CN-122007556-A - Control method, device, equipment, medium and system for self-adaptive welding

CN122007556ACN 122007556 ACN122007556 ACN 122007556ACN-122007556-A

Abstract

The application provides a self-adaptive welding control method, device, equipment, medium and system, which are used for determining the hierarchy information of a current welding layer and the type of the welding groove according to the profile data of the welding groove, wherein the hierarchy information comprises an unwelded layer, an intermediate layer and a covering layer, the type of the groove comprises a single V-shaped groove and a V-shaped groove, determining a welding path and a welding wire dry elongation compensation value according to the hierarchy information of the current welding layer, the type of the welding groove and the position data of the moving unit, adjusting the moving unit according to the welding wire dry elongation compensation value to obtain an adjusted welding gun pose, and executing the welding operation of the current welding layer according to the welding path, the welding gun pose and welding technological parameters, so that the technical problems of low welding efficiency and unstable quality caused by the change of the groove morphology in the existing welding control technology are solved.

Inventors

WANG XIAOTENG
Dai xili
Zhong Ruiyun
WANG WENHUA
KANG JUNXIAN
LIU FENGYU

Assignees

中国铁建重工集团股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260319

Claims (11)

1. A method of controlling adaptive welding, comprising: Acquiring contour data of a welding groove under a current welding layer and position data of a moving unit, wherein the contour data of the welding groove comprises a groove angle and a groove bottom width, and the moving unit is used for adjusting the position of a welding gun; determining the layer information of the current welding layer, the welding groove type and welding process parameters according to the outline data of the welding groove, wherein the layer information comprises an unwelded layer, an intermediate layer and a cover layer, and the groove type comprises a single V-shaped groove and a V-shaped groove; determining a welding path and a welding wire dry elongation compensation value according to the level information of the current welding layer, the welding groove type and the position data of the mobile unit; Adjusting the mobile unit according to the welding wire dry extension compensation value to obtain an adjusted welding gun pose; And executing the welding operation of the current welding layer according to the welding path, the welding gun pose and the welding process parameters.
2. The control method according to claim 1, wherein determining a welding path and a wire dry elongation compensation value based on the level information of the current welding layer, the welding groove type, and the position data of the mobile unit, comprises: Determining welding process parameters according to the level information of the current welding layer, wherein the welding process parameters comprise a welding wire dry extension value, welding current and welding voltage; determining a welding path according to the welding process parameters and the position data of the mobile unit; Determining a preset welding wire dry extension threshold matched with the welding groove according to the groove type; and determining a welding wire elongation compensation value according to the preset welding wire dry elongation threshold and the welding process parameters.
3. The control method of claim 2, wherein determining a wire elongation compensation value based on the preset wire dry elongation threshold and the welding process parameter comprises: Determining a welding wire dry extension value according to the welding process parameters; comparing the welding wire dry extension value with a preset welding wire dry extension threshold value to obtain a comparison result; When the comparison result indicates that the dry extension value of the welding wire is in the range of the preset dry extension threshold value of the welding wire, calculating a difference value between the dry extension value of the welding wire and the preset dry extension threshold value of the welding wire according to the comparison result; And determining a welding wire dry extension compensation value according to the difference value between the welding wire dry extension value and the preset welding wire dry extension threshold value.
4. The control method according to claim 1, wherein after performing the welding operation of the current welding layer according to the welding path, the gun pose, and the welding process parameters, the method further comprises: If the level information of the current welding layer represents that the current welding layer is a cover layer, ending the welding operation; And if the level information of the current welding layer represents that the current welding layer is an unwelded layer or an intermediate layer, continuing to execute the welding operation of the next welding layer until the covering layer is reached.
5. The control method according to claim 3, wherein after comparing the wire dry elongation value with the preset wire dry elongation threshold value, the method further comprises: if the comparison result indicates that the welding wire dry extension value exceeds the range of the preset welding wire dry extension threshold value, generating a parameter overrun early warning signal; and displaying the overrun early warning signal and the welding wire dry extension value to an operator to finish early warning processing.
6. The control method according to any one of claims 1 to 4, wherein adjusting the moving unit according to the wire dry elongation compensation value to obtain an adjusted gun position, comprises: determining a transformation relation of a welding gun tool coordinate system relative to a base coordinate system of the mobile unit; Calculating the position to be adjusted of the mobile unit under the base standard system according to the transformation relation and the welding wire dry extension compensation value; controlling the mobile unit to move according to the position to-be-adjusted quantity to obtain an adjusted welding gun pose; the welding gun tool coordinate system and the base mark of the mobile unit are set before the profile data of the welding groove under the current welding layer and the position data of the mobile unit are obtained.
7. The control method according to any one of claims 1 to 4, wherein acquiring profile data of a welding groove under a current weld layer and position data of a mobile unit includes: Based on a visual sensor, scanning a welding groove under the current welding layer to acquire contour data of the welding groove; and acquiring the position information of the lower guide rail of the mobile unit when the vision sensor performs idle scanning on the welding groove in real time, and acquiring the position data of the mobile unit.
8. A control device for adaptive welding, comprising: The detection module is used for acquiring the profile data of the welding groove under the current welding layer and the position data of the moving unit, wherein the profile data of the welding groove comprises a groove angle and a groove bottom width, and the moving unit is used for adjusting the position of the welding gun; the information determining module is used for determining the level information of the current welding layer, the welding groove type and the welding process parameters according to the profile data of the welding groove, wherein the level information comprises an unwelded layer, an intermediate layer and a cover layer, and the groove type comprises a single V-shaped groove and a V-shaped groove; The welding information determining module is used for determining a welding path and a welding wire dry extension compensation value according to the level information of the current welding layer, the welding groove type and the position data of the mobile unit; the welding gun adjusting module is used for adjusting the moving unit according to the welding wire dry extension compensation value to obtain an adjusted welding gun pose; And the welding module is used for executing the welding operation of the current welding layer according to the welding path, the welding gun pose and the welding process parameters.
9. The control device for adaptive welding is characterized by comprising a memory and a processor; The memory stores computer-executable instructions; The processor executing computer-executable instructions stored in the memory, causing the processor to perform the method of any one of claims 1-7.
10. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the method of any one of claims 1-7.
11. A control system for adaptive welding, characterized by comprising a computer program which, when executed by a processor, implements the method of any of claims 1-7.

Description

Control method, device, equipment, medium and system for self-adaptive welding Technical Field The present application relates to the field of welding technologies, and in particular, to a method, an apparatus, a device, a medium, and a system for controlling adaptive welding. Background In the field of industrial manufacturing, the welding of medium plates is widely applied to high-precision scenes such as petrochemical equipment manufacturing, and the problems of complex welding groove specifications, dynamic change of construction site environments and the like generally exist in the fields, so that an automatic welding method capable of sensing the welding environment in real time and dynamically adjusting welding parameters is needed to meet the welding requirements under complex working conditions. In the prior art, automated welding equipment relies primarily on preprogrammed welding paths and fixed process parameters to perform welding operations. In addition, in a multi-layer, multi-pass welding scenario, existing equipment typically relies on manual experience to modify welding parameters to accomplish automated welding. However, the above-described solutions lack the ability to adaptively compensate for different welding conditions, reducing the efficiency and quality of the welding. Disclosure of Invention The application provides a control method, a device, equipment, a medium and a system for self-adaptive welding, which are used for solving the technical problems that the self-adaptive compensation capability cannot be realized for different welding conditions and the welding efficiency is low in the existing welding control method. In a first aspect, the present application provides a control method for adaptive welding, including: Acquiring contour data of a welding groove under a current welding layer and position data of a moving unit, wherein the contour data of the welding groove comprises a groove angle and a groove bottom width, and the moving unit is used for adjusting the position of a welding gun; determining the layer information of the current welding layer, the welding groove type and welding process parameters according to the outline data of the welding groove, wherein the layer information comprises an unwelded layer, an intermediate layer and a cover layer, and the groove type comprises a single V-shaped groove and a V-shaped groove; determining a welding path and a welding wire dry elongation compensation value according to the level information of the current welding layer, the welding groove type and the position data of the mobile unit; Adjusting the mobile unit according to the welding wire dry extension compensation value to obtain an adjusted welding gun pose; And executing the welding operation of the current welding layer according to the welding path, the welding gun pose and the welding process parameters. Further, determining a welding path and a wire dry elongation compensation value according to the level information of the current welding layer, the welding groove type and the position data of the mobile unit, including: Determining welding process parameters according to the level information of the current welding layer, wherein the welding process parameters comprise a welding wire dry extension value, welding current and welding voltage; determining a welding path according to the welding process parameters and the position data of the mobile unit; Determining a preset welding wire dry extension threshold matched with the welding groove according to the groove type; and determining a welding wire elongation compensation value according to the preset welding wire dry elongation threshold and the welding process parameters. Further, determining a welding wire elongation compensation value according to the preset welding wire dry elongation threshold and the welding process parameter, including: Determining a welding wire dry extension value according to the welding process parameters; Comparing the welding wire dry extension value with the preset welding wire dry extension threshold value to obtain a comparison result; When the comparison result indicates that the dry extension value of the welding wire is in the range of the preset dry extension threshold value of the welding wire, calculating a difference value between the dry extension value of the welding wire and the preset dry extension threshold value of the welding wire according to the comparison result; And determining a welding wire dry extension compensation value according to the difference value between the welding wire dry extension value and the preset welding wire dry extension threshold value. Further, after performing the welding operation of the current welding layer according to the welding path, the welding gun pose and the welding process parameters, the method further includes: If the level information of the current welding layer represents that the current welding layer is a cover l