A molten pool height self-adaptive control method, system and device

Abstract

This invention provides a method, system, and device for adaptive control of weld pool height, relating to the field of gas metal arc welding (GMAW) technology. The method includes acquiring the oscillation position of the welding torch; detecting the height based on the oscillation position to obtain the weld pool height corresponding to the thin plate side and the thick plate side, respectively; determining the weld pool height change data corresponding to the thin plate side and the thick plate side based on the weld pool height; determining the welding state corresponding to the thin plate side and the thick plate side based on the weld pool height change data; determining whether weld pool height adjustment is needed based on the welding state of the thin plate side and the thick plate side; when weld pool height adjustment is needed, determining the target adjustment side based on the welding state of the thin plate side and the thick plate side; generating a welding parameter adjustment strategy based on the weld pool height change data and weld pool height of the target adjustment side; and adjusting the weld pool height of the thin plate side and the thick plate side. This invention improves the control accuracy of the weld pool.

Description

Technical Field

[0001] This invention relates to the field of gas metal arc welding technology, and more specifically, to a method, system, and device for adaptive control of weld pool height. Background Technology

[0002] With the widespread use of aluminum alloys in components such as battery trays, a butt joint structure combining thick and thin plates is generally adopted. The thick plate side dissipates heat quickly, thus requiring a larger heat input to ensure penetration, while the thin plate side accumulates heat rapidly, easily leading to defects such as burn-through, back penetration, and undercut. Therefore, oscillating welding techniques using a welding torch are typically employed to improve the heat input distribution between the thick and thin plates.

[0003] In related technologies, the use of fixed or preset segmented parameters for oscillating welding control often results in an inability to respond to dynamic changes in the molten pool state caused by uncertain factors such as changes in workpiece heat dissipation conditions, fluctuations in assembly gaps, arc disturbances, and surface contamination during the welding process. Therefore, it is difficult to achieve real-time optimal allocation of heat input between thick and thin plates, which in turn affects the welding quality and product qualification rate. Summary of the Invention

[0004] The problem addressed by this invention is how to improve the control precision of the molten pool.

[0005] To address the above problems, this invention provides a method, system, and device for adaptive control of molten pool height.

[0006] In a first aspect, the present invention provides a method for adaptive control of molten pool height, comprising: When the welding torch performs oscillating welding on the thin plate side and the thick plate side, the oscillation position of the welding torch is obtained; Based on the swing position, the height of the molten pool corresponding to the thin plate side and the thick plate side is obtained by height detection. Based on the molten pool height on the thin plate side and the molten pool height on the thick plate side, determine the molten pool height variation data corresponding to the thin plate side and the thick plate side respectively; Based on the change data of the molten pool height on the thin plate side and the change data of the molten pool height on the thick plate side, the welding states corresponding to the thin plate side and the thick plate side are determined respectively. Based on the welding status of the thin plate side and the welding status of the thick plate side, determine whether it is necessary to adjust the molten pool height; when it is necessary to adjust the molten pool height, determine the target adjustment side based on the welding status of the thin plate side and the welding status of the thick plate side, wherein the target adjustment side includes the thin plate side, the thick plate side, or both sides. Based on the change data of the molten pool height on the target adjustment side and the molten pool height, a welding parameter adjustment strategy is generated, and the molten pool height on the thin plate side and / or the molten pool height on the thick plate side is adjusted according to the welding parameter adjustment strategy.

[0007] Optionally, obtaining the oscillation position of the welding torch when performing oscillating welding on the thin plate side and the thick plate side includes: When the welding torch performs oscillating welding on the thin plate side and the thick plate side with a preset oscillation cycle, the oscillation position of the welding torch in each oscillation cycle is determined by the phase information of the oscillation cycle.

[0008] Optionally, the step of detecting the height based on the swing position to obtain the molten pool height corresponding to the thin plate side and the thick plate side respectively includes: For each oscillation cycle of the welding torch, when the oscillation position reaches the height detection position corresponding to the thin plate side and the thick plate side respectively, a rapid wire feeding contact operation is performed, and when the welding voltage of the welding torch drops to a preset short-circuit voltage threshold, the actual wire feeding speed, preset wire feeding speed and wire feeding contact time corresponding to the thin plate side and the thick plate side respectively are obtained. Based on the actual wire feeding speed, the preset wire feeding speed, and the wire feeding contact corresponding to the thin plate side and the thick plate side respectively, the molten pool height corresponding to the thin plate side and the thick plate side within the oscillation cycle is determined.

[0009] Optionally, determining the molten pool height variation data corresponding to the thin plate side and the thick plate side based on the molten pool height on the thin plate side and the molten pool height on the thick plate side respectively includes: Obtain the molten pool heights corresponding to the thin plate side and the thick plate side in the current oscillation cycle, and the molten pool heights corresponding to the thin plate side and the thick plate side in the previous oscillation cycle; Based on the molten pool heights corresponding to the thin plate side and the thick plate side in the current oscillation cycle, and combined with the molten pool heights corresponding to the thin plate side and the thick plate side in the previous oscillation cycle, a difference calculation is performed to determine the change in molten pool heights corresponding to the thin plate side and the thick plate side. The changes in the molten pool height corresponding to the thin plate side and the thick plate side are respectively used as the molten pool height change data corresponding to the thin plate side and the thick plate side.

[0010] Optionally, determining the welding states corresponding to the thin plate side and the thick plate side respectively based on the molten pool height change data on the thin plate side and the molten pool height change data on the thick plate side includes: Obtain preset welding state determination rules corresponding to the thin plate side and the thick plate side respectively. The preset welding state determination rules include different ranges of molten pool height change and height thresholds corresponding to the welding states. Based on the molten pool height change data and molten pool height corresponding to the thin plate side and the thick plate side respectively, the molten pool height change range corresponding to different welding states is matched with the height threshold to determine the welding state corresponding to the thin plate side and the thick plate side respectively within the current oscillation cycle.

[0011] Optionally, the welding state includes a balanced weld pool state and a non-balanced weld pool state; determining whether weld pool height adjustment is needed based on the welding state of the thin plate side and the welding state of the thick plate side; when weld pool height adjustment is needed, determining the target adjustment side based on the welding state of the thin plate side and the welding state of the thick plate side includes: When the welding state of both the thin plate side and the thick plate side is the molten pool equilibrium state, it is determined that no molten pool height adjustment is required. When the welding state of the thin plate side or the welding state of the thick plate side is the molten pool unbalanced state, it is determined that the molten pool height needs to be adjusted, and the side or both sides in the molten pool unbalanced state are taken as the target adjustment side.

[0012] Optionally, the welding parameter adjustment strategy includes a current adjustment strategy. The step of generating the welding parameter adjustment strategy based on the molten pool height change data and the molten pool height on the target adjustment side, and adjusting the molten pool height on the thin plate side and / or the molten pool height on the thick plate side according to the welding parameter adjustment strategy, includes: Based on the molten pool height change data and the molten pool height on the target adjustment side, a target adjustment direction is determined, which includes raising the molten pool height or lowering the molten pool height. Based on the target adjustment side and the target adjustment direction, the welding current adjustment amount of the target adjustment side is matched from the welding parameter mapping relationship corresponding to the welding state, and the welding current adjustment amount of the target adjustment side is used as the current adjustment strategy. Based on the welding parameter adjustment strategy, an adjustment command for the welding parameters of the welding torch is generated; Based on the adjustment command, the height of the molten pool on the target adjustment side is adjusted.

[0013] Optionally, the welding parameter adjustment strategy further includes an oscillation adjustment strategy, and the adaptive control method for molten pool height further includes: After adjusting the height of the molten pool on the target adjustment side according to the current adjustment strategy, it is determined whether the welding parameter adjustment strategy meets the molten pool control requirements of the target adjustment side. If so, then keep the welding parameters of the welding torch unchanged; If not, the oscillation adjustment strategy is generated based on the variation characteristics of the molten pool height on the target adjustment side. The oscillation adjustment strategy includes at least one of the following: the oscillation amplitude adjustment of the welding torch, the oscillation frequency adjustment, and the dwell time adjustment.

[0014] In a second aspect, the present invention provides a molten pool height adaptive control system, comprising: The position acquisition unit is used to acquire the swing position of the welding gun when the welding gun performs swing welding on the thin plate side and the thick plate side; A height detection unit is used to detect the height based on the swing position to obtain the molten pool heights corresponding to the thin plate side and the thick plate side, respectively. The data processing unit is used to determine the change data of the molten pool height corresponding to the thin plate side and the thick plate side, respectively, based on the molten pool height on the thin plate side and the molten pool height on the thick plate side. The state determination unit is used to determine the welding state corresponding to the thin plate side and the thick plate side respectively based on the molten pool height change data on the thin plate side and the molten pool height change data on the thick plate side. The judgment unit is used to determine whether it is necessary to adjust the molten pool height based on the welding state of the thin plate side and the welding state of the thick plate side; when it is necessary to adjust the molten pool height, the target adjustment side is determined based on the welding state of the thin plate side and the welding state of the thick plate side, wherein the target adjustment side includes the thin plate side, the thick plate side, or both sides. An adjustment unit is configured to generate a welding parameter adjustment strategy based on the molten pool height change data and the molten pool height on the target adjustment side, and adjust the molten pool height on the thin plate side and / or the molten pool height on the thick plate side according to the welding parameter adjustment strategy.

[0015] Thirdly, the present invention provides an electronic device, comprising: a processor and a memory, wherein the memory is used to store a computer program; When a computer program is loaded by a processor, it causes the processor to execute the above-described adaptive control method for melt pool height.

[0016] The molten pool height adaptive control method, system, and equipment of this invention acquires the welding torch oscillation position in real time and simultaneously detects the molten pool height on both the thin and thick plate sides. It accurately identifies the welding status on both sides using molten pool height change data, and responds in real time to dynamic changes in the molten pool caused by uncertainties such as changes in heat dissipation conditions, assembly gap fluctuations, arc disturbances, and workpiece surface contamination during welding. It abandons the traditional open-loop control mode with fixed parameters or preset segmented parameters, and can accurately determine whether adjustment is needed based on the welding status on both sides, clearly identifying the target adjustment side. Based on the molten pool height and change data, it dynamically generates a matching welding parameter adjustment strategy, achieving real-time optimal allocation of heat input. Compared to control methods that rely solely on switching between long and short arcs and constant arc length parameters via oscillation phase switching, this invention uses molten pool height as the directly controlled object to form a closed-loop adaptive adjustment mechanism. This addresses the contradiction between insufficient penetration depth in thick plates and easy burn-through in thin plates, maintaining a stable penetration depth on the thick plate side and effectively suppressing burn-through and undercut risks on the thin plate side. From perception and judgment to adjustment, the entire process improves the real-time performance, accuracy, and adaptability of molten pool control, significantly improving molten pool control precision, thereby enhancing welding quality and product qualification rate. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating the adaptive control method for molten pool height according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the docking structure between the thin plate side and the thick plate side according to another embodiment of the present invention; Figure 3 This is a schematic diagram showing the phase relationship between the phase of the swing position and the phase of the height detection, according to another embodiment of the present invention. Figure 4 This is a schematic diagram of the structure of a welding device according to another embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a molten pool height adaptive control system according to another embodiment of the present invention. Detailed Implementation

[0018] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present 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 present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0019] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0020] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0021] 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".

[0022] In related technologies, for deep penetration welding, especially deep penetration welding with 1.6mm welding wire, the heat input is concentrated and the arc stiffness is strong. Under the condition of butt welding of thick and thin plates, the heat input distribution is very unbalanced. Although the thick plate side can meet the penetration requirements, the thin plate side is prone to burn-through, back penetration, undercut and collapse defects due to excessive heat accumulation. At the same time, the 1.6mm welding wire has high rigidity and poor wire feeding stability. The arc length is prone to drift with oscillation and working condition fluctuations, which further aggravates the loss of control of the weld pool height. Traditional oscillating welding only uses fixed parameters or segmented preset parameters for control, which is difficult to deal with uncertain factors such as uneven heat dissipation, assembly gap fluctuations, and arc disturbances. As a result, the penetration stability of thick plates and the prevention of burn-through of thin plates cannot be achieved at the same time. The welding quality is inconsistent and the yield is low, which cannot meet the high reliability welding requirements of new energy vehicle battery trays.

[0023] Combination Figure 1 As shown, the adaptive control method for molten pool height provided in this embodiment of the invention includes: When the welding torch performs oscillating welding on the thin plate side and the thick plate side, the oscillation position of the welding torch is obtained.

[0024] Specifically, by collecting real-time data on the oscillation position of the welding torch during the welding process, it is possible to accurately distinguish whether the current welding area belongs to the thin plate side or the thick plate side, combined with... Figure 2As shown, the welding structure includes a butt joint between the thin plate side (S) and the thick plate side (E). The welding torch oscillates along the weld direction. The enlarged view on the right shows the oscillation trajectory and energy control logic. The welding torch oscillates back and forth between the thin and thick plate sides at a preset cycle. The oscillation towards the thick plate side corresponds to a high-energy cycle to meet the penetration requirements of the thick plate, while the oscillation towards the thin plate side corresponds to a low-energy cycle to reduce heat input to the thin plate side and avoid defects such as burn-through and undercut. By distributing differentiated welding energy to different areas during the oscillation process, coordinated control of heat input for welding thick and thin plates is achieved. It is worth mentioning that oscillation welding must first be performed according to basic welding parameters. The welding wire specification is 1.6mm aluminum alloy welding wire (such as 4043 or 4047 models). The welding method is pulsed metallic inert gas (MIG) welding (single-pulse or double-pulse mode can be used), and the shielding gas is argon. The oscillation method involves the welding torch making a left-right triangular oscillation (zigzag shape) along the welding direction, with an oscillation amplitude of 2-4 mm, an oscillation frequency of 1-4 Hz, and a welding speed of 0.5-0.9 m / min. The welding torch posture is that it is perpendicular to the workpiece surface, with the oscillation center aligned with the butt joint between the thick and thin plates, and the oscillation range covering 1-2 mm on both the thick and thin plate sides. The initial welding current is 200 A for the thick plate side and 140 A for the thin plate side; the arc current ranges from 20-80 A, preferably 50 A; and the droplet separation current ranges from 100-200 A, preferably 150 A.

[0025] Height detection is performed based on the swing position to obtain the molten pool heights corresponding to the thin plate side and the thick plate side, respectively.

[0026] Specifically, by using the oscillation position of the welding torch as the trigger condition, the molten pool height is detected on both the thin plate side and the thick plate side respectively. This allows for the acquisition of true and independent molten pool state data on both sides, avoiding the mixing of molten pool information between the thick and thin plates for judgment.

[0027] Based on the molten pool height on the thin plate side and the molten pool height on the thick plate side, determine the molten pool height variation data corresponding to the thin plate side and the thick plate side, respectively.

[0028] Specifically, by sequentially collecting the molten pool height values ​​of the inner thin plate side and the thick plate side at the collection time, and performing periodic data comparison calculations, the real-time fluctuation amplitude and trend of the molten pool height on both sides can be quantified, transforming static height values ​​into dynamic change characteristics. This provides a quantitative basis for accurately identifying welding condition anomalies and avoids misjudgments caused by relying solely on the molten pool height at a single moment.

[0029] Based on the change data of the molten pool height on the thin plate side and the change data of the molten pool height on the thick plate side, the welding states corresponding to the thin plate side and the thick plate side are determined respectively.

[0030] Specifically, by using the quantified molten pool height change data on both sides as the discrimination benchmark, and matching the preset height fluctuation threshold and state judgment rules, different working conditions such as overheating and burn-through on the thin plate side, insufficient molten depth on the thick plate side, abnormal molten pool fluctuation, and stable molten pool state can be identified, transforming the dynamic fluctuations of the molten pool that are difficult to capture with the naked eye into a standardized and identifiable welding state.

[0031] Based on the welding status of the thin plate side and the welding status of the thick plate side, it is determined whether the molten pool height needs to be adjusted; when the molten pool height needs to be adjusted, the target adjustment side is determined based on the welding status of the thin plate side and the welding status of the thick plate side, wherein the target adjustment side includes the thin plate side, the thick plate side, or both sides.

[0032] Specifically, by simultaneously comparing the welding status of the thin plate side and the thick plate side, different situations such as single-sided anomaly, simultaneous double-sided anomaly, and both sides being in stable working conditions can be quickly identified to determine the target adjustment side. Then, it can be determined whether the closed-loop adjustment of the molten pool height needs to be initiated for the target adjustment side. Based on the distribution range of the anomaly, the target area to be controlled can be accurately located, realizing on-demand fixed-point adjustment without the need to make redundant parameter changes to areas without anomalies, thus improving the pertinence and energy efficiency of the control process.

[0033] Based on the change data of the molten pool height on the target adjustment side and the molten pool height, a welding parameter adjustment strategy is generated, and the molten pool height on the thin plate side and / or the molten pool height on the thick plate side is adjusted according to the welding parameter adjustment strategy.

[0034] Specifically, by dynamically generating corresponding adjustment strategies based on the actual welding conditions on both sides, parameter adjustments can be matched with the real-time molten pool requirements. This eliminates reliance on fixed or preset segmented parameters and effectively responds to uncertainties such as assembly gap fluctuations, changes in heat dissipation conditions, and arc disturbances, achieving reasonable distribution and precise control of heat input. Real-time correction of the welding process according to the adjustment strategy matching the molten pool state ensures that the molten pool height on both the thin and thick plate sides remains within a stable and reasonable range. This improves the real-time performance, accuracy, and robustness of molten pool control, fundamentally enhancing the overall control precision of the molten pool.

[0035] The molten pool height adaptive control method of this invention acquires the welding torch oscillation position in real time and simultaneously detects the molten pool height on both the thin and thick plate sides. It accurately identifies the welding status on both sides using molten pool height change data, and responds in real time to dynamic changes in the molten pool caused by uncertainties such as changes in heat dissipation conditions, assembly gap fluctuations, arc disturbances, and workpiece surface contamination during welding. It abandons the traditional open-loop control mode with fixed parameters or preset segmented parameters. It can accurately determine whether adjustment is needed based on the welding status on both sides and clearly identify the target adjustment side. Based on the molten pool height and change data, it dynamically generates a matching welding parameter adjustment strategy, achieving real-time optimal allocation of heat input. Compared to control methods that rely solely on switching between long and short arcs and constant arc length parameters via oscillation phase switching, this invention uses molten pool height as the directly controlled object to form a closed-loop adaptive adjustment mechanism. This addresses the contradiction between insufficient penetration depth in thick plates and easy burn-through in thin plates, maintaining a stable penetration depth on the thick plate side and effectively suppressing burn-through and undercut risks on the thin plate side. From perception and judgment to adjustment, the entire process improves the real-time performance, accuracy, and adaptability of molten pool control, significantly improving molten pool control precision, thereby enhancing welding quality and product qualification rate.

[0036] Optionally, obtaining the oscillation position of the welding torch when performing oscillating welding on the thin plate side and the thick plate side includes: When the welding torch performs oscillating welding on the thin plate side and the thick plate side with a preset oscillation cycle, the oscillation position of the welding torch in each oscillation cycle is determined by the phase information of the oscillation cycle.

[0037] Specifically, in the actual process of butt welding of thick and thin plates using a left-right triangular oscillation, the movement of the welding torch is periodic and reciprocating. Simple physical coordinates are difficult to directly use as a basis for distinguishing the thermal state of the thick and thin plate sides. By using phase information, the continuous mechanical oscillation is converted into a periodic signal with clear start and end points and characteristic points, accurately defining the stage of the welding torch in the oscillation trajectory. This provides a high-precision timing control basis for triggering the molten pool height detection at specific endpoints of the oscillation trajectory (i.e., the height detection positions on the thick and thin plate sides). This ensures that the detection action is performed only at a relatively stable specific position in the heat-affected zone, thereby effectively isolating the interference of the intermediate transition stage in the oscillation process on the detection accuracy. This is a key technical guarantee for achieving independent and accurate identification of the molten pool state on both sides of the thick and thin plates.

[0038] In a preferred embodiment of the invention, the welding torch, driven by a robot, performs a symmetrical triangular oscillation along the weld seam. Its oscillation controller is internally set with a 360-degree electrical phase cycle that is strictly synchronized with the mechanical movement. When the current phase angle is detected to be between 0 and 30 degrees, it is determined that the welding torch has moved to the left (defined as the thick plate side) oscillation endpoint and entered a preset dwell stage. At this point, rapid wire feeding contact detection for the thick plate side is immediately triggered. Similarly, when the phase angle reaches the 180-210 degree range, it is determined that the welding torch has reached the right (defined as the thin plate side) oscillation endpoint and dwell stage, and then the molten pool height detection for the thin plate side is triggered. Combined with... Figure 3 As shown, the sinusoidal waveform of the welding torch oscillation position changing with the direction of the welding torch's movement is shown. The peak of the wave corresponds to the thick plate side position Ws1, and the trough corresponds to the thin plate side position Ws2. Below is the corresponding welding condition timing: when the welding torch oscillates to the thick plate side position Ws1, the thick plate molten pool height detection cycle is triggered; when it oscillates to the thin plate side position Ws2, the thin plate molten pool height detection cycle is triggered. This realizes the timing control of synchronous molten pool height detection in different regions, with the oscillation position as the trigger signal.

[0039] In this embodiment of the invention, the precise spatiotemporal coupling of the detection timing and the spatial position of the welding torch is achieved by obtaining the swing position based on phase information. By locking the swing endpoint through the phase interval, it is ensured that the molten pool height detection is always performed at a specific moment when the heat input is relatively stable and the plate is facing the thick or thin plate respectively, thereby improving the representativeness and accuracy of the detection data.

[0040] Optionally, the step of detecting the height based on the swing position to obtain the molten pool height corresponding to the thin plate side and the thick plate side respectively includes: For each oscillation cycle of the welding torch, when the oscillation position reaches the height detection position corresponding to the thin plate side and the thick plate side respectively, a rapid wire feeding contact operation is performed, and when the welding voltage of the welding torch drops to a preset short-circuit voltage threshold, the actual wire feeding speed, preset wire feeding speed and wire feeding contact time corresponding to the thin plate side and the thick plate side respectively are obtained. Based on the actual wire feeding speed, the preset wire feeding speed, and the wire feeding contact corresponding to the thin plate side and the thick plate side respectively, the molten pool height corresponding to the thin plate side and the thick plate side within the oscillation cycle is determined.

[0041] Specifically, in this embodiment, the physical characteristics of gas metal arc welding (GMAW) are utilized, with the welding system itself acting as a high-precision sensor. When the welding torch swings to the height detection position, the welding current is instantly reduced to the arc-maintaining current through active control to prevent severe disturbance of the molten pool. Simultaneously, the welding wire is instructed to feed rapidly at a speed higher than the preset speed for normal welding (i.e., the actual wire feed speed). The instant the tip of the welding wire contacts the surface of the molten metal in the molten pool, a short circuit occurs in the arc space, and the welding voltage drops sharply to a preset short-circuit voltage threshold that can be recognized by the circuit. The time elapsed from the start of accelerated wire feeding to the voltage drop is the wire contact time. Since the wire feed speed is known at this time, the instantaneous molten pool height between the tip of the welding wire and the workpiece surface (or the undeformed molten pool reference surface) can be derived by calculating the wire extension length exceeding the normal melting amount during this time period. Without introducing complex external sensors such as lasers or vision systems, the inherent voltage, wire feed speed, and time parameters of the welding system enable low-cost, high-frequency, and highly interference-resistant direct measurement of the critical state quantity of the molten pool height.

[0042] In a preferred embodiment of the present invention, when the welding torch swings to the farthest point on the thick plate side or the thin plate side and enters the dwell phase, the welding control device sends a detection command to trigger the molten pool height detection module to work; the welding current rapidly drops to the arc-maintaining current I. pilot (Value range 20~80A, preferably 50A), the servo wire feeding mechanism controls the 1.6mm welding wire to feed forward at the actual wire feeding speed V2, where V2 = 1.5~3 × preset wire feeding speed V1 (preset wire feeding speed V1 is 3~8m / min, preferably 4.5m / min), until the welding wire contacts the molten pool; at the instant the welding wire contacts the molten pool, the welding voltage will drop significantly, and the detection module will capture this voltage signal in real time. When the voltage drops to the short-circuit voltage threshold U, short (Value range 3~8V, preferably 5V) When the voltage is below 5V, it is determined that the welding wire is in contact with the molten pool. The time from the start of rapid wire feeding to contact with the molten pool is recorded, i.e., the wire feeding contact time T1. Combining the welding wire feed speed and the initial wire extension, the current molten pool height is calculated using a quantitative formula. The calculation formula is as follows: H pool =(V2 V1)×T1; Among them, H pool V1 is the height of the molten pool, V2 is the actual wire feeding speed, V1 is the preset wire feeding speed, T1 is the wire feeding contact time, and H is the wire feeding contact time. pool On the thicker plate side, it is denoted as the molten pool height H on the thicker plate side. thick H pool On the thin plate side, it is denoted as the molten pool height H on the thin plate side. thin By comparing the molten pool height H on the thicker plate side thick The height H of the molten pool on the thin plate side thinThis can help determine whether the heat input distribution is reasonable.

[0043] It is worth mentioning that during the inspection, the welding current is maintained at the arc-maintaining current level (20~80A, preferably 50A), rather than the base current, to avoid the inspection action interfering with the stability of the molten pool; if excessive wire feeding resistance is detected, the arc length is immediately reset, and the target arc length L is adjusted accordingly. arctarget (Value range 3~8mm, preferably 5mm) and the currently measured relative height H of the molten pool pool The formula for calculating the pullback displacement is as follows: L retract =L arctarget +H pool +Δcomp; Δcomp is a preset compensation amount used to compensate for the influence of factors such as the shape of the welding wire end and the surface tension of the molten pool, and to control the welding wire to retract to the preset initial state to prevent wire sticking. When the retraction ends, the welding current is instantly increased to the droplet separation current (Isr, with a value range of 100~200A, preferably 150A, which is about 50% of the peak current) to help the welding wire and the molten pool separate cleanly and further improve the arc length reset accuracy.

[0044] In this embodiment of the invention, by utilizing the electrical signal changes and wire feeding actions of the welding system itself, direct, rapid and highly reliable online detection of the molten pool height is achieved without the need for introducing complex external sensing devices, providing a key and stable process feedback signal for subsequent accurate closed-loop adaptive control.

[0045] Optionally, determining the molten pool height variation data corresponding to the thin plate side and the thick plate side based on the molten pool height on the thin plate side and the molten pool height on the thick plate side respectively includes: Obtain the molten pool heights corresponding to the thin plate side and the thick plate side in the current oscillation cycle, and the molten pool heights corresponding to the thin plate side and the thick plate side in the previous oscillation cycle; Based on the molten pool heights corresponding to the thin plate side and the thick plate side in the current oscillation cycle, and combined with the molten pool heights corresponding to the thin plate side and the thick plate side in the previous oscillation cycle, a difference calculation is performed to determine the change in molten pool heights corresponding to the thin plate side and the thick plate side. The changes in the molten pool height corresponding to the thin plate side and the thick plate side are respectively used as the molten pool height change data corresponding to the thin plate side and the thick plate side.

[0046] Specifically, in the oscillating welding process of thick and thin plates, the height of the molten pools on both sides is not only affected by the preset welding parameters, but also fluctuates in real time due to various dynamic factors such as differences in material heat dissipation, changes in assembly gaps, and arc disturbances. It is difficult to accurately distinguish between minor fluctuations within the normal process range and trend changes indicating quality defects based solely on the absolute height value at a given moment. Therefore, by comparing the height value measured in the current oscillation cycle with that of the previous cycle (i.e., historical data), the change in molten pool height is calculated, thereby transforming static height information into dynamic trend information. This effectively identifies different behavior patterns of the molten pool, such as stabilization, slow rise, or rapid decline. In a preferred embodiment of the present invention, in a specific working cycle, assuming that in the Nth oscillation cycle, the measured molten pool height on the thick plate side is 0.8 mm and on the thin plate side is 0.6 mm, the data from the (N-1)th cycle is retrieved from memory, showing 0.85 mm on the thick plate side and 0.7 mm on the thin plate side. Based on this, the change in molten pool height in the current cycle is calculated as: ΔH, the change in molten pool height on the thick plate side. thick = 0.8 - 0.85 = -0.05mm (slight decrease), change in molten pool height ΔH on the thin plate side thin = 0.6 - 0.7 = -0.1mm (decline). In this embodiment of the invention, the height detection value is transformed into the process state through dynamic trend analysis, realizing a leap from numerical perception to state cognition of the welding process, and providing a precise decision basis for adaptive control.

[0047] Optionally, determining the welding states corresponding to the thin plate side and the thick plate side respectively based on the molten pool height change data on the thin plate side and the molten pool height change data on the thick plate side includes: Obtain preset welding state determination rules corresponding to the thin plate side and the thick plate side respectively. The preset welding state determination rules include different ranges of molten pool height change and height thresholds corresponding to the welding states. Based on the molten pool height change data and molten pool height corresponding to the thin plate side and the thick plate side respectively, the molten pool height change range corresponding to different welding states is matched with the height threshold to determine the welding state corresponding to the thin plate side and the thick plate side respectively within the current oscillation cycle.

[0048] Specifically, during the welding process, the preset welding state determination rules corresponding to the thin plate side and the thick plate side are retrieved simultaneously. The real-time detected values ​​of the molten pool height on both sides and the molten pool height change data calculated during the cycle are substituted into the corresponding preset welding state determination rules for interval comparison and threshold matching calculations, thereby locking the welding state of the thin plate side and the thick plate side within the current oscillation cycle. Among them, the preset welding state determination rules include multiple state determination rules, for example, rule A: "If |ΔH thick |≤ 0.1mm and|ΔH thin | ≤ 0.1mm, then the two-sided state is stable”; Rule B: “If ΔH thin "If -0.2mm < -0.2mm, the thin plate side is at risk of rapid denting"; Rule C: "If -0.2mm ≤ ΔH thin "If <0, the thin plate side exhibits a slow indentation tendency." The calculated ΔH... thick = -0.05mm and ΔH thin = -0.1mm matches the rule base and is determined as: "Thick plate side status is 'stable' (compliant with rule A), thin plate side status is 'slow indentation tendency' (compliant with rule C)". These two status labels represent the welding status of the thick and thin plates respectively in the current cycle. Wherein, ΔH thick ΔH represents the change in molten pool height on the thicker plate side. thin This represents the change in the height of the molten pool on the thin plate side.

[0049] In this embodiment of the invention, by jointly determining the static molten pool height threshold and the dynamic molten pool height change range, independent quantitative identification of the welding state on both sides of the thick and thin plates is achieved. This effectively avoids the defects of misjudgment and omission that are easy to occur in single parameter determination, and greatly improves the accuracy and objectivity of molten pool state identification under complex welding conditions.

[0050] Optionally, the welding state includes a balanced weld pool state and a non-balanced weld pool state; determining whether weld pool height adjustment is needed based on the welding state of the thin plate side and the welding state of the thick plate side; when weld pool height adjustment is needed, determining the target adjustment side based on the welding state of the thin plate side and the welding state of the thick plate side includes: When the welding state of both the thin plate side and the thick plate side is the molten pool equilibrium state, it is determined that no molten pool height adjustment is required. When the welding state of the thin plate side or the welding state of the thick plate side is the molten pool unbalanced state, it is determined that the molten pool height needs to be adjusted, and the side or both sides in the molten pool unbalanced state are taken as the target adjustment side.

[0051] Specifically, the welding state is divided into two standardized judgment types: molten pool equilibrium state and molten pool non-equilibrium state. Based on the independent welding states obtained by matching the molten pool height threshold and height variation range for the thin plate side and the thick plate side respectively, a layered adjustment trigger logic and target area positioning logic are established. When both the thin and thick plates are in a molten pool equilibrium state, the existing welding parameters remain unchanged without additional control. As soon as a molten pool non-equilibrium state occurs on either the thin or thick plate side, it is immediately determined that adaptive molten pool height adjustment needs to be initiated, and the single non-equilibrium side or both sides are designated as the target adjustment side. Molten pool non-equilibrium states typically include overheating on the thin plate side, concavity on the thin plate side, incomplete melting on the thick plate side, and excessive molten pool fluctuations. In another preferred embodiment of the invention, referring to the state comparison table shown in Table 1, the welding states corresponding to the thin plate side and the thick plate side can be determined respectively.

[0052] Table 1

[0053] In this embodiment of the invention, by dividing the molten pool into equal and unbalanced states and using differentiated adjustment judgment logic, the on-demand triggering of molten pool height adjustment and precise positioning of the target area are realized, avoiding meaningless frequent parameter adjustments and blind global control. This adapts to the differentiated control requirements of welding conditions for thick and thin plates, reduces unnecessary computation and execution load on the control system, and improves the stability and smoothness of welding process parameter operation.

[0054] Optionally, the welding parameter adjustment strategy includes a current adjustment strategy. The step of generating the welding parameter adjustment strategy based on the molten pool height change data and the molten pool height on the target adjustment side, and adjusting the molten pool height on the thin plate side and / or the molten pool height on the thick plate side according to the welding parameter adjustment strategy, includes: Based on the molten pool height change data and the molten pool height on the target adjustment side, a target adjustment direction is determined, which includes raising the molten pool height or lowering the molten pool height. Based on the target adjustment side and the target adjustment direction, the welding current adjustment amount of the target adjustment side is matched from the welding parameter mapping relationship corresponding to the welding state, and the welding current adjustment amount of the target adjustment side is used as the current adjustment strategy. Based on the welding parameter adjustment strategy, an adjustment command for the welding parameters of the welding torch is generated; Based on the adjustment command, the height of the molten pool on the target adjustment side is adjusted.

[0055] Specifically, the decision-making process first uses the real-time detected molten pool height on the target adjustment side and the molten pool height change data formed by adjacent oscillation cycles as the basis for determining the target adjustment direction of increasing or decreasing the molten pool height. For example, when the thin plate side is judged to have a risk of molten pool depression, the target adjustment side is the thin plate side, and the target adjustment direction is to increase the molten pool height. Subsequently, a specific welding current adjustment amount is obtained by querying a preset welding parameter mapping relationship as the current adjustment strategy. This mapping relationship is a knowledge base or rule base. For example, for the thin plate side with a slow tendency to depression, the mapping relationship gives an adjustment amount of "reducing the peak pulse current on the thin plate side by 5%". In addition, the welding parameter adjustment strategy also includes wire feed speed adjustment strategy and oscillation adjustment strategy in addition to the current adjustment strategy. When the molten pool fluctuation is too large, the wire feed speed adjustment strategy and oscillation adjustment strategy can also be combined with the current adjustment strategy to form a welding parameter adjustment strategy. For example, reducing the oscillation frequency by 0.5-1Hz reduces the peak current fluctuation amplitude, and the wire feed speed is adjusted simultaneously. According to the adjustment strategy comparison table in Table 2, the judgment result and adjustment action corresponding to each welding state can be seen.

[0056] Table 2

[0057] In addition, in a preferred embodiment of the present invention, the welding torch oscillation cycle is coordinated with the pulse welding cycle to ensure that the molten pool height is detected once on the thick plate side and once on the thin plate side within each oscillation cycle; when the welding torch oscillates to the farthest point on the thick plate side, it pauses for 0.1~0.3s (to ensure the molten pool is stable and easy to detect); when it oscillates to the farthest point on the thin plate side, it pauses for 0.05~0.2s (to reduce heat accumulation on the thin plate side and avoid weld breakage).

[0058] Finally, by generating corresponding welding parameter adjustment commands based on the welding parameter adjustment strategy, and performing directional adjustment on the molten pool height on the target adjustment side based on the adjustment commands, the control logic obtained in the early stage based on the molten pool height change and welding state determination is transformed into executable welding control actions. For example, in the process of pulsed MIG oscillation welding of the thick and thin plates of a 6-series aluminum alloy battery tray using 1.6mm welding wire, it can work in synergy with the parameter control mode based on the oscillation phase division, which uses a short arc and high current on the thick plate side and a long arc and low current on the thin plate side. This differs from the control method that only relies on the oscillation phase switching to preset welding parameters without closed-loop correction based on the real-time molten pool state. It can accurately act on the target area on the thin plate side, thick plate side, or both sides according to the adjustment command, and adjust key parameters such as welding current in real time. This dynamically changes the amount of heat input on the target adjustment side, effectively responding to the fluctuations in molten pool height caused by factors such as differences in workpiece heat dissipation conditions, assembly gap fluctuations, and arc disturbances. This ensures that the thick plate side always maintains a stable molten depth state that meets the structural strength requirements, while strictly controlling the heat input on the thin plate side to avoid burn-through, back penetration, and undercut defects. This makes the molten pool height adjustment process more real-time, targeted, and controllable, fully adapting to the requirements of automated welding production lines for welding process stability and weld quality consistency.

[0059] In summary, in the preferred embodiment of the present invention, when butt welding a 6mm thick 6063 aluminum alloy plate and a 3mm thin plate used in a new energy vehicle battery tray, pulsed MIG oscillation welding is performed using ER4043 welding wire with a diameter of 1.6mm. The welding torch oscillates periodically with a 2.5Hz oscillation frequency and a 5mm oscillation amplitude. After preliminary detection and judgment, the target adjustment side is determined to be the thin plate side, and the target adjustment direction is to increase the molten pool height. A welding parameter adjustment strategy of reducing the welding current on the thin plate side by 10% is generated. The system generates a corresponding welding current adjustment command based on this adjustment strategy. After receiving the command, the welding power supply reduces the peak current on the thin plate side from 130A to 117A. By reducing the heat input on the thin plate side, the height of the molten pool on that side is directionally adjusted, so that the height of the molten pool on the thin plate side quickly returns to the preset reasonable range.

[0060] In another preferred embodiment of the present invention, the welding system is started, and a pre-welding wire feeding accuracy self-check is first performed at a detection speed V. test =6m / min, pullback height L retract =5mm, repeated 3 times, the average error ΔE=0.12mm≤0.2mm was calculated, the wire feeding system was judged to be qualified; then the welding torch began to swing according to the preset triangular swing trajectory, and pulse MIG welding was performed at the same time. The servo wire feeding mechanism fed the wire at the normal wire feeding speed V1=4.5m / min, and the detection speed V2=2×V1=9mm / s; in the third swing cycle, the welding torch swung to the farthest point on the thick plate side (dwelled for 0.2s), triggering the molten pool detection, and the H on the thin plate side was detected.thin =0.7mm (previous time 0.9mm), ΔH thin =-0.2mm; Thick plate side H thick =1.1mm (normal) indicates slightly high heat input on the thin plate side (dent condition). The welding current on the thin plate side is reduced from 150A to 140A (a 5% reduction). During the 5th oscillation cycle, H is detected. thin =0.8mm, ΔH thin =+0.1mm, back to normal; H thick =1.1mm, keep the parameter unchanged; during the 8th oscillation cycle, detect H. thin =0.4mm, ΔH thin =0.4mm, indicating overheating on the thin plate side (imminent weld failure). The welding current on the thin plate side was reduced from 140A to 120A (a 10% reduction). Subsequently, the molten pool recovered, and weld failure did not occur. The entire weld was uniformly formed, with no burn-through on the thin plate side and good penetration on the thick plate side. During subsequent oscillation cycles, the molten pool height remained stable within the acceptable range, and the parameters remained unchanged until welding was completed. After welding, a pulsed wire feeding pulse + short-circuit transfer technique was used to finish the weld, avoiding shrinkage defects. In this embodiment, the weld length was 200mm. After welding, the thin plate side was inspected and found to have no weld failure, back penetration, undercut, or other defects. The weld was uniformly formed, with no porosity or cracks on the surface. There was no wire sticking or burnt contact tip during the welding process, and the arc was stable.

[0061] In this embodiment of the invention, by using closed-loop determination of the molten pool height and precise directional adjustment of current parameters, the adaptability and control stability of the welding process are significantly improved. This effectively ensures sufficient penetration in thick plates and no burn-through defects in thin plates, greatly improving welding quality and adaptability to working conditions. It realizes the implementation of welding parameter adjustment strategies, completes closed-loop precise control of the molten pool height, enhances the adaptability and control accuracy of the welding process, ensures stable and reliable molten pool conditions on both sides of thick and thin plates, and improves welding quality and production yield.

[0062] Optionally, the welding parameter adjustment strategy further includes an oscillation adjustment strategy, and the adaptive control method for molten pool height further includes: After adjusting the height of the molten pool on the target adjustment side according to the current adjustment strategy, it is determined whether the welding parameter adjustment strategy meets the molten pool control requirements of the target adjustment side. If so, then keep the welding parameters of the welding torch unchanged; If not, the oscillation adjustment strategy is generated based on the variation characteristics of the molten pool height on the target adjustment side. The oscillation adjustment strategy includes at least one of the following: the oscillation amplitude adjustment of the welding torch, the oscillation frequency adjustment, and the dwell time adjustment.

[0063] Specifically, after adjusting the molten pool height on the target adjustment side using a current regulation strategy, it is further determined whether the current control strategy meets the molten pool control requirements. If the preset control target cannot be achieved, an oscillation regulation strategy is generated based on the molten pool height change characteristics, including at least one of the oscillation amplitude, oscillation frequency, and dwell time. Therefore, this invention constructs a two-level collaborative control mechanism with current regulation as the primary method and oscillation parameter regulation as a secondary method. Particularly in the case of welding 6-series aluminum alloy battery tray thick and thin plate butt joints with 1.6mm welding wire, it can optimize the molten pool height when the welding current alone cannot quickly stabilize the molten pool height. The oscillation amplitude enables precise allocation of the heat application range. By adjusting the oscillation frequency, it matches the solidification rhythm of the molten pool with the welding speed. By changing the dwell time, it enhances the penetration depth guarantee on the thick plate side or reduces the heat accumulation on the thin plate side. This overcomes the limitations of relying solely on a single current parameter for adjustment. It effectively addresses the risk of molten pool runaway caused by complex working conditions such as sudden changes in heat dissipation conditions, increased assembly gaps, and enhanced arc disturbances. The entire control system possesses hierarchical and progressive adaptive adjustment capabilities, fully balancing the penetration depth stability on the thick plate side with the control requirements for burn-through and undercut prevention on the thin plate side. This significantly improves the welding process's adaptability to dynamic working conditions.

[0064] In a preferred embodiment of the invention, regarding the adjustment of the oscillation amplitude: when the thin plate side is repeatedly overheated, the oscillation amplitude is reduced by 0.2~0.5mm to make the welding torch more biased towards the thick plate side; when the penetration depth on the thick plate side is insufficient, the oscillation amplitude is increased by 0.2~0.5mm to increase the heat input on the thick plate side. Regarding the adjustment of the dwell time: when the molten pool on the thin plate side drops too quickly, the dwell time on the thin plate side is shortened by 0.05~0.1s, and the dwell time on the thick plate side is extended by 0.05~0.1s.

[0065] In the embodiments of the present invention, by constructing a two-level adjustment mechanism that coordinates current and oscillation parameters, the robustness and adaptability of molten pool control are significantly enhanced, effectively improving the stability and control accuracy of the welding process under complex working conditions, and ensuring stable and reliable welding quality of thick and thin plates.

[0066] Combination Figure 4 As shown, the welding equipment mainly consists of two parts: a robot control circuit and a welding control circuit. The robot control circuit includes a welding torch oscillation position signal module and a robot oscillation output module, which work together to control the oscillation of the welding torch and provide position signal feedback. The welding torch oscillation position signal module inside the robot control circuit can transmit the collected position signal to the welding control circuit. The welding control circuit includes a pulse welding current output module, a welding control device, and a molten pool height detection module. It can trigger the molten pool height detection based on the position signal and output the corresponding pulse welding current based on the detection result. Finally, the current is applied to the welding process through the electrodes to achieve closed-loop adaptive control based on the welding torch oscillation position and molten pool height detection.

[0067] Combination Figure 5 As shown, another embodiment of the present invention provides a molten pool height adaptive control system, comprising: The position acquisition unit is used to acquire the swing position of the welding gun when the welding gun performs swing welding on the thin plate side and the thick plate side; A height detection unit is used to detect the height based on the swing position to obtain the molten pool heights corresponding to the thin plate side and the thick plate side, respectively. The data processing unit is used to determine the change data of the molten pool height corresponding to the thin plate side and the thick plate side, respectively, based on the molten pool height on the thin plate side and the molten pool height on the thick plate side. The state determination unit is used to determine the welding state corresponding to the thin plate side and the thick plate side respectively based on the molten pool height change data on the thin plate side and the molten pool height change data on the thick plate side. The judgment unit is used to determine whether it is necessary to adjust the molten pool height based on the welding state of the thin plate side and the welding state of the thick plate side; when it is necessary to adjust the molten pool height, the target adjustment side is determined based on the welding state of the thin plate side and the welding state of the thick plate side, wherein the target adjustment side includes the thin plate side, the thick plate side, or both sides. An adjustment unit is configured to generate a welding parameter adjustment strategy based on the molten pool height change data and the molten pool height on the target adjustment side, and adjust the molten pool height on the thin plate side and / or the molten pool height on the thick plate side according to the welding parameter adjustment strategy.

[0068] The advantages of the molten pool height adaptive control system of the present invention compared with the prior art are the same as those of the above-described molten pool height adaptive control method compared with the prior art, and will not be repeated here.

[0069] Another embodiment of the present invention provides an electronic device comprising: a processor and a memory, wherein the memory is used to store a computer program; When the computer program is loaded by the processor, it causes the processor to execute the molten pool height adaptive control method as described above.

[0070] The electronic device of the present invention has the same advantages over the prior art as the aforementioned adaptive control method for molten pool height, and will not be repeated here.

[0071] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A method for adaptive control of molten pool height, characterized in that, include: When the welding torch performs oscillating welding on the thin plate side and the thick plate side, the oscillation position of the welding torch is obtained; Based on the swing position, the height of the molten pool corresponding to the thin plate side and the thick plate side is obtained by height detection. Based on the molten pool height on the thin plate side and the molten pool height on the thick plate side, determine the molten pool height variation data corresponding to the thin plate side and the thick plate side respectively; Based on the change data of the molten pool height on the thin plate side and the change data of the molten pool height on the thick plate side, the welding states corresponding to the thin plate side and the thick plate side are determined respectively. Based on the welding status of the thin plate side and the welding status of the thick plate side, determine whether it is necessary to adjust the molten pool height; when it is necessary to adjust the molten pool height, determine the target adjustment side based on the welding status of the thin plate side and the welding status of the thick plate side, wherein the target adjustment side includes the thin plate side, the thick plate side, or both sides. Based on the change data of the molten pool height on the target adjustment side and the molten pool height, a welding parameter adjustment strategy is generated, and the molten pool height on the thin plate side and / or the molten pool height on the thick plate side is adjusted according to the welding parameter adjustment strategy.

2. The adaptive control method for molten pool height according to claim 1, characterized in that, The step of obtaining the oscillation position of the welding torch when performing oscillating welding on the thin plate side and the thick plate side includes: When the welding torch performs oscillating welding on the thin plate side and the thick plate side with a preset oscillation cycle, the oscillation position of the welding torch in each oscillation cycle is determined by the phase information of the oscillation cycle.

3. The adaptive control method for molten pool height according to claim 2, characterized in that, The step of detecting the height based on the swing position to obtain the molten pool height corresponding to the thin plate side and the thick plate side respectively includes: For each oscillation cycle of the welding torch, when the oscillation position reaches the height detection position corresponding to the thin plate side and the thick plate side respectively, a rapid wire feeding contact operation is performed, and when the welding voltage of the welding torch drops to a preset short-circuit voltage threshold, the actual wire feeding speed, preset wire feeding speed and wire feeding contact time corresponding to the thin plate side and the thick plate side respectively are obtained. Based on the actual wire feeding speed, the preset wire feeding speed, and the wire feeding contact corresponding to the thin plate side and the thick plate side respectively, the molten pool height corresponding to the thin plate side and the thick plate side within the oscillation cycle is determined.

4. The adaptive control method for molten pool height according to claim 3, characterized in that, The step of determining the molten pool height variation data corresponding to the thin plate side and the thick plate side based on the molten pool height on the thin plate side and the molten pool height on the thick plate side respectively includes: Obtain the molten pool heights corresponding to the thin plate side and the thick plate side in the current oscillation cycle, and the molten pool heights corresponding to the thin plate side and the thick plate side in the previous oscillation cycle; Based on the molten pool heights corresponding to the thin plate side and the thick plate side in the current oscillation cycle, and combined with the molten pool heights corresponding to the thin plate side and the thick plate side in the previous oscillation cycle, a difference calculation is performed to determine the change in molten pool heights corresponding to the thin plate side and the thick plate side. The changes in the molten pool height corresponding to the thin plate side and the thick plate side are respectively used as the molten pool height change data corresponding to the thin plate side and the thick plate side.

5. The adaptive control method for molten pool height according to claim 4, characterized in that, The step of determining the welding states corresponding to the thin plate side and the thick plate side respectively based on the molten pool height change data on the thin plate side and the molten pool height change data on the thick plate side includes: Obtain preset welding state determination rules corresponding to the thin plate side and the thick plate side respectively. The preset welding state determination rules include different ranges of molten pool height change and height thresholds corresponding to the welding states. Based on the molten pool height change data and molten pool height corresponding to the thin plate side and the thick plate side respectively, the molten pool height change range corresponding to different welding states is matched with the height threshold to determine the welding state corresponding to the thin plate side and the thick plate side respectively within the current oscillation cycle.

6. The adaptive control method for molten pool height according to claim 1, characterized in that, The welding state includes a balanced molten pool state and an unbalanced molten pool state; the welding state of the thin plate side and the welding state of the thick plate side are used to determine whether the molten pool height needs to be adjusted. When it is necessary to adjust the molten pool height, the target adjustment side is determined based on the welding status of the thin plate side and the welding status of the thick plate side, including: When the welding state of both the thin plate side and the thick plate side is the molten pool equilibrium state, it is determined that no molten pool height adjustment is required. When the welding state of the thin plate side or the welding state of the thick plate side is the molten pool unbalanced state, it is determined that the molten pool height needs to be adjusted, and the side or both sides in the molten pool unbalanced state are taken as the target adjustment side.

7. The adaptive control method for molten pool height according to claim 6, characterized in that, The welding parameter adjustment strategy includes a current adjustment strategy. The step of generating a welding parameter adjustment strategy based on the molten pool height change data and the molten pool height on the target adjustment side, and adjusting the molten pool height on the thin plate side and / or the molten pool height on the thick plate side according to the welding parameter adjustment strategy, includes: Based on the molten pool height change data and the molten pool height on the target adjustment side, a target adjustment direction is determined, which includes raising the molten pool height or lowering the molten pool height. Based on the target adjustment side and the target adjustment direction, the welding current adjustment amount of the target adjustment side is matched from the welding parameter mapping relationship corresponding to the welding state, and the welding current adjustment amount of the target adjustment side is used as the current adjustment strategy. Based on the welding parameter adjustment strategy, an adjustment command for the welding parameters of the welding torch is generated; Based on the adjustment command, the height of the molten pool on the target adjustment side is adjusted.

8. The adaptive control method for molten pool height according to claim 7, characterized in that, The welding parameter adjustment strategy also includes an oscillation adjustment strategy, and the adaptive control method for molten pool height further includes: After adjusting the height of the molten pool on the target adjustment side according to the current adjustment strategy, it is determined whether the welding parameter adjustment strategy meets the molten pool control requirements of the target adjustment side. If so, then keep the welding parameters of the welding torch unchanged; If not, the oscillation adjustment strategy is generated based on the variation characteristics of the molten pool height on the target adjustment side. The oscillation adjustment strategy includes at least one of the following: the oscillation amplitude adjustment of the welding torch, the oscillation frequency adjustment, and the dwell time adjustment.

9. A molten pool height adaptive control system, characterized in that, include: The position acquisition unit is used to acquire the swing position of the welding gun when the welding gun performs swing welding on the thin plate side and the thick plate side; A height detection unit is used to detect the height based on the swing position to obtain the molten pool heights corresponding to the thin plate side and the thick plate side, respectively. The data processing unit is used to determine the change data of the molten pool height corresponding to the thin plate side and the thick plate side, respectively, based on the molten pool height on the thin plate side and the molten pool height on the thick plate side. The state determination unit is used to determine the welding state corresponding to the thin plate side and the thick plate side respectively based on the molten pool height change data on the thin plate side and the molten pool height change data on the thick plate side. The judgment unit is used to determine whether it is necessary to adjust the molten pool height based on the welding state of the thin plate side and the welding state of the thick plate side; when it is necessary to adjust the molten pool height, the target adjustment side is determined based on the welding state of the thin plate side and the welding state of the thick plate side, wherein the target adjustment side includes the thin plate side, the thick plate side, or both sides. An adjustment unit is configured to generate a welding parameter adjustment strategy based on the molten pool height change data and the molten pool height on the target adjustment side, and adjust the molten pool height on the thin plate side and / or the molten pool height on the thick plate side according to the welding parameter adjustment strategy.

10. An electronic device, characterized in that, include: Processor and memory, the memory being used to store computer programs; When the computer program is loaded by the processor, it causes the processor to execute the molten pool height adaptive control method as described in any one of claims 1-8.

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