Welding penetration identification and self-adaptive control method and device

Abstract

The invention provides a welding penetration identification and self-adaptive control method and device, and relates to the technical field of welding process monitoring, the method further adjusts the welding operation speed, the welding operation current and the welding operation voltage of a welding robot by identifying the quality level of the welding penetration, and the welding penetration quality is improved. And then self-adaptive control is carried out on the welding robot, so that identification and self-adaptive control on the welding penetration are realized. According to the welding penetration identification and self-adaptive control method provided by the invention, good fusion of the workpiece can be realized when the robot welding process is influenced by factors such as assembly clearance inconsistency, heat dissipation condition change and fixed welding spots, and the welding quality of a product is guaranteed and improved.

Description

Technical Field

[0001] The invention relates to the technical field of welding process monitoring, and in particular to a method and a device for identifying and adaptively controlling welding penetration. Background Art

[0002] The welding process is a complex thermoelectric coupling process that melts the base metal and filler metal at high temperatures to achieve the connection of the workpieces. Penetration is used to indicate the fusion of the base metal. A good quality weld should ensure that the base metal can be fully penetrated and achieve good fusion.

[0003] At present, manual welding or robot welding is generally adopted. In the robot welding mode, welding can only be performed according to the set process parameters. When quality problems such as penetration occur, the lack of good welding penetration identification and adaptive control methods can easily cause quality defects in the workpiece weld. Summary of the invention

[0004] The present invention provides a method and device for identifying and adaptively controlling welding penetration, so as to solve the above problems existing in the prior art.

[0005] The invention provides a method for identifying and adaptively controlling welding penetration, comprising the following steps.

[0006] Obtain the cross-sectional area of ​​the workpiece assembly and the weld penetration depth at the current moment; Based on the difference between the weld penetration at the current moment and the ideal penetration, identifying the quality level of the weld penetration; When the quality level of the welding penetration is unqualified, adaptively controlling the welding robot; The method of adaptively controlling the welding robot comprises: Determine the adjustment amount of the welding operation speed based on the cross-sectional area of ​​the workpiece assembly; the adjustment amount of the welding operation speed refers to the difference between the welding operation speed after adjustment and the welding operation speed before adjustment; Determining an adjustment amount of the welding operation current and an adjustment amount of the welding operation voltage based on the adjustment amount of the welding operation speed and the weld penetration depth at the current moment; The welding operation speed is adjusted based on the adjustment amount of the welding operation speed; the welding operation current is adjusted based on the adjustment amount of the welding operation current; and the welding operation voltage is adjusted based on the adjustment amount of the welding operation voltage.

[0007] According to a method for identifying and adaptively controlling welding penetration provided by the present invention, the quality level of welding penetration is identified based on the difference between the weld penetration at the current moment and the ideal penetration, including: When the difference between the weld penetration at the current moment and the ideal penetration is less than or equal to a preset threshold, the quality level of the welding penetration is qualified; When the difference between the weld penetration at the current moment and the ideal penetration is greater than a preset threshold, the quality level of the welding penetration is unqualified; wherein the difference between the weld penetration at the current moment and the ideal penetration is an absolute value.

[0008] According to a method for identifying and adaptively controlling welding penetration provided by the present invention, the method further comprises: When the quality level of the welding penetration is acceptable, the welding robot is not adaptively controlled.

[0009] According to a method for identifying and adaptively controlling welding penetration provided by the present invention, the welding operating current is adjusted based on the adjustment amount of the welding operating current, including: Determine a first current adjustment amount of the welding operation current based on the weld penetration at the current moment and determine a second current adjustment amount of the welding operation current based on the adjustment amount of the welding operation speed; Calculating the sum of the first current adjustment amount and the second current adjustment amount as a final current adjustment amount; the final current adjustment amount refers to the difference between the welding operating current after adjustment and the welding operating current before adjustment; The welding operation current is adjusted based on the final current adjustment amount.

[0010] According to a method for identifying and adaptively controlling welding penetration provided by the present invention, the welding operating voltage is adjusted based on the adjustment amount of the welding operating voltage, comprising: Determine a first voltage adjustment amount of the welding operation voltage based on the weld penetration at the current moment and determine a second voltage adjustment amount of the welding operation voltage based on the adjustment amount of the welding operation speed; Calculating the sum of the first voltage adjustment amount and the second voltage adjustment amount as a final voltage adjustment amount; the final voltage adjustment amount refers to the difference between the welding operating voltage after adjustment and the welding operating voltage before adjustment; The welding operation voltage is adjusted based on the final voltage adjustment amount.

[0011] According to a method for identifying and adaptively controlling welding penetration provided by the present invention, the welding operation speed refers to the moving speed of the end of the welding robot along the direction of the weld.

[0012] The present invention also provides a welding penetration identification and adaptive control device, comprising the following modules: An acquisition module is used to obtain the cross-sectional area of ​​the workpiece assembly and the weld penetration depth at the current moment; An identification module, used to identify the quality level of welding penetration based on the difference between the weld penetration at the current moment and the ideal penetration; A control module, used for adaptively controlling the welding robot when the quality level of the welding penetration is unqualified; The method of adaptively controlling the welding robot comprises: Determine the adjustment amount of the welding operation speed based on the cross-sectional area of ​​the workpiece assembly; the adjustment amount of the welding operation speed refers to the difference between the welding operation speed after adjustment and the welding operation speed before adjustment; Determining an adjustment amount of the welding operation current and an adjustment amount of the welding operation voltage based on the adjustment amount of the welding operation speed and the weld penetration depth at the current moment; The welding operation speed is adjusted based on the adjustment amount of the welding operation speed; the welding operation current is adjusted based on the adjustment amount of the welding operation current; and the welding operation voltage is adjusted based on the adjustment amount of the welding operation voltage.

[0013] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for identifying and adaptively controlling welding penetration as described above is implemented.

[0014] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the welding penetration identification and adaptive control method as described in any one of the above is implemented.

[0015] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the welding penetration identification and adaptive control method as described in any one of the above is implemented.

[0016] The present invention provides a welding penetration identification and adaptive control method and device, which adjusts the welding operation speed, welding operation current and welding operation voltage of the welding robot, so that when the robot welding process is affected by factors such as inconsistent assembly gaps, changes in heat dissipation conditions and fixed welding points, good fusion of the workpiece can be achieved, thereby ensuring and improving the welding quality of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are 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.

[0018] Figure 1 The present invention provides a flow chart of a welding penetration identification and adaptive control method.

[0019] Figure 2 It is a schematic diagram of the molten pool length and molten pool width provided by the present invention.

[0020] Figure 3 It is a schematic diagram of weld penetration provided by the present invention.

[0021] Figure 4 It is a structural schematic diagram of a welding penetration identification and adaptive control device provided by the present invention.

[0022] Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0023] The welding process is a complex thermoelectric coupling process that melts the base metal and filler metal at high temperatures to achieve the connection of the workpieces. Penetration is used to indicate the fusion of the base metal. A good quality weld should ensure that the base metal can be fully penetrated and achieve good fusion.

[0024] At present, robot welding can generally only be performed with fixed parameters. If there are changes in factors such as assembly clearance, heat dissipation conditions, fixed solder joints, etc., it may cause insufficient penetration or excessive heat input, thus affecting the performance and quality of the final product.

[0025] Welding operations in workshops are generally performed by welders manually or by robots. In manual operation, based on the welder's rich practical experience, the weld quality can be judged by observing the molten pool shape. When quality problems such as penetration occur, the welder can make timely adjustments or stop the operation to ensure the overall quality of the workpiece weld. However, in robot operation, the robot can only perform welding operations according to the set process parameters. When quality problems such as penetration occur, there is currently a lack of good penetration identification and adaptive control methods, which can easily cause quality defects in the workpiece weld.

[0026] Through the present invention, the weld penetration identification and adaptive control can be realized during the welding process, so that when factors such as inconsistent assembly gaps, changes in heat dissipation conditions, and fixed solder joints are affected, good fusion of the workpiece can be achieved, thereby ensuring and improving product quality.

[0027] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0028] Combine the following Figures 1 to 5 The invention describes a welding penetration identification and adaptive control method and device.

[0029] Figure 1 : is a flow chart of a welding penetration identification and adaptive control method provided by the present invention, such as Figure 1 As shown, the method comprises the following steps: Step 101, obtaining the cross-sectional area of ​​the workpiece assembly and the weld penetration depth at the current moment; Figure 2 Schematic diagram of the molten pool length and molten pool width provided by the present invention, such as Figure 2 During the robot welding process, the cross-sectional area of ​​the workpiece assembly is obtained through the line laser, the molten pool image at the current moment is obtained through the image camera, and then the length and width of the molten pool are obtained based on image processing technology, where the length of the molten pool is along the weld direction, and the width of the molten pool is perpendicular to the weld direction.

[0030] Figure 3 Schematic diagram of weld penetration provided by the present invention, such as Figure 3 Based on the welding mechanism model or artificial intelligence algorithm (such as the quantitative size prediction model), the relationship between the molten pool length, molten pool width and weld penetration is established to obtain the weld penetration, and the weld penetration quality can be autonomously identified during the welding process.

[0031] Step 102: identifying the quality level of welding penetration based on the difference between the weld penetration at the current moment and the ideal penetration; Further, the identifying the quality level of welding penetration based on the difference between the weld penetration at the current moment and the ideal penetration includes: When the difference between the weld penetration at the current moment and the ideal penetration is less than or equal to a preset threshold, the quality level of the welding penetration is qualified; When the difference between the weld penetration at the current moment and the ideal penetration is greater than a preset threshold, the quality level of the welding penetration is unqualified; wherein the difference between the weld penetration at the current moment and the ideal penetration is an absolute value.

[0032] Step 103: When the quality level of the welding penetration is unqualified, adaptively control the welding robot.

[0033] Furthermore, the method further comprises: When the quality level of the welding penetration is acceptable, the welding robot is not adaptively controlled.

[0034] Specifically, for specific workpiece conditions, the ideal weld penetration is By acquiring and analyzing the molten pool image, the current melting depth is obtained as , set the preset threshold ,if , then the welding penetration quality level is qualified, and there is no need to make adaptive adjustments to the welding penetration, that is, there is no need to make adaptive adjustments to the welding robot; if , then there is a problem with the welding penetration quality, that is, it is unqualified, and adaptive adjustment of the welding penetration is required, that is, the welding robot needs to be adaptively adjusted.

[0035] Furthermore, the adaptive control of the welding robot comprises: Determine the adjustment amount of the welding operation speed based on the cross-sectional area of ​​the workpiece assembly; the adjustment amount of the welding operation speed refers to the difference between the welding operation speed after adjustment and the welding operation speed before adjustment; Specifically, when the robot is welding, a time interval T is set, and the autonomous identification and adaptive control of penetration is performed every T time. The adjustment of the welding speed mainly considers the cross-sectional area of ​​the workpiece assembly. At the current moment of the welding operation, the cross-sectional area of ​​the workpiece assembly is , welding operation speed is ; The correlation coefficient between the cross-sectional area of ​​the workpiece assembly and the welding operation speed is , at the next moment of the welding operation, the cross-sectional area of ​​the workpiece assembly is , then the welding speed adjustment amount at the next moment is It is expressed as:

[0036] The welding speed at the next moment is It is expressed as:

[0037] Further, based on the adjustment amount of the welding operation speed and the weld penetration at the current moment, the adjustment amount of the welding operation current and the adjustment amount of the welding operation voltage are determined; Further, based on the adjustment amount of the welding operation speed, the welding operation speed is adjusted; based on the adjustment amount of the welding operation current, the welding operation current is adjusted; based on the adjustment amount of the welding operation voltage, the welding operation voltage is adjusted.

[0038] In the embodiment of the present invention, the process parameters related to the adaptive adjustment of the weld penetration include welding operation current, welding operation voltage and welding operation speed.

[0039] Furthermore, the welding operation speed refers to the moving speed of the end of the welding robot along the direction of the weld.

[0040] In the embodiment of the present invention, the welding operation speed refers to the moving speed of the end of the welding robot along the direction of the weld.

[0041] Further, the adjusting the welding operation current based on the adjustment amount of the welding operation current includes: Determine a first current adjustment amount of the welding operation current based on the weld penetration at the current moment and determine a second current adjustment amount of the welding operation current based on the adjustment amount of the welding operation speed; Calculating the sum of the first current adjustment amount and the second current adjustment amount as a final current adjustment amount; the final current adjustment amount refers to the difference between the welding operating current after adjustment and the welding operating current before adjustment; The welding operation current is adjusted based on the final current adjustment amount.

[0042] Further, the adjusting the welding operation voltage based on the adjustment amount of the welding operation voltage includes: Determine a first voltage adjustment amount of the welding operation voltage based on the weld penetration at the current moment and determine a second voltage adjustment amount of the welding operation voltage based on the adjustment amount of the welding operation speed; Calculating the sum of the first voltage adjustment amount and the second voltage adjustment amount as a final voltage adjustment amount; the final voltage adjustment amount refers to the difference between the welding operating voltage after adjustment and the welding operating voltage before adjustment; The welding operation voltage is adjusted based on the final voltage adjustment amount.

[0043] Specifically, the adjustment of welding operating current and operating voltage needs to consider the weld penetration and operating speed. Under the current working conditions, the ideal weld penetration is set to , at the current moment of the welding operation, the weld penetration is , welding operation current is , welding operation voltage is , then at the next moment of the welding operation, the first current adjustment value of the operating current is , the first voltage adjustment value of the operating voltage They are:

[0044] in, is the correlation coefficient between weld penetration and welding current, where It is the correlation coefficient between weld penetration and welding operating voltage.

[0045] On the other hand, the welding speed increment (i.e. the adjustment amount) ) and the correlation coefficient of the welding current is , the correlation coefficient between welding speed increment and welding voltage is , then at the next moment of the welding operation, the second current adjustment value of the operating current is , the second voltage adjustment amount of the operating voltage They are:

[0046] The welding current at the next moment is , welding operation voltage They are:

[0047] In the embodiment provided by the present invention, based on the weld penetration at the current moment, the first current adjustment amount of the welding operation current and the first voltage adjustment amount of the welding operation voltage are determined; based on the adjustment amount of the welding operation speed, the second current adjustment amount of the welding operation current and the second voltage adjustment amount of the welding operation voltage are determined. By comprehensively calculating the first current adjustment amount and the second current adjustment amount, a more accurate final current adjustment amount is obtained, thereby accurately controlling the welding operation current of the robot; by comprehensively calculating the first voltage adjustment amount and the second voltage adjustment amount, a more accurate final voltage adjustment amount is obtained, thereby accurately controlling the welding operation voltage of the robot.

[0048] Based on any of the above embodiments, adaptive control of the welding penetration of the robot can be achieved by autonomously adjusting the welding operation speed, welding operation current and welding operation voltage of the welding robot.

[0049] The present invention provides a welding penetration identification and adaptive control method, which identifies the quality level of welding penetration and further adjusts the welding operation speed, welding operation current and welding operation voltage of the welding robot, thereby achieving good fusion of the workpiece when the robot welding process is affected by factors such as inconsistent assembly gaps, changes in heat dissipation conditions and fixed welding points, thereby ensuring and improving the welding quality of the product.

[0050] A welding penetration identification and adaptive control device provided by the present invention is described below. The welding penetration identification and adaptive control device described below and the welding penetration identification and adaptive control method described above can be referred to each other.

[0051] Based on any of the above embodiments, Figure 4 is a structural schematic diagram of a welding penetration identification and adaptive control device provided by an embodiment of the present invention, such as Figure 4 As shown, an embodiment of the present invention provides a welding penetration identification and adaptive control device, including an acquisition module 401, an identification module 402 and a control module 403, wherein: The acquisition module 401 is used to acquire the cross-sectional area of ​​the workpiece assembly and the weld penetration at the current moment; the identification module 402 is used to identify the quality level of the welding penetration based on the difference between the weld penetration at the current moment and the ideal penetration; the control module 403 is used to adaptively control the welding robot when the quality level of the welding penetration is unqualified; The method of adaptively controlling the welding robot comprises: Determine the adjustment amount of the welding operation speed based on the cross-sectional area of ​​the workpiece assembly; the adjustment amount of the welding operation speed refers to the difference between the welding operation speed after adjustment and the welding operation speed before adjustment; Determining an adjustment amount of the welding operation current and an adjustment amount of the welding operation voltage based on the adjustment amount of the welding operation speed and the weld penetration depth at the current moment; The welding operation speed is adjusted based on the adjustment amount of the welding operation speed; the welding operation current is adjusted based on the adjustment amount of the welding operation current; and the welding operation voltage is adjusted based on the adjustment amount of the welding operation voltage.

[0052] The present invention provides a welding penetration identification and adaptive control device, which identifies the quality level of welding penetration and further adjusts the welding operation speed, welding operation current and welding operation voltage of the welding robot, thereby achieving good fusion of the workpiece when the robot welding process is affected by factors such as inconsistent assembly gaps, changes in heat dissipation conditions and fixed welding points, thereby ensuring and improving the welding quality of the product.

[0053] Figure 5 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5 As shown, the electronic device may include: a processor 510, a communications interface 520, a memory 530 and a communication bus 540, wherein the processor 510, the communications interface 520 and the memory 530 communicate with each other through the communication bus 540. The processor 510 may call the logic instructions in the memory 530 to execute the welding penetration identification and adaptive control method, which includes: Obtain the cross-sectional area of ​​the workpiece assembly and the weld penetration depth at the current moment; Based on the difference between the weld penetration at the current moment and the ideal penetration, identifying the quality level of the weld penetration; When the quality level of the welding penetration is unqualified, adaptively controlling the welding robot; The method of adaptively controlling the welding robot comprises: Determine the adjustment amount of the welding operation speed based on the cross-sectional area of ​​the workpiece assembly; the adjustment amount of the welding operation speed refers to the difference between the welding operation speed after adjustment and the welding operation speed before adjustment; Determining an adjustment amount of the welding operation current and an adjustment amount of the welding operation voltage based on the adjustment amount of the welding operation speed and the weld penetration depth at the current moment; The welding operation speed is adjusted based on the adjustment amount of the welding operation speed; the welding operation current is adjusted based on the adjustment amount of the welding operation current; and the welding operation voltage is adjusted based on the adjustment amount of the welding operation voltage.

[0054] In addition, the logic instructions in the above-mentioned memory 530 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0055] On the other hand, the present invention further provides a computer program product, the computer program product comprising a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the welding penetration identification and adaptive control method provided by the above methods, the method comprising: Obtain the cross-sectional area of ​​the workpiece assembly and the weld penetration depth at the current moment; Based on the difference between the weld penetration at the current moment and the ideal penetration, identifying the quality level of the weld penetration; When the quality level of the welding penetration is unqualified, adaptively controlling the welding robot; The method of adaptively controlling the welding robot comprises: Determine the adjustment amount of the welding operation speed based on the cross-sectional area of ​​the workpiece assembly; the adjustment amount of the welding operation speed refers to the difference between the welding operation speed after adjustment and the welding operation speed before adjustment; Determining an adjustment amount of the welding operation current and an adjustment amount of the welding operation voltage based on the adjustment amount of the welding operation speed and the weld penetration depth at the current moment; The welding operation speed is adjusted based on the adjustment amount of the welding operation speed; the welding operation current is adjusted based on the adjustment amount of the welding operation current; and the welding operation voltage is adjusted based on the adjustment amount of the welding operation voltage.

[0056] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to execute the welding penetration identification and adaptive control method provided by the above methods, the method comprising: Obtain the cross-sectional area of ​​the workpiece assembly and the weld penetration depth at the current moment; Based on the difference between the weld penetration at the current moment and the ideal penetration, identifying the quality level of the weld penetration; When the quality level of the welding penetration is unqualified, adaptively controlling the welding robot; The method of adaptively controlling the welding robot comprises: Determine the adjustment amount of the welding operation speed based on the cross-sectional area of ​​the workpiece assembly; the adjustment amount of the welding operation speed refers to the difference between the welding operation speed after adjustment and the welding operation speed before adjustment; Determining an adjustment amount of the welding operation current and an adjustment amount of the welding operation voltage based on the adjustment amount of the welding operation speed and the weld penetration depth at the current moment; The welding operation speed is adjusted based on the adjustment amount of the welding operation speed; the welding operation current is adjusted based on the adjustment amount of the welding operation current; and the welding operation voltage is adjusted based on the adjustment amount of the welding operation voltage.

[0057] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0058] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0059] It should also be noted that the terms "first", "second", etc. in the present invention are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more.

[0060] "Determine B based on A" in the embodiments of the present application means that the factor A should be considered when determining B. It is not limited to "B can be determined based on A alone", but should also include: "Determine B based on A and C", "Determine B based on A, C and E", "Determine C based on A, and further determine B based on C", etc. In addition, it can also include taking A as a condition for determining B, for example, "When A meets the first condition, use the first method to determine B"; for another example, "When A meets the second condition, determine B", etc.; for another example, "When A meets the third condition, determine B based on the first parameter", etc. Of course, it can also be a condition that takes A as a factor for determining B, for example, "When A meets the first condition, use the first method to determine C, and further determine B based on C", etc.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A welding penetration identification and adaptive control method, characterized in that: include: Obtain the cross-sectional area of ​​the workpiece assembly and the weld penetration depth at the current moment; Based on the difference between the weld penetration at the current moment and the ideal penetration, identifying the quality level of the weld penetration; When the quality level of the welding penetration is unqualified, adaptively controlling the welding robot; The method of adaptively controlling the welding robot comprises: Determine the adjustment amount of the welding operation speed based on the cross-sectional area of ​​the workpiece assembly; the adjustment amount of the welding operation speed refers to the difference between the welding operation speed after adjustment and the welding operation speed before adjustment; Determining an adjustment amount of the welding operation current and an adjustment amount of the welding operation voltage based on the adjustment amount of the welding operation speed and the weld penetration depth at the current moment; The welding operation speed is adjusted based on the adjustment amount of the welding operation speed; the welding operation current is adjusted based on the adjustment amount of the welding operation current; and the welding operation voltage is adjusted based on the adjustment amount of the welding operation voltage.

2. The welding penetration identification and adaptive control method according to claim 1 is characterized in that: The identifying the quality level of welding penetration based on the difference between the weld penetration at the current moment and the ideal penetration includes: When the difference between the weld penetration at the current moment and the ideal penetration is less than or equal to a preset threshold, the quality level of the welding penetration is qualified; When the difference between the weld penetration at the current moment and the ideal penetration is greater than a preset threshold, the quality level of the welding penetration is unqualified; wherein the difference between the weld penetration at the current moment and the ideal penetration is an absolute value.

3. The welding penetration identification and adaptive control method according to claim 1, characterized in that: The method further comprises: When the quality level of the welding penetration is acceptable, the welding robot is not adaptively controlled.

4. The welding penetration identification and adaptive control method according to claim 1, characterized in that: The step of adjusting the welding operation current based on the adjustment amount of the welding operation current comprises: Determine a first current adjustment amount of the welding operation current based on the weld penetration at the current moment and determine a second current adjustment amount of the welding operation current based on the adjustment amount of the welding operation speed; Calculating the sum of the first current adjustment amount and the second current adjustment amount as a final current adjustment amount; the final current adjustment amount refers to the difference between the welding operating current after adjustment and the welding operating current before adjustment; The welding operation current is adjusted based on the final current adjustment amount.

5. The welding penetration identification and adaptive control method according to claim 1, characterized in that: The step of adjusting the welding operating voltage based on the adjustment amount of the welding operating voltage comprises: Determine a first voltage adjustment amount of the welding operation voltage based on the weld penetration at the current moment and determine a second voltage adjustment amount of the welding operation voltage based on the adjustment amount of the welding operation speed; Calculating the sum of the first voltage adjustment amount and the second voltage adjustment amount as a final voltage adjustment amount; the final voltage adjustment amount refers to the difference between the welding operating voltage after adjustment and the welding operating voltage before adjustment; The welding operation voltage is adjusted based on the final voltage adjustment amount.

6. The welding penetration identification and adaptive control method according to claim 1, characterized in that: The welding operation speed refers to the moving speed of the end of the welding robot along the direction of the weld.

7. A welding penetration identification and adaptive control device, characterized in that: include: An acquisition module is used to obtain the cross-sectional area of ​​the workpiece assembly and the weld penetration depth at the current moment; An identification module, used to identify the quality level of welding penetration based on the difference between the weld penetration at the current moment and the ideal penetration; A control module, used for adaptively controlling the welding robot when the quality level of the welding penetration is unqualified; The method of adaptively controlling the welding robot comprises: Determine the adjustment amount of the welding operation speed based on the cross-sectional area of ​​the workpiece assembly; the adjustment amount of the welding operation speed refers to the difference between the welding operation speed after adjustment and the welding operation speed before adjustment; Determining an adjustment amount of the welding operation current and an adjustment amount of the welding operation voltage based on the adjustment amount of the welding operation speed and the weld penetration depth at the current moment; The welding operation speed is adjusted based on the adjustment amount of the welding operation speed; the welding operation current is adjusted based on the adjustment amount of the welding operation current; and the welding operation voltage is adjusted based on the adjustment amount of the welding operation voltage.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the welding penetration identification and adaptive control method as described in any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the welding penetration identification and adaptive control method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the welding penetration identification and adaptive control method according to any one of claims 1 to 6 is implemented.

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