阅读说明：本技术 焊接方法、自动焊接装置及存储介质 (Welding method, automatic welding device, and storage medium ) 是由 王丽莉 蒋伟光 龚兴元 张瑞静 于 2019-11-14 设计创作，主要内容包括：本发明公开了一种焊接方法、自动焊接装置及存储介质,所述方法包括：获取焊接板件的型号,根据所述焊接板件的型号确定对应的所有焊点的焊接位置以及焊接参数；根据所有焊点的焊接位置生成对应的焊接轨迹；当焊枪在所述焊接轨迹上移动时,控制所述焊枪在抵达每一焊点的焊接位置时根据每一焊点对应的焊接参数进行焊接。本发明中焊枪通过预先确定的焊接轨迹进行移动并焊接的过程中,可以在对每个焊点进行焊接时采用对应该焊点的焊接方式进行焊接。从而对焊接板件上的不同位置的焊点进行对应焊接,防止因焊接方式单一而导致焊点产生焊接缺陷。(The invention discloses a welding method, an automatic welding device and a storage medium, wherein the method comprises the following steps: obtaining the model of a welding plate, and determining the welding positions and welding parameters of all corresponding welding points according to the model of the welding plate; generating corresponding welding tracks according to the welding positions of all welding points; and when the welding gun moves on the welding track, controlling the welding gun to weld according to the welding parameters corresponding to each welding point when the welding gun reaches the welding position of each welding point. In the process that the welding gun moves and welds through the predetermined welding track, the welding mode corresponding to each welding point can be adopted for welding when each welding point is welded. Therefore, the welding points at different positions on the welding plate are correspondingly welded, and the welding defect of the welding points caused by single welding mode is prevented.)

1. A welding method is applied to an automatic welding device and is characterized by comprising the following steps:

obtaining the model of a welding plate, and determining the welding positions and welding parameters of all corresponding welding points according to the model of the welding plate;

generating corresponding welding tracks according to the welding positions of all welding points;

and when the welding gun moves on the welding track, controlling the welding gun to weld according to the welding parameters corresponding to each welding point when the welding gun reaches the welding position of each welding point.

2. The welding method of claim 1, wherein the welding parameters comprise a welding pressure and a welding current, and wherein controlling the welding torch to weld based on the welding parameters for each weld spot when the welding torch reaches the welding location for each weld spot comprises:

and when the welding gun reaches the welding position of each welding point, controlling the welding gun to weld the welding point according to the welding pressure and the welding current corresponding to the welding point.

3. The welding method of claim 2, wherein the automatic welding device comprises a plurality of pressure control switches corresponding to different welding pressures and a plurality of current control switches corresponding to different welding currents, respectively, and the step of controlling the welding torch to weld the welding points according to the welding pressure and the welding current corresponding to the welding points when the welding torch reaches the welding position of each welding point comprises:

when the welding gun reaches the welding position of each welding point, determining a corresponding pressure control switch and a corresponding current control switch according to the welding pressure and the welding current corresponding to the welding point;

and controlling the determined pressure control switch and the determined current control switch to be closed so that the welding gun welds the welding point through the corresponding welding pressure and welding current.

4. The welding method of claim 1, wherein the step of generating a corresponding weld trace based on the weld locations of all weld spots comprises:

and generating corresponding welding tracks according to a preset track generation rule and the welding positions of all welding points.

5. The welding method according to claim 4, wherein the step of generating the corresponding welding trajectories according to the preset trajectory generation rule and the welding positions of all the welding points comprises:

and sequencing the welding positions of all the welding points in the anticlockwise direction, and sequentially connecting the welding positions of all the welding points according to a rule that the number is from small to large so as to generate a corresponding welding track.

6. The welding method according to claim 4, wherein the step of generating the corresponding welding trajectories according to the preset trajectory generation rule and the welding positions of all the welding points comprises:

acquiring the shape of the welded plate, and determining each tooling position of the welded plate;

comparing the welding tracks of all adjacent welding points on the welding track with the positions of the tools, and taking the adjacent welding points of the welding track passing through the positions of the tools as a pair of avoidance welding points according to a preset track generation rule;

and arranging empty welding points between each pair of the avoided welding points, and regenerating an avoided welding track between each pair of the avoided welding points according to the empty welding points so that the avoided welding track passes through the empty welding points and is kept away from the position of the tool.

7. Welding method according to any one of claims 1-6, wherein the step of generating a corresponding welding trajectory from the welding positions of all welding spots comprises:

generating a coordinate value corresponding to each welding position according to the welding positions of all welding points in a preset coordinate system;

and generating welding tracks passing through all the welding positions according to the coordinate values of all the welding positions.

8. The welding method according to claim 7, wherein after the step of generating the welding locus passing through all the welding positions based on the coordinate values of all the welding positions, further comprising:

generating motion parameters of the welding gun according to the welding track, wherein the motion parameters comprise the motion direction, the motion speed and the motion acceleration of the welding gun;

and controlling the welding gun to move on the welding track according to the motion parameters.

9. An automated welding device comprising a memory, a processor, and a welding program stored on the memory and executable on the processor, wherein: the welding program when executed by the processor implements the steps of the welding method of any of claims 1 to 8.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a welding program which, when executed by a processor, carries out the steps of the welding method according to any one of claims 1 to 8.

Technical Field

The invention relates to the field of welding, in particular to a welding method, an automatic welding device and a storage medium.

Background

At present, welded plates are mainly welded by means of resistance spot welding. For example, in the welding process of an automobile body, the existing automatic welding system can weld a plurality of welding points of the automobile body through welding tracks, and has the characteristics of low cost, small occupied space, loose installation environment and the like.

However, in the existing welding plate, due to the difference of the plate thickness, the plate strength, the plate material and the plate surface shape at the welding position, in the welding process by adopting an automatic welding system, the welding mode cannot be changed in the welding process under the same welding track, so that a part of welding spots are easy to be subjected to cold welding or crack welding, and the other part of welding spots are easy to be subjected to multi-welding. When welding of welding spots is abnormal, serious potential safety hazards are easily caused.

Disclosure of Invention

The invention mainly aims to provide a welding method, an automatic welding device and a storage medium, which are used for solving the problem that the existing welding system is single in welding mode and easily causes welding spot defects.

In order to achieve the above object, the present invention provides a welding method, an automatic welding apparatus, and a storage medium, the welding method including:

obtaining the model of a welding plate, and determining the welding positions and welding parameters of all corresponding welding points according to the model of the welding plate;

generating corresponding welding tracks according to the welding positions of all welding points;

and when the welding gun moves on the welding track, controlling the welding gun to weld according to the welding parameters corresponding to each welding point when the welding gun reaches the welding position of each welding point.

Optionally, the welding parameters include welding pressure and welding current, and the step of controlling the welding gun to weld according to the welding parameters corresponding to each welding point when the welding gun reaches the welding position of each welding point includes:

and when the welding gun reaches the welding position of each welding point, controlling the welding gun to weld the welding point according to the welding pressure and the welding current corresponding to the welding point.

Optionally, the automatic welding device includes a plurality of pressure control switches corresponding to different welding pressures and a plurality of current control switches corresponding to different welding currents, and the step of controlling the welding gun to weld the welding points according to the welding pressure and the welding current corresponding to the welding points when the welding gun reaches the welding position of each welding point includes:

when the welding gun reaches the welding position of each welding point, determining a corresponding pressure control switch and a corresponding current control switch according to the welding pressure and the welding current corresponding to the welding point;

and controlling the determined pressure control switch and the determined current control switch to be closed so that the welding gun welds the welding point through the corresponding welding pressure and welding current.

Optionally, the step of generating corresponding welding tracks according to the welding positions of all welding points includes:

and generating corresponding welding tracks according to a preset track generation rule and the welding positions of all welding points.

Optionally, the step of generating the corresponding welding tracks according to the preset track generation rule and the welding positions of all the welding points includes:

and sequencing the welding positions of all the welding points in the anticlockwise direction, and sequentially connecting the welding positions of all the welding points according to a rule that the number is from small to large so as to generate a corresponding welding track.

Optionally, the step of generating the corresponding welding tracks according to the preset track generation rule and the welding positions of all the welding points includes:

acquiring the shape of the welded plate, and determining each tooling position of the welded plate;

comparing the welding tracks of all adjacent welding points on the welding track with the positions of the tools, and taking the adjacent welding points of the welding track passing through the positions of the tools as a pair of avoidance welding points according to a preset track generation rule;

and arranging empty welding points between each pair of the avoided welding points, and regenerating an avoided welding track between each pair of the avoided welding points according to the empty welding points so that the avoided welding track passes through the empty welding points and is kept away from the position of the tool.

Optionally, the step of generating corresponding welding tracks according to the welding positions of all welding points includes:

generating a coordinate value corresponding to each welding position according to the welding positions of all welding points in a preset coordinate system;

and generating welding tracks passing through all the welding positions according to the coordinate values of all the welding positions.

Optionally, after the step of generating the welding tracks passing through all the welding positions according to the coordinate values of all the welding positions, the method further includes:

generating motion parameters of the welding gun according to the welding track, wherein the motion parameters comprise the motion direction, the motion speed and the motion acceleration of the welding gun;

and controlling the welding gun to move on the welding track according to the motion parameters.

In addition, to achieve the above object, the present invention further provides an automatic welding device including a memory, a processor, and a welding program stored on the memory and executable on the processor, wherein: the welding program when executed by the processor implements the steps of the welding method as described above.

Further, to achieve the above object, the present invention also provides a computer readable storage medium having stored thereon a welding program, which when executed by a processor, implements the steps of the welding method as described above.

According to the welding method, the automatic welding device and the storage medium provided by the embodiment of the invention, the welding positions of all welding points on the plate and the welding parameters required by each welding point are determined by obtaining the model of the plate to be welded. And generating a welding track according to the welding position of the welding point, controlling the welding gun to move along the welding track, and welding the welding point on the welding track in the moving process. Welding can be carried out according to the welding parameters of each welding point in the process of welding each welding point. In the process of moving welding of the welding gun through the predetermined welding track, welding parameters which are consistent with each welding point can be set when each welding point is welded, so that each welding point can be welded in a proper welding mode. Therefore, the welding points at different positions on the welding plate are correspondingly welded, and the welding defect of the welding points caused by single welding mode is prevented.

Drawings

FIG. 1 is a schematic diagram of an apparatus in a hardware operating environment according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart of a first embodiment of the welding method of the present invention;

FIG. 3 is a schematic flow chart of a second embodiment of the welding method of the present invention;

FIG. 4 is a schematic flow chart of a third embodiment of the welding method of the present invention;

FIG. 5 is a schematic flow chart of a fifth embodiment of the welding method of the present invention;

FIG. 6 is a schematic flow chart of a welding method according to a sixth embodiment of the present invention;

FIG. 7 is a schematic flow chart of a seventh embodiment of the welding method of the present invention;

fig. 8 is a schematic view of a plurality of pressure control switches and a plurality of current control switches in a third embodiment of a welding method of the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.

The terminal of the embodiment of the invention is an automatic welding device which is used for welding a plurality of welding points on a welding plate placed on a welding platform.

As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.

Optionally, the terminal may further include a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, a WiFi module, and the like. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that adjusts the brightness of the display screen based on the ambient light level and a proximity sensor that turns off the display screen and/or backlight when the hardware device is moved to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally, three axes), can detect the magnitude and direction of gravity when the motion sensor is stationary, and can be used for applications (such as horizontal and vertical screen switching, related games, magnetometer attitude calibration) for recognizing the attitude of hardware equipment, and related functions (such as pedometer and tapping) for vibration recognition; of course, the hardware device may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, and so on, which are not described herein again.

Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.

As shown in fig. 1, the terminal of the present invention takes an automatic welding apparatus as an example, and a memory 1005, which is a kind of computer storage medium, may include an operating system, a network communication module, a user interface module, and a welding program.

In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and processor 1001 may be configured to invoke a welding program stored in memory 1005 and perform the following operations:

obtaining the model of a welding plate, and determining the welding positions and welding parameters of all corresponding welding points according to the model of the welding plate;

generating corresponding welding tracks according to the welding positions of all welding points;

and when the welding gun moves on the welding track, controlling the welding gun to weld according to the welding parameters corresponding to each welding point when the welding gun reaches the welding position of each welding point.

Further, the processor 1001 may call a program stored in the memory 1005, and also perform the following operations:

and when the welding gun reaches the welding position of each welding point, controlling the welding gun to weld the welding point according to the welding pressure and the welding current corresponding to the welding point.

Further, the processor 1001 may call a program stored in the memory 1005, and also perform the following operations:

when the welding gun reaches the welding position of each welding point, determining a corresponding pressure control switch and a corresponding current control switch according to the welding pressure and the welding current corresponding to the welding point;

and controlling the determined pressure control switch and the determined current control switch to be closed so that the welding gun welds the welding point through the corresponding welding pressure and welding current.

Further, the processor 1001 may call a program stored in the memory 1005, and also perform the following operations:

and generating corresponding welding tracks according to a preset track generation rule and the welding positions of all welding points.

Further, the processor 1001 may call a program stored in the memory 1005, and also perform the following operations:

and sequencing the welding positions of all the welding points in the anticlockwise direction, and sequentially connecting the welding positions of all the welding points according to a rule that the number is from small to large so as to generate a corresponding welding track.

Further, the processor 1001 may call a program stored in the memory 1005, and also perform the following operations:

acquiring the shape of the welded plate, and determining each tooling position of the welded plate;

comparing the welding tracks of all adjacent welding points on the welding track with the positions of the tools, and taking the adjacent welding points of the welding track passing through the positions of the tools as a pair of avoidance welding points according to a preset track generation rule;

and arranging empty welding points between each pair of the avoided welding points, and regenerating an avoided welding track between each pair of the avoided welding points according to the empty welding points so that the avoided welding track passes through the empty welding points and is kept away from the position of the tool.

Further, the processor 1001 may call a program stored in the memory 1005, and also perform the following operations:

generating a coordinate value corresponding to each welding position according to the welding positions of all welding points in a preset coordinate system;

and generating welding tracks passing through all the welding positions according to the coordinate values of all the welding positions.

Further, the processor 1001 may call a program stored in the memory 1005, and also perform the following operations:

generating motion parameters of the welding gun according to the welding track, wherein the motion parameters comprise the motion direction, the motion speed and the motion acceleration of the welding gun;

and controlling the welding gun to move on the welding track according to the motion parameters.

The specific embodiment of the present invention using the automatic welding device is substantially the same as the embodiments of the welding method described below, and will not be described herein again.

Referring to fig. 2, fig. 2 is a schematic flow chart of a welding method according to a first embodiment of the present invention, wherein the welding method includes the following steps:

step S10, obtaining the model of the welding plate, and determining the welding positions and welding parameters of all corresponding welding points according to the model of the welding plate;

the embodiment is applied to an automatic welding device, the automatic welding device is provided with a storage, a control module and a welding gun, the control module can control the welding gun to move along a welding track according to the welding track stored in the storage, and stops moving when the welding gun reaches a corresponding welding point position on the welding track, and the welding gun continues to move along the welding track after welding the welding point until all welding points on the welding track are welded. Wherein, welder adopts resistance spot welding's mode, through exporting welding current to resistance in welding process for resistance heating and heating up, thereby fuse the contact surface with two work pieces and connect. Meanwhile, in order to prevent the occurrence of arc on the contact surfaces and to forge weld metal, the welding torch needs to always apply a corresponding welding pressure during welding.

When the welding plate is arranged on the welding platform, the control module of the automatic welding device can acquire the model of the welding plate, and determine the welding positions of all welding points required to be welded on the welding plate and the welding parameters corresponding to each welding point according to the model of the welding plate. Specifically, because the plate thickness, the plate strength, the plate material and the plate surface shape at the position of each welding point are different, the welding parameters required to be adopted in the welding process of the welding gun are also different.

Step S20, generating corresponding welding tracks according to the welding positions of all welding points;

after the welding positions of all the welding points are obtained, the control module can generate a corresponding welding track according to the welding positions of all the welding points, so that the welding track passes through the welding positions of all the welding points and the tracks are not repeated. It can be understood that, since the welding positions of all the welding points of the welding plate of the same type do not change, when the welding plate of the type is welded for the first time, the welding locus needs to be generated according to the welding positions of all the welding points, and after the welding locus is generated, the corresponding relationship between the welding locus and the welding plate can be stored in the memory of the automatic welding device. When the welding plate of the type is welded later, the corresponding welding track can be directly read from the memory without being generated according to the welding position of the welding point again.

And step S30, when the welding gun moves on the welding track, controlling the welding gun to weld according to the welding parameters corresponding to each welding point when the welding gun reaches the welding position of each welding point.

After the welding track of the welded plate is obtained, the control module can control the welding gun to move along the welding track. And in the moving process of the welding gun, when the welding gun reaches the welding position of one welding point, controlling the welding gun to stop moving, welding at the welding position according to the welding parameters corresponding to the welding point, and continuously moving along the welding track line after the welding is finished until all the welding points on the welding track are welded.

In the embodiment, the welding positions of all welding points on the plate and the welding parameters required by each welding point are determined by obtaining the model of the plate to be welded. And generating a welding track according to the welding position of the welding point, controlling the welding gun to move along the welding track, and welding the welding point on the welding track in the moving process. Welding can be carried out according to the welding parameters of each welding point in the process of welding each welding point. In the process of moving welding of the welding gun through the predetermined welding track, welding parameters which are consistent with each welding point can be set when each welding point is welded, so that each welding point can be welded in a proper welding mode. Therefore, the welding accuracy of welding spots on different positions of the plate is improved, and the welding spots are prevented from generating welding defects.

Further, referring to fig. 3, fig. 3 is a flowchart illustrating a second embodiment of the welding method according to the present invention, based on the embodiment illustrated in fig. 2, in step S30, when the welding torch moves on the welding track, the step of controlling the welding torch to weld according to the welding parameter corresponding to each welding point when the welding torch reaches the welding position of each welding point includes:

and step S31, when the welding gun moves on the welding track and reaches the welding position of each welding point, controlling the welding gun to weld the welding point according to the welding pressure and the welding current corresponding to the welding point.

In this embodiment, the welding parameters used by the welding torch during welding include welding pressure and welding current. The pressure that the welding gun continuously applies is also different at different welding pressures. And the temperature rising speed of the resistor used for heating on the welding gun can be changed by adjusting the welding current output by the welding gun. Depending on the position of each spot on the welded plate and the function of the weld, different welding pressures and welding currents are required. When the welding gun welds each welding spot on the welding track, the welding spot can be welded through the welding pressure and the welding current corresponding to the welding spot which are obtained in advance, so that the actual welding effect is improved.

Further, referring to fig. 4, fig. 4 is a flowchart illustrating a third embodiment of the welding method according to the present invention, based on the embodiment shown in fig. 3, in which the automatic welding device includes a plurality of pressure control switches corresponding to different welding pressures and a plurality of current control switches corresponding to different welding currents, respectively, and the step S31 of controlling the welding torch to weld the welding points according to the welding pressure and the welding current corresponding to the welding points when the welding torch reaches the welding position of each welding point while the welding torch moves on the welding track includes:

step S311, when the welding gun moves on the welding track and reaches the welding position of each welding point, determining a corresponding pressure control switch and a corresponding current control switch according to the welding pressure and the welding current corresponding to the welding point;

and step S312, controlling the determined pressure control switch and the determined current control switch to be closed so that the welding gun welds the welding point through the corresponding welding pressure and welding current.

In this embodiment, the automatic welding system includes a plurality of pressure control switches and a circuit control switch, different pressure control switches correspond to different welding pressures, different current control switches correspond to different welding currents, and when the welding gun moves to the welding point position along the welding track, the control module can select the pressure control switch corresponding to the welding voltage required by the welding point from the plurality of pressure control switches and close the pressure control switch. Similarly, the control module may select a current control switch corresponding to the welding current from the plurality of current control switches to close, so that the welding gun performs the welding process using the welding pressure and the welding current required by the welding point. As shown in fig. 8, fig. 8 is an embodiment of an automatic welding apparatus having two pressure control switches and four current control switches. The two pressure control switches correspond to a high welding pressure and a low welding pressure, respectively, and only one of the two pressure control switches can be kept in a closed state. Through selecting suitable switch to close before each solder joint welding to produce the required welding pressure of this solder joint and welding current and weld, can carry out accurate welding to each solder joint, promote the welding fastness of every solder joint, thereby improve the welding effect of welding plate.

It should be noted that, in the above embodiment, the welding pressure and the welding current are selected by closing one of a plurality of switches for controlling different welding pressures or welding currents. In other embodiments, the selection of the welding pressure or the welding current can also be realized by setting one control switch corresponding to different welding pressures or corresponding to different welding currents and adjusting the gear position or the closed loop of the control switch.

Further, in a fourth embodiment of the welding method according to the present invention, based on the embodiment shown in fig. 2, in step S20, the step of generating corresponding welding tracks according to the welding positions of all welding points includes:

and step S21, generating corresponding welding tracks according to preset track generation rules and the welding positions of all welding points.

In this embodiment, when the automatic welding device determines the welding positions of all the welding points, the welding positions of all the welding points may be connected by a trajectory according to a trajectory generation rule preset by a user, so as to obtain the welding trajectory. It can be understood that according to different trajectory generation rules set by a user, different welding trajectories are generated even if the welding positions of the welding points are identical. For example, the trajectory generation rule set by the user may be a separation according to the welding manner of the welding point. Welding points with the same welding pressure and welding current requirements form a same type of track, and the same type of track is combined into a welding track after a plurality of same type of tracks are obtained. According to the above rules, after the welding gun is adjusted to a certain welding voltage and welding current in the welding process, all welding points corresponding to the welding mode can be welded, and then the welding voltage and the welding current of the welding gun are changed to weld other welding points. Therefore, the change times of welding parameters of the welding gun are reduced, and the service lives of the welding gun and the automatic welding device are prolonged.

Further, referring to fig. 5, fig. 5 is a flowchart illustrating a fifth embodiment of the welding method according to the present invention, based on the fourth embodiment, the step S21 of generating the corresponding welding track according to the preset track generation rule and the welding positions of all welding points includes:

step S211, sequencing the welding positions of all welding points in a counterclockwise direction, and sequentially connecting the welding positions of all welding points according to a rule that the number is from small to large to generate a corresponding welding track.

In this embodiment, the track generation rule preset by the user is to perform sequencing numbering according to the welding positions of all welding points in the counterclockwise direction. Of course, clockwise ordering may be used. Wherein the first numbered weld point may be the weld point closest to the welding gun. After the numbers are sorted anticlockwise, the welding positions of all welding points are connected according to the sequence from small to large of the numbers to generate the welding track. Through setting up anticlockwise welding track, can be so that welder is roughly the same at the welding track of the in-process of welding to different welding plates to can keep the uniformity that welder moved in welding process.

Further, referring to fig. 6, fig. 6 is a flowchart illustrating a sixth embodiment of the welding method according to the present invention, based on the fourth embodiment, in step S21, the step of generating corresponding welding tracks according to the preset track generation rule and the welding positions of all welding points includes:

step S212, acquiring the shape of the welded plate, and determining each tooling position of the welded plate;

step S213, comparing the welding tracks of all adjacent welding points on the welding track with the positions of the tools, and taking the adjacent welding points of the welding track passing through the positions of the tools as a pair of avoidance welding points according to a preset track generation rule;

and S214, arranging empty welding points between each pair of the avoided welding points, and regenerating an avoided welding track between each pair of the avoided welding points according to the empty welding points so that the avoided welding track passes through the empty welding points and is kept away from the position of the tool.

In this embodiment, automatic welder places in welding platform after the welding plate, can confirm the shape that the welding plate corresponds and the frock position that needs set up other frocks on the welding plate according to the model of the welding plate who obtains. It can be understood that, in the welding process, a protrusion or a thermosensitive device may be arranged at the position of other tools, and the welding gun may touch or cause damage to the device when passing through the device, so that the welding gun needs to avoid the position of other tools when moving. After generating welding tracks according to the welding positions of all welding spots, the automatic welding device can check the welding track between every two adjacent welding spots so as to judge whether the track between the two adjacent welding spots passes through the position of each tool. And the track between two adjacent welding points of any tool position needs to be modified so as to scale the tool position by the track. And when determining that the track between one or more adjacent welding points passes through the position of the tool, taking each two adjacent welding points as a pair of avoidance welding points. Namely, the welding track between each pair of avoiding welding points needs to be modified. Empty welding points can be arranged between each pair of avoiding welding points, the number of the empty welding points can be one or more, and the positions of the empty welding points are away from the position of the tool. And the welding track between each pair of avoiding welding points is reset to be an avoiding welding track passing through the empty welding points between the avoiding welding points, and the avoiding welding track does not pass through each tool position. The avoiding welding track is reset to replace the original welding track passing through the tool position, so that the welding gun can avoid from the tool position of the welding plate in the moving process, and the interference of the welding gun to other tools in the welding process is avoided.

It should be noted that the welding spot is set only to make the welding track avoid other tooling positions, and the welding gun does not perform welding action when reaching the welding spot.

Further, referring to fig. 7, fig. 7 is a schematic flowchart of a seventh embodiment of the welding method of the present invention, and based on the above embodiments shown in fig. 2 to 6, the step S20 of generating the corresponding welding tracks according to the welding positions of all welding points includes:

step S22, generating coordinate values corresponding to each welding position according to the welding positions of all welding points in a preset coordinate system;

in step S23, a welding locus passing through all the welding positions is generated based on the coordinate values of all the welding positions.

In this embodiment, the automatic welding device may generate a preset coordinate system on the welding platform, and convert the welding position of each welding point into a corresponding coordinate value in the coordinate system after acquiring the welding positions of all welding points. And determining the welding position of the corresponding welding point according to each coordinate value. All the coordinate values are connected into a track on the coordinate system, and the welding gun moves according to the track, so that the welding track of the welding gun can be correspondingly generated. Because the welding gun is controlled by the automatic welding device to carry out the welding process, the welding gun is controlled to move according to the coordinate value in a mode of setting a coordinate system, and the accuracy and the stability of the moving track of the welding gun can be kept. When the welded plates are the same type plates produced in batch, the welding track of the welding gun to each welded plate can be more consistent.

Further, in an eighth embodiment of the welding method according to the present invention, based on the above-mentioned embodiment shown in fig. 7, in step S23, the step of generating the welding locus passing through all the welding positions according to the coordinate values of all the welding positions includes:

generating motion parameters of the welding gun according to the welding track, wherein the motion parameters comprise the motion direction, the motion speed and the motion acceleration of the welding gun;

and controlling the welding gun to move on the welding track according to the motion parameters.

After the welding track of the welding gun is determined, the automatic welding device can generate the motion parameters of the welding gun according to the track line of the welding track. The motion parameters may specifically include direction, speed, and acceleration of the torch motion. Generally, in the conventional welding process of the welding torch, the speed of the welding torch during movement is fixed. In this embodiment, the automatic welding device may control the welding torch to adjust the moving speed at different positions of the welding track by setting the moving speed and the acceleration of the welding torch. For example, in comparatively straight multistage orbit, can set up certain acceleration for welder can improve the translation rate, and then reduces welder's time of moving on the welding orbit, promotes whole welding process's speed.

Optionally, when a new type of welding plate needs to be welded but the welding positions and the welding parameters of the welding points on the welding plate cannot be obtained, a user may introduce the welding positions of all the welding points and the corresponding welding parameters of the welding plate into an automatic welding device in a software programming manner to generate a welding track corresponding to the welding plate. The welding track corresponding to the welding plate of the type can be generated through one-time setting. When welding the same type of welding plate later, the corresponding welding track can be directly obtained without regeneration. The welding track can be exported to other automatic welding devices for sharing.

In addition, an embodiment of the present invention further provides a computer-readable storage medium, on which a welding program is stored, where the storage medium may be the Memory 1005 in the terminal in fig. 1, and may also be at least one of a ROM (Read-Only Memory)/RAM (Random Access Memory), a magnetic disk, and an optical disk, and the computer-readable storage medium includes several instructions to enable a member device (which may be a mobile phone, a computer, a server, or a television, etc.) with a processor to execute the welding method according to the embodiments of the present invention.

It is to be understood that throughout the description of the present specification, reference to the term "one embodiment", "another embodiment", "other embodiments", or "first through nth embodiments", etc., is intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.