Welding control system, welding control method and device, electronic equipment and medium

Abstract

The invention provides a welding control system, a welding control method and device, electronic equipment and a medium, and relates to the welding technology. The method comprises the steps that in the process that a welding device welds a to-be-welded part, a pressing block is controlled to rotate in the direction close to the welding device with a shaft perpendicular to the contact face of the pressing block and the to-be-welded part as a rotating shaft, and when the welding device moves to any target position of a to-be-welded track, the target position is not shielded by the pressing block; the pressing block is used for pressing a welded part; and when the welding device moves to the welding end point of the welded part, the welding device is controlled to stop welding operation. By means of the device, one-time welding forming can be achieved, and the welding effect is guaranteed.

Description

Technical Field

[0001] The present application relates to welding technology, and in particular to a welding control system and a welding control method, device, electronic equipment, and medium. Background Art

[0002] In some scenarios, arc-shaped welds need to be formed. For example, in the manufacture of home appliances and consumer electronics, many housings and components have arc-shaped designs, and arc-shaped welds can make the appearance more beautiful and meet the design and functional requirements of the product. In rail transportation and shipbuilding, many components have arc-shaped or circular structures, such as wheels, hulls, tracks, etc.; arc-shaped welds can provide the necessary strength and durability to ensure the safe operation of vehicles.

[0003] It is understandable that in order to ensure the welding effect, a pressure block is used in the known technology to press down the welded parts to meet the requirement of close contact between the welded parts. At this time, since the pressure block will block the welding track, welding needs to be performed in batches. Specifically, after the pressure block presses down the welded parts, the unblocked arc part on the welding track is welded first, and after the welding is completed, the pressure block is moved, and then other arc parts on the welding track are welded until the welding is completed.

[0004] In the above process, multiple welding processes are required, which results in low efficiency due to welding inconvenience. Summary of the invention

[0005] The present application provides a welding control system and a welding control method, device, electronic equipment, and medium for realizing one-time forming welding and ensuring welding efficiency.

[0006] In a first aspect, the present application provides a welding control method, the method comprising:

[0007] During the welding process of the welding device on the welded parts, the pressing block is controlled to rotate in a direction close to the welding device with an axis perpendicular to the contact surface between the pressing block and the welded parts as the rotation axis, so that when the welding device moves to any target position of the welding track, the target position is not blocked by the pressing block; the pressing block is used to press down the welded parts;

[0008] When the welding device moves to the welding end point of the welded parts, the welding device is controlled to stop the welding operation.

[0009] In a possible implementation, the control pressing block rotates toward the welding device with an axis perpendicular to the contact surface between the pressing block and the welded component as the rotation axis, including:

[0010] Determining a rotation point; the rotation point is determined based on a contact area between the pressing block and the welded component;

[0011] When the welding device moves to the rotation point, the pressing block is controlled to rotate along the rotation axis in a direction close to the welding device until it reaches the rotation point; the rotation axis is an axis passing through the welding center of the welded parts.

[0012] In a possible implementation manner, determining the rotation point includes:

[0013] When the rotating point is fixed, determining a first length of a blocked track in a to-be-welded track of the welded component according to the pressing block;

[0014] When the welding end point is on the obscured trajectory, or when the welding end point is not on the obscured trajectory but is located on the first side of the pressing block, the rotation point is determined based on the first length and the current position of the pressing block; the side of the pressing block facing away from the welding device is the first side.

[0015] In one possible implementation, the method further includes:

[0016] When the welding end point is not on the blocked track, if the welding end point is located on the second side of the pressing block, the rotation point is determined according to the first length, the current position of the pressing block, and the welding end point.

[0017] In a possible implementation manner, determining the rotation point includes:

[0018] When the rotating point is not fixed, the movement length of the welding device is obtained at every preset time interval;

[0019] The rotation point is determined according to the movement length and the current position of the pressing block.

[0020] In one possible implementation, the method further includes:

[0021] Acquire welding information of the welded parts; the welding information includes welding center, welding starting point and welding end point;

[0022] When the welding signal of the welding device is obtained, the welding device is controlled to weld the welded parts through circular arc interpolation motion according to the welding information; the welding device triggers the welding signal when forming a welding focus position at the welding starting point and starting welding.

[0023] In a possible implementation, controlling the welding device to weld the welded parts through circular interpolation motion according to the welding information includes:

[0024] When each metering cycle is reached, the welding moving point corresponding to the metering cycle is obtained; the welding moving point corresponding to the first metering cycle is the welding starting point;

[0025] Determining an updated welding moving point for a next metering cycle according to the welding information and the welding moving point;

[0026] The welding device is controlled to perform circular interpolation motion according to the updated welding moving point.

[0027] In a possible implementation, determining the updated welding moving point of the next metering cycle according to the welding information and the welding moving point includes:

[0028] Determine the welding radius according to the welding circle center and the welding starting point, and determine the moving circle radius according to the welding circle center and the welding moving point;

[0029] Determine a deviation value according to the welding radius and the moving circle radius; the deviation value is the square difference between the welding radius and the moving circle radius;

[0030] The updated welding moving point is obtained according to the deviation value.

[0031] In a possible implementation manner, obtaining the updated welding moving point according to the deviation value includes:

[0032] Determine the relative position information of the welding moving point according to the deviation value; the relative position information is used to indicate the positional relationship between the welding moving point and the track to be welded;

[0033] Determining a feeding direction according to the relative position information;

[0034] The updated welding moving point is determined according to the feeding direction and the pulse equivalent; the pulse equivalent is used to indicate the feeding distance.

[0035] In a possible implementation, determining the feeding direction according to the relative position information includes:

[0036] When the relative position information indicates that the welding moving point is on the to-be-welded track, the feeding direction is determined to be a default direction.

[0037] In a possible implementation, determining the feeding direction according to the relative position information includes:

[0038] When the relative position information indicates that the welding moving point is outside the arc indicated by the to-be-welded trajectory, the feeding direction is determined to be a direction close to the welding center.

[0039] In a possible implementation, determining the feeding direction according to the relative position information includes:

[0040] When the relative position information indicates that the welding moving point is within the arc indicated by the to-be-welded trajectory, the feeding direction is determined to be a direction away from the welding center.

[0041] In a possible implementation, the obtaining welding information of the welded component includes:

[0042] Obtaining the center offset of the welded component compared to the reference circle center;

[0043] The welding information is acquired based on the circle center offset and the reference circle center.

[0044] In a possible implementation, the welding device passes through the welding starting point while performing circular interpolation motion, and finally reaches the welding end point.

[0045] In a second aspect, the present application provides a welding control device, the device comprising:

[0046] The first control module is used to control the pressing block to rotate in a direction close to the welding device with an axis perpendicular to the contact surface between the pressing block and the welded part as the rotation axis during the welding process of the welding device on the welded part, so that when the welding device moves to any target position of the welding track, the target position is not blocked by the pressing block; the pressing block is used to press down the welded part;

[0047] The second control module is used to control the welding device to stop the welding operation when the welding device moves to the welding end point of the welded part.

[0048] In a third aspect, the present application provides an electronic device, comprising a processor, and a memory communicatively connected to the processor;

[0049] The memory stores computer-executable instructions;

[0050] The processor executes the computer-executable instructions stored in the memory to implement the method as described in any one of the first aspects.

[0051] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method as described in any one of the first aspects.

[0052] In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the method described in any one of the first aspects.

[0053] In a sixth aspect, the present application provides a welding control system, including a welding device, a pressing device, a pressing block, and an electronic device; wherein:

[0054] The welding device comprises a multi-axis motion unit and a welding unit; the multi-axis motion unit is used to drive the welding unit to realize circular interpolation motion, so that the welding unit welds the welded parts to form a circular arc welding track;

[0055] The pressing device is used to press down the pressing block so that the pressing block is used to fix the welded component; the pressing device is also used to drive the pressing block to rotate;

[0056] The electronic device is used to execute the welding control method as described in any one of the first aspects.

[0057] The present application provides a welding control system and a welding control method, device, electronic device, and medium, wherein in the method of the present application, when welding the parts to be welded, the electronic device controls the pressing block to rotate in a direction close to the welding device with the axis perpendicular to the contact surface between the pressing block and the parts to be welded as the rotation axis, so that when the welding device moves to any target position, the target position is not blocked by the pressing block. When the welding device moves to the welding end point of the parts to be welded, the electronic device controls the welding device to stop the welding operation. Through the method of the present application, the pressing block and the corresponding pressing device for controlling the pressing block will not hinder the welding process of the welding device, so that one-time welding can be achieved without multiple debugging and start-stop control of the welding device, thereby ensuring welding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0059] Figure 1 A schematic diagram of an application scenario of a welding control method provided in an embodiment of the present application;

[0060] Figure 2 A schematic diagram of a welding control method provided in an embodiment of the present application Figure 1 ;

[0061] Figure 3 A schematic diagram of a welding control method provided in an embodiment of the present application Figure 2 ;

[0062] Figure 4 A schematic diagram of a welding control method provided in an embodiment of the present application Figure 3 ;

[0063] Figure 5 A schematic diagram of a welding state provided in an embodiment of the present application;

[0064] Figure 6 A schematic diagram of the structure of a welding control device provided in an embodiment of the present application;

[0065] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0066] Figure 8 A schematic diagram of the structure of a multi-axis linkage control device provided in an embodiment of the present application;

[0067] Fig. 9 A control block diagram of a multi-axis linkage control device provided in an embodiment of the present application;

[0068] Fig.10 An NCI control logic layer diagram provided in an embodiment of the present application;

[0069] Fig.11 A pin diagram of a FB_NCI_GCode function block provided in an embodiment of the present application;

[0070] Fig.12 An example diagram of a welding control process provided in an embodiment of the present application.

[0071] Description of reference numerals:

[0072] 1. X-axis motion device, 2. Y-axis motion device, 3. Z-axis motion device, 4. Collimation welding device.

[0073] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0074] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0075] In some scenarios, it is necessary to form an arc-shaped weld. On the one hand, it is used to improve the aesthetics of the product to be welded. On the other hand, it can provide better stress distribution and reduce stress concentration, thereby improving the durability and safety of the product and meeting the design and functional requirements of the product to be welded.

[0076] For example, in the manufacture of home appliances and consumer electronics, many housings and components have arc-shaped designs, and arc-shaped welds can make the appearance more beautiful and meet the design and functional requirements of the product. In rail transportation and shipbuilding, many components have arc-shaped or circular structures, such as wheels, hulls, tracks, etc.; arc-shaped welds can provide the necessary strength and durability to ensure the safe operation of vehicles.

[0077] In order to ensure the welding effect, the known technology uses a pressing block to press down the welded parts of the product to be welded to meet the requirement of close contact between the welded parts. At this time, since the pressing block will block the welding track, it is generally necessary to weld in batches. Specifically, after the pressing block presses down the welded parts, the unblocked arc part is welded first. After the arc welding of this part is completed, the pressing block is moved to make the previously blocked part available, so as to weld the previously blocked part, until the welding of all the tracks to be welded is completed.

[0078] It is understandable that in the above process, multiple welding operations are required, and the welding device needs to be controlled to start and stop continuously, which results in welding inconvenience and low efficiency.

[0079] Therefore, the present application provides a welding control system and a welding control method, device, electronic device, and medium to solve the above problems. Specifically, in the present application, during the welding process of the welding device on the welded part, the electronic device controls the pressing block to move toward the welding device with the axis perpendicular to the contact surface between the pressing block and the welded part as the rotation axis, so as to timely expose the welded track of the welded part that is blocked. Finally, when the welding device moves to the welding end point of the welded part, the welding device is controlled to stop the welding operation.

[0080] Through the above process, when the welding device is performing welding operation, the pressing block can timely avoid the obstructed welding track and move to the welded position, so there is no need to repeatedly start and stop the welding device, and one-time welding can be achieved, ensuring welding efficiency.

[0081] For example, Figure 1 A schematic diagram of an application scenario of a welding control method provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the welding control method of the present application can be applied to battery production scenarios. Specifically, the cover plate of the power battery is welded by the optical pole and the optical cover plate. Since a sealing ring is provided on the optical pole, when welding the optical pole and the optical cover plate, it is necessary to press the optical pole by a pressing block so that the sealing ring has a certain amount of compression to ensure that the optical pole disc is flush with the surface of the optical cover plate, thereby ensuring the welding quality. Specifically, the pressing block presses the copper cap used to protect the optical pole.

[0082] like Figure 1 As shown, for the circular track to be welded, the pressing block will partially block the track to be welded. Therefore, the known technology adopts three-time welding forming. The first time, the arc of the upper and lower parts of the track to be welded is welded by the welding device, and the second time, the arc of the left and right parts of the track to be welded is welded. During the third welding, there is no need to press down the optical pole by the pressing block, and the welding of the entire track to be welded can be completed.

[0083] In the known technology, welding is often achieved through a galvanometer welding system. Specifically, the above process requires three galvanometer welding systems, one multi-path laser or three single-path lasers, which costs a lot.

[0084] In addition, it is understandable that in the above process, it is necessary to ensure that the first two arc weldings and the third welding full circle overlap are consistent, which brings certain difficulties to debugging, which is not conducive to ensuring welding efficiency. In addition, the multi-stage forming welding is easy to cause product deformation, and it will also affect the appearance of the weld, the compression of the sealing ring, the body, the deformation of the cover plate, etc., thus affecting the product yield.

[0085] Through the welding control method of the present application, when welding the light pole and the light cover plate, the welding control system controls the welding device to perform the welding operation, while controlling the pressing block to rotate in the direction close to the welding device with the axis perpendicular to the contact surface between the pressing block and the welded component as the rotation axis, so that during the welding operation of the welding device, the pressing block can avoid in time without repeatedly starting and stopping the welding device to complete the welding, achieving one-time forming welding, thereby ensuring welding efficiency.

[0086] It can be understood that the above welding control method can be executed by any electronic device, and this is not limited in this embodiment.

[0087] In conjunction with the accompanying drawings, some implementation methods of the welding control method of the present application are described in detail below. In the case where the embodiments do not conflict with each other, the following embodiments and the features in the embodiments can be combined with each other. It is worth noting that the following embodiments take the welding scene of the optical pole and the optical cover plate as an example to describe the welding control method of the present application in detail.

[0088] The present application provides a welding control method. Figure 2 A schematic diagram of a welding control method provided in an embodiment of the present application Figure 1 ,like Figure 2 As shown, a welding control method provided in an embodiment of the present application includes the following contents:

[0089] S201, during the welding process of the welding device on the parts to be welded, the pressing block is controlled to rotate in a direction close to the welding device with an axis perpendicular to the contact surface between the pressing block and the parts to be welded as the rotation axis, so that when the welding device moves to any target position of the welding trajectory, the target position is not blocked by the pressing block.

[0090] Among them, the pressing block is used to press down the welded parts.

[0091] In this embodiment, the electronic device first obtains welding information of the welded component, and then controls the welding device to weld the welded component through circular interpolation motion according to the welding information when the welding signal of the welding device is obtained. The welding information includes the welding start point, welding end point and welding center of the welded component.

[0092] It can be understood that in this embodiment, the welded parts are the aforementioned light pole and light cover plate that need to be arc welded. The welding start point, welding end point and welding circle center are used to determine the welding trajectory, which can be input by the user or calculated by the electronic device according to the position of the light pole and light cover plate relative to the welding control system, which is not limited in this embodiment.

[0093] In this embodiment, the welding device specifically includes a multi-axis linkage control device and a collimation welding device. The multi-axis linkage control device is used to drive the collimation welding device to move to align with the welding starting point. When the collimation welding device forms a welding focus position and starts welding, a welding signal is triggered and a welding signal is sent to the electronic device to inform the electronic device that it has started welding.

[0094] It is understandable that in actual applications, the electronic device can also control the welding device to perform any of the interpolation motion modes such as multi-segment linear interpolation motion, spline interpolation motion, segmented circular arc interpolation, etc. based on the welding information, which is not limited in this embodiment.

[0095] Correspondingly, when the electronic device obtains the welding signal, it controls the multi-axis linkage control device according to the welding information to drive the collimating welding device to perform circular arc interpolation movement to achieve arc welding.

[0096] It can be understood that the multi-axis linkage control device is used to drive the collimation welding device to realize movement in three axes. Specifically, the three axes include two directional axes of the plane where the welding track of the optical pole and the optical cover plate is located, and a third directional axis used to drive the collimation welding device to form a welding focus position. Therefore, the multi-axis linkage control device can be a device that can move in three-dimensional space, or a six-axis robot, a seven-axis robot, etc., which is not limited in this embodiment.

[0097] In this embodiment, the electronic device controls the welding device to perform circular arc interpolation motion based on the welding information, which has the advantage of smooth path, thereby facilitating high-precision arc welding.

[0098] In this embodiment, the electronic device controls the pressing block to press down the welded component through the pressing device, and the electronic device controls the pressing block to rotate through the pressing device. After the welding device starts to perform circular interpolation movement, the electronic device controls the pressing device to drive the pressing block to rotate in a direction close to the welding device with the axis perpendicular to the contact surface between the pressing block and the welded component as the rotation axis, so that when the multi-axis linkage control device drives the collimation welding device to move to any target position of the welding track, the target position will not be blocked by the pressing block.

[0099] Specifically, the electronic device can determine the rotation end point of the pressing block based on the trajectory blocked by the pressing block in the trajectory to be welded and the welding end point, so that when the pressing block rotates to the rotation end point, it will not hinder the movement of the welding device to any target position in the trajectory to be welded.

[0100] In practical applications, the electronic device can also control the pressing device to drive the pressing block to rotate along with the welding device that performs the circular interpolation motion, so as to ensure that the welding device is not obstructed. In this embodiment, the electronic device does not limit the way in which the pressing block is controlled to rotate, as long as the pressing block does not obstruct the welding device from performing the circular interpolation motion until the welding end point.

[0101] Optionally, at least one ball may be provided on the target surface of the pressing block facing the photoelectrode, and at least one ball is embedded in the target surface and protrudes from the target surface. When the electronic device controls the pressing block to rotate, at least one ball rotates relative to the pressing block, converting the sliding friction between the pressing block and the photoelectrode member into rolling friction, thereby effectively reducing the risk of wear on the photoelectrode.

[0102] Furthermore, in practical applications, a control mechanism may be provided in the pressing block to control at least one ball to protrude from the target surface when the pressing block rotates, and to control at least one ball to retract when the pressing block is stationary, which is not limited in the present embodiment.

[0103] S202, when the welding device moves to the welding end point of the welded part, the welding device is controlled to stop the welding operation.

[0104] In this embodiment, the electronic device obtains the current state of the welding device, determines whether the welding device moves to the welding end point according to the current state, and controls the welding device to stop the welding operation when the welding device moves to the welding end point.

[0105] Specifically, the welding device interacts with the electronic device to receive control instructions and indicate the current state of the current position to the electronic device.

[0106] In the method provided in this embodiment, when the electronic device is welding any welded component that needs to form a circular welding trajectory, it can first obtain the welding information of the welded component, and then control the welding device to perform circular interpolation movement according to the welding information, and control the pressure block to rotate in a direction close to the welding device with the welding circle center as the center, so as to avoid the pressure block from hindering the circular interpolation movement of the welding device, thereby enabling the welding device to achieve one-time welding forming without repeatedly starting and stopping the welding device, thereby effectively improving the welding efficiency.

[0107] It is understandable that the welding of the welded parts needs to be achieved through a welding control system. The above-mentioned electronic device for executing the welding control method can be a separate device in the welding control system, or it can be integrated in the welding device, which is not limited in this embodiment.

[0108] The welding control system involved in the present application includes the aforementioned electronic equipment, welding device and pressing device, etc. It can be understood that in the battery processing scenario, a fixed welding station is set up, and the parts to be welded are sent to the welding station and welded by the welding control system.

[0109] It is understandable that for each welded component, it is impossible to ensure that the corresponding incoming material posture is consistent, and the various parts included in the welding control system are not convenient to change frequently. Generally, when the first welded component is welded, after one debugging is completed, the subsequent incoming welded components are welded according to the debugged welding control system.

[0110] On this basis, this embodiment provides a method for obtaining welding information of a welded component. Specifically, the electronic device obtains the center offset of the welded component compared to the reference center, and further obtains welding information based on the center offset and the reference center.

[0111] The reference circle center may be the welding circle center of the first incoming component to be welded, or may be a preset circle center, which is not limited in the present embodiment.

[0112] Specifically, when the welded parts are in different postures, the welding information is specifically: welding starting point A (Xa, Ya), welding end point B (Xb, Yb), welding center O (X0, Y0), and the welding information changes dynamically with the different postures of the welded parts. The reference starting point A0, reference end point B0, reference center O0, and their coordinates A0 (Xa0, Ya0), B0 (Xb0, Yb0), and O0 (Xo0, Yo0) are unchanged.

[0113] The coordinates of different incoming materials and welded parts will deviate from the above three reference points. Since points A and B are on a circle with O (X0, Y0) as the center and a radius of R, the radius R of the welding trajectory remains unchanged. Therefore, we only need to consider the center offset X0=Xo0+ΔX, Y0=Yo0+ΔY, and obtain the center offset ΔX and ΔY, and then we can simultaneously calculate the deviation of the welding start and end points relative to the reference.

[0114] Through the above settings, when the parts to be welded are delivered in different postures, the electronic device determines the center offset based on the reference circle center, so as to accurately determine the welding information of the parts to be welded, so that the welding control system can accurately weld the parts to be welded in any delivery posture without the need for multiple debugging, which is also beneficial to improving welding efficiency.

[0115] In a possible design, for a welded part with a circular welding trajectory as described above, the welding device passes through the welding starting point and finally reaches the welding end point during the circular arc interpolation movement. Through this setting, the welding starting point and the welding end point can form an overlapping angle, which is conducive to ensuring the welding effect.

[0116] Figure 3 A schematic diagram of a welding control method provided in an embodiment of the present application Figure 2 Based on the above embodiments, the present application further describes in detail the method of controlling the welding device to perform circular interpolation motion in the above embodiments. Figure 3 As shown, the method of this embodiment includes:

[0117] S301, when each metering cycle is reached, the welding moving point corresponding to the metering cycle is obtained.

[0118] Among them, the welding moving point corresponding to the first metering cycle is the welding starting point.

[0119] In this embodiment, the electronic device sets a metering cycle, and obtains the welding moving point at each metering cycle, wherein the welding moving point is specifically used to indicate the welding position of the welding device in the current metering cycle.

[0120] It can be understood that the welding moving point of each metering cycle is used to indicate the actual welding trajectory, so the welding moving point corresponding to the first metering cycle is the welding starting point.

[0121] In this embodiment, the metering cycle is set based on user needs. The shorter the metering cycle, the higher the corresponding welding control accuracy and the higher the corresponding computing power requirement.

[0122] Furthermore, in this embodiment, the electronic device determines an updated welding moving point for the next metering cycle according to the welding information and the welding moving point.

[0123] Specifically, in this embodiment, the welding moving point is updated through the following steps S302-S306.

[0124] S302, determining a welding radius according to the welding circle center and the welding starting point, and determining a moving circle radius according to the welding circle center and the welding moving point.

[0125] It is understandable that, under the premise of knowing the coordinates of the welding center and the welding starting point, the electronic device can obtain the welding radius based on the Euclidean distance formula. Similarly, the electronic device can obtain the moving circle radius through the welding center and the welding moving point, wherein the moving circle is specifically the circle where the welding moving point is located, and the center of the circle is the welding center.

[0126] S303, determining a deviation value according to the welding radius and the moving circle radius.

[0127] The deviation value is the square difference between the welding radius and the moving circle radius.

[0128] In this embodiment, the electronic device determines the deviation value required for interpolation according to the welding radius and the moving circle radius, and further obtains the updated welding moving point of the next metering cycle according to the deviation value.

[0129] Specifically, the electronic device obtains a deviation value by calculating the square difference between the welding radius and the moving circle radius, and further determines to update the welding moving point based on the deviation value and the welding moving point of the current metering cycle.

[0130] It can be understood that the above process of obtaining the welding radius and the moving circle radius is simple and does not require complex calculations, and the process of determining the deviation value based on the welding radius and the moving circle radius also does not involve complex calculations, which is conducive to improving welding efficiency. In addition, the deviation value obtained in this way is used to determine and update the welding moving point, which has the characteristics of reasonable design, thereby helping to improve welding accuracy.

[0131] S304, determining the relative position information of the welding moving point according to the deviation value.

[0132] The relative position information is used to indicate the positional relationship between the welding moving point and the track to be welded.

[0133] More specifically, in this embodiment, the relative position information is specifically used to indicate any one of the three states: the welding moving point is located on the trajectory to be welded, outside the arc indicated by the trajectory to be welded, and inside the arc indicated by the trajectory to be welded.

[0134] It is understandable that the relative position information can be determined by calculating the distance from the welding moving point to the welding center based on the coordinates of the welding moving point and the coordinates of the welding center. Specifically, if the distance is equal to the radius of the track to be welded, the relative position information is used to indicate that the welding moving point is located on the track to be welded; if the distance is less than the radius of the track to be welded, the relative position information is used to indicate that the welding moving point is located within the arc indicated by the track to be welded; if the distance is greater than the radius of the track to be welded, the relative position information is used to indicate that the welding moving point is located outside the arc indicated by the track to be welded.

[0135] The radius of the welding track is determined by the welding center, and the welding start point or welding end point.

[0136] S305, determining the feeding direction according to the relative position information.

[0137] It can be understood that the feeding direction refers to the direction in which the multi-axis linkage control device drives the welding device to move.

[0138] Specifically, in this embodiment, when the relative position information indicates that the welding moving point is on the trajectory to be welded, the feed direction is determined to be the default direction; when the relative position information indicates that the welding moving point is outside the arc indicated by the trajectory to be welded, the feed direction is determined to be the direction close to the center of the welding circle; when the relative position information indicates that the welding moving point is within the arc indicated by the trajectory to be welded, the feed direction is determined to be the direction away from the center of the welding circle.

[0139] The default direction can be set according to the needs, and can be the direction close to the welding center, the direction away from the welding center, or blank. In this embodiment, the default direction is blank, which is used to indicate that the multi-axis linkage control device does not need to move the alignment welding device.

[0140] S306, determining and updating the welding moving point according to the feeding direction and the pulse equivalent.

[0141] Among them, the pulse equivalent is used to indicate the feed distance.

[0142] In this embodiment, after the electronic device determines the feeding direction, it determines to update the welding moving point according to the feeding direction and the pulse equivalent, as well as the position information of the welding moving point.

[0143] It can be understood that the pulse equivalent is determined by the properties of the multi-axis linkage control device. It is used to describe the physical quantity represented by a pulse in the multi-axis linkage control device, that is, the feed distance, which is generally a small amount, so as to avoid damage to the welded parts.

[0144] In this embodiment, the electronic device calculates the deviation value based on the easily obtained welding radius and moving circle radius, and further determines to update the welding moving point based on the deviation value. The calculation logic is reasonable and simple, which is conducive to reducing the requirements for the computing power performance of the electronic device.

[0145] S307, controlling the welding device to perform circular interpolation motion according to the updated welding moving point.

[0146] In the method provided in this embodiment, every time a metering cycle is reached, the electronic device determines an updated welding moving point based on the welding information and the welding moving point of the previous metering cycle, and performs circular arc interpolation movement based on the updated welding moving point, which is beneficial to ensure welding accuracy.

[0147] Figure 4 A schematic diagram of a welding control method provided in an embodiment of the present application Figure 3 Based on the above-mentioned embodiments, this embodiment specifically describes the process of controlling the rotation of the pressing block in detail. Figure 4 As shown, the method of this embodiment includes:

[0148] S401, determine the rotation point.

[0149] The rotation point is determined based on the contact area between the pressing block and the welded component.

[0150] Specifically, when the rotating point is fixed, the first length of the blocked track in the to-be-welded track of the welded component is determined according to the pressing block.

[0151] It is understandable that the obstructed track in the track to be welded is specifically related to the shape of the pressing block and the position information of the pressing block. The electronic device determines the first length specifically based on the width of the pressing block and the position information of the pressing block. The position information of the pressing block is used to indicate the coordinates of the intersection of the two sides of the pressing block in the width direction with the track to be welded.

[0152] Furthermore, when the welding end point is on the obstructed trajectory, or the welding end point is not on the obstructed trajectory but is located on the first side of the pressing block, the rotation point is determined based on the first length and the current position of the pressing block; the side of the pressing block facing away from the welding device is the first side.

[0153] In this embodiment, the electronic device further determines whether the welding end point is located on the blocked track. If the welding end point is on the blocked track, or the welding end point is not on the blocked track but is located on the side of the pressing block away from the welding device, the rotation point is determined according to the first length and the current position of the pressing block. Specifically, the electronic device determines the rotation point according to the coordinates of the intersection of the side of the pressing block close to the welding device and the track to be welded, and the first length.

[0154] Whether the welding end point is located on the blocked track can be determined based on the current position of the pressing block and the coordinate information of the welding end point, or the user can input the judgment result, which is not limited in this embodiment.

[0155] Through the above arrangement, the electronic device only needs to generate a control instruction for the pressing device to control the rotation of the pressing block, so that the pressing block can avoid the collision by moving once. In addition, according to the positional relationship between the welding end point and the blocked track, the rotation point is determined, which can reduce the rotation distance of the pressing block as much as possible, thereby helping to reduce the wear between the pressing block and the welded part.

[0156] As a possible implementation method, when the welding end point is not on the blocked track, if the welding end point is located on the second side of the pressing block, the rotation point is determined according to the first length, the current position of the pressing block, and the welding end point.

[0157] In this embodiment, when the electronic device determines that the welding end point is not on the blocked track, if the welding end point is located on the second side of the pressing block, the electronic device determines the rotation point based on the coordinate information of the welding end point, the first length, and the current position of the pressing block. Specifically, the electronic device determines the rotation point based on the coordinates of the intersection of the side of the pressing block close to the welding device and the track to be welded, the first length, and the coordinates of the welding end point, so that when the pressing block rotates to the rotation point, the blocked track is completely exposed and the welding end point is not blocked.

[0158] Through this arrangement, when the electronic device controls the rotation of the pressing block through the pressing device, it can ensure that the pressing block does not interfere with the welding device.

[0159] It is understandable that in the above process, the electronic device can start controlling the rotation of the pressing block at the target time after the welding device starts welding, as long as it is ensured that the pressing block does not hinder the welding operation of the welding device. In this embodiment, the target time is not limited.

[0160] As a possible implementation method, when the rotating point is not fixed, the movement length of the welding device is obtained at every preset time interval; and the rotating point is determined based on the movement length and the current position of the pressing block.

[0161] In this embodiment, the electronic device obtains a rotation point at a preset time interval, and the rotation point is determined based on the movement length of the welding device and the current position of the pressing block. More specifically, the electronic device determines the rotation point based on the movement length and movement speed of the welding device and the current position of the pressing block to ensure that the pressing block does not hinder the welding operation of the welding device.

[0162] S402, when the welding device moves to the rotation point, the pressing block is controlled to rotate along the rotation axis in a direction close to the welding device until it reaches the rotation point.

[0163] The rotation axis is an axis passing through the welding center of the welded parts.

[0164] In this embodiment, an axis located at the center of the welding circle and perpendicular to the contact surface between the welded component and the pressing block is used as the rotation axis. When the welding device moves to the rotation point of the aforementioned step, the pressing block is controlled to rotate along the rotation axis in a direction close to the welding device until the pressing block approaches one side of the welding device, or the pressing block reaches the rotation point away from the side of the welding device.

[0165] In the method of this embodiment, the electronic device controls the pressing block to rotate to the rotating point by determining at least one rotating point during the circular interpolation motion of the welding device, without the need to calculate the state of the welding device and the position of the welding end point in real time to control the rotation of the pressing block. On the one hand, it can ensure the safety of the welding process, and on the other hand, it has the advantage of simple control logic.

[0166] On this basis, as an example, when the rotating point is fixed, Figure 5 A schematic diagram of a welding state provided in an embodiment of the present application, such as Figure 5 As shown, for the optical cover plate and the optical pole to be welded, a unique welding moving point is determined based on the contact area between the pressing block and the optical pole and the welding end point. It can be understood that Figure 5 The shape of the pressing block in the figure is only an example and does not constitute a limitation on the shape of the pressing block.

[0167] In the initial state of welding, the pressing device controls the pressing block to move to the position of the welding starting point and presses down the photoelectrode. The electronic device controls the welding device to start welding the photoelectrode and the photocover plate, and enters the welding state. In this process, the electronic device controls the pressing block to rotate in the direction close to the welding device with the welding center as the center, until the welding device reaches the welding end point and enters the welding end state, at which time the pressing block has rotated to the rotating point.

[0168] like Figure 5 As shown, in this example, the rotation point and the welding end point are set to the same position, and the welding end point exceeds the welding starting point along the welding direction, so that the actual welding trajectory forms a certain overlapping angle at the start and end, thereby ensuring the welding quality at the junction of the beginning and the end.

[0169] Understandably, Figure 5 The middle welding vein is the track to be welded, and the copper cap is placed on the photoelectrode column to protect the photoelectrode column.

[0170] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0171] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0172] The above embodiments introduce a welding control method from the perspective of method flow, and the following embodiments introduce a welding control device from the perspective of a virtual module or a virtual unit. Please refer to the following embodiments for details.

[0173] The embodiment of the present application also provides a welding control device for implementing the method in the above method embodiment. Figure 6 A schematic diagram of the structure of a welding control device provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, in this embodiment, the welding control device may include:

[0174] The first control module 61 is used to control the pressing block to rotate in a direction close to the welding device with an axis perpendicular to the contact surface between the pressing block and the welded part as the rotation axis during the welding process of the welding device on the welded part, so that when the welding device moves to any target position of the welding track, the target position is not blocked by the pressing block; the pressing block is used to press down the welded part;

[0175] The second control module 62 is used to control the welding device to stop the welding operation when the welding device moves to the welding end point of the welded part.

[0176] In a possible implementation of the embodiment of the present application, the first control module 61 is specifically used to:

[0177] Determine the rotation point; the rotation point is determined based on the contact area between the pressing block and the welded component;

[0178] When the welding device moves to the rotating point, the pressing block is controlled to rotate along the rotating axis in the direction close to the welding device until it reaches the rotating point; the rotating axis is: an axis passing through the welding center of the welded parts.

[0179] In a possible implementation of the embodiment of the present application, the first control module 61 is specifically used to:

[0180] When the rotating point is fixed, determining a first length of a blocked track in a to-be-welded track of the welded component according to the pressing block;

[0181] When the welding end point is on the blocked track, or the welding end point is not on the blocked track but is located on the first side of the pressing block, the rotation point is determined according to the first length and the current position of the pressing block; the side of the pressing block away from the welding device is the first side.

[0182] In a possible implementation of the embodiment of the present application, the first control module 61 is further configured to:

[0183] When the welding end point is not on the blocked track, if the welding end point is located on the second side of the pressing block, the rotation point is determined according to the first length, the current position of the pressing block, and the welding end point.

[0184] In a possible implementation of the embodiment of the present application, the first control module 61 is specifically used to:

[0185] When the rotating point is not fixed, the movement length of the welding device is obtained at every preset time interval;

[0186] The rotation point is determined based on the movement length and the current position of the pressure block.

[0187] In a possible implementation of the embodiment of the present application, the first control module 61 is further configured to:

[0188] Obtain welding information of the welded parts; the welding information includes the welding center, welding start point and welding end point;

[0189] When a welding signal of the welding device is obtained, the welding device is controlled to weld the welded parts through circular arc interpolation motion according to the welding information; the welding device forms a welding focus position at the welding starting point and triggers a welding signal when welding begins.

[0190] In a possible implementation of the embodiment of the present application, the first control module 61 is specifically used to:

[0191] When each metering cycle is reached, the welding moving point corresponding to the metering cycle is obtained; the welding moving point corresponding to the first metering cycle is the welding starting point;

[0192] According to the welding information and the welding moving point, the updated welding moving point of the next measurement cycle is determined;

[0193] The welding device is controlled to perform circular interpolation motion according to the updated welding moving point.

[0194] In a possible implementation of the embodiment of the present application, the first control module 61 is specifically used to:

[0195] The welding radius is determined according to the welding circle center and the welding starting point, and the moving circle radius is determined according to the welding circle center and the welding moving point;

[0196] Determine the deviation value according to the welding radius and the moving circle radius; the deviation value is the square difference between the welding radius and the moving circle radius;

[0197] The welding moving point is updated according to the deviation value.

[0198] In a possible implementation of the embodiment of the present application, the first control module 61 is specifically used to:

[0199] According to the deviation value, the relative position information of the welding moving point is determined; the relative position information is used to indicate the positional relationship between the welding moving point and the track to be welded;

[0200] Determine the feeding direction according to the relative position information;

[0201] The welding moving point is updated according to the feeding direction and pulse equivalent; the pulse equivalent is used to indicate the feeding distance.

[0202] In a possible implementation of the embodiment of the present application, the first control module 61 is specifically used to:

[0203] When the relative position information indicates that the welding moving point is on the track to be welded, the feeding direction is determined to be the default direction.

[0204] In a possible implementation of the embodiment of the present application, the first control module 61 is specifically used to:

[0205] When the relative position information indicates that the welding moving point is outside the arc indicated by the to-be-welded trajectory, the feeding direction is determined to be a direction close to the center of the welding circle.

[0206] In a possible implementation of the embodiment of the present application, when the relative position information indicates that the welding moving point is within the arc indicated by the trajectory to be welded, the feeding direction is determined to be a direction away from the center of the welding circle.

[0207] In a possible implementation of the embodiment of the present application, the first control module 61 is specifically used to:

[0208] Obtaining the center offset of the welded component compared to the reference circle center;

[0209] Based on the circle center offset and the reference circle center, the welding information is obtained.

[0210] In a possible implementation of the embodiment of the present application, the welding device passes through the welding starting point when performing circular interpolation motion and finally reaches the welding end point.

[0211] It should be understood that the above-mentioned device embodiments are only illustrative, and the device of the present application can also be implemented in other ways. For example, the division of units / modules in the above-mentioned embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0212] An electronic device is provided in an embodiment of the present application. Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, Figure 7 The electronic device shown includes: a processor 71 and a memory 72. The processor 71 and the memory 72 are connected, such as through a bus 73. Optionally, the electronic device may further include a transceiver 74. It should be noted that in actual applications, the transceiver 74 is not limited to one, and the structure of the electronic device does not constitute a limitation on the embodiments of the present application.

[0213] The processor 71 may be a central processing unit (CPU), a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor 71 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0214] The bus 73 may include a path to transmit information between the above components. The bus 73 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus 73 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0215] The memory 72 can be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0216] The memory 72 is used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 71. The processor 71 is used to execute the application code stored in the memory 72 to implement the contents shown in the above method embodiment.

[0217] The present application also provides a computer-readable storage medium, which may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes. Specifically, the computer-readable storage medium stores program instructions, and the program instructions are used to implement the methods in the above-mentioned embodiments.

[0218] A computer program product is also provided in an embodiment of the present application, including a computer program. When the computer program is executed by a processor, the technical solution of the above-mentioned method embodiment is implemented. The implementation principle and technical effect are similar and will not be repeated here.

[0219] A welding control system is also provided in an embodiment of the present application, comprising a welding device, a pressing device, a pressing block, and the electronic device in the aforementioned embodiment.

[0220] Among them, the welding device includes a multi-axis motion unit and a welding unit; the multi-axis motion unit is used to drive the welding unit to realize circular arc interpolation motion, so that the welding unit welds the welded parts to form an arc-shaped welding trajectory; the pressing device is used to press the pressure block down, so that the pressure block is used to fix the welded parts; the pressing device is also used to drive the pressure block to rotate; the electronic device is used to execute the welding control method in the aforementioned embodiment.

[0221] Specifically, the multi-axis motion unit is specifically the multi-axis linkage control device in the aforementioned embodiment, and the welding unit is specifically the collimating welding device in the aforementioned embodiment. The multi-axis motion unit is specifically used to realize the movement of the collimating welding device in three-dimensional space, and it can be a robot with six degrees of freedom, a robot with seven degrees of freedom, etc.

[0222] For example, Figure 8 A schematic diagram of the structure of a multi-axis linkage control device provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, the multi-axis linkage control device is specifically a three-axis motion device.

[0223] Specifically, the three-axis motion device includes an X-axis motion device 1, a Y-axis motion device 2, and a Z-axis motion device 3, wherein the Y-axis motion device is arranged on the X-axis motion device, the Z-axis motion device is arranged on the Y-axis motion device, and the collimating welding device 4 is arranged on the Z-axis motion device. Thus, an XYZ coordinate system in space is formed, wherein the XY axis motion is used to realize the swing light of the laser, replacing the XY offset lens motor in the galvanometer welding system; the Z axis motor is used to adjust the laser focal length and set the welding defocus amount.

[0224] More specifically, the above-mentioned motion device includes a control unit, a motor, a screw, a coupling and a bracket, the Y-axis motion device is installed on the X-axis motion device, the Z-axis motion device is installed on the Y-axis motion device, and the collimation welding device is installed on the Z-axis motion device.

[0225] It is understandable that, in practical applications, the Y-axis motion device may also be arranged on the X-axis motion device. In this embodiment, the combination relationship of the specific three-axis motion device is not limited, as long as it can drive the collimation welding machine device to realize three-axis motion.

[0226] In this embodiment, the control units corresponding to the three-axis motion devices include a controller, a driver, and an actuator. The controller interacts with the electronic device to receive control instructions. The controller is also connected to the driver to send the control instructions to the driver so that it drives the actuator to perform the operation corresponding to the control instructions.

[0227] Specifically, the controller may be a PLC controller, the driver may be a stepper driver or a servo driver, and correspondingly, the actuator may be a stepper motor or a servo motor.

[0228] As an example, Fig. 9 This is a control block diagram of a multi-axis linkage control device provided in an embodiment of the present application. Fig. 9As shown, the electronic device interacts with the controller, and the controller interacts with the X-axis driver and the Y-axis driver, so as to send the control instructions input by the electronic device to the X-axis driver and the Y-axis driver. The X-axis driver responds to the control instructions to control the X-axis motor to drive the Y-axis motion device of the corresponding controlled object to move, and the Y-axis driver responds to the control instructions to control the Y-axis motor to drive the Z-axis motion device of the corresponding controlled object to move.

[0229] In addition, the X-axis driver is also connected to the X-axis encoder to obtain the current state of the X-axis motor to obtain the motion of the X-axis motion device. The Y-axis driver is also connected to the Y-axis encoder to obtain the current state of the Y-axis motor to obtain the motion of the Y-axis motion device.

[0230] The encoder may be a rotary encoder or a magnetic scale encoder, which is not limited in this embodiment.

[0231] On this basis, Fig.10 An NCI control logic layer diagram provided in an embodiment of the present application, such as Fig.10 As shown, in this embodiment, the electronic device controls the welding device based on numerical control interpolation (NCI) and point-to-point motion control NC PTP.

[0232] Specifically, when NCI is used for interpolation motion, it is completely based on NC PTP. The physical layer of all axes is configured in the PTP axis, so the three axis types in PTP control are still applicable in NCI.

[0233] In this embodiment, NCI is defined and used as a linkage relationship of a PTP axis. Before establishing the linkage relationship, each axis can move independently. In order to control the overall movement of the multi-axis linkage control device, a special NCIChannel, i.e., an interpolation channel, is established as its model, i.e., the aforementioned control object. Just as an NC axis is established as the control object of a servo motor in NC PTP, an NCI interpolation channel is established in NCI as the control object of a three-dimensional orthogonal linkage mechanism.

[0234] Among them, an NCI interpolation channel can contain up to 3 interpolation axes. The movement directions of the 3 interpolation axes are orthogonal in space, usually named X, Y, and Z axes. The feed speed refers to the composite speed of these three axes (the composite speed cannot be determined for axes without an orthogonal relationship).

[0235] It is worth mentioning that NC PTP divides the motion control of the aforementioned motor into three layers: PLC axis, NC axis and physical axis, and divides the control of a aforementioned multi-axis linkage control device into three layers: PLC interpolation channel, NCI interpolation channel and NC PTP axis.

[0236] The PLC controller can control the NCI interpolation channel through the ADS interface: establish an interpolation channel, dissolve an interpolation channel, load G code files to the interpolation channel, start, stop, and reset the interpolation motion, read the cached interpolation instruction quantity and other marks.

[0237] Fig.10 In the PLC_TO_NCI interface, the variable PLC_TO_NCI is used to update the control signal and multiplier of the NCI channel in each PLC cycle.

[0238] The interface variable NCI_TO_PLC is used to update the status of the NCI channel, channel status, fault code, current feed speed, and the number of the interpolation instruction being run in each PLC cycle.

[0239] It is worth mentioning that R parameters are floating-point parameters that can be read and written from PLC. R parameters can also be used and set in G code. Track point data and speed can be transmitted through R parameters.

[0240] The M function triggers the Bool state variable in the NCI channel motion control. The PLC can read its state and synchronously trigger the peripheral structure action during the motion control process.

[0241] In addition, the welding control system of this embodiment further includes a FB_NCI_GCode function block. Specifically, the FB_NCI_GCode function block is formed by encapsulating arc motion control instructions according to the PLCopen standard.

[0242] Specifically, Fig.11 A pin diagram of a FB_NCI_GCode function block provided in an embodiment of the present application, such as Fig.11 As shown, in this embodiment, the input of the circular interpolation control command, the refresh of the channel status, and the transmission of the R parameter are designed as the input pins on the left side of the FB_NCI_GCode function block, and the channel status, the status of the circular interpolation process, and the error information are designed as the output pins on the right side of the FB_NCI_GCode function block. The function block FB_NCI_GCode, the input pins, and the output pins together constitute the circular motion control instruction.

[0243] Among them, the input pins of the FB_NCI_GCode function block are mainly used for the combination and dissolution of the axis group channels, the loading of G codes, the start and stop of circular interpolation, the center coordinates required for circular interpolation, the start and end point coordinates, the circular interpolation feed speed and other parameters; the output pins of the FB_NCI_GCode function block are mainly used to display the circular interpolation process status information and error information.

[0244] Specifically, the input pins of the FB_NCI_GCode function block and their meanings are as follows:

[0245] stProcessControl: master control status

[0246] bGroupEnable: Channel enable

[0247] bGroupBuild: Channel combination

[0248] bGroupClear: channel disbanding

[0249] bGroupReset: Channel reset

[0250] bGeoLoad: Load interpolation instructions

[0251] sFileName: code loading path

[0252] bStart: interpolation motion start

[0253] bStop: interpolation motion stops

[0254] bRWrite: R parameter write

[0255] bRaread: R parameter reading

[0256] rOverride: channel override, unit (%)

[0257] AxisX: X axis of the channel

[0258] AxisY: Y axis of the channel

[0259] AxisZ: Z axis of the channel

[0260] AxisQ1: Auxiliary Q1 axis of the channel

[0261] AxisQ2: Auxiliary Q2 axis of the channel

[0262] ItpChannel: all status and control information of the channel

[0263] lrRWrit: R parameters (coordinates, speed parameters)

[0264] The output pins of the encapsulated FB_NCI_GCode function block are as follows:

[0265] bDone: Function block execution completed

[0266] bBusy: The function block is being executed

[0267] bReady: Channel is ready

[0268] bError: an error occurred

[0269] bGroupReady: Channel combination is normal

[0270] bAxisReady: Each axis in the channel is enabled successfully, and no error is reported

[0271] bLoadReady: G code loaded successfully

[0272] bLoadFail: Error when loading G code

[0273] bGroupBusy: The channel is executing an action

[0274] bGroupErr: Channel error

[0275] nGroupErrID: error code of the channel

[0276] bExistX: X axis is enabled*)

[0277] bExistY: Y axis is enabled*)

[0278] bExistZ: Z axis is enabled*)

[0279] bExistQ1: Q1 axis is enabled*)

[0280] bExistQ2: Q2 axis is enabled*)

[0281] GrpState: NCI channel instruction execution status

[0282] eItpOpMode: Operation mode of NCI channel

[0283] lrRpara: R parameter written by ADS

[0284] abDif: parameter writing status.

[0285] Based on the aforementioned welding control system, Fig.12 An example diagram of a welding control process provided in an embodiment of the present application, such as Fig.12As shown, when the welding control system is welding the welded parts, the pressing device first presses the pressing block to the welded parts, and drives the collimating welding device to move to the welding starting point through the X-axis motion device and the Y-axis motion device. Secondly, the laser of the collimating welding device performs light welding. When the light emitting signal is received, the collimating welding device is driven to perform circular arc interpolation trajectory movement through the X-axis motion device and the Y-axis motion device. When the collimating welding device moves to the rotation point, the pressing device is controlled to drive the pressing block to rotate, and the collimating welding device is continuously driven to perform circular arc interpolation trajectory movement through the X-axis motion device and the Y-axis motion device. Finally, when the collimating welding device moves to the welding end point, the laser is turned off, and the pressing device is controlled to drive the pressing block to rotate back to the initial position.

[0286] In the above embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0287] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0288] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A welding control method, characterized in that: The method comprises: During the welding process of the welding device on the welded parts, the pressing block is controlled to rotate in a direction close to the welding device with an axis perpendicular to the contact surface between the pressing block and the welded parts as the rotation axis, so that when the welding device moves to any target position of the welding track, the target position is not blocked by the pressing block; the pressing block is used to press down the welded parts; When the welding device moves to the welding end point of the welded parts, the welding device is controlled to stop the welding operation.

2. The method according to claim 1, characterized in that The control pressing block rotates toward the welding device with an axis perpendicular to the contact surface between the pressing block and the welded part as the rotation axis, including: Determining a rotation point; the rotation point is determined based on a contact area between the pressing block and the welded component; When the welding device moves to the rotation point, the pressing block is controlled to rotate along the rotation axis in a direction close to the welding device until it reaches the rotation point; the rotation axis is an axis passing through the welding center of the welded parts.

3. The method according to claim 2, characterized in that Determining the rotation point includes: When the rotating point is fixed, determining a first length of a blocked track in a to-be-welded track of the welded component according to the pressing block; When the welding end point is on the obscured trajectory, or when the welding end point is not on the obscured trajectory but is located on the first side of the pressing block, the rotation point is determined based on the first length and the current position of the pressing block; the side of the pressing block facing away from the welding device is the first side.

4. The method according to claim 3, characterized in that The method further comprises: When the welding end point is not on the blocked track, if the welding end point is located on the second side of the pressing block, the rotation point is determined according to the first length, the current position of the pressing block, and the welding end point.

5. The method according to claim 2, characterized in that: Determining the rotation point includes: When the rotating point is not fixed, the movement length of the welding device is obtained at every preset time interval; The rotation point is determined according to the movement length and the current position of the pressing block.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: Acquire welding information of the welded parts; the welding information includes welding center, welding starting point and welding end point; When the welding signal of the welding device is obtained, the welding device is controlled to weld the welded parts through circular arc interpolation motion according to the welding information; the welding device triggers the welding signal when forming a welding focus position at the welding starting point and starting welding.

7. The method according to claim 6, characterized in that The step of controlling the welding device to weld the welded parts through circular interpolation motion according to the welding information comprises: When each metering cycle is reached, the welding moving point corresponding to the metering cycle is obtained; the welding moving point corresponding to the first metering cycle is the welding starting point; Determining an updated welding moving point for a next metering cycle according to the welding information and the welding moving point; The welding device is controlled to perform circular interpolation motion according to the updated welding moving point.

8. The method according to claim 7, characterized in that The step of determining the updated welding moving point of the next metering cycle according to the welding information and the welding moving point comprises: Determine the welding radius according to the welding circle center and the welding starting point, and determine the moving circle radius according to the welding circle center and the welding moving point; Determine a deviation value according to the welding radius and the moving circle radius; the deviation value is the square difference between the welding radius and the moving circle radius; The updated welding moving point is obtained according to the deviation value.

9. The method according to claim 8, characterized in that Obtaining the updated welding moving point according to the deviation value includes: Determine the relative position information of the welding moving point according to the deviation value; the relative position information is used to indicate the positional relationship between the welding moving point and the track to be welded; Determining a feeding direction according to the relative position information; The updated welding moving point is determined according to the feeding direction and the pulse equivalent; the pulse equivalent is used to indicate the feeding distance.

10. The method according to claim 9, characterized in that Determining the feeding direction according to the relative position information includes: When the relative position information indicates that the welding moving point is on the to-be-welded track, the feeding direction is determined to be a default direction.

11. The method according to claim 9, characterized in that Determining the feeding direction according to the relative position information includes: When the relative position information indicates that the welding moving point is outside the arc indicated by the to-be-welded trajectory, the feeding direction is determined to be a direction close to the welding center.

12. The method according to claim 9, characterized in that Determining the feeding direction according to the relative position information includes: When the relative position information indicates that the welding moving point is within the arc indicated by the to-be-welded trajectory, the feeding direction is determined to be a direction away from the welding center.

13. The method according to claim 6, characterized in that The obtaining of welding information of the welded component comprises: Obtaining the center offset of the welded component compared to the reference circle center; The welding information is acquired based on the circle center offset and the reference circle center.

14. The method according to claim 6, characterized in that The welding device passes through the welding starting point when performing circular interpolation motion, and finally reaches the welding end point.

15. A welding control device, characterized in that: The device comprises: The first control module is used to control the pressing block to rotate in a direction close to the welding device with an axis perpendicular to the contact surface between the pressing block and the welded part as the rotation axis during the welding process of the welding device on the welded part, so that when the welding device moves to any target position of the welding track, the target position is not blocked by the pressing block; the pressing block is used to press down the welded part; The second control module is used to control the welding device to stop the welding operation when the welding device moves to the welding end point of the welded part.

16. An electronic device, characterized in that: The electronic device comprises a processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 14.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 14 when executed by a processor.

18. A computer program product, characterized in that The method comprises a computer program, which implements the method according to any one of claims 1 to 14 when being executed by a processor.

19. A welding control system, characterized in that: It includes a welding device, a pressing device, a pressing block, and electronic equipment; wherein, The welding device comprises a multi-axis motion unit and a welding unit; the multi-axis motion unit is used to drive the welding unit to realize circular interpolation motion, so that the welding unit welds the welded parts to form a circular arc welding track; The pressing device is used to press down the pressing block so that the pressing block is used to fix the welded component; the pressing device is also used to drive the pressing block to rotate; The electronic device is used to execute the welding control method according to any one of claims 1 to 14.

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