Welding equipment, control method thereof and storage medium

Abstract

The invention discloses welding equipment, a control method of the welding equipment and a storage medium, and relates to the technical field of welding production.The control method comprises the steps that a conveying device is controlled to convey a to-be-welded product to a welding station, and first image information of the product on the welding station is obtained; according to the first image information, welding spot positions of all welding spot positions on the product and the corresponding relation between each welding spot position and a welding device are determined; according to the positions of the welding spots, all the welding devices are controlled to move to the corresponding welding spots at the same time, and the welding devices are driven to heat the welding spots and the to-be-welded weldment at the same time; the welding device is controlled to press the heated weldment on the welding point position so that the weldment can be welded to the product; and second image information of the welded product is obtained, and the welding quality of the product is determined according to the second image information. The welding efficiency and the welding quality of products can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of welding production, and particularly relates to a welding device, a control method thereof, and a storage medium. Background Art

[0002] In the manufacturing field of vehicles such as automobiles that use gasoline as the driving energy source, the fuel tank, as a key component for storing fuel, requires precise connection of various weldments such as fuel nozzles, pipe clamps, carbon canister brackets, support blocks, and isolation valve brackets to the fuel tank body through a welding process. The traditional fuel tank welding process usually adopts a single-station and sequential welding method, that is, each time only one welding device welds one weldment, and after completion, it moves to the next welding point. In the traditional welding method, on the one hand, multiple welding devices cannot cooperate, resulting in a long overall welding cycle and low efficiency, making it difficult to meet the large-scale and high-efficiency production requirements of modern automobile manufacturing. On the other hand, multiple weldments are welded in sequence, and the weld points that are completed first are prone to thermal stress accumulation due to repeated heating during subsequent welding, resulting in defects such as weld point deformation, strength reduction, and even cracks, affecting the safety and reliability of the fuel tank. Summary of the Invention

[0003] The present application aims to at least solve one of the technical problems existing in the prior art. For this purpose, the present application proposes a control method for a welding device to improve the welding efficiency and welding quality of products.

[0004] In a first aspect, the present application provides a control method for a welding device, which is applied to a welding device. The welding device includes a workbench, a transportation device, and multiple welding devices. A welding station is provided on the workbench, and the welding devices are respectively located beside the welding station;

[0005] The control method includes:

[0006] Controlling the transportation device to transport the product to be welded to the welding station, and obtaining first image information of the product at the welding station;

[0007] According to the first image information, determining the solder joint positions of all welding points on the product and the corresponding relationship between each welding point and the welding device;

[0008] According to the solder joint positions, controlling all the welding devices to simultaneously move to the corresponding welding points, and driving the welding devices to simultaneously heat the welding points and the weldments to be welded;

[0009] Controlling the welding device to press the weldment after heating onto the welding point so that the weldment is welded to the product;

[0010] Obtain the second image information of the product after welding is completed, and determine the welding quality of the product according to the second image information.

[0011] According to the control method of the welding equipment according to the embodiments of the first aspect of the present application, it has at least the following beneficial effects: First, the transportation device transports the fuel tank to the welding station and obtains the first image information. Through image recognition, the positions of all welding points and the corresponding relationship with the welding devices are determined. Then, multiple welding devices are controlled to move to their respective corresponding welding points simultaneously, and the welding points and the welded parts are heated synchronously. After the heating is completed, the welded parts are pressed and welded to the fuel tank. Finally, the welding quality is evaluated through the second image information. This solution changes the traditional operation mode of welding point by point through the coordinated control of multiple welding devices, enables the welding operations of multiple welding points to be carried out synchronously, avoids the time loss of sequential welding at a single station, and fundamentally solves the problem of low efficiency caused by welding one by one; at the same time, the synchronous operation of multiple devices reduces the heat accumulation effect during the welding process, reduces the risk of welding point deformation and strength decline, and ensures the stability of the fuel tank welding quality; in addition, this method realizes the precise positioning of the welding point positions and device allocation through the real-time processing of image information, reduces manual intervention and positioning adjustment time, gives full play to the coordinated efficiency of multiple welding devices, and while improving the equipment utilization rate, realizes the high-efficiency and automated production of fuel tank welding.

[0012] According to some embodiments of the first aspect of the present application, the welding device is a top surface welding mechanism, and the top surface welding mechanism includes a first three-axis moving module, a first rotating module, and a top surface welding unit connected in sequence

[0013] Controlling all the welding devices to move to the corresponding welding points simultaneously according to the welding point positions, and driving the welding devices to heat the welding points and the welded parts to be welded simultaneously, includes:

[0014] Determine the corresponding moving path and target posture according to the welding point positions;

[0015] According to the moving path, control the first three-axis moving module to drive the first rotating module and the top surface welding unit to the corresponding welding unit;

[0016] According to the target posture, control the first rotating module to drive the top surface welding unit to rotate;

[0017] Control the top surface welding unit to heat the welding points and the welded parts to be welded simultaneously.

[0018] According to some embodiments of the first aspect of the present application, the top surface welding unit includes a double-sided thermal film assembly and a first clamping assembly, and the double-sided thermal film assembly is provided with an upper heating surface and a lower heating surface;

[0019] Controlling the top surface welding unit to heat the welding points and the workpieces to be welded simultaneously includes:

[0020] Controlling the first clamping assembly to clamp the workpieces to be welded and transfer them to the upper heating surface of the double-sided hot film assembly;

[0021] Controlling the lower heating surface of the double-sided hot film assembly to contact and heat the corresponding welding points on the product, and controlling the upper heating surface of the double-sided hot film assembly to heat the workpieces;

[0022] Correspondingly, controlling the welding device to press the heated workpieces onto the welding points so that the workpieces are welded to the product includes:

[0023] Controlling the lower heating surface to leave from the welding points;

[0024] And controlling the first clamping assembly to take out the heated workpieces from the upper heating surface and press the workpieces onto the heated welding points so that the workpieces are welded to the top surface of the product.

[0025] According to some embodiments of the first aspect of the present application, the welding device is a side welding mechanism, and the side welding mechanism includes a second three-axis moving module, a second rotating module, and a side welding unit;

[0026] Controlling all the welding devices to simultaneously move to the corresponding welding points according to the solder joint positions and driving the welding devices to heat the welding points and the workpieces to be welded simultaneously includes:

[0027] Determining the corresponding moving path and target posture according to the solder joint positions;

[0028] Controlling the second three-axis moving module to drive the second rotating module and the side welding unit to the corresponding welding unit according to the moving path;

[0029] Controlling the second rotating module to drive the side welding unit to rotate according to the target posture;

[0030] Controlling the side welding unit to heat the welding points and the workpieces to be welded simultaneously.

[0031] According to some embodiments of the first aspect of the present application, the side welding unit includes a first hot film assembly, a second clamping assembly, and a transfer assembly. The first hot film assembly includes a first hot film head and a second hot film head. The driving ends of the transfer assembly are respectively connected to the second clamping assembly and the second hot film head;

[0032] Controlling the side welding unit to heat the welding points and the workpieces to be welded simultaneously includes:

[0033] Controlling the second clamping assembly to clamp the workpieces to be welded, and driving the second clamping assembly and the second hot film head to move by controlling the transfer assembly, so that the second clamping assembly contacts the workpiece with the first hot film head, and the second hot film head contacts the corresponding welding points on the product;

[0034] Controlling the first hot film head to heat the workpiece, and controlling the second hot film head to heat the welding points;

[0035] Correspondingly, controlling the welding device to press the heated workpiece onto the welding points, so that the workpiece is welded to the product, includes:

[0036] Controlling the transfer assembly to drive the second clamping assembly and the second hot film head to move again, so that the second hot film head leaves from the welding points, and the second clamping assembly moves to the position of the welding points;

[0037] Controlling the second clamping assembly to press the heated workpiece onto the heated welding points, so that the workpiece is welded to the side of the product.

[0038] According to some embodiments of the first aspect of the present application, the welding equipment further includes a feeding device, and the feeding device is arranged at the feeding station of the workbench;

[0039] Before the step of controlling the transportation device to transport the product to be welded to the welding station and obtaining the first image information of the product at the welding station, it further includes:

[0040] Controlling a plurality of the welding devices to move to the feeding station simultaneously along a preset feeding path; wherein, the feeding paths corresponding to each welding device do not interfere with each other;

[0041] Controlling the feeding device to sequentially add the corresponding workpieces to the welding devices;

[0042] After all the welding devices complete the feeding operation of the workpieces, controlling the welding devices to return to the initial position.

[0043] According to some embodiments of the first aspect of the present application, determining the solder joint positions of all welding points on the product and the corresponding relationship between each welding point and the welding device according to the first image information includes:

[0044] Based on a pre - stored solder joint feature database, identify the solder joint positions and solder joint features at each welding point in the first image information through an image recognition algorithm;

[0045] According to the solder joint features and a preset mapping relation table, determine the corresponding welding device and expected position for the welding points; wherein, the mapping relation table is used to represent the corresponding relationship between each welding point, the welding device, and the expected position where the welding device expects to weld;

[0046] According to the welding position and the expected position, finely adjust the position of the product on the welding station so that the welding position coincides with the expected position.

[0047] According to some embodiments of the first aspect of the present application, obtaining the second image information of the product after welding is completed, and determining the welding quality of the product according to the second image information includes:

[0048] Obtain the second image information of the product at multiple angles after welding is completed;

[0049] Perform denoising and enhancement processing on the second image information to obtain target image information;

[0050] Perform edge recognition processing on the target image to determine the welding area;

[0051] Perform feature extraction processing according to the welding area to obtain the texture features corresponding to each welding area;

[0052] Input the texture features into a pre - trained support vector machine classifier to determine the welding quality and defect type of the product;

[0053] Generate a quality inspection report corresponding to the product according to the welding quality and the defect type; wherein, the quality inspection report marks the welding points with welding abnormalities.

[0054] In a second aspect, the present application further provides a welding device, including:

[0055] At least one memory;

[0056] At least one processor;

[0057] At least one program;

[0058] The program is stored in the memory, and the processor executes at least one of the programs to implement the control method of the welding device as described in any embodiment of the first aspect.

[0059] In a third aspect, the present application also provides a computer-readable storage medium storing computer-executable signals for executing the control method of the welding device according to any one of the embodiments of the first aspect.

[0060] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The additional aspects and advantages of the present application will become apparent and be readily understood in conjunction with the description of the embodiments with reference to the following drawings, in which:

[0062] Figure 1 is a schematic structural diagram of the welding device (excluding the frame) provided by the present application;

[0063] Figure 2 is a schematic structural diagram of the top surface welding mechanism provided by the present application;

[0064] Figure 3 is a schematic structural diagram of the top surface welding unit provided by the present application;

[0065] Figure 4 is a schematic structural diagram of the side surface welding mechanism provided by the present application;

[0066] Figure 5 is a schematic structural diagram of the side surface welding unit (the second clamping assembly brings the workpiece into contact with the first hot film head) provided by the present application;

[0067] Figure 6 is a flowchart of the control method of the welding device provided by the present application.

[0068] The reference numerals in the drawings are as follows:

[0069] Welding station 110; Transport device 120; Top surface welding mechanism 200; First three-axis moving module 210; First rotating module 220; Double-sided hot film assembly 231; First clamping assembly 232; Side surface welding mechanism 300; Second three-axis moving module 310; Second rotating module 320; First hot film head 331; Second hot film head 332; Second clamping assembly 333; Transfer assembly 334. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0070] Embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for explaining the present application and should not be construed as limiting the present application.

[0071] In the description of the present application, it should be understood that for the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc., is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application.

[0072] In the description of the present application, if the first and second are described only for the purpose of distinguishing technical features, it should not be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features or implicitly specifying the sequence relationship of the indicated technical features.

[0073] In the description of the present application, unless otherwise clearly defined, words such as setting, installation, connection, etc. should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meanings of the above words in the present application in combination with the specific content of the technical solution.

[0074] In the field of manufacturing means of transportation such as automobiles that use gasoline as the driving energy source, the fuel tank, as a key component for storing fuel, needs to precisely connect various welded parts such as fuel nozzles, pipe clamps, carbon canister brackets, support blocks, and isolation valve brackets to the fuel tank body through a welding process. The traditional fuel tank welding process usually adopts a single-station and sequential welding method, that is, each time only one welding device welds one welded part, and after completion, it moves to the next welding point. In the traditional welding method, on the one hand, multiple welding devices cannot cooperate, resulting in a long overall welding cycle and low efficiency, making it difficult to meet the large-scale and high-efficiency production requirements of modern automobile manufacturing. On the other hand, multiple welded parts are welded in sequence, and the weld points that are completed first are prone to thermal stress accumulation due to repeated heating during subsequent welding, resulting in defects such as weld point deformation, strength reduction, and even cracks, affecting the safety and reliability of the fuel tank.

[0075] Based on this, the present application provides a welding device, its control method, and a storage medium to solve the above-mentioned technical problems. The technical solutions provided by the present application will be elaborated in detail one by one below.

[0076] In the first aspect, referring to Figure 1 and Figure 6 , the present application provides a control method for a welding device. This control method is applied to a welding device, and the welding device includes a workbench, a transportation device, and multiple welding devices. There are welding stations provided on the workbench, and the welding devices are respectively located beside the welding stations. The control method of this welding device may include but is not limited to the following steps:

[0077] Step S110: Control the transportation device to transport the product to be welded to the welding station, and obtain the first image information of the product on the welding station.

[0078] Step S120: Determine the solder joint positions of all the solder joints on the product and the corresponding relationship between each solder joint and the welding device according to the first image information.

[0079] Step S130: Control all the welding devices to move to the corresponding solder joint positions simultaneously according to the solder joint positions, and drive the welding devices to heat the solder joint positions and the workpieces to be welded simultaneously.

[0080] Step S140: Control the welding device to press the heated workpiece tightly against the solder joint position so that the workpiece is welded to the product.

[0081] Step S150: Obtain the second image information of the product after welding, and determine the welding quality of the product according to the second image information.

[0082] In steps S110 to S150, first, the transportation device 120 transports the fuel tank to the welding station 110 and obtains the first image information. The positions of all solder joints and their corresponding relationships with the welding devices are determined through image recognition. Then, control multiple welding devices to move to their respective corresponding solder joints simultaneously, heat the solder joints and the workpieces synchronously. After heating, press the workpiece tightly and weld it to the fuel tank. Finally, evaluate the welding quality through the second image information. This solution changes the traditional operation mode of welding point by point through the coordinated control of multiple welding devices, enables the welding operations of multiple solder joints to be carried out synchronously, avoids the time loss of sequential welding at a single station, and fundamentally solves the problem of low efficiency caused by welding one by one; at the same time, the synchronous operation of multiple devices reduces the heat accumulation effect during the welding process, reduces the risk of solder joint deformation and strength decline, and ensures the stability of the welding quality of the fuel tank; in addition, this method realizes the accurate positioning of solder joint positions and device allocation through the real-time processing of image information, reduces manual intervention and positioning adjustment time, gives full play to the coordinated efficiency of multiple welding devices, improves the equipment utilization rate while realizing the high-efficiency and automated production of fuel tank welding.

[0083] Referring to Figure 2 and Figure 3 , it can be understood that for the solder joints on the top of the product, the welding device used is the top surface welding mechanism 200. The top surface welding mechanism 200 includes a first three-axis movement module 210, a first rotation module 220, and a top surface welding unit connected in sequence. Corresponding to the top surface welding mechanism 200, in step S130, it may include but is not limited to the following steps:

[0084] Step S210: Determine the corresponding movement path and target posture according to the solder joint position;

[0085] Step S220: According to the movement path, control the first three-axis movement module to drive the first rotation module and the top surface welding unit to the corresponding welding position;

[0086] Step S230: According to the target posture, control the first rotation module to drive the top surface welding unit to rotate;

[0087] Step S240: Control the top surface welding unit to heat the welding point position and the workpiece to be welded simultaneously.

[0088] In steps S210 to S240, first, based on the solder joint positions, the non-interfering movement paths of each top surface welding mechanism 200 are determined to ensure that multiple welding devices do not interfere with each other when operating synchronously in space. The movement path can be pre-planned or calculated according to the positions of each solder joint. In addition, the target posture of the top surface welding unit is determined according to the spatial angle of the solder joint position and the preset posture requirements. Subsequently, the first three-axis movement module 210 drives the first rotation module 220 and the top surface welding unit to move quickly and accurately along the planned path to the target solder joint position. The first rotation module 220 synchronously adjusts the posture of the top surface welding unit to precisely match the solder joint angle and reach the preset cooperative operation posture. After each welding unit reaches the designated position and is adjusted to the target posture, the system controls all top surface welding units to heat the solder joints and workpieces synchronously. This technical solution realizes the parallel operation of multiple welding devices in a complex space environment through non-interfering path planning and posture cooperative control, avoiding both the low efficiency problem of traditional sequential welding and the possible collision interference when multiple welding devices operate simultaneously, and improving the welding efficiency of the product. In addition, the precise posture adjustment ensures the perfect adaptation of the welding unit to the solder joint angle, effectively improving the welding precision and consistency, and further ensuring the stability and reliability of the fuel tank welding quality.

[0089] Continue to refer to Figure 2 and Figure 3 It can be understood that the top surface welding unit includes a double-sided hot film assembly 231 and a first clamping assembly 232. The double-sided hot film assembly 231 is provided with an upper heating surface and a lower heating surface. In step S240, it may include but is not limited to the following steps:

[0090] Step S310: Control the first clamping assembly to clamp the workpiece to be welded and transfer it to the upper heating surface of the double-sided hot film assembly;

[0091] Step S320: Control the lower heating surface of the double-sided hot film assembly to contact and heat the corresponding welding point position on the product, and control the upper heating surface of the double-sided hot film assembly to heat the workpiece.

[0092] Correspondingly, in step S140, it may include but is not limited to the following steps:

[0093] Step S330: Control the lower heating surface to move away from the welding point.

[0094] Step S340: Control the first clamping assembly to take out the heated welded part from the upper heating surface and press the welded part tightly on the heated welding point, so that the welded part is welded to the top surface of the product.

[0095] In steps S310 to S340, the first clamping assembly of the top surface welding unit first clamps the welded part to be welded, transfers it to the upper heating surface of the double-sided thermal film assembly for positioning, and then the lower heating surface of the double-sided thermal film assembly contacts the welding point on the top surface of the fuel tank. The upper heating surface heats the welded part synchronously. Through the coordinated action of the upper heating surface and the lower heating surface, the welded part and the welding point of the fuel tank reach the molten state at the same time. After heating is completed, the lower heating surface withdraws from the welding point, and the first clamping assembly immediately takes out the heated welded part and presses it precisely on the welding point in the molten state to achieve the welding of the welded part to the top surface of the fuel tank. In the above steps, through the simultaneous action of the upper heating surface and the lower heating surface of the double-sided thermal film assembly, the time loss of step-by-step heating required for traditional single-sided spot welding is avoided, the welding cycle is greatly shortened, and the welding efficiency of the product is improved. In addition, the coordinated movement of the first clamping assembly and the double-sided thermal film assembly ensures the precise connection of the heating and pressing processes, which not only improves the welding efficiency, but also ensures the melting consistency of the welded part and the welding point of the fuel tank through double-sided synchronous heating, effectively improving the welding strength and reliability. At the same time, the problem of uneven thermal stress caused by step-by-step heating is avoided, and the quality stability of the top surface welding of the fuel tank is further optimized.

[0096] It should be noted that multiple first clamping assemblies can be provided in the same top surface welding unit. When two welding points are relatively close, two first clamping assemblies can be provided. The two first clamping assemblies respectively clamp the welded parts corresponding to the two welding points. In addition, if two welded parts need to be welded at one welding point at the same time, two first clamping assemblies can also be provided in this top surface welding unit to improve the welding efficiency of the product. The number of first clamping assemblies provided is not limited in this application.

[0097] Referring to Figure 4 and Figure 5 , it can be understood that the welding device is the side welding mechanism 300, and the side welding mechanism 300 includes a second three-axis moving module 310, a second rotating module 320 and a side welding unit connected in sequence. Corresponding to the side welding mechanism 300, in step S130, it may include but is not limited to the following steps:

[0098] Step S410: Determine the corresponding movement path and target posture according to the position of the welding point.

[0099] Step S420: According to the moving path, control the second three-axis moving module to drive the second rotating module and the side welding unit to the corresponding welding position.

[0100] Step S430: According to the target posture, control the second rotating module to drive the side welding unit to rotate.

[0101] Step S440: Control the side welding unit to heat the welding point and the workpiece to be welded simultaneously.

[0102] In steps S410 to S440, the control logic of the side welding mechanism 300 is similar to that of the top welding mechanism 200. For the side welding scenario, first, based on the position of the welding points, the non-interference moving path of each side welding mechanism 300 is determined. Similarly, this moving path can be pre-planned or calculated according to the positions of each welding point. At the same time, according to the spatial angle of the side welding point position and the preset posture requirements, the target posture of the side welding unit is determined. Subsequently, the second three-axis moving module 310 drives the second rotating module 320 and the side welding unit to move quickly and accurately along the planned path to the target welding point position. The second rotating module 320 synchronously adjusts the posture of the side welding unit to precisely match the angle of the side welding point and reach the preset cooperative operation posture. After each welding unit reaches the specified position and is adjusted to the target posture, control all side welding units to heat the welding points and the workpieces simultaneously. This technical solution realizes the parallel operation of multiple welding devices in a complex space environment through non-interference path planning and posture collaborative control, avoiding both the low efficiency problem of traditional sequential welding and the possible collision interference when multiple welding devices operate simultaneously, and improving the welding efficiency of the product. In addition, the precise posture adjustment ensures the perfect adaptation of the welding unit to the angle of the welding point, effectively improving the welding precision and consistency, further ensuring the stability and reliability of the welding quality of the fuel tank, enabling the welding equipment to adapt to the multi-directional welding requirements of the fuel tank, and realizing the overall welding operation of full automation and high precision.

[0103] Continue to refer to Figure 4 and Figure 5 , it can be understood that the side welding unit includes a first hot film assembly, a second clamping assembly 333, and a transfer assembly 334. The first hot film assembly includes a first hot film head 331 and a second hot film head 332. The driving ends of the transfer assembly 334 are respectively connected to the second clamping assembly 333 and the second hot film head 332, and are used to drive the second clamping assembly 333 and the second hot film head 332 to move relative to the first hot film head 331. In step S440, it may include but is not limited to the following steps:

[0104] Step S510: Control the second clamping component to clamp the workpiece to be welded, and drive the second clamping component and the second hot film head to move by controlling the transfer component, so that the second clamping component contacts the workpiece with the first hot film head, and the second hot film head contacts the corresponding welding point on the product.

[0105] Step S520: Control the first hot film head to heat the workpiece, and control the second hot film head to heat the welding point.

[0106] Correspondingly, in step S140, it may include but is not limited to the following steps:

[0107] Step S530: Control the transfer component to drive the second clamping component and the second hot film head to move again, so that the second hot film head leaves the welding point, and the second clamping component moves to the position of the welding point.

[0108] Step S540: Control the second clamping component to press the heated workpiece onto the heated welding point, so that the workpiece is welded to the side of the product.

[0109] In steps S510 to S540, the second clamping component 333 of the side welding unit first clamps the workpiece to be welded, and the transfer component 334 drives the second clamping component 333 and the second hot film head 332 to move synchronously, so that the workpiece contacts the first hot film head 331 and the second hot film head 332 contacts the welding point on the side of the fuel tank. Subsequently, the two hot film heads heat the workpiece and the welding point synchronously to make them reach the molten state. After heating is completed, the transfer component 334 acts again, driving the second hot film head 332 to withdraw from the welding point, and at the same time moving the heated workpiece to the original welding point position. The second clamping component 333 then applies pressure to weld the workpiece to the side of the fuel tank as a whole. This solution realizes the synchronous heating of the workpiece and the welding point during side welding through the coordinated drive of the transfer component 334, avoiding the time loss of step-by-step heating required for traditional single-sided spot welding, and greatly improving the welding efficiency. The compact linkage structure of the second clamping component 333 with the first hot film head 331 and the second hot film head 332 makes the entire heating and pressing process connect precisely, not only optimizing the side welding space layout, but also reducing the problem of thermal stress concentration through synchronous heating and pressing, further improving the quality stability and reliability of the fuel tank side welding, and meeting the all-round high-precision welding requirements of the complex structure of the fuel tank.

[0110] Similarly, multiple second clamping components 333 can be provided in the same side welding unit. When two welding points are relatively close, two second clamping components 333 can be provided. The two second clamping components 333 respectively clamp the workpieces corresponding to the two welding points. Additionally, if two workpieces need to be welded simultaneously at one welding point, two second clamping components 333 can also be provided in the top surface welding unit to improve the welding efficiency of the product. The number of second clamping components 333 is not limited in this application.

[0111] It can be understood that the welding equipment provided in this application further includes a feeding device. The feeding device is arranged at the feeding station of the workbench. Before step S110, it may further include but is not limited to the following steps:

[0112] Step S610: Control multiple welding devices to simultaneously move along a preset feeding path to the feeding station; wherein, the feeding paths corresponding to each welding device do not interfere with each other;

[0113] Step S620: Control the feeding device to sequentially add corresponding workpieces to the welding devices;

[0114] Step S630: After all the welding devices complete the workpiece feeding operation, control the welding devices to return to the initial position.

[0115] In steps S610 to S630, first, control multiple welding devices distributed beside the welding station 110 to synchronously move along a preset path to the same feeding station on the side of the workbench. The moving paths of each device are optimized to ensure that they do not interfere with each other. After reaching the feeding station, the feeding device sequentially loads the corresponding workpieces for all the welding devices concentrated here, avoiding the inconvenience of feeding caused by the scattered arrangement of the welding devices. After all the welding devices complete the feeding, each device returns to the initial position synchronously. The design of multi-device parallel movement and centralized feeding integrates the originally scattered feeding operations into a pipeline-style operation, significantly shortening the feeding time. Among them, the feeding station can be set on the side of the workbench, which is not only convenient for centralized material distribution but also realizes the spatial separation of the feeding and welding processes, enabling the transportation device 120 to synchronously convey products during the welding process, effectively improving the coherence of the production process and the utilization rate of the equipment.

[0116] It can be understood that in step S120, it may include but is not limited to the following steps:

[0117] Step S710: Based on the pre-stored solder joint feature database, identify the solder joint features and solder joint features of each welding point in the first image information through an image recognition algorithm.

[0118] Step S720: Determine the welding device and the desired position corresponding to the welding point according to the welding point features and a preset mapping relation table; wherein, the mapping relation table is used to represent the corresponding relationship between each welding point, the welding device, and the desired position where the welding device is expected to weld.

[0119] Step S730: Fine-tune the position of the product on the welding station according to the welding position and the desired position, so that the welding position coincides with the desired position.

[0120] In steps S710 to S730, first, compare the obtained first image information with the pre-stored welding point feature database, and accurately extract the welding point features and solder joint features of each welding point through an image recognition algorithm. The welding point features may include but are not limited to the shape, size, gray value, etc. of the welding point. Subsequently, determine the corresponding welding points according to the welding point features, and then determine the welding device and the desired position corresponding to the welding points according to the welding points and the preset mapping relation table. The mapping table pre-defines the corresponding relationship between each welding point and a specific welding device and the theoretical welding position. By comparing the actually detected welding position with the desired position in the mapping table, the system calculates the position deviation and generates a fine-tuning instruction to control the transport device to adjust the product posture until the welding position coincides with the desired position. Through the real-time fine-tuning mechanism based on the position deviation, the position offset generated during the transportation and positioning of the product is effectively compensated, so as to improve the welding accuracy of the product and provide a reliable guarantee for the high-precision and automated operation of the fuel tank welding.

[0121] It can be understood that in step S150, it may include but is not limited to the following steps:

[0122] Step S810: Obtain second image information of the product at multiple angles after welding is completed.

[0123] Step S820: Perform denoising and enhancement processing on the second image information to obtain the target image information.

[0124] Step S830: Perform edge recognition processing on the target image to determine the welding area.

[0125] Step S840: Perform feature extraction processing according to the welding area to obtain the texture features corresponding to each welding area.

[0126] Step S850: Input the texture features into a pre-trained support vector machine classifier to determine the welding quality and defect type of the product.

[0127] Step S860: Generate a quality inspection report corresponding to the product according to the welding quality and defect type; wherein, the quality inspection report marks the welding points with welding abnormalities.

[0128] In steps S810 to S860, multi industrial cameras are used to synchronously collect multi-angle second image information of the welded fuel tank from different angles to cover all welding points. Subsequently, the original second image information is denoised and enhanced to eliminate the interference of light changes and image noise, improve the image clarity, and obtain the target image information. Then, the edge detection algorithm is used to identify the contour of the welding area in the target image information. Additionally, morphological operations can be combined to accurately segment the welding area of each solder joint. After that, the texture features of the welding area are extracted for the identified welding area. The quality indicators such as the uniformity and density of the solder joint surface can be quantitatively reflected from the texture features. The extracted texture features are input into a pre-trained support vector machine classifier to automatically determine the welding quality grade and identify specific defect types. Finally, the system generates a detailed quality inspection report according to the classification results, marking all the welding abnormal points and their defect types. The above steps achieve a comprehensive inspection of the welding quality of the complex fuel tank structure. By combining image processing and machine learning algorithms, the inspection efficiency and accuracy are improved, the manual inspection time is reduced, and the overall quality stability of the fuel tank welding is enhanced.

[0129] In a second aspect, the present application also provides a welding device, including: at least one memory, at least one processor, and at least one program, the program is stored in the memory, and the processor executes one or more programs to implement the control method of the above welding device.

[0130] The welding device first transports the fuel tank to the welding station by a transport device and obtains the first image information. The positions of all solder joints and their corresponding relationships with the welding devices are determined through image recognition. Then, multiple welding devices are controlled to move to their respective corresponding solder joints simultaneously, and the solder joints and the welded parts are heated synchronously. After the heating is completed, the welded parts are pressed and welded to the fuel tank. Finally, the welding quality is evaluated through the second image information. This solution changes the traditional operation mode of welding point by point through the coordinated control of multiple welding devices, enables the welding operations of multiple solder joints to be carried out synchronously, avoids the time loss of sequential welding at a single station, and fundamentally solves the problem of low efficiency caused by welding one by one. At the same time, the synchronous operation of multiple devices reduces the heat accumulation effect during the welding process, reduces the risk of solder joint deformation and strength reduction, and ensures the stability of the fuel tank welding quality. In addition, this method realizes the accurate positioning of the solder joint position and device allocation through the real-time processing of image information, reduces the manual intervention and positioning adjustment time, gives full play to the coordinated efficiency of multiple welding devices, and realizes the high-efficiency and automated production of fuel tank welding while improving the equipment utilization rate.

[0131] The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and signals, such as the program instructions / signals corresponding to the processing module in the embodiments of the present application. The processor executes various functional applications and data processing by running the non-transitory software programs, instructions, and signals stored in the memory, that is, implements the control method of the welding device in the above method embodiments.

[0132] The memory may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store relevant data of the control method of the above welding device, etc. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely set relative to the processor, and these remote memories can be connected to the processing module through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0133] One or more signals are stored in the memory and, when executed by one or more processors, implement the control method of the welding device in any of the above method embodiments.

[0134] In a third aspect, the embodiments of the present application provide a computer-readable storage medium storing a computer program, which, when executed by one or more processors, enables the one or more processors to execute the control method of the welding device in the above method embodiments.

[0135] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0136] Through the description of the above embodiments, those of ordinary skill in the art can understand that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and their appropriate combinations. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or can be implemented as hardware, or can be implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include a computer storage medium (or non-transitory medium) and a communication medium (or transitory medium). As is well known to those of ordinary skill in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable signals, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, as is well known to those of ordinary skill in the art, a communication medium typically contains computer-readable signals, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and can include any information delivery medium.

[0137] In addition, in each embodiment of the present application, each functional unit can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0138] If the integrated unit is implemented in the form of 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 application, 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. The computer software product is stored in a storage medium and includes multiple instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of the present application. The foregoing storage medium includes: USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, and other media that can store programs.

[0139] The embodiments of the present application have been described in detail above with reference to the accompanying drawings. However, the present application is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present application within the scope of knowledge possessed by those of ordinary skill in the art.

Claims

1. A control method for a welding device, characterized in that, Applied to a welding device, the welding device includes a workbench, a transportation device, and a plurality of welding devices. A welding station is provided on the workbench, and the welding devices are respectively located beside the welding station; The control method includes: Controlling the transportation device to convey the product to be welded to the welding station, and acquiring first image information of the product on the welding station; According to the first image information, determining the solder joint positions of all welding points on the product and the corresponding relationship between each welding point and the welding device; According to the solder joint positions, controlling all the welding devices to simultaneously move to the corresponding welding points, and driving the welding devices to simultaneously heat the welding points and the workpiece to be welded; Controlling the welding device to press the workpiece after heating onto the welding point, so that the workpiece is welded to the product; Acquiring second image information of the product after welding is completed, and determining the welding quality of the product according to the second image information.

2. The control method of the welding equipment according to claim 1, characterized in that The welding device is a top surface welding mechanism, and the top surface welding mechanism includes a first three-axis movement module, a first rotation module, and a top surface welding unit connected in sequence; The step of according to the solder joint positions, controlling all the welding devices to simultaneously move to the corresponding welding points, and driving the welding devices to simultaneously heat the welding points and the workpiece to be welded includes: According to the solder joint positions, determining the corresponding movement path and target posture; According to the movement path, controlling the first three-axis movement module to drive the first rotation module and the top surface welding unit to the corresponding welding unit; According to the target posture, controlling the first rotation module to drive the top surface welding unit to rotate; Controlling the top surface welding unit to simultaneously heat the welding points and the workpiece to be welded.

3. The control method of the welding equipment according to claim 2, characterized in that, The top surface welding unit includes a double-sided hot film assembly and a first clamping assembly. The double-sided hot film assembly is provided with an upper heating surface and a lower heating surface; The step of controlling the top surface welding unit to simultaneously heat the welding points and the workpiece to be welded includes: Controlling the first clamping assembly to clamp the workpiece to be welded and transfer it to the upper heating surface of the double-sided hot film assembly; Controlling the lower heating surface of the double-sided hot film assembly to contact and heat the corresponding welding point on the product, and controlling the upper heating surface of the double-sided hot film assembly to heat the workpiece; Correspondingly, the step of controlling the welding device to press the workpiece after heating onto the welding point, so that the workpiece is welded to the product includes: Controlling the lower heating surface to leave from the welding point; Controlling the first clamping assembly to take out the heated workpiece from the upper heating surface and press the workpiece onto the heated welding point, so that the workpiece is welded to the top surface of the product.

4. The control method of the welding equipment according to claim 1, characterized in that, The welding device is a side surface welding mechanism, and the side surface welding mechanism includes a second three-axis movement module, a second rotation module, and a side surface welding unit connected in sequence; Controlling all the welding devices to simultaneously move to the corresponding welding points according to the positions of the welding points, and driving the welding devices to simultaneously heat the welding points and the workpieces to be welded, includes: Determining the corresponding movement path and target posture according to the positions of the welding points; Controlling the second three-axis movement module to drive the second rotation module and the side welding unit to the corresponding welding unit according to the movement path; Controlling the second rotation module to drive the side welding unit to rotate according to the target posture; Controlling the side welding unit to simultaneously heat the welding points and the workpieces to be welded.

5. The control method of the welding equipment according to claim 4, wherein, The side welding unit includes a first hot film assembly, a second clamping assembly, and a transfer assembly. The first hot film assembly includes a first hot film head and a second hot film head. The driving ends of the transfer assembly are respectively connected to the second clamping assembly and the second hot film head; The controlling the side welding unit to simultaneously heat the welding points and the workpieces to be welded includes: Controlling the second clamping assembly to clamp the workpiece to be welded, and driving the second clamping assembly and the second hot film head to move by controlling the transfer assembly, so that the second clamping assembly contacts the workpiece with the first hot film head, and the second hot film head contacts the corresponding welding point on the product; Controlling the first hot film head to heat the workpiece, and controlling the second hot film head to heat the welding point; Correspondingly, the controlling the welding device to press the workpiece after heating onto the welding point, so that the workpiece is welded to the product, includes: Controlling the transfer assembly to drive the second clamping assembly and the second hot film head to move again, so that the second hot film head leaves from the welding point, and the second clamping assembly moves to the position of the welding point; Controlling the second clamping assembly to press the heated workpiece onto the heated welding point, so that the workpiece is welded to the side of the product.

6. The control method of the welding equipment according to claim 1, characterized in that, The welding equipment further includes a feeding device, and the feeding device is arranged at the feeding station of the workbench; Before the step of controlling the transportation device to transport the product to be welded to the welding station and acquiring the first image information of the product at the welding station, it further includes: Controlling a plurality of the welding devices to simultaneously move to the feeding station along a preset feeding path; wherein, the feeding paths corresponding to each welding device do not interfere with each other; Controlling the feeding device to sequentially add the corresponding workpieces to the welding devices; After all the welding devices complete the feeding operation of the workpieces, controlling the welding devices to return to the initial position.

7. The control method of the welding equipment according to claim 1, wherein, The determining the solder joint positions of all the welding points on the product and the corresponding relationship between each welding point and the welding device according to the first image information includes: Based on a pre-stored solder joint feature database, identifying the solder joint positions and solder joint features of each welding point in the first image information through an image recognition algorithm; Determine the welding device and the desired position corresponding to the welding point according to the welding point characteristics and a preset mapping relation table; wherein, the mapping relation table is used to represent the corresponding relation between each welding point, the welding device, and the desired position where the welding device is expected to perform welding. Fine-tune the position of the product on the welding station according to the welding position and the desired position, so that the welding position coincides with the desired position.

8. The control method of the welding equipment according to claim 1, characterized in that The obtaining of the second image information of the product after welding is completed, and determining the welding quality of the product according to the second image information, includes: Obtain the second image information of the product after welding is completed from multiple angles. Perform denoising and enhancement processing on the second image information to obtain target image information. Perform edge recognition processing on the target image to determine the welding area. Perform feature extraction processing according to the welding area to obtain the texture feature corresponding to each welding area. Input the texture feature into a pre-trained support vector machine classifier to determine the welding quality and defect type of the product. Generate a quality inspection report corresponding to the product according to the welding quality and the defect type; wherein, the quality inspection report is marked with the welding points with welding abnormalities.

9. A welding device, characterized in that, Includes: At least one memory; At least one processor; At least one program; The program is stored in the memory, and the processor executes at least one of the programs to implement the control method of the welding device according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable signals, and the computer-executable signals are used to execute the control method of the welding device according to any one of claims 1 to 8.

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