Method and device for identifying and adaptive control of weld penetration

Abstract

The application provides a welding penetration recognition and adaptive control method and device, relates to the welding process monitoring technical field, and the method recognizes the quality level of welding penetration, further adjusts the welding operation speed, welding operation current and welding operation voltage of a welding robot, and then adaptively controls the welding robot, so that the recognition and adaptive control of the welding penetration are realized.The welding penetration recognition and adaptive control method provided by the application can realize the good fusion of a workpiece when the robot welding process is affected by factors such as inconsistent assembly gaps, changes in heat dissipation conditions and fixed welding points, and can guarantee and improve the welding quality of products.

Description

Technical Field

[0001] This invention relates to the field of welding process monitoring technology, and in particular to a method and apparatus for identifying and adaptively controlling welding penetration. Background Technology

[0002] Welding is a complex thermoelectric coupling process that uses high temperatures to melt the base metal and filler metal to join and form workpieces. Penetration is used to describe the fusion of the base metal; a good quality weld should ensure complete penetration of the base metal and good fusion.

[0003] Currently, welding is generally performed manually by welders or by robots. In the robotic welding method, welding can only be carried out according to pre-set process parameters. When quality problems such as penetration occur, there is a lack of effective methods for identifying and adaptively controlling weld penetration, which can easily lead to quality defects in the weld seam. Summary of the Invention

[0004] This invention provides a method and apparatus for weld penetration identification and adaptive control to solve the above-mentioned problems existing in the prior art.

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

[0006] Obtain the cross-sectional area of ​​the assembled workpiece and the weld penetration depth at the current moment;

[0007] Based on the difference between the weld penetration depth at the current moment and the ideal penetration depth, the quality level of weld penetration is identified;

[0008] When the quality level of the weld penetration is unqualified, adaptive control is performed on the welding robot;

[0009] The adaptive control of the welding robot includes:

[0010] Based on the cross-sectional area of ​​the assembled workpiece, the adjustment amount of the welding operation speed is determined; the adjustment amount of the welding operation speed refers to the difference between the adjusted welding operation speed and the welding operation speed before the adjustment.

[0011] Based on the adjustment amount of the welding operation speed and the weld penetration depth at the current moment, the adjustment amount of the welding operation current and the adjustment amount of the welding operation voltage are determined.

[0012] The welding speed is adjusted based on the adjustment amount of the welding operation speed; the welding current is adjusted based on the adjustment amount of the welding operation current; and the welding voltage is adjusted based on the adjustment amount of the welding operation voltage.

[0013] According to a method for weld penetration identification and adaptive control provided by the present invention, the step of identifying the quality level of weld penetration based on the difference between the weld penetration depth and the ideal penetration depth at the current moment includes:

[0014] If the difference between the weld penetration depth at the current moment and the ideal penetration depth is less than or equal to a preset threshold, the quality level of the weld penetration is qualified.

[0015] If the difference between the weld penetration depth at the current moment and the ideal penetration depth is greater than a preset threshold, the quality level of the weld penetration is unqualified; wherein, the difference between the weld penetration depth at the current moment and the ideal penetration depth is taken as an absolute value.

[0016] According to a method for weld penetration identification and adaptive control provided by the present invention, the method further includes:

[0017] When the quality level of the weld penetration is acceptable, no adaptive control is applied to the welding robot.

[0018] According to a method for weld penetration identification and adaptive control provided by the present invention, adjusting the welding current based on the adjustment amount of the welding current includes:

[0019] Based on the weld penetration depth at the current moment, a first current adjustment amount for the welding operation current is determined, and based on the adjustment amount for the welding operation speed, a second current adjustment amount for the welding operation current is determined.

[0020] The sum of the first current adjustment and the second current adjustment is calculated as the final current adjustment; the final current adjustment refers to the difference between the adjusted welding current and the welding current before adjustment.

[0021] The welding current is adjusted based on the final current adjustment amount.

[0022] According to a method for weld penetration identification and adaptive control provided by the present invention, adjusting the welding operation voltage based on the adjustment amount of the welding operation voltage includes:

[0023] Based on the weld penetration depth at the current moment, a first voltage adjustment amount for the welding operation voltage is determined, and based on the adjustment amount for the welding operation speed, a second voltage adjustment amount for the welding operation voltage is determined.

[0024] The sum of the first voltage adjustment and the second voltage adjustment is calculated as the final voltage adjustment; the final voltage adjustment refers to the difference between the adjusted welding voltage and the original welding voltage.

[0025] The welding operation voltage is adjusted based on the final voltage adjustment amount.

[0026] According to the method for weld penetration identification and adaptive control provided by the present invention, the welding operation speed refers to the movement speed of the welding robot end effector along the weld direction.

[0027] The present invention also provides a welding penetration identification and adaptive control device, comprising the following modules:

[0028] The acquisition module is used to acquire the cross-sectional area of ​​the workpiece assembly and the weld penetration depth at the current moment;

[0029] The identification module is used to identify the quality level of weld penetration based on the difference between the weld penetration depth and the ideal penetration depth at the current moment.

[0030] The control module is used to adaptively control the welding robot when the quality level of the weld penetration is unqualified.

[0031] The adaptive control of the welding robot includes:

[0032] Based on the cross-sectional area of ​​the assembled workpiece, the adjustment amount of the welding operation speed is determined; the adjustment amount of the welding operation speed refers to the difference between the adjusted welding operation speed and the welding operation speed before the adjustment.

[0033] Based on the adjustment amount of the welding operation speed and the weld penetration depth at the current moment, the adjustment amount of the welding operation current and the adjustment amount of the welding operation voltage are determined.

[0034] The welding speed is adjusted based on the adjustment amount of the welding operation speed; the welding current is adjusted based on the adjustment amount of the welding operation current; and the welding voltage is adjusted based on the adjustment amount of the welding operation voltage.

[0035] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the welding penetration identification and adaptive control method as described above.

[0036] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the welding penetration identification and adaptive control method as described above.

[0037] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the welding penetration identification and adaptive control method as described above.

[0038] 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 as to achieve good fusion of the workpiece even when the robot welding process is affected by factors such as inconsistent assembly gaps, changes in heat dissipation conditions and fixed weld points, thus ensuring and improving the welding quality of the product. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0040] Figure 1 This is a flowchart illustrating the welding penetration identification and adaptive control method provided by the present invention.

[0041] Figure 2 This is a schematic diagram of the molten pool length and molten pool width provided by the present invention.

[0042] Figure 3 This is a schematic diagram of the weld penetration depth provided by the present invention.

[0043] Figure 4 This is a schematic diagram of the structure of a welding penetration identification and adaptive control device provided by the present invention.

[0044] Figure 5 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0045] Welding is a complex thermoelectric coupling process that uses high temperatures to melt the base metal and filler metal to join and form workpieces. Penetration is used to describe the fusion of the base metal; a good quality weld should ensure complete penetration of the base metal and good fusion.

[0046] Currently, robotic welding can generally only operate with fixed parameters. If factors such as assembly gaps, heat dissipation conditions, and fixed weld points change, it may cause insufficient penetration or excessive heat input, thereby affecting the performance and quality of the final product.

[0047] Welding operations in workshops generally employ either manual welding by welders or robotic welding. In manual welding, welders, based on their extensive practical experience, can judge weld quality by observing the molten pool morphology. When quality issues such as penetration problems arise, welders can adjust or stop the operation promptly, thus ensuring the overall quality of the weld. However, in robotic welding, robots can only perform welding operations according to pre-set process parameters. Currently, there is a lack of effective penetration identification and adaptive control methods when quality problems such as penetration issues occur, which can easily lead to weld quality defects.

[0048] This invention enables weld penetration identification and adaptive control during the welding process, ensuring good fusion of workpieces even when affected by factors such as inconsistent assembly gaps, changes in heat dissipation conditions, and fixed weld points, thereby guaranteeing and improving product quality.

[0049] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0050] The following is combined Figures 1 to 5 This invention describes a welding penetration identification and adaptive control method and apparatus.

[0051] Figure 1 This is a flowchart illustrating a welding penetration identification and adaptive control method provided by the present invention, as shown below. Figure 1 As shown, the method includes the following steps:

[0052] Step 101: Obtain the cross-sectional area of ​​the workpiece assembly and the weld penetration depth at the current moment;

[0053] Figure 2 This is a schematic diagram of the molten pool length and molten pool width provided by the present invention, as shown below. Figure 2 As shown, during the robotic welding operation, the cross-sectional area of ​​the workpiece assembly is obtained through a line laser, and the image of the molten pool at the current moment is obtained through an image camera. Then, based on image processing technology, the length and width of the molten pool are obtained, 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.

[0054] Figure 3 This is a schematic diagram of the weld penetration depth provided by the present invention, as shown below. Figure 3As shown, based on welding mechanism models or artificial intelligence algorithms (such as dimensional quantitative prediction models), the relationship between weld pool length, weld pool width and weld penetration depth is established, thereby obtaining the weld penetration depth and enabling autonomous identification of weld penetration quality during the welding process.

[0055] Step 102: Based on the difference between the weld penetration depth and the ideal penetration depth at the current moment, identify the quality level of weld penetration.

[0056] Furthermore, identifying the quality level of weld penetration based on the difference between the weld penetration depth at the current moment and the ideal penetration depth includes:

[0057] If the difference between the weld penetration depth at the current moment and the ideal penetration depth is less than or equal to a preset threshold, the quality level of the weld penetration is qualified.

[0058] If the difference between the weld penetration depth at the current moment and the ideal penetration depth is greater than a preset threshold, the quality level of the weld penetration is unqualified; wherein, the difference between the weld penetration depth at the current moment and the ideal penetration depth is taken as an absolute value.

[0059] Step 103: If the quality level of the welding penetration is unqualified, adaptive control is performed on the welding robot.

[0060] Furthermore, the method also includes:

[0061] When the quality level of the weld penetration is acceptable, no adaptive control is applied to the welding robot.

[0062] Specifically, for a specific workpiece and working condition, the ideal weld penetration depth is... By acquiring and analyzing molten pool images, the current melt depth is obtained. Set a preset threshold ,if If the welding penetration quality level is qualified, no adaptive adjustment of welding penetration is required, meaning no adaptive adjustment of the welding robot is needed; if If the welding penetration quality is not satisfactory, then adaptive adjustment of the welding penetration is required, which means that the welding robot needs to be adaptively adjusted.

[0063] Furthermore, the adaptive control of the welding robot includes:

[0064] Based on the cross-sectional area of ​​the assembled workpiece, the adjustment amount of the welding operation speed is determined; the adjustment amount of the welding operation speed refers to the difference between the adjusted welding operation speed and the welding operation speed before the adjustment.

[0065] Specifically, during robotic welding operations, a time interval T is set, and penetration autonomous identification and adaptive control are performed every T. The welding speed is adjusted primarily based on the workpiece assembly cross-sectional area. At the current moment of the welding operation, the workpiece assembly cross-sectional area is... The welding operation speed is The correlation coefficient between the cross-sectional area of ​​the assembled workpiece and the welding speed is: At the next moment of the welding operation, the cross-sectional area of ​​the assembled workpiece is... The adjustment amount of welding speed at the next moment Represented as:

[0066]

[0067] Then the welding operation speed at the next moment Represented as:

[0068]

[0069] Furthermore, based on the adjustment amount of the welding operation speed and the weld penetration depth at the current moment, the adjustment amount of the welding operation current and the adjustment amount of the welding operation voltage are determined.

[0070] Furthermore, the welding speed is adjusted based on the adjustment amount of the welding operation speed; the welding current is adjusted based on the adjustment amount of the welding operation current; and the welding voltage is adjusted based on the adjustment amount of the welding operation voltage.

[0071] In this embodiment of the invention, the process parameters related to the adaptive adjustment of weld penetration include welding current, welding voltage, and welding speed.

[0072] Furthermore, the welding operation speed refers to the movement speed of the welding robot end effector along the weld seam direction.

[0073] In this embodiment of the invention, the welding operation speed refers to the movement speed of the welding robot end effector along the weld seam direction.

[0074] Furthermore, adjusting the welding current based on the adjustment amount of the welding current includes:

[0075] Based on the weld penetration depth at the current moment, a first current adjustment amount for the welding operation current is determined, and based on the adjustment amount for the welding operation speed, a second current adjustment amount for the welding operation current is determined.

[0076] The sum of the first current adjustment and the second current adjustment is calculated as the final current adjustment; the final current adjustment refers to the difference between the adjusted welding current and the original welding current.

[0077] The welding current is adjusted based on the final current adjustment amount.

[0078] Further, adjusting the welding operation voltage based on the adjustment amount of the welding operation voltage includes:

[0079] Based on the weld penetration depth at the current moment, a first voltage adjustment amount for the welding operation voltage is determined, and based on the adjustment amount for the welding operation speed, a second voltage adjustment amount for the welding operation voltage is determined.

[0080] The sum of the first voltage adjustment and the second voltage adjustment is calculated as the final voltage adjustment; the final voltage adjustment refers to the difference between the adjusted welding voltage and the original welding voltage.

[0081] The welding operation voltage is adjusted based on the final voltage adjustment amount.

[0082] Specifically, the adjustment of welding current and voltage needs to take into account weld penetration and operating speed, setting the ideal weld penetration under the current operating conditions as follows: At the current moment of the welding operation, the weld penetration is... The welding current is The welding operation voltage is Then, at the next moment of the welding operation, the first current adjustment amount of the operating current... The first voltage adjustment amount of the operating voltage They are respectively:

[0083]

[0084]

[0085] in, The correlation coefficient between weld penetration and welding current is given by: This is the correlation coefficient between weld penetration and welding voltage.

[0086] On the other hand, the welding operation speed increment (i.e., the adjustment amount) The correlation coefficient between the welding operation current and the welding operation current is The correlation coefficient between the welding speed increment and the welding voltage is: Then, at the next moment of the welding operation, the second current adjustment amount of the operating current... The second voltage adjustment amount of the operating voltage They are respectively:

[0087]

[0088]

[0089] Then the welding current at the next moment Welding operation voltage They are respectively:

[0090]

[0091]

[0092] In the embodiments provided by this invention, a first current adjustment amount for the welding operation current and a first voltage adjustment amount for the welding operation voltage are determined based on the weld penetration depth at the current moment; a second current adjustment amount for the welding operation current and a second voltage adjustment amount for the welding operation voltage are determined based on the adjustment amount of the welding operation speed. By comprehensively calculating the first and second current adjustments, a more accurate final current adjustment amount is obtained, thereby enabling precise control of the robot's welding operation current; similarly, by comprehensively calculating the first and second voltage adjustments, a more accurate final voltage adjustment amount is obtained, thereby enabling precise control of the robot's welding operation voltage.

[0093] Based on any of the above embodiments, adaptive control of the welding penetration of the welding robot can be achieved by autonomously adjusting the welding speed, welding current and welding voltage of the welding robot.

[0094] 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. This enables good fusion of the workpiece even when the robot welding process is affected by factors such as inconsistent assembly gaps, changes in heat dissipation conditions and fixed weld points, thus ensuring and improving the welding quality of the product.

[0095] The following describes a welding penetration identification and adaptive control device provided by the present invention. The welding penetration identification and adaptive control device described below can be referred to in correspondence with the welding penetration identification and adaptive control method described above.

[0096] Based on any of the above embodiments Figure 4 This is a schematic diagram of the structure of a welding penetration identification and adaptive control device provided in an embodiment of the present invention, as shown below. Figure 4As shown, this embodiment of the 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:

[0097] The acquisition module 401 is used to acquire the cross-sectional area of ​​the workpiece assembly and the weld penetration depth at the current moment; the identification module 402 is used to identify the quality level of welding penetration based on the difference between the weld penetration depth at the current moment and the ideal penetration depth; the control module 403 is used to perform adaptive control on the welding robot when the quality level of welding penetration is unqualified.

[0098] The adaptive control of the welding robot includes:

[0099] Based on the cross-sectional area of ​​the assembled workpiece, the adjustment amount of the welding operation speed is determined; the adjustment amount of the welding operation speed refers to the difference between the adjusted welding operation speed and the welding operation speed before the adjustment.

[0100] Based on the adjustment amount of the welding operation speed and the weld penetration depth at the current moment, the adjustment amount of the welding operation current and the adjustment amount of the welding operation voltage are determined.

[0101] The welding speed is adjusted based on the adjustment amount of the welding operation speed; the welding current is adjusted based on the adjustment amount of the welding operation current; and the welding voltage is adjusted based on the adjustment amount of the welding operation voltage.

[0102] 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. This enables good fusion of the workpiece even when the robot welding process is affected by factors such as inconsistent assembly gaps, changes in heat dissipation conditions and fixed weld points, thus ensuring and improving the welding quality of the product.

[0103] Figure 5 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 5 As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530, and a communication bus 540, wherein the processor 510, the communication interface 520, and the memory 530 communicate with each other via the communication bus 540. The processor 510 can call logical instructions in the memory 530 to execute a welding penetration identification and adaptive control method, which includes:

[0104] Obtain the cross-sectional area of ​​the assembled workpiece and the weld penetration depth at the current moment;

[0105] Based on the difference between the weld penetration depth at the current moment and the ideal penetration depth, the quality level of weld penetration is identified;

[0106] When the quality level of the weld penetration is unqualified, adaptive control is performed on the welding robot;

[0107] The adaptive control of the welding robot includes:

[0108] Based on the cross-sectional area of ​​the assembled workpiece, the adjustment amount of the welding operation speed is determined; the adjustment amount of the welding operation speed refers to the difference between the adjusted welding operation speed and the welding operation speed before the adjustment.

[0109] Based on the adjustment amount of the welding operation speed and the weld penetration depth at the current moment, the adjustment amount of the welding operation current and the adjustment amount of the welding operation voltage are determined.

[0110] The welding speed is adjusted based on the adjustment amount of the welding operation speed; the welding current is adjusted based on the adjustment amount of the welding operation current; and the welding voltage is adjusted based on the adjustment amount of the welding operation voltage.

[0111] Furthermore, the logical instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0112] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program that can be stored on a non-transitory computer-readable storage medium, wherein when the computer program is executed by a processor, the computer is able to execute the welding penetration identification and adaptive control method provided by the above methods, the method comprising:

[0113] Obtain the cross-sectional area of ​​the assembled workpiece and the weld penetration depth at the current moment;

[0114] Based on the difference between the weld penetration depth at the current moment and the ideal penetration depth, the quality level of weld penetration is identified;

[0115] When the quality level of the weld penetration is unqualified, adaptive control is performed on the welding robot;

[0116] The adaptive control of the welding robot includes:

[0117] Based on the cross-sectional area of ​​the assembled workpiece, the adjustment amount of the welding operation speed is determined; the adjustment amount of the welding operation speed refers to the difference between the adjusted welding operation speed and the welding operation speed before the adjustment.

[0118] Based on the adjustment amount of the welding operation speed and the weld penetration depth at the current moment, the adjustment amount of the welding operation current and the adjustment amount of the welding operation voltage are determined.

[0119] The welding speed is adjusted based on the adjustment amount of the welding operation speed; the welding current is adjusted based on the adjustment amount of the welding operation current; and the welding voltage is adjusted based on the adjustment amount of the welding operation voltage.

[0120] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the welding penetration identification and adaptive control method provided by the above methods, the method comprising:

[0121] Obtain the cross-sectional area of ​​the assembled workpiece and the weld penetration depth at the current moment;

[0122] Based on the difference between the weld penetration depth at the current moment and the ideal penetration depth, the quality level of weld penetration is identified;

[0123] When the quality level of the weld penetration is unqualified, adaptive control is performed on the welding robot;

[0124] The adaptive control of the welding robot includes:

[0125] Based on the cross-sectional area of ​​the assembled workpiece, the adjustment amount of the welding operation speed is determined; the adjustment amount of the welding operation speed refers to the difference between the adjusted welding operation speed and the welding operation speed before the adjustment.

[0126] Based on the adjustment amount of the welding operation speed and the weld penetration depth at the current moment, the adjustment amount of the welding operation current and the adjustment amount of the welding operation voltage are determined.

[0127] The welding speed is adjusted based on the adjustment amount of the welding operation speed; the welding current is adjusted based on the adjustment amount of the welding operation current; and the welding voltage is adjusted based on the adjustment amount of the welding operation voltage.

[0128] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0129] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0130] It should also be noted that the terms "first," "second," etc., used in this invention are used to distinguish similar objects, and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, and the number of objects is not limited; for example, the first object can be one or more.

[0131] In this application's embodiments, "determine B based on A" means that factor A must be considered when determining B. It is not limited to "B can be determined based solely on A," 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. Additionally, it can include using A as a condition for determining B, for example, "when A meets the first condition, determine B using the first method"; another example, "when A meets the second condition, determine B," etc.; another example, "when A meets the third condition, determine B based on the first parameter," etc. Of course, it can also be a condition where A is a factor in determining B, for example, "when A meets the first condition, determine C using the first method, and further determine B based on C," etc.

[0132] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for identifying and adaptively controlling weld penetration, characterized in that, include: Obtain the cross-sectional area of ​​the assembled workpiece and the weld penetration depth at the current moment; Based on the difference between the weld penetration depth at the current moment and the ideal penetration depth, the quality level of weld penetration is identified; When the quality level of the weld penetration is unqualified, adaptive control is performed on the welding robot; The adaptive control of the welding robot includes: Based on the cross-sectional area of ​​the assembled workpiece, the adjustment amount of the welding operation speed is determined; the adjustment amount of the welding operation speed refers to the difference between the adjusted welding operation speed and the welding operation speed before the adjustment. Based on the adjustment amount of the welding operation speed and the weld penetration depth at the current moment, the adjustment amount of the welding operation current and the adjustment amount of the welding operation voltage are determined. The welding speed is adjusted based on the adjustment amount of the welding operation speed; the welding current is adjusted based on the adjustment amount of the welding operation current; and the welding voltage is adjusted based on the adjustment amount of the welding operation voltage. The adjustment of the welding operation current based on the adjustment amount of the welding operation current includes: Based on the weld penetration depth at the current moment, a first current adjustment amount for the welding operation current is determined, and based on the adjustment amount for the welding operation speed, a second current adjustment amount for the welding operation current is determined. The sum of the first current adjustment and the second current adjustment is calculated as the final current adjustment; the final current adjustment refers to the difference between the adjusted welding current and the welding current before adjustment. The welding current is adjusted based on the final current adjustment amount; The adjustment of the welding operation voltage based on the adjustment amount of the welding operation voltage includes: Based on the weld penetration depth at the current moment, a first voltage adjustment amount for the welding operation voltage is determined, and based on the adjustment amount for the welding operation speed, a second voltage adjustment amount for the welding operation voltage is determined. The sum of the first voltage adjustment and the second voltage adjustment is calculated as the final voltage adjustment; the final voltage adjustment refers to the difference between the adjusted welding voltage and the original welding voltage. The welding operation voltage is adjusted based on the final voltage adjustment amount.

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

3. The welding penetration identification and adaptive control method according to claim 1, characterized in that, The method further includes: When the quality level of the weld penetration is acceptable, no adaptive control is applied to the welding robot.

4. The welding penetration identification and adaptive control method according to claim 1, characterized in that, The welding operation speed refers to the speed at which the end effector of the welding robot moves along the weld seam direction.

5. A welding penetration identification and adaptive control device applying the welding penetration identification and adaptive control method as described in any one of claims 1 to 4, characterized in that, include: The acquisition module is used to acquire the cross-sectional area of ​​the workpiece assembly and the weld penetration depth at the current moment; The identification module is used to identify the quality level of weld penetration based on the difference between the weld penetration depth and the ideal penetration depth at the current moment. The control module is used to adaptively control the welding robot when the quality level of the weld penetration is unqualified. The adaptive control of the welding robot includes: Based on the cross-sectional area of ​​the assembled workpiece, the adjustment amount of the welding operation speed is determined; the adjustment amount of the welding operation speed refers to the difference between the adjusted welding operation speed and the welding operation speed before the adjustment. Based on the adjustment amount of the welding operation speed and the weld penetration depth at the current moment, the adjustment amount of the welding operation current and the adjustment amount of the welding operation voltage are determined. The welding speed is adjusted based on the adjustment amount of the welding operation speed; the welding current is adjusted based on the adjustment amount of the welding operation current; and the welding voltage is adjusted based on the adjustment amount of the welding operation voltage.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the welding penetration identification and adaptive control method as described in any one of claims 1 to 4.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the welding penetration identification and adaptive control method as described in any one of claims 1 to 4.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the welding penetration identification and adaptive control method as described in any one of claims 1 to 4.

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