Intelligent welding method and system for complex special-shaped guardrail post

Abstract

The application discloses an intelligent welding method and system for complex special-shaped guardrail posts, and relates to the technical field of intelligent welding of guardrails.The method comprises the following steps: acquiring welding information of the welding guardrail post in real time, wherein the welding information comprises welding heat at a certain position of the guardrail post where a welding head is located, ambient temperature at the certain position of the guardrail post where the welding head is located, and a welding position where the welding head is located; setting a size deviation correction model, and minimizing the size deviation of the welding head according to the welding information, wherein the size deviation correction model comprises a welding deformation function for describing welding deformation and a size deviation correction function for size deviation correction; adjusting the welding force at the current position of the guardrail post where the welding head is located and the welding heat at the current position of the guardrail post where the welding head is located according to the geometric size at the current position of the guardrail post where the welding head is located, and keeping the size deviation of the welding head minimum all the time in combination with the size deviation correction model.

Description

Technical Field

[0001] This invention belongs to the field of intelligent welding technology for guardrails, and more specifically, relates to an intelligent welding method and system for complex irregular guardrail posts. Background Technology

[0002] Currently, the main structural plate units of bridge steel structures have gradually achieved factory production, standardization, automation, and intelligent manufacturing, with significant progress particularly in major projects such as large bridges and underpasses. However, steel railings, as ancillary structures of bridge decks, remain in the traditional manual production stage. Existing production methods rely heavily on manual operation, involving numerous manual marking, cutting, and welding processes, resulting in low production efficiency and inconsistent product quality. Furthermore, traditional manufacturing methods face difficulties in controlling the geometric dimensions of complex, irregularly shaped railing posts, especially in multi-joint and inward-folding structural forms, where welding deformation and dimensional deviations are particularly severe.

[0003] Therefore, there is an urgent need for a technical solution that can reduce the dimensional deviation of welding, thereby enabling intelligent and precise welding of irregularly shaped guardrail posts. Summary of the Invention

[0004] To address the above technical problems, this invention proposes an intelligent welding method for complex, irregularly shaped guardrail posts, comprising:

[0005] The welding information of the welded guardrail post is acquired in real time. The welding information includes: the geometric dimensions of a certain position of the welded head on the guardrail post, the welding force at a certain position of the welded head on the guardrail post, the welding heat at a certain position of the welded head on the guardrail post, the ambient temperature at a certain position of the welded head on the guardrail post, and the welding position of the welded head.

[0006] A size deviation correction model is set up, and the size deviation of the weld joint is minimized based on the welding information. The size deviation correction model includes a welding deformation function for describing welding deformation and a size deviation correction function for correcting size deviation.

[0007] Based on the geometric dimensions of the current position of the weld joint on the guardrail post, the welding force and welding heat at the current position of the weld joint on the guardrail post are adjusted, and the dimensional deviation correction model is used to keep the dimensional deviation of the weld joint to a minimum.

[0008] Furthermore, the dimensional deviation correction model includes:

[0009] ,

[0010] in, For time period, For time At the location of the weld joint on the guardrail post Dimensional deviation at that location This is the first adjustment factor for the size deviation correction model. For time At the location of the weld joint on the guardrail post The welding deformation function at the location, This is the second adjustment factor for the size deviation correction model. For time At the location of the weld joint on the guardrail post Dimensional deviation correction function at the location, This is the third adjustment factor in the size deviation correction model. This is a penalty function for dynamic welding error and deformation control. This is the fourth adjustment factor in the size deviation correction model. This is a correction function for thermal stress and temperature changes.

[0011] Furthermore, time At the location of the weld joint on the guardrail post Welding deformation function at the location include:

[0012] ,

[0013] in, For time At the location of the weld joint on the guardrail post Geometric dimensions at the location, This is the first adjustment factor for the welding deformation function. For time At the location of the weld joint on the guardrail post Welding force at the point, For time At the location of the weld joint on the guardrail post The welding heat at the point, This is the second adjustment factor for the welding deformation function. This is the third adjustment factor for the welding deformation function. For time At the location of the weld joint on the guardrail post The square of the ambient temperature gradient.

[0014] Furthermore, time At the location of the weld joint on the guardrail post Size deviation correction function at the location include:

[0015] ,

[0016] in, This is the first adjustment factor of the size deviation correction function. For time The welding position of the welding joint at that time. For time At the location of the weld joint on the guardrail post The welding heat at the point, This is the second adjustment factor of the size deviation correction function. This is the third adjustment factor of the dimensional deviation correction function.

[0017] Furthermore, time At the location of the weld joint on the guardrail post Dimensional deviation at include:

[0018] ,

[0019] in, The target size.

[0020] Furthermore, the dynamic welding error and deformation control penalty function include:

[0021] ,

[0022] in, This is the first adjustment factor in the dynamic welding error and deformation control penalty function. This is the second adjustment factor of the dynamic welding error and deformation control penalty function.

[0023] Furthermore, the thermal stress and temperature change correction function include:

[0024] ,

[0025] in, For the areas where welding is required on the guardrail posts, This is the first adjustment factor in the thermal stress and temperature change correction function. This is the second adjustment factor of the thermal stress and temperature change correction function.

[0026] This invention also proposes an intelligent welding system for complex, irregularly shaped guardrail posts, comprising:

[0027] The welding information acquisition module is used to acquire welding information of the guardrail posts in real time. The welding information includes: the geometric dimensions of a certain position of the welding head on the guardrail post, the welding force at a certain position of the welding head on the guardrail post, the welding heat at a certain position of the welding head on the guardrail post, the ambient temperature at a certain position of the welding head on the guardrail post, and the welding position of the welding head.

[0028] The model setting module is used to set a size deviation correction model and minimize the size deviation of the weld joint based on the welding information. The size deviation correction model includes a welding deformation function for describing welding deformation and a size deviation correction function for correcting size deviation.

[0029] The intelligent welding module is used to adjust the welding force and welding heat at the current position of the guardrail post based on the geometric dimensions of the current position of the welding head, and in conjunction with the dimensional deviation correction model, to keep the dimensional deviation of the welding head to a minimum.

[0030] Furthermore, the dimensional deviation correction model includes:

[0031] ,

[0032] in, For time period, For time At the location of the weld joint on the guardrail post Dimensional deviation at that location This is the first adjustment factor for the size deviation correction model. For time At the location of the weld joint on the guardrail post The welding deformation function at the location, This is the second adjustment factor for the size deviation correction model. For time At the location of the weld joint on the guardrail post Dimensional deviation correction function at the location, This is the third adjustment factor in the size deviation correction model. This is a penalty function for dynamic welding error and deformation control. This is the fourth adjustment factor in the size deviation correction model. This is a correction function for thermal stress and temperature changes.

[0033] Furthermore, time At the location of the weld joint on the guardrail post Welding deformation function at the location include:

[0034] ,

[0035] in, For time At the location of the weld joint on the guardrail post Geometric dimensions at the location, This is the first adjustment factor for the welding deformation function. For time At the location of the weld joint on the guardrail post Welding force at the point, For time At the location of the weld joint on the guardrail post The welding heat at the point, This is the second adjustment factor for the welding deformation function. This is the third adjustment factor for the welding deformation function. For time At the location of the weld joint on the guardrail post The square of the ambient temperature gradient.

[0036] In summary, the technical solutions conceived by this invention have the following beneficial effects compared with the prior art:

[0037] By setting a size deviation correction model, this invention can minimize the size deviation of the weld head based on the welding information, thereby controlling the weld head to perform precise welding and reducing the welding size deviation of the weld head to a minimum. Attached Figure Description

[0038] Figure 1 This is a flowchart of the method in Embodiment 1 of the present invention;

[0039] Figure 2 This is a system structure diagram of Embodiment 2 of the present invention. Detailed Implementation

[0040] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0041] The method provided by this invention can be implemented in a terminal environment that may include one or more of the following components: a processor, a storage medium, and a display screen. The storage medium stores at least one instruction, which is loaded and executed by the processor to implement the method described in the following embodiments.

[0042] A processor may include one or more processing cores. The processor uses various interfaces and lines to connect various parts of the terminal, and performs various functions and processes data by running or executing instructions, programs, code sets or instruction sets stored in the storage medium, and by calling data stored in the storage medium.

[0043] Storage media can include random access memory (RAM) or read-only memory (ROM). Storage media can be used to store instructions, programs, code, code sets, or instructions.

[0044] The display screen is used to show the user interface of each application.

[0045] In addition, those skilled in the art will understand that the above-described structure of the terminal does not constitute a limitation on the terminal. The terminal may include more or fewer components, or combine certain components, or have different component arrangements. For example, the terminal may also include radio frequency circuits, input units, sensors, audio circuits, power supplies, and other components, which will not be described in detail here.

[0046] Example 1

[0047] like Figure 1 As shown in the figure, this invention proposes an intelligent welding method for complex irregular-shaped guardrail posts, including:

[0048] Step 101: Obtain welding information of the welded guardrail post in real time. The welding information includes: the geometric dimensions of a certain position of the welded head on the guardrail post, the welding force at a certain position of the welded head on the guardrail post, the welding heat at a certain position of the welded head on the guardrail post, the ambient temperature at a certain position of the welded head on the guardrail post, and the welding position of the welded head.

[0049] Step 102: Set up a size deviation correction model and minimize the size deviation of the weld joint based on the welding information. The size deviation correction model includes a welding deformation function for describing welding deformation and a size deviation correction function for correcting size deviation.

[0050] Specifically, the size deviation correction model includes:

[0051] ,

[0052] in, For time period, For time At the location of the weld joint on the guardrail post Dimensional deviation at that location This is the first adjustment factor for the size deviation correction model. For time At the location of the weld joint on the guardrail post The welding deformation function at the location, This is the second adjustment factor for the size deviation correction model. For time At the location of the weld joint on the guardrail post Dimensional deviation correction function at the location, This is the third adjustment factor in the size deviation correction model. This is a penalty function for dynamic welding error and deformation control. The main function of this feature is to reduce the rate of change in dimensional deviations and deformation during the welding process through real-time feedback adjustments, thereby improving welding accuracy and quality. This is the fourth adjustment factor in the size deviation correction model. This is a correction function for thermal stress and temperature changes. The main function is to optimize the temperature field changes during the welding process and reduce welding deformation caused by temperature.

[0053] Specifically, time At the location of the weld joint on the guardrail post Welding deformation function at the location include:

[0054] ,

[0055] in, For time At the location of the weld joint on the guardrail post Geometric dimensions at the location, This is the first adjustment factor for the welding deformation function. For time At the location of the weld joint on the guardrail post Welding force at the point, For time At the location of the weld joint on the guardrail post The welding heat at the point, This is the second adjustment factor for the welding deformation function. This is the third adjustment factor for the welding deformation function. For time At the location of the weld joint on the guardrail post The square of the ambient temperature gradient.

[0056] Specifically, time At the location of the weld joint on the guardrail post Size deviation correction function at the location include:

[0057] ,

[0058] in, This is the first adjustment factor of the size deviation correction function. For time The welding position of the welding joint at that time. For time At the location of the weld joint on the guardrail post The welding heat at the point, This is the second adjustment factor of the size deviation correction function. This is the third adjustment factor of the dimensional deviation correction function.

[0059] Specifically, time At the location of the weld joint on the guardrail post Dimensional deviation at include:

[0060] ,

[0061] in, The target size.

[0062] Specifically, the dynamic welding error and deformation control penalty function include:

[0063] ,

[0064] in, This is the first adjustment factor in the dynamic welding error and deformation control penalty function. This is the second adjustment factor of the dynamic welding error and deformation control penalty function.

[0065] Specifically, thermal stress and temperature change correction function include:

[0066] ,

[0067] in, For the areas where welding is required on the guardrail posts, This is the first adjustment factor in the thermal stress and temperature change correction function. This is the second adjustment factor of the thermal stress and temperature change correction function.

[0068] Step 103: Based on the geometric dimensions of the current position of the weld joint on the guardrail post, adjust the welding force and welding heat at the current position of the weld joint on the guardrail post, and combine the dimensional deviation correction model to keep the dimensional deviation of the weld joint at a minimum.

[0069] Example 2

[0070] like Figure 2 As shown, this embodiment of the invention also provides an intelligent welding system for complex irregular-shaped guardrail posts, comprising:

[0071] The welding information acquisition module is used to acquire welding information of the guardrail posts in real time. The welding information includes: the geometric dimensions of a certain position of the welding head on the guardrail post, the welding force at a certain position of the welding head on the guardrail post, the welding heat at a certain position of the welding head on the guardrail post, the ambient temperature at a certain position of the welding head on the guardrail post, and the welding position of the welding head.

[0072] The model setting module is used to set a size deviation correction model and minimize the size deviation of the weld joint based on the welding information. The size deviation correction model includes a welding deformation function for describing welding deformation and a size deviation correction function for correcting size deviation.

[0073] Specifically, the size deviation correction model includes:

[0074] ,

[0075] in, For time period, For time At the location of the weld joint on the guardrail post Dimensional deviation at that location This is the first adjustment factor for the size deviation correction model. For time At the location of the weld joint on the guardrail post The welding deformation function at the location, This is the second adjustment factor for the size deviation correction model. For time At the location of the weld joint on the guardrail post Dimensional deviation correction function at the location, This is the third adjustment factor in the size deviation correction model. This is a penalty function for dynamic welding error and deformation control. This is the fourth adjustment factor in the size deviation correction model. This is a correction function for thermal stress and temperature changes.

[0076] Specifically, time At the location of the weld joint on the guardrail post Welding deformation function at the location include:

[0077] ,

[0078] in, For time At the location of the weld joint on the guardrail post Geometric dimensions at the location, This is the first adjustment factor for the welding deformation function. For time At the location of the weld joint on the guardrail post Welding force at the point, For time At the location of the weld joint on the guardrail post The welding heat at the point, This is the second adjustment factor for the welding deformation function. This is the third adjustment factor for the welding deformation function. For time At the location of the weld joint on the guardrail post The square of the ambient temperature gradient.

[0079] Specifically, time At the location of the weld joint on the guardrail post Size deviation correction function at the location include:

[0080] ,

[0081] in, This is the first adjustment factor of the size deviation correction function. For time The welding position of the welding joint at that time. For time At the location of the weld joint on the guardrail post The welding heat at the point, This is the second adjustment factor of the size deviation correction function. This is the third adjustment factor of the dimensional deviation correction function.

[0082] Specifically, time At the location of the weld joint on the guardrail post Dimensional deviation at include:

[0083] ,

[0084] in, The target size.

[0085] Specifically, the dynamic welding error and deformation control penalty function include:

[0086] ,

[0087] in, This is the first adjustment factor in the dynamic welding error and deformation control penalty function. This is the second adjustment factor of the dynamic welding error and deformation control penalty function.

[0088] Specifically, thermal stress and temperature change correction function include:

[0089] ,

[0090] in, For the areas where welding is required on the guardrail posts, This is the first adjustment factor in the thermal stress and temperature change correction function. This is the second adjustment factor of the thermal stress and temperature change correction function.

[0091] The intelligent welding module is used to adjust the welding force and welding heat at the current position of the guardrail post based on the geometric dimensions of the current position of the welding head, and in conjunction with the dimensional deviation correction model, to keep the dimensional deviation of the welding head to a minimum.

[0092] Example 3

[0093] This invention also proposes a storage medium storing multiple instructions for implementing the intelligent welding method for complex irregular guardrail posts.

[0094] Optionally, in this embodiment, the storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any mobile terminal in a group of mobile terminals.

[0095] Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps: Step 101, real-time acquisition of welding information of the welded guardrail post, wherein the welding information includes: the geometric dimensions of a certain position of the welded head on the guardrail post, the welding force at a certain position of the welded head on the guardrail post, the welding heat at a certain position of the welded head on the guardrail post, the ambient temperature at a certain position of the welded head on the guardrail post, and the welding position of the welded head.

[0096] Step 102: Set up a size deviation correction model and minimize the size deviation of the weld joint based on the welding information. The size deviation correction model includes a welding deformation function for describing welding deformation and a size deviation correction function for correcting size deviation.

[0097] Specifically, the size deviation correction model includes:

[0098] ,

[0099] in, For time period, For time At the location of the weld joint on the guardrail post Dimensional deviation at that location This is the first adjustment factor for the size deviation correction model. For time At the location of the weld joint on the guardrail post The welding deformation function at the location, This is the second adjustment factor for the size deviation correction model. For time At the location of the weld joint on the guardrail post Dimensional deviation correction function at the location, This is the third adjustment factor in the size deviation correction model. This is a penalty function for dynamic welding error and deformation control. This is the fourth adjustment factor in the size deviation correction model. This is a correction function for thermal stress and temperature changes.

[0100] Specifically, time At the location of the weld joint on the guardrail post Welding deformation function at the location include:

[0101] ,

[0102] in, For time At the location of the weld joint on the guardrail post Geometric dimensions at the location, This is the first adjustment factor for the welding deformation function. For time At the location of the weld joint on the guardrail post Welding force at the point, For time At the location of the weld joint on the guardrail post The welding heat at the point, This is the second adjustment factor for the welding deformation function. This is the third adjustment factor for the welding deformation function. For time At the location of the weld joint on the guardrail post The square of the ambient temperature gradient.

[0103] Specifically, time At the location of the weld joint on the guardrail post Size deviation correction function at the location include:

[0104] ,

[0105] in, This is the first adjustment factor of the size deviation correction function. For time The welding position of the welding joint at that time. For time At the location of the weld joint on the guardrail post The welding heat at the point, This is the second adjustment factor of the size deviation correction function. This is the third adjustment factor of the dimensional deviation correction function.

[0106] Specifically, time At the location of the weld joint on the guardrail post Dimensional deviation at include:

[0107] ,

[0108] in, The target size.

[0109] Specifically, the dynamic welding error and deformation control penalty function include:

[0110] ,

[0111] in, This is the first adjustment factor in the dynamic welding error and deformation control penalty function. This is the second adjustment factor of the dynamic welding error and deformation control penalty function.

[0112] Specifically, thermal stress and temperature change correction function include:

[0113] ,

[0114] in, For the areas where welding is required on the guardrail posts, This is the first adjustment factor in the thermal stress and temperature change correction function. This is the second adjustment factor of the thermal stress and temperature change correction function.

[0115] Step 103: Based on the geometric dimensions of the current position of the weld joint on the guardrail post, adjust the welding force and welding heat at the current position of the weld joint on the guardrail post, and combine the dimensional deviation correction model to keep the dimensional deviation of the weld joint at a minimum.

[0116] Example 4

[0117] This invention also proposes an electronic device, including a processor and a storage medium connected to the processor. The storage medium stores multiple instructions, which can be loaded and executed by the processor to enable the processor to perform the intelligent welding method for complex irregular guardrail posts.

[0118] Specifically, the electronic device in this embodiment can be a computer terminal, which may include one or more processors and a storage medium.

[0119] The storage medium can be used to store software programs and modules, such as the intelligent welding method for complex irregular-shaped guardrail posts in this embodiment of the invention. The processor executes the software programs and modules stored in the storage medium to perform various functional applications and data processing, thus realizing the aforementioned intelligent welding method for complex irregular-shaped guardrail posts. The storage medium may include high-speed random access storage media, and may also include non-volatile storage media, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state storage media. In some instances, the storage medium may further include storage media remotely configured relative to the processor, which can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0120] The processor can call the information and application stored in the storage medium through the transmission system to execute the following steps: Step 101, real-time acquisition of welding information of the welded guardrail post, wherein the welding information includes: the geometric dimensions of a certain position of the welded head on the guardrail post, the welding force at a certain position of the welded head on the guardrail post, the welding heat at a certain position of the welded head on the guardrail post, the ambient temperature at a certain position of the welded head on the guardrail post, and the welding position of the welded head.

[0121] Step 102: Set up a size deviation correction model and minimize the size deviation of the weld joint based on the welding information. The size deviation correction model includes a welding deformation function for describing welding deformation and a size deviation correction function for correcting size deviation.

[0122] Specifically, the size deviation correction model includes:

[0123] ,

[0124] in, For time period, For time At the location of the weld joint on the guardrail post Dimensional deviation at that location This is the first adjustment factor for the size deviation correction model. For time At the location of the weld joint on the guardrail post The welding deformation function at the location, This is the second adjustment factor for the size deviation correction model. For time At the location of the weld joint on the guardrail post Dimensional deviation correction function at the location, This is the third adjustment factor in the size deviation correction model. This is a penalty function for dynamic welding error and deformation control. This is the fourth adjustment factor in the size deviation correction model. This is a correction function for thermal stress and temperature changes.

[0125] Specifically, time At the location of the weld joint on the guardrail post Welding deformation function at the location include:

[0126] ,

[0127] in, For time At the location of the weld joint on the guardrail post Geometric dimensions at the location, This is the first adjustment factor for the welding deformation function. For time At the location of the weld joint on the guardrail post Welding force at the point, For time At the location of the weld joint on the guardrail post The welding heat at the point, This is the second adjustment factor for the welding deformation function. This is the third adjustment factor for the welding deformation function. For time At the location of the weld joint on the guardrail post The square of the ambient temperature gradient.

[0128] Specifically, time At the location of the weld joint on the guardrail post Size deviation correction function at the location include:

[0129] ,

[0130] in, This is the first adjustment factor of the size deviation correction function. For time The welding position of the welding joint at that time. For time At the location of the weld joint on the guardrail post The welding heat at the point, This is the second adjustment factor of the size deviation correction function. This is the third adjustment factor of the dimensional deviation correction function.

[0131] Specifically, time At the location of the weld joint on the guardrail post Dimensional deviation at include:

[0132] ,

[0133] in, The target size.

[0134] Specifically, the dynamic welding error and deformation control penalty function include:

[0135] ,

[0136] in, This is the first adjustment factor in the dynamic welding error and deformation control penalty function. This is the second adjustment factor of the dynamic welding error and deformation control penalty function.

[0137] Specifically, thermal stress and temperature change correction function include:

[0138] ,

[0139] in, For the areas where welding is required on the guardrail posts, This is the first adjustment factor in the thermal stress and temperature change correction function. This is the second adjustment factor of the thermal stress and temperature change correction function.

[0140] Step 103: Based on the geometric dimensions of the current position of the weld joint on the guardrail post, adjust the welding force and welding heat at the current position of the weld joint on the guardrail post, and combine the dimensional deviation correction model to keep the dimensional deviation of the weld joint at a minimum.

[0141] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0142] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0143] In the several embodiments provided by this invention, it should be understood that the disclosed technical content can be implemented in other ways. The system embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between units or modules, and may be electrical or other forms.

[0144] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0145] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0146] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, optical disks, and other media capable of storing program code.

[0147] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A smart welding method for complex irregular-shaped guardrail posts, characterized in that, include: The welding information of the welded guardrail post is acquired in real time. The welding information includes: the geometric dimensions of a certain position of the welded head on the guardrail post, the welding force at a certain position of the welded head on the guardrail post, the welding heat at a certain position of the welded head on the guardrail post, the ambient temperature at a certain position of the welded head on the guardrail post, and the welding position of the welded head. A size deviation correction model is set up, and the size deviation of the weld joint is minimized based on the welding information. The size deviation correction model includes a welding deformation function for describing welding deformation and a size deviation correction function for correcting size deviation. The size deviation correction model includes: ， in, For time period, For time At the location of the weld joint on the guardrail post Dimensional deviation at that location This is the first adjustment factor for the size deviation correction model. For time At the location of the weld joint on the guardrail post The welding deformation function at the location, This is the second adjustment factor for the size deviation correction model. For time At the location of the weld joint on the guardrail post Dimensional deviation correction function at the location, This is the third adjustment factor in the size deviation correction model. This is a penalty function for dynamic welding error and deformation control. This is the fourth adjustment factor in the size deviation correction model. This is a correction function for thermal stress and temperature changes; time At the location of the weld joint on the guardrail post Welding deformation function at the location include: ， in, For time At the location of the weld joint on the guardrail post Geometric dimensions at the location, This is the first adjustment factor for the welding deformation function. For time At the location of the weld joint on the guardrail post Welding force at the point, For time At the location of the weld joint on the guardrail post The welding heat at the point, This is the second adjustment factor for the welding deformation function. This is the third adjustment factor for the welding deformation function. For time At the location of the weld joint on the guardrail post The square of the ambient temperature gradient; time At the location of the weld joint on the guardrail post Size deviation correction function at the location include: ， in, This is the first adjustment factor of the size deviation correction function. For time The welding position of the welding joint at that time. For time At the location of the weld joint on the guardrail post The welding heat at the point, This is the second adjustment factor of the size deviation correction function. This is the third adjustment factor for the dimensional deviation correction function; time At the location of the weld joint on the guardrail post Dimensional deviation at include: ， in, Target size; Dynamic welding error and deformation control penalty function include: ， in, This is the first adjustment factor in the dynamic welding error and deformation control penalty function. This is the second adjustment factor for the penalty function of dynamic welding error and deformation control; Thermal stress and temperature change correction function include: ， in, For the areas where welding is required on the guardrail posts, This is the first adjustment factor in the thermal stress and temperature change correction function. This is the second adjustment factor of the thermal stress and temperature change correction function; Based on the geometric dimensions of the current position of the weld joint on the guardrail post, the welding force and welding heat at the current position of the weld joint on the guardrail post are adjusted, and the dimensional deviation correction model is used to keep the dimensional deviation of the weld joint to a minimum.

2. An intelligent welding system for complex, irregularly shaped guardrail posts, characterized in that, include: The welding information acquisition module is used to acquire welding information of the guardrail posts in real time. The welding information includes: the geometric dimensions of a certain position of the welding head on the guardrail post, the welding force at a certain position of the welding head on the guardrail post, the welding heat at a certain position of the welding head on the guardrail post, the ambient temperature at a certain position of the welding head on the guardrail post, and the welding position of the welding head. The model setting module is used to set a size deviation correction model and minimize the size deviation of the weld joint based on the welding information. The size deviation correction model includes a welding deformation function for describing welding deformation and a size deviation correction function for correcting size deviation. The size deviation correction model includes: ， in, For time period, For time At the location of the weld joint on the guardrail post Dimensional deviation at that location This is the first adjustment factor for the size deviation correction model. For time At the location of the weld joint on the guardrail post The welding deformation function at the location, This is the second adjustment factor for the size deviation correction model. For time At the location of the weld joint on the guardrail post Dimensional deviation correction function at the location, This is the third adjustment factor in the size deviation correction model. This is a penalty function for dynamic welding error and deformation control. This is the fourth adjustment factor in the size deviation correction model. This is a correction function for thermal stress and temperature changes; time At the location of the weld joint on the guardrail post Welding deformation function at the location include: ， in, For time At the location of the weld joint on the guardrail post Geometric dimensions at the location, This is the first adjustment factor for the welding deformation function. For time At the location of the weld joint on the guardrail post Welding force at the point, For time At the location of the weld joint on the guardrail post The welding heat at the point, This is the second adjustment factor for the welding deformation function. This is the third adjustment factor for the welding deformation function. For time At the location of the weld joint on the guardrail post The square of the ambient temperature gradient; time At the location of the weld joint on the guardrail post Size deviation correction function at the location include: ， in, This is the first adjustment factor of the size deviation correction function. For time The welding position of the welding joint at that time. For time At the location of the weld joint on the guardrail post The welding heat at the point, This is the second adjustment factor of the size deviation correction function. This is the third adjustment factor for the dimensional deviation correction function; time At the location of the weld joint on the guardrail post Dimensional deviation at include: ， in, Target size; Dynamic welding error and deformation control penalty function include: ， in, This is the first adjustment factor in the dynamic welding error and deformation control penalty function. This is the second adjustment factor for the penalty function of dynamic welding error and deformation control; Thermal stress and temperature change correction function include: ， in, For the areas where welding is required on the guardrail posts, This is the first adjustment factor in the thermal stress and temperature change correction function. This is the second adjustment factor of the thermal stress and temperature change correction function; The intelligent welding module is used to adjust the welding force and welding heat at the current position of the guardrail post based on the geometric dimensions of the current position of the welding head, and in conjunction with the dimensional deviation correction model, to keep the dimensional deviation of the welding head to a minimum.

Images