Multi-angle welding control method and system for welding robot

Abstract

The present invention relates to the technical field of welding robots, and in particular to a multi-angle welding control method and system for welding robots. The method first obtains each welding point of a device to be welded corresponding to the welding robot; analyzes the positional relationship between each welding point and other welding points, and determines the distance influence value; determines the welding influence value according to the temperature to be welded and the time to be welded corresponding to each welding point; combines the distance influence value and the welding influence value to determine the heat transferability of the welding point, performs path planning on the welding point, and obtains the optimal welding path; performs pulse welding on the welding point whose transfer angle does not meet the conditions when transferring the welding path in the optimal welding path, and controls the low-energy pulse welding duration of the pulse welding of the welding robot. The present invention controls the path, welding method and welding duration to achieve the purpose of avoiding quality defects of the device to be welded due to heat transfer problems.

Description

Technical Field

[0001] The invention relates to the technical field of welding robots, and in particular to a multi-angle welding control method and system for welding robots. Background Art

[0002] For welding robots implemented with PLC control systems, when processing products with complex structures, many welding points and high welding quality requirements, such as CCB assembly frames, uneven heat input during welding will cause changes in material properties, especially in complex structures, where uneven heat distribution may cause deformation or stress concentration. In the prior art, controlled preheating of specific areas is performed before welding to reduce the temperature gradient and thermal stress caused by welding. Alternatively, local cooling measures such as spray cooling or local cooling fixtures are used immediately after welding to quickly reduce the temperature in the high-temperature zone and control the deformation and stress of the material. The above method can partially solve the uneven heat distribution and corresponding structural problems caused by welding. However, preheating and other means will increase the process complexity in the pre- and post-welding processing and increase the welding cost.

[0003] At present, when welding is commonly performed by welding robots, welding is usually performed directly according to the pre-set welding temperature and welding time corresponding to the device to be welded. However, when the welding distance is short, there will be a problem of stress concentration after the material is heated due to the influence of heat transfer, which is easy to cause material quality defects. Therefore, if only the pre-set temperature and time corresponding to the device to be welded are used for indiscriminate welding, there will be a problem of quality defects in the device to be welded. Summary of the invention

[0004] In order to solve the technical problem that indiscriminate welding may occur in the device to be welded only by pre-set temperature and time corresponding to the device to be welded, the object of the present invention is to provide a multi-angle welding control method and system for a welding robot, and the technical scheme adopted is as follows:

[0005] In a first aspect, an embodiment of the present invention provides a multi-angle welding control method for a welding robot, the method comprising:

[0006] Obtain each welding point of the device to be welded corresponding to the welding robot;

[0007] Analyze the positional relationship between each soldering point and other soldering points to determine the distance influence value of heat transfer of the soldering point; determine the welding influence value of heat transfer of the soldering point according to the welding temperature and welding time corresponding to each soldering point; and determine the heat transferability of the soldering point by combining the distance influence value and the welding influence value;

[0008] Based on the heat transfer property, the welding point path is planned to obtain the optimal welding path;

[0009] Pulse welding is performed on welds whose transfer angles do not meet the conditions when transferring the welding path in the optimal welding path, and the low-energy pulse welding duration of the pulse welding of the welding robot is controlled according to the heat transferability of the welds undergoing pulse welding.

[0010] Furthermore, the analyzing the positional relationship between each soldering point and other soldering points to determine the distance influence value of heat transfer to the soldering point includes:

[0011] The spatial Euclidean distance between each soldering point and other soldering points is calculated, and the spatial Euclidean distances are sorted from small to large to obtain a distance sequence; the average of the first preset number of spatial Euclidean distances in the distance sequence is used as the distance influence value of heat transfer of the soldering point.

[0012] Further, the step of determining the welding influence value of the heat transfer to the welding point according to the welding temperature and welding time corresponding to each welding point includes:

[0013] For each soldering point, analyze the overall soldering temperature of other soldering points adjacent to the soldering point to determine the surrounding soldering temperature corresponding to each soldering point;

[0014] Determine the temperature influence value according to the difference between the welding temperature of the welding point and the corresponding surrounding welding temperature;

[0015] The temperature influence value corresponding to the soldering point is used as the weight value, and the waiting time for soldering of the soldering point is weighted to obtain the soldering influence value of the soldering point subjected to heat transfer.

[0016] Further, the combining the distance influence value and the welding influence value to determine the heat transferability of the welding point includes:

[0017] The normalized distance influence value and the normalized welding influence value are weighted respectively, and the heat transferability of the weld point is obtained by weighted summation.

[0018] Furthermore, the path planning of the welding points based on the heat transfer property to obtain the optimal welding path includes:

[0019] Based on the heat transfer property, the solder joints are classified to obtain solder joint clusters; paths are planned for the solder joints in the solder joint clusters, and pre-allocated solder joints that do not belong to the solder joint clusters are introduced to obtain an optimal welding path.

[0020] Furthermore, the solder joints are classified based on the heat transfer property to obtain solder joint clusters, including:

[0021] For solder joints whose heat transferability is greater than or equal to a preset threshold, the solder joints and other adjacent solder joints are classified into one category as a pre-solder joint cluster; when more than half of the solder joints in the pre-solder joint cluster have heat transferability greater than or equal to the preset threshold, the pre-solder joint cluster is regarded as a solder joint cluster.

[0022] Further, the path planning of the soldering points in the soldering point cluster and the introduction of pre-allocated soldering points that do not belong to the soldering point cluster to obtain the optimal soldering path includes:

[0023] The pre-allocated soldering points of the soldering point cluster are obtained according to the distance; the optimal path of the soldering points in the soldering point cluster is obtained by using the ant colony algorithm, and a pre-allocated soldering point is introduced between every two adjacent soldering points in the optimal path to obtain the optimal welding path, wherein the introduced pre-allocated soldering point is the pre-allocated soldering point with the shortest spatial Euclidean distance to the previous soldering point.

[0024] Furthermore, the pulse welding is performed on the welding points whose transfer angles do not meet the conditions when the welding path is transferred in the optimal welding path, including:

[0025] The welding path is transferred based on the optimal welding path. When the transfer angle between two adjacent welding points is greater than the preset maximum welding rotation angle, the pre-assigned welding points between the two adjacent welding points are deleted from the optimal welding path, and pulse welding is performed on the welding points between the two adjacent welding points that belong to the welding point cluster.

[0026] Further, the method of controlling the low-energy pulse welding duration of the pulse welding of the welding robot according to the heat transferability of the weld point to be pulse welded comprises:

[0027] For the welds to be pulse welded, the average value of the heat transferability of other adjacent welds is calculated as the heat impact value; the ratio of the heat transferability of the weld to the heat impact value is used as the weight value, and the waiting time for welding of the weld to be pulse welded is weighted to obtain the low-energy pulse welding time when the weld is pulse welded.

[0028] In a second aspect, a multi-angle welding control system for a welding robot is provided, the system comprising the following modules:

[0029] A welding point acquisition module is used to acquire each welding point of the device to be welded corresponding to the welding robot;

[0030] The heat analysis module is used to analyze the positional relationship between each soldering point and other soldering points, and determine the distance influence value of the heat transfer of the soldering point; determine the welding influence value of the heat transfer of the soldering point according to the welding temperature and welding time corresponding to each soldering point; and determine the heat transferability of the soldering point by combining the distance influence value and the welding influence value;

[0031] The path planning module is used to plan the path of the welding point based on the heat transfer property to obtain the optimal welding path;

[0032] The welding control module is used to perform pulse welding on welding points whose transfer angles do not meet the conditions when the welding path is transferred in the optimal welding path, and to control the low-energy pulse welding duration of the pulse welding of the welding robot according to the heat transferability of the welding points undergoing pulse welding.

[0033] In a third aspect, an embodiment of the present invention provides an electronic device, including a memory and a processor, wherein the memory stores executable code, and when the processor executes the executable code, various possible embodiments of the first aspect are implemented.

[0034] In a fourth aspect, an embodiment of the present invention provides a computer program product, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0035] In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, enables the computer to execute various possible implementations of the first aspect.

[0036] The embodiments of the present invention have at least the following beneficial effects:

[0037] In order to solve the problem of indiscriminate welding based only on the pre-set temperature and time corresponding to the device to be welded, the material will produce stress concentration after being heated due to the influence of heat transfer, which is easy to cause material quality defects, and then there is a technical problem of quality defects in the device to be welded. The present invention combines the positional relationship between the welding points, considers that the welding points with a closer distance will be more affected by heat transfer, and determines the distance influence value of the heat transfer of the welding points; and considers that the welding temperature and welding time of the welding points will also have an impact on the heat transfer. When the temperature of the welding point that is closer to the welding point to be welded is higher, the welding point to be welded is more affected by the heat transfer. Correspondingly, when the welding point that is closer to the welding point to be welded has a longer time, the welding point to be welded is also more affected by the heat transfer. Combined with the distance, welding temperature and welding time, the heat transferability is finally determined to realize path planning for the welding points and obtain the optimal welding path; pulse welding is performed on the welding points whose transfer angles do not meet the conditions when the welding path is transferred in the optimal welding path, so as to eliminate the problem that the heat transfer effect is large when the transfer angle is too small, causing material deformation and stress concentration, and control the low-energy pulse welding duration of the welding robot's pulse welding to achieve multi-angle control, thereby achieving the purpose of avoiding quality defects of the device to be welded due to heat transfer problems. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A method flow chart of a multi-angle welding control method for a welding robot provided by one embodiment of the present invention;

[0040] Figure 2 A method flow chart of a method for obtaining the heat transfer property of a solder joint provided by one embodiment of the present invention;

[0041] Figure 3 A method flow chart of a method for obtaining a welding influence value of heat transfer at a welding point provided by an embodiment of the present invention;

[0042] Figure 4 A schematic diagram of the structure of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0043] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the multi-angle welding control method and system for a welding robot proposed in accordance with the present invention, its specific implementation method, structure, characteristics and effects are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0044] In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0045] Among them, in the description of the embodiments of the present invention, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a way to describe the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present invention, "multiple" refers to two or more than two.

[0046] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0047] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0048] The embodiments of the present invention are described below in conjunction with the accompanying drawings. Those skilled in the art will appreciate that, with the development of technology and the emergence of new scenarios, the technical solutions provided by the embodiments of the present invention are also applicable to similar technical problems.

[0049] The embodiment of the present invention provides a multi-angle welding control method and a specific implementation method of the system for a welding robot, and the method is suitable for welding control scenarios.

[0050] In this scenario, a 3D scanning equipment environment is first built to obtain the spatial position of each welding point of the device to be welded. 3D scanning refers to a high-tech technology that integrates optical, mechanical, electrical and computer technologies. It is mainly used to scan the spatial shape, structure and color of an object to obtain the spatial coordinates of the object surface. Its significance lies in the ability to convert the three-dimensional information of the object into a digital signal that can be directly processed by the computer, providing a very convenient and fast means for the digitization of the object. 3D scanning technology can achieve non-contact measurement and has the advantages of fast speed and high accuracy. Moreover, its measurement results can be directly interfaced with a variety of software, which makes it very popular today as the application of technologies such as Computer Aided Design (CAD), Computer Aided Manufacturing (CAM), and Computer Integrated Manufacturing Systems (CIMS) is becoming increasingly popular. In the field of welding, in order to achieve the purpose of multi-angle precise control of the welding robot arm, the object to be welded, such as the three-dimensional structure and overall welding points of the CCB assembly frame, is obtained through 3D scanning.

[0051] In an embodiment of the present invention, a laser scanner with high resolution and accuracy is selected, for example, a device with a resolution of up to 0.1 mm and a scanning accuracy of ±0.05 mm is used. A structured light scanner is configured for applications requiring finer surface details, wherein the resolution can reach 0.01 mm. The following operations are performed separately when performing the scan: (1) Calibrate the device: calibrate the device according to the manufacturer's instructions during scanning to ensure the accuracy of the scan data; (2) Coverage scan: Ensure that the device to be welded is scanned multiple times from different angles to obtain a complete view and data of all welds; (3) Data capture: Capture the three-dimensional data of each weld of the device to be welded, including the X coordinate, Y coordinate, and Z coordinate, to obtain the spatial position of each weld of the device to be welded.

[0052] The purpose of configuring a support frame and positioning system is to install a stable support frame for the scanner to ensure the stability and repeatability of the scanning process. Use a positioning system, such as an optical mark or a magnetic tracking system, to keep the equipment accurately positioned on the weld point.

[0053] Configure appropriate ambient light and control the environment to ensure uniform illumination of the scanning area to prevent direct light or reflection from affecting the scanning quality. The temperature and humidity should also be kept within the range recommended by the equipment manufacturer.

[0054] Fix the device to be welded and ensure that it is stationary during the scanning process. Use clamps or other fixing devices to prevent any movement.

[0055] The specific scheme of the multi-angle welding control method and system for a welding robot provided by the present invention is described in detail below with reference to the accompanying drawings.

[0056] See also Figure 1 , which shows a flow chart of a multi-angle welding control method for a welding robot provided by an embodiment of the present invention, the method comprising the following steps:

[0057] Step S100, obtaining each welding point of the device to be welded corresponding to the welding robot.

[0058] Among them, the device to be welded corresponding to the welding robot is a device that the welding robot needs to perform welding processing, and there is at least one welding point on the device to be welded.

[0059] Because the welding points of the device to be welded are usually concentrated, the influence of heat transfer during the welding process will cause the material to produce stress concentration after being heated, which is easy to cause material quality defects. In order to eliminate the influence of heat transfer on the material causing stress concentration after being heated, a cluster analysis of the degree of heat exposure of the welding points is selected, and the welding points with more serious mutual influence of heat are divided to determine the clustering results of the degree of heat exposure. That is, when welding welding points with more serious mutual influence of heat, it is easy to cause material defects, so it is necessary to give them a preset maximum welding angle, and optimize the welding sequence of the welding points with more serious influence according to the preset maximum welding angle, that is, optimize the welding path, ensure that the welding will not affect each other and produce uneven heating, and ensure the efficiency of welding. For example, the thermal influence between welding point A and welding point B is large, so when welding, there needs to be a large difference in the welding sequence of the two, to ensure that one welding point releases heat before the other welding point is welded. The difference in welding sequence is reflected in the preset maximum welding angle of the welding head. Furthermore, when the preset maximum welding angle is not met, pulse welding is performed on the welding point to achieve the purpose of releasing the maximum amount of heat.

[0060] Obtain the three-dimensional results of the welding points of the device to be welded that the welding robot needs to perform welding processing. In the three-dimensional results, each welding point has a three-dimensional coordinate. If the total number of welding points is n, then the coordinate sequence of each welding point is ;in, is the x-axis coordinate of the first welding point; is the y-axis coordinate of the first welding point; is the z-axis coordinate of the first welding point; is the x-axis coordinate of the second welding point; is the y-axis coordinate of the second welding point; is the z-axis coordinate of the second welding point; is the x-axis coordinate of the nth welding point; is the y-axis coordinate of the nth welding point; is the z-axis coordinate of the nth solder joint. It should be noted that the coordinate sequence here is only for displaying the three-dimensional coordinates of the solder joints, and the solder joint arrangement order can be set by the implementer.

[0061] Step S200, analyzing the positional relationship between each solder joint and other solder joints to determine the distance influence value of heat transfer of the solder joint; determining the welding influence value of heat transfer of the solder joint according to the welding temperature and welding time corresponding to each solder joint; and determining the heat transferability of the solder joint by combining the distance influence value and the welding influence value.

[0062] The heat transferability between solder joints is related to the distance between them and the welding parameters of the solder joints. When the spatial distance between solder joints is closer, and the soldering temperature and welding time of the solder joints in the welding parameters are higher, the heat transferability between the two corresponding solder joints will be higher, and the influence on the uniform heating of the material will be greater, that is, after the solder joints are welded in sequence, the material is very likely to deform due to uneven stress. Therefore, we first determine the influence of the distance between solder joints on heat transfer, then determine the influence of welding temperature and welding time on heat transfer, and finally determine the heat transferability of solder joints by combining the factors of distance, temperature and time.

[0063] Since the current welding is performed by an automated welding robot, each welding point on the device to be welded has a corresponding welding temperature and welding time pre-set by the implementer, so that the welding robot can weld the device to be welded.

[0064] In some embodiments, the heat transferability of the solder joint is determined by analyzing the factors of distance, temperature and time. That is, the above step S200 can be performed by Figure 2 The steps shown achieve:

[0065] Step S210, analyzing the positional relationship between each soldering point and other soldering points, and determining the distance influence value of heat transfer to the soldering point.

[0066] By analyzing the mean distance between the current solder point and the adjacent solder points, the overall proximity of the solder point to be analyzed to other solder points in terms of spatial distance is determined. The smaller the mean value, the closer the solder point to be analyzed is to an area where solder points are more concentrated, and the higher its heat transferability in the distance dimension.

[0067] As an embodiment of the present invention, the spatial Euclidean distance between each welding point and other welding points is calculated, and the spatial Euclidean distances are sorted from small to large to obtain a distance sequence; the average of the first preset number of spatial Euclidean distances in the distance sequence is used as the distance influence value of heat transfer of the welding point. Among them, the spatial Euclidean distance is the Euclidean distance between two points in three-dimensional space, and the method for obtaining the spatial Euclidean distance is a well-known technology for those skilled in the art, and will not be repeated here.

[0068] Taking the kth solder joint as an example, the calculation formula of the distance influence value of the kth solder joint is:

[0069] ;

[0070] in, is the distance influence value of the kth welding point; is the preset quantity; is the i-th spatial Euclidean distance in the distance sequence corresponding to the k-th welding point.

[0071] like is the spatial Euclidean distance between the kth solder point and the solder point closest to the kth solder point; is the spatial Euclidean distance between the kth solder joint and the second closest solder joint to the kth solder joint.

[0072] In the embodiment of the present invention, the preset number is 5. In other embodiments, the implementer can adjust the value according to the actual situation. When the implementer has strict requirements on the welding quality, the preset number can be increased accordingly. When the implementer has relatively loose requirements on the welding quality, the preset number can be reduced accordingly.

[0073] Step S220, determining a welding influence value of heat transfer to each welding point according to the welding temperature and welding time corresponding to each welding point.

[0074] Furthermore, the difference between the waiting temperature of each solder joint and other solder joints is analyzed, and combined with the waiting time to weld, the welding influence value of the welding parameters is obtained. The greater the difference between the welding temperature of the solder joint and the waiting temperature of other solder joints with similar distances, the greater the welding influence value of the solder joint. Because when the difference between the waiting temperatures of two solder joints is small, even if the two solder joints are affected by heat conduction, the impact is relatively small due to the small temperature difference. This is because there is thermal conductivity in the welding process, and thermal conductivity is the cause of uneven heating of the material, which in turn causes stress defects. When the difference in welding temperature between each solder joint is large, heat conduction in the welding process is more likely to occur in this scenario.

[0075] In some embodiments, the welding influence value of the heat transfer to the welding point is determined by analyzing the welding temperature and welding time corresponding to each welding point. That is, the above step S220 can be performed by Figure 3 The steps shown achieve:

[0076] Step S221 , for each welding point, analyzing the overall welding temperature of other welding points adjacent to the welding point, and determining the surrounding welding temperature corresponding to each welding point.

[0077] In the embodiment of the present invention, the average of the to-be-welded temperatures of other welding points adjacent to the welding point is used as the surrounding to-be-welded temperature.

[0078] The method for obtaining other welding points adjacent to the welding point is as follows: sorting the spatial Euclidean distances between welding point u and other welding points from small to large to obtain a distance sequence; and taking other welding points corresponding to the first k spatial Euclidean distances in the distance sequence as other welding points adjacent to welding point u. In the embodiment of the present invention, the value of k is 5, and in other embodiments, the implementer may adjust the value according to actual conditions.

[0079] Step S222, determining a temperature influence value according to a difference between a temperature of the soldering point to be welded and a corresponding temperature of the surrounding area to be welded.

[0080] In the embodiment of the present invention, the square of the difference between the to-be-welded temperature of the welding point and the to-be-welded temperature of the corresponding surrounding area is taken as the temperature influence value.

[0081] The greater the difference between the welding temperature of the current welding point and the surrounding welding temperature, the greater the temperature impact value of the current welding point. Conversely, the smaller the difference between the welding temperature of the current welding point and the surrounding welding temperature, the smaller the temperature impact value of the current welding point.

[0082] Step S223, taking the temperature influence value corresponding to the welding point as a weight value, weighting the waiting welding time of the welding point, and obtaining the welding influence value of the welding point subjected to heat transfer.

[0083] That is, the product of the temperature influence value corresponding to the soldering point and the waiting time for soldering of the soldering point is used as the soldering influence value of the soldering point subjected to heat transfer.

[0084] In some embodiments, taking the kth welding point as an example, the calculation formula of the welding influence value of the welding point corresponding to the kth welding point due to heat transfer is:

[0085] ;

[0086] in, is the welding influence value of the heat transfer of the corresponding welding point of the kth welding point; is the waiting time for welding of the kth welding point; is the welding temperature of the kth solder joint; is the overall soldering temperature of the kth solder joint; is the temperature influence value of the kth solder point.

[0087] The greater the difference between the temperature to be welded and the overall temperature to be welded of the surrounding weld points, the higher the welding influence value, and the longer the time to be welded, the greater the welding influence.

[0088] Step S230: Determine the heat transferability of the welding point by combining the distance influence value and the welding influence value.

[0089] The normalized distance influence value and the normalized welding influence value are weighted respectively, and the heat transferability of the weld point is obtained by weighted summation.

[0090] In some embodiments, the normalized distance influence value and welding influence value may be respectively assigned a weight of 0.5 to achieve an even division of the distance influence value and the welding influence value.

[0091] In other embodiments, the implementer may also assign different weights to the normalized distance influence value and welding influence value respectively to achieve consideration of different emphases. For example, when the influence of distance is emphasized, the weight assigned to the normalized distance influence value may be appropriately increased, such as increased to 0.6, and the corresponding weight of the normalized welding influence value is 0.4.

[0092] It should be noted that when weighting the distance influence value and the welding influence value, the sum of the weights corresponding to the two parameters is kept at 1.

[0093] The calculation formula for the heat transferability of the solder joint is:

[0094] ;

[0095] in, is the heat transferability of the kth solder joint; is the weight of the distance influence value of the kth welding point; is the normalized distance influence value of the kth solder joint; is the weight of the welding influence value of the kth welding point; is the welding influence value of the kth welding point.

[0096] The distance influence value and welding influence value are both positively correlated with heat transferability. The higher the heat transferability of a weld point, the more it is necessary to stagger the welding sequence with the surrounding weld points during the welding process, that is, to ensure that each weld point has enough time to release heat.

[0097] It should be noted that when obtaining the value of heat transferability, the distance influence value and the welding influence value are normalized in advance, and the sum of the weights of the distance influence value and the welding influence value is limited to 1 when weighted, so the corresponding heat transferability value range is [0,1].

[0098] Step S300, based on the heat transfer property, path planning is performed on the welding point to obtain the optimal welding path.

[0099] After obtaining the heat transferability, the solder joints are clustered and analyzed according to the heat transferability. More specifically: for solder joints whose heat transferability is greater than or equal to a preset threshold, the solder joints and other adjacent solder joints are classified into one category as a pre-solder joint cluster; when more than half of the solder joints in the pre-solder joint cluster have heat transferability greater than or equal to the preset threshold, the pre-solder joint cluster is regarded as a solder joint cluster. In the embodiment of the present invention, the preset threshold is 0.8, and in other embodiments, the implementer may adjust the value according to actual conditions.

[0100] In the embodiment of the present invention, when the heat transferability value of a solder joint is in the range [0.8, 1], it and other solder joints adjacent to the solder joint form a pre-clustering cluster. It should be noted that the method for obtaining other solder joints adjacent to the solder joint has been specifically described in step S200. The heat transferability of other solder joints in the solder joint cluster is analyzed. When more than half of the solder joints meet the range [0.8, 1], it is considered that the pre-clustering cluster is established and recorded as a clustering result as a solder joint cluster.

[0101] In this welding point cluster, each welding point affects each other, so during the welding process, the welding sequence needs to be staggered.

[0102] First, a preset number of other welding points that are not included in the welding point cluster and are closest to the cluster center are used as pre-allocated welding points for welding. In the embodiment of the present invention, the value of the preset number is 5.

[0103] Then, the ant colony algorithm is used to obtain the optimal path of the solder joints within the solder joint cluster.

[0104] The ant colony algorithm is a probabilistic algorithm used to find the optimal path; it was proposed by Marco Dorigo in his doctoral thesis in 1992, and its inspiration comes from the behavior of ants in finding paths in the process of searching for food. This algorithm has the characteristics of distributed computing, positive feedback of information and heuristic search, and is essentially a heuristic global optimization algorithm in evolutionary algorithms. In the welding neighborhood, the purpose of path planning is to calculate the optimal welding sequence to minimize the consumption in the welding process and achieve the purpose of fast and accurate welding.

[0105] After obtaining the optimal path of the solder joints, a pre-allocated solder joint is introduced between every two adjacent solder joints in the optimal path, and the path after the pre-allocated solder joint is introduced is used as the optimal soldering path, wherein the introduced pre-allocated solder joint is the pre-allocated solder joint with the closest spatial Euclidean distance to the previous solder joint. The purpose is to leave enough heat release time for the previous solder joint. And so on, the optimal soldering path is obtained.

[0106] Step S400, pulse welding is performed on the welds whose transfer angles do not meet the conditions when transferring the welding path in the optimal welding path, and the low-energy pulse welding duration of the pulse welding of the welding robot is controlled according to the heat transfer properties of the welds being pulse welded.

[0107] In the above welding logic, for the optimal welding path, during the transfer process of the weld, because the adjacent welds are not in the same cluster, the maximum transfer angle will not meet the equipment parameters. Therefore, at this time, the corresponding pulse welding needs to be introduced. That is, for the welds that do not meet the transfer angle of the welding equipment, welding is performed according to the optimal path of the ant colony algorithm, but the optimized welding method needs to be adjusted at this time. For welds whose transfer angles do not meet the conditions, pulse welding is performed, and non-pulse welding, such as laser welding or resistance welding, is used for other welds.

[0108] That is, when the welding path is transferred based on the optimal welding path, when the transfer angle between two adjacent welding points is greater than the preset maximum welding rotation angle, the pre-assigned welding points of the two adjacent welding points are deleted from the optimal welding path, and the welding points of the two adjacent welding points belonging to the welding point cluster are pulse welded. In the embodiment of the present invention, the preset maximum welding rotation angle is the maximum angle that the welding robot can transfer during welding.

[0109] The optimized welding logic is that when welding the subsequent welds in the weld cluster, in order to avoid uneven heating of the material, pulse welding is selected for some welds. The pulse welding technology effectively controls the heat input and reduces heat accumulation by quickly switching between high energy and low energy. That is, the energy accumulation of the welding heat source is reduced by dispersing the energy output.

[0110] Furthermore, the specific parameter distribution of the welding pulse is analyzed. In a cluster of weld points, the weld point with higher heat transferability has higher heat transferability when the maximum angle does not meet the sequentially allocated heat release time. Accordingly, in order to effectively control the heat accumulation during heat input, the proportion of low energy time in the pulse welding process is selected to be amplified, and the heating unevenness is reduced in the form of low energy pulses.

[0111] According to the heat transferability of the weld spot whose transfer angle does not meet the conditions, the low-energy pulse welding duration of the pulse welding of the welding robot is controlled.

[0112] For the welds that are pulse welded, that is, for the welds whose transfer angles do not meet the conditions, the average heat transfer of other adjacent welds is calculated as the heat impact value; the ratio of the heat transferability of the weld to the heat impact value is used as the weight value, and the waiting welding time of the welds that are pulse welded is weighted to obtain the low-energy pulse welding time when the welds are pulse welded.

[0113] Taking the kth pulse-welded weld point as an example, the calculation formula for the low-energy pulse welding duration of the kth pulse-welded weld point is: ; that is ;in, is the low energy pulse welding duration of the kth pulse welded weld point; is the waiting time for welding of the kth welding point to be pulse welded; is the heat transfer property of the kth pulse welded spot; is the heat impact value of the kth pulse welding weld.

[0114] By analyzing the ratio between the mean value of the heat transferability within the solder joint cluster and the solder joint, it is mapped to the pulse proportion during low-energy welding, thereby reducing the heating unevenness.

[0115] An embodiment of the present invention provides a multi-angle welding control system for a welding robot, the system comprising:

[0116] A welding point acquisition module is used to acquire each welding point of the device to be welded corresponding to the welding robot;

[0117] The heat analysis module is used to analyze the positional relationship between each soldering point and other soldering points, and determine the distance influence value of the heat transfer of the soldering point; determine the welding influence value of the heat transfer of the soldering point according to the welding temperature and welding time corresponding to each soldering point; and determine the heat transferability of the soldering point by combining the distance influence value and the welding influence value;

[0118] The path planning module is used to plan the path of the welding point based on the heat transfer property to obtain the optimal welding path;

[0119] The welding control module is used to perform pulse welding on welding points whose transfer angles do not meet the conditions when the welding path is transferred in the optimal welding path, and to control the low-energy pulse welding duration of the pulse welding of the welding robot according to the heat transferability of the welding points undergoing pulse welding.

[0120] Optionally, the transmission medium may be a wired link, such as but not limited to coaxial cable, optical fiber, and digital subscriber line, or a wireless link, such as but not limited to Wireless Fidelity (WIFI), Bluetooth, and mobile device network.

[0121] It should be noted that: the device provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the computer device is divided into different functional modules to complete all or part of the functions described above. In addition, the shopping guide device provided in the above embodiment and the image extension method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0122] Figure 4 is a schematic diagram of the structure of a computer device provided by an embodiment of the present invention. Figure 4 As shown, the computer device 500 includes: a memory 510, a processor 520, and a computer program 530 stored in the memory 510 and running on the processor 520, wherein when the processor 520 executes the computer program 530, the computer device can execute any of the multi-angle welding control methods for welding robots introduced above.

[0123] In addition, an embodiment of the present invention also protects a device, which may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to execute the multi-angle welding control method for a welding robot provided in an embodiment of the present invention.

[0124] The embodiment of the present invention can divide the functional modules of the device according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0125] In the case of dividing each module according to each function, the device may also include a signal uploading module, a determining module, an adjusting module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0126] It should be understood that the device provided in the embodiment of the present invention is used to execute the above-mentioned multi-angle welding control method for a welding robot, and thus can achieve the same effect as the above-mentioned implementation method.

[0127] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a device, the processing module may be used to control and manage the actions of the device. The storage module may be used to support the device to execute mutual program codes, etc. The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present invention. The processor may also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0128] In addition, the device provided in the embodiment of the present invention can specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute the multi-angle welding control method for a welding robot provided in the above embodiment.

[0129] An embodiment of the present invention also provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement the multi-angle welding control method for a welding robot provided in the above embodiment.

[0130] An embodiment of the present invention further provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement the multi-angle welding control method for a welding robot provided in the above embodiment.

[0131] Among them, the device, computer-readable storage medium, computer program product or chip provided in the embodiments of the present invention are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here. Through the description of the above implementation methods, technicians in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways.

[0132] The device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. There may be other divisions in actual implementation. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

[0133] It should also be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0134] It should be noted that the sequence of the above embodiments of the present invention is only for description and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0135] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0136] The above contents are only specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered within the protection scope of the present invention.

Claims

1. A multi-angle welding control method for a welding robot, characterized in that: The method comprises the following steps: Obtain each welding point of the device to be welded corresponding to the welding robot; Analyze the positional relationship between each soldering point and other soldering points to determine the distance influence value of heat transfer of the soldering point; determine the welding influence value of heat transfer of the soldering point according to the welding temperature and welding time corresponding to each soldering point; and determine the heat transferability of the soldering point by combining the distance influence value and the welding influence value; Based on the heat transfer property, the welding point path is planned to obtain the optimal welding path; Pulse welding is performed on welding points whose transfer angles do not meet the conditions when the welding path is transferred in the optimal welding path, and the low-energy pulse welding duration of the pulse welding of the welding robot is controlled according to the heat transferability of the welding points to be pulse welded; The method for obtaining the optimal welding path is as follows: based on the heat transfer property, the welding points are classified to obtain welding point clusters; the welding points in the welding point cluster are path-planned, and pre-allocated welding points that do not belong to the welding point cluster are introduced to obtain the optimal welding path; Among them, the method for obtaining the solder point cluster is: for solder points whose heat transferability is greater than or equal to a preset threshold, the solder points and other adjacent solder points are divided into one category as a pre-solder point cluster; when the heat transferability of more than half of the solder points in the pre-solder point cluster is greater than or equal to the preset threshold, the pre-solder point cluster is regarded as a solder point cluster.

2. A multi-angle welding control method for a welding robot according to claim 1, characterized in that: The analyzing the positional relationship between each soldering point and other soldering points to determine the distance influence value of heat transfer to the soldering point includes: The spatial Euclidean distance between each soldering point and other soldering points is calculated, and the spatial Euclidean distances are sorted from small to large to obtain a distance sequence; the average of the first preset number of spatial Euclidean distances in the distance sequence is used as the distance influence value of heat transfer of the soldering point.

3. The multi-angle welding control method for a welding robot according to claim 1, characterized in that: The step of determining the welding influence value of the heat transfer of each welding point according to the welding temperature and welding time corresponding to each welding point includes: For each soldering point, analyze the overall soldering temperature of other soldering points adjacent to the soldering point to determine the surrounding soldering temperature corresponding to each soldering point; Determine the temperature influence value according to the difference between the welding temperature of the welding point and the corresponding surrounding welding temperature; The temperature influence value corresponding to the soldering point is used as the weight value, and the waiting time for soldering of the soldering point is weighted to obtain the soldering influence value of the soldering point subjected to heat transfer.

4. The multi-angle welding control method for a welding robot according to claim 1, characterized in that: The combining the distance influence value and the welding influence value to determine the heat transferability of the welding point includes: The normalized distance influence value and the normalized welding influence value are weighted respectively, and the heat transferability of the weld point is obtained by weighted summation.

5. The multi-angle welding control method for a welding robot according to claim 1, characterized in that: The method of performing path planning on the soldering points in the soldering point cluster and introducing pre-allocated soldering points that do not belong to the soldering point cluster to obtain an optimal soldering path includes: The pre-allocated soldering points of the soldering point cluster are obtained according to the distance; the optimal path of the soldering points in the soldering point cluster is obtained by using the ant colony algorithm, and a pre-allocated soldering point is introduced between every two adjacent soldering points in the optimal path to obtain the optimal welding path, wherein the introduced pre-allocated soldering point is the pre-allocated soldering point with the shortest spatial Euclidean distance to the previous soldering point.

6. The multi-angle welding control method for a welding robot according to claim 1, characterized in that: The pulse welding of the welding points whose transfer angles do not meet the conditions when the welding path is transferred in the optimal welding path comprises: The welding path is transferred based on the optimal welding path. When the transfer angle between two adjacent welding points is greater than the preset maximum welding rotation angle, the pre-assigned welding points between the two adjacent welding points are deleted from the optimal welding path, and pulse welding is performed on the welding points between the two adjacent welding points that belong to the welding point cluster.

7. The multi-angle welding control method for a welding robot according to claim 1, characterized in that: The method of controlling the low-energy pulse welding duration of the pulse welding of the welding robot according to the heat transferability of the weld point to be pulse welded comprises: For the welds to be pulse welded, the average value of the heat transferability of other adjacent welds is calculated as the heat impact value; the ratio of the heat transferability of the weld to the heat impact value is used as the weight value, and the waiting time for welding of the weld to be pulse welded is weighted to obtain the low-energy pulse welding time when the weld is pulse welded.

8. A multi-angle welding control system for a welding robot, characterized in that: The system includes the following modules: A welding point acquisition module is used to acquire each welding point of the device to be welded corresponding to the welding robot; The heat analysis module is used to analyze the positional relationship between each soldering point and other soldering points, and determine the distance influence value of the heat transfer of the soldering point; determine the welding influence value of the heat transfer of the soldering point according to the welding temperature and welding time corresponding to each soldering point; and determine the heat transferability of the soldering point by combining the distance influence value and the welding influence value; The path planning module is used to plan the path of the welding point based on the heat transfer property to obtain the optimal welding path; A welding control module, used for pulse welding a welding spot whose transfer angle does not meet the conditions when the welding path is transferred in the optimal welding path, and controlling the low-energy pulse welding duration of the pulse welding of the welding robot according to the heat transferability of the welding spot to be pulse welded; The method for obtaining the optimal welding path is as follows: based on the heat transfer property, the welding points are classified to obtain welding point clusters; the welding points in the welding point cluster are path-planned, and pre-allocated welding points that do not belong to the welding point cluster are introduced to obtain the optimal welding path; Among them, the method for obtaining the solder point cluster is: for solder points whose heat transferability is greater than or equal to a preset threshold, the solder points and other adjacent solder points are divided into one category as a pre-solder point cluster; when the heat transferability of more than half of the solder points in the pre-solder point cluster is greater than or equal to the preset threshold, the pre-solder point cluster is regarded as a solder point cluster.

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