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

Abstract

The application provides a welding control system and a welding control method, device, electronic equipment and medium, and relates to the welding technology; the method comprises the following steps: in the process that a welding device welds a welded part, a pressing block is controlled 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 part as the rotating axis, so that when the welding device moves to any target position of the to-be-welded track, the target position is not blocked by the pressing block; the pressing block is used for pressing down the welded part; and when the welding device moves to the welding end point of the welded part, the welding device is controlled to stop the welding operation. Through the application, one-time welding forming can be realized and the welding effect can be ensured.

Description

Technical Field

[0001] This application relates to welding technology, and more particularly to a welding control system, welding control method, apparatus, electronic equipment, and medium. Background Technology

[0002] In some scenarios, it is necessary to form arc-shaped welds. For example, in the manufacturing of home appliances and consumer electronics, many casings and components have curved designs; arc-shaped welds can improve the appearance and meet the design and functional requirements of the product. In rail transportation and shipbuilding, many components have curved or circular structures, such as wheels, hulls, and tracks; arc-shaped welds can provide the necessary strength and durability to ensure the safe operation of the vehicle.

[0003] Understandably, to ensure welding quality, known techniques employ a pressure block to press down on the components being welded, ensuring close contact between them. However, since the pressure block obstructs the welding path, welding must be performed in stages. Specifically, after the pressure block presses down on the components, the unobstructed arc portion of the welding path is welded first. After welding is complete, the pressure block is moved, and the remaining arc portions of the welding path are then welded until the welding is finished.

[0004] The above process requires multiple welding steps, which results in inconvenience and low efficiency. Summary of the Invention

[0005] This application provides a welding control system, welding control method, device, electronic equipment, and medium to achieve one-time welding and ensure welding efficiency.

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

[0007] During the welding process of the welding device on the component to be welded, the control block rotates about an axis perpendicular to the contact surface between the control block and the component to be welded, and moves towards the welding device, so that when the welding device moves to any target position on the welding trajectory, the target position is not blocked by the control block; the control block is used to press down on the component to be welded.

[0008] When the welding device moves to the welding endpoint of the component to be welded, the welding device is controlled to stop the welding operation.

[0009] In one possible implementation, the control block rotates about an axis perpendicular to the contact surface between the block and the welded component, in a direction closer to the welding device, including:

[0010] Determine the rotation point; the rotation point is determined based on the contact area between the pressure block and the component being welded;

[0011] When the welding device moves to the rotating point, the pressure block is controlled to rotate toward the welding device around the rotating axis until it reaches the rotating point; the rotating axis is an axis that passes through the welding center of the welded part.

[0012] In one possible implementation, determining the rotating point includes:

[0013] When the rotating point is fixed, the first length of the blocked trajectory in the welding trajectory of the component to be welded is determined according to the pressure block;

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

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

[0016] When the welding endpoint is not on the blocked trajectory, if the welding endpoint is located on the second side of the pressure block, the rotation point is determined based on the first length, the current position of the pressure block, and the welding endpoint.

[0017] In one possible implementation, determining the rotating point includes:

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

[0019] The rotation point is determined based on the movement length and the current position of the pressure block.

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

[0021] Obtain welding information of the component to be welded; the welding information includes the welding center, welding start point, and welding end point;

[0022] When the welding signal of the welding device is obtained, the welding device is controlled to weld the component to be welded by circular interpolation movement according to the welding information; the welding device triggers the welding signal when the welding starting point forms a welding focal point and welding begins.

[0023] In one possible implementation, controlling the welding device to weld the component by circular interpolation motion based on the welding information includes:

[0024] At each metering cycle, the welding moving point corresponding to the metering cycle is obtained; the welding moving point corresponding to the first metering cycle is the welding start point.

[0025] Based on the welding information and the welding movement point, determine the updated welding movement point for the next metering cycle;

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

[0027] In one possible implementation, determining the updated welding movement point for the next metering cycle based on the welding information and the welding movement point includes:

[0028] The welding radius is determined based on the welding center and the welding start point, and the moving circle radius is determined based on the welding center and the moving point.

[0029] The deviation value is determined based on 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 point is obtained based on the deviation value.

[0031] In one possible implementation, obtaining the updated welding point based on the deviation value includes:

[0032] Based on 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 trajectory to be welded.

[0033] The feed direction is determined based on the relative position information.

[0034] The updated welding point is determined based on the feed direction and pulse equivalent; the pulse equivalent is used to indicate the feed distance.

[0035] In one possible implementation, determining the feed direction based on the relative position information includes:

[0036] 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.

[0037] In one possible implementation, determining the feed direction based on the relative position information includes:

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

[0039] In one possible implementation, determining the feed direction based on the relative position information includes:

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

[0041] In one possible implementation, obtaining the welding information of the welded components includes:

[0042] Obtain the center offset of the welded component relative to the reference center;

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

[0044] In one possible implementation, the welding device passes through the welding start point and eventually reaches the welding end point during its circular interpolation motion.

[0045] Secondly, this application provides a welding control device, the device comprising:

[0046] The first control module is used to control the pressure block to rotate about an axis perpendicular to the contact surface between the pressure block and the welded component during the welding process of the welding device, so that when the welding device moves to any target position on the welding trajectory, the target position is not blocked by the pressure block; the pressure block is used to press down on the welded component.

[0047] The second control module is used to control the welding device to stop welding operation when the welding device moves to the welding endpoint of the component being welded.

[0048] Thirdly, this application provides an electronic device, including a processor and a memory communicatively connected to the processor;

[0049] The memory stores computer-executed instructions;

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

[0051] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any of the first aspects.

[0052] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the method as described in any of the first aspects.

[0053] Sixthly, this application provides a welding control system, including a welding apparatus, a pressing device, a pressure block, and electronic equipment; wherein,

[0054] 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 achieve circular interpolation motion, so that the welding unit welds the parts to be welded, forming a circular arc welding trajectory;

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

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

[0057] This application provides a welding control system, welding control method, apparatus, electronic device, and medium. In the method of this application, when welding components, the electronic device controls a pressure block to rotate about an axis perpendicular to the contact surface between the pressure block and the component, moving it towards the welding device. This ensures that the target position is not obstructed by the pressure block when the welding device moves to any target position. When the welding device reaches the welding endpoint of the component, the electronic device controls the welding device to stop the welding operation. Through this method, the pressure block and the corresponding pressing device for controlling the pressure block do not obstruct the welding process, thus enabling one-time welding without requiring multiple adjustments and start / stop controls, thereby ensuring welding efficiency. Attached Figure Description

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

[0059] Figure 1 This is a schematic diagram illustrating an application scenario of a welding control method provided in an embodiment of this application;

[0060] Figure 2 A schematic flowchart of a welding control method provided in this application embodiment. Figure 1 ;

[0061] Figure 3 A schematic flowchart of a welding control method provided in this application embodiment. Figure 2 ;

[0062] Figure 4 A schematic flowchart of a welding control method provided in this application embodiment. Figure 3 ;

[0063] Figure 5 A schematic diagram of a welding state provided for an embodiment of this application;

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

[0065] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application;

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

[0067] Figure 9 A control block diagram of a multi-axis linkage control device provided in an embodiment of this application;

[0068] Figure 10 An NCI control logic layer diagram provided for embodiments of this application;

[0069] Figure 11 A pin diagram of an FB_NCI_GCode function block provided in an embodiment of this application;

[0070] Figure 12 This is an example diagram of a welding control process provided in an embodiment of this application.

[0071] Explanation of reference numerals in the attached figures:

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

[0073] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0074] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0075] In some scenarios, it is necessary to form arc-shaped welds. On the one hand, this improves the aesthetics of the product being welded, and on the other hand, it provides better stress distribution, reduces stress concentration, and thus improves the product's durability and safety, meeting the design and functional requirements of the product being welded.

[0076] For example, in the manufacturing of home appliances and consumer electronics, many casings and components have curved designs; rounded welds enhance the aesthetics and meet the product's design and functional requirements. In rail transportation and shipbuilding, many components have curved or circular structures, such as wheels, hulls, and tracks; rounded welds provide the necessary strength and durability to ensure the safe operation of vehicles.

[0077] To ensure welding quality, known techniques employ a pressure block to press down on the components to be welded, ensuring close contact between them. However, since the pressure block obstructs the welding path, welding typically needs to be performed in stages. Specifically, after the pressure block presses down on the components, the unobstructed arc portion is welded first. Once this arc portion is welded, the pressure block is moved to clear the previously obstructed portion, allowing welding to proceed on that section, until all welding paths are completed.

[0078] Understandably, the above process requires multiple welding operations and constant starting and stopping of the welding equipment, which leads to inconvenience and low efficiency.

[0079] Therefore, this application provides a welding control system, welding control method, apparatus, electronic device, and medium to solve the above-mentioned problems. Specifically, in this application, during the welding process of the welding device on the workpiece, the electronic device controls the pressure block to move towards the welding device with an axis perpendicular to the contact surface between the pressure block and the workpiece as the rotation axis, so as to timely expose the welding trajectory of the workpiece that was previously obscured. Finally, when the welding device moves to the welding endpoint of the workpiece, the welding device is controlled to stop the welding operation.

[0080] Through the above process, when the welding device is performing welding operations, the pressure block can promptly avoid the blocked welding trajectory and move to the position that has already been welded, so that the welding device does not need to be started and stopped repeatedly, thus achieving one-time welding and ensuring welding efficiency.

[0081] For example, Figure 1 This is a schematic diagram illustrating an application scenario of a welding control method provided in an embodiment of this application, such as... Figure 1 As shown, the welding control method of this application can be applied to battery production scenarios. Specifically, the cover plate of the power battery is welded from the photoelectric electrode post and the cover plate. Because a sealing ring is provided on the photoelectric electrode post, during the welding of the photoelectric electrode post and the cover plate, it is necessary to press the photoelectric electrode post with a pressure block to compress the sealing ring to ensure that the photoelectric electrode post disc is flush with the surface of the cover plate, thereby ensuring the welding quality. Specifically, the pressure block presses down the copper cap used to protect the photoelectric electrode post.

[0082] like Figure 1 As shown, for a circular welding trajectory, the pressure block will partially obstruct the welding trajectory. Therefore, the known technology adopts a three-stage welding process. The first stage involves welding the upper and lower arcs of the welding trajectory using a welding device. The second stage involves welding the left and right arcs of the welding trajectory. The third stage does not require pressing down the optical pole with the pressure block to complete the welding of the entire welding trajectory.

[0083] In known technologies, 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 incurs significant costs.

[0084] Furthermore, it is understandable that ensuring consistent overlap between the first two circular arc welds and the third weld in the aforementioned process presents challenges for debugging and thus hinders welding efficiency. Moreover, multi-stage welding can easily cause product deformation, affecting weld appearance, seal compression, enclosure, and cover plate deformation, thereby impacting product yield.

[0085] With the welding control method of this application, when welding the photodiode post and the photodiode cover plate, the welding control system controls the welding device to perform welding operations while controlling the pressure block to rotate around an axis perpendicular to the contact surface between the pressure block and the part being welded, in a direction closer to the welding device. This allows the pressure block to avoid the welding device in time during the welding operation, without having to repeatedly start and stop the welding device to complete the welding, thus achieving one-time forming welding and ensuring welding efficiency.

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

[0087] The following detailed description, in conjunction with the accompanying drawings, outlines some embodiments of the welding control method of this application. Where the embodiments do not conflict, the following embodiments and features can be combined with each other. It is worth noting that the following embodiments use the welding scenario of an optical electrode post and an optical cover plate as an example to provide a detailed description of the welding control method of this application.

[0088] This application provides a welding control method. Figure 2 A schematic flowchart of a welding control method provided in this application embodiment. Figure 1 ,like Figure 2 As shown in the embodiments of this application, a welding control method includes the following:

[0089] S201, during the welding process of the welding device on the welded parts, the control block rotates about an axis perpendicular to the contact surface between the control block and the welded parts, and moves towards the direction of the welding device, so that when the welding device moves to any target position on the welding trajectory, the target position is not blocked by the control block.

[0090] The pressure block is used to press down the parts being welded.

[0091] In this embodiment, the electronic device first acquires the welding information of the component to be welded, and then, upon acquiring the welding signal from the welding device, controls the welding device to perform welding on the component through circular interpolation motion based on the welding information. The welding information includes the welding start point, welding end point, and welding center of the component to be welded.

[0092] It is understood that, in this embodiment, the components to be welded are the aforementioned optical pole and optical cover plate that require arc welding. The welding start point, welding end point, and welding center are used to determine the welding trajectory. These can be input by the user or calculated automatically by the electronic device based on the position of the optical pole and optical cover plate relative to the welding control system. This embodiment does not limit this.

[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 and align with the welding starting point. When the collimation welding device forms the welding focal point and starts welding, it triggers a welding signal and sends a welding signal to the electronic device to inform the electronic device that it has started welding.

[0094] It is understandable that in practical applications, electronic devices can also control the welding device to perform any of the interpolation motion methods such as multi-segment linear interpolation, spline interpolation, and segmented circular interpolation based on welding information. This embodiment does not limit this.

[0095] Correspondingly, when the electronic equipment receives the welding signal, it controls the multi-axis linkage control device to drive the collimation welding device to perform circular interpolation motion based on the welding information, so as to realize circular arc welding.

[0096] It is understood that the multi-axis linkage control device is used to drive the collimation welding device to move along three axes. Specifically, the three axes include two directional axes on the plane where the welding trajectory of the optical pole and the optical cover plate lies, and a third directional axis used to drive the collimation welding device to form the welding focal point. Therefore, the multi-axis linkage control device can be a device capable of moving in three-dimensional space, or it can be a six-axis robot, a seven-axis robot, etc., and this embodiment does not limit it.

[0097] In this embodiment, the electronic device controls the welding device to perform circular interpolation motion based on welding information. The smooth path provides an advantage for achieving high-precision circular welding.

[0098] In this embodiment, the electronic device controls the pressure block to press down on the component to be welded via a pressing device, and the electronic device also controls the rotation of the pressure block via the pressing device. After the welding device begins its circular interpolation motion, the electronic device controls the pressing device to drive the pressure block to rotate about an axis perpendicular to the contact surface between the pressure block and the component to be welded, in a direction closer to the welding device. This ensures that when the multi-axis linkage control device drives the alignment welding device to any target position on the welding trajectory, the target position will not be obstructed by the pressure block.

[0099] Specifically, the electronic device can determine the rotation endpoint of the pressure block based on the trajectory blocked by the pressure block in the welding trajectory and the welding endpoint. This rotation endpoint ensures that when the pressure block rotates to the rotation endpoint, it will not obstruct the welding device from moving to any target position in the welding trajectory.

[0100] In practical applications, electronic devices can also control the pressing device to continuously rotate the pressure block following the welding device's circular interpolation motion, ensuring that it does not obstruct the welding device. This embodiment does not limit the method by which the electronic device controls the rotation of the pressure block, as long as the pressure block does not hinder the welding device's circular interpolation motion until the welding endpoint.

[0101] Optionally, at least one ball bearing may be provided on the target surface of the pressure block facing the photodiode, with the ball bearing embedded in and protruding from the target surface. When the electronic device controls the rotation of the pressure block, at least one ball bearing rotates relative to the pressure block, converting the sliding friction between the pressure block and the photodiode into rolling friction, thereby effectively reducing the risk of wear on the photodiode.

[0102] Furthermore, in practical applications, a control mechanism can be provided inside the pressure block to control at least one ball to protrude from the target surface when the pressure block rotates, and to control at least one ball to retract when the pressure block is stationary. This embodiment does not limit this.

[0103] S202, when the welding device moves to the welding endpoint of the part to be welded, control the welding device to stop the welding operation.

[0104] In this embodiment, the electronic device acquires the current state of the welding device, determines whether the welding device has moved to the welding endpoint based on the current state, and controls the welding device to stop the welding operation when the welding device moves to the welding endpoint.

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

[0106] In the method provided in this embodiment, when the electronic device welds any component that needs to form a circular welding trajectory, it can first obtain the welding information of the component to be welded, and then control the welding device to perform circular interpolation movement according to the welding information, and control the pressure block to rotate towards the welding device with the welding center as the center, so as to avoid the pressure block from obstructing the circular interpolation movement of the welding device, thereby enabling the welding device to achieve welding in one go without having to repeatedly start and stop the welding device, effectively improving welding efficiency.

[0107] It is understood that welding of the components to be welded needs to be achieved through a welding control system. The electronic equipment used to execute the welding control method can be a separate device in the welding control system or it can be integrated into the welding device. This embodiment does not limit this.

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

[0109] It is understandable that it is impossible to guarantee that the incoming material posture is consistent for each component being welded, and the various parts of the welding control system cannot be changed frequently. Generally, after completing one adjustment when welding the first component, subsequent incoming components are welded according to the adjusted welding control system.

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

[0111] The reference center can be the welding center of the first incoming component to be welded, or it can be a preset center. This embodiment does not limit this.

[0112] Specifically, when the components to be welded arrive in different orientations, the welding information is as follows: welding start point A (Xa, Ya), welding end point B (Xb, Yb), and welding center O (X0, Y0). This welding information dynamically changes with the incoming orientation of the components. Meanwhile, the coordinates of the reference start point A0, reference end point B0, and reference center O0, A0 (Xa0, Ya0), B0 (Xb0, Yb0), and O0 (Xo0, Yo0), remain constant.

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

[0114] With the above settings, when the parts to be welded arrive in different postures, the electronic equipment determines the center offset based on the reference center, thereby accurately determining the welding information of the parts to be welded. This enables the welding control system to accurately weld parts in any incoming posture without the need for multiple adjustments, which in turn helps to improve welding efficiency.

[0115] In one possible design, for the welded component with a circular welding trajectory as described above, the welding device passes through the welding start point and finally reaches the welding end point during its circular interpolation motion. This setting allows the welding start point and welding end point to coincide at an angle, which helps ensure the welding effect.

[0116] Figure 3 A schematic flowchart of a welding control method provided in this application embodiment. Figure 2 This application, based on the foregoing embodiments, further details the method by which the welding device in the foregoing embodiments performs circular interpolation motion. For example... Figure 3 As shown, the method in this embodiment includes:

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

[0118] The welding starting point is the welding point corresponding to the first metering cycle.

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

[0120] It is understandable that the welding movement point in each metering cycle is used to indicate the actual welding trajectory; therefore, the welding movement point corresponding to the first metering cycle is the welding start point.

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

[0122] Furthermore, in this embodiment, the electronic device determines the updated welding point for the next metering cycle based on 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, determine the welding radius based on the welding center and the welding start point, and determine the moving circle radius based on the welding center and the moving point.

[0125] Understandably, given the coordinates of the welding center and the starting point, the electronic device can determine the welding radius based on the Euclidean distance formula. Similarly, the electronic device can determine the radius of the moving circle using the welding center and the moving welding point, where the moving circle is specifically the circle containing the moving welding point, and its center is the welding center.

[0126] S303, determine the deviation value based on the welding radius and the moving circle radius.

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

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

[0129] Specifically, the electronic device calculates the deviation value by measuring the square difference between the welding radius and the moving circle radius, and further determines the updated welding moving point based on this deviation value and the welding moving point of the current metering cycle.

[0130] Understandably, the process of obtaining the welding radius and the radius of the moving circle described above is simple and requires no complex calculations. Furthermore, the process of determining the deviation value based on these welding radius and the radius of the moving circle also does not involve complex calculations, thus contributing to improved welding efficiency. In addition, using the deviation value obtained in this way to determine the updated welding moving point is a well-designed approach, thereby improving welding accuracy.

[0131] S304, determine the relative position information of the welding moving point based on the deviation value.

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

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

[0134] Understandably, 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 circle center. Specifically, if the distance is equal to the radius of the welding trajectory, the relative position information indicates that the welding moving point is located on the welding trajectory; if the distance is less than the radius of the welding trajectory, the relative position information indicates that the welding moving point is located within the arc indicated by the welding trajectory; if the distance is greater than the radius of the welding trajectory, the relative position information indicates that the welding moving point is located outside the arc indicated by the welding trajectory.

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

[0136] S305 determines the feed direction based on relative position information.

[0137] It is understandable that the feed direction refers to the direction in which the welding device is moved by the multi-axis linkage control device.

[0138] Specifically, in this embodiment, when the relative position information indicates that the welding moving point is on the welding trajectory, 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 welding trajectory, the feed direction is determined to be the direction closer to the welding center; when the relative position information indicates that the welding moving point is inside the arc indicated by the welding trajectory, the feed direction is determined to be the direction farther away from the welding center.

[0139] The default direction can be set according to requirements; it can be a direction close to the welding center, a direction far from the welding center, or it can be empty. In this embodiment, the default direction is empty, which is used to indicate that the multi-axis linkage control device does not need to move the alignment welding device.

[0140] S306 determines and updates the welding moving point based on the feed direction and 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 feed direction, it determines and updates the welding moving point based on the feed direction, pulse equivalent, and position information of the welding moving point.

[0143] Understandably, 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, namely the feed distance. It 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 obtainable welding radius and moving circle radius, and further determines the updated welding moving point based on the deviation value. The calculation logic is reasonable and simple, which helps to reduce the requirements on the computing power performance of the electronic device.

[0145] S307, the welding device performs circular interpolation motion according to the updated welding point control.

[0146] In the method provided in this embodiment, at each metering cycle, 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 interpolation motion based on the updated welding moving point, which helps to ensure welding accuracy.

[0147] Figure 4 A schematic flowchart of a welding control method provided in this application embodiment. Figure 3 This embodiment, based on the aforementioned embodiments, provides a detailed explanation of the process for controlling the rotation of the pressure block. For example... Figure 4 As shown, the method in this embodiment includes:

[0148] S401, determine the rotating point.

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

[0150] Specifically, when the rotating point is fixed, the first length of the obstructed trajectory in the welding path of the component to be welded is determined according to the pressure block.

[0151] It is understandable that the obstructed trajectory in the welding path is specifically related to the shape and position information of the pressure block. The electronic device determines the first length based on the width and position information of the pressure block. The position information of the pressure block is used to indicate the coordinates of the intersection points between the two sides of the pressure block in the width direction and the welding path.

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

[0153] In this embodiment, the electronic device further determines whether the welding endpoint is located on the obstructed trajectory. If the welding endpoint is on the obstructed trajectory, or if the welding endpoint is not on the obstructed trajectory but is located on the side of the pressure block away from the welding device, then the rotation point is determined based on the first length and the current position of the pressure block. Specifically, the electronic device determines the rotation point based on the coordinates of the intersection point between the side of the pressure block closest to the welding device and the trajectory to be welded, and the first length.

[0154] Whether the welding endpoint is located on the obstructed trajectory can be determined based on the current position of the pressure block and the coordinate information of the welding endpoint, or it can be determined by the user inputting the judgment result. This embodiment does not limit this.

[0155] With the above settings, the electronic device only needs to generate a single control command to rotate the pressure block, allowing the pressure block to move only once to achieve obstacle avoidance. Furthermore, by determining the rotation point based on the positional relationship between the welding endpoint and the obstructed trajectory, the rotation distance of the pressure block can be minimized, thereby reducing wear between the pressure block and the welded component.

[0156] As one possible approach, if the welding endpoint is located on the second side of the pressure block when the welding endpoint is not on the obstructed trajectory, the rotation point is determined based on the first length, the current position of the pressure block, and the welding endpoint.

[0157] In this embodiment, when the electronic device determines that the welding endpoint is not on the obstructed trajectory, if the welding endpoint is located on the second side of the pressure block, it determines the rotation point by combining the coordinate information of the welding endpoint, the first length, and the current position of the pressure block. Specifically, the electronic device determines the rotation point based on the coordinates of the intersection of the side of the pressure block near the welding device and the trajectory to be welded, the first length, and the coordinates of the welding endpoint, so that when the pressure block rotates to the rotation point, the obstructed trajectory is fully exposed, and the welding endpoint is not obstructed.

[0158] With this setting, the electronic device can ensure that the pressure block does not obstruct the welding device when controlling the rotation of the pressure block through the pressing device.

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

[0160] As one possible approach, when the rotation point is not fixed, the movement length of the welding device is obtained at preset time intervals; the rotation point is determined based on the movement length and the current position of the pressure block.

[0161] In this embodiment, the electronic device acquires a rotation point at preset time intervals. This rotation point is determined based on the movement length of the welding device and the current position of the pressure block. More specifically, the electronic device determines the rotation point based on the movement length and speed of the welding device, as well as the current position of the pressure block, to ensure that the pressure block does not obstruct the welding operation of the welding device.

[0162] S402, when the welding device moves to the pivot point, the pressure block is controlled to rotate towards the direction of the welding device with the rotation axis until it reaches the pivot point.

[0163] The rotating axis is the axis that passes through the welding center of the component being welded.

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

[0165] In this embodiment, the electronic device determines at least one rotating point and controls the pressure block to rotate to that point during the circular interpolation motion of the welding device, without needing to calculate the state of the welding device or the position of the welding endpoint in real time. This ensures safety during the welding process and offers the advantage of simple control logic.

[0166] Based on this, as an example, when the rotating point is fixed, Figure 5 A schematic diagram of a welding state is provided for an embodiment of this application, such as... Figure 5 As shown, for the optical cover plate and optical electrode to be welded, a unique welding moving point is determined based on the contact area between the pressure block and the optical electrode and the welding endpoint. It is understandable that... Figure 5 The shapes of the briquettes shown are for illustrative purposes only and do not constitute a limitation on the shape of the briquettes.

[0167] In the initial welding state, the pressing device controls the pressure block to move to the welding starting point and presses down the photoelectric column. The electronic device controls the welding device to start welding the photoelectric column and the photoelectric cover plate, entering the welding state. During this process, the electronic device controls the pressure block to rotate around the welding center and move towards the welding device until the welding device reaches the welding endpoint, entering the welding end state. At this time, the pressure block has rotated to the rotating point.

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

[0169] Understandable Figure 5 The middle welding pulse is the welding trajectory, and the copper cap is placed on the photoelectric column to protect it.

[0170] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0171] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

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

[0173] This application also provides a welding control device for implementing the method described in the above method embodiments. Figure 6 This is a schematic diagram of the structure of a welding control device provided in an embodiment of this application, as shown below. Figure 6 As shown, in this embodiment, the welding control device may include:

[0174] The first control module 61 is used to control the pressure block to rotate about an axis perpendicular to the contact surface between the pressure block and the welded part during the welding process of the welding device, so that the target position is not blocked by the pressure block when the welding device moves to any target position on the welding trajectory; the pressure block is used to press down on 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 endpoint of the part to be welded.

[0176] In one possible implementation of this application embodiment, the first control module 61 is specifically used for:

[0177] Determine the pivot point; the pivot point is determined based on the contact area between the pressure block and the part being welded;

[0178] When the welding device moves to the pivot point, the control block rotates towards the direction of the welding device along the rotation axis until it reaches the pivot point; the rotation axis is the axis that passes through the welding center of the part being welded.

[0179] In one possible implementation of this application embodiment, the first control module 61 is specifically used for:

[0180] When the rotating point is fixed, the first length of the blocked trajectory in the welding trajectory of the part to be welded is determined according to the pressure block;

[0181] When the welding endpoint is on the obstructed trajectory, or when the welding endpoint is not on the obstructed trajectory but is located on the first side of the pressure block, the rotation point is determined based on the first length and the current position of the pressure block; the side of the pressure block away from the welding device is the first side.

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

[0183] If the welding endpoint is not on the obstructed trajectory, and the welding endpoint is located on the second side of the pressure block, then the rotation point is determined based on the first length, the current position of the pressure block, and the welding endpoint.

[0184] In one possible implementation of this application embodiment, the first control module 61 is specifically used for:

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

[0186] The pivot point is determined based on the length of motion and the current position of the block.

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

[0188] Obtain welding information for the components to be welded; welding information includes the welding center, welding start point, and welding end point;

[0189] When a welding signal is received from the welding device, the welding device is controlled to weld the parts to be welded by circular interpolation movement according to the welding information; the welding device triggers the welding signal when the welding focal point is formed at the welding starting point and welding begins.

[0190] In one possible implementation of this application embodiment, the first control module 61 is specifically used for:

[0191] At the end of each metering cycle, the welding moving point corresponding to the metering cycle is obtained; the welding moving point corresponding to the first metering cycle is the welding start point.

[0192] Based on the welding information and welding movement point, determine the updated welding movement point for the next metering cycle;

[0193] The welding device performs circular interpolation motion based on the updated welding moving point control.

[0194] In one possible implementation of this application embodiment, the first control module 61 is specifically used for:

[0195] The welding radius is determined based on the welding center and the welding start point, and the radius of the moving circle is determined based on the welding center and the moving point.

[0196] The deviation value is determined based on the welding radius and the radius of the moving circle; the deviation value is the difference between the squares of the welding radius and the radius of the moving circle.

[0197] The welding moving point is updated based on the deviation value.

[0198] In one possible implementation of this application embodiment, the first control module 61 is specifically used for:

[0199] Based on 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 trajectory to be welded.

[0200] Determine the feed direction based on the relative position information;

[0201] The updated welding point is determined based on the feed direction and pulse equivalent; the pulse equivalent is used to indicate the feed distance.

[0202] In one possible implementation of this application embodiment, the first control module 61 is specifically used for:

[0203] When the relative position information indicates that the welding moving point is on the welding trajectory, the feed direction is determined as the default direction.

[0204] In one possible implementation of this application embodiment, the first control module 61 is specifically used for:

[0205] When the relative position information indicates that the welding moving point is outside the arc indicated by the welding trajectory, the feed direction is determined to be the direction closer to the welding center.

[0206] In one possible implementation of this application, when the relative position information indicates that the welding moving point is within the arc indicated by the welding trajectory, the feed direction is determined to be the direction away from the welding center.

[0207] In one possible implementation of this application embodiment, the first control module 61 is specifically used for:

[0208] Obtain the center offset of the welded component relative to the reference center;

[0209] Welding information is obtained based on the center offset and the reference center.

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

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

[0212] This application provides an electronic device. Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 7 As shown, Figure 7 The illustrated electronic device includes a processor 71 and a memory 72. The processor 71 and the memory 72 are connected, for example, via a bus 73. Optionally, the electronic device may also include a transceiver 74. It should be noted that in practical applications, the transceiver 74 is not limited to one type, and the structure of this electronic device does not constitute a limitation on the embodiments of this application.

[0213] 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 can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 71 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0214] Bus 73 may include a pathway for transmitting information between the aforementioned components. Bus 73 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Bus 73 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 7 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0215] The memory 72 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0216] The memory 72 is used to store application code that executes the solution of this application, and its 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 content shown in the foregoing method embodiments.

[0217] This application also provides a computer-readable storage medium, which may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. Specifically, the computer-readable storage medium stores program instructions, which are used to implement the methods in the above embodiments.

[0218] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the technical solution of the above method embodiments. Its implementation principle and technical effects are similar, and will not be repeated here.

[0219] This application also provides a welding control system, including a welding apparatus, a pressing device, a pressing block, and the electronic equipment described in the foregoing embodiments.

[0220] 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 achieve circular interpolation motion, so that the welding unit welds the parts to be welded and forms a circular arc welding trajectory; the pressing device is used to press down the pressure block, so that the pressure block is used to fix the parts to be welded; 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 embodiments.

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

[0222] For example, Figure 8 This is a schematic diagram of the structure of a multi-axis linkage control device provided in an embodiment of this application, as shown below. 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. The Y-axis motion device is mounted on the X-axis motion device, the Z-axis motion device is mounted on the Y-axis motion device, and the collimation welding device 4 is mounted on the Z-axis motion device. This forms a spatial XYZ coordinate system. The XY-axis motion is used to adjust the laser beam, replacing the XY bias mirror 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 aforementioned motion device includes a control unit, a motor, a lead screw, a coupling, and a bracket. The Y-axis motion device is mounted on the X-axis motion device, the Z-axis motion device is mounted on the Y-axis motion device, and the alignment and welding device is mounted on the Z-axis motion device.

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

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

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

[0228] As an example, Figure 9 This is a control block diagram of a multi-axis linkage control device provided in an embodiment of this application. Figure 9As shown, the electronic device interacts with the controller, and the controller interacts with the X-axis driver and the Y-axis driver to send control commands input by the electronic device to the X-axis driver and the Y-axis driver. The X-axis driver responds to the control commands and controls the X-axis motor to drive the corresponding controlled object's Y-axis motion device to move. The Y-axis driver responds to the control commands and controls the Y-axis motor to drive the corresponding controlled object's Z-axis motion device 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, thereby obtaining the motion status 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, thereby obtaining the motion status of the Y-axis motion device.

[0230] The encoder can be a rotary encoder or a magnetic scale encoder; this embodiment does not limit this.

[0231] Based on this, Figure 10 An NCI control logic layer diagram provided for embodiments of this application, such as Figure 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 using NCI for interpolation motion, it is entirely 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 for 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 dedicated NCI interpolation channel is established as its model, which is the aforementioned control object. Just as an NC axis is established as the control object of the servo motor in NC PTP, an NCI interpolation channel is established as the control object of the three-dimensional positive linkage mechanism.

[0234] One NCI interpolation channel can contain up to three interpolation axes. The movement directions of the three interpolation axes are orthogonal in space and are usually named X, Y, and Z axes. The feed rate refers to the combined rate of these three axes (the combined rate cannot be determined for axes that are not orthogonal).

[0235] It is worth noting 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 the 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: assemble the interpolation channel, disassemble the interpolation channel, load G-code files into the interpolation channel, start, stop, and reset the interpolation motion, and read the number of interpolation instructions and other flags from the cache.

[0237] Figure 10 In this context, the interface variable PLC_TO_NCI is used to update the control signals and rate 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 currently running in each PLC cycle.

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

[0240] The M function is a Boolean state variable triggered in the NCI channel motion control. The PLC can read its state and realize the synchronous triggering of peripheral structure actions during the motion control process.

[0241] In addition, the welding control system in this embodiment also includes the FB_NCI_GCode function block. Specifically, the FB_NCI_GCode function block is encapsulated with circular motion control instructions according to the PLCopen standard.

[0242] Specifically, Figure 11 A pin diagram of an FB_NCI_GCode function block provided for an embodiment of this application is shown below. Figure 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 parameters 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 command.

[0243] The input pins of the FB_NCI_GCode function block are mainly used for combining and disassembling axis channels, loading G codes, starting and stopping circular interpolation, and setting parameters such as the center coordinates, start and end coordinates, and feed speed required for circular interpolation. The output pins of the FB_NCI_GCode function block are mainly used to display the status information and error information of the circular interpolation process.

[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 disband

[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: Writing R parameters

[0255] bRaread: Reading R parameters

[0256] rOverride: Channel ratio, in percentage (%)

[0257] AxisX: The X-axis of the channel

[0258] AxisY: The Y-axis of the channel

[0259] AxisZ: The Z-axis of the channel

[0260] AxisQ1: The auxiliary Q1 axis of the channel

[0261] AxisQ2: The auxiliary Q2 axis of the channel

[0262] ItpChannel: All status and control information for the channel

[0263] lrRWrit: R-parameters (coordinates, velocity parameters)

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

[0265] bDone: Function block execution completed.

[0266] bBusy: Function blocks are being executed

[0267] bReady: Channel ready

[0268] bError: An error occurred.

[0269] bGroupReady: Channel grouping is normal.

[0270] bAxisReady: Each axis within the channel was successfully enabled without any errors.

[0271] bLoadReady: Loading G code successfully.

[0272] bLoadFail: Error loading G-code

[0273] bGroupBusy: The channel is performing an action.

[0274] bGroupErr: Channel error

[0275] nGroupErrID: Channel error code

[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: Instruction execution status of the NCI channel

[0282] eItpOpMode: Operating mode of the NCI channel

[0283] lrRpara: R parameter written by ADS

[0284] abDif: Parameter write status.

[0285] Based on the aforementioned welding control system, Figure 12 An example diagram of a welding control process provided in an embodiment of this application is shown below. Figure 12As shown, when welding components, the welding control system first lowers the pressure block onto the component, and then moves the collimating welding device to the welding starting point via the X-axis and Y-axis motion devices. Next, the laser of the collimating welding device emits light for welding. Upon receiving a light emission signal, the X-axis and Y-axis motion devices drive the collimating welding device to perform circular interpolation trajectory movement. When the collimating welding device reaches the rotation point, the lowering device is controlled to rotate the pressure block, continuously driving the collimating welding device to perform circular interpolation trajectory movement via the X-axis and Y-axis motion devices. Finally, when the collimating welding device reaches the welding endpoint, the laser is turned off, and the lowering device is controlled to rotate the pressure block back to its initial position.

[0286] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as these combinations of technical features do not contradict each other, they should be considered within the scope of this specification.

[0287] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0288] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A welding control method, characterized in that, The method includes: Determine the rotating point; During the welding process, when the welding device moves to the rotating point, the pressure block is controlled to rotate about an axis perpendicular to the contact surface between the pressure block and the welded component. This axis passes through the welding center of the welded component. The pressure block rotates towards the welding device until it reaches the rotating point, ensuring that the target position is not obstructed by the pressure block when the welding device moves to any target position on the welding trajectory. The pressure block is used to press down on the welded component. When the welding device moves to the welding endpoint of the component to be welded, the welding device is controlled to stop the welding operation; The determination of the rotating point includes: When the rotating point is fixed, the first length of the blocked trajectory in the welding trajectory of the component to be welded is determined according to the pressure block; When the welding endpoint is on the blocked trajectory, or when the welding endpoint is not on the blocked trajectory but is located on the first side of the pressure block, the rotation point is determined based on the first length and the current position of the pressure block; the side of the pressure block away from the welding device is the first side; When the welding endpoint is not on the blocked trajectory, if the welding endpoint is located on the second side of the pressure block, the rotation point is determined based on the first length, the current position of the pressure block, and the welding endpoint. When the rotating point is not fixed, the movement length of the welding device is obtained at preset time intervals; The rotation point is determined based on the movement length and the current position of the pressure block.

2. The method according to claim 1, characterized in that, The method further includes: Obtain welding information of the component to be welded; the welding information includes the welding center, welding start point, and welding end point; When the welding signal of the welding device is obtained, the welding device is controlled to weld the component to be welded by circular interpolation movement according to the welding information; the welding device triggers the welding signal when the welding starting point forms a welding focal point and welding begins.

3. The method according to claim 2, characterized in that, The step of controlling the welding device to weld the component by means of circular interpolation motion based on the welding information includes: At each metering cycle, the welding moving point corresponding to the metering cycle is obtained; the welding moving point corresponding to the first metering cycle is the welding start point. Based on the welding information and the welding movement point, determine the updated welding movement point for the next metering cycle; The welding device is controlled to perform circular interpolation motion based on the updated welding moving point.

4. The method according to claim 3, characterized in that, The step of determining the updated welding movement point for the next metering cycle based on the welding information and the welding movement point includes: The welding radius is determined based on the welding center and the welding start point, and the moving circle radius is determined based on the welding center and the moving point. The deviation value is determined based on 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 point is obtained based on the deviation value.

5. The method according to claim 4, characterized in that, The step of obtaining the updated welding point based on the deviation value includes: Based on 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 trajectory to be welded. The feed direction is determined based on the relative position information. The updated welding point is determined based on the feed direction and pulse equivalent; the pulse equivalent is used to indicate the feed distance.

6. The method according to claim 5, characterized in that, Determining the feed direction based on the relative position information includes: 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.

7. The method according to claim 5, characterized in that, Determining the feed direction based on the relative position information includes: When the relative position information indicates that the welding moving point is outside the arc indicated by the welding trajectory, the feed direction is determined to be the direction close to the welding center.

8. The method according to claim 5, characterized in that, Determining the feed direction based on the relative position information includes: When the relative position information indicates that the welding moving point is within the arc indicated by the welding trajectory, the feed direction is determined to be a direction away from the welding center.

9. The method according to claim 2, characterized in that, The step of obtaining the welding information of the component to be welded includes: Obtain the center offset of the welded component relative to the reference center; The welding information is obtained based on the center offset and the reference center.

10. The method according to claim 2, characterized in that, The welding device passes through the welding starting point and finally reaches the welding ending point during the circular interpolation motion.

11. A welding control device, characterized in that, The apparatus for performing the method as described in any one of claims 1 to 10, comprising: The first control module is used to control the pressure block to rotate around an axis perpendicular to the contact surface between the pressure block and the welded component, which passes through the welding center of the welded component, towards the welding device during the welding process. This rotation continues until the pressure block reaches the rotation point, ensuring that the target position is not obstructed by the pressure block when the welding device moves to any target position on the welding trajectory. The pressure block is used to press down on the welded component. The second control module is used to control the welding device to stop welding operation when the welding device moves to the welding endpoint of the component being welded.

12. An electronic device, characterized in that, The electronic device includes a processor and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as claimed in any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 10.

14. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method as described in any one of claims 1 to 10.

15. A welding control system, characterized in that, It includes welding equipment, pressing equipment, pressure blocks, and electronic equipment; among which, 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 achieve circular interpolation motion, so that the welding unit welds the parts to be welded, forming a circular arc welding trajectory; The pressing device is used to press down the pressure block, so that the pressure block is used to fix the welded component; the pressing device is also used to drive the pressure block to rotate; The electronic device is used to perform the welding control method as described in any one of claims 1 to 10.

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