A control method and system for intermittent welding of weld seams

Abstract

The present invention relates to the field of welding, and in particular to a control method and system for intermittent welding of welds, the method comprising: obtaining information of parts to be welded and initial welding parameters; determining first welding parameters based on the information of parts to be welded and the initial welding parameters; determining welding abnormality risks based on the information of parts to be welded, and correcting the first welding parameters based on the welding abnormality risks; and generating intermittent welding instructions based on the corrected first welding parameters.

Description

Technical Field

[0001] The present invention relates to the field of welding, and in particular to a control method and system for intermittent welding of welds. Background Art

[0002] Intermittent welding, also known as intermittent welding or flower welding, is a type of welding process. Intermittent welding is a welding method in which the weld is discontinuous during welding. Intermittent welding can properly arrange welding points and weld gaps. It is often used in welding scenarios where the weld is very long and does not require full welding, or in order to reduce thermal deformation and residual stress caused by welding or to reserve welding deformation space, such as thin plate structures.

[0003] However, during the intermittent welding process, the length of the weld and the weld gap may need to be adjusted according to actual conditions. Therefore, a control for intermittent welding is needed that can automatically generate instructions for controlling the welding equipment according to the intermittent welding parameters. Summary of the invention

[0004] One of the embodiments of the present specification provides a control method for intermittent welding of welds, including: obtaining information of parts to be welded and initial welding parameters; determining first welding parameters based on the information of parts to be welded and the initial welding parameters; determining welding abnormality risks based on the information of parts to be welded, and correcting the first welding parameters based on the welding abnormality risks; and generating intermittent welding instructions based on the corrected first welding parameters.

[0005] One of the embodiments of the present specification also provides a control system for intermittent welding of welds, including: an information acquisition module, used to obtain information about parts to be welded and initial welding parameters; a welding parameter determination module, used to determine first welding parameters based on the information about parts to be welded and the initial welding parameters; a welding parameter correction module, used to determine the risk of abnormal welding based on the information about parts to be welded, and to correct the first welding parameters based on the abnormal welding risk; an instruction generation module, used to generate intermittent welding instructions based on the corrected first welding parameters.

[0006] One of the embodiments of the present specification also provides a control device for intermittent welding of welds, including a processor, and the processor is used to execute the above-mentioned control method for intermittent welding of welds.

[0007] One of the embodiments of the present specification also provides a computer-readable storage medium, which stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes the above-mentioned control method for intermittent welding of welds. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] This specification will be further described in the form of exemplary embodiments, which will be described in detail by the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein:

[0009] Figure 1 It is a schematic diagram of an application scenario of a control system for intermittent welding of a weld according to some embodiments of this specification;

[0010] Figure 2 is an exemplary flow chart of a method for controlling intermittent welding of a weld according to some embodiments of this specification;

[0011] Figure 3 is a schematic diagram of parts to be welded and welds according to some embodiments of this specification;

[0012] Figure 4 It is an exemplary module diagram of a control system for intermittent welding of a weld according to some embodiments of the present specification. DETAILED DESCRIPTION

[0013] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of this specification. For ordinary technicians in this field, this specification can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0014] It should be understood that the "system", "device", "unit" and / or "module" used herein are a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

[0015] As shown in this specification and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0016] Flowcharts are used in this specification to illustrate the operations performed by the system according to the embodiments of this specification. It should be understood that the preceding or following operations are not necessarily performed precisely in order. Instead, the steps may be processed in reverse order or simultaneously. At the same time, other operations may also be added to these processes, or one or more operations may be removed from these processes.

[0017] In some applications that require high stability of welded structures, in order to improve the performance of welded structures, when intermittent welding is used, it is also necessary to select different intermittent distances of intermittent welding and the length of each small weld (also called sub-weld) in the intermittent welding according to the material and welding position of the structure to be welded, so as to reduce the deformation of the structure to be welded and improve the overall stability and stiffness of the structure after welding.

[0018] In view of this, some embodiments of the present specification provide a control method for intermittent welding of welds, which can configure different sub-weld lengths and gap distances of intermittent welding according to actual needs, so that the method can be automatically applicable to different welding scenarios. At the same time, this method can also adjust the aforementioned parameters according to the actual welding situation to make the welded structure have better overall stability.

[0019] Figure 1 It is a schematic diagram of an application scenario of a control system for intermittent welding of welds according to some embodiments of this specification.

[0020] In some embodiments, the control system 100 for intermittent welding of weld seams may include a processing device 110 , a welding device 120 , and a network 130 .

[0021] The processing device 110 may include various devices with computing capabilities, such as servers. In some embodiments, the server may be an independent server or a server group, which may be centralized or distributed. In some embodiments, the server may be regional or remote. In some embodiments, the server may be executed on a cloud platform.

[0022] The welding device 120 is a device for performing intermittent welding, such as a welding robot or a welding machine, etc. In some embodiments, the welding device 120 can obtain the intermittent welding instruction issued by the processing device 110 through the network 130 .

[0023] The network 130 connects the components of the system so that the components can communicate with each other. The network between the components in the system can include a wired network and / or a wireless network. For example, the network 130 can include a cable network, a wired network, an optical fiber network, etc. or any combination thereof.

[0024] Figure 2 is an exemplary flow chart of a method for controlling intermittent welding of a weld according to some embodiments of the present specification. A method for controlling intermittent welding of a weld in the figure may include a process 200, and one or more steps in the process 200 may be performed by Figure 1 Executed by the processing device 110 in.

[0025] Step 210 , obtaining information of the components to be welded and initial welding parameters. In some embodiments, step 210 may be performed by the information acquisition module 410 .

[0026] The information of the parts to be welded is various data about the parts to be welded that need to be obtained before welding. In some embodiments, the information of the parts to be welded may include material properties, plate thickness, and weld length of the parts to be welded.

[0027] In some embodiments, the information of the parts to be welded can be obtained through user input, or by querying the information of the parts to be welded in a storage device through the information acquisition module 410 .

[0028] The initial welding parameters are various parameters related to the intermittent welding process that need to be obtained before welding. In some embodiments, the initial welding parameters may include the length of each sub-weld in the intermittent welding and the spacing distance between welds.

[0029] In some embodiments, the initial welding parameters can be obtained by user input, or calculated by the information acquisition module 410 through a preset algorithm based on the information of the parts to be welded, for example, the length of each sub-weld and the interval distance between welds are calculated through the length information of the weld. In some embodiments, the initial welding parameters may also include parameters such as welding speed and welding gun angle, which may be input by the user or automatically configured by the information acquisition module 410 according to the welding process.

[0030] Step 220 , based on the information of the parts to be welded and the initial welding parameters, determine the first welding parameters. In some embodiments, step 220 may be performed by the welding parameter determination module 420 .

[0031] The first welding parameter is a parameter for generating an intermittent welding instruction. In some embodiments, the first welding parameter may include a starting position of each sub-weld in the intermittent welding, and a welding speed corresponding to each sub-weld.

[0032] In some embodiments, before generating the intermittent welding instruction, the first welding parameter may be corrected once or multiple times according to actual conditions, and details may refer to the relevant description of step 230.

[0033] In some embodiments, the welding parameter determination module 420 may determine the first welding parameter by vector matching. The welding parameter determination module 420 may vectorize the information of the component to be welded and the initial welding parameter to obtain a vector corresponding to the current intermittent welding task, and then match the closest historical vector in the historical vector database through the vector of the current intermittent welding task.

[0034] In some embodiments, the historical vector database contains multiple historical vectors and corresponding welding parameters. The historical vector can be obtained by manually selecting a structure with good welding effect after welding (such as a structure with small deformation and high stability after welding), obtaining the corresponding information of the parts to be welded and the initial welding parameters, and then vectorizing the selected structure. The welding parameter corresponding to the historical vector closest to the current intermittent welding task obtained by matching can be used as the first welding parameter.

[0035] Step 230 , determining the welding abnormality risk based on the information of the component to be welded, and modifying the first welding parameter based on the welding abnormality risk. In some embodiments, step 230 may be performed by a welding parameter modification module 430 .

[0036] The risk of abnormal welding indicates the degree of risk of defects such as deformation or stress concentration of the parts to be welded that may occur during intermittent welding.

[0037] In some embodiments, the welding abnormality risk can be a value. For example, the welding abnormality risk can be obtained by vector matching in a risk vector database based on the vectorized information of the parts to be welded. The vector matching method can be similar to the vector matching method of the initial welding parameters in the previous text, which will not be repeated here.

[0038] Among them, the risk vector database contains multiple risk vectors and corresponding welding abnormality risk values ​​(such as welding abnormality risk values ​​in the range of 0 to 10, the larger the value, the greater the degree of risk). The risk vector can be the vectorized sample to be welded parts information, and the welding abnormality risk value corresponding to the risk vector can be obtained by manual inspection or computer simulation analysis of the corresponding sample to be welded parts information. The abnormal risk value corresponding to the risk vector obtained by vector matching can be used as the welding abnormality risk.

[0039] In some embodiments, the welding abnormality risk may be a sequence. For more description of the welding abnormality risk sequence, please refer to the relevant content below.

[0040] In some embodiments, the welding parameter correction module 430 can correct the first welding parameter based on a preset rule. Taking the welding abnormality risk as an example, assuming that the first welding parameter includes the welding speed, the preset rule may include, for example, "when the welding abnormality risk value is between 5 and 7, increase the welding speed by 10%", "when the welding abnormality risk value is lower than 4, do not adjust the welding speed".

[0041] In some embodiments, the welding parameter correction module 430 may further execute step 230 multiple times to correct the first welding parameter multiple times.

[0042] Step 240 , generating an intermittent welding instruction based on the corrected first welding parameter. In some embodiments, step 240 may be performed by the instruction generation module 440 .

[0043] In some embodiments, the intermittent welding instruction is used to instruct the welding equipment (such as Figure 1 The welding device 120 in the middle performs intermittent welding on the part to be welded under the first welding parameter. The intermittent welding instruction can be generated according to the actual situation of the welding device. For example, the first welding parameter can be converted into the intermittent welding instruction through the intelligent operating system.

[0044] Through the control method of intermittent welding of welds, different sub-weld lengths and parameters such as gap distances of intermittent welding can be configured according to actual needs, so that the method can be automatically applied to different welding scenarios. At the same time, this method can also adjust the determined parameters according to the estimated welding conditions to make the welded structure have better overall stability.

[0045] It should be noted that the above description of the process 200 is only for example and illustration, and does not limit the scope of application of this specification. For those skilled in the art, various modifications and changes can be made to the process 200 under the guidance of this specification. However, these modifications and changes are still within the scope of this specification.

[0046] In some scenarios, in order to control automated equipment to achieve intermittent welding of components to be welded, the welding parameter determination module 420 may be configured to generate an intermittent welding point table containing a plurality of welding point coordinates.

[0047] In some embodiments, the first welding parameter includes an intermittent weld point table. The intermittent weld point table includes the starting point coordinates and the ending point coordinates of each sub-weld in the intermittent welding. The intermittent weld point table can be used to control the automatic welding equipment (such as Figure 1 The welding device 120 is used to weld the parts to be welded. For more descriptions of the starting point coordinates and the end point coordinates, please refer to the relevant content below.

[0048] In some embodiments, the information of the components to be welded includes the total length of the weld, which indicates the length of the weld required for intermittent welding of the components to be welded.

[0049] In some embodiments, the initial welding parameters include sub-weld length and initial weld gap. The sub-weld length indicates the length of each sub-weld in the intermittent welding. In some scenarios, the length of the first and last sub-welds of the intermittent welding may be different from the length of the middle sub-weld, and in some scenarios, the length of the middle sub-weld may not be exactly the same.

[0050] In some embodiments, the sub-weld length may include the length of the first and last sub-welds and the length of the middle sub-weld. The initial weld gap represents the spacing between each sub-weld. For ease of description, in the examples of this specification, the initial weld gaps between all sub-welds are the same for illustration. It should be noted that in some other embodiments, the initial weld gaps between sub-welds may be different, for example, the initial weld gap between the first and last sub-welds and the sub-weld closest thereto may be greater than the initial weld gaps between the remaining welds.

[0051] In some embodiments, determining the first welding parameter based on the information of the parts to be welded and the initial welding parameters may include: first, determining the number of sub-welds based on the total weld length, the sub-weld length, and the initial weld gap; then, determining multiple weld point coordinates based on the number of sub-welds, the total weld length, the sub-weld length, and the initial weld gap; finally, determining an intermittent weld point table based on the multiple weld point coordinates.

[0052] As mentioned above, the sub-weld length can include the length of the first and last sub-welds ( ) and the length of the middle sub-weld ( ), then based on the total weld length ( L ), sub-weld length (including , ) and the initial weld gap ( ), determine the number of intermediate sub-welds ( ) can be expressed as: , the decimal part can be ignored.

[0053] Assuming that the starting position coordinate of the weld is 0, the weld point coordinates of the ending weld point corresponding to the starting weld can be obtained. ", and then calculate the next weld point coordinate sum (that is, the starting weld point of the first intermediate sub-weld), and the next weld point coordinate sum of the next weld point coordinate (i.e., the end weld point of the first intermediate sub-weld). The coordinate sum of the next weld point can be expressed as , and this cycle times, and finally the length is increased to The end weld of the sub-weld is obtained, that is, the weld point coordinates of all sub-welds are obtained, and the discontinuous weld point table is obtained according to the correspondence of each weld point to the start weld point or the end weld point. It should be noted that in some embodiments, the weld point coordinates may be two-dimensional coordinates or three-dimensional coordinates.

[0054] In some embodiments, the first welding parameter further includes a weld shape parameter. The weld shape parameter indicates whether the intermittent welding adopts a weld shape of virtual first and then solid or solid first and then virtual.

[0055] The weld shape of virtual first and then real means that the first weld point coordinate among the multiple weld point coordinates determined by the welding parameter determination module 420 is not welded, that is, welding starts from the second weld point coordinate, that is, the second weld point coordinate is the starting weld point of the starting weld, and the third weld point coordinate is the ending weld point of the starting weld.

[0056] The weld shape of first real and then virtual indicates that welding starts from the first weld point coordinate among the multiple weld point coordinates determined by the welding parameter determination module 420, that is, the first weld point coordinate is the starting weld point of the starting weld, and the second weld point coordinate is the ending weld point of the starting weld. In some embodiments, the weld shape parameters can be manually set according to actual needs.

[0057] In some embodiments, step 240 may include: first, determining the starting point coordinates and the ending point coordinates of each sub-weld based on the order of multiple weld point coordinates in the weld morphology parameter intermittent weld point table; and then, generating an intermittent welding instruction based on the starting point coordinates and the ending point coordinates of the sub-weld.

[0058] In some embodiments, firstly, based on the weld morphology parameters, it is determined whether welding needs to be started from the first weld point coordinate. If the first weld point coordinate is not welded (i.e., virtual first and real later), the first weld point coordinate in the intermittent weld point table can be discarded. Based on the odd and even numbers corresponding to the sorting of multiple weld point coordinates in the intermittent weld point table or the intermittent weld point table after discarding the first weld point coordinate, the weld point coordinates are divided into an odd array (such as the first, third, and fifth weld point coordinates) and an even array (such as the second, fourth, and sixth weld point coordinates), wherein the odd array corresponds to the starting point coordinates of the sub-weld and the even array corresponds to the ending point coordinates of the sub-weld.

[0059] Then, based on the grouping of the starting point coordinates of the corresponding sub-welds and the grouping of the ending point coordinates of the corresponding sub-welds, an intermittent welding instruction is generated. For more descriptions on generating intermittent welding instructions, please refer to the related description of step 240 above.

[0060] Due to the different materials of the parts to be welded and the different welding parameters used, the welding risks in different intermittent welding processes are also different. Traditional methods are usually difficult to assess the risk situation at different welding stages, which makes it difficult to fine-tune welding control. Therefore, it is considered to use a welding risk model to determine the risk of welding abnormality, where the welding risk model is a machine learning model obtained through training.

[0061] In some embodiments, the welding abnormality risk includes a welding abnormality risk sequence. The welding abnormality risk sequence can be determined by a welding risk model. In some embodiments, the welding risk model can be a neural network model, such as RNN (Recurrent Neural Network, recurrent neural network) and the like.

[0062] In some embodiments, the input of the welding risk model includes information of the components to be welded and initial welding parameters. The output of the welding risk model is a welding abnormality risk sequence, wherein each element in the welding abnormality risk sequence may correspond to the welding abnormality risk of each weld at a different time node.

[0063] In some embodiments, the initial welding parameters may include a sub-weld length, an initial weld gap, a welding speed, and a welding gun angle. For more descriptions of the initial welding parameters, please refer to the relevant content above. In some embodiments, the initial welding parameters input to the welding risk model may be in the form of a vector sequence. For example, the vector sequence may be in the form of {sub-weld length, initial weld gap, welding speed, welding gun angle}, wherein the vectors of the sub-weld length, initial weld gap, welding speed, and welding gun angle may be obtained by vectorization processing.

[0064] In some embodiments, the information of the parts to be welded includes material information, structural information (such as size information of the parts to be welded) and material properties (such as thermal expansion coefficient, yield strength, etc.) of the parts to be welded; the component structure information can be obtained by querying in the welding component database; the material properties can be obtained by querying in the welding component database based on the material information of the parts to be welded, and the welding component database can be a database containing various information manually entered before welding.

[0065] In some embodiments, when the parts to be welded include multiple materials (such as cast iron and aluminum alloy welding), the information of the parts to be welded may also include material differences of the parts to be welded. The material differences of the parts to be welded may be obtained by querying the material information of the parts to be welded in the welding parts database, wherein the greater the material difference among the parts to be welded, the greater the material difference value of the parts to be welded, and the smaller the material difference among the parts to be welded. For example, when the same materials are welded, the material difference value of the parts to be welded may be 0.

[0066] The structural information and material properties of the parts to be welded can reflect the deformation and stress distribution of the parts during welding, so as to facilitate the analysis of the welding risk model.

[0067] In some embodiments, the elements in the welding abnormality risk sequence may be arranged in chronological order. For example, assuming that the weld contains 5 sub-welds, the welding abnormality risk sequence is {1, 4, 5, 10, 7}, and the welding abnormality risk sequence may indicate that the welding abnormality risk values ​​of the 5 sub-welds obtained by welding in chronological order in this intermittent welding are 1, 4, 5, 10, and 7, respectively.

[0068] In some embodiments, the welding risk model can be obtained by training multiple labeled training samples. Specifically, multiple labeled training samples can be input into the initial welding risk model, and a loss function can be constructed by using the labels and the results of the initial welding risk model. The parameters of the initial welding risk model can be iteratively updated based on the loss function by gradient descent or other methods. When the preset conditions are met, the model training is completed and a trained welding risk model is obtained. The preset conditions can be that the loss function converges, the number of iterations reaches a threshold, etc.

[0069] In some embodiments, the training samples for welding risk model training can be at least obtained by collecting sample parts obtained from historical intermittent welding, and obtaining sample to-be-welded parts information and sample initial welding parameters of the sample parts; the label can be the welding abnormality risk corresponding to the training sample.

[0070] In some embodiments, a method for determining the welding abnormality risk corresponding to a training sample may include: selecting historical vectors at different welding stages (i.e., different weld positions, such as corresponding to the first sub-weld, the third sub-weld, etc.) as training samples, and assigning welding abnormality risks as labels according to the welding abnormalities that occur in the corresponding training samples.

[0071] For a sub-weld with a welding anomaly, a welding anomaly risk value of 6 to 10 can be used as a label; the welding anomaly risk value is determined by the number of welding anomalies that occur in the sub-weld at the corresponding weld position under computer simulation of the sample, wherein the higher the number of anomalies, the closer the label is to 10. For a sub-weld without a welding anomaly, a welding anomaly risk value of 1 to 5 can be used as a label; the welding anomaly risk value can be determined based on the distance between the sub-weld and the sub-weld with a welding anomaly. For example, if the current sub-weld is adjacent to the sub-weld with a welding anomaly, the label is 5, and if the current sub-weld is separated from the sub-weld with a welding anomaly by 3 sub-welds, the label is 2.

[0072] In some embodiments, modifying the first weld point table based on the welding abnormality risk sequence obtained from the welding risk model may include adjusting the welding speed and the welding gun angle within the first welding parameters.

[0073] In some embodiments, if the value of an element in the welding abnormality risk sequence is greater than a preset threshold, the welding speed and welding gun angle of the sub-weld corresponding to the value can be adjusted. Taking the welding speed as an example, the adjusted welding speed can be determined based on the target value and the welding speed before adjustment. The target value represents a parameter with the best welding effect but not the best efficiency, which can be determined by querying the process table.

[0074] In some embodiments, the adjusted welding speed can be obtained by the weighted sum of the target value and the welding speed before adjustment, wherein the weight of the target value is positively correlated with the welding abnormality risk. For example, assuming that the weight of the target value is A, the weight of the welding speed before adjustment is B, and A+B=1, when the sub-weld corresponding to the welding abnormality risk is 5, the weight A can be 0.3; when the sub-weld corresponding to the welding abnormality risk is 9, the weight A can be 0.85.

[0075] Through the welding risk model, the risk of welding anomalies can be accurately estimated based on historical welding conditions, and the welding anomaly risk sequence can be obtained to correct the first weld point table. At the same time, according to the weight of the sub-weld corresponding welding anomaly risk adjustment parameter correction, more appropriate parameters can be obtained to ensure the welding effect.

[0076] In some scenarios, the welds of the parts to be welded may be irregular, such as the welds may be arc-shaped or pass through the corners of the parts, etc. Therefore, welding in irregular areas requires more attention.

[0077] In some embodiments, the information of the component to be welded includes the shape of the weld. The shape of the weld indicates whether the weld of the component to be welded is a straight line. If the weld is non-straight, the shape of the weld may also include the situation of a non-straight line segment (such as an arc or a corner, etc.). The welding abnormality risk includes the welding abnormality risk of the weld abnormality area. The weld abnormality area is an area in the weld that needs attention and is prone to welding abnormality.

[0078] In some embodiments, step 230 may include: first, determining the abnormal weld area based on the weld shape; then, determining the welding parameters of the abnormal weld area based on the information of the parts to be welded in the abnormal weld area and the first welding parameters of the abnormal weld area; finally, based on the welding parameters of the abnormal weld area, correcting the first welding parameters.

[0079] In some embodiments, if the weld shape is a straight line, it can be considered that the current part to be welded does not include an abnormal weld area. It should be noted that even if the part to be welded does not include an abnormal weld area, it is still necessary to correct the first welding parameter according to the abnormal welding risk, such as correcting the first welding parameter according to the abnormal welding risk sequence in the above text.

[0080] In some embodiments, in response to the weld shape being non-linear, the welding parameter correction module 430 may divide the weld into a plurality of weld segments. In some embodiments, a weld segment may include a plurality of sub-welds. For example, if the weld includes a plurality of end-to-end line segments, each line segment may be regarded as a weld segment; for another example, referring to Figure 3The component 300 to be welded in the figure includes a non-linear weld. In some embodiments, the weld can be divided into a linear weld segment 310 and a weld segment 330 and an arc-shaped weld segment 320.

[0081] In some embodiments, for the multiple weld segments that have been divided, the welding parameter correction module 430 may use the intersection area of ​​adjacent weld segments as the weld abnormality area.

[0082] In some embodiments, if the terminating sub-weld of any weld segment in adjacent weld segments intersects with the starting sub-weld of another weld segment, the intersecting terminating sub-weld and starting sub-weld are regarded as weld abnormality areas; or, if the weld gap of any weld segment in adjacent weld segments intersects with the weld gap of another weld segment, the intersecting weld gaps are regarded as weld abnormality areas.

[0083] Prevent unforeseen welding anomalies in complex locations such as bends or joints by focusing on the intersection of weld segments.

[0084] In some embodiments, for weld segments with intersecting areas, the multi-segment welding risk of the intersecting area can be obtained by respectively determining the welding abnormality risks of the two weld segments and calculating the weighted sum of the two welding abnormality risks. If the multi-segment welding risk is greater than the preset risk value, the intersecting area is considered to be a weld abnormality area. If the multi-segment welding risk is less than the preset risk value, the first welding parameter can be corrected for the intersecting area using the method described above (such as step 230). It should be noted that the corresponding preset risk value may also be different depending on the actual welding process and the parts to be welded, and this specification does not limit it.

[0085] In some embodiments, the welding abnormality risk of the weld segment can be obtained by the same determination method as the welding abnormality risk of the component to be welded mentioned above, that is, the welding abnormality risk of the weld segment is determined by the information of the component to be welded corresponding to the weld segment.

[0086] In some embodiments, the welding abnormality risk of the weld segment may include a welding abnormality risk sequence, and the mean or element sum of the welding abnormality risk sequence may be determined first, and then the weighted sum of two welding abnormality risks may be further calculated to obtain multiple-segment welding risks.

[0087] In some embodiments, the weights of the welding abnormality risks of two weld segments can be the same or different. For example, if both weld segments are straight lines, the weights can be the same (i.e., both are 0.5). Figure 3For example, when calculating the multi-segment welding risks corresponding to weld segment 310 and weld segment 320, since weld segment 320 is arc-shaped, the weight of the welding abnormality risk corresponding to weld segment 320 can be higher (such as 0.8) to reflect the concern for the arc-shaped weld segment.

[0088] In some embodiments, the weights of the welding abnormality risks of the two weld segments may also be positively correlated with the degree of material difference corresponding to the weld segments. The greater the degree of material difference of the weld segments, the greater the corresponding weight. The method for determining the degree of material difference corresponding to the weld segments may be the same as the method for determining the degree of material difference of the parts to be welded in the above text. For details, please refer to the relevant description in the above text.

[0089] Through multi-segment welding risks, the risk of welding abnormalities in the intersection area of ​​two adjacent weld segments can be intuitively reflected, so as to facilitate the adjustment of parameters.

[0090] In some embodiments, the welding parameter correction module 430 can re-determine the welding parameters corresponding to the abnormal weld area to update the first welding parameters. In some embodiments, based on the information of the parts to be welded in the abnormal weld area and the first welding parameters in the abnormal weld area, determining the welding parameters in the abnormal weld area can include: adjusting the length of the sub-weld or the length of the weld gap in the intersection area of ​​the adjacent weld segments based on the multi-segment welding risk values ​​of the adjacent weld segments.

[0091] In some embodiments, the multi-segment welding risk value of adjacent weld segments can be two adjacent weld segments with an intersection area, which is obtained based on the calculation method of the multi-segment welding risk value in the previous text. The multi-segment welding risk value of adjacent weld segments is positively correlated with the adjustment value of the length of the sub-weld or the length of the weld gap in the intersection area of ​​the adjacent weld segments, that is, the larger the multi-segment welding risk value of the adjacent weld segments, the larger the adjustment value (absolute value) of the length of the sub-weld or the length of the weld gap in the intersection area.

[0092] In some embodiments, the adjustment value of the length of the sub-weld or the length of the weld gap can be a positive number or a negative number, indicating an increase or decrease in the length of the sub-weld or the length of the weld gap. The positive or negative of the adjustment value can be determined by consulting the process manual according to actual conditions. For example, assuming that the ending sub-weld of any weld segment intersects with the starting sub-weld of another weld segment, the adjustment value of the length of the weld gap can be set to a negative number to increase the degree of overlap of the two sub-welds.

[0093] In some embodiments, the first welding parameters of the abnormal weld area can be corrected based on the adjustment value to obtain the welding parameters of the abnormal weld area, and the corrected welding parameters of the abnormal weld area are used as new first welding parameters, thereby realizing the correction of the first welding parameters.

[0094] By determining the multi-segment welding risk values ​​of adjacent weld segments, the welding risks of the two weld segments can be reflected, and then for the intersection area of ​​adjacent weld segments, appropriate parameter adjustment directions can be selected in a targeted manner to ensure the welding quality at the intersection of different segments during multi-segment welding.

[0095] Figure 4 400 is an exemplary module diagram of a control system for intermittent welding of a weld according to some embodiments of this specification. In some embodiments, the control system 400 for intermittent welding of a weld may include:

[0096] The information acquisition module 410 may be used to acquire information of components to be welded and initial welding parameters.

[0097] In some embodiments, for more descriptions of the information of the parts to be welded and the initial welding parameters, please refer to step 210 and related contents.

[0098] The welding parameter determination module 420 may be configured to determine first welding parameters based on information of the components to be welded and initial welding parameters.

[0099] In some embodiments, for more description of the first welding parameter, see step 220 and related content.

[0100] The welding parameter correction module 430 may be used to determine the welding abnormality risk based on the information of the parts to be welded, and to correct the first welding parameter based on the welding abnormality risk.

[0101] In some embodiments, for more descriptions on the welding abnormality risk and the correction of the first welding parameter, please refer to step 230 and related contents.

[0102] The instruction generation module 440 can be used to generate intermittent welding instructions based on the corrected first welding parameters.

[0103] In some embodiments, for more description of intermittent welding instructions, please refer to step 240 and related content.

[0104] It should be noted that the above description of the control system 400 and its modules for intermittent welding of weld seams is only for convenience of description and cannot limit the present specification to the scope of the embodiments. It is understandable that, after understanding the principle of the system, those skilled in the art may arbitrarily combine the modules or form a subsystem to connect with other modules without deviating from the principle.

[0105] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only for example and does not constitute a limitation of this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements and corrections to this specification. Such modifications, improvements and corrections are suggested in this specification, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of this specification.

[0106] At the same time, this specification uses specific words to describe the embodiments of this specification. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of this specification. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures or characteristics in one or more embodiments of this specification can be appropriately combined.

[0107] In addition, unless explicitly stated in the claims, the order of processing elements and sequences, the use of alphanumeric characters, or the use of other names in this specification are not intended to limit the order of the processes and methods of this specification. Although the above disclosure discusses some invention embodiments that are currently considered useful through various examples, it should be understood that such details are only for illustrative purposes, and the attached claims are not limited to the disclosed embodiments. On the contrary, the claims are intended to cover all modifications and equivalent combinations that are consistent with the essence and scope of the embodiments of this specification. For example, although the system components described above can be implemented by hardware devices, they can also be implemented only by software solutions, such as installing the described system on an existing server or mobile device.

[0108] Similarly, it should be noted that in order to simplify the description disclosed in this specification and thus help understand one or more embodiments of the invention, in the above description of the embodiments of this specification, multiple features are sometimes combined into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the subject matter of this specification are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0109] In some embodiments, numbers describing the number of components and attributes are used. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise specified, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining the digits. Although the numerical domains and parameters used to confirm the breadth of the range in some embodiments of this specification are approximate values, in specific embodiments, the setting of such numerical values ​​is as accurate as possible within the feasible range.

[0110] Each patent, patent application, patent application publication, and other materials, such as articles, books, specifications, publications, documents, etc., cited in this specification is hereby incorporated by reference in its entirety. Except for application history documents that are inconsistent with or conflicting with the content of this specification, documents that limit the broadest scope of the claims of this specification (currently or later attached to this specification) are also excluded. It should be noted that if the descriptions, definitions, and / or use of terms in the materials attached to this specification are inconsistent or conflicting with the content of this specification, the descriptions, definitions, and / or use of terms in this specification shall prevail.

[0111] Finally, it should be understood that the embodiments in this specification are only used to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, as an example and not a limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly introduced and described in this specification.

Claims

1. A control method for intermittent welding of a weld, comprising: Obtain information of parts to be welded and initial welding parameters; Based on the information of the parts to be welded and the initial welding parameters, determining first welding parameters, wherein the first welding parameters include a starting position of each sub-weld in intermittent welding and a welding speed corresponding to each sub-weld; Determine a welding abnormality risk based on the information of the component to be welded, and modify the first welding parameter based on the welding abnormality risk; The step of determining the welding abnormality risk based on the information of the component to be welded, and correcting the first welding parameter based on the welding abnormality risk, comprises: The welding abnormality risk includes a welding abnormality risk sequence and a welding abnormality risk of a weld abnormal area, and the correcting the first welding parameter includes correcting the first welding parameter based on the welding abnormality risk sequence or the welding parameter corresponding to the weld abnormal area; Wherein, each element in the welding abnormality risk sequence corresponds to the welding abnormality risk of each weld at a different time node, and the welding abnormality risk sequence in the welding abnormality risk is determined based on the information of the component to be welded, including: Determining the welding abnormality risk sequence based on the welding risk model; The input of the welding risk model includes the information of the parts to be welded and the initial welding parameters, and the output includes the welding abnormality risk sequence; The information of the parts to be welded includes material information, structural information and material properties of the parts to be welded; Wherein, the information of the component to be welded includes the shape of the weld, and determining the weld abnormal area in the welding abnormality risk based on the information of the component to be welded, and determining the welding parameters corresponding to the weld abnormal area includes: The welds include straight welds and non-straight welds; In response to the weld shape being non-linear, dividing the weld into a plurality of weld segments; and directly taking the intersection area of ​​adjacent weld segments among the plurality of weld segments obtained by division as the weld abnormal area; Alternatively, the multi-segment welding risk of the adjacent weld segments is calculated, and if the multi-segment welding risk of the adjacent weld segments is greater than a preset risk value, the intersection area of ​​the adjacent weld segments is considered to be a weld abnormality area; and Determining the welding parameter corresponding to the abnormal weld area based on the information of the to-be-welded component in the abnormal weld area and the first welding parameter in the abnormal weld area includes: Based on the multi-segment welding risk of the adjacent weld segments, adjusting the length of the sub-weld or the length of the weld gap in the intersection area of ​​the adjacent weld segments, wherein the multi-segment welding risk of the adjacent weld segments is positively correlated with the adjustment value of the length of the sub-weld or the length of the weld gap in the intersection area; and An intermittent welding instruction is generated based on the corrected first welding parameter.

2. The method according to claim 1, wherein the information of the component to be welded includes the total length of the weld; the initial welding parameters include the sub-weld length and the initial weld gap; the first welding parameters include an intermittent weld point table; and determining the first welding parameters based on the information of the component to be welded and the initial welding parameters comprises: Determining the number of sub-welds based on the total weld length, the sub-weld lengths, and the initial weld gap; Determining a plurality of weld point coordinates based on the number of sub-welds, the total length of the weld, the length of the sub-welds, and the initial weld gap; The discontinuous weld point table is determined based on the plurality of weld point coordinates.

3. The method according to claim 2, wherein the first welding parameter further comprises a weld shape parameter; and the step of generating an intermittent welding instruction based on the first welding parameter comprises: Determine the starting point coordinates and the ending point coordinates of each sub-weld based on the weld morphology parameters and the order of the plurality of weld point coordinates in the intermittent weld point table; Based on the starting point coordinates and the ending point coordinates of the sub-weld, an intermittent welding instruction is generated.

4. A control system for intermittent welding of weld seams, comprising: An information acquisition module is used to obtain information of parts to be welded and initial welding parameters; A welding parameter determination module, configured to determine a first welding parameter based on the information of the component to be welded and the initial welding parameter, wherein the first welding parameter includes a starting position of each sub-weld in intermittent welding and a welding speed corresponding to each sub-weld; A welding parameter correction module, used to determine the welding abnormality risk based on the information of the parts to be welded, and to correct the first welding parameter based on the welding abnormality risk; The step of determining the welding abnormality risk based on the information of the component to be welded, and correcting the first welding parameter based on the welding abnormality risk, comprises: The welding abnormality risk includes a welding abnormality risk sequence and a welding abnormality risk of a weld abnormal area, and the correcting the first welding parameter includes correcting the first welding parameter based on the welding abnormality risk sequence or the welding parameter corresponding to the weld abnormal area; Wherein, each element in the welding abnormality risk sequence corresponds to the welding abnormality risk of each weld at a different time node, and the welding abnormality risk sequence in the welding abnormality risk is determined based on the information of the component to be welded, including: Determining the welding abnormality risk sequence based on the welding risk model; The input of the welding risk model includes the information of the parts to be welded and the initial welding parameters, and the output includes the welding abnormality risk sequence; The information of the parts to be welded includes material information, structural information and material properties of the parts to be welded; Wherein, the information of the component to be welded includes the shape of the weld, and determining the weld abnormal area in the welding abnormality risk based on the information of the component to be welded, and determining the welding parameters corresponding to the weld abnormal area includes: The welds include straight welds and non-straight welds; In response to the weld shape being non-linear, dividing the weld into a plurality of weld segments; and directly taking the intersection area of ​​adjacent weld segments among the plurality of weld segments obtained by division as the weld abnormal area; Alternatively, the multi-segment welding risk of the adjacent weld segments is calculated, and if the multi-segment welding risk of the adjacent weld segments is greater than a preset risk value, the intersection area of ​​the adjacent weld segments is considered to be a weld abnormality area; and Determining the welding parameter corresponding to the abnormal weld area based on the information of the to-be-welded component in the abnormal weld area and the first welding parameter in the abnormal weld area includes: Based on the multi-segment welding risk of the adjacent weld segments, adjusting the length of the sub-weld or the length of the weld gap in the intersection area of ​​the adjacent weld segments, wherein the multi-segment welding risk of the adjacent weld segments is positively correlated with the adjustment value of the length of the sub-weld or the length of the weld gap in the intersection area; and An instruction generation module is used to generate an intermittent welding instruction based on the first welding parameter after correction.

5. The system according to claim 4, wherein the information of the parts to be welded includes the total length of the weld; the initial welding parameters include the sub-weld length and the initial weld gap; the first welding parameters include a discontinuous weld point table; and the welding parameter determination module is further used for: Determining the number of sub-welds based on the total weld length, the sub-weld lengths, and the initial weld gap; Determining a plurality of weld point coordinates based on the number of sub-welds, the total length of the weld, the length of the sub-welds, and the initial weld gap; The discontinuous weld point table is determined based on the plurality of weld point coordinates.

6. The system according to claim 5, wherein the first welding parameter further comprises a weld shape parameter; and the instruction generation module is further used for: Determine the starting point coordinates and the ending point coordinates of each sub-weld based on the weld morphology parameters and the order of the plurality of weld point coordinates in the intermittent weld point table; Based on the starting point coordinates and the ending point coordinates of the sub-weld, an intermittent welding instruction is generated.

7. A control device for intermittent welding of a weld, comprising a processor, wherein the processor is used to execute the control method for intermittent welding of a weld as described in any one of claims 1 to 3.

8. A computer-readable storage medium, wherein the storage medium stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes the control method for intermittent welding of a weld as described in any one of claims 1 to 3.

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