Adaptive Welding Method and Device

Abstract

The present application discloses an adaptive welding method and device, relating to the technical field of robotic welding. The method includes: determining the material information corresponding to the component to be welded in the product to be welded; determining the target welding parameters in the welding robot that match the material information according to the preset parameter adjustment rules; adjusting the welding parameters to be adjusted in the target welding parameters based on the material information to obtain the adjusted welding parameters; and controlling the welding robot to perform adaptive welding on the component to be welded based on the adjusted welding parameters. The present invention can adjust the welding parameters to be adjusted that match the material information based on the material information corresponding to the component to be welded, and control the welding robot to perform adaptive welding on the component to be welded based on the adjusted welding parameters, thereby solving the technical problem in the prior art that the parameters of the welding robot usually cannot be dynamically adjusted during the welding process to achieve adaptive welding, resulting in low welding quality.

Description

Technical Field

[0001] This application relates to the technical field of robotic welding, and particularly to an adaptive welding method and device. Background Art

[0002] With the development of the economy and the improvement of technology, arc welding robots are currently widely used in national economic production, effectively improving the labor productivity of enterprises. In view of the welding scenarios in the actual production process, the welding parameters in the welding process usually directly affect the welding quality of workpieces.

[0003] Currently, when using a welding robot to weld a product, corresponding welding parameters can be preset for the welding robot and the welding robot can be controlled to perform welding. However, during the welding process in this way, it is usually impossible to dynamically adjust the welding parameters of the welding robot according to the actual welding situation to achieve the adaptive welding of the welding robot, resulting in low welding quality of the welding robot. Summary of the Invention

[0004] The main purpose of this application is to provide an adaptive welding method and device, aiming to solve the technical problem in the prior art that during the welding process, the parameters of the welding robot usually cannot be dynamically adjusted to achieve adaptive welding, resulting in low welding quality.

[0005] To achieve the above purpose, this application proposes an adaptive welding method, and the method includes:

[0006] Determine the material information corresponding to the component to be welded in the product to be welded;

[0007] Determine the target welding parameters in the welding robot that match the material information according to the preset parameter adjustment rules;

[0008] Based on the material information, adjust the welding parameters to be adjusted in the target welding parameters to obtain the adjusted welding parameters;

[0009] Based on the adjusted welding parameters, control the welding robot to perform adaptive welding on the component to be welded.

[0010] In an embodiment, the step of adjusting the welding parameters to be adjusted in the target welding parameters based on the material information to obtain the adjusted welding parameters includes:

[0011] Determine the component material, component shape information, and component welding requirements corresponding to the component to be welded according to the material information;

[0012] Determine the material welding requirements corresponding to the component material;

[0013] Determine the welding parameters to be adjusted from the target welding parameters based on the material welding requirements, the component shape information, and the component welding requirements;

[0014] Adjust the welding parameters to be adjusted to obtain the adjusted welding parameters.

[0015] In one embodiment, the step of determining the welding parameters to be adjusted from the target welding parameters based on the material welding requirements, the component shape information, and the component welding requirements includes:

[0016] Judge whether it is necessary to adjust the gas supply information of the welding robot according to the material welding requirements;

[0017] If necessary, determine the gas supply parameters to be adjusted from the target welding parameters;

[0018] Determine the first welding torch parameters to be adjusted from the target welding parameters according to the component shape information;

[0019] Determine the second welding torch parameters to be adjusted from the target welding parameters according to the component welding requirements;

[0020] Obtain the welding parameters to be adjusted based on the gas supply parameters to be adjusted, the first welding torch parameters to be adjusted, and the second welding torch parameters to be adjusted.

[0021] In one embodiment, the step of adjusting the welding parameters to be adjusted to obtain the adjusted welding parameters includes:

[0022] Determine the component flatness and component appearance state corresponding to the component to be welded according to the component shape information;

[0023] Determine the arc welding quality standard corresponding to the component to be welded based on the component welding requirements;

[0024] Adjust the welding parameters to be adjusted based on the material welding requirements, the component flatness, the component appearance state, and the arc welding quality standard to obtain the adjusted welding parameters.

[0025] In one embodiment, the step of controlling the welding robot to perform adaptive welding on the component to be welded based on the adjusted welding parameters includes:

[0026] Obtain the three-dimensional point cloud data corresponding to the product to be welded;

[0027] Construct the target welding three-dimensional model corresponding to the product to be welded based on the three-dimensional point cloud data through a preset modeling software;

[0028] Determine the target welding path of the welding robot based on the adjusted welding parameters through the target welding three-dimensional model;

[0029] Control the welding robot to perform adaptive welding on the component to be welded based on the target welding path.

[0030] In one embodiment, the step of determining the target welding path of the welding robot based on the adjusted welding parameters through the target welding three-dimensional model includes:

[0031] Determine the weld bead position information and weld bead types corresponding to all weld beads in the component to be welded according to the three-dimensional point cloud data;

[0032] Based on the weld bead position information, the weld bead types, and determine the target welding weld beads;

[0033] Determine the target welding path of the welding robot through the target welding three-dimensional model based on the adjusted welding parameters and the target welding weld beads.

[0034] In one embodiment, after the step of controlling the welding robot to perform adaptive welding on the component to be welded based on the target welding path, it further includes:

[0035] During the welding process, obtain the current moving position of the welding torch in the welding robot in real time;

[0036] Obtain the current welding parameters corresponding to the current moving position in the target welding three-dimensional model;

[0037] Adjust the parameters of the welding robot based on the current welding parameters.

[0038] In addition, to achieve the above object, the present application also proposes an adaptive welding device, and the device includes:

[0039] An information determination module, configured to determine the material information corresponding to the component to be welded in the product to be welded;

[0040] An information matching module, configured to determine the target welding parameters in the welding robot that match the material information according to the preset parameter adjustment rules;

[0041] A parameter adjustment module, configured to adjust the to-be-adjusted welding parameters in the target welding parameters based on the material information to obtain the adjusted welding parameters;

[0042] An adaptive welding module, configured to control the welding robot to perform adaptive welding on the component to be welded based on the adjusted welding parameters.

[0043] In one embodiment, the parameter adjustment module is further configured to determine the component material, component shape information, and component welding requirements corresponding to the component to be welded according to the material information; determine the material welding requirements corresponding to the component material; determine the welding parameters to be adjusted from the target welding parameters based on the material welding requirements, the component shape information, and the component welding requirements; and perform parameter adjustment on the welding parameters to be adjusted to obtain the adjusted welding parameters.

[0044] In one embodiment, the parameter adjustment module is further configured to determine whether it is necessary to adjust the gas supply information of the welding robot according to the material welding requirements; if so, determine the gas supply parameters to be adjusted from the target welding parameters; determine the first welding torch parameters to be adjusted from the target welding parameters according to the component shape information; determine the second welding torch parameters to be adjusted from the target welding parameters according to the component welding requirements; and obtain the welding parameters to be adjusted based on the gas supply parameters to be adjusted, the first welding torch parameters to be adjusted, and the second welding torch parameters to be adjusted.

[0045] The present application provides an adaptive welding method. The present application discloses determining the material information corresponding to the component to be welded in the product to be welded; determining the target welding parameters in the welding robot that match the material information according to the preset parameter adjustment rules; performing parameter adjustment on the welding parameters to be adjusted in the target welding parameters based on the material information to obtain the adjusted welding parameters; controlling the welding robot to perform adaptive welding on the component to be welded based on the adjusted welding parameters; compared with the prior art, usually the corresponding welding parameters are preset for the welding robot and the welding robot is controlled to perform welding, and it is impossible to dynamically adjust the welding parameters of the welding robot according to the actual welding situation to achieve adaptive welding. Since the present invention can adjust the welding parameters to be adjusted that match the material information based on the material information corresponding to the component to be welded, and control the welding robot to perform adaptive welding on the component to be welded based on the adjusted welding parameters, the technical problem that the parameters of the welding robot cannot usually be dynamically adjusted to achieve adaptive welding during the welding process in the prior art, resulting in low welding quality, is solved. Description of the Drawings

[0046] The drawings here are incorporated into the specification and form a part of this specification, showing the embodiments consistent with the present application and used together with the specification to explain the principles of the present application.

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0048] Figure 1 It is a schematic flow chart provided for the first embodiment of the adaptive welding method of the present application;

[0049] Figure 2 It is a schematic flow chart provided for the second embodiment of the adaptive welding method of the present application;

[0050] Figure 3 It is a schematic flow chart provided for the third embodiment of the adaptive welding method of the present application;

[0051] Figure 4 It is a schematic module structure diagram of the adaptive welding device in the embodiment of the present application.

[0052] The realization of the purpose, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. Specific Embodiments

[0053] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0054] In order to better understand the technical solutions of the present application, the following will be described in detail in conjunction with the accompanying drawings of the specification and specific embodiments.

[0055] The main solution of the embodiment of the present application is: determining the material information corresponding to the parts to be welded in the product to be welded; determining the target welding parameters in the welding robot that match the material information according to the preset parameter adjustment rules; adjusting the welding parameters to be adjusted in the target welding parameters based on the material information to obtain the adjusted welding parameters; controlling the welding robot to perform adaptive welding on the parts to be welded based on the adjusted welding parameters.

[0056] Since in the prior art, the corresponding welding parameters are usually set for the welding robot in advance and the welding robot is controlled to perform welding, it is impossible to dynamically adjust the welding parameters of the welding robot according to the actual welding situation to achieve adaptive welding.

[0057] The present application provides a solution, which can adjust the welding parameters to be adjusted that match the material information based on the material information corresponding to the parts to be welded, and control the welding robot to perform adaptive welding on the parts to be welded based on the adjusted welding parameters, thereby solving the technical problem in the prior art that the parameters of the welding robot cannot usually be dynamically adjusted during welding to achieve adaptive welding, resulting in low welding quality.

[0058] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device, an adaptive welding device, etc. that can implement the above functions. Hereinafter, taking the adaptive welding device as an example (hereinafter referred to as the device), this embodiment and the following embodiments will be described.

[0059] Based on this, an embodiment of the present application provides an adaptive welding method, referring to Figure 1 , Figure 1 which is a schematic flowchart of the first embodiment of the adaptive welding method of the present application.

[0060] In this embodiment, the adaptive welding method includes steps S10 to S40:

[0061] Step S10: Determine the material information corresponding to the component to be welded in the product to be welded.

[0062] It should be understood that the above product to be welded can be any product to be welded made of metal and alloy materials (such as stainless steel, aluminum alloy, high carbon steel, low carbon steel, etc.); correspondingly, the above component to be welded can be the component to be welded in the product to be welded, for example: the body, door panel, etc. of a vehicle, and this embodiment does not limit this.

[0063] It can be understood that the above material information can be the relevant information of the material at the position to be welded in the component to be welded, for example: the material type, shape, and welding requirements corresponding to the component to be welded, etc., and this embodiment does not limit this.

[0064] Step S20: Determine the target welding parameters in the welding robot that match the material information according to the preset parameter adjustment rules.

[0065] It should be noted that the above preset parameter adjustment rules can be the rules that need to be followed when adjusting the welding parameters in the welding robot. Among them, the welding parameters in the welding robot can include but are not limited to welding speed, the gap between the welding gun and the plate, the welding gun travel angle, the welding gun working angle, the weld inclination angle, the weld rotation angle, welding voltage and current, welding trajectory, the swing posture and amplitude of the welding gun, wire feeding and gas supply speed, etc.

[0066] It should be noted that the above target welding parameters can be the parameters that the welding robot needs to adjust for welding different material information. In practical applications, the requirements of the welding robot for different materials are usually different during welding. For example, the thicker the welding material, the greater the current and voltage required by the welding robot, and vice versa. At the same time, for different welding materials, the gas supply speed and gas supply type of the welding robot are different. In addition, for different welding requirements, the swing posture and amplitude of the welding torch during welding are also different. Therefore, this embodiment can formulate corresponding parameter adjustment rules according to different materials and different welding requirements and other information. When the welding robot welds the to-be-welded component, the target welding parameters matching the material information are adjusted through the parameter adjustment rules, so as to achieve welding for different welding materials and different welding requirements. For example, the target welding parameters matching the thickness of the welding material in this embodiment can be the current and voltage values; the target welding parameters matching the welding requirements of the welding material itself can be the gas supply speed and gas supply type; the target welding parameters matching the flatness and appearance requirements of the welding position in the welding requirements can be the swing posture and amplitude of the welding torch, etc. This embodiment does not limit this.

[0067] Step S30: Based on the material information, adjust the welding parameters to be adjusted in the target welding parameters to obtain the adjusted welding parameters.

[0068] It can be understood that the above parameters to be adjusted are the parameters that need to be adjusted in the target welding parameters. In this embodiment, since not all the target welding parameters matching the material information need to be adjusted during the welding process of the welding robot, the parameters to be adjusted that need to be adjusted can be determined from the target welding parameters according to the actual welding requirements at this time, and the parameters to be adjusted are adjusted based on the material information to obtain the adjusted welding parameters.

[0069] In practical applications, the device can determine the target welding parameters matching the to-be-welded component according to the material information of the to-be-welded component, and determine the parameter range in which the target welding parameters should be when the welding robot welds for this material information. At the same time, obtain the current parameter value corresponding to the target welding parameters in the welding robot, and then judge whether the current parameter value is within the parameter range in which the target welding parameters should be. If not, the target welding parameter is determined as the parameter to be adjusted, and the current parameter value is adjusted until the current parameter value is within the parameter range in which the target welding parameters should be, so as to obtain the adjusted welding parameters.

[0070] Step S40: Control the welding robot to perform adaptive welding on the to-be-welded component based on the adjusted welding parameters.

[0071] In this embodiment, after adjusting all the welding parameters that need to be adjusted in the welding robot, the device can control the welding robot to weld the to-be-welded part of the to-be-welded product according to the adjusted welding parameters.

[0072] This embodiment provides an adaptive welding method, which discloses determining the material information corresponding to the to-be-welded part in the to-be-welded product; determining the target welding parameters in the welding robot that match the material information according to the preset parameter adjustment rules; performing parameter adjustment on the to-be-adjusted welding parameters in the target welding parameters based on the material information to obtain the adjusted welding parameters; controlling the welding robot to perform adaptive welding on the to-be-welded part based on the adjusted welding parameters; compared with the prior art where the corresponding welding parameters are usually set for the welding robot in advance and the welding robot is controlled to perform welding, and it is impossible to dynamically adjust the welding parameters of the welding robot according to the actual welding situation to achieve adaptive welding. Since this embodiment can adjust the to-be-adjusted welding parameters that match the material information based on the material information corresponding to the to-be-welded part, and control the welding robot to perform adaptive welding on the to-be-welded part based on the adjusted welding parameters, thus solving the technical problem in the prior art that the parameters of the welding robot usually cannot be dynamically adjusted during the welding process to achieve adaptive welding, resulting in low welding quality.

[0073] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar content as in the above-mentioned first embodiment can be referred to the above introduction and will not be repeated hereinafter. On this basis, please refer to Figure 2 , Figure 2 which is the flow chart provided for the second embodiment of the adaptive welding method of the present application.

[0074] In this embodiment, step S30 includes steps S301 to S304:

[0075] Step S301: Determine the part material, part shape information, and part welding requirements corresponding to the to-be-welded part according to the material information.

[0076] It should be understood that the above-mentioned part material is the material corresponding to the to-be-welded part. In this embodiment, the material corresponding to the to-be-welded part may include, but is not limited to, metals and alloys, such as carbon steel, stainless steel, aluminum alloy, nickel-based alloy, etc. Correspondingly, the above-mentioned part shape information may be information used to characterize the appearance characteristics of the to-be-welded part. For example, the thickness, shape, size, etc. of the part are not limited in this embodiment. The above-mentioned part welding requirements are the welding requirements of the to-be-welded part, including: the flatness of welding, appearance requirements, width of the weld seam, arc welding quality, etc.

[0077] Step S302: Determine the material welding requirements corresponding to the part material.

[0078] It can be understood that the above-mentioned material welding requirements can be the requirements that the welding materials selected by the welding robot need to meet when welding components of different materials. For example, for thicker or harder components, the strength of the welding materials selected by the welding robot should be higher.

[0079] Step S303: Determine the welding parameters to be adjusted from the target welding parameters based on the material welding requirements, the component shape information, and the component welding requirements.

[0080] Specifically, step S303 includes: judging whether it is necessary to adjust the gas supply information of the welding robot according to the material welding requirements; if so, determining the gas supply parameters to be adjusted from the target welding parameters; determining the first welding torch parameters to be adjusted from the target welding parameters according to the component shape information; determining the second welding torch parameters to be adjusted from the target welding parameters according to the component welding requirements; and obtaining the welding parameters to be adjusted based on the gas supply parameters to be adjusted, the first welding torch parameters to be adjusted, and the second welding torch parameters to be adjusted.

[0081] It should be understood that the gas supply information of the welding robot can be the relevant information of the gas used by the welding robot during welding. For example, the type of gas supply, the gas supply method, etc. In this embodiment, the gases used by the welding robot during welding include shielding gas and cutting gas. Among them, the shielding gas can be argon, carbon dioxide, helium, etc., and the cutting gas can include oxygen.

[0082] It should be noted that the above-mentioned gas supply parameters to be adjusted can be the gas supply parameters that need to be adjusted by the welding robot when welding the component to be welded. In this embodiment, the gas supply parameters to be adjusted can include, but are not limited to, the gas supply volume and the gas supply speed. In this embodiment, the device can determine the target gas supply category of the welding robot when welding the component to be welded according to the material welding requirements corresponding to the component material, as well as the target gas supply volume and the target gas supply speed corresponding to the target gas supply category, and compare the target gas supply volume and the target gas supply speed with the current gas supply volume and the current gas supply speed of the welding robot, so as to judge whether it is necessary to adjust the gas supply information of the welding robot according to the comparison result. If so, the gas supply parameters that need to be adjusted in the target welding parameters are determined as the gas supply parameters to be adjusted.

[0083] It should be noted that the above first welding torch parameter to be adjusted can be the moving speed of the welding torch in the welding robot. In this embodiment, the device can determine the material thickness corresponding to the component according to the component shape information of the component to be welded. In practical applications, in order to ensure sufficient melting and bonding inside the weld during welding, for components with a relatively thick material thickness, the speed of the welding torch of the welding robot should be slowed down accordingly. Therefore, the device in this embodiment can determine the moving speed of the welding torch from the target welding parameters according to the component shape information of the component to be welded, that is, the above first welding torch parameter to be adjusted.

[0084] It should be noted that the above second welding torch parameter to be adjusted can be parameters such as the swing posture and amplitude of the welding robot. For example, swing pattern, swing frequency, swing amplitude, pause time at the left and right extreme points, included angle between the left and right swing planes, swing radius, lift height of the swing center point, etc. In this embodiment, the device can determine the flatness requirement, appearance requirement, and weld requirement of the component to be welded according to the component shape information of the component to be welded, and then can adjust the swing posture and amplitude of the welding torch of the welding robot based on the flatness requirement, appearance requirement, and weld requirement. In addition, the device can also adjust parameters such as the welding speed, torch travel angle, torch working angle, weld inclination angle, and weld rotation angle of the robot according to the quality and position of arc welding during welding.

[0085] In this embodiment, after determining the gas supply parameter to be adjusted, the first welding torch parameter to be adjusted, and the second welding torch parameter to be adjusted of the welding robot from the target welding parameters, these parameters can be used as the parameters to be adjusted, so as to facilitate subsequent parameter adjustment of these parameters to be adjusted in the robot by the device.

[0086] Step S304: Adjust the welding parameter to be adjusted to obtain the adjusted welding parameter.

[0087] Further, the step S304 includes: determining the component flatness and component appearance state corresponding to the component to be welded according to the component shape information; determining the arc welding quality standard corresponding to the component to be welded based on the component welding requirement; adjusting the welding parameter to be adjusted based on the material welding requirement, the component flatness, the component appearance state, and the arc welding quality standard to obtain the adjusted welding parameter.

[0088] It should be noted that the above component flatness can be the flatness that the component after welding is required to achieve by the user; correspondingly, the above component appearance state can be the state that the appearance of the component after welding is required to achieve by the user. For example, whether there are defects such as cracks and pores on the surface of the component, etc. This embodiment does not limit this.

[0089] It should be noted that the above arc welding quality standards can be the characteristics that the welds on the surface of the welded parts need to meet. For example, whether the welds are flat, uniform and continuous, and the standards that the width and height of the welds need to meet. This embodiment does not limit this.

[0090] In practical applications, the device can adjust parameters such as the gas supply speed and gas supply type of the welding robot according to the welding requirements of the materials of the parts to be welded. At the same time, the device can determine the flatness of the parts and the appearance state of the parts required by the user for the welded parts according to the welding requirements of the parts, and adjust parameters such as the swing posture and amplitude of the welding torch of the welding robot according to the flatness of the parts and the appearance state of the parts. In addition, the device can determine the arc welding quality standards corresponding to the parts to be welded according to the welding requirements of the parts, and thus adjust parameters such as the welding position, welding speed, welding torch travel angle, welding torch working angle, weld inclination angle, and weld rotation angle of the robot welding according to the arc welding quality standards.

[0091] In this embodiment, it discloses determining the part material, part shape information, and part welding requirements corresponding to the part to be welded according to the material information; determining the material welding requirements corresponding to the part material; determining the welding parameters to be adjusted from the target welding parameters based on the material welding requirements, part shape information, and part welding requirements; and performing parameter adjustment on the welding parameters to be adjusted to obtain the adjusted welding parameters. Since this embodiment can accurately determine the welding parameters to be adjusted from the target welding parameters based on the part material, part shape information, and part welding requirements corresponding to the part to be welded, and perform adjustment on the welding parameters to be adjusted, it can achieve accurate adjustment of the welding parameters when the welding robot performs welding, and thus is beneficial to improving the accuracy of subsequent welding by the welding robot.

[0092] Based on the first embodiment and / or the second embodiment of the present application, in the third embodiment of the present application, for the same or similar content as the above embodiments, reference can be made to the above introduction and will not be elaborated hereinafter. On this basis, please refer to Figure 3 , Figure 3 which is the flowchart provided for the third embodiment of the adaptive welding method of the present application.

[0093] In this embodiment, step S40 includes steps S401 to S404:

[0094] Step S401: Obtain the three-dimensional point cloud data corresponding to the product to be welded.

[0095] It should be noted that the above three-dimensional point cloud data can be a vector set of the contour information on the surface of the part to be welded in a three-dimensional coordinate system obtained by a three-dimensional scanning device (such as a three-dimensional grating visual scanner). Among them, each vector contains three-dimensional coordinates (X, Y, Z) and other attribute information, such as color, reflectivity, and intensity.

[0096] In this embodiment, an image acquisition device is usually deployed in the welding robot. When welding the component to be welded by the welding robot, the image information of the component to be welded can be acquired by the image acquisition device, and these image information can be converted into point clouds through a certain algorithm. These point clouds contain the three-dimensional coordinate information of the welded component, that is, the X, Y, and Z coordinates of each point in the three-dimensional space.

[0097] Step S402: Based on the three-dimensional point cloud data, construct the target welding three-dimensional model corresponding to the product to be welded through a preset modeling software.

[0098] It can be understood that the above-mentioned preset modeling software can be a tool for creating three-dimensional models using computer software. For example, 3ds Max, Maya, etc. This embodiment does not limit this.

[0099] It should be understood that the above-mentioned target welding three-dimensional model can be the three-dimensional model corresponding to the component to be welded. In this embodiment, after the image information of the component to be welded is acquired by the image acquisition device, the three-dimensional model corresponding to the component to be welded can be constructed based on the image information of the component to be welded through CAD software or 3D scanning to obtain the target welding three-dimensional model.

[0100] Step S403: Based on the adjusted welding parameters, determine the target welding path of the welding robot through the target welding three-dimensional model.

[0101] It should be noted that the above-mentioned target welding path can be the welding path of the welding robot when welding after the welding parameters are adjusted.

[0102] Further, the step S403 includes: determining the weld bead position information and weld bead types corresponding to all weld beads in the component to be welded according to the three-dimensional point cloud data; determining the target welding weld bead based on the weld bead position information, the weld bead types; and determining the target welding path of the welding robot based on the adjusted welding parameters and the target welding weld bead through the target welding three-dimensional model.

[0103] It should be noted that the above-mentioned weld bead can be the path in the component to be welded that allows the welding robot to perform welding. Correspondingly, the above-mentioned weld bead position information can be the information used to characterize the position of the weld bead in the component to be welded; the above-mentioned weld bead type can be the feature used to characterize the length or width of the weld bead, etc.

[0104] It should be understood that the above-mentioned target welding weld bead can be the path finally referred to by the welding robot when welding in the component to be welded.

[0105] Step S404: Control the welding robot to perform adaptive welding on the component to be welded based on the target welding path.

[0106] In this embodiment, the target welding bead can be a general welding path in the component to be welded. In this embodiment, the device can fine-tune the target welding bead based on the adjusted welding parameters, so as to determine the final welding path of the welding robot during welding, and control the welding robot to perform adaptive welding based on this welding path.

[0107] Further, after step S404, it further includes: during the welding process, real-time obtain the current moving position of the welding torch in the welding robot; obtain the current welding parameters corresponding to the current moving position in the target welding three-dimensional model; and perform parameter adjustment on the welding robot based on the current welding parameters.

[0108] It can be understood that the above current moving position can be the position where the welding torch is currently located in the component to be welded when the welding robot is performing welding. Correspondingly, the above current welding parameters can be the optimal welding parameters of the welding robot predicted by the target welding three-dimensional model when the welding torch is at the current moving position.

[0109] In practical applications, the device can mark the adjusted welding parameters of the welding robot in the target welding three-dimensional model. During the subsequent welding process of the welding robot on the component to be welded, the current moving position of the welding torch in the component to be welded can be fed back to the target welding three-dimensional model, so that the target welding three-dimensional model can predict the current optimal welding parameters of the welding robot based on the current moving position, and perform parameter adjustment on the welding robot based on the current optimal welding parameters, thereby further improving the welding quality.

[0110] In this embodiment, it discloses obtaining three-dimensional point cloud data corresponding to the product to be welded; constructing a target welding three-dimensional model corresponding to the product to be welded based on the three-dimensional point cloud data through a preset modeling software; determining the target welding path of the welding robot based on the adjusted welding parameters through the target welding three-dimensional model; and controlling the welding robot to perform adaptive welding on the component to be welded based on the target welding path. Since this embodiment can determine the target welding path of the welding robot based on the adjusted welding parameters, it is possible to control the welding robot to perform adaptive welding based on the target welding path, thereby improving the accuracy of the welding robot during welding and further improving the welding quality of the robot.

[0111] It should be noted that the above examples are only for understanding the present application and do not constitute a limitation on the adaptive welding method of the present application. Based on this technical concept, more forms of simple transformations are within the protection scope of the present application.

[0112] The present application also provides an adaptive welding device. Please refer to Figure 4 The adaptive welding device includes:

[0113] An information determination module 10 for determining the material information corresponding to the component to be welded in the product to be welded;

[0114] An information matching module 20 for determining the target welding parameters in the welding robot that match the material information according to the preset parameter adjustment rules;

[0115] A parameter adjustment module 30 for adjusting the welding parameters to be adjusted in the target welding parameters based on the material information to obtain the adjusted welding parameters;

[0116] An adaptive welding module 40 for controlling the welding robot to perform adaptive welding on the component to be welded based on the adjusted welding parameters.

[0117] Further, the parameter adjustment module is further configured to determine the component material, component shape information, and component welding requirements corresponding to the component to be welded according to the material information; determine the material welding requirements corresponding to the component material; determine the welding parameters to be adjusted from the target welding parameters based on the material welding requirements, the component shape information, and the component welding requirements; and adjust the welding parameters to be adjusted to obtain the adjusted welding parameters.

[0118] Further, the parameter adjustment module is further configured to determine whether it is necessary to adjust the gas supply information of the welding robot according to the material welding requirements; if so, determine the gas supply parameters to be adjusted from the target welding parameters; determine the first welding torch parameters to be adjusted from the target welding parameters according to the component shape information; determine the second welding torch parameters to be adjusted from the target welding parameters according to the component welding requirements; and obtain the welding parameters to be adjusted based on the gas supply parameters to be adjusted, the first welding torch parameters to be adjusted, and the second welding torch parameters to be adjusted.

[0119] The adaptive welding device provided by the present application adopts the adaptive welding method in the above embodiment, which can solve the technical problem that in the prior art, the parameters of the welding robot usually cannot be dynamically adjusted during the welding process to achieve adaptive welding, resulting in low welding quality. Compared with the prior art, the beneficial effects of the adaptive welding device provided by the present application are the same as those of the adaptive welding method provided by the above embodiment, and the other technical features in the adaptive welding device are the same as those disclosed in the method of the above embodiment, and will not be elaborated here.

[0120] As described above, it is only the specific implementation manner of the present application. However, the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims described above.

[0121] The above are only some embodiments of the present application, and thus do not limit the patent scope of the present application. Any equivalent structural transformation made under the technical concept of the present application by using the content of the specification and drawings of the present application, or directly / indirectly applied in other related technical fields, is included within the patent protection scope of the present application.

Claims

1. An adaptive welding method, characterized in that, The method described above includes: Determine the material information corresponding to the components to be welded in the product to be welded, where the material information includes the material type, shape, and welding requirements corresponding to the components to be welded; Determine the target welding parameters in the welding robot that match the material information according to the preset parameter adjustment rules; Adjust the welding parameters to be adjusted in the target welding parameters based on the material information to obtain the adjusted welding parameters; Control the welding robot to perform adaptive welding on the components to be welded based on the adjusted welding parameters; The step of adjusting the welding parameters to be adjusted in the target welding parameters based on the material information to obtain the adjusted welding parameters includes: Determine the component material, component shape information, and component welding requirements corresponding to the components to be welded according to the material information; Determine the material welding requirements corresponding to the component material; Judge whether it is necessary to adjust the gas supply information of the welding robot according to the material welding requirements; If necessary, determine the gas supply parameters to be adjusted from the target welding parameters; Determine the first welding torch parameter to be adjusted from the target welding parameters according to the component shape information, where the first welding torch parameter to be adjusted is the moving speed of the welding torch in the welding robot; Determine the second welding torch parameter to be adjusted from the target welding parameters according to the component welding requirements, where the second welding torch parameter to be adjusted is the swinging posture and amplitude of the welding torch in the welding robot; Obtain the welding parameters to be adjusted based on the gas supply parameters to be adjusted, the first welding torch parameter to be adjusted, and the second welding torch parameter to be adjusted; Adjust the welding parameters to be adjusted to obtain the adjusted welding parameters; The step of controlling the welding robot to perform adaptive welding on the components to be welded based on the adjusted welding parameters includes: Obtain the three-dimensional point cloud data corresponding to the product to be welded, where the three-dimensional point cloud data is a vector set of the contour information of the welded surface of the product to be welded in a three-dimensional coordinate system obtained by a three-dimensional grating vision scanner; Construct the target welding three-dimensional model corresponding to the product to be welded based on the three-dimensional point cloud data through a preset modeling software; Determine the weld bead position information and weld bead types corresponding to all weld beads in the components to be welded according to the three-dimensional point cloud data; Determine the target welding weld beads based on the weld bead position information, the weld bead types; Determine the target welding path of the welding robot based on the adjusted welding parameters and the target welding weld beads through the target welding three-dimensional model; Control the welding robot to perform adaptive welding on the components to be welded based on the target welding path.

2. The method according to claim 1, characterized in that, The step of adjusting the welding parameters to be adjusted to obtain the adjusted welding parameters includes: Determine the component flatness and component appearance state corresponding to the components to be welded according to the component shape information; Determine the arc welding quality standard corresponding to the components to be welded based on the component welding requirements; Adjust the welding parameters to be adjusted based on the material welding requirements, the flatness of the component, the appearance state of the component, and the arc welding quality standard to obtain the adjusted welding parameters.

3. The method according to claim 1, wherein After the step of controlling the welding robot to perform adaptive welding on the component to be welded based on the target welding path, the method further includes: During the welding process, the current moving position of the welding torch in the welding robot is obtained in real time; Obtain the current welding parameters corresponding to the current moving position in the target welding three-dimensional model; Adjust the parameters of the welding robot based on the current welding parameters.

4. An adaptive welding device, characterized in that, The device includes: An information determination module, configured to determine the material information corresponding to the component to be welded in the product to be welded, where the material information includes the material type, shape, and welding requirements corresponding to the component to be welded; An information matching module, configured to determine the target welding parameters in the welding robot that match the material information according to a preset parameter adjustment rule; A parameter adjustment module, configured to adjust the welding parameters to be adjusted in the target welding parameters based on the material information to obtain the adjusted welding parameters; An adaptive welding module, configured to control the welding robot to perform adaptive welding on the component to be welded based on the adjusted welding parameters; The parameter adjustment module is further configured to determine the component material, component shape information, and component welding requirements corresponding to the component to be welded according to the material information; determine the material welding requirements corresponding to the component material; determine whether it is necessary to adjust the gas supply information of the welding robot according to the material welding requirements; if so, determine the gas supply parameter to be adjusted from the target welding parameters; determine the first welding torch parameter to be adjusted from the target welding parameters according to the component shape information, where the first welding torch parameter to be adjusted is the moving speed of the welding torch in the welding robot; determine the second welding torch parameter to be adjusted from the target welding parameters according to the component welding requirements, where the second welding torch parameter to be adjusted is the swing posture and amplitude of the welding robot; obtain the welding parameters to be adjusted based on the gas supply parameter to be adjusted, the first welding torch parameter to be adjusted, and the second welding torch parameter to be adjusted; adjust the welding parameters to be adjusted to obtain the adjusted welding parameters; The adaptive welding module is further configured to obtain the three-dimensional point cloud data corresponding to the product to be welded, where the three-dimensional point cloud data is a vector set in a three-dimensional coordinate system of the profile information of the surface to be welded of the product to be welded obtained by a three-dimensional grating vision scanner; construct a target welding three-dimensional model corresponding to the product to be welded based on the three-dimensional point cloud data through a preset modeling software; determine the weld bead position information and weld bead types corresponding to all weld beads in the component to be welded according to the three-dimensional point cloud data; determine the target welding weld beads based on the weld bead position information, the weld bead types; determine the target welding path of the welding robot based on the adjusted welding parameters and the target welding weld beads through the target welding three-dimensional model; and control the welding robot to perform adaptive welding on the component to be welded based on the target welding path.

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