A smart high-temperature welding robot

Abstract

This invention relates to the field of welding and discloses an intelligent high-temperature welding robot, comprising: a robotic arm and a control terminal; a welding torch and a temperature sensor are installed at the end of the robotic arm, the temperature sensor being used to collect the temperature of the inner wall of the steel coil to be welded; the welding torch is used to weld the inner wall of the steel coil, and an image acquisition device is installed on the welding torch to collect images of the inside of the steel coil; a heat-insulating cover is installed outside the robotic arm; the robotic arm is positioned on one side of a conveyor table, the conveyor table being equipped with an infrared sensor, the infrared sensor being used to collect the position information of the steel coil to be welded; the control terminal sends an image acquisition command to the robotic arm, causing the robotic arm to move to the image acquisition position and acquire images of the inner wall of the steel coil to be welded; based on the image of the inner wall of the steel coil to be welded, the state of the coil's coil flap is determined; based on the state of the coil's coil flap, a welding scheme is determined. This achieves high-temperature welding, improves welding efficiency, and enhances welding results.

Description

Technical Field

[0001] This invention relates to the field of welding, and more specifically to an intelligent high-temperature welding robot. Background Technology

[0002] After the strip steel production is completed, the inner ring of some steel coils needs to be welded and fixed. Currently, the welding work is done manually. Manual welding requires waiting for the strip steel temperature to drop, and due to temperature limitations, welding can only be performed on the sides of the steel coil. This significantly impacts production efficiency and weld quality. How to achieve intelligent welding operations in a complex production environment is a major challenge facing the factory.

[0003] Existing welding robots often encounter the following technical problems during the welding process:

[0004] First, welding can only be carried out after the steel coil has cooled down. The long cooling time results in low welding efficiency. Furthermore, welding instructions are often set based on the welder's experience, leading to poor welding results.

[0005] Secondly, existing technologies often rely on manual experience or pre-set fixed schemes during high-temperature welding, leading to unstable welding quality that is easily affected by the state of the steel coil's tongue and changes in ambient light. Furthermore, traditional methods lack automated post-weld quality inspection and repair mechanisms; once defects occur, manual rework is required, severely impacting production efficiency and product consistency.

[0006] Third, existing welding robots mostly rely on fixed parameters for operation, making it difficult to respond to changes in materials, environment, and equipment status in real time. This results in the welding process being unable to be dynamically adjusted, leading to large fluctuations in weld quality, limited efficiency and yield, and increased risk of rework. Summary of the Invention

[0007] The summary section of this invention provides a brief overview of the concepts, which will be described in detail in the detailed description section below. This summary section is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.

[0008] This invention proposes an intelligent high-temperature welding robot to solve one or more of the technical problems mentioned in the background section above.

[0009] This invention provides an intelligent high-temperature welding robot, comprising:

[0010] The robotic arm has a welding torch and a first temperature sensor at its end. The first temperature sensor is used to send the collected temperature of the inner wall of the steel coil to be welded to the control terminal. The welding torch is equipped with an image acquisition device, which is used to send the collected image of the inside of the steel coil to the control terminal. The robotic arm is covered with a heat insulation cover. The robotic arm is located on one side of a conveyor table, which is equipped with an infrared sensor. The infrared sensor is used to send the collected position information of the steel coil to be welded to the control terminal.

[0011] The control terminal receives the temperature of the inner wall of the steel coil to be welded and the position information of the steel coil to be welded. If the temperature of the inner wall of the steel coil to be welded is less than or equal to a preset temperature threshold, it determines whether the steel coil to be welded has reached the target position based on the position information. If it has reached the target position, it generates an image acquisition command based on the target position and sends it to the robotic arm so that the robotic arm can acquire an image of the inner wall of the steel coil to be welded.

[0012] Based on the image of the inner wall of the steel coil to be welded, determine the state of the coil tongue. The state of the coil tongue is one of the following: the coil tongue is well attached, the middle of the coil tongue is raised, or the entire coil tongue is raised. Based on the state of the coil tongue, determine the initial welding scheme of the steel coil to be welded from the pre-determined initial welding scheme library and send it to the robotic arm so that the robotic arm can weld the steel coil to be welded.

[0013] Optionally, the intelligent high-temperature welding robot of the present invention further includes:

[0014] The chilled water system includes a chiller, chilled water pipes, a water-cooled protective cover, and a second temperature sensor. The chiller is equipped with a flow rate regulating valve to adjust the circulating water flow rate. The chilled water pipes connect the chiller and the water-cooled protective cover, providing circulating water to the cover. The water-cooled protective cover is located outside the image acquisition equipment. The second temperature sensor is located on the image acquisition equipment to collect its temperature information.

[0015] The control terminal is also used to receive temperature information from the image acquisition device and the current flow rate regulating valve position. The image acquisition device temperature information includes the image acquisition device temperature value. If the image acquisition device temperature value is greater than the maximum load temperature of the image acquisition device, a temperature adjustment value is determined based on the image acquisition device temperature value and the maximum load temperature. Based on the temperature adjustment value and the current flow rate regulating valve position, the adjusted flow rate regulating valve position is determined, flow rate regulating valve adjustment information is generated, and the flow rate regulating valve adjustment information is sent to the flow rate regulating valve so that the flow rate regulating valve adjusts the circulating water flow rate.

[0016] Optionally, the intelligent high-temperature welding robot of the present invention further includes:

[0017] A supplemental lighting device, located at the end of the robotic arm, is used to provide supplemental lighting during welding; and

[0018] The control terminal is also used to perform a weighted summation of the standard welding position information and standard welding length of the initial welding scheme of the steel coil to be welded, so as to obtain the score of the initial welding scheme of the steel coil to be welded; for the score of the initial welding scheme of the steel coil to be welded, the terminal looks up the corresponding supplementary lighting level in the preset supplementary lighting level table, and sends the supplementary lighting level to the supplementary lighting device; wherein, the supplementary lighting level table includes multiple supplementary lighting levels and the welding scheme score range corresponding to each supplementary lighting level.

[0019] Optionally, the initial welding scheme library is constructed through the following steps:

[0020] Retrieve multiple historical welding information entries from the historical welding information table. Each historical welding information entry includes the coil tongue state, welding position information, and welding length. Group the multiple historical welding information entries according to the coil tongue state to obtain multiple historical welding information groups. Each historical welding information group corresponds to one coil tongue state. Determine the standard welding position information corresponding to each coil tongue state based on the welding position information corresponding to each historical welding information entry in each historical welding information group. Determine the standard welding length corresponding to each coil tongue state based on the welding length corresponding to each historical welding information entry in each historical welding information group. Generate an initial welding scheme corresponding to each coil tongue state based on the standard welding position information and the standard welding length corresponding to each coil tongue state. Combine the multiple coil tongue states and the initial welding schemes corresponding to each coil tongue state to form an initial welding scheme library.

[0021] Optionally, the control terminal is also used for:

[0022] Multiple new welding schemes are obtained. The standard welding length corresponding to each initial welding scheme in the initial welding scheme library is compared with the welding length corresponding to each new welding scheme to obtain multiple welding length differences. The new welding schemes are sorted in ascending order of multiple welding length differences to obtain the new welding scheme sequence corresponding to each initial welding scheme.

[0023] The standard welding position information of each initial welding scheme is compared with the welding position information of each new welding scheme in the corresponding new welding scheme sequence to obtain multiple welding position information deviation values. If the welding position information deviation value is less than or equal to the preset welding position information deviation value, the new welding scheme is used as the matching welding scheme to obtain the matching welding scheme group. The coil tongue state corresponding to the initial welding scheme is used as the coil tongue state corresponding to the matching welding scheme group.

[0024] Optionally, the control terminal is also used for:

[0025] Obtain the welding information corresponding to the initial welding scheme and the welding information corresponding to each matching welding scheme in the matching welding scheme group. The welding information includes the number of welding operations and multiple welding effect scores. If there are a target number of welding effect scores corresponding to a matching welding scheme that are less than or equal to the average welding effect score of the initial welding scheme, then the initial welding scheme is used as the updated welding scheme.

[0026] If there are a number of welding effect scores corresponding to a matching welding scheme that are greater than the welding effect score of the initial welding scheme, then the matching welding scheme is selected as the preferred welding scheme, resulting in multiple preferred welding schemes for each coil tongue state. The multiple preferred welding schemes for each coil tongue state are sorted in descending order of the number of welding operations, resulting in multiple preferred welding scheme sequences. The preferred welding scheme ranked first in the preferred welding scheme sequence for the coil tongue state to be welded is selected as the updated welding scheme. The initial welding scheme library is updated based on the updated welding scheme to obtain the updated welding scheme library.

[0027] Optionally, the control terminal is also used for:

[0028] The system receives temperature information from the robotic arm within the workstation, temperature information from the steel coil to be welded, and temperature and humidity information from the surrounding environment. The robotic arm temperature information includes the internal and external temperatures of the robotic arm, the steel coil temperature information includes the internal and external temperatures of the steel coil, and the surrounding environment temperature and humidity information includes ambient temperature and ambient humidity.

[0029] The internal temperature of the robotic arm is compared with a preset internal temperature threshold. If the internal temperature of the robotic arm is greater than the internal temperature threshold, a first warning signal is sent to the user terminal. The external temperature of the robotic arm is compared with a preset external temperature threshold. If the external temperature of the robotic arm is greater than the external temperature threshold, a second warning signal is sent to the user terminal.

[0030] The temperature of the inner wall of the steel coil is compared with a preset threshold temperature for the inner wall of the steel coil. If the temperature of the inner wall of the steel coil is greater than the threshold temperature, a third warning signal is sent to the user terminal. The temperature of the outer wall of the steel coil is compared with a preset threshold temperature for the outer wall of the steel coil. If the temperature of the outer wall of the steel coil is greater than the threshold temperature, a fourth warning signal is sent to the user terminal.

[0031] The ambient temperature is compared with a preset ambient temperature threshold; if the ambient temperature is greater than the ambient temperature threshold, a fifth warning signal is sent to the user terminal; the ambient humidity is compared with a preset ambient humidity threshold; if the ambient humidity is greater than the ambient humidity threshold, a sixth warning signal is sent to the user terminal.

[0032] Optionally, the control terminal is also used for:

[0033] After the robotic arm welds the steel coil to be welded, the inner wall of the steel coil to be welded is captured again using an image acquisition device to obtain a post-weld image.

[0034] Based on the post-weld images, the weld is inspected to obtain the quality inspection results, which include the qualified status, defect type, and location coordinates. The qualified status is either qualified or unqualified.

[0035] If the qualified status is changed to unqualified, the corresponding repair solution is selected from the preset repair solution library according to the defect type and location coordinates, and sent to the robotic arm so that the robotic arm can repair the unqualified area.

[0036] Optionally, the control terminal is also used for:

[0037] After generating and updating the welding scheme library, select the welding schemes in the updated welding scheme library whose usage frequency within a preset period is greater than a preset frequency threshold, and mark them as high-frequency schemes; when the state of the coiled tongue of the steel coil to be welded matches the state of the coiled tongue of the high-frequency scheme, the high-frequency scheme is called first as the target welding scheme.

[0038] The present invention has the following beneficial effects:

[0039] High-temperature welding has been achieved, improving welding efficiency. Specifically, a robotic arm equipped with temperature sensors, image acquisition equipment, and a welding torch, combined with an infrared sensor to monitor the position of the steel coil and the temperature of the inner wall of the coil to be welded, is used. A heat-insulating cover is installed outside the robotic arm, and the position of the steel coil and the temperature of the inner wall of the coil to be welded are sent to the control terminal. When the control terminal detects that the temperature of the inner wall of the steel coil to be welded meets the welding conditions, it acquires an image of the inner wall of the steel coil to be welded, then identifies the state of the coil tongue based on the image, and matches a welding scheme from a preset welding scheme library to guide the robotic arm to weld precisely. In practice, steel coil temperatures can reach 800℃, and welding usually requires cooling to below 50℃ before proceeding. This long waiting time leads to low work efficiency. Therefore, by installing a heat-insulating cover on the outside of the robotic arm and acquiring an image when the inner wall temperature of the steel coil meets the welding conditions via a control terminal, welding can be performed directly by the robotic arm. This eliminates the need to wait for the temperature to drop below 50℃; welding can begin as soon as the temperature reaches the required level. This achieves high-temperature welding, reduces cooling time, and the control terminal identifies the coil tongue status and determines the welding plan to guide the robotic arm in precise welding, thereby improving welding efficiency.

[0040] 2. Improved weld quality and enhanced production efficiency and product consistency. Specifically, by building an initial welding scheme library based on historical welding data, the system automatically matches welding schemes according to the coil tongue state, solving the problem of relying on manual experience; by selecting appropriate supplementary lighting levels through a scoring mechanism, image acquisition quality is improved, enhancing environmental adaptability; by continuously optimizing welding schemes through a self-learning mechanism and prioritizing the use of high-frequency schemes, the accuracy and efficiency of welding schemes are improved; simultaneously, the system can automatically detect weld quality after welding and call repair schemes based on defect information, realizing closed-loop automation of welding, detection, and repair, thereby ensuring stable weld quality, reducing rework frequency, and improving production efficiency and product consistency.

[0041] 3. Improved welding efficiency and yield, and reduced rework rate. Specifically, by acquiring welding current and voltage waveforms in real time during welding and identifying the actual arc type based on the waveforms, the actual arc type can be compared with the target arc type. When the welding arc deviates from the target state, candidate welding schemes are matched from the updated welding scheme library. Based on the deviation between the actual welding process parameters and the welding process parameter range, abnormal process parameters are screened, and the welding process is dynamically corrected using the most frequently occurring process parameter values. Through the above technical means, this invention can sense the arc state and process parameter deviations in real time during welding and perform online dynamic adjustments, thereby ensuring a stable welding arc, normal droplet transmission, and uniform heat input, improving the consistency of weld quality. At the same time, this invention can significantly reduce the rework rate, improve welding efficiency and yield, and reduce safety risks caused by welding abnormalities, achieving high-quality, controllable, and safe operation of the welding process. Attached Figure Description

[0042] The above and other features, advantages, and aspects of the various embodiments of the present invention will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and elements are not necessarily drawn to scale.

[0043] Figure 1 This is a structural schematic diagram of an intelligent high-temperature welding robot according to the present invention;

[0044] Figure 2 This invention relates to the main hardware components of an intelligent high-temperature welding robot and their connection relationships.

[0045] Figure 3 This is a flowchart illustrating the dynamic optimization process parameters of an intelligent high-temperature welding robot based on the electric arc state, according to the present invention. Detailed Implementation

[0046] The invention will now be described in more detail with reference to the accompanying drawings. While some embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the invention. It should be understood that the drawings and embodiments of the invention are for illustrative purposes only and are not intended to limit the scope of protection of the invention.

[0047] It should also be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0048] It should be noted that the concepts of "first" and "second" mentioned in this invention are only used to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0049] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0050] The names of messages or information exchanged between the various devices of this invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0051] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0052] like Figure 1 The diagram shows a structural schematic of an intelligent high-temperature welding robot according to the present invention. The intelligent high-temperature welding robot includes a robotic arm 101 and a control terminal 102.

[0053] The robotic arm 101 has a welding torch and a first temperature sensor at its end. The first temperature sensor is used to send the collected temperature of the inner wall of the steel coil to be welded to the control terminal. The welding torch is equipped with an image acquisition device, which is used to send the collected image of the inside of the steel coil to the control terminal. The robotic arm is covered with a heat insulation cover. The robotic arm is located on one side of a conveyor table, which is equipped with an infrared sensor. The infrared sensor is used to send the collected position information of the steel coil to be welded to the control terminal.

[0054] In some embodiments, the robotic arm 101 is used to perform welding work. In practice, the robotic arm is a structure that mimics the human arm, consisting of multiple joints and connecting components. The end of the robotic arm is equipped with a welding torch and a first temperature sensor. The robotic arm extends into the steel coil to be welded, collects the temperature of the inner wall of the steel coil through the first temperature sensor, and welds the inner wall of the steel coil using the welding torch. The welding torch is equipped with an image acquisition device, which acquires images of the inside of the steel coil; this image acquisition device can be a camera. In some embodiments, a control terminal 102 communicates with the first temperature sensor and the image acquisition device through various communication methods; the control terminal 102 can be a backend server. Based on this, the first temperature sensor sends the collected temperature of the inner wall of the steel coil to be welded to the control terminal 102, and the image acquisition device sends the acquired images of the inside of the steel coil to the control terminal 102. The temperature of the inner wall of the steel coil to be welded refers to the real-time temperature data of the inner wall surface of the steel coil. The first temperature sensor is a temperature detection device installed at the end of the robotic arm; the first temperature sensor can be a K-type thermocouple PTFE wire thermocouple temperature sensor. A K-type thermocouple PTFE wire temperature sensor is a temperature sensor that uses the K-type thermocouple temperature measurement principle and PTFE wire. PTFE wire is a wire with an outer layer of polytetrafluoroethylene (PTFE). The image of the inside of the steel coil is a photograph of the internal structure of the steel coil acquired by an image acquisition device. The robotic arm is equipped with a heat-insulating cover, which can be a high-silica aluminum foil cloth. The outer layer is aluminum foil, which can reflect heat radiation with a reflectivity of over 95%. The inner layer is a high-silica cloth, a high-temperature resistant inorganic fiber with a silica content higher than 96% and a softening point close to 1700℃, allowing for long-term use at 900℃. As an example, the high-silica cloth inner layer remained intact after working at 1450℃ for 10 minutes and at 1600℃ for 15 seconds.

[0055] In some embodiments, a robotic arm 101 is positioned on one side of a conveyor table used to transport the steel coil to be welded. An infrared sensor is mounted on the conveyor table and communicates with a control terminal 102 via various communication methods. The conveyor table is a device for transporting the steel coil to be welded, ensuring that the coil can be accurately moved to the welding position. The conveyor table typically consists of rollers or a conveyor belt and may include a positioning device to ensure the steel coil is stably fixed. The infrared sensor is a through-beam infrared sensor, consisting of an independent transmitter and an independent receiver, respectively positioned on opposite sides of the conveyor table. The infrared beam of the sensor is close to the horizontal plane of the conveyor table, and the signal change caused by the steel coil's obstruction determines whether the steel coil is at the target position. The target position refers to the optimal welding point where the steel coil has moved on the conveyor table. As an example, if the end face of the steel coil faces the robotic arm, and the receiver does not receive a signal from the transmitter after the steel coil stops moving, it indicates that the infrared beam is obstructed by the edge of the steel coil, and the steel coil is determined to have reached the target position. Conversely, when the steel coil to be welded stops moving, the receiver receives a signal from the transmitter indicating that the infrared beam of the infrared sensor is not blocked by the steel coil. At this point, it is determined that the steel coil has not reached the target position. The target position can be directly in front of the robotic arm. The edge of the steel coil is the point where it first contacts the infrared beam. Based on this, if the steel coil reaches the target position, position information indicating that it has reached the target position is generated and sent to the control terminal 102; if it has not reached the target position, position information indicating that it has not reached the target position is also generated and sent to the control terminal 102. The image acquisition command is a command sent from the control terminal to the robotic arm, triggering the image acquisition device to capture images of the inner wall of the steel coil for subsequent analysis of the coil's state.

[0056] The control terminal 102 is used to receive the temperature of the inner wall of the steel coil to be welded and the position information of the steel coil to be welded; if the temperature of the inner wall of the steel coil to be welded is less than or equal to a preset temperature threshold, it determines whether the steel coil to be welded has reached the target position according to the position information of the steel coil to be welded; if it has reached the target position, it generates an image acquisition command according to the target position and sends it to the robotic arm so that the robotic arm can acquire an image of the inner wall of the steel coil to be welded and obtain an image of the inner wall of the steel coil to be welded.

[0057] Based on the image of the inner wall of the steel coil to be welded, determine the state of the coil tongue. The state of the coil tongue is one of the following: the coil tongue is well attached, the middle of the coil tongue is raised, or the entire coil tongue is raised. Based on the state of the coil tongue, determine the initial welding scheme of the steel coil to be welded from the pre-determined initial welding scheme library and send it to the robotic arm so that the robotic arm can weld the steel coil to be welded.

[0058] In some embodiments, the control terminal 102, which may be a computer, is used to receive the temperature of the inner wall of the steel coil to be welded and the position information of the steel coil to be welded. In some embodiments, the preset temperature threshold may be the maximum temperature that the heat insulation cover can withstand, which may be 900°C. Based on this, the temperature of the inner wall of the steel coil to be welded is compared with the preset temperature threshold. If the temperature of the inner wall of the steel coil to be welded is less than or equal to 900°C, the received position information of the steel coil to be welded is queried to determine whether the steel coil to be welded has reached the target position. If the steel coil to be welded has reached the target position, the control terminal generates an image acquisition command and determines the image acquisition position. Then, the image acquisition command is sent to the robotic arm 101 to move the robotic arm to the image acquisition position and acquire an image of the inner wall of the steel coil to be welded, obtaining an image of the inner wall of the steel coil to be welded, and sending the image of the inner wall of the steel coil to be welded to the control terminal 102. Here, the offset is the distance offset upward from the target position, which may be the radius of the steel coil to be welded. The control command sent by the control terminal to the robotic arm is used to trigger the image acquisition device on the robotic arm. The image acquisition position is the specific location where the image acquisition device on the robotic arm takes an image of the inner wall of the steel coil to be welded. The image acquisition position is determined through the following steps: first, an offset is added to the target position, and then the image is moved a preset distance towards the inner wall of the steel coil to be welded. The preset distance can be the sum of the width of the steel coil to be welded and the distance from the robotic arm to the conveyor table.

[0059] In some embodiments, the control terminal 102 is equipped with an open-source deep learning model. Based on this model, the control terminal 102 inputs an image of the inner wall of the steel coil to be welded into the deep learning model and outputs the state of the coil tongue. The coil tongue, located on the inner wall of the steel coil, is the opening portion of the coil extending from the main body of the coil. The coil tongue is part of the coil, typically referring to the raised portion at the end of the coil. The state of the coil tongue is one of the following: good tongue fit, raised center of the coil, or fully raised. Good tongue fit means the coil tongue fits well against the inner wall of the coil without any raising or bending. Raised center of the coil means the center of the coil is raised, with both sides fitting against the inner wall of the coil. Fully raised coil means all edges of the coil are raised and do not contact the inner wall of the coil. The open-source deep learning model includes an input layer, a convolutional neural network, a classification layer, and an output layer.

[0060] The control terminal 102 locally stores a pre-determined initial welding scheme library, which includes multiple initial welding schemes and the corresponding coil tongue state for each initial welding scheme. Based on this, for the coil tongue state of the steel coil to be welded, the pre-determined initial welding scheme library is queried to obtain the corresponding initial welding scheme. The initial welding scheme library contains multiple initial welding schemes and the corresponding coil tongue state for each initial welding scheme. Each initial welding scheme includes standard welding position information and a standard welding length. The standard welding position information refers to the specific position parameters of the optimal welding area that the welding torch should apply to during the welding process. The standard welding position information is a series of continuous three-dimensional coordinate points. These three-dimensional coordinate points originate from a three-dimensional coordinate system, where the origin is the starting point of the standard welding position information, the x-axis is the direction of the steel coil axis, the y-axis is the direction of the steel coil width, and the z-axis is the vertical direction of the steel coil. The standard welding length can be the optimal total length for the welding torch to move along the welding path, i.e., the distance the welding torch travels from the starting point to the ending point. The initial welding scheme library stores preset welding strategies for different tongue states. The tongue state refers to the shape of the end edge of the inner wall of the steel coil to be welded. For example, if the tongue is well-fitted, the welding scheme is to weld one side of the tongue, with a standard weld length of 50mm~100mm; if the tongue is curled up in the middle, the welding scheme is to weld both sides of the tongue, with a standard weld length of 50mm on each side; if the tongue is completely curled up, the welding scheme is not to weld. In practice, new welding methods have been added, and the schemes are adjusted and customized according to the site conditions.

[0061] In these embodiments, high-temperature welding is achieved, improving welding efficiency. Specifically, a robotic arm equipped with a temperature sensor, image acquisition device, and welding torch is used. An infrared sensor monitors the position of the steel coil and the temperature of its inner wall. A heat-insulating cover is installed outside the robotic arm. The position of the steel coil and the temperature of its inner wall are sent to a control terminal. When the control terminal detects that the temperature of the inner wall of the steel coil meets the welding conditions, it acquires an image of the inner wall of the steel coil. Then, based on the image, it identifies the state of the coil tongue and matches a welding scheme from a pre-set welding scheme library to guide the robotic arm in precise welding. In practice, steel coil temperatures can reach 800℃, and welding usually requires cooling to below 50℃ before proceeding. This long waiting time leads to low work efficiency. Therefore, by installing a heat-insulating cover on the outside of the robotic arm and acquiring an image when the inner wall temperature of the steel coil meets the welding conditions via a control terminal, welding can be performed directly by the robotic arm. This eliminates the need to wait for the temperature to drop below 50℃; welding can begin as soon as the temperature reaches the required level. This achieves high-temperature welding, reduces cooling time, and the control terminal identifies the coil tongue status and determines the welding plan to guide the robotic arm in precise welding, thereby improving welding efficiency.

[0062] In some embodiments, to further address the second technical problem described in the background section, namely, "existing technologies often rely on manual experience or pre-set fixed schemes during high-temperature welding, which leads to unstable welding quality and susceptibility to changes in the coil's coiling state and ambient light. Furthermore, traditional methods lack automated post-weld quality inspection and repair mechanisms; once defects occur, manual rework is required, severely impacting production efficiency and product consistency," in some embodiments of the present invention, an intelligent high-temperature welding robot further includes:

[0063] The chilled water system includes a chiller, chilled water pipes, a water-cooled protective cover, and a second temperature sensor. The chiller is equipped with a flow rate regulating valve to adjust the circulating water flow rate. The chilled water pipes connect the chiller and the water-cooled protective cover, providing circulating water to the cover. The water-cooled protective cover is located outside the image acquisition equipment. The second temperature sensor is located on the image acquisition equipment to collect its temperature information.

[0064] The control terminal is also used to receive temperature information from the image acquisition device and the current flow rate regulating valve position. The image acquisition device temperature information includes the image acquisition device temperature value. If the image acquisition device temperature value is greater than the maximum load temperature of the image acquisition device, a temperature adjustment value is determined based on the image acquisition device temperature value and the maximum load temperature. Based on the temperature adjustment value and the current flow rate regulating valve position, the adjusted flow rate regulating valve position is determined, flow rate regulating valve adjustment information is generated, and the flow rate regulating valve adjustment information is sent to the flow rate regulating valve so that the flow rate regulating valve adjusts the circulating water flow rate.

[0065] In some embodiments, the temperature of the image acquisition device is monitored by a water-cooled protective cover and a temperature sensor, and the circulating water flow rate is automatically adjusted to prevent overheating, ensure image acquisition stability, and improve the reliability of welding monitoring. Specifically, the chiller is a refrigeration device that can cool and output low-temperature circulating water to provide cooling capacity for the water-cooling system; the chilled water pipe is used to connect the chiller and the water-cooled protective cover to ensure that the circulating water flows from the chiller to the water-cooled protective cover; the water-cooled protective cover is a cover that covers the image acquisition device, and the circulating water flows inside the cover to reduce the surface temperature of the image acquisition device. Its structural design ensures that the water flow covers the key heat-generating parts of the device to avoid local overheating; a second temperature sensor is set on the surface or back of the image acquisition device to collect the temperature information of the image acquisition device in real time. A sensor type such as a K-type thermocouple can be used to ensure the accuracy of temperature measurement; a flow rate regulating valve is set on the chiller to regulate the circulating water flow rate. The valve type can be an electronic control valve or a manual valve, and the correspondence between the flow rate level and the circulating water flow rate is stored in the flow rate regulating valve information table locally on the control terminal.

[0066] In some embodiments, the control terminal 102 communicates with the flow rate regulating valve and the second temperature sensor via various communication methods. Based on this, it receives temperature information from the image acquisition device and the current flow rate regulating valve setting. The image acquisition device temperature information includes the image acquisition device temperature value, and the flow rate regulating valve has multiple settings, each corresponding to a different circulating water flow rate. If the image acquisition device temperature value is greater than the image acquisition device's maximum operating temperature, the difference between the image acquisition device temperature value and the maximum operating temperature is calculated to obtain a temperature adjustment value. The maximum operating temperature of the image acquisition device is the maximum operating temperature at which the image acquisition device can operate normally. The control terminal 102 locally stores a flow rate regulating valve information table, which includes multiple flow rate regulating valve settings and the circulating water flow rate corresponding to each setting. In some embodiments, when collecting the same amount of heat, temperature and flow rate are inversely proportional. Based on this, the quotient between the image acquisition device temperature value and the maximum operating temperature is calculated to obtain an adjustment ratio. The adjusted circulating water flow rate is obtained by multiplying the circulating water flow rate corresponding to the current flow rate regulating valve setting by the adjustment ratio. The adjusted circulating water flow rate is retrieved from the flow rate control valve information table to determine the appropriate valve setting. If the calculated adjusted circulating water flow rate falls between two settings, the nearest higher setting should be selected to prevent insufficient cooling. The adjusted flow rate control valve setting is then sent as adjustment information to the flow rate control valve, enabling it to adjust the circulating water flow rate.

[0067] The intelligent high-temperature welding robot of the present invention further includes:

[0068] A supplemental lighting device, located at the end of the robotic arm, is used to provide supplemental lighting during welding; and

[0069] The control terminal is also used to perform a weighted summation of the standard welding position information and standard welding length of the initial welding scheme of the steel coil to be welded, so as to obtain the score of the initial welding scheme of the steel coil to be welded; for the score of the initial welding scheme of the steel coil to be welded, the terminal looks up the corresponding supplementary lighting level in the preset supplementary lighting level table, and sends the supplementary lighting level to the supplementary lighting device; wherein, the supplementary lighting level table includes multiple supplementary lighting levels and the welding scheme score range corresponding to each supplementary lighting level.

[0070] In some embodiments, an appropriate supplementary lighting level is selected based on the initial welding scheme score to improve the lighting conditions in the welding area, enhance image acquisition clarity, and provide reliable data for subsequent weld quality inspection. Specifically, the supplementary lighting device is a light source installed at the end of the robotic arm to provide additional illumination during the welding process, supplementing insufficient ambient light. Examples include LED light sources, adjustable ring lights, or spotlights, whose brightness can be adjusted according to the ambient lighting conditions. The control terminal 102 is also used to assign weights to the standard welding position information and standard welding length of the initial welding scheme for the steel coil to be welded, and to score the standard welding position information and standard welding length of the initial welding scheme for the steel coil to be welded, respectively, to obtain a welding position information score and a welding length score. The farther the welding position information is from the origin, the higher the score; the longer the welding length, the higher the score. The welding position information score and welding length score are multiplied by their corresponding weights and summed to obtain the initial welding scheme score for the steel coil to be welded. The control terminal 102 locally stores a preset supplementary lighting level table. This table includes multiple supplementary lighting levels and a corresponding welding scheme rating range for each level. A higher welding scheme rating indicates a greater distance between the welding position and the origin, resulting in a longer welding length and poorer illumination at the welding position. Therefore, a higher welding scheme rating corresponds to a higher supplementary lighting level. Based on this, for the initial welding scheme rating of the steel coil to be welded, the preset supplementary lighting level table is consulted to obtain the corresponding supplementary lighting level. This level is then sent to the supplementary lighting device, allowing it to adjust the light intensity accordingly. Each supplementary lighting level corresponds to a specific light intensity level. For example... Figure 2 As shown, the main hardware components of the intelligent high-temperature welding robot and their connection relationships are illustrated.

[0071] The initial welding scheme library is constructed through the following steps:

[0072] Retrieve multiple historical welding information entries from the historical welding information table. Each historical welding information entry includes the coil tongue state, welding position information, and welding length. Group the multiple historical welding information entries according to the coil tongue state to obtain multiple historical welding information groups. Each historical welding information group corresponds to one coil tongue state. Determine the standard welding position information corresponding to each coil tongue state based on the welding position information corresponding to each historical welding information entry in each historical welding information group. Determine the standard welding length corresponding to each coil tongue state based on the welding length corresponding to each historical welding information entry in each historical welding information group. Generate an initial welding scheme corresponding to each coil tongue state based on the standard welding position information and the standard welding length corresponding to each coil tongue state. Combine the multiple coil tongue states and the initial welding schemes corresponding to each coil tongue state to form an initial welding scheme library.

[0073] In some embodiments, an initial welding scheme library is constructed using historical welding information. Standard welding positions and lengths are generated according to the coil tongue state, enabling rapid matching of welding schemes based on historical experience. Specifically, the control terminal 102 locally stores a historical welding information table, which includes multiple historical welding information entries. Each historical welding information entry includes the coil tongue state, welding position information, and welding length. The welding position information refers to the trajectory of the welding torch in space during the welding process, which can be represented as a series of continuous three-dimensional coordinate points, forming a complete welding path. The welding length refers to the actual length of welding completed by the welding torch along the welding path. The coil tongue state refers to the specific shape of the coil tongue at the end of the steel coil. Based on this, multiple historical welding information entries are grouped according to the coil tongue state. Historical welding information entries with the same tongue state are grouped together to obtain multiple historical welding information groups, each corresponding to a coil tongue state. For each welding position information entry in each historical welding information group, its corresponding three-dimensional coordinate points are aligned point by point along the path and the average value is calculated to obtain the standard welding position information under that tongue state. The standard welding position information can be understood as the average trajectory of historical welding paths, used to guide the welding action of the welding torch under the same tongue curling state. The average welding length corresponding to each historical welding information in each historical welding information group is calculated to obtain the standard welding length corresponding to each coil tongue curling state. Based on this, each coil tongue curling state corresponds to an initial welding scheme, which includes the standard welding position information and the standard welding length. Finally, the control terminal 102 summarizes multiple coil tongue curling states and their corresponding initial welding schemes to form an initial welding scheme library, so that the corresponding welding scheme can be quickly called according to the coil tongue curling state in actual welding operations, achieving efficient and stable welding operations. As an example, suppose there are three records in the historical welding information table, all with the coil tongue curling state "right tongue curling height 20mm", welding paths A, B, and C, and corresponding welding lengths of 5.2m, 5.0m, and 5.1m, respectively. The control terminal 102 averages the three-dimensional coordinates of the three paths point by point to obtain the standard welding path, calculates the average length (5.1m), and generates the initial welding scheme corresponding to this tongue curling state. An initial welding scheme refers to a welding reference scheme applicable to a specific coiled tongue condition, obtained through statistical analysis and calculation of historical welding information. This scheme includes two key parameters: standard welding position information and standard welding length. The initial welding scheme library is a collection of initial welding schemes corresponding to different coiled tongue conditions. Historical welding information refers to the original welding data records collected and stored during previous actual welding processes, forming the basis for generating the initial welding scheme.

[0074] The control terminal is also used for:

[0075] Step 1: Obtain multiple new welding schemes. Compare the standard welding length corresponding to each initial welding scheme in the initial welding scheme library with the welding length corresponding to each new welding scheme to obtain multiple welding length differences. Sort the corresponding new welding schemes in order of increasing welding length differences to obtain the new welding scheme sequence corresponding to each initial welding scheme.

[0076] Step 2: Compare the standard welding position information of each initial welding scheme with the welding position information of each new welding scheme in the corresponding new welding scheme sequence to obtain multiple welding position information deviation values. If the welding position information deviation value is less than or equal to the preset welding position information deviation value, the new welding scheme is used as the matching welding scheme to obtain the matching welding scheme group. The coil tongue state corresponding to the initial welding scheme is used as the coil tongue state corresponding to the matching welding scheme group.

[0077] In some embodiments, the control terminal 102 periodically stores newly added welding schemes. Newly added welding schemes are newly generated or newly acquired welding data, possessing indicators such as welding length, welding position information, welding count, and welding effect score. The welding count refers to the number of times a welding scheme has been actually executed in historical or new tasks; a higher welding count indicates a more frequent adoption of the scheme and potentially better stability. The welding effect score is an evaluation score of the quality of a single welding result, which can be derived from automatic detection (such as weld image detection results or penetration depth detection results) or manual inspection. Based on this, for each initial scheme in the initial welding scheme library, its standard welding length is extracted and compared with the welding lengths of all newly added welding schemes to obtain the welding length difference. Absolute value calculations ensure the result is non-negative. The differences are sorted in ascending order to obtain the sequence of newly added welding schemes corresponding to each initial welding scheme. As an example, if a standard weld length is 120mm, and the weld length of a new weld scheme A is 118mm, the difference is 2mm; the weld length of a new weld scheme B is 123mm, the difference is 3mm; and the weld length of a new weld scheme C is 130mm, the difference is 10mm. The resulting order is A, B, C. For each of the sorted new weld schemes, the trajectory point sequence is extracted, and the Euclidean distance is calculated between each trajectory point and the standard trajectory point.

[0078]

[0079] in,( , , ( ) represents the coordinates of the trajectory points corresponding to the standard welding position information. , , The coordinates of the trajectory points corresponding to the welding position information of the newly added welding scheme are shown. If the number of trajectory points is inconsistent, interpolation or normalized sampling can be used to make the number of trajectory points the same, and then the Euclidean distance is calculated point by point. The average or maximum value of the distances of all points is taken as the welding position information deviation value. The control terminal 102 has a preset welding position information deviation threshold. For example, the threshold is set to 1mm. When the welding position information deviation value is less than or equal to 1mm, the newly added welding scheme is determined to be a matching welding scheme. All newly added welding schemes that meet the conditions are grouped into a matching welding scheme group, and the coiled tongue state of the initial welding scheme is taken as the coiled tongue state of the matching welding scheme group. The matching welding scheme can characterize a newly added welding scheme that is close to the initial welding scheme in both welding length and welding path, thus providing a reference for the subsequent optimization and updating of the initial welding scheme library.

[0080] Step 3: Obtain the welding information corresponding to the initial welding scheme and the welding information corresponding to each matching welding scheme in the matching welding scheme group. The welding information includes the number of welding operations and multiple welding effect scores. If there are a target number of welding effect scores corresponding to a matching welding scheme that are less than or equal to the average welding effect score of the initial welding scheme, then the initial welding scheme will be used as the updated welding scheme.

[0081] Step 4: If there are target number of welding effect scores corresponding to the matching welding scheme that are greater than the welding effect score of the initial welding scheme, then the matching welding scheme is selected as the preferred welding scheme, resulting in multiple preferred welding schemes corresponding to each coil tongue state. The multiple preferred welding schemes corresponding to each coil tongue state are sorted in descending order of the number of welding operations, resulting in multiple preferred welding scheme sequences. The preferred welding scheme ranked first in the preferred welding scheme sequence corresponding to the coil tongue state of the steel coil to be welded is selected as the updated welding scheme. The initial welding scheme library is updated based on the updated welding scheme to obtain the updated welding scheme library.

[0082] In some embodiments, the control terminal 102 is further configured to extract welding information corresponding to the initial welding scheme and welding information corresponding to each matching welding scheme in the matching welding scheme group after completing the screening of the matching welding scheme group. The welding information includes the number of welding operations and multiple welding effect scores. A welding scheme may be executed multiple times, thus corresponding to multiple welding effect scores. The number of welding operations represents the cumulative number of times the welding scheme has been actually executed. Based on this, the control terminal 102 calculates the average welding effect score of the initial welding scheme and compares it with the multiple welding effect scores of each matching welding scheme. If a target number (e.g., a preset two or three) of the matching welding schemes have welding effect scores less than or equal to the average welding effect score of the initial welding scheme, the initial welding scheme is determined to be superior to these matching welding schemes, and thus the initial welding scheme is used as the updated welding scheme. If a target number of the matching welding schemes all have welding effect scores greater than the average welding effect score of the initial welding scheme, it indicates that the matching welding scheme is superior to the initial welding scheme in quality. At this time, the control terminal 102 uses these matching welding schemes as preferred welding schemes, obtaining multiple preferred welding schemes corresponding to each coil tongue state.

[0083] In some embodiments, the control terminal 102 sorts multiple preferred welding schemes corresponding to each coil tongue state in descending order of the number of welds, forming a preferred welding scheme sequence. For example, for a certain coil tongue state, if preferred welding scheme a has 30 welds, preferred welding scheme b has 20 welds, and preferred welding scheme c has 15 welds, then the sorting result is a, b, c. The control terminal 102 selects the preferred welding scheme ranked first in the preferred welding scheme sequence corresponding to the coil tongue state to be welded as the updated welding scheme. Finally, the control terminal 102 replaces the initial welding scheme with the updated welding scheme, updates the initial welding scheme library, and obtains an updated welding scheme library. The updated welding scheme library can gradually optimize the stored welding schemes while ensuring coverage of different coil tongue states, making them closer to high-quality welding schemes in actual production processes. Among them, the preferred welding scheme refers to the matching welding scheme with better welding effect performance in the matching welding scheme group by comparing the welding effect score with the average welding effect score of the initial welding scheme, that is, the candidate scheme with better welding quality than the initial welding scheme. The optimal welding scheme sequence refers to the sequence of welding schemes obtained by sorting multiple optimal welding schemes in descending order of the number of welds for a given steel coil tongue state. Updating the welding scheme involves selecting the top-ranked optimal welding scheme from the optimal welding scheme sequence, or retaining the initial welding scheme when no better scheme is found in the matching welding scheme group, thus serving as the latest welding scheme to replace or continue the initial welding scheme. The updated welding scheme library refers to the set of welding schemes formed by replacing or supplementing the original initial welding scheme library with the updated welding scheme after the selection is completed. In summary, by comparing the initial welding scheme with the new scheme, matching welding scheme groups are selected to ensure consistency between the new and initial schemes in welding length and position, improving the applicability and accuracy of the welding schemes. Furthermore, by comparing the welding effect scores and number of welds of the matching schemes, the optimal welding scheme is autonomously selected or updated, achieving self-learning and continuous optimization of the welding scheme, thereby improving welding quality and efficiency.

[0084] The control terminal is also used for:

[0085] The system receives temperature information from the robotic arm within the workstation, temperature information from the steel coil to be welded, and temperature and humidity information from the surrounding environment. The robotic arm temperature information includes the internal and external temperatures of the robotic arm, the steel coil temperature information includes the internal and external temperatures of the steel coil, and the surrounding environment temperature and humidity information includes ambient temperature and ambient humidity.

[0086] The internal temperature of the robotic arm is compared with a preset internal temperature threshold. If the internal temperature of the robotic arm is greater than the internal temperature threshold, a first warning signal is sent to the user terminal. The external temperature of the robotic arm is compared with a preset external temperature threshold. If the external temperature of the robotic arm is greater than the external temperature threshold, a second warning signal is sent to the user terminal.

[0087] The temperature of the inner wall of the steel coil is compared with a preset threshold temperature. If the temperature of the inner wall of the steel coil is greater than the threshold temperature, a third warning signal is sent to the user terminal. The temperature of the outer wall of the steel coil is compared with a preset threshold temperature. If the temperature of the outer wall of the steel coil is greater than the threshold temperature, a fourth warning signal is sent to the user terminal.

[0088] The ambient temperature is compared with a preset ambient temperature threshold; if the ambient temperature is greater than the ambient temperature threshold, a fifth warning signal is sent to the user terminal; the ambient humidity is compared with a preset ambient humidity threshold; if the ambient humidity is greater than the ambient humidity threshold, a sixth warning signal is sent to the user terminal.

[0089] In some embodiments, by monitoring the robotic arm, steel coil, and ambient temperature and humidity, multi-level warnings are issued when thresholds are exceeded to promptly prevent the impact of abnormal high temperature or humidity on welding and equipment safety, ensuring a safe and reliable welding process. Specifically, the control terminal 102 establishes a communication connection with the terminal equipment of the workstation, thereby receiving robotic arm temperature information, steel coil temperature information to be welded temperature information, and ambient temperature and humidity information within the workstation. The robotic arm temperature information includes the internal and external temperatures of the robotic arm; the steel coil temperature information includes the inner and outer wall temperatures of the steel coil; and the ambient temperature and humidity information includes ambient temperature and humidity. The robotic arm temperature information refers to the temperature data collected in real time by temperature sensors installed inside and outside the robotic arm, used to reflect the operating status and heat load of the robotic arm during the welding process. The internal temperature of the robotic arm refers to the temperature of the area where the internal cavity or electronic components of the robotic arm are located, mainly used to monitor the thermal state of key components such as the internal motor and control circuits of the robotic arm. The external temperature of the robotic arm refers to the temperature of the outer surface or shell of the robotic arm, mainly used to reflect the heat exchange between the robotic arm and the external environment. The temperature information of the steel coil to be welded refers to the temperature data collected by temperature sensors installed on the inner and outer walls of the steel coil, reflecting the overall thermal state of the coil before welding. The inner wall temperature of the steel coil refers to the temperature of the inner layer of the coil, typically reflecting the impact of internal heating or storage conditions on welding quality. The outer wall temperature of the steel coil refers to the temperature of the outer surface area, primarily reflecting the thermal state of the coil after contact with the external environment. The ambient temperature and humidity information refers to the ambient temperature and humidity collected by environmental monitoring sensors around the welding workstation, reflecting the external environmental conditions of the welding process. Ambient temperature refers to the real-time temperature value of the space surrounding the workstation, reflecting the overall thermal environment of the welding site. Ambient humidity refers to the humidity level in the air around the workstation; excessively high or low humidity can adversely affect the welding process.

[0090] Based on this, the control terminal compares the collected temperature and humidity values ​​with the corresponding thresholds: The internal temperature of the robotic arm is compared with a preset internal temperature threshold. If the internal temperature exceeds this threshold, it indicates an overheating risk within the robotic arm, and the control terminal sends a first warning signal to the user terminal to prompt maintenance personnel to inspect the internal components. The external temperature of the robotic arm is compared with a preset external temperature threshold. If the external temperature exceeds this threshold, it indicates that the outer surface temperature of the robotic arm is too high, potentially affecting the safety of surrounding equipment or personnel, and the control terminal sends a second warning signal to the user terminal. The internal temperature of the steel coil is compared with a preset internal temperature threshold. If it exceeds this threshold, it indicates an abnormal overall temperature rise in the steel coil, and the control terminal sends a third warning signal to the user terminal. The external temperature of the steel coil is compared with a preset external temperature threshold. If it exceeds this threshold, it indicates abnormal heating of the steel coil surface, and the control terminal sends a fourth warning signal to the user terminal. The ambient temperature is compared with a preset ambient temperature threshold. If the ambient temperature is too high, it may affect the stability of the welding process, and the control terminal sends a fifth warning signal to the user terminal. The control terminal compares the ambient humidity with a preset ambient humidity threshold. If the ambient humidity is too high, it may cause instability in the welding arc or affect the welding quality. The control terminal then sends a sixth warning signal to the user terminal. Through this comparison and tiered warning mechanism, the control terminal 102 can monitor the temperature and humidity of the robotic arm, steel coil, and environment in real time, and promptly alert the user in case of abnormalities. This effectively avoids safety risks and quality hazards caused by overheating of the welding equipment, failure of welding materials, or unsuitable environmental conditions. Specifically, the first warning signal is issued by the control terminal when the internal temperature of the robotic arm exceeds a preset internal temperature threshold. This signal alerts the user or operating system that there may be an overheating risk inside the robotic arm, such as excessively high temperatures in the motor, drive module, or internal electronic components, requiring timely inspection or cooling measures. The second warning signal is issued by the control terminal when the external temperature of the robotic arm exceeds a preset external temperature threshold. This signal alerts the user or operating system that the outer surface of the robotic arm may be overheated, posing a risk of burns or potentially affecting the normal operation of surrounding equipment. The third warning signal is issued by the control terminal when the temperature of the inner wall of the steel coil exceeds a preset threshold. This signal alerts the user or operating system that the excessively high internal temperature of the steel coil may affect the stability of the welding process or the properties of the steel coil material, requiring cooling or adjustment of welding process parameters. The fourth warning signal is issued by the control terminal when the temperature of the outer wall of the steel coil exceeds a preset threshold. This signal alerts the user or operating system that the abnormally high surface temperature of the steel coil may affect welding positioning or operational safety, requiring appropriate action.The fifth warning signal is issued by the control terminal when the ambient temperature exceeds a preset threshold, alerting the user or operating system that excessively high welding ambient temperature may lead to unstable welding arc, decreased welding quality, or operator discomfort. The sixth warning signal is issued by the control terminal when the ambient humidity exceeds a preset threshold, alerting the user or operating system that abnormal welding ambient humidity may affect arc stability or welding quality. In some embodiments, these warning signals can be output via user terminal, operating interface, or alarm light / sound signals to provide real-time reminders to the operator or trigger automated safety protection measures.

[0091] The control terminal is also used for:

[0092] After the robotic arm welds the steel coil to be welded, the inner wall of the steel coil to be welded is captured again using an image acquisition device to obtain a post-weld image.

[0093] Based on the post-weld images, the weld is inspected to obtain the quality inspection results, which include the qualified status, defect type, and location coordinates. The qualified status is either qualified or unqualified.

[0094] If the qualified status is changed to unqualified, the corresponding repair solution is selected from the preset repair solution library according to the defect type and location coordinates, and sent to the robotic arm so that the robotic arm can repair the unqualified area.

[0095] In some embodiments, post-weld image acquisition is used for automatic quality inspection. Repair schemes are invoked based on defect type and location, achieving closed-loop automation of welding, inspection, and repair, reducing manual rework, and improving product consistency. Specifically, the control terminal 102 is also used to re-acquire images of the inner wall of the steel coil after the robotic arm completes the welding operation, obtaining a post-weld image. The post-weld image reflects the surface state of the inner wall of the steel coil after welding, including weld location, weld shape, and possible defect information. The control terminal 102 performs quality inspection on the weld based on the post-weld image, using traditional image processing methods or neural network-based image recognition methods to obtain the quality inspection results. Traditional image processing methods include grayscale processing, edge detection, and weld contour extraction, obtaining quality inspection results by comparing weld geometric parameters with a standard weld template. Neural network-based methods include using a trained convolutional neural network to extract features and identify defects in the post-weld image, outputting weld quality status, defect type, and location coordinates. The quality inspection results include the following: a qualified status indicates whether the weld meets the preset welding quality standards, including "qualified" or "unqualified". The defect type is recorded when the weld is unqualified, such as incomplete penetration, porosity, cracks, or weld misalignment. The location coordinates record the specific spatial position of the weld defect on the inner wall of the steel coil; these can be three-dimensional coordinate points used to indicate the specific area that the robotic arm needs to repair. In some embodiments, when the quality inspection result is determined to be unqualified, the control terminal 102 selects a corresponding repair scheme from a preset repair scheme library stored locally or remotely, based on the defect type and defect location coordinates. The repair scheme refers to welding repair operation instructions designed for a specific defect type and location, such as welding path, welding current, voltage, and speed parameters. Subsequently, the control terminal 102 sends the selected repair scheme to the robotic arm, causing the robotic arm to perform repair operations in the unqualified area according to the repair scheme, completing the weld repair or correction. Through the above steps, a closed-loop welding quality control mechanism can be formed, realizing post-weld image detection and automatic repair.

[0096] The control terminal is also used for:

[0097] After generating and updating the welding scheme library, select the welding schemes in the updated welding scheme library whose usage frequency within a preset period is greater than a preset frequency threshold, and mark them as high-frequency schemes; when the state of the coiled tongue of the steel coil to be welded matches the state of the coiled tongue of the high-frequency scheme, the high-frequency scheme is called first as the target welding scheme.

[0098] In some embodiments, high-frequency solutions with high usage frequency in the updated welding solution library are preferentially invoked. Combined with the steel coil tongue state matching, welding solutions can be quickly retrieved, improving production efficiency and system reliability. Specifically, the control terminal 102 is also used to statistically analyze the usage frequency of each welding solution in the updated welding solution library within a preset period after generating the updated welding solution library. The usage frequency represents the number of times each welding solution is actually invoked or executed within the preset period. The control terminal 102 marks welding solutions with a usage frequency greater than a preset frequency threshold as high-frequency solutions. The preset frequency threshold is set by the user and is used to determine whether a welding solution is a high-frequency usage solution. When the state of the steel coil tongue to be welded matches the state of the steel coil tongue corresponding to a high-frequency solution, the control terminal 102 preferentially selects the high-frequency solution as the target welding solution, which serves as the parameters and path for the robotic arm to perform welding. When multiple high-frequency solutions correspond to the same steel coil tongue state, the control terminal 102 can sort them according to indicators such as historical welding effect scores, welding times, or recent usage time, and select the high-frequency solution ranked first as the final target welding solution. By prioritizing the use of high-frequency solutions, the stability and efficiency of the welding process can be improved, and the deviation between the initial solution and the actual welding effect can be reduced. For example, suppose that solutions 1, 2, and 3 in the updated welding solution library correspond to coiled tongue states S1, S2, and S1, respectively. Within a statistical period, solution 1 is used 12 times, solution 2 is used 5 times, and solution 3 is used 15 times. With a preset frequency threshold of 10 times, solutions 1 and 3 are marked as high-frequency solutions. When the coiled tongue state to be welded is S1, since solution 1 is a high-frequency solution and the coiled tongue state matches, the control terminal 102 prioritizes the use of solution 1 as the target welding solution. Here, a high-frequency solution refers to a welding solution in the updated welding solution library that has been actually called or executed more times than the preset frequency threshold within a preset period. In other words, a high-frequency solution is a "commonly used and reliable" welding solution; its high historical usage frequency indicates that the welding effect is relatively stable under the same or similar coiled tongue states. The concept of high-frequency solutions is derived from statistics and marking within the updated welding solution library. The target welding scheme refers to the actual welding scheme selected by the control terminal for the coiled state of the steel coil to be welded when performing a specific welding task. The target welding scheme can be selected from the initial welding scheme library, the updated welding scheme library, or high-frequency schemes, and is used to guide the robotic arm in performing the welding operation, including the welding path, welding length, and welding process parameters. If a high-frequency scheme matches the coiled state of the steel coil to be welded, that high-frequency scheme is preferentially selected as the target welding scheme.

[0099] These embodiments improve weld quality and enhance production efficiency and product consistency. Specifically, by constructing an initial welding scheme library based on historical welding data, welding schemes are automatically matched according to the coil tongue state, solving the problem of relying on manual experience; an appropriate supplementary lighting level is selected through a scoring mechanism to improve image acquisition quality and enhance environmental adaptability; a self-learning mechanism continuously optimizes welding schemes, and high-frequency schemes are prioritized, improving the accuracy and efficiency of welding schemes; simultaneously, weld quality can be automatically detected after welding, and repair schemes can be called based on defect information, realizing closed-loop automation of welding, detection, and repair, thereby ensuring stable weld quality, reducing rework frequency, and improving production efficiency and product consistency.

[0100] In some embodiments, to further address the third technical problem described in the background section, namely, "existing welding robots mostly rely on fixed parameters for operation, making it difficult to respond in real time to changes in materials, environment, and equipment status, resulting in the welding process being unable to be dynamically adjusted, large fluctuations in weld quality, limited efficiency and yield, and increased risk of rework," in some embodiments of the present invention, the control terminal is also used for:

[0101] Step 1: Acquire current and voltage waveforms during the welding process at a preset cycle; Based on the current and voltage waveforms, identify the actual arc type, which includes short-circuit transition arc, jet transition arc, pulse arc, or stable arc.

[0102] In some embodiments, such as Figure 3The flowchart shown illustrates the dynamic optimization process parameters based on arc state. The control terminal 102 collects the current and voltage waveforms of the robotic arm's welding torch in real time during the welding process at a preset cycle. The current and voltage waveforms reflect the state of the arc during welding. By analyzing the waveform characteristics, the control terminal 102, through a trained artificial neural network model, inputs the current / voltage waveform features and outputs the corresponding arc type classification result. This can be achieved using a convolutional neural network (CNN) or a recurrent neural network (RNN). Actual arc types include short-circuit transition arcs, spray transition arcs, pulsed arcs, or stable arcs. Each arc type corresponds to different welding characteristics, such as arc stability, droplet transport mode, and heat input magnitude. The preset cycle refers to a fixed time interval set by the control terminal 102 for real-time acquisition of welding process data. The cycle can be set according to welding speed, process requirements, etc., for example, acquiring data once every 10 milliseconds. The current waveform represents the change of welding current over time, and the voltage waveform represents the change of welding voltage over time. The arc is a high-temperature plasma channel formed during welding, which is the area between the welding wire and the workpiece that conducts electricity and generates heat. Arc stability affects the formation of the molten pool and the quality of the weld. The actual arc type is identified based on real-time acquisition of current and voltage waveforms. A short-circuit transition arc occurs when the welding wire is short-circuited with the workpiece; the molten droplet periodically transfers via short-circuit, resulting in large current fluctuations during welding. A spray transition arc occurs when the molten droplet is sprayed at high speed via electromagnetic force or gas flow; the arc is relatively stable and suitable for high-current welding. A pulsed arc occurs when the current changes in a pulsed manner; the droplet transport is controlled by the current pulse, which is beneficial for controlling heat input and weld geometry. A stable arc is characterized by a smooth welding arc, continuous droplet transfer, and relatively stable current and voltage waveforms, suitable for general continuous welding scenarios. Welding characteristics refer to the welding performance indicators corresponding to the arc type, including: Arc stability: the ability of the arc to maintain a constant state during welding. Droplet transport method: the way the molten droplet is transferred to the workpiece after the welding wire melts, such as short-circuit, spray, or pulse. Heat input magnitude: the amount of heat transferred from the arc to the workpiece, affecting the shape of the molten pool and the quality of the weld.

[0103] Step 2: Obtain the target arc type corresponding to the initial welding scheme of the steel coil to be welded; compare the actual arc type with the target arc type; if the actual arc type does not match the target arc type, then match multiple candidate updated welding schemes from the updated welding scheme library according to the target arc type; construct multiple welding process parameter ranges according to the multiple welding process parameters corresponding to the multiple candidate updated welding schemes.

[0104] In some embodiments, the control terminal 102 further acquires the target arc type in the initial welding scheme corresponding to the steel coil to be welded, and compares the real-time identified actual arc type with the target arc type. When the actual arc type does not match the target arc type, the control terminal 102 matches multiple candidate updated welding schemes from the updated welding scheme library according to the target arc type. The candidate updated welding schemes contain corresponding welding process parameters, including welding current, voltage, and welding speed. The control terminal 102 performs statistical analysis on the welding process parameters of each candidate updated welding scheme, and generates intervals according to the minimum / maximum, mean ± tolerance, or quantile methods. These intervals are the welding process parameter intervals, used to determine whether the actual welding parameters are abnormal, thereby supporting dynamic adjustment. As an example, suppose there are three candidate updated welding schemes with welding currents of 180A, 185A, and 190A respectively. Minimum / maximum method: the current interval is [180A, 190A]. Mean ± 10A tolerance: the mean is 185A, then the interval is [175A, 195A]. Similar methods are used to construct ranges for voltage and welding speed respectively. The target arc type is the arc type set in the initial welding scheme, representing an ideal or recommended welding arc state for the control terminal 102 to reference and compare during the welding process. It can include short-circuit transition arc, spray transition arc, pulsed arc, or stable arc, each arc type corresponding to different welding characteristics, such as arc stability, droplet transport mode, and heat input magnitude. Candidate updated welding schemes are multiple welding schemes corresponding to the target arc type selected from the updated welding scheme library when the actual arc type does not match the target arc type. Welding process parameters are key parameters controlling the welding process, including but not limited to: Welding current: the magnitude of the current applied during welding, affecting arc heat input and droplet transport mode; Welding voltage: the magnitude of the voltage applied during welding, affecting arc stability and weld penetration; Welding speed: the speed at which the welding torch moves, affecting weld shape and molten pool cooling rate. The welding process parameter range is a reasonable parameter range constructed based on the welding process parameters of the candidate updated welding schemes, used to determine whether the actual welding process parameters are abnormal. If the welding parameters collected in real time exceed this range, it is considered abnormal and the welding process needs to be adjusted.

[0105] Step 3: Compare the real-time collected actual process parameters corresponding to the actual arc type with the corresponding welding process parameter range to obtain multiple deviation values; if there is a deviation value that is greater than or equal to the preset deviation threshold, the corresponding actual process parameter is determined to be an abnormal process parameter.

[0106] In some embodiments, the control terminal 102 compares the real-time collected actual process parameters with the corresponding welding process parameter ranges to obtain multiple deviation values. When any of the multiple deviation values ​​is greater than or equal to a preset deviation threshold, the corresponding actual process parameter is determined to be an abnormal process parameter. Abnormal process parameters reflect that certain process conditions deviate from the target range during welding, which may affect the weld quality. Actual process parameters refer to key process parameters collected in real time by sensors during welding, including but not limited to welding current, voltage, welding speed, etc. Each parameter reflects the actual state of welding conditions. Welding process parameter range refers to the reasonable range of each welding parameter constructed based on the candidate updated welding scheme. Deviation value refers to the difference between the actual process parameter and the boundary value or target value of the corresponding process parameter range, used to quantify the degree of deviation. For example: if the welding current range is [180A, 190A], and the actual current is 195A, then 195 minus 190 gives a deviation value of 5A. The preset deviation threshold refers to the upper limit of allowable deviation set in process control; deviations exceeding this threshold are considered abnormal, triggering control or alarms. Abnormal process parameters refer to parameters whose actual process parameters deviate from the welding process parameter range and whose deviation is greater than or equal to the preset threshold. Abnormal process parameters indicate that the welding conditions deviate from expectations, which may lead to poor weld fusion, weld porosity or other defects.

[0107] Step 4: Based on the abnormal process parameters, select the welding process parameter values ​​with the highest frequency from the updated welding scheme library as replacement welding process parameter values; and use the replacement welding process parameter values ​​to dynamically correct the welding process.

[0108] In some embodiments, the control terminal 102 analyzes and updates historical data in the welding scheme library, and statistically analyzes the frequency of occurrence of each process parameter value. The process parameter value with the highest frequency of occurrence or the best welding effect score is marked as a replacement welding process parameter value. During the welding process, actual process parameters (current, voltage, welding speed, etc.) are collected in real time and compared with the replacement welding process parameter values. When the actual parameters deviate from the target, the control terminal 102 performs dynamic correction by controlling the robotic arm and welding power supply: adjusting the welding current, voltage, and welding speed to bring the actual parameters back to the replacement value range. Dynamic correction is performed continuously, forming a closed-loop control to ensure that weld stability and welding quality continuously meet process requirements. A process parameter value refers to the specific value of a process parameter taken during actual welding or in a welding scheme. A replacement welding process parameter value refers to the process parameter value used to replace the current abnormal or deviating actual process parameter. Replacement values ​​are selected based on high-frequency or preferred schemes in the updated welding scheme library to ensure that welding conditions are close to ideal values. The process parameter value with the highest frequency of occurrence refers to the process parameter value that has been used most frequently, has the best effect, or is the most common after statistical analysis in the updated welding scheme library. For example, if the welding current of 185A occurred most frequently in the past welding cycles, then 185A is the "most frequently occurring process parameter value".

[0109] These embodiments improve welding efficiency and yield while reducing rework rates. Specifically, by acquiring welding current and voltage waveforms in real time during welding and identifying the actual arc type based on the waveforms, the actual arc type can be compared with the target arc type. When the welding arc deviates from the target state, candidate welding schemes are matched from an updated welding scheme library. Furthermore, based on the deviation between the actual welding process parameters and the welding process parameter range, abnormal process parameters are screened, and the welding process is dynamically corrected using the most frequently occurring process parameter values. Through these technical means, the present invention can perceive the arc state and process parameter deviations in real time during welding and perform online dynamic adjustments, thereby ensuring a stable welding arc, normal droplet transmission, and uniform heat input, improving the consistency of weld quality. Simultaneously, the present invention can significantly reduce rework rates, improve welding efficiency and yield, and reduce safety risks caused by welding anomalies, achieving high-quality, controllable, and safe operation of the welding process.

[0110] The above description is merely a selection of preferred embodiments of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention is not limited to specific combinations of the above-described technical features, but also includes other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. An intelligent high-temperature welding robot, characterized in that, include: The robotic arm has a welding torch and a first temperature sensor at its end. The first temperature sensor is used to send the collected temperature of the inner wall of the steel coil to be welded to a control terminal. The welding torch is equipped with an image acquisition device, which is used to send the collected image of the inside of the steel coil to the control terminal. The robotic arm is covered with a heat-insulating cover. The robotic arm is located on one side of a conveyor table. The conveyor table is equipped with an infrared sensor, which is used to send the collected position information of the steel coil to be welded to the control terminal. The control terminal is used to receive the inner wall temperature and position information of the steel coil to be welded; if the inner wall temperature of the steel coil to be welded is less than or equal to a preset temperature threshold, then the control terminal determines whether the steel coil to be welded has reached the target position based on the position information; if the target position has been reached, then the control terminal generates an image acquisition command based on the target position and sends it to the robotic arm, so that the robotic arm can acquire an image of the inner wall of the steel coil to be welded, thereby obtaining an image of the inner wall of the steel coil to be welded. Based on the image of the inner wall of the steel coil to be welded, the state of the coil tongue is determined. The state of the coil tongue is one of the following: the coil tongue is well-fitted, the middle of the coil tongue is raised, or the entire coil tongue is raised. Based on the state of the coil tongue, an initial welding scheme is determined from a pre-determined initial welding scheme library and sent to the robotic arm so that the robotic arm can weld the steel coil. The initial welding scheme library contains multiple initial welding schemes and the corresponding coil tongue state for each initial welding scheme. The initial welding scheme includes standard welding position information and standard welding length. For the state of the coil tongue being well-fitted, the welding scheme is to weld one side of the coil tongue with a standard welding length of 50mm~100mm. For the state of the coil tongue being raised in the middle, the welding scheme is to weld both sides of the coil tongue with a standard welding length of 50mm on each side. For the state of the coil tongue being raised, the welding scheme is not to weld.

2. The intelligent high-temperature welding robot according to claim 1, characterized in that, Also includes: The chilled water equipment includes a chiller, chilled water pipes, a water-cooled protective cover, and a second temperature sensor. The chiller is equipped with a flow rate regulating valve to adjust the circulating water flow rate. The chilled water pipes connect the chiller and the water-cooled protective cover, providing circulating water to the cover. The water-cooled protective cover is located outside the image acquisition device. The second temperature sensor is located on the image acquisition device to collect temperature information. The control terminal is also used to receive the temperature information of the image acquisition device and the current flow rate regulating valve position, wherein the temperature information of the image acquisition device includes the temperature value of the image acquisition device; If the temperature value of the image acquisition device is greater than the maximum operating temperature of the image acquisition device, then a temperature adjustment value is determined based on the temperature value and the maximum operating temperature of the image acquisition device; based on the temperature adjustment value and the current flow rate regulating valve position, the adjusted flow rate regulating valve position is determined, flow rate regulating valve adjustment information is generated, and the flow rate regulating valve adjustment information is sent to the flow rate regulating valve so that the flow rate regulating valve adjusts the circulating water flow rate.

3. The intelligent high-temperature welding robot according to claim 2, characterized in that, Also includes: A supplementary lighting device is installed at the end of a robotic arm and is used to provide supplementary lighting during welding. as well as The control terminal is also used to perform a weighted summation of the standard welding position information and standard welding length of the initial welding scheme of the steel coil to be welded, to obtain a score for the initial welding scheme of the steel coil to be welded; for the score of the initial welding scheme of the steel coil to be welded, it queries a preset supplementary lighting level table to obtain the supplementary lighting level corresponding to the initial welding scheme of the steel coil to be welded, and sends the supplementary lighting level to the supplementary lighting device; wherein, the supplementary lighting level table includes multiple supplementary lighting levels and a welding scheme score range corresponding to each supplementary lighting level.

4. The intelligent high-temperature welding robot according to claim 3, characterized in that, The initial welding scheme library was constructed through the following steps: Multiple historical welding information entries are retrieved from a historical welding information table. Each historical welding information entry includes the coil tongue state, welding position information, and welding length. These entries are then grouped according to the coil tongue state to obtain multiple historical welding information groups. Each historical welding information group corresponds to one coil tongue state. Based on the welding position information corresponding to each historical welding information entry in each historical welding information group, standard welding position information corresponding to each coil tongue state is determined. Based on the welding length corresponding to each historical welding information entry in each historical welding information group, standard welding length corresponding to each coil tongue state is determined. Based on the standard welding position information and standard welding length corresponding to each coil tongue state, an initial welding scheme is generated for each coil tongue state. Multiple coil tongue states and their corresponding initial welding schemes are combined to form an initial welding scheme library.

5. The intelligent high-temperature welding robot according to claim 4, characterized in that, The control terminal is also used for: Multiple new welding schemes are obtained. The standard welding length corresponding to each initial welding scheme in the initial welding scheme library is compared with the welding length corresponding to each new welding scheme to obtain multiple welding length differences. The new welding schemes are sorted in ascending order of the multiple welding length differences to obtain a sequence of new welding schemes corresponding to each initial welding scheme. The standard welding position information of each initial welding scheme is compared with the welding position information of each new welding scheme in the corresponding new welding scheme sequence to obtain multiple welding position information deviation values. If the welding position information deviation value is less than or equal to the preset welding position information deviation value, the new welding scheme is used as the matching welding scheme to obtain the matching welding scheme group. The coil tongue state corresponding to the initial welding scheme is used as the coil tongue state corresponding to the matching welding scheme group.

6. The intelligent high-temperature welding robot according to claim 5, characterized in that, The control terminal is also used for: Obtain the welding information corresponding to the initial welding scheme and the welding information corresponding to each matching welding scheme in the corresponding matching welding scheme group. The welding information includes the number of welding times and multiple welding effect scores. If there are a target number of welding effect scores corresponding to the matching welding scheme that are less than or equal to the average welding effect score of the initial welding scheme, then the initial welding scheme is used as the updated welding scheme. If there are a number of welding effect scores corresponding to a matching welding scheme that are greater than the welding effect score of the initial welding scheme, then the matching welding scheme is selected as the preferred welding scheme, resulting in multiple preferred welding schemes for each coil tongue state. The multiple preferred welding schemes for each coil tongue state are sorted in descending order of the number of welds, resulting in multiple preferred welding scheme sequences. The preferred welding scheme ranked first in the preferred welding scheme sequence corresponding to the coil tongue state to be welded is selected as the updated welding scheme. The initial welding scheme library is updated based on the updated welding scheme to obtain an updated welding scheme library.

7. The intelligent high-temperature welding robot according to claim 6, characterized in that, The control terminal is also used for: The system receives temperature information of the robotic arm within the workstation, temperature information of the steel coil to be welded, and temperature and humidity information of the surrounding environment. The temperature information of the robotic arm includes the internal temperature and external temperature of the robotic arm. The temperature information of the steel coil to be welded includes the internal wall temperature and external wall temperature of the steel coil. The temperature and humidity information of the surrounding environment includes ambient temperature and ambient humidity. The internal temperature of the robotic arm is compared with a preset internal temperature threshold. If the internal temperature of the robotic arm is greater than the internal temperature threshold, a first warning signal is sent to the user terminal. The external temperature of the robotic arm is compared with a preset external temperature threshold. If the external temperature of the robotic arm is greater than the external temperature threshold, a second warning signal is sent to the user terminal. The inner wall temperature of the steel coil is compared with a preset inner wall temperature threshold. If the inner wall temperature of the steel coil is greater than the inner wall temperature threshold, a third warning signal is sent to the user terminal. The outer wall temperature of the steel coil is compared with a preset outer wall temperature threshold. If the outer wall temperature of the steel coil is greater than the outer wall temperature threshold, a fourth warning signal is sent to the user terminal. The ambient temperature is compared with a preset ambient temperature threshold; if the ambient temperature is greater than the ambient temperature threshold, a fifth warning signal is issued to the user terminal; the ambient humidity is compared with a preset ambient humidity threshold; if the ambient humidity is greater than the ambient humidity threshold, a sixth warning signal is issued to the user terminal.

8. The intelligent high-temperature welding robot according to claim 7, characterized in that, The control terminal is also used for: After the robotic arm welds the steel coil to be welded, the image acquisition device is used to acquire the inner wall of the steel coil to be welded again to obtain a post-weld image. Based on the post-weld image, the weld is subjected to quality inspection to obtain quality inspection results. The quality inspection results include the qualified status, defect type and location coordinates. The qualified status is either qualified or unqualified. If the qualified status is unqualified, then according to the defect type and location coordinates, the corresponding repair scheme is selected from the preset repair scheme library and sent to the robotic arm so that the robotic arm can repair the unqualified area.

9. The intelligent high-temperature welding robot according to claim 8, characterized in that, The control terminal is also used for: After generating the updated welding scheme library, select the welding schemes in the updated welding scheme library whose usage frequency within a preset period is greater than a preset frequency threshold, and mark them as high-frequency schemes; when the coiled tongue state of the steel coil to be welded matches the coiled tongue state of the high-frequency scheme, the high-frequency scheme is preferentially called as the target welding scheme.

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