain the evaluation results; If the evaluation result does not meet the preset conditions, the welding robot shall be given priority in welding control. Based on the welding control priority, the welding parameters of the welding power source are adjusted to obtain the adjusted welding parameters, so that the welding power source performs arc welding according to the adjusted welding parameters; The evaluation of the welding effect of the welding robot based on the welding data and the welding results, to obtain the evaluation results, includes: The welding data and welding results are analyzed, and the presence of welding defects in the arc welding is determined based on the analysis results. When welding defects exist in the arc welding, the current welding effect of the welding robot is evaluated based on the welding defects; The step of performing data analysis on the welding data and welding results, and determining whether there are welding defects in the arc welding based on the analysis results, includes: Check whether the welding data exceeds the parameter threshold; When the welding data does not exceed the parameter threshold, the welding data and the preset parameters are compared to obtain the target preset parameters corresponding to the welding data. The preset parameters are welding parameters pre-set for different welding steps or different welding processes, and the target preset parameters are preset parameters that successfully match the welding steps or welding processes corresponding to the welding data. Determine whether there are welding defects in the arc welding based on the target preset parameters; The welding results are then analyzed to obtain the welding steps and welding errors. Based on the welding steps and the welding errors, it is determined whether there are welding defects in the arc welding; The adjustment of the welding parameters of the welding robot based on the welding control priority to obtain the adjusted welding parameters includes: Calculate the data difference between the welding data and the target preset parameters; When the data difference exceeds a preset data threshold, the welding parameters of the welding robot are adjusted to obtain initial welding parameters; Image analysis is performed on the welding results to obtain the actual welding deviation, wherein the actual welding deviation includes welding steps and welding errors; The initial welding parameters are adjusted based on the actual welding deviation to obtain the adjusted welding parameters; After adjusting the welding parameters of the welding robot based on the welding control priority, the method further includes: The offset of the welding robot is calculated based on the welding data and the welding results; The offset is sent to the welding robot so that the welding robot adjusts its motion trajectory according to the offset. The step of adjusting the welding parameters of the welding power source based on the welding control priority to obtain adjusted welding parameters, so that the welding power source performs arc welding according to the welding parameters, includes: When the welding power source performs arc welding according to the adjusted welding parameters, the welding parameters are fed back to the welding robot, and the welding control priority is transferred to the welding robot so that the welding robot performs arc welding according to the welding parameters.

2. The arc welding control method as described in claim 1, characterized in that, The step of adjusting the welding parameters of the welding power source based on the welding control priority to obtain adjusted welding parameters, so that the welding power source performs arc welding according to the welding parameters, further includes: Repeatedly acquire welding data from the welding power source to obtain the welding results from the welding robot; The welding results of the welding robot are evaluated based on the welding data and the welding results. When the evaluation results meet the preset conditions, the control priority of the welding robot is maintained.

3. An arc welding control device, characterized in that, The arc welding control device includes: The welding effect evaluation module is used to obtain welding data from the welding power source and the welding results from the welding robot. The welding effect evaluation module is also used to evaluate the welding effect of the welding robot based on the welding data and the welding results, and obtain the evaluation result; An arc welding control module is used to acquire welding control priority of the welding robot when the evaluation result does not meet the preset conditions. The arc welding control module is also used to adjust the welding parameters of the welding power source based on the welding control priority to obtain the adjusted welding parameters, so that the welding power source performs arc welding according to the adjusted welding parameters. The welding effect evaluation module is also used to perform data analysis on the welding data and welding results, and determine whether there are welding defects in the arc welding based on the analysis results; when there are welding defects in the arc welding, the current welding effect of the welding robot is evaluated based on the welding defects. The welding effect evaluation module is further configured to: determine whether the welding data exceeds a parameter threshold; when the welding data does not exceed the parameter threshold, compare the welding data with preset parameters to obtain a target preset parameter corresponding to the welding data, wherein the preset parameter is a welding parameter pre-set for different welding steps or different welding processes, and the target preset parameter is a preset parameter that successfully matches the welding step or welding process corresponding to the welding data; determine whether there is a welding defect in the arc welding based on the target preset parameter; and perform image analysis on the welding result to obtain the welding steps and welding errors; and determine whether there is a welding defect in the arc welding based on the welding steps and the welding errors. The arc welding control module is further configured to calculate the data difference between the welding data and the target preset parameters; when the data difference exceeds a preset data threshold, adjust the welding parameters of the welding robot to obtain initial welding parameters; perform image analysis on the welding result to obtain the actual welding deviation, wherein the actual welding deviation includes welding steps and welding errors; and adjust the initial welding parameters according to the actual welding deviation to obtain adjusted welding parameters. The arc welding control module is further configured to calculate the offset of the welding robot based on the welding data and the welding result; and send the offset to the welding robot so that the welding robot adjusts its motion trajectory according to the offset. The arc welding control module is also used to feed back the welding parameters to the welding robot when the welding power source performs arc welding according to the adjusted welding parameters, and to transfer the welding control priority to the welding robot so that the welding robot performs arc welding according to the welding parameters.

4. An arc welding control device, characterized in that, The device includes: a memory, a processor, and an arc welding control program stored in the memory and executable on the processor, the arc welding control program being configured to implement the arc welding control method as described in any one of claims 1 and 2.

5. A storage medium, characterized in that, The storage medium stores an arc welding control program, which, when executed by a processor, implements the arc welding control method as described in any one of claims 1 and 2.

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