Welding spot arrangement and welding path planning method and system for super-long weak-rigidity structure

Abstract

The invention provides a welding spot arrangement and welding path planning method and system for an ultra-long weak-rigidity structure. The method comprises the steps that S1, a structure coordinate system is constructed, and a weldable area is defined; s2, generating a hierarchical welding spot coordinate matrix covering the weldable area, and performing hierarchical marking on welding spots in the hierarchical welding spot coordinate matrix according to a preset rule; s3, the weldable area is divided into a plurality of operation sections; s4, segmented clamping, path planning and continuous welding are executed according to the sequence of the operation sections, after each section is clamped, a welding path is planned and welding is carried out according to the principle of (1) welding is carried out line by line from inside to outside, (2) odd-even overturning and axial symmetry are carried out, and (3) pushing from the fixed end to the free end) on the basis of a welding spot subset; and repeating until all welding spots are completed. Through hierarchical welding spot arrangement and segmented path planning, thermal deformation accumulation in the welding process of the ultra-long weak-rigidity structure is effectively restrained, post-welding residual stress is reduced, and warping and torsional deformation are prevented.

Description

Technical Field

[0001] This invention relates to the field of welding technology, specifically to a method and system for arranging weld points and planning welding paths for ultra-long, weak-stiff structures. Background Technology

[0002] In the manufacturing fields of automobile bodies, aerospace thin-walled components, and lightweight structures for rail transportation, the application of ultra-long, weak-stiff structures is becoming increasingly widespread. These structures typically have geometric characteristics where the length is much greater than the width and thickness, and their own stiffness is significantly insufficient. During the welding process, they are prone to warping and torsional deformation due to localized heat input, leading to dimensional deviations, assembly difficulties, and even affecting the structural service performance.

[0003] Currently, spot welding for such structures mostly employs the traditional method of evenly distributing weld points and welding continuously row by row or column by column. However, due to the low structural stiffness and asymmetrical heat conduction, uneven heat accumulation and thermal stress are easily generated during the welding process, leading to the following specific problems:

[0004] First, if column-by-column welding is used, the lateral shrinkage of each weld point will generate uneven shear moments in long-span specimens. Due to the extremely low torsional stiffness of ultrathin specimens, even slight physical asymmetry can induce instability and generate torsional deformation around the long axis. Second, if row-by-row welding is used, a continuous and intense longitudinal compressive stress band will be formed inside the plate. To release this compressive energy, ultrathin specimens will undergo normal bending, causing warping deformation around the short axis. Moreover, in ultra-long structures, the above deformation effects accumulate and amplify with the increase of weld length, making it difficult to completely recover through subsequent straightening, thus affecting forming accuracy and consistency.

[0005] A patent search revealed an invention patent with publication number CN118635732A, which discloses a method and system for pipeline welding path planning. By collecting welding current and voltage data in real time and utilizing a dynamic energy consumption model constructed with LSTM, it can accurately predict upcoming energy demands, thereby achieving more precise energy control during the welding process. By analyzing weld appearance quality indicators and internal defect indicators and comparing them with set evaluation thresholds, specific feedback adjustment coefficients can be generated. These adjustment coefficients not only guide the welding equipment to adjust welding parameters in real time to adapt to different welding conditions, but also optimize based on energy consumption and weld quality data during the welding process, ultimately minimizing welding energy consumption and maximizing weld quality. However, this patent lacks a clamping and arrangement scheme to address the deformation problem of weakly stiff structures, lacks structural adaptability design, and cannot solve the deformation problems such as warping and torsion of ultra-long, weakly stiff workpieces after welding, thus limiting its applicability.

[0006] In summary, given the problems of the existing technologies, researching a method and system for welding point arrangement and welding path planning in ultra-long, weak-stiff structures has become a critical task that urgently needs to be addressed. Summary of the Invention

[0007] To address the shortcomings of existing technologies, the purpose of this invention is to provide a method and system for planning the layout of weld points and welding paths in ultra-long, weak-stiff structures.

[0008] The present invention provides a method for welding point arrangement and welding path planning of ultra-long weak stiffness structures, comprising the following steps: Step S1: Based on the specimen with ultra-long weak stiffness structure, construct the structural coordinate system and define the weldable area; Step S2: Based on the weldable area, generate a hierarchical solder joint coordinate matrix covering the weldable area, and hierarchically mark the solder joints in the hierarchical solder joint coordinate matrix according to preset rules. Step S3: Divide the weldable area into multiple working sections according to the length of the sample and the clamping capacity; Step S4: Execute the following sub-steps in sequence according to the work segment order until all weld points in the hierarchical weld point coordinate matrix have been welded: Step S4.1: Perform stable clamping for the current work segment; Step S4.2: Based on the subset of weld points falling into the current work segment in the hierarchical weld point coordinate matrix, plan the welding path and perform continuous welding.

[0009] Preferably, in step S1, the geometric boundary of the weldable area is calculated based on the overall size of the sample, the end clamping space, and the tooling stroke range of the welding mechanism; The construction of the structural coordinate system includes: establishing a two-dimensional coordinate reference covering the weldable area for weld point marking and path planning. The two-dimensional coordinate reference is a global Cartesian coordinate system O-XY, where the X-axis is along the length of the specimen, pointing from the fixed end of the clamped specimen to the free end of the unclamped specimen, and the Y-axis is along the width of the specimen, with the origin O located at the geometric center of the fixed end of the specimen.

[0010] Preferably, in step S1, the theoretical contour of the weldable area is a rectangular region, and the length of the rectangular region is... L , width is W Aspect Ratio L / W ≥ 50:1.

[0011] Preferably, step S2 includes: generating a hierarchical solder joint coordinate matrix within a rectangular region according to a preset arrangement rule, wherein the hierarchical solder joint coordinate matrix is ​​defined as a set of solder joints. , in, MThis represents the total number of columns of solder joints along the X-axis. N This represents the total number of rows of solder joints along the Y-axis. To indicate that it is located at the th i Column, No. j The coordinates of the row solder joints are determined by the horizontal component. With longitudinal component Composition, that is = ( , ); The coordinates of the solder joints are arranged in a hierarchical and differentiated manner within the set of solder joints. i This is a horizontal index, corresponding to the X-axis of the global Cartesian coordinate system O-XY. j This is a vertical index, corresponding to the Y-axis of the global Cartesian coordinate system O-XY.

[0012] Preferably, in step S2, the preset layout rules include applying the following constraints to the solder joint coordinates to complete the hierarchical marking: Step S2.1, apply periodic constraints: make the solder joints evenly spaced along the X-axis, with their lateral coordinates... satisfy: ,in The coordinates of the starting solder joint are shown in the X-axis direction. The preset horizontal solder joint spacing; Step S2.2, apply symmetry constraints and density gradient constraints: ensure that the distribution of solder joints in the Y-axis direction satisfies: a. Symmetry constraint: Based on the central axis of the global Cartesian coordinate system O-XY y = 0 is the axis of symmetry, and the longitudinal coordinate of the solder joint is... satisfy: ; ; b. Density gradient constraint: Ensure that the density of weld points within the welding zone is not lower than the density at the edge, meaning the distance between weld points changes non-decreasingly from the center to the edge, satisfying: ,for j < N / 2.

[0013] Preferably, step S3 includes the following sub-steps: Step S3.1, based on the length of the specimen and the effective clamping span of the clamping system L clamp The total length of the weldable area L Divided into K Each work segment satisfies: , Among them, the effective welding length of a single work section , This is a preset clamping safety margin; Step S3.2: Determine the starting coordinates of each work segment according to the overlap constraints between adjacent work segments, and define the first... k Each work section The corresponding welding area is [ , + ], starting coordinates Defined as: ,in, The preset overlap length between adjacent work sections. .

[0014] Preferably, in step S4.1, performing stable clamping for the current work segment includes: In relation to the k Each work section Corresponding fixture constraint window C k Inside, a constraint force field is applied. F k The effective range of the fixture constraint window along the X-axis is defined as follows: .

[0015] Preferably, step S4.2, planning the welding path and performing continuous welding includes the following sub-steps: Step S4.2.1, In-row sorting: For welding intervals falling into the current work segment [ , + Given a subset of solder joints, calculate the row for each solder joint. j With central axis y = 0 distance ,according to Sort all weld joint rows in ascending order to generate a weld row sequence set. ,in j The row index representing the solder joint, followed by... R order Weld the elements in the set sequentially, row by row. Step S4.2.2, In-row Orientation: Set solder joint row j In the welding row sequence set R order The sequential index in is s j ,according to s j The parity of the index determines the welding direction for each row of solder joints. For sequential indices... s jThe j The direction of welding of the weld joint. Determined as: , in, A value of +1 represents welding along the positive X-axis of the two-dimensional coordinate reference, and -1 represents welding along the negative X-axis. Step S4.2.3, Path Synthesis and Timing Control: Based on the welding row sequence set and the welding direction of each row, the welding path is synthesized. The welding timing satisfies the condition of segments with smaller X coordinates. Segments with larger X coordinates The principle of advancement; if two solder joints p a and p b Located respectively and Then its welding time satisfies .

[0016] Preferably, during the loop in step S4: Complete the first k After welding of each work section, the clamping system moves according to the shift step size. Move to the k +1 work section for clamping and welding, among which The effective welding length for a single work section. The length of the overlapping region; The loop termination condition is: the work segment number. k Greater than the total number of work segments K ; The final product covers the entire length of the sample. L A continuous welding path was used to complete all the welding processes. K Welding of each work section.

[0017] This invention also provides a system for welding point arrangement and welding path planning of ultra-long, weakly stiff structures, comprising: Module M1, based on the specimen of the ultra-long weak stiffness structure, constructs the structural coordinate system and defines the weldable area; Module M2 generates a hierarchical solder joint coordinate matrix covering the weldable area based on the weldable area, and marks the solder joints in the hierarchical solder joint coordinate matrix hierarchically according to preset rules. Module M3 divides the weldable area into multiple working sections based on the length of the sample and the clamping capacity; Module M4 executes the following sub-modules in sequence according to the job segments until all weld points in the hierarchical weld point coordinate matrix have been welded: Module M4.1 performs stable clamping for the current work segment; Module M4.2 plans the welding path and performs continuous welding based on the subset of weld points falling into the current work segment in the hierarchical weld point coordinate matrix.

[0018] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention limits the length of a single weld by clamping and welding ultra-long structures in segments, thereby reducing the heat input concentration and deformation transmission caused by continuous welding.

[0019] 2. The present invention adopts a strategy of alternating welding point arrangement with the central axis as the axis of symmetry and odd and even row welding directions, so that the welding heat input is more evenly distributed in the width direction of the sample; and reduces the stress concentration in the edge area by density gradient constraint, thereby significantly reducing the torsional and warping deformation caused by asymmetric thermal stress.

[0020] 3. This invention ensures complete weld point coverage and smooth path connection through segmented overlapping area design and continuous path synthesis, and is suitable for welding ultra-long weak stiffness structures with a length-to-diameter ratio ≥ 50:1. Attached Figure Description

[0021] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a flowchart of a method for arranging weld points and planning welding paths for an ultra-long, weakly stiff structure, as described in an embodiment of the present invention. Figure 2 This is a schematic diagram of the basic weld point layout and path planning on a single-segment sample in an embodiment of the present invention. Figure 3 This is a schematic diagram of the weld point arrangement and overlapping connection on a single-segment sample under specific constraints in an embodiment of the present invention. Figure 4 (a) and Figure 4 (b) is a diagram illustrating the effect of the conventional method in an embodiment of the present invention; Figure 5 This is a diagram illustrating the effects of implementing the present invention in an embodiment of the present invention; Figure 6 (a) and Figure 6 (b) is a comparison diagram of the post-weld deformation of the conventional method and the present invention under different sample lengths in the embodiments of the present invention. Detailed Implementation

[0022] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0023] This invention provides a method and system for weld point arrangement and welding path planning of ultra-long, weakly stiff structures. The method includes step S1, constructing a structural coordinate system and defining the weldable area; step S2, generating a hierarchical weld point coordinate matrix covering the weldable area, and hierarchically marking the weld points in the hierarchical weld point coordinate matrix according to preset rules; the marking principles are: ① the horizontal (long side direction) distribution satisfies periodic constraints, ② the vertical (short side direction) distribution satisfies symmetry constraints and density gradient constraints. Step S3, dividing the weldable area into multiple working segments; step S4, performing segmented clamping, path planning, and continuous welding according to the working segment sequence: after each segment is clamped, the welding path is planned and welded based on the weld point subset according to the principles of "① first inside then outside, welding row by row, ② odd-even reversal, axial symmetry, ③ advancing from the fixed end to the free end"; this is repeated until all weld points are completed. This invention effectively suppresses the accumulation of thermal deformation during the welding process of ultra-long, weakly stiff structures, reduces post-weld residual stress, and prevents warping and torsional deformation through hierarchical weld point arrangement and segmented path planning.

[0024] Example 1: Figure 1 This is a flowchart illustrating a method for arranging weld points and planning welding paths for an ultra-long, weakly stiff structure, as described in an embodiment of the present invention.

[0025] like Figure 1 As shown in the figure, this embodiment provides a method for welding point arrangement and welding path planning of ultra-long weak stiffness structures, including the following steps: Step S1: Based on the specimen with ultra-long weak stiffness structure, construct the structural coordinate system and define the weldable area.

[0026] In this embodiment, the specimen of the ultra-long weak stiffness structure refers to a specimen whose axial dimension is much larger than its cross-sectional dimension, and whose overall bending / torsional stiffness is significantly lower than that of conventional specimens of the same type, resulting in non-negligible flexural deformation under its own weight or a small load.

[0027] The weldable zone refers to the area within which welding operations can be performed under the current welding equipment and clamping conditions. Specifically, the geometric boundary of the weldable zone is calculated based on the overall dimensions of the specimen, the end clamping space, and the tooling stroke range of the welding mechanism.

[0028] The welding mechanism has a predetermined tooling travel range; the clamping conditions are jointly defined by the end clamping space of the specimen and the clamping system. The maximum range that can be moved and adjusted to expose different positions of the workpiece to the working area of ​​the welding electrode is the tooling travel range.

[0029] The construction of the structural coordinate system includes: establishing a two-dimensional coordinate reference covering the weldable area for weld point marking and path planning. The two-dimensional coordinate reference is a global Cartesian coordinate system O-XY, where the X-axis is along the length of the specimen, pointing from the fixed end of the clamped specimen to the free end of the unclamped specimen, and the Y-axis is along the width of the specimen, with the origin O located at the geometric center of the fixed end of the specimen.

[0030] In this embodiment, the theoretical outline of the weldable area is a rectangular region, with a length of L and a width of [missing information]. W ,in Aspect Ratio L / W ≥ 50:1.

[0031] Step S2: Based on the weldable area, generate a hierarchical solder joint coordinate matrix covering the weldable area, and mark the solder joints in the hierarchical solder joint coordinate matrix hierarchically according to preset rules.

[0032] In this embodiment, within the rectangular domain, a hierarchical solder joint coordinate matrix is ​​generated according to a preset arrangement rule. The hierarchical solder joint coordinate matrix is ​​defined as a set of solder joints. , in, M This represents the total number of columns of solder joints along the X-axis. N This represents the total number of rows of solder joints along the Y-axis. To indicate that it is located at the th i Column, No. j The coordinates of the row solder joints are determined by the horizontal component. With longitudinal component Composition, that is = ( , ); The coordinates of the weld points are arranged in a hierarchical and differentiated manner within the weld point set to optimize the welding effect. i This is a horizontal index, corresponding to the X-axis of the global Cartesian coordinate system O-XY. j This is a vertical index, corresponding to the Y-axis of the global Cartesian coordinate system O-XY.

[0033] Furthermore, in step S2, the preset layout rules include applying the following constraints to the solder joint coordinates to complete the hierarchical marking: Step S2.1, apply periodic constraints: make the solder joints evenly spaced along the X-axis, with their lateral coordinates... satisfy: ,in The coordinates of the starting solder joint are shown in the X-axis direction. The preset horizontal solder joint spacing; Step S2.2, apply symmetry constraints and density gradient constraints: ensure that the distribution of solder joints in the Y-axis direction satisfies: a. Symmetry constraint: Based on the central axis of the global Cartesian coordinate system O-XY y = 0 is the axis of symmetry, and the longitudinal coordinate of the solder joint is... satisfy: ;

[0034] b. Density gradient constraint: Ensure that the density of weld points within the welding zone is not lower than the density at the edge, meaning the distance between weld points changes non-decreasingly from the center to the edge, satisfying: .

[0035] Step S3: Divide the weldable area into multiple working sections according to the length of the sample and the clamping capacity.

[0036] Specifically, step S3 includes the following sub-steps: Step S3.1, based on the length of the specimen and the effective clamping span of the clamping system L clamp The total length of the weldable area L Divided into K Each work segment satisfies: , Among them, the effective welding length of a single work section , This is a preset clamping safety margin; Step S3.2: Determine the starting coordinates of each work segment according to the overlap constraint between adjacent work segments.

[0037] Overlapping constraints refer to the setting of a length of [missing information] between adjacent work sections to ensure stress continuity at the joint. The overlapping area.

[0038] In this embodiment, the first is defined k Each work section The corresponding welding area is [ , + ], starting coordinates Defined as: ,in, The preset overlap length between adjacent work sections. .

[0039] Step S4: Execute the following sub-steps in sequence according to the work segment order until all weld points in the hierarchical weld point coordinate matrix have been welded: Step S4.1: Perform stable clamping for the current work segment.

[0040] Specifically, in step S4.1, performing stable clamping for the current work segment includes: In relation to the k Each work section Corresponding fixture constraint window C k Inside, a constraint force field is applied. F k The effective range of the fixture constraint window along the X-axis is defined as follows: .

[0041] Step S4.2: Based on the subset of weld points falling into the current work segment in the hierarchical weld point coordinate matrix, plan the welding path and perform continuous welding.

[0042] Specifically, step S4.2, planning the welding path and performing continuous welding, includes the following sub-steps: Step S4.2.1, row sorting (inside first, outside second, welding row by row): For welding intervals falling into the current work segment [ , + ] A subset of solder joints, calculate the row index for each solder joint. j With central axis y = 0 distance ,according to Sort all weld joint rows in ascending order to generate a weld row sequence set. ,in j The row index representing the solder joint, followed by... Rorder Weld the items in the set sequentially, row by row.

[0043] In this embodiment, welding is preferentially performed near the central axis of the two-dimensional coordinate reference. y For rows of solder joints with a value of 0, weld the rows of solder joints on the edges furthest from the central axis.

[0044] Step S4.2.2, In-row Orientation (Odd / Even Reversal, Axial Symmetry): Set the solder joint row j In the welding row sequence set R order The sequential index in is s j ,according to s j The parity of the index determines the welding direction for each row of solder joints. For sequential indices... s j The j The direction of welding of the weld joint. Determined as: , in, A value of +1 represents welding along the positive X-axis of the two-dimensional coordinate reference, and -1 represents welding along the negative X-axis.

[0045] In this embodiment, rows with the same welding order parity are welded in opposite directions, rows with different welding order parity are welded in the same direction, and rows of weld points that are symmetrical along the central axis are welded in the same direction.

[0046] Step S4.2.3, Path Synthesis and Timing Control (Progressing from Fixed End to Free End): Based on the welding row sequence set and the welding direction of each row, the welding path is synthesized. The welding timing satisfies the condition of segments with smaller X coordinates. Segments with larger X coordinates The principle of advancement; if two solder joints p a and p b Located respectively and Then its welding time satisfies .

[0047] Furthermore, during the loop in step S4: Complete the first k After welding of each work section, the clamping system moves according to the shift step size. Move to the k +1 work section for clamping and welding, among which The effective welding length for a single work section. The length of the overlapping region; The loop termination condition is: the work segment number. k Greater than the total number of work segments K ; The final product covers the entire length of the sample. L A continuous welding path was used to complete all the welding processes. K Welding of each work section.

[0048] In steps S1 to S4, each parameter or substitute is used at different sample lengths. L The reference range is shown in Table 1. Technical personnel can refer to Table 1 to quickly and conveniently implement the application of this invention.

[0049] Table 1. Parameters / Equations at Different Sample Lengths L The following reference range (unit: mm)

[0050] In this embodiment, the sample length L = 2000mm, W = 40mm, effective span of clamping system Lclamp = 600mm. Based on the parameter range recommended in Table 1, select the effective welding length for a single work section. L eff = 560mm, horizontal solder joint spacing =10 mm, longitudinal solder joint spacing =5 mm, overlap area length =10 mm, welding direction A value of +1 represents welding along the positive X-axis, and -1 represents welding along the negative X-axis.

[0051] Figure 2 This is a schematic diagram of the basic weld point layout and path planning on a single-segment sample in an embodiment of the present invention, as shown below. Figure 2 As shown, within a single work segment, the solder joints are arranged according to the equal row spacing rule (i.e., the Y-axis spacing Δ between all rows). y The diagram shows the arrangement of rows (equal to equal) and the subsequent sorting based on row distance from the center axis, with welding paths planned by alternating between odd and even rows. The arrows in the diagram indicate that the welding path direction changes alternately by row, consistent with the setting of different directions for odd and even rows.

[0052] Example 2: The technical solution of this embodiment is basically the same as that of Embodiment 1, the only difference being the selection of the sample and welding parameters.

[0053] In this embodiment, the sample length L = 4000mm, W = 50mm, effective span of clamping system L clamp = 600mm. Based on the parameter range recommended in Table 1, select the transverse solder joint spacing. = 8mm, longitudinal solder joint spacing = 10mm, longitudinal solder joint spacing = 5mm, effective welding length of a single work section L eff = 560mm, overlap area length =10 mm, welding direction A value of +1 represents welding along the positive X-axis, and -1 represents welding along the negative X-axis.

[0054] Figure 3 This is a schematic diagram of the arrangement and overlapping connection of weld points on a single-segment sample under specific constraints in an embodiment of the present invention.

[0055] like Figure 3As shown, density gradient constraints are applied to the arrangement of weld points within a single work section. The row spacing of weld points gradually increases from the center axis to both sides of the edge, satisfying the technical requirement that the weld point spacing changes non-decreasingly from the center to the edge. Figure 3 This diagram illustrates the actual distribution of weld points in overlapping areas between adjacent work sections under a non-uniform, gradient layout. It demonstrates that even under complex gradient layout rules, this method can still ensure the continuity and integrity of the welding path across the entire long component by defining overlapping areas. The figure shows weld points in segmented overlapping areas, ensuring the continuity of the welding path between adjacent work sections.

[0056] Figure 2 and Figure 3 The solder joint layout and path planning shown are both within the scope of this invention and can achieve the expected implementation effect. Figure 4 This is a diagram illustrating the effect of a conventional method in an embodiment of the present invention. Figure 5 This is a diagram illustrating the effects of implementing the present invention in an embodiment of the present invention.

[0057] in, Figure 4 (a) shows the torsional deformation of the specimen when welding with conventional uniformly distributed weld points in rows; Figure 4 (b) Demonstrates the warping deformation of the specimens produced when traditional uniformly distributed weld points are welded row by row. Figure 5 The method of the present invention demonstrates that the deformation control of the sample during the welding process is significantly improved.

[0058] Figure 6 This is a quantitative comparison chart of post-weld deformation between the conventional method and the present invention under different sample lengths in the embodiments of the present invention. Figure 6 (a) Comparison of twist angles after welding; Figure 6 (b) Comparison of warpage displacement after welding. The numerical selection of parameters / alternatives is referenced in Table 1, and the specific values ​​are shown in Table 2.

[0059] Table 2 Parameter / alternative settings in Example 2 (unit: mm)

[0060] in, Figure 6 (a) The post-weld torsion angles of the two methods under different sample lengths were compared. It can be seen that the torsion angle of the method of the present invention is significantly lower than that of the traditional method, and torsion deformation is successfully suppressed. Figure 6 (b) The post-weld warpage displacement was compared, showing that the method of the present invention can effectively suppress warpage deformation at all sample lengths.

[0061] Example 3: The present invention also provides a system for arranging weld points and planning welding paths for ultra-long, weakly stiff structures. The system for arranging weld points and planning welding paths for ultra-long, weakly stiff structures can be implemented by executing the process steps of the method for arranging weld points and planning welding paths for ultra-long, weakly stiff structures. That is, those skilled in the art can understand the method for arranging weld points and planning welding paths for ultra-long, weakly stiff structures as a preferred embodiment of the system for arranging weld points and planning welding paths for ultra-long, weakly stiff structures.

[0062] Specifically, the system for arranging weld points and planning welding paths for this ultra-long, weak-stiff structure includes: Module M1, based on the specimen of the ultra-long weak stiffness structure, constructs the structural coordinate system and defines the weldable area; Module M2 generates a hierarchical solder joint coordinate matrix covering the weldable area based on the weldable area, and marks the solder joints in the hierarchical solder joint coordinate matrix hierarchically according to preset rules. Module M3 divides the weldable area into multiple working sections based on the length of the sample and the clamping capacity; Module M4 executes the following sub-modules in sequence according to the job segments until all weld points in the hierarchical weld point coordinate matrix have been welded: Module M4.1 performs stable clamping for the current work segment; Module M4.2 plans the welding path and performs continuous welding based on the subset of weld points falling into the current work segment in the hierarchical weld point coordinate matrix.

[0063] Furthermore, in module M2, the preset layout rules include applying the following constraints to the solder joint coordinates to complete the hierarchical marking: Module M2.1 applies a periodic constraint: ensuring that the solder joints are evenly spaced along the X-axis, with their lateral coordinates... satisfy: ,in The coordinates of the starting solder joint are shown in the X-axis direction. The preset horizontal solder joint spacing; Module M2.2 applies symmetry and density gradient constraints to ensure the solder joint distribution along the Y-axis satisfies: a. Symmetry constraint: Based on the central axis of the global Cartesian coordinate system O-XY y = 0 is the axis of symmetry, and the longitudinal coordinate of the solder joint is... satisfy: ;

[0064] b. Density gradient constraint: Ensure that the density of weld points within the welding zone is not lower than the density at the edge, meaning the distance between weld points changes non-decreasingly from the center to the edge, satisfying: .

[0065] Specifically, module M3 includes the following sub-modules: Module M3.1, based on the length of the specimen and the effective clamping span of the clamping system. L clamp The total length of the weldable area L Divided into K Each work segment satisfies: , Among them, the effective welding length of a single work section , This is a preset clamping safety margin; Module M3.2 determines the starting coordinates of each work segment according to the overlap constraints between adjacent work segments.

[0066] Overlapping constraints refer to the setting of a length of [missing information] between adjacent work sections to ensure stress continuity at the joint. The overlapping area.

[0067] In this embodiment, the first is defined k Each work section The corresponding welding area is [ , + ], starting coordinates Defined as: ,in, The preset overlap length between adjacent work sections. .

[0068] Specifically, in module M4.1, the stable clamping of the current work segment includes: In relation to the k Each work section Corresponding fixture constraint window C k Inside, a constraint force field is applied. F k The effective range of the fixture constraint window along the X-axis is defined as follows: .

[0069] Specifically, in module M4.2, planning the welding path and performing continuous welding includes the following sub-modules: Module M4.2.1, In-row sorting (inner to outer, row-by-row welding): For welding intervals falling within the current work segment [ , + ] A subset of solder joints, calculate the row index for each solder joint. j With central axis y = 0 distance ,according to Sort all weld joint rows in ascending order to generate a weld row sequence set. ,in j The row index representing the solder joint, followed by... Rorder Weld the items in the set sequentially, row by row.

[0070] In this embodiment, welding is preferentially performed near the central axis of the two-dimensional coordinate reference. y For rows of solder joints with a value of 0, weld the rows of solder joints on the edges furthest from the central axis.

[0071] Module M4.2.2, In-row Orientation (Axial Symmetry): Set solder joint row j In the welding row sequence set R order The sequential index in is s j ,according to s j The parity of the index determines the welding direction for each row of solder joints. For sequential indices... s j The j The direction of welding of the weld joint. Determined as: , in, A value of +1 represents welding along the positive X-axis of the two-dimensional coordinate reference, and -1 represents welding along the negative X-axis.

[0072] In this embodiment, rows with the same welding order parity are welded in opposite directions, rows with different welding order parity are welded in the same direction, and rows of weld points that are symmetrical along the central axis are welded in the same direction.

[0073] Module M4.2.3, Path Composition and Timing Control: Based on the welding row sequence set and the welding direction of each row, a welding path is synthesized. The welding timing satisfies the condition of segments with smaller X-coordinates. Segments with larger X coordinates The principle of advancement; if two solder joints p a and p b Located respectively and Then its welding time satisfies .

[0074] Furthermore, during the loop of module M4: Complete the first k After welding of each work section, the clamping system moves according to the shift step size. Move to the k+1 work section for clamping and welding, among which The effective welding length for a single work section. The length of the overlapping region; The loop termination condition is: the work segment number. k Greater than the total number of work segments K ; The final product covers the entire length of the sample. L A continuous welding path was used to complete all the welding processes. K Welding of each work section.

[0075] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0076] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A method for weld point arrangement and welding path planning in ultra-long, weakly stiff structures, characterized in that, Includes the following steps: Step S1: Based on the specimen with ultra-long weak stiffness structure, construct the structural coordinate system and define the weldable area; Step S2: Based on the weldable area, generate a hierarchical solder joint coordinate matrix covering the weldable area, and hierarchically mark the solder joints in the hierarchical solder joint coordinate matrix according to a preset rule. Step S3: Divide the weldable area into multiple working sections according to the length of the sample and the clamping capacity; Step S4: Execute the following sub-steps in sequence according to the work segment order until all weld points in the hierarchical weld point coordinate matrix are welded: Step S4.1: Perform stable clamping for the current work segment; Step S4.2: Based on the subset of weld points falling into the current work segment in the hierarchical weld point coordinate matrix, plan the welding path and perform continuous welding.

2. The method for weld point arrangement and welding path planning of ultra-long weak stiffness structures according to claim 1, characterized in that, In step S1, the geometric boundary of the weldable area is calculated based on the overall size of the sample, the end clamping space, and the tooling stroke range of the welding mechanism. Constructing a structural coordinate system includes: establishing a two-dimensional coordinate reference covering the weldable area for weld point marking and path planning. The two-dimensional coordinate reference is a global Cartesian coordinate system O-XY, where the X-axis is along the length of the sample and points from the fixed end of the clamped sample to the free end of the unclamped sample, and the Y-axis is along the width of the sample, with the origin O located at the geometric center of the fixed end of the sample.

3. The method for welding point arrangement and welding path planning of ultra-long weak stiffness structures according to claim 1, characterized in that, In step S1, the theoretical outline of the weldable area is a rectangular region, the length of which is L and the width is [missing information]. W The length-to-diameter ratio L / W is ≥ 50:

1.

4. The method for weld point arrangement and welding path planning of ultra-long weak stiffness structures according to claim 3, characterized in that, Step S2 includes: generating a hierarchical solder joint coordinate matrix within the rectangular region according to a preset arrangement rule, wherein the hierarchical solder joint coordinate matrix is ​​defined as a set of solder joints. , in, M This represents the total number of columns of solder joints along the X-axis. N This represents the total number of rows of solder joints along the Y-axis. To indicate that it is located at the th i Column, No. j The coordinates of the row solder joints are determined by the horizontal component. With longitudinal component Composition, that is = ( , ); The coordinates of the solder joints are arranged in a hierarchical and differentiated manner within the set of solder joints. i This is a horizontal index, corresponding to the X-axis of the global Cartesian coordinate system O-XY. j This is a vertical index, corresponding to the Y-axis of the global Cartesian coordinate system O-XY.

5. The method for weld point arrangement and welding path planning of ultra-long, weak-stiffness structures according to claim 4, characterized in that, In step S2, the preset arrangement rules include applying the following constraints to the solder joint coordinates to complete the hierarchical marking: Step S2.1, apply periodic constraints: make the solder joints evenly spaced along the X-axis, with their lateral coordinates... satisfy: ,in The coordinates of the starting solder joint are shown in the X-axis direction. The preset horizontal solder joint spacing; Step S2.2, apply symmetry constraints and density gradient constraints: ensure that the distribution of solder joints in the Y-axis direction satisfies: a. Symmetry constraint: The central axis of the global Cartesian coordinate system O-XY is used as the constraint. y = 0 is the axis of symmetry, and the longitudinal coordinate of the solder joint is... satisfy: ； ； b. Density gradient constraint: Ensure that the density of weld points within the welding zone is not lower than the density at the edge, meaning the distance between weld points changes non-decreasingly from the center to the edge, satisfying: 。 6. The method for welding point arrangement and welding path planning of ultra-long weak stiffness structures according to claim 5, characterized in that, Step S3 includes the following sub-steps: Step S3.1, based on the length of the sample and the effective clamping span of the clamping system L clamp The total length of the weldable area L Divided into K Each work segment satisfies: ， Among them, the effective welding length of a single work section , This is a preset clamping safety margin; Step S3.2: Determine the starting coordinates of each work segment according to the overlap constraints between adjacent work segments, and define the first... k Each work section The corresponding welding area is [ , + ], starting coordinates Defined as: ,in, The preset overlap length between adjacent work sections. .

7. The method for weld point arrangement and welding path planning of ultra-long, weak-stiffness structures according to claim 6, characterized in that, In step S4.1, performing stable clamping for the current work segment includes: In relation to the k Each work section Corresponding fixture constraint window C k Inside, a constraint force field is applied. F k The effective range of the fixture constraint window along the X-axis is defined as follows: .

8. The method for weld point arrangement and welding path planning of ultra-long weak stiffness structures according to claim 7, characterized in that, In step S4.2, planning the welding path and performing continuous welding includes the following sub-steps: Step S4.2.1, In-row sorting: For welding intervals falling into the current work segment [ , + ] A subset of solder joints, calculate the row index for each solder joint. j With central axis y = 0 distance ,according to d j Sort all weld joint rows in ascending order to generate a weld row sequence set. ,in j The row index representing the solder joint, followed by... R order Weld the elements in the set sequentially, row by row. Step S4.2.2, In-row Orientation: Set solder joint row j In the welding row sequence set R order The sequential index in is s j ,according to s j The parity of the index determines the welding direction for each row of solder joints. s j The j The direction of welding of the weld joint. Determined as: ， in, A value of +1 represents welding along the positive X-axis of the two-dimensional coordinate reference, and -1 represents welding along the negative X-axis. Step S4.2.3, Path Synthesis and Timing Control: Based on the welding row sequence set and the welding direction of each row, the welding path is synthesized, and the welding timing satisfies the condition of segments with smaller X coordinates. Segments with larger X coordinates The principle of advancement; if two solder joints p a and p b Located respectively and Then its welding time satisfies .

9. The method for weld point arrangement and welding path planning of ultra-long weak stiffness structures according to claim 8, characterized in that, During the loop of step S4: Complete the first k After welding of each work section, the clamping system moves according to the shift step size. Move to the k +1 work section for clamping and welding, among which The effective welding length for a single work section. The length of the overlapping region; The termination condition of the loop is: the work segment number. k Greater than the total number of work segments K ; The final product covers the entire length of the sample. L A continuous welding path was used to complete all the welding processes. K Welding of each work section.

10. A system for arranging weld points and planning welding paths for ultra-long, weakly stiff structures, employing the method for arranging weld points and planning welding paths for ultra-long, weakly stiff structures as described in any one of claims 1-9, characterized in that... include: Module M1, based on the specimen of the ultra-long weak stiffness structure, constructs the structural coordinate system and defines the weldable area; Module M2 generates a hierarchical solder joint coordinate matrix covering the weldable area based on the weldable area, and marks the solder joints in the hierarchical solder joint coordinate matrix hierarchically according to a preset rule. Module M3 divides the weldable area into multiple working sections based on the length of the sample and the clamping capacity. Module M4 executes the following sub-modules in sequence according to the work segment order until all weld points in the hierarchical weld point coordinate matrix have been welded: Module M4.1 performs stable clamping for the current work segment; Module M4.2 plans the welding path and performs continuous welding based on the subset of weld points falling into the current work segment in the hierarchical weld point coordinate matrix.

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