Automatic welding process control method

Abstract

The invention relates to the technical field of laser welding, in particular to an automatic welding process control method, which comprises the following steps of: respectively arranging an edge curve S1 and an edge curve S2 on two workpieces, selecting a correction point Pni on the edge curve S1, selecting a correction point Pmi on the edge curve S2, and taking a reference axis L between the edge curve S1 and the edge curve S2 as a reference; the distance Lni from the Pni to the reference axis L in the second direction is measured, the distance Lmi from the Pmi to the reference axis L in the second direction is measured, the extrusion point Ynx on the edge curve S1 and the extrusion point Ymx on the edge curve S2 are extruded through a hot extrusion unit, and the extrusion point Ynx and the extrusion point Ymx on the edge curve S2 are obtained. And the distance from the gap edge curve S1 and the gap edge curve S2 of the two workpieces to the reference axis L is compensated, the uniformity of the gap between the two workpieces during laser welding is improved, and then the welding quality of the two workpieces is improved.

Description

Technical Field

[0001] The invention relates to the technical field of laser welding, and in particular to an automatic welding process control method. Background Art

[0002] Laser welding is a type of automated welding. Its main working principle is to automatically perform welding according to the set program in the software. During welding, the high-energy-density laser beam generated by the laser is focused on the surface or inside of the material to be welded through a focusing lens or other optical system, forming a small heat source area, which causes the material to melt or vaporize rapidly, thereby forming a molten pool or keyhole.

[0003] During the pre-welding assembly process, the processing accuracy of the plate greatly affects the assembly accuracy of the weldment. Laser welding technology has very strict requirements on the gap between weldments, but poor plate processing will lead to uneven distribution of gaps between weldments, and changes in gap size will easily cause welding defects such as incomplete penetration and weld penetration, resulting in the inability to control welding quality. Summary of the invention

[0004] The present invention provides an automated welding process control method to solve the problem that, when two workpieces are welded together, poor material processing may lead to uneven distribution of gaps between weldments, resulting in the inability to control welding quality.

[0005] An automated welding process control method of the present invention adopts the following technical solution: An automated welding process control method comprises the following steps: S10, obtaining gap edge curves of two workpieces, which are referred to as S1 and S2 respectively; S20, fitting a reference axis L through the gap edge curve S1 and the edge curve S2 of the two workpieces; the reference axis L is set along a first direction, and the first direction is a horizontal direction; S30, select a correction point Pni on the edge curve S1, where i is a positive integer, and measure the distance Lni from Pni to the reference axis L along the second direction; the second direction is perpendicular to the first direction and parallel to the planes where the two workpieces are located, select a correction point Pmi on the edge curve S2, and measure the distance Lmi from Pmi to the reference axis L along the second direction; and collect and detect Lni and Lmi through a data acquisition system; S40, selecting a correction point Pni on the edge curve S1 as an extrusion point Ynx; selecting a correction point Pmi on the edge curve S2 as an extrusion point Ymx, where x is a positive integer and i≥x; S50, extruding the extrusion point Ynx along the second direction toward the side close to the reference axis L by the hot extrusion unit, and at the same time extruding the extrusion point Ymx along the second direction toward the side close to the reference axis L by the hot extrusion unit; S60, when all Lni and Lmi are within the standard range Lmin-Lmax, stop extrusion and maintain for a period of time t, and perform welding operation on the two workpieces along the reference axis L; wherein Lmin refers to the minimum value from the reference axis L within the standard range, and Lmax refers to the maximum value from the reference axis L within the standard range.

[0006] Furthermore, in S10, it also includes: clamping the two workpieces, and taking photos of the gap between the two workpieces by using a camera device, and obtaining the gap edge curve S1 and the edge curve S2 of the two workpieces.

[0007] Furthermore, in S20, it also includes: taking multiple points on the edge curve S1 and the edge curve S2 respectively, and then fitting them into two parallel straight lines by the least square method, and the two straight lines are called Z1 and Z2 respectively, and the reference axis L is the symmetry axis of the two straight lines Z1 and Z2.

[0008] Furthermore, in S30, it also includes: taking a Pni at every distance C along the direction of the reference axis L on the edge curve S1, taking a Pmi at every distance C along the direction of the reference axis L on the edge curve S2, and collecting Pni and Pmi through a data acquisition system.

[0009] Further, in S50, hot extrusion units are matched for the extrusion point Ynx and the extrusion point Ymx respectively, and the hot extrusion units can cause the correspondingly set extrusion point Ynx or extrusion point Ymx to move along the second direction to the side close to the reference axis L.

[0010] Furthermore, the two hot extrusion units are respectively located on both sides of the corresponding workpiece on a third direction, and the third direction is respectively perpendicular to the first direction and the second direction.

[0011] Furthermore, the hot extrusion unit includes a touch ball and a resistance wire, and the resistance wire is nested in the touch ball.

[0012] Furthermore, after S30 and before S40, the method further includes: translating the two workpieces along the second direction until the minimum Lni and Lmi on both sides are equal to Lmax.

[0013] Further, S40 also includes: S41, capturing all correction points Pni on the edge curve S1 whose distance from the reference axis L along the second direction is greater than ΔL; these correction points are referred to as pre-correction points Uni, and the point with the largest distance Lni from the reference axis L along the second direction among the pre-correction points Uni is referred to as the farthest correction point Pny; at the same time, capturing all correction points Pmi on the edge curve S2 whose distance from the reference axis L along the second direction is greater than ΔL; these correction points are referred to as pre-correction points Umi, and the point with the largest distance Lmi from the reference axis L along the second direction among the pre-correction points Umi is referred to as the farthest correction point Pmy; S42, taking the farthest correction point Pny as the reference and as the extrusion point Ynx, successively determine whether the distance Ani between the pre-correction point Uni and the farthest correction point Pny in the first direction is less than the preset value A0, if Ani is less than A0, then discard this point; if Ani is greater than A0, then take the pre-correction point Uni with the smallest distance from Pny in the first direction as the next extrusion point Ynx; wherein A0 represents the distance between the pre-correction point Uni in the first direction and the extrusion point Ynx that can be driven by the extrusion point Ynx to move synchronously in the second direction when the extrusion point Ynx is extruded. At the same time, taking the farthest correction point Pmy as the reference and as the extrusion point Ymx, it is judged in turn whether the distance Ami between the pre-correction point Umi and the farthest correction point Pmy in the first direction is less than the preset value A0. If Ami is less than A0, this point is discarded; if Ami is greater than A0, the pre-correction point Umi with the smallest distance from Pny in the first direction is taken as the next extrusion point Ymx; wherein A0 represents the distance between the pre-correction point Umi in the first direction and the extrusion point Ymx that can be driven by the extrusion point Ymx to synchronously move in the second direction when the extrusion point Ymx is extruded; S43, taking the next extrusion point Ynx as a reference, successively judging whether the distance Ani between the other pre-correction points Uni except the discarded point and the point selected as the extrusion point Ynx and the next extrusion point Ynx in the first direction is less than the preset value A0, if Ani is less than A0, then this point is discarded; if Ani is greater than A0, then the pre-correction point Uni with the smallest distance to the next extrusion point Ynx in the first direction is taken as the next extrusion point Xnx; at the same time, taking the next extrusion point Ymx as a reference, successively judging whether the distance Ami between the other pre-correction points Umi except the discarded point and the point selected as the extrusion point Ymx and the next extrusion point Ymx in the first direction is less than the preset value A0, if Ami is less than A0, then this point is discarded; if Ami is greater than A0, then the pre-correction point Umi with the smallest distance to the next extrusion point Ymx in the first direction is taken as the next extrusion point Xmx; S44, and so on, until all pre-correction points Uni and all pre-correction points Umi are judged.

[0014] Furthermore, S50 also includes: capturing all correction points Pni on the edge curve S1 whose distance from the reference axis L along the second direction is less than or equal to ΔL; these correction points are referred to as post-correction points Hni, and when the distance from Lni in any pre-correction point Uni to the reference axis L along the second direction is equal to that of Lni in any post-correction point Hni, a hot extrusion unit is matched for the post-correction point Hni; and at the same time, capturing all correction points Pmi on the edge curve S2 whose distance from the reference axis L along the second direction is less than or equal to ΔL; these correction points are referred to as post-correction points Hmi, and when the distance from Lmi in any pre-correction point Umi to the reference axis L along the second direction is equal to that of Lmi in any post-correction point Hmi, a hot extrusion unit is matched for the post-correction point Hmi.

[0015] The beneficial effects of the present invention are as follows: an automated welding process control method of the present invention first sets edge curves S1 and edge curves S2 on two workpieces respectively, and selects a correction point Pni on edge curve S1 and a correction point Pmi on edge curve S2, and takes the reference axis L between edge curve S1 and edge curve S2 as a reference, measures the distance Lni from Pni to the reference axis L along the second direction, and measures the distance Lmi from Pmi to the reference axis L along the second direction, and then uses a hot extrusion unit to extrude the extrusion point Ynx on edge curve S1 and the extrusion point Ymx on edge curve S2, and compensates for the distance from the gap edge curve S1 and edge curve S2 of the two workpieces to the reference axis L, thereby improving the uniformity of the gap between the two workpieces during laser welding, reducing the probability of forming welding defects such as incomplete welding and welding through, and thereby improving the welding quality of the two workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be 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.

[0017] Figure 1 Schematic diagram of an edge curve S1 and an edge curve S2 of an embodiment of an automated welding process control method of the present invention; Figure 2 It is a schematic diagram of an edge curve S1 and an edge curve S2 of an embodiment of an automatic welding process control method of the present invention after being demarcated based on ΔL; Figure 3 A schematic diagram of a hot extrusion unit of an embodiment of an automated welding process control method of the present invention before extruding a workpiece; Figure 4 A schematic diagram of a hot extrusion unit after extruding a workpiece in an embodiment of an automated welding process control method of the present invention; Figure 5 A flowchart of an embodiment of an automated welding process control method of the present invention; Figure 6 Another flow chart of an embodiment of an automated welding process control method of the present invention.

[0018] In the figure: 100, workpiece; 200, touch ball; 300, resistance wire; 400, camera device; 500, central processing unit; 600, hot extrusion unit; 700, control cabinet. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] An embodiment of an automated welding process control method of the present invention is as follows Figures 1 to 6 shown.

[0021] An automated welding process control method comprises the following steps: S10, obtaining gap edge curves of two workpieces 100, which are referred to as S1 and S2 respectively; the surfaces where the two gap edge curves S1 and edge curves S2 are located are surfaces to be welded.

[0022] Specifically, in S10 , it further includes: clamping the two workpieces 100 , and using the camera device 400 to take a picture of the gap between the two workpieces 100 , and obtaining the gap edge curve S1 and the edge curve S2 of the two workpieces 100 .

[0023] The camera device 400 uses an optical system to image the gap through a semiconductor imaging device, such as a CCD camera. The image is sent to the image measurement software of the central processor 500 for processing and analysis through an image acquisition card, thereby providing a measurement result and obtaining the gap edge curve S1 and the edge curve S2. Figure 1 shown.

[0024] S20, fitting a reference axis L through the gap edge curve S1 and the edge curve S2 of the two workpieces 100; the reference axis L is set along a first direction, the first direction is a horizontal direction, that is, fitting Figure 1 The direction shown by the X axis.

[0025] Specifically, in S20, it also includes: taking multiple points on the edge curve S1 and the edge curve S2 respectively, and then fitting them into two parallel straight lines by the least square method, the two straight lines are called Z1 and Z2 respectively, and the reference axis L is the symmetry axis of the two straight lines Z1 and Z2.

[0026] S30, select a correction point Pni on the edge curve S1, where i is a positive integer, and measure the distance Lni from Pni to the reference axis L along the second direction; the second direction is perpendicular to the first direction and parallel to the plane where the two workpieces 100 are located, that is, Figure 1 The direction indicated by the Y axis in the middle. Select the correction point Pmi on the edge curve S2, and measure the distance Lmi from Pmi to the reference axis L along the second direction; and collect and detect Lni and Lmi through the data acquisition system.

[0027] Specifically, the correction point Pni and the correction point Pmi can be selected manually with the assistance of the image analysis software of the central processor 500, and the distance Lni from Pni to the reference axis L along the second direction and the distance Lmi from Pmi to the reference axis L along the second direction can be calculated. The image analysis software can be LabVIEW or Matlab. The image analysis software used here is applied to subsequent acquisition and detection.

[0028] Furthermore, in S30, it further includes: randomly selecting Pni along the first direction on the edge curve S1 and randomly selecting Pmi along the first direction on the edge curve S2.

[0029] Alternatively, in S30, it further includes: taking a Pni at every distance C along the first direction on the edge curve S1, taking a Pmi at every distance C along the first direction on the edge curve S2, and collecting Pni and Pmi through a data collection system.

[0030] That is, from Pn1-Pni, the first point on the edge curve S1 is Pn1, the second point is Pn2, the third point is Pn3, ..., and the i-th point is Pni. The distance from Pn1 to the reference axis L is called ln1, the distance from Pn2 to the reference axis L is called ln2, the distance from Pn3 to the reference axis L is called ln3, and the distance from Pni to the reference axis L is called Lni.

[0031] From Pm1-Pmi, the first point on the edge curve S2 is Pm1, the second point is Pm2, the third point is Pm3, ..., the i-th point is Pmi. The distance from Pm1 to the reference axis L is called lm1, the distance from Pm2 to the reference axis L is called lm2, the distance from Pm3 to the reference axis L is called lm3, and the distance from Pmi to the reference axis L is called Lmi.

[0032] S40, selecting a correction point Pni on the edge curve S1 as an extrusion point Ynx; selecting a correction point Pmi on the edge curve S2 as an extrusion point Ymx, where x is a positive integer and i≥x.

[0033] S50, the extrusion point Ynx is extruded along the second direction toward the side close to the reference axis L by the hot extrusion unit 600, and the distance Lni from the extrusion point Ynx along the second direction to the reference axis L is detected. At the same time, the extrusion point Ymx is extruded along the second direction toward the side close to the reference axis L by the hot extrusion unit 600, and the distance Lmi from the extrusion point Ymx along the second direction to the symmetry axis is detected.

[0034] Specifically, in S50, the central processor 500 is used to control the control cabinet 700, and the control cabinet 700 matches the hot extrusion units 600 for the extrusion point Ynx and the extrusion point Ymx respectively. The two hot extrusion units 600 are respectively located on both sides of the corresponding workpiece 100 on the third direction, and the third direction is perpendicular to the first direction and the second direction respectively, and the third direction is the direction of the thickness of the workpiece 100, that is, the attached Figure 3 The hot extrusion unit 600 can cause the corresponding extrusion point Ynx or extrusion point Ymx to move toward the side close to the reference axis L along the second direction.

[0035] The hot extrusion unit 600 includes a touch ball 200 and a resistance wire 300, and the resistance wire 300 is nested in the touch ball 200. Taking the extrusion point Ynx on the edge curve S1 as an example, the touch ball 200 and the corresponding extrusion point Ynx are arranged side by side in the second direction, and the distance between the touch ball 200 and the corresponding extrusion point Ynx is B; the resistance wire 300 is energized to generate heat, and the heat is transferred to the touch ball 200, and the touch balls 200 on both sides of the workpiece 100 along the third direction squeeze the workpiece 100, and the touch balls 200 squeeze the workpiece 100 at high temperature by hot extrusion. After being squeezed, the workpiece 100 is deformed, and the extrusion stress is transferred to the surroundings with the squeezed part as the center, so that the Lni of the corresponding extrusion point Ynx is reduced until it is qualified, so as to realize the correction of the workpiece 100.

[0036] S60, when all Lni and Lmi are within the standard range Lmin-Lmax, stop extrusion and keep for a period of time t, and perform welding operation on the two workpieces 100 along the reference axis L.

[0037] Specifically, in S60, Lmin refers to the minimum value of the distance from the reference axis L within the standard range, and Lmax refers to the maximum value of the distance from the reference axis L within the standard range. When the distance from the correction point Pni and the correction point Pmi to the reference axis L is within Lmin-Lmax, the welding quality of the two workpieces 100 is good.

[0038] In this embodiment, edge curves S1 and S2 are respectively set on the two workpieces 100, and a correction point Pni is selected on the edge curve S1, and a correction point Pmi is selected on the edge curve S2. The reference axis L between the edge curve S1 and the edge curve S2 is used as a reference, and the distance Lni from Pni to the reference axis L along the second direction is measured, and the distance Lmi from Pmi to the reference axis L along the second direction is measured. Then, the extrusion point Ynx on the edge curve S1 is extruded by the hot extrusion unit 600, and the extrusion point Ymx on the edge curve S2 is extruded, and the distance from the gap edge curve S1 and the edge curve S2 of the two workpieces 100 to the reference axis L is compensated, so as to improve the uniformity of the gap between the two workpieces 100 during laser welding, reduce the probability of forming welding defects such as incomplete welding and welding through, and thereby improve the welding quality of the two workpieces 100.

[0039] Furthermore, after S30 and before S40, the process further includes: translating the two workpieces 100 along the second direction until the minimum Lni and Lmi on both sides are equal to Lmax, that is, equal to the lower limit of the standard range.

[0040] By translating the two workpieces 100 , the distance between the two workpieces 100 and the reference axis L can be shortened before extrusion correction, thereby improving the correction efficiency.

[0041] Furthermore, S40 also includes: S41, capturing all correction points Pni on the edge curve S1 whose distance from the reference axis L along the second direction is greater than ΔL; these correction points are called pre-correction points Uni, and the point among the pre-correction points Uni whose distance Lni from the reference axis L along the second direction is the largest is called the farthest correction point Pny.

[0042] See attached Figure 2 As shown, the point with the largest Lni is selected on the edge curve S1, that is, the farthest correction point Pny, and its distance from the reference axis L in the second direction is called lnmax. Taking the farthest correction point Pny as the reference, all correction points Pni on the edge curve S1 whose distance from the reference axis L in the second direction is within the range of lnmax-ΔL~lnmax are captured, that is, Figure 2 The set of points covered by the shaded part on the upper side of ΔL.

[0043] At the same time, all correction points Pmi on the edge curve S2 whose distance from the reference axis L along the second direction is greater than ΔL are captured; these correction points are called pre-correction points Umi, and the point with the largest distance Lmi from the reference axis L along the second direction among the pre-correction points Umi is called the farthest correction point Pmy. The capture principle of the edge curve S2 is the same as that of the edge curve S1, which will not be repeated here.

[0044] S42, taking the farthest correction point Pny as the reference and as the extrusion point Ynx, determine in turn whether the distance Ani between the pre-correction point Uni and the farthest correction point Pny in the first direction is less than the preset value A0. If Ani is less than A0, the point is discarded. If Ani is greater than A0, the pre-correction point Uni with the smallest distance from Pny in the first direction is used as the next extrusion point Ynx. Wherein, A0 represents the distance between the pre-correction point Uni in the first direction and the extrusion point Ynx that can be driven by the extrusion point Ynx to move synchronously in the second direction when the extrusion point Ynx is extruded.

[0045] That is, a point whose distance Ani from the farthest correction point Pny in the first direction is greater than A0 and whose distance Ani from the farthest correction point Pny in the first direction is the smallest is determined as the squeeze point Ynx.

[0046] At the same time, the farthest correction point Pmy is used as a reference and as the extrusion point Ymx, and the distance Ami between the pre-correction point Umi and the farthest correction point Pmy in the first direction is determined in turn to be less than the preset value A0. If Ami is less than A0, this point is discarded. If Ami is greater than A0, the pre-correction point Umi with the smallest distance from Pny in the first direction is used as the next extrusion point Ymx. Among them, A0 represents the distance between the pre-correction point Umi in the first direction and the extrusion point Ymx that can be driven by the extrusion point Ymx to move synchronously in the second direction when the extrusion point Ymx is extruded.

[0047] S43, taking the next extrusion point Ynx as a reference, sequentially judging whether the distances Ani between the other pre-correction points Uni except the discarded point and the point selected as the extrusion point Ynx and the next extrusion point Ynx in the first direction are less than a preset value A0, and if Ani is less than A0, discarding this point. If Ani is greater than A0, taking the pre-correction point Uni with the smallest distance to the next extrusion point Ynx in the first direction as the next extrusion point Xnx.

[0048] That is, a point whose distance Ani from the next extrusion point Ynx in the first direction is greater than A0 and whose distance Ani from the next extrusion point Ynx in the first direction is the smallest is taken as the next extrusion point Xnx.

[0049] At the same time, taking the next extrusion point Ymx as the reference, it is determined in turn whether the distance Ami between the other pre-correction points Umi except the discarded point and the point selected as the extrusion point Ymx and the next extrusion point Ymx in the first direction is less than the preset value A0. If Ami is less than A0, this point is discarded. If Ami is greater than A0, the pre-correction point Umi with the smallest distance from the next extrusion point Ymx in the first direction is used as the next extrusion point Xmx.

[0050] S44, and so on, until all pre-correction points Uni and all pre-correction points Umi are judged.

[0051] The compensation principle of the edge curve S1 is exactly the same as that of the edge curve S2. The edge curve S1 is used as an example for explanation. By dividing the edge curve S1 with ΔL as the reference, when selecting the extrusion point Ynx, the correction point Pni farther from the reference axis L is corrected first, and the distance between it and all the correction points Pni with a distance less than or equal to ΔL from the reference axis L along the second direction is shortened (see Appendix). Figure 2 The distance between the points covered by the shaded part under ΔL in the middle edge curve S1 is increased to improve the accuracy of compensation.

[0052] The farthest correction point Pny is compared with the distance Ani of other pre-correction points Uni in the first direction, and the remaining pre-correction points Uni are further compared in sequence. This is because when the selected extrusion point Ynx is extruded, the extruded extrusion point Ynx will affect other pre-correction points Uni adjacent to it whose distance is less than the preset value A0, and cause them to deform. That is, the pre-correction points Uni whose distance from the extrusion point Ynx in the first direction is less than A0 (other pre-correction points Uni that are not extruded by the hot extrusion unit 600) will move together with the pre-correction point Uni extruded by the hot extrusion unit 600 as the extrusion point Ynx along the second direction to the side close to the reference axis L, so that the entire edge curve S1 has a tendency to move synchronously, reducing the number of hot extrusion units 600 used.

[0053] When a Pni is selected at every distance C along the first direction on the edge curve S1, since the value of C is a fixed value, it is only necessary to determine whether C is less than the preset value A0, and the remaining determination methods are the same. Pni can be selected randomly or at equal intervals.

[0054] Furthermore, S50 also includes: capturing all correction points Pni on the edge curve S1 whose distance from the reference axis L along the second direction is less than or equal to ΔL; these correction points are called post-correction points Hni, and the post-correction points Hni are the attached Figure 2 The set of points covered by the shaded portion below ΔL in the middle edge curve S1.

[0055] When the distance between Lni of any pre-correction point Uni and Lni of any post-correction point Hni along the second direction to the reference axis L is equal, the hot extrusion unit 600 is matched for the post-correction point Hni; at the same time, all correction points Pmi on the edge curve S2 whose distance from the reference axis L along the second direction is less than or equal to ΔL are captured; these correction points are called post-correction points Hmi, and when the distance between Lmi of any pre-correction point Umi and Lmi of any post-correction point Hmi along the second direction to the reference axis L is equal, the hot extrusion unit 600 is matched for the post-correction point Hmi.

[0056] Taking the edge curve S1 as an example, after the correction point Pni far from the reference axis L is corrected first, the adjacent Figure 2 After the set of points covered by the shaded portion on the upper side of ΔL in the middle is corrected, the distance between it and all the correction points Pni whose distance from the reference axis L along the second direction is less than or equal to ΔL will be shortened, that is, Figure 2 The set of points covered by the shaded part on the upper side of ΔL will move toward the adjacent Figure 2 The set of points covered by the shaded portion below ΔL in the middle edge curve S1 is close.

[0057] Therefore, when the distance from Lni of any pre-correction point Uni to the reference axis L along the second direction is equal to the distance from Lni of any post-correction point Hni to the reference axis L, the post-correction point Hmi (see Appendix Figure 2 By matching the hot extrusion unit 600 with the point covered by the shaded part below ΔL in the middle edge curve S1, the entire edge curve S1 can be further moved along the second direction toward the side close to the reference axis L until the compensation correction of the entire edge curve S1 is completed. The edge curve S1 is compensated in batches with ΔL as the boundary, which can improve the compensation quality.

[0058] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automated welding process control method, characterized in that: The following steps are involved: S10, obtaining gap edge curves of two workpieces, which are referred to as S1 and S2 respectively; S20, fitting a reference axis L through the gap edge curve S1 and the edge curve S2 of the two workpieces; the reference axis L is set along a first direction, and the first direction is a horizontal direction; S30, select a correction point Pni on the edge curve S1, where i is a positive integer, and measure the distance Lni from Pni to the reference axis L along the second direction; the second direction is perpendicular to the first direction and parallel to the planes where the two workpieces are located, select a correction point Pmi on the edge curve S2, and measure the distance Lmi from Pmi to the reference axis L along the second direction; and collect and detect Lni and Lmi through a data acquisition system; S40, selecting the correction point Pni on the edge curve S1 as the extrusion point Ynx; Select the correction point Pmi on the edge curve S2 as the extrusion point Ymx, where x is a positive integer and i≥x; S50, extruding the extrusion point Ynx along the second direction toward the side close to the reference axis L by the hot extrusion unit, and at the same time extruding the extrusion point Ymx along the second direction toward the side close to the reference axis L by the hot extrusion unit; S60, when all Lni and Lmi are within the standard range Lmin-Lmax, stop extrusion and maintain for a period of time t, and perform welding operation on the two workpieces along the reference axis L; wherein Lmin refers to the minimum value from the reference axis L within the standard range, and Lmax refers to the maximum value from the reference axis L within the standard range.

2. The method for controlling an automated welding process according to claim 1, characterized in that: In S10, it also includes: clamping the two workpieces, taking photos of the gap between the two workpieces by using a camera device, and obtaining the gap edge curve S1 and the edge curve S2 of the two workpieces.

3. The method for controlling an automated welding process according to claim 1, characterized in that: In S20, it also includes: taking multiple points on the edge curve S1 and the edge curve S2 respectively, and then fitting them into two parallel straight lines by the least square method, and the two straight lines are called Z1 and Z2 respectively, and the reference axis L is the symmetry axis of the two straight lines Z1 and Z2.

4. The method for controlling an automated welding process according to claim 1, characterized in that: In S30, it also includes: taking a Pni at every distance C along the direction of the reference axis L on the edge curve S1, taking a Pmi at every distance C along the direction of the reference axis L on the edge curve S2, and collecting Pni and Pmi through a data acquisition system.

5. The method for controlling an automated welding process according to claim 1, characterized in that: In S50, hot extrusion units are matched to the extrusion point Ynx and the extrusion point Ymx respectively, and the hot extrusion units can cause the correspondingly set extrusion point Ynx or extrusion point Ymx to move toward the side close to the reference axis L along the second direction.

6. The method for controlling an automated welding process according to claim 5, characterized in that: The two hot extrusion units are respectively located on two sides of the corresponding workpiece on a third direction, and the third direction is respectively perpendicular to the first direction and the second direction.

7. The method for controlling an automated welding process according to claim 5, characterized in that: The hot extrusion unit includes a touch ball and a resistance wire, and the resistance wire is embedded in the touch ball.

8. The method for controlling an automated welding process according to claim 1, characterized in that: After S30 and before S40, the method further includes: translating the two workpieces along the second direction until the minimum Lni and Lmi on both sides are equal to Lmax.

9. The method for controlling an automated welding process according to claim 1, characterized in that: Also included in the S40: S41, capture all correction points Pni on the edge curve S1 whose distance from the reference axis L along the second direction is greater than ΔL; these correction points are called pre-correction points Uni, and the point with the largest distance Lni from the reference axis L along the second direction among the pre-correction points Uni is called the farthest correction point Pny; at the same time, capture all correction points Pmi on the edge curve S2 whose distance from the reference axis L along the second direction is greater than ΔL; these correction points are called pre-correction points Umi, and the point with the largest distance Lmi from the reference axis L along the second direction among the pre-correction points Umi is called the farthest correction point Pmy; S42, taking the farthest correction point Pny as the reference and as the extrusion point Ynx, successively determine whether the distance Ani between the pre-correction point Uni and the farthest correction point Pny in the first direction is less than the preset value A0, if Ani is less than A0, then discard this point; if Ani is greater than A0, then take the pre-correction point Uni with the smallest distance from Pny in the first direction as the next extrusion point Ynx; wherein A0 represents the distance between the pre-correction point Uni in the first direction and the extrusion point Ynx that can be driven by the extrusion point Ynx to move synchronously in the second direction when the extrusion point Ynx is extruded. At the same time, taking the farthest correction point Pmy as the reference and as the extrusion point Ymx, it is judged in turn whether the distance Ami between the pre-correction point Umi and the farthest correction point Pmy in the first direction is less than the preset value A0. If Ami is less than A0, this point is discarded; if Ami is greater than A0, the pre-correction point Umi with the smallest distance from Pny in the first direction is taken as the next extrusion point Ymx; wherein A0 represents the distance between the pre-correction point Umi in the first direction and the extrusion point Ymx that can be driven by the extrusion point Ymx to synchronously move in the second direction when the extrusion point Ymx is extruded; S43, taking the next extrusion point Ynx as a reference, successively judging whether the distance Ani between the other pre-correction points Uni except the discarded point and the point selected as the extrusion point Ynx and the next extrusion point Ynx in the first direction is less than the preset value A0, if Ani is less than A0, then this point is discarded; if Ani is greater than A0, then the pre-correction point Uni with the smallest distance to the next extrusion point Ynx in the first direction is taken as the next extrusion point Xnx; at the same time, taking the next extrusion point Ymx as a reference, successively judging whether the distance Ami between the other pre-correction points Umi except the discarded point and the point selected as the extrusion point Ymx and the next extrusion point Ymx in the first direction is less than the preset value A0, if Ami is less than A0, then this point is discarded; if Ami is greater than A0, then the pre-correction point Umi with the smallest distance to the next extrusion point Ymx in the first direction is taken as the next extrusion point Xmx; S44, and so on, until all pre-correction points Uni and all pre-correction points Umi are judged.

10. The method for controlling an automated welding process according to claim 1, characterized in that: S50 also includes: capturing all correction points Pni on the edge curve S1 whose distance from the reference axis L along the second direction is less than or equal to ΔL; these correction points are referred to as post-correction points Hni, and when the distance from Lni in any pre-correction point Uni to the reference axis L along the second direction is equal to that of Lni in any post-correction point Hni, a hot extrusion unit is matched for the post-correction point Hni; and at the same time, capturing all correction points Pmi on the edge curve S2 whose distance from the reference axis L along the second direction is less than or equal to ΔL; these correction points are referred to as post-correction points Hmi, and when the distance from Lmi in any pre-correction point Umi to the reference axis L along the second direction is equal to that of Lmi in any post-correction point Hmi, a hot extrusion unit is matched for the post-correction point Hmi.

Images