All-position welding control method and system for consumable electrode pulse gas shielded welding

Abstract

The invention discloses a consumable electrode pulse gas shielded welding all-position welding control method and system, and the method comprises the steps: obtaining the direction of a welding gun in a welding process in real time, and determining an included angle between the direction of the welding gun and the gravity direction of the welding gun; if the included angle is smaller than 90 degrees, the pulse peak current and the peak rise rate are reduced; if the included angle is larger than 90 degrees, the pulse peak current and the peak rise rate are increased; if the adjusted pulse peak current and the peak rise rate are both smaller than the standard values of the pulse peak current and the peak rise rate, the peak time and the base value current are increased; if the adjusted pulse peak current and the peak rise rate are both greater than the standard values of the pulse peak current and the peak rise rate, reducing the peak time and the base value current; therefore, the molten drop transition form is one pulse and one drop, and the arc height is consistent. According to the method, it can be guaranteed that in the welding process, the molten drop transition mode at any angle of the welding gun is one pulse and one drop, and the welding effect with the stable electric arc is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of all-position welding, and in particular to an all-position welding control method and system for consumable pulse gas shielded welding. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] With the continuous development of industrial technology, the application scenarios of all-position welding in oil and gas pipelines, pressure vessels, building bridges, etc. are becoming more and more common. With the increase in product and material diversity, the requirements for welding quality are getting higher and higher. Therefore, the requirements for suppressing welding defects and weld formation are becoming more and more stringent.

[0004] During the consumable electrode pulse gas shielded welding process, different welding positions are often required for various types of workpieces or welding conditions, which requires the welding gun to change its spatial position at multiple angles for welding. For example, large steel structures, pressure vessels, building bridges, pipelines and other full-position welding scenes are becoming more and more common. With the diversity of products, the requirements for welding quality are getting higher and higher. Therefore, the requirements for welding stability and weld formation are becoming more and more stringent.

[0005] Taking the full-position welding of the circular weld of a pressure vessel as an example, welding efficiency and quality are two important key points. The continuous change of the welding position during the full-position welding process will affect the stress of the molten pool, especially the molten droplet transfer process. In the consumable electrode pulsed gas shielded welding, the best transition form of the molten droplet is one pulse and one drop, and the violent fluctuation of the molten droplet transition will lead to reduced arc stability, and then the welding process will be unstable, and the weld defects will increase, such as surface depressions, humps or weld nodules, and the weld formation consistency will deteriorate, making it difficult to meet the working conditions.

[0006] The prior art discloses an all-position intelligent welding system, which obtains welding characteristic parameters such as the characteristic size of the molten pool, welding current and voltage, arc shape and welding acoustic wave signal in real time during the welding process, uses an intelligent control system to analyze the data, and uses an adaptive algorithm to adjust the welding parameters in time, thereby overcoming the poor process robustness and the generation of defects, and improving the welding quality and weld formation. However, the system equipment is relatively complex, the welding process requires a variety of sensing and detection equipment, and has a large dependence on these equipment. Under special working conditions, the welding accessibility cannot meet the requirements, and this system can only adjust the welding parameters, the adjustment speed is slow, and the control accuracy is difficult to meet the requirements.

[0007] The prior art discloses a method for controlling droplet transition in all-position laser-MAG composite welding of pipelines. In the real-time changing all-position welding process, the method ensures jet or droplet transition of the droplet in the whole welding process by adjusting the laser power, arc current, welding gun angle and shielding gas flow to match. However, the method controls multiple processes together and is only for laser-MAG composite welding. The droplet transition form is single and the adjustment speed is slow. Summary of the invention

[0008] In order to solve the above problems, the present invention proposes a full-position welding control method and system for consumable electrode pulse gas shielded welding, which dynamically adjusts the pulse peak current and peak rise rate according to the real-time angle between the welding gun pointing and the gravity direction, thereby ensuring that during the welding process, the molten droplet transition form is one pulse and one drop at any angle of the welding gun, and achieving a stable arc welding effect.

[0009] In some embodiments, the following technical solutions are adopted:

[0010] A consumable electrode pulse gas shielded welding all-position welding control method, comprising:

[0011] Obtain the welding gun direction during the welding process in real time and determine the angle between the welding gun direction and the welding gun gravity direction;

[0012] If the angle is less than 90 degrees, the pulse peak current and the peak rise rate are reduced; if the angle is greater than 90 degrees, the pulse peak current and the peak rise rate are increased;

[0013] If the adjusted pulse peak current and peak rise rate are both smaller than the standard values ​​of the pulse peak current and peak rise rate, the peak time and base current are increased; if the adjusted pulse peak current and peak rise rate are both larger than the standard values ​​of the pulse peak current and peak rise rate, the peak time and base current are reduced; thereby achieving a droplet transfer form of one pulse and one drop, and consistent arc height.

[0014] If the angle is less than 90 degrees, the pulse peak current and the peak rise rate are reduced, specifically:

[0015] I2=I1-C1*(90-θ) 2 -C2*(90-θ);

[0016] S2 = S1 - K1 * (90 - θ);

[0017] Among them, θ is the angle between the welding gun pointing and the welding gun gravity direction, I1 is the actual peak current value before adjustment, I2 is the peak current value after adjustment, S1 is the actual peak current rise rate before adjustment, S2 is the peak current rise rate after adjustment; C1, C2, K1 are all adjustment coefficients greater than 0.

[0018] If the angle is greater than 90 degrees, increase the pulse peak current and the peak rise rate, specifically:

[0019] I3=I1+C3*(90-θ) 2 +C4*(90-θ);

[0020] S3 = S1 + K2 * (θ - 90);

[0021] Among them, θ is the angle between the welding gun pointing and the welding gun gravity direction, I1 is the actual peak current value before adjustment, I3 is the peak current value after adjustment, S1 is the actual peak current rise rate before adjustment, S3 is the peak current rise rate after adjustment; C3, C4, and K2 are all adjustment coefficients greater than 0.

[0022] As an optional solution, under the premise that the frequency, peak periodic energy and base periodic energy remain unchanged, for different angles between the welding gun pointing direction and the welding gun gravity direction, the pulse waveform peak current rise rate, peak current value, peak time and base current value that can make the molten droplet transfer form one pulse and one droplet and the arc height consistent are determined as standard values ​​at the corresponding angles; and a standard database is constructed.

[0023] As an optional solution, if the adjusted pulse peak current and peak rise rate are both less than the standard values ​​of the pulse peak current and peak rise rate, increase the peak time and base current, specifically:

[0024] T2=T1+C5*(△I+△S) 2 +C6*(△I+△S);

[0025] D2=D1+K3*(△I+△S);

[0026] Among them, △I represents the difference between the adjusted peak current and the standard value of the pulse peak current, △S represents the difference between the adjusted peak rise rate and the standard value of the peak rise rate, T1 represents the actual peak time, and T2 represents the increased peak time; D1 represents the actual base current, and D2 represents the increased base current; C5, C6, and K3 are all adjustment coefficients greater than 0.

[0027] If the adjusted pulse peak current and peak rise rate are both greater than the standard values ​​of the pulse peak current and peak rise rate, reduce the peak time and base current, specifically:

[0028] T4=T3-C7*(△I+△S) 2 -C8*(△I+△S);

[0029] D4=D3-K4*(△I+△S);

[0030] Among them, △I represents the difference between the adjusted peak current and the standard value of the pulse peak current, △S represents the difference between the adjusted peak rise rate and the standard value of the peak rise rate, T3 represents the actual peak time, and T4 represents the peak time after reduction; D3 represents the actual base current, and D4 represents the base current after reduction; C7, C8, and K4 are all adjustment coefficients greater than 0.

[0031] In other embodiments, the following technical solutions are adopted:

[0032] A consumable electrode pulse gas shielded welding all-position welding control system, comprising:

[0033] A data acquisition module is used to obtain the welding gun direction during the welding process in real time and determine the angle between the welding gun direction and the welding gun gravity direction;

[0034] A pulse peak current and peak rise rate adjustment module, used to reduce the pulse peak current and peak rise rate when the angle is less than 90 degrees; and increase the pulse peak current and peak rise rate when the angle is greater than 90 degrees;

[0035] The peak time and base current adjustment module is used to increase the peak time and base current when the adjusted pulse peak current and peak rise rate are both smaller than the standard values ​​of the pulse peak current and peak rise rate; and reduce the peak time and base current when the adjusted pulse peak current and peak rise rate are both larger than the standard values ​​of the pulse peak current and peak rise rate; thereby achieving a droplet transfer form of one pulse and one drop, and consistent arc height.

[0036] In other embodiments, the following technical solutions are adopted:

[0037] A terminal device comprises a processor and a memory, wherein the processor is used to implement instructions; the memory is used to store a plurality of instructions, wherein the instructions are suitable for being loaded by the processor and executing the above-mentioned metal-conducting electrode pulse gas shielded welding all-position welding control method.

[0038] In other embodiments, the following technical solutions are adopted:

[0039] A computer-readable storage medium stores a plurality of instructions, wherein the instructions are suitable for being loaded and executed by a processor of a terminal device for the above-mentioned metal-conductor pulse gas shielded welding all-position welding control method.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] (1) The method of the present invention can ensure that the droplet transition form is one pulse and one droplet at any angle of the welding gun during welding, and achieve a stable arc welding effect by dynamically adjusting the pulse peak current and peak rise rate by real-time determining the real-time angle between the welding gun pointing to the gravity direction. At the same time, according to the difference between the actual adjusted peak current and peak rise rate and the standard value, the peak time and base current are dynamically adjusted to ensure that the pulse cycle peak energy and base energy are consistent with the standard value, that is, to ensure the stability of the actual output current, ensure the consistency of weld formation, and improve the adaptability of the welding process.

[0042] (2) The method of the present invention can ensure that the size of the molten droplet remains unchanged during the gas metal arc welding process in all positions in space, while the molten droplet transition form remains one pulse and one droplet, and the arc height is consistent, thereby improving the consistency of weld formation and the adaptability of the welding process; the method of the present invention does not require complex calculations, nor does it require the coordinated control of multiple devices. It has a fast adjustment speed and high accuracy, and can achieve real-time adjustment during the welding process. It can be used not only for robot automatic welding, but also for manual welding and semi-automatic welding scenarios.

[0043] Other features and advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A schematic diagram of the force on the molten droplet during the welding process in an embodiment of the present invention;

[0045] Figure 2 A schematic diagram of the change of the pulse current waveform in an embodiment of the present invention;

[0046] Figure 3 A physical diagram of a device for performing all-position welding of a pipeline using the method of this embodiment;

[0047] Figure 4 This is a photo of the droplet transition state during a pulse cycle at the 12 o'clock position during the welding process;

[0048] Figure 5 This is a photo of the droplet transition state during a pulse cycle at the 3 o'clock position during the welding process;

[0049] Figure 6 This is a photo of the droplet transition state during a pulse cycle at the 6 o'clock position during the welding process;

[0050] Figure 7 This is a photo of the weld surface formation. DETAILED DESCRIPTION

[0051] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0052] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0053] Embodiment 1

[0054] In one or more embodiments, a method for controlling all-position welding of metal-conducting pulsed gas shielded welding is disclosed, which specifically includes the following:

[0055] S101: Acquire the welding gun orientation during the welding process in real time, and determine the angle between the welding gun orientation and the welding gun gravity direction.

[0056] Specifically, the built-in attitude sensor of the welding gun can obtain the spatial angle information of the welding gun in real time, and determine the angle between the welding gun pointing and the gravity direction of the welding gun. Figure 1 In this embodiment, the angle between the welding gun pointing direction and the welding gun gravity direction varies between 0° and 180°.

[0057] S102: If the angle is less than 90 degrees, reduce the pulse peak current and the peak rise rate; if the angle is greater than 90 degrees, increase the pulse peak current and the peak rise rate.

[0058] To more clearly illustrate the technical solution of this application, Figure 1 The force conditions of the molten droplet at various angles between the welding gun pointing and the gravity direction in a certain plane in space are explained, and the reasons for adjusting the pulse current waveform parameters are further explained from the mechanism aspect.

[0059] Figure 1This is a schematic diagram of the forces acting on the molten droplet during the welding process. During the molten droplet transition process, it is mainly affected by gravity, electromagnetic contraction force, plasma flow force and surface tension. The direction of gravity G remains unchanged and is not affected by the current. The electromagnetic contraction force Fl increases with the increase of current density, and the plasma flow force Fd increases with the increase of output current value. At the 3 o'clock and 9 o'clock positions, the welding gun is pointed at 90° to the direction of gravity, and gravity has no effect of hindering or promoting the molten droplet transition; at the 12 o'clock position, the welding gun is pointed in the same direction as the gravity, and θ is 0° at this time, and gravity promotes the molten droplet transition; at the 6 o'clock position, the gravity direction is opposite to the welding gun direction, which is 180°, and gravity completely hinders the molten droplet transition; when the angle changes from 90° to 0°, if the pulse current remains unchanged, the arc plasma flow force remains unchanged, but the gravity direction gradually tends to be consistent with the droplet transition direction, and the supporting effect on the droplet transition gradually increases, so the peak current and peak rise rate can be reduced to ensure that the droplet will not have a phenomenon of multiple drops in one pulse; when the angle changes from 90° to 180°, the peak-to-peak current and peak rise rate can be increased to compensate for the hindering effect of gravity on the droplet transition, ensuring that the droplet transition is in the form of one pulse and one drop, and the constant pulse frequency can ensure the arc height stability.

[0060] Therefore, in this embodiment, when the angle between the welding gun pointing direction and the welding gun gravity direction is less than 90 degrees, the pulse peak current and the peak rise rate are reduced; as an example, the reduced pulse peak current and the peak rise rate are calculated according to the following formulas:

[0061] I2=I1-C1*(90-θ) 2 -C2*(90-θ);

[0062] S2 = S1 - K1 * (90 - θ);

[0063] Among them, θ is the angle between the welding gun pointing and the welding gun gravity direction, I1 is the actual peak current value before adjustment, I2 is the peak current value after adjustment (reduction), S1 is the actual peak current rise rate before adjustment, S2 is the peak current rise rate after adjustment (reduction); C1, C2, K1 are all adjustment coefficients greater than 0.

[0064] In this embodiment, when the angle between the welding gun pointing direction and the welding gun gravity direction is greater than 90 degrees, the pulse peak current and the peak rise rate are increased; as an example, the increased pulse peak current and the peak rise rate are calculated according to the following formulas:

[0065] I3=I1+C3*(90-θ) 2 +C4*(90-θ);

[0066] S3 = S1 + K2 * (θ - 90);

[0067] Among them, θ is the angle between the welding gun pointing and the welding gun gravity direction, I1 is the actual peak current value before adjustment, I3 is the peak current value after adjustment (increase), S1 is the actual peak current rise rate before adjustment, S3 is the peak current rise rate after adjustment (increase); C3, C4, and K2 are all adjustment coefficients greater than 0.

[0068] This embodiment dynamically adjusts the peak current and the rise rate of the pulse current waveform according to the real-time angle between the welding gun pointing and the gravity direction, thereby ensuring that during the welding process, the molten droplet transfer form is one pulse and one drop at any angle of the welding gun, and achieving a stable arc welding effect.

[0069] S103: If the adjusted pulse peak current and peak rise rate are both smaller than the standard values ​​of the pulse peak current and the peak rise rate, then increase the peak time and the base current; if the adjusted pulse peak current and the peak rise rate are both larger than the standard values ​​of the pulse peak current and the peak rise rate, then reduce the peak time and the base current; thereby achieving a droplet transfer form of one pulse and one drop, and consistent arc height.

[0070] In this embodiment, the standard values ​​of the pulse peak current and the peak rise rate can be pre-set values, for example: the set welding frequency is 150Hz, when the angle between the direction of the welding gun and the direction of gravity of the welding gun is less than 90 degrees, the standard value of the peak current is set to 250A, and the standard value of the peak rise rate is set to 100V / ms; when the angle between the direction of the welding gun and the direction of gravity of the welding gun is greater than 90 degrees, the standard value of the peak current is set to 260A, and the standard value of the peak rise rate is set to 150V / ms.

[0071] In order to make the standard value more accurate, under the premise that the frequency, peak periodic energy and base periodic energy remain unchanged, this embodiment determines the pulse waveform peak current rise rate, peak current value, peak time and base current value that can make the molten droplet transfer form one pulse and one droplet, and the arc height consistent, as the standard value at the corresponding angle, under the premise that the frequency, peak periodic energy and base periodic energy remain unchanged; a standard database is constructed; as a specific example, a group of standard values ​​can be determined every 30 degrees of angle to form a standard database; in this way, when determining the standard values ​​of the peak current rise rate, peak current value, peak time and base current value, the value corresponding to the angle closest to the actual angle can be selected in the standard database as the standard value.

[0072] Figure 2 A schematic diagram of the pulse current waveform change is given. To ensure consistent droplet size and weld formation, the pulse frequency remains unchanged. To ensure consistent pulse cycle energy, when the peak current and peak rise rate increase, the peak time and base current should decrease accordingly; when the peak current and peak rise rate decrease, the peak time and base current should increase accordingly.

[0073] Figure 2 The black and red lines in the middle represent the current waveforms under two different angle states. It can be understood that if the angle is in a certain state, the current waveform is black, then as the angle increases, the current trend changes from black to red, that is, the peak current and the peak rise rate increase, and the peak time and the base current decrease. The increase in the peak current and the peak rise rate is to increase the electromagnetic force and arc plasma flow force in the peak stage, and the decrease in the peak time and the base current is to ensure that the heat input of each cycle remains unchanged, thereby ensuring that the average heat input of the welding process is consistent, the welding wire melting rate remains unchanged, and the arc state is stable.

[0074] Based on this, in this embodiment, when the adjusted pulse peak current and peak rise rate are both less than the standard values ​​of the pulse peak current and peak rise rate, the peak time and base current are increased; as an example, the increased peak time and base current are obtained by the following formula:

[0075] T2=T1+C5*(△I+△S) 2 +C6*(△I+△S);

[0076] D2=D1+K3*(△I+△S);

[0077] Among them, △I represents the difference between the adjusted peak current and the standard value of the pulse peak current, △S represents the difference between the adjusted peak rise rate and the standard value of the peak rise rate, T1 represents the actual peak time, and T2 represents the increased peak time; D1 represents the actual base current, and D2 represents the increased base current; C5, C6, and K3 are all adjustment coefficients greater than 0.

[0078] When the adjusted pulse peak current and peak rise rate are both greater than the standard values ​​of the pulse peak current and peak rise rate, the peak time and base current are reduced; as an example, the reduced peak time and base current are obtained by the following formula:

[0079] T4=T3-C7*(△I+△S) 2 -C8*(△I+△S);

[0080] D4=D3-K4*(△I+△S);

[0081] Among them, △I represents the difference between the adjusted peak current and the standard value of the pulse peak current, △S represents the difference between the adjusted peak rise rate and the standard value of the peak rise rate, T3 represents the actual peak time, and T4 represents the peak time after reduction; D3 represents the actual base current, and D4 represents the base current after reduction; C7, C8, and K4 are all adjustment coefficients greater than 0.

[0082] In this embodiment, the preset ranges of the pulse peak time and the pulse base current are set, for example, the preset range of the pulse peak time is 2ms to 4ms, and the preset range of the pulse base current is 30A to 100A. In this way, the actual pulse peak time and pulse base current after adjustment are all within the preset range to ensure the stability of the welding process.

[0083] This embodiment dynamically adjusts the peak time and base current according to the difference between the actual adjusted peak current and peak rise rate and the preset values, so as to ensure that the peak energy and base energy of the pulse cycle are consistent with the preset values, that is, the stability of the actual output current, and dynamically adjusts the peak time and base current to achieve consistency in weld formation and improve the adaptability of the welding process.

[0084] It should be noted that, in this embodiment, the pulse peak current and peak rise rate are dynamically adjusted according to the real-time angle between the welding gun pointing and the direction of gravity, and the peak time and base current are dynamically adjusted according to the difference between the actual adjusted peak current and peak rise rate and the preset value. All of these are achieved through the internal control system of the welding power supply. Communication is established between the internal control system of the welding power supply and the gun posture sensor. The control system receives real-time angle feedback data from the gun posture sensor and regulates the current output waveform through the internal control algorithm.

[0085] Figure 3 A physical diagram of a device for all-position welding of pipelines using the method of this embodiment is provided. Figure 4-Figure 6 The high-speed camera system is used to take photos of the droplet transition state of one pulse cycle at 12 o'clock, 3 o'clock, and 6 o'clock during the welding process. It can be found that when this method is not used, the droplet transition is not in the form of one pulse and one drop, and because the droplet has not completed necking and rebounds under the action of surface tension, the liquid metal at the end of the welding wire increases, the arc height cannot be kept consistent, and the welding process is unstable; when the method of this embodiment is used, the droplet transition is in the form of one pulse and one drop, the droplet size is consistent, there is no splashing, and the arc height is relatively stable.

[0086] Figure 7 This is a photo of the weld surface formed by the method of this embodiment. It can be seen that the weld surface is uniform and beautiful without defects.

[0087] Embodiment 2

[0088] In one or more embodiments, a metal-conducting pulse gas shielded welding all-position welding control system is disclosed, comprising:

[0089] A data acquisition module is used to obtain the welding gun direction during the welding process in real time and determine the angle between the welding gun direction and the welding gun gravity direction;

[0090] A pulse peak current and peak rise rate adjustment module, used to reduce the pulse peak current and peak rise rate when the angle is less than 90 degrees; and increase the pulse peak current and peak rise rate when the angle is greater than 90 degrees;

[0091] The peak time and base current adjustment module is used to increase the peak time and base current when the adjusted pulse peak current and peak rise rate are both smaller than the standard values ​​of the pulse peak current and peak rise rate; and reduce the peak time and base current when the adjusted pulse peak current and peak rise rate are both larger than the standard values ​​of the pulse peak current and peak rise rate; thereby achieving a droplet transfer form of one pulse and one drop, and consistent arc height.

[0092] The specific implementation methods of the above modules have been described in Example 1 and will not be described in detail.

[0093] Embodiment 3

[0094] In one or more embodiments, a terminal device is disclosed, including a server, the server including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the consumable electrode pulse gas shielded welding all-position welding control method in embodiment 1 when executing the program. For the sake of brevity, it will not be described here.

[0095] It should be understood that in this embodiment, the processor may be a central processing unit CPU, and the processor may also be other general-purpose processors, digital signal processors DSP, application-specific integrated circuits ASIC, off-the-shelf programmable gate arrays FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0096] The memory may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory. For example, the memory may also store information about the device type.

[0097] In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in a processor or an instruction in the form of software.

[0098] Embodiment 4

[0099] In one or more embodiments, a computer-readable storage medium is disclosed, in which a plurality of instructions are stored, wherein the instructions are suitable for being loaded by a processor of a terminal device and executing the metal-conducting electrode pulsed gas shielded welding all-position welding control method described in Example 1.

[0100] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A method for controlling all-position welding of metal-conducting pulse gas shielded welding, characterized in that: include: Obtain the welding gun direction during the welding process in real time and determine the angle between the welding gun direction and the welding gun gravity direction; If the angle is less than 90 degrees, the pulse peak current and the peak rise rate are reduced; if the angle is greater than 90 degrees, the pulse peak current and the peak rise rate are increased; If the adjusted pulse peak current and peak rise rate are both smaller than the standard values ​​of the pulse peak current and peak rise rate, the peak time and base current are increased; if the adjusted pulse peak current and peak rise rate are both larger than the standard values ​​of the pulse peak current and peak rise rate, the peak time and base current are reduced; thereby achieving a droplet transfer form of one pulse and one drop, and consistent arc height.

2. A method for controlling all-position welding of metal-conducting pulse gas shielded welding according to claim 1, characterized in that: The angle between the welding gun pointing direction and the welding gun gravity direction varies between 0° and 180°.

3. A method for controlling all-position welding of metal-conducting pulse gas shielded welding according to claim 1, characterized in that: If the angle is less than 90 degrees, reduce the pulse peak current and the peak rise rate, specifically: I2=I1-C1*(90-θ) 2 -C2*(90-θ); S2 = S1 - K1 * (90 - θ); Among them, θ is the angle between the welding gun pointing and the welding gun gravity direction, I1 is the actual peak current value before adjustment, I2 is the peak current value after adjustment, S1 is the actual peak current rise rate before adjustment, S2 is the peak current rise rate after adjustment; C1, C2, K1 are all adjustment coefficients greater than 0.

4. A method for controlling all-position welding of metal-conducting pulse gas shielded welding according to claim 1, characterized in that: If the angle is greater than 90 degrees, increase the pulse peak current and the peak rise rate, specifically: I3=I1+C3*(90-θ) 2 +C4*(90-θ); S3 = S1 + K2 * (θ - 90); Among them, θ is the angle between the welding gun pointing and the welding gun gravity direction, I1 is the actual peak current value before adjustment, I3 is the peak current value after adjustment, S1 is the actual peak current rise rate before adjustment, S3 is the peak current rise rate after adjustment; C3, C4, and K2 are all adjustment coefficients greater than 0.

5. A method for controlling all-position welding of metal-conducting pulse gas shielded welding according to claim 1, characterized in that: On the premise that the frequency, peak periodic energy and base periodic energy remain unchanged, for different angles between the welding gun pointing direction and the welding gun gravity direction, the pulse waveform peak current rise rate, peak current value, peak time and base current value that can make the molten droplet transfer form one pulse and one droplet and the arc height consistent are determined as the standard values ​​under the corresponding angles; and a standard database is constructed.

6. A method for controlling all-position welding of metal-conducting pulse gas shielded welding according to claim 1, characterized in that: If the adjusted pulse peak current and peak rise rate are both less than the standard values ​​of the pulse peak current and peak rise rate, increase the peak time and base current, specifically: T2=T1+C5*(△I+△S) 2 +C6*(△I+△S); D2=D1+K3*(△I+△S); Among them, △I represents the difference between the adjusted peak current and the standard value of the pulse peak current, △S represents the difference between the adjusted peak rise rate and the standard value of the peak rise rate, T1 represents the actual peak time, and T2 represents the increased peak time; D1 represents the actual base current, and D2 represents the increased base current; C5, C6, and K3 are all adjustment coefficients greater than 0.

7. A method for controlling all-position welding of metal-conducting pulse gas shielded welding according to claim 1, characterized in that: If the adjusted pulse peak current and peak rise rate are both greater than the standard values ​​of the pulse peak current and peak rise rate, reduce the peak time and base current, specifically: T4=T3-C7*(△I+△S) 2 -C8*(△I+△S); D4 = D3 - K4 * (△I + △S); Among them, △I represents the difference between the adjusted peak current and the standard value of the pulse peak current, △S represents the difference between the adjusted peak rise rate and the standard value of the peak rise rate, T3 represents the actual peak time, and T4 represents the peak time after reduction; D3 represents the actual base current, and D4 represents the base current after reduction; C7, C8, and K4 are all adjustment coefficients greater than 0.

8. A metal-electrode pulse gas shielded welding all-position welding control system, characterized in that: include: A data acquisition module is used to obtain the welding gun direction during the welding process in real time and determine the angle between the welding gun direction and the welding gun gravity direction; A pulse peak current and peak rise rate adjustment module, used to reduce the pulse peak current and peak rise rate when the angle is less than 90 degrees; and increase the pulse peak current and peak rise rate when the angle is greater than 90 degrees; The peak time and base current adjustment module is used to increase the peak time and base current when the adjusted pulse peak current and peak rise rate are both smaller than the standard values ​​of the pulse peak current and peak rise rate; and reduce the peak time and base current when the adjusted pulse peak current and peak rise rate are both larger than the standard values ​​of the pulse peak current and peak rise rate; thereby achieving a droplet transfer form of one pulse and one drop, and consistent arc height.

9. A terminal device, comprising a processor and a memory, wherein the processor is used to implement instructions; and the memory is used to store multiple instructions, characterized in that: The instructions are suitable for being loaded by a processor and executing the metal-conducting electrode pulsed gas shielded welding all-position welding control method described in any one of claims 1-7.

10. A computer-readable storage medium storing a plurality of instructions, characterized in that: The instructions are suitable for being loaded by a processor of a terminal device and executing the metal-conducting electrode pulsed gas shielded welding all-position welding control method described in any one of claims 1-7.

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