Arc welding method and system for body-in-white welding seam, medium and robot

Abstract

The invention provides an arc welding method and system for a body-in-white welding seam, a medium and a robot, and the method comprises the steps that data of a to-be-welded seam are obtained, and the data of the to-be-welded seam at least comprises the width of the to-be-welded seam; determining a welding scheme according to the to-be-welded seam data and a mapping relation between preset welding seam data and the welding scheme; according to the technical scheme, the welding method at least has the beneficial effects that the welding scheme for welding seams with different widths is designed in advance by recognizing the seam information data of the welding seams to be welded and carrying out classified analysis processing, the welding efficiency is improved, and the welding quality is improved. The information data of the to-be-welded weld joint is classified, analyzed and processed, the gap of the to-be-welded weld joint is matched with the preset welding scheme, and different welding schemes are adopted for gaps with different widths, so that the welding quality is improved, defects generated by welding are reduced, and the intelligent level of a production line is improved.

Description

Technical Field

[0001] The present application relates to the technical field of body-in-white welding, and in particular to an arc welding method, system, medium and robot for body-in-white welds. Background Art

[0002] At present, most automobile body-in-white manufacturing adopts steel stamping parts as the basis, and each stamping part is combined and connected one by one by welding to finally form a complete body-in-white. Usually, a complete body-in-white will be composed of dozens or even hundreds of stamping parts of different thicknesses and materials, which are finally combined through spot welding, arc welding, stud welding and other connection methods. Among the various connection methods, spot welding has become the most widely used process in the automobile body-in-white welding process due to its advantages such as simple operation, low welding cost, high production efficiency and small welding deformation.

[0003] When the robot arc welds the BIW, a fixed trajectory and single welding parameters are used for arc welding, that is, a robot trajectory is set according to the weld position of a BIW, and each BIW is subsequently transported to the arc welding workstation via a skid, and the robot welds according to the set trajectory. If the size of the parts fluctuates and the size of the BIW deviates, the weld position will shift and the weld lap gap will change, but the robot welding is still arc welding according to the original set trajectory, then the welding position is not the required weld position. At the same time, the existing arc welding is a set of parameters preset in advance, which will result in quality defects such as burn-through, undercut, weld nodule, and incomplete welding, resulting in unqualified welds. Summary of the invention

[0004] In view of the shortcomings of the prior art described above, the object of the present invention is to provide an arc welding method, system, medium and robot for body-in-white welds, which are used to solve the problem in the prior art that the existing arc welding is a set of parameters preset in advance, the weld position is offset, the weld lap gap changes, and quality defects such as burn-through, undercut, weld bead, and incomplete welding occur, resulting in unqualified welds.

[0005] To achieve the above-mentioned and other related purposes, the present invention provides an arc welding method for a body-in-white weld, comprising:

[0006] Acquire data of a gap to be welded, wherein the data of the gap to be welded at least includes a width of the gap to be welded;

[0007] Determine a welding scheme according to the data of the gap to be welded and the mapping relationship between the preset weld data and the welding scheme;

[0008] The gap to be welded is welded according to the welding scheme.

[0009] Optionally, before determining the welding scheme according to the to-be-welded gap data and the mapping relationship between the preset weld data and the welding parameters, the method includes:

[0010] The data of the gap to be welded is compared with a preset feasible welding threshold. If the data of the gap to be welded is within the feasible welding threshold, the welding parameters are determined according to the data of the gap to be welded and the mapping relationship between the preset weld data and the welding parameters. Otherwise, the welding is stopped.

[0011] Optionally, the data of the gap to be welded further includes initial coordinate information, and the initial coordinate information is compared with preset coordinate information;

[0012] If the initial coordinate information is consistent with the preset coordinate information, it is determined that the current welding starting position is normal; if the initial coordinate information is different from the preset coordinate information, it is determined that the current welding starting position is abnormal, and the current welding starting position is adjusted.

[0013] Optionally, the preset weld data includes a plurality of weld gap width range thresholds, and the weld gap data to be welded is compared with each preset weld gap width range threshold respectively to determine the weld gap width range threshold mapped by the weld gap data to be welded;

[0014] Determine the welding scheme according to the welding gap width range threshold mapped by the welding gap data and the mapping relationship between the preset welding gap width range threshold and the welding scheme;

[0015] Among them, the multiple welding gap width range thresholds are continuous and do not overlap each other.

[0016] Optionally, the welding gap width range thresholds include at least 0 mm to 1 mm, 1.1 mm to 1.5 mm, 1.6 mm to 2.0 mm, 2.1 mm to 2.5 mm and 2.6 mm to 3.0 mm.

[0017] Optionally, obtaining data of the gap to be welded includes:

[0018] A plurality of data of gaps to be welded are obtained at the same time, and the data of the plurality of gaps to be welded are classified according to a preset classification logic, and the gaps to be welded of the same type are welded using the same welding scheme.

[0019] Optionally, the welding method further comprises: after welding is completed, inspecting the weld, and if the welding quality at the welding position does not meet the standard, performing repair welding on the welding position.

[0020] The present application also provides an arc welding system for a weld, comprising:

[0021] Scanning module, used to detect the width of the weld;

[0022] An information processing module is used to segment the weld according to different widths;

[0023] An information storage module, used to store weld width data, preset ranges and preset welding plans;

[0024] A welding module, used for welding the weld seam;

[0025] The moving module is used to move the welding module for welding and adjust the positions of the welding module and the scanning module.

[0026] The present application also provides a computer-readable storage medium, the computer-readable storage medium comprising a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to perform the above-mentioned arc welding method for a body-in-white weld.

[0027] The present application also provides a robot, including: a robot controller and a welding robot body, for executing the above-mentioned arc welding method for a body-in-white weld.

[0028] As described above, the beneficial effects brought about by the technical solution in the present invention include at least: the welding method identifies the gap information data of the weld to be welded, classifies and analyzes it, pre-designs welding schemes for welds of different widths, matches the gap of the weld to be welded with the preset welding scheme by classifying and analyzing the information data of the weld to be welded, and adopts different welding schemes for gaps of different widths, thereby improving the welding quality, reducing defects caused by welding, and improving the intelligence level of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Shown is a schematic flow chart of a welding method according to an exemplary embodiment of the present invention;

[0030] Figure 2 Shown is a schematic diagram of a weld comparison process according to an exemplary embodiment of the present invention;

[0031] Figure 3 Shown is a schematic diagram of system structure interaction of an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0032] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0033] It should be noted that the illustrations provided in the following embodiments are only used to illustrate the basic concept of the present invention in a schematic manner, and thus the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0034] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present disclosure. However, it is obvious to those skilled in the art that the embodiments of the present disclosure can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present disclosure difficult to understand.

[0035] See also Figure 1 The present invention provides an arc welding method for a body-in-white weld, comprising:

[0036] Step 110, obtaining data of a gap to be welded, wherein the data of the gap to be welded at least includes a width of the gap to be welded;

[0037] Step 120, determining a welding scheme according to the to-be-welded gap data and a mapping relationship between preset weld data and a welding scheme;

[0038] Step 130: welding the gap to be welded according to the welding scheme.

[0039] In one embodiment of the present application, specifically, a parameter library is established, the parameter library includes welding schemes for different weld gap widths, each welding scheme is correspondingly provided with a JOB number (refers to a number used to identify a specific task or process in different systems. In some systems, the JOB number is used to identify a specific process, and each process will obtain a unique JOB number when it is assigned, also called a process ID or PID. This number is used to track and manage the status and resource allocation of the process), and the gap data to be welded of the welds of the body parts to be welded is obtained by an arc welding robot, the gap data to be welded includes the width and length of the gap, and different parts have different or the same width data, and the gap data to be welded including the width and length of the gap is input into an industrial computer, and the industrial computer matches the different width data with the preset weld data in the parameter library, and according to the matching result, calls the JOB number corresponding to the gap width to be welded for welding. Compared with the previous tracking welding, this welding method improves the quality of arc welding, reduces quality defects, and solves the welding problem of gradual overlap gap.

[0040] Furthermore, the arc welding method is suitable for a weld gap with a length of 0-3 mm.

[0041] like Figure 2 As shown, according to the welding gap data to be welded, and the mapping relationship between the preset weld data and the welding parameters, before determining the welding scheme, it includes:

[0042] The data of the gap to be welded is compared with a preset feasible welding threshold. If the data of the gap to be welded is within the feasible welding threshold, the welding parameters are determined according to the data of the gap to be welded and the mapping relationship between the preset weld data and the welding parameters. Otherwise, the welding is stopped.

[0043] The specific steps are as follows:

[0044] Step 210, the body in white arrives at the welding position;

[0045] Step 220, weld width detection;

[0046] Step 230, when the width of the gap to be welded is less than or equal to 3 mm, the PLC calls the program to change the robot posture and enter welding preparation;

[0047] Step 240, calling the corresponding welding scheme in the database to perform welding;

[0048] Step 250, when the width of the gap to be welded is greater than 3 mm, welding is stopped and the workstation alarm is sounded;

[0049] Step 260, end and manually inspect the repair welding.

[0050] In one embodiment of the present application, specifically, before determining the welding scheme, the width of the gap to be welded is judged to detect whether the width of the gap to be welded is greater than 3 mm. If the width of the gap to be welded is less than or equal to 3 mm, further detection is performed on it to determine the preset weld data corresponding to its width and determine the welding scheme. If the width of the gap to be welded is greater than 3 mm, the subsequent detection of the weld gap is skipped, and the work station sends an alarm to notify the operator to remove the workpiece to be welded and perform manual repair welding.

[0051] The data of the gap to be welded also includes initial coordinate information, and the initial coordinate information is compared with the preset coordinate information;

[0052] If the initial coordinate information is consistent with the preset coordinate information, it is determined that the current welding starting position is normal; if the initial coordinate information is different from the preset coordinate information, it is determined that the current welding starting position is abnormal, and the current welding starting position is adjusted.

[0053] In one embodiment of the present application, specifically, the data of the gap to be welded also includes initial coordinate information. Before starting welding, the initial coordinate information of the gap to be welded is detected, and the initial coordinate information is compared with the preset coordinate information in the parameter library. If the initial coordinate information is consistent with the preset coordinate information in the parameter library, the current position is normal and no adjustment is required. The next step of welding is carried out. If the initial coordinate information is inconsistent with the preset coordinate information in the parameter library, the current position is abnormal, and the initial position of the robot welding needs to be adjusted to make the initial coordinate information consistent with the preset coordinate information in the parameter library, so as to achieve better welding effect and avoid welding offset caused by inaccurate initial position, which may cause problems in the quality of welding of the gap to be welded.

[0054] Furthermore, the preset coordinate information is the initial coordinate information of the last welding, and the last initial coordinate is changed to the preset coordinate information and stored in the parameter library.

[0055] The preset weld data includes a plurality of weld gap width range thresholds, and the weld gap data to be welded is compared with each preset weld gap width range threshold respectively to determine the weld gap width range threshold mapped by the weld gap data to be welded;

[0056] Determine the welding scheme according to the welding gap width range threshold mapped by the welding gap data and the mapping relationship between the preset welding gap width range threshold and the welding scheme;

[0057] Among them, the multiple welding gap width range thresholds are continuous and do not overlap each other.

[0058] In one embodiment of the present application, specifically, the preset weld data in the parameter library are multiple welding gap width range thresholds, each welding gap width range threshold corresponds to a JOB number (corresponding to a welding scheme), and the width of the gap data to be welded is compared with each welding gap width range threshold. If the width of the gap data to be welded belongs to a certain welding gap width range threshold, the welding scheme corresponding to the corresponding welding gap width range threshold is determined as the welding scheme of the weld to be welded.

[0059] The welding gap width range thresholds include at least 0mm~1mm, 1.1mm~1.5mm, 1.6mm~2.0mm, 2.1mm~2.5mm and 2.6mm~3.0mm.

[0060] Furthermore, the preset welding scheme includes: when the gap to be welded gradually increases, the wire feeding speed (the speed of sending the welding wire to the welding point) gradually decreases, the robot welding speed component is reduced, the contact time with the welding wire is increased, and the current and voltage are also gradually reduced.

[0061] As the weld gap changes, the welding plan changes, resulting in changes in welding speed, wire feed speed, current and voltage.

[0062] Get the data of the gap to be welded, including:

[0063] Acquire multiple welding gap data at the same time.

[0064] Classify multiple welding gap data according to the preset classification logic.

[0065] The same type of welded gaps are welded using the same welding scheme.

[0066] In one embodiment of the present application, specifically, by detecting multiple gaps to be welded, multiple gap data to be welded are obtained, and according to the width data of each gap to be welded, each section of weld gaps of the same width of the gaps to be welded are classified, and the weld gaps of the same width are arc welded using the same welding scheme to improve the arc welding speed.

[0067] Furthermore, each section of the weld gap with the same width is classified and compared along the length direction of the weld gap, and the widths within the same weld gap width range threshold are classified into the same category.

[0068] Furthermore, there are multiple data of gaps to be welded, and data is acquired for each data of gaps to be welded, and width data of each data of gaps to be welded is uniformly classified. According to the above method, width data of the same classification are recorded and imported, and the same welding scheme is adopted for weld gaps in the same width range, and the gaps to be welded using the same welding scheme are welded in the same batch.

[0069] The obtaining of the data of the gap to be welded comprises:

[0070] Scan and photograph the weld using a laser sensor to obtain scanning data;

[0071] The scanning data is fed back to a control system, and the control system fits the scanning data and obtains the width data of the weld.

[0072] After welding is completed, the weld is inspected. If the welding quality at the welding position does not meet the standards, repair welding is performed on the welding position.

[0073] The present application also provides an arc welding system for a weld, characterized in that it comprises:

[0074] Scanning module, used to detect the width of the weld;

[0075] An information processing module is used to segment the weld according to different widths;

[0076] An information storage module, used to store weld width data, preset ranges and preset welding plans;

[0077] A welding module, used for welding the weld seam;

[0078] The moving module is used to move the welding module for welding and adjust the positions of the welding module and the scanning module.

[0079] like Figure 3 As shown, in one embodiment of the present application, specifically, the robot's 3D laser sensor scans the weld to be welded and transmits it to a PC (computer). The PC identifies and calculates the position coordinates, weld contour and overlap gap (weld gap width) of the weld to be welded, and calls the preset welding plan in the parameter library, which is transmitted to the robot control cabinet. The robot control cabinet controls the robot to perform welding.

[0080] The present application also provides a computer-readable storage medium, characterized in that the computer-readable storage medium includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the above-mentioned arc welding method for a body-in-white weld.

[0081] Another aspect of the present application also provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes an arc welding method for a body-in-white weld provided in each of the above embodiments.

[0082] The electronic device disclosed in this embodiment includes a processor, a memory, a transceiver and a communication interface. The memory and the communication interface are connected to the processor and the transceiver and complete communication with each other. The memory is used to store computer programs, the communication interface is used to communicate, and the processor and the transceiver are used to run the computer program so that the electronic device executes each step of the above method.

[0083] In this embodiment, the memory may include a random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0084] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0085] The above description and accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent possible changes only. Unless explicitly required, separate components and functions are optional, and the order of operation may vary. Parts and subsamples of some embodiments may be included in or replace parts and subsamples of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and claims, unless the context clearly indicates, the singular forms of "a", "an" and "the" are intended to include plural forms as well. Similarly, the term "and / or" as used in this application refers to any and all possible combinations of listings containing one or more associated ones. In addition, when used in the present application, the term "comprise" and its variants "comprises" and / or comprising refer to the existence of a stated sub-sample, whole, step, operation, element, and / or component, but do not exclude the existence or addition of one or more other sub-samples, wholes, steps, operations, elements, components and / or groups thereof. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method or device including the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the embodiments may refer to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts may refer to the description of the method part. It should be noted that the computer-readable medium shown in the embodiments of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to, electrical connections with one or more conductors, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In the present application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable computer program.Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0086] The present application also provides a robot, comprising: a robot controller and a welding robot body, for executing the above-mentioned arc welding method for welds, wherein the robot controller controls the welding robot body to perform welding operations.

[0087] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. An arc welding method for a body-in-white weld, characterized in that: include: Acquire data of a gap to be welded, wherein the data of the gap to be welded at least includes a width of the gap to be welded; Determine a welding scheme according to the data of the gap to be welded and the mapping relationship between the preset weld data and the welding scheme; The gap to be welded is welded according to the welding scheme.

2. The arc welding method for a body-in-white weld according to claim 1, characterized in that: According to the welding gap data to be welded, and the mapping relationship between the preset weld data and the welding parameters, before determining the welding scheme, it includes: The data of the gap to be welded is compared with a preset feasible welding threshold. If the data of the gap to be welded is within the feasible welding threshold, the welding parameters are determined according to the data of the gap to be welded and the mapping relationship between the preset weld data and the welding parameters. Otherwise, the welding is stopped.

3. The arc welding method for a body-in-white weld according to claim 1, characterized in that: The data of the gap to be welded also includes initial coordinate information, and the initial coordinate information is compared with the preset coordinate information; If the initial coordinate information is consistent with the preset coordinate information, it is determined that the current welding starting position is normal; If the initial coordinate information is different from the preset coordinate information, it is determined that the current welding starting position is abnormal, and the current welding starting position is adjusted.

4. The arc welding method for a body-in-white weld according to claim 1, characterized in that: The preset weld data includes a plurality of weld gap width range thresholds, and the weld gap data to be welded is compared with each preset weld gap width range threshold respectively to determine the weld gap width range threshold mapped by the weld gap data to be welded; Determine the welding scheme according to the welding gap width range threshold mapped by the welding gap data and the mapping relationship between the preset welding gap width range threshold and the welding scheme; Among them, the multiple welding gap width range thresholds are continuous and do not overlap each other.

5. The arc welding method for a body-in-white weld according to claim 2, characterized in that: The welding gap width range thresholds include at least 0mm-1mm, 1.1mm-1.5mm, 1.6mm-2.0mm, 2.1mm-2.5mm and 2.6mm-3.0mm.

6. The arc welding method for a body-in-white weld according to claim 4, characterized in that: Get the data of the gap to be welded, including: A plurality of data of gaps to be welded are obtained at the same time, and the data of the plurality of gaps to be welded are classified according to a preset classification logic, and the gaps to be welded of the same type are welded using the same welding scheme.

7. The arc welding method for a body-in-white weld according to claim 1, characterized in that: The welding method further comprises: after welding is completed, inspecting the weld, and if the welding quality at the welding position does not meet the standard, performing repair welding on the welding position.

8. An arc welding system for a body-in-white weld seam gap, characterized in that: include: Scanning module, used to detect the width of the weld; An information processing module is used to segment the weld according to different widths; An information storage module, used to store weld width data, preset ranges and preset welding plans; A welding module, used for welding the weld seam; The moving module is used to move the welding module for welding and adjust the positions of the welding module and the scanning module.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the arc welding method for a body-in-white weld as claimed in any one of claims 1 to 7.

10. A robot, characterized in that: include: A robot controller and a welding robot body are used to execute the arc welding method for a body-in-white weld as described in any one of claims 1 to 7.

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