Welding control method and system

Abstract

The application provides a welding control method and system. The method comprises the following steps: welding a welding piece through a welding head; continuously measuring a deformation amount of the welding piece and welding energy during the welding; obtaining a welding parameter comparison conclusion by comparing a relationship between the deformation amount and a deformation amount threshold and a relationship between the welding energy and an energy threshold, wherein the deformation amount threshold comprises a maximum deformation amount and a minimum deformation amount, and the energy threshold comprises a maximum welding energy and a minimum welding energy; and ending the welding when the welding parameter comparison conclusion satisfies any one of a set of judgment conditions, wherein the set of judgment conditions comprises three or more than three judgment conditions set according to the deformation amount threshold and the welding energy. The method and system provided by the application can solve the problem of poor welding effect caused by welding piece or detection abnormality, and achieve better welding effect.

Description

TECHNICAL FIELD

[0001] The present application mainly relates to the field of welding, in particular to a welding control method and system. BACKGROUND

[0002] In the field of welding, some welding control means are usually adopted to realize welding automation by regulating control parameters. However, in the prior art, the judgment condition for the end of welding is only some single judgment logic, for example, one or two judgment conditions related to welding control parameters are usually used to determine whether the welding is ended. There are some problems in the judgment conclusion of whether the welding is ended by these methods. For example, the welding may reach the preset depth due to the abnormal height of the welding part, but the actual welding is not normal, or the welding energy may reach the preset energy due to the welding part or pressure problem, but the effective welding is not achieved. Therefore, there is still a lack of a scheme that can comprehensively consider the abnormal conditions in the welding process to stop welding at the appropriate time. SUMMARY

[0003] The technical problem to be solved by the present application is to provide a welding control method and system, which can solve the problem of poor welding effect caused by welding part or detection abnormality, and realize better welding effect.

[0004] To solve the above technical problem, the present application provides a welding control method, comprising the following steps: welding a welding part by a welding head; continuously measuring a deformation amount of the welding part and welding energy during the welding; obtaining a welding parameter comparison conclusion by comparing a relationship between the deformation amount and a deformation amount threshold and a relationship between the welding energy and an energy threshold, wherein the deformation amount threshold comprises a maximum deformation amount and a minimum deformation amount, and the energy threshold comprises a maximum welding energy and a minimum welding energy; and ending the welding when the welding parameter comparison conclusion meets any judgment condition in a judgment condition set, wherein the judgment condition set comprises at least three or more judgment conditions set according to the deformation amount threshold and the welding energy.

[0005] Optionally, the judgment condition set at least simultaneously comprises the following three judgment conditions: the deformation amount is greater than or equal to the minimum deformation amount and the welding energy is greater than or equal to the minimum welding energy; the deformation amount is greater than or equal to the maximum deformation amount; and the welding energy is greater than or equal to the maximum welding energy.

[0006] Optionally, the welding of the welding part by the welding head comprises ultrasonic welding.

[0007] Optionally, the welding control method further comprises setting a pre-welding mode or a variable amplitude mode and a formal welding mode, and the step of welding the workpiece by the welding head further comprises welding the workpiece by the pre-welding mode or the variable amplitude mode first, and then welding the workpiece by the formal welding mode, wherein a first welding amplitude of the pre-welding mode or the variable amplitude mode is different from a second welding amplitude of the formal welding mode.

[0008] Optionally, the pre-welding mode comprises a pre-welding stage and a stop stage executed in sequence, wherein when the welding control method comprises welding the workpiece by the pre-welding mode first, and then welding the workpiece by the formal welding mode, the welding control method further comprises welding the workpiece by the pre-welding welding amplitude in the pre-welding stage, and stopping welding the workpiece in the stop stage.

[0009] Optionally, when the welding mode by the welding head comprises ultrasonic welding, the welding control method further comprises setting an ultrasonic duration of 5-50 ms for the pre-welding stage in the pre-welding mode, and setting a stop time of 5-50 ms for the stop stage in the pre-welding mode.

[0010] Optionally, the welding control method further comprises setting a first time point of entering the formal welding mode as a time point when the deformation amount is 0, and when the deformation amount of the workpiece is continuously measured, the measured value of the deformation amount is calculated from the first time point.

[0011] Optionally, the welding control method further comprises setting the first time point of entering the formal welding mode as a time point when the welding energy is 0, and when the welding energy of the workpiece is continuously measured, the measured value of the welding energy is calculated from the first time point.

[0012] To solve the above technical problems, the present application provides a welding control system, comprising a welding head and a control module connected with the welding head, wherein the control module is configured to weld a workpiece by the welding head by using the welding control method as described above.

[0013] To solve the above technical problems, the present application provides a computer readable medium storing computer program codes, which, when executed by a processor, implement the method as described above.

[0014] Compared with the prior art, the present application can solve the problem of poor welding caused by workpiece or detection abnormalities by continuously measuring the deformation amount of the workpiece and the welding energy and judging whether the welding is ended from multiple dimensions, and achieve better welding effect. BRIEF DESCRIPTION OF DRAWINGS

[0015] The accompanying drawings are included to provide a further understanding of the present application and are incorporated in and constitute a part of this application, illustrate embodiments of the present application and together with the description serve to explain the principles of the present application. In the drawings:

[0016] Figure 1 is a flow chart of a welding control method in an embodiment of the present application;

[0017] Figure 2 is a logic diagram of a welding control method in an embodiment of the present application;

[0018] Figure 3 is a working state diagram of a welding control method in an embodiment of the present application;

[0019] Figure 4 is a welding state diagram of a welding piece using a welding control method in an embodiment of the present application;

[0020] Figure 5 is a working state diagram of a welding control method in another embodiment of the present application; and

[0021] Figure 6 is a module diagram of a welding control system in an embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some examples or embodiments of the present application, and for those skilled in the art, the present application can be applied to other similar scenarios without creative labor on the basis of these drawings. Unless the context clearly indicates otherwise or otherwise stated, the same reference numbers in the drawings represent the same structure or operation.

[0023] As shown in the present application and claims, unless the context clearly indicates otherwise or otherwise stated, "one", "a", "an", and / or "the" do not specifically refer to the singular, but also include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements explicitly identified, and these steps and elements do not constitute an exclusive list, and the method or device can also include other steps or elements.

[0024] The foregoing is a summary and thus contains only the most basic embodiment. The application can be practiced with the specific embodiments and options described herein, and it can also be practiced without such specific embodiments and options. Furthermore, the foregoing summary should not limit the scope of the application to a single feature or option described herein. Accordingly, no single feature or option is a requisite for a practice of the application. Unless otherwise specifically explained herein, the relative arrangements of parts, sequences of processes, numerical expressions, and values stated in these embodiments are not meant to limit the scope of the present application. Also, it is understood that the dimensions of the various parts shown in the drawings are not drawn to scale. Techniques, methods, and devices known to those of ordinary skill can not be discussed in detail because such can be understood by persons skilled in the relevant art. In the examples shown and discussed herein, any specific values are to be interpreted as merely exemplary, and not limiting. Other examples of the exemplary embodiments can have different values. It is noted that like numbers and letters refer to like parts throughout the several views of the drawings and, as such, no further discussions on such will be separately undertaken since such will be understood from the description below.

[0025] In the description of the present application, it is to be understood that the orientation or positional relationships indicated by terms such as "front", "back", "up", "down", "left", "right", "lateral", "vertical", "horizontal", and "top", "bottom" are generally based on the orientation or positional relationships shown in the drawings, and are merely for convenience of description and simplification of the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be construed as limiting the scope of the present application. The orientation terms "inner", "outer" refer to the inner and outer relative to the contour of the parts themselves.

[0026] For the convenience of description, spatial relative terms such as "over", "above", "upper surface", "upper", and the like can be used herein to describe the spatial position relationship of one device or feature with respect to other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the devices as described in the drawings. For example, if the devices in the drawings are inverted, the device described as "above" or "over" other devices or structures will be positioned "below" or "under" the other devices or structures. Thus, the exemplary term "above" can include both "above" and "below" orientations. The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein are interpreted accordingly.

[0027] Furthermore, it should be noted that the use of "first", "second", etc. to define parts is merely for the convenience of distinguishing the corresponding parts, and the above words have no special meaning unless otherwise stated, and therefore cannot be understood as limiting the scope of protection of the present application. In addition, although the terms used in the present application are selected from commonly known terms, some terms mentioned in the specification of the present application may be selected by the applicant according to his or her judgment, and the detailed meanings thereof are described in the relevant part of the description. In addition, the present application is required to be understood not only by the actual terms used, but also by the meaning implied by each term.

[0028] The present application refers to Figure 1 A welding control method (hereinafter referred to as "control method 10") is proposed, which includes steps S1-S4. Flowcharts are used in the present application to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the preceding or subsequent operations are not necessarily performed in sequence. On the contrary, various steps can be processed in reverse order or simultaneously. Meanwhile, other operations can be added to these processes, or one or more steps can be removed from these processes.

[0029] Specifically, step S1 includes welding the workpiece by the welding head. For example, the welding of the workpiece by the welding head in the present embodiment includes ultrasonic welding.

[0030] Further referring to Figure 2 Step S2 includes continuously measuring the deformation amount of the workpiece and the welding energy during the welding. In the present embodiment, it can be understood that the deformation amount is defined as the depth of the welding operation on the workpiece; in addition, the welding energy can be directly obtained by the welding machine corresponding to the connection of the welding head.

[0031] Further, step S3 includes obtaining a welding parameter comparison conclusion by comparing the relationship between the deformation amount and the deformation amount threshold and the relationship between the welding energy and the energy threshold, wherein the deformation amount threshold includes the maximum deformation amount and the minimum deformation amount, and the energy threshold includes the maximum welding energy and the minimum welding energy.

[0032] Finally, step S4 includes ending the welding when the welding parameter comparison conclusion satisfies any one of a set of judgment conditions, wherein the set of judgment conditions includes at least three or more judgment conditions set according to the deformation amount threshold and the welding energy.

[0033] Compared with the prior art, the control method 10 can effectively realize the situation that the effective welding cannot be realized in the abnormal situation caused by the single dimension of the judgment condition by setting three or more judgment conditions. Referring to Figure 2 , a preferred implementation of the control method 10 is given. According to Figure 2, set the welding deformation amount H, the minimum deformation amount ΔHmin, the maximum deformation amount ΔHmax, the welding energy E, the minimum welding energy ΔEmin, and the maximum welding energy ΔEmax. Figure 2 A preferred judgment logic is schematically shown, which requires that the above three conditions are simultaneously satisfied in the judgment condition set. According to the judgment logic, the judgment result is YES when the judgment condition set is satisfied, and the judgment result is NO when the judgment condition set is not satisfied. Figure 2 In the control of the welding head to weld the workpiece, first, it is judged whether the deformation amount H is greater than or equal to the maximum deformation amount ΔHmax, and when the judgment result is YES, the welding is directly ended. If the judgment result is NO, it is further judged whether the welding energy E is greater than or equal to the maximum welding energy ΔEmax, and if the judgment result is YES, the welding is directly ended. Finally, if the judgment result is NO, it is further judged whether the deformation amount H is greater than or equal to the minimum deformation amount ΔHmin and the welding energy E is greater than or equal to the minimum welding energy ΔEmin, and if the judgment result is YES, the welding is ended, otherwise the welding is continued.

[0034] It can be understood that, by using the judgment logic as shown in Figure 2 , it can be considered that the step S4 as shown in Figure 1 is specifically implemented to include at least three judgment conditions in the judgment condition set at the same time:

[0035] Condition 1: when the deformation amount H is greater than or equal to the minimum deformation amount ΔHmin and the welding energy E is greater than or equal to the minimum welding energy ΔEmin, the welding is ended;

[0036] Condition 2: when the deformation amount H is greater than or equal to the maximum deformation amount ΔHmax, the welding is ended; and

[0037] Condition 3: when the welding energy E is greater than or equal to the maximum welding energy ΔEmax, the welding is ended.

[0038] In the above preferred real-time scheme, by increasing the lower limit of the deformation amount H and the welding energy E, the workpiece can still achieve effective welding effect in abnormal conditions, thereby improving the welding qualification rate, reducing the scrap rate, and improving the production efficiency.

[0039] In a more preferred embodiment of the present application based on the control method 10, a pre-welding mode or variable amplitude mode and a formal welding mode can also be set. In such an embodiment, as shown in Figure 1Step 11, which involves welding the workpiece with a welding head, further includes first welding the workpiece using a pre-welding mode or a variable amplitude mode, and then welding it using the formal welding mode. The first welding amplitude of the variable amplitude mode differs from the second welding amplitude of the formal welding mode. Furthermore, the pre-welding mode can preferably include a pre-welding stage and a stop stage executed sequentially. In such an embodiment, the workpiece can be welded using a pre-welding amplitude during the pre-welding stage, and welding can be stopped during the stop stage.

[0040] To better illustrate these preferred methods, specifically... Figure 3 A specific implementation scheme employing a pre-welding mode is shown. According to... Figure 3 This diagram illustrates the relationship between the actual deformation D (y-axis direction) of the weldment and the welding time t (x-axis direction). Curve L represents the variation of the actual deformation D of the weldment with welding time t. The dashed lines indicate the relative magnitudes of the welding amplitudes at different stages. In this model, time period t1 represents the pre-welding stage, where welding is performed using the pre-welding mode, and the welding amplitude used is consistently the first welding amplitude a. Time period t2 represents the stop stage, where welding is halted. Time period t3 represents the formal welding mode, where welding is performed using the second welding amplitude b. Welding ends after t3. As mentioned above, the first welding amplitude a is smaller than the second welding amplitude b in the formal welding mode.

[0041] In this application, preferably, when the welding head uses ultrasonic welding on the workpiece, the duration of t1 in the pre-welding stage can be set to 5-50 ms, that is, the duration of the ultrasonic wave is 5-50 ms, preferably 8-12 ms. The duration of t2 in the stopping stage can be set to 5-50 ms, preferably 12-18 ms, at which time ultrasonic welding on the workpiece is stopped. Furthermore, from... Figure 3 It can be seen that when the workpiece is in the stopping stage (time period t2), the rise of curve L on the y-axis tends to be flat, which means that the deformation of the workpiece gradually tends to remain unchanged or the rate of change is less than the preset value. At this time, point P is reached to control the welding head to weld the workpiece in the formal welding mode.

[0042] Return to reference Figure 2, in order to accurately make a conclusion for the multiple welding end judgment conditions, it is necessary to continuously measure the deformation amount H of the welding piece during the welding process. In the embodiment, more preferably, the measurement value of the deformation amount H is measured at the first time tc as the first time point of entering the formal welding mode, at which the welding is performed using the second welding amplitude b. In the embodiment, preferably, the value of the deformation amount H (or can be understood as the measured deformation amount H opposite to the concept of the actual deformation amount D) is considered as 0 at the time tc, and the deformation amount H of the welding piece is continuously measured.

[0043] In order to better understand the preferred mode, Figure 4 The working condition of welding for two welding pieces 41 is shown. Among them, 42 is the welding pit formed at the end of the final welding (i.e. Figure 3 The end time t3 shown). At the time t0 as shown in the figure, Figure 3 The actual deformation amount D of the welding piece 41 is 0; and during the continuous welding process, the time tc is reached, at which the welding piece 41 completes the pre-welding stage t1 and the stop stage t2, and the deformation amount H of the welding piece 41 is measured at the time tc when the formal welding mode is ready to enter, and compared with the minimum deformation amount ΔHmin or the maximum deformation amount ΔHmax during the continuous measurement, thereby effectively controlling the welding process.

[0044] On the other hand, preferably, in addition to setting the measurement starting time of the deformation amount H in the above-mentioned manner, the welding energy E can also be set to start at the time tc. That is, after entering the formal welding mode from the P point as shown in the figure, Figure 3 The values of the deformation amount H and the welding energy E for the above-mentioned logical judgment are measured at the same time.

[0045] The above-mentioned setting of the pre-welding mode and the formal welding mode can make the welding surface of the welding piece in the pre-welding mode be compacted, so that in the formal welding mode, the welding piece will not appear the situation that the deformation amount calculation is inaccurate due to the welding surface not being compacted. In addition, as explained above, some single judgment dimensions of the prior art ignore some welding abnormal working conditions. In the preferred real-time scheme, the measurement starting point of the deformation amount H is distinguished from the time when the actual deformation amount of the welding piece is 0, and combined with the judgment logic of the minimum deformation amount and the minimum welding energy, the situation that the welding reaches the preset depth but is not actually welded due to the abnormal height of the welding piece, or the situation that the welding energy reaches the preset energy but still does not reach the effective welding due to the welding piece or the pressure problem, can be effectively avoided, and the reliability and stability of the welding are improved.

[0046] On the other hand, referring to the above-mentioned Figure 3 and Figure 4The preferred embodiment of the pre-welding mode is described above. The pre-welding mode can be replaced by a variable-amplitude welding mode in the present application. Referring to Figure 5 , Figure 5 The relationship between the actual deformation D (y-axis direction) of the welding piece and the welding time t (x-axis direction) in the variable-amplitude welding mode is shown in the figure, wherein the curve L' represents the relationship between the actual deformation D of the welding piece and the welding time t, and the dashed line part indicates the relative size of the welding amplitudes in different stages. As shown in the figure, Figure 5 the welding amplitude c is used at the beginning of the welding, and the welding duration is t4. As can be seen from the figure, the rising amplitude of the curve l on the y-axis tends to be flat in the second half of t4, which means that the deformation of the welding piece tends to be constant or the change rate is less than the preset value. When the welding position reaches the Q point (deformation is 0), the welding amplitude is increased to the amplitude d, and the welding time is t5. After t5 ends, the welding is ended.

[0047] The preferred embodiment of the pre-welding mode is described above. The pre-welding mode can be replaced by a variable-amplitude welding mode in the present application. Referring to Figure 6 A welding control system 20 is provided, which comprises a welding head 21 and a control module 22 connected to the welding head, wherein the control module 22 is configured to control the welding head to weld the welding piece by using the welding control method of any embodiment of the present application. The method is described with reference to Figures 1-5 The welding control method 10 and its preferred variant embodiments are described.

[0048] In addition, another aspect of the present application provides a computer readable medium storing computer program codes, which, when executed by a processor, implement the welding control method described above.

[0049] The above has described the basic concepts. Obviously, the above disclosure is only an example for the skilled in the art, and does not limit the present application. Although the modifications, improvements and corrections of the present application are not explicitly described, the skilled in the art can make various modifications, improvements and corrections. Such modifications, improvements and corrections are suggested in the present application, and therefore, such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of the present application.

[0050] Meanwhile, specific words are used in the present application to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" means a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that the "one embodiment" or "one alternative embodiment" mentioned in different positions in the specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be properly combined.

[0051] Computer readable media can include a propagated data signal with a program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal can take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any combination thereof. Computer readable media can be any media that can be accessed by a computer. By way of example, and not limitation, such computer readable media can comprise RAM, ROM, EEPROM, CD-ROM or any combination thereof. The computer readable media can be transitory, such as a modulated data signal, including, but not limited to, carrier waves, or other transmission media and / or storage media. Alternatively, the computer readable media can be non-transitory, such as a semiconductor manufacturing mask, other hardware implementation, and / or any program code on a computer readable medium that is manifested in a manufacturing or processing, such as an integrated circuit.

[0052] It should also be noted that, as used in the specification and the claims, the singular form "a", "an" and "the" include plural references unless the context clearly dictates otherwise. As used herein, the expression "at least one of A and B" means that A is present alone, B is present alone, or both A and B are present.

[0053] Some embodiments use numerical descriptors of components, quantities of attributes. It should be understood that such numerical descriptors used in the description of embodiments are, in some examples, modified by the adjectives "about", "approximately", or "generally". Unless otherwise stated, "about", "approximately", or "generally" indicates that the described numerical value allows for ±20% variation. Accordingly, numerical values used in the specification and claims are approximations that can vary depending on the desired properties sought to be obtained by a particular embodiment. In some embodiments, numerical values used in the specification and claims are approximations that can vary depending on the desired properties sought to be obtained by a particular embodiment. In some embodiments, numerical values should be considered in the context of the number of significant digits used for measurement and the acceptable error for measurement in the art. Although the numerical ranges and parameters setting forth the broadest scope of the application in some embodiments are approximations, the numerical values set forth in the specific examples are reported as precisely as practicable. The numerical values set forth in the specific examples are provided to be as precise as reasonably possible. However the specific numerical values set forth in the examples should not convey the impression that the application is limited to the specific numerical values.

[0054] While the application has been described with reference to the currently preferred embodiments, those skilled in the art will recognize that changes can be made within the spirit of the application, and it is intended to include all such changes as fall within the scope of the appended claims.

Claims

1. A welding control method characterized by, The method comprises the following steps: welding the workpiece by a welding head; continuously measuring the deformation amount and welding energy of the workpiece during the welding; obtaining a welding parameter comparison conclusion by comparing the relationship between the deformation amount and a deformation amount threshold and the relationship between the welding energy and an energy threshold, wherein the deformation amount threshold comprises a maximum deformation amount and a minimum deformation amount, and the energy threshold comprises a maximum welding energy and a minimum welding energy; and ending the welding when the welding parameter comparison conclusion satisfies any one of a set of judgment conditions, wherein the set of judgment conditions comprises three or more judgment conditions set according to the deformation amount threshold and the welding energy, and the set of judgment conditions comprises at least the following three judgment conditions: judging whether the deformation amount is greater than or equal to the maximum deformation amount, and the judgment result is a first judgment result, and the welding is ended when the first judgment result is yes; judging whether the welding energy is greater than or equal to the maximum welding energy when the first judgment result is no, and the judgment result is a second judgment result, and the welding is ended when the second judgment result is yes; judging whether the deformation amount is greater than or equal to the minimum deformation amount and whether the welding energy is greater than or equal to the minimum welding energy when the second judgment result is no, and the judgment result is a third judgment result, and the welding is ended when the third judgment result is yes.

2. The welding control method of claim 1, wherein, The welding of the workpiece by the welding head comprises ultrasonic welding.

3. The welding control method of claim 1 or 2, wherein, The method further comprises setting a pre-welding mode or a variable-amplitude mode and a formal welding mode, and the step of welding the workpiece by the welding head further comprises welding the workpiece in the pre-welding mode or the variable-amplitude mode first, and then welding the workpiece in the formal welding mode, wherein a first welding amplitude of the pre-welding mode or the variable-amplitude mode is different from a second welding amplitude of the formal welding mode.

4. The welding control method of claim 3, wherein, The pre-welding mode comprises a pre-welding stage and a stop stage executed in sequence, and when the welding control method comprises welding the workpiece in the pre-welding mode first, and then welding the workpiece in the formal welding mode, the welding control method further comprises welding the workpiece in the pre-welding welding amplitude in the pre-welding stage, and stopping welding the workpiece in the stop stage.

5. The welding control method of claim 4, wherein, When the welding of the workpiece by the welding head comprises ultrasonic welding, the welding control method further comprises setting an ultrasonic duration of 5-50 ms for the pre-welding stage in the pre-welding mode, and setting a stop time of 5-50 ms for the stop stage in the pre-welding mode.

6. The welding control method of claim 3, wherein, The method further comprises setting a first time point of entering the formal welding mode as a time point at which the deformation amount is 0, and the measurement value of the deformation amount is calculated from the first time point when the deformation amount of the workpiece is continuously measured.

7. The welding control method of claim 6, wherein, The method further comprises setting the first time point of entering the formal welding mode as a time point at which the welding energy is 0, and the measurement value of the welding energy is calculated from the first time point when the welding energy of the workpiece is continuously measured.

8. A welding control system characterized by, The method comprises: A welding head and a control module connected to the welding head, wherein the control module is configured to use the welding head to weld a workpiece using the welding control method of any one of claims 1-7.

9. A computer readable medium having stored computer program code which, when executed by a processor, implements the method of any one of claims 1-7.

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