Control method, device and equipment of welding gun and storage medium

Abstract

This disclosure provides a method, apparatus, equipment, and storage medium for controlling a welding torch, belonging to the field of welding construction equipment for long-distance oil and gas pipelines. The method includes detecting a first welding arc resistance of the welding torch at a first position; determining a target welding arc resistance of the welding torch at the first position; and controlling the welding torch to oscillate in a direction perpendicular to the extension direction based on the first welding arc resistance and the target welding arc resistance. This disclosure can reduce costs and improve the reliability of pipeline welding.

Description

Technical Field

[0001] This disclosure relates to the field of welding construction equipment for long-distance oil and gas pipelines, and in particular to a method, device, equipment and storage medium for controlling a welding torch. Background Technology

[0002] With the development of the oil, natural gas, and chemical industries, the construction of long-distance oil and gas pipelines is trending towards the use of large-diameter, high-strength pipes. Welding of long-distance oil and gas pipelines requires beveling the pipe and controlling the movement of the welding torch according to different bevel widths and torch positions to perform the welding.

[0003] In related technologies, a laser assembly is used to project laser lines onto the surface of the pipe to be welded, and an industrial camera is used to collect images of the welding bevel and the laser lines in the vicinity of the welding bevel in real time during the welding process. Then, the movement of the welding torch is controlled based on the laser line images to perform pipe welding.

[0004] However, the aforementioned welding method requires the addition of components such as laser assemblies and industrial cameras, making the system complex and increasing costs. Furthermore, during the welding process, the industrial camera is susceptible to interference from dust, welding fumes, and welding spatter, reducing the reliability of pipe welding. Summary of the Invention

[0005] This disclosure provides a method, apparatus, equipment, and storage medium for controlling a welding torch, which can reduce costs and improve the reliability of pipeline welding. The technical solution is as follows:

[0006] On one hand, a method for controlling a welding torch is provided, comprising: detecting a first welding arc resistance of the welding torch at a first position, the first position being the position of the welding torch in the extension direction of the bevel to be welded; determining a target welding arc resistance of the welding torch at the first position; and controlling the welding torch to swing in a direction perpendicular to the extension direction based on the first welding arc resistance and the target welding arc resistance.

[0007] Optionally, detecting the first welding arc resistance of the welding torch at the first position includes: detecting the welding voltage and welding current of the welding torch at the first position; and determining the first welding arc resistance based on the welding voltage and the welding current.

[0008] Optionally, the bevel is the bevel at the joint of the pipe to be welded, and the first position is the angular position of the welding torch in the pipe to be welded; determining the target welding arc resistance of the welding torch at the first position includes: detecting the angular position of the welding torch; and, based on the correspondence between welding parameters, angular position and welding arc resistance, using the welding parameters used by the welding torch and the second welding arc resistance corresponding to the angular position as the target welding arc resistance.

[0009] Optionally, controlling the welding torch to swing in a direction perpendicular to the extension direction based on the first welding arc resistance and the target welding arc resistance includes: changing the swing direction of the welding torch when the first welding arc resistance is equal to the target welding arc resistance; and keeping the swing direction of the welding torch unchanged when the first welding arc resistance is greater than or less than the target welding arc resistance.

[0010] Optionally, the method further includes: controlling the welding torch to weld planar welding specimens using multiple sets of welding parameters to obtain a first test welding arc resistance corresponding to the multiple sets of welding parameters, wherein the first test welding arc resistance refers to the welding arc resistance in a plane perpendicular to the length direction of the welding torch when the minimum distance between the end of the welding wire of the welding torch and the side wall of the bevel of the planar welding specimen is equal to the target distance; determining a first correspondence between the welding parameters and the first test welding arc resistance based on the multiple sets of welding parameters and the corresponding first test welding arc resistance; controlling the welding torch to weld pipe welding specimens at different angular positions using the multiple sets of welding parameters to obtain a second test welding arc resistance corresponding to different angular positions, wherein the second test welding arc resistance refers to the welding arc resistance at the corresponding angular position when the minimum distance between the end of the welding wire of the welding torch and the side wall of the bevel of the pipe welding specimen is equal to the target distance; and determining the correspondence between the welding parameters, angular positions, and welding arc resistance based on the second test welding arc resistance corresponding to the different angular positions and the first correspondence.

[0011] On the other hand, a control device for a welding torch is provided, comprising: a detection module for detecting a first welding arc resistance of the welding torch at a first position, the first position being the position of the welding torch in the extension direction of the bevel to be welded; a determination module for determining a target welding arc resistance of the welding torch at the first position; and a control module for controlling the welding torch to swing in a direction perpendicular to the extension direction based on the first welding arc resistance and the target welding arc resistance.

[0012] Optionally, the control module is used to change the swing direction of the welding torch when the first welding arc resistance is equal to the target welding arc resistance; and to keep the swing direction of the welding torch unchanged when the first welding arc resistance is greater than or less than the target welding arc resistance.

[0013] In another aspect, a control device for a welding torch is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the aforementioned control method for the welding torch.

[0014] In another aspect, a computer-readable storage medium is provided, wherein a computer program is stored therein, and the computer program is executed by a processor to implement the aforementioned welding torch control method.

[0015] In another aspect, a computer program product is provided, including a computer program / instructions that, when executed by a processor, implement the aforementioned welding torch control method.

[0016] The beneficial effects of the technical solutions provided in this disclosure are:

[0017] In this embodiment, the target welding arc resistance of the welding torch at the first position is determined by detecting the first welding arc resistance. Then, based on the first welding arc resistance and the target welding arc resistance, the welding torch is controlled to oscillate in a direction perpendicular to the extension direction to perform pipe welding. In a plane perpendicular to the length direction of the welding torch, the minimum distance between the end of the welding wire and the sidewall of the bevel corresponds one-to-one with the arc length. Since the arc length is proportional to the arc resistance, meaning this minimum distance corresponds one-to-one with the welding arc resistance, the oscillation width of the welding torch can be accurately controlled based on the welding arc resistance to complete the pipe welding.

[0018] This embodiment of the invention reduces costs by replacing the acquisition of images of the weld bevel with the detection of the welding arc resistance, eliminating the need for additional components such as laser assemblies and industrial cameras. Furthermore, the welding arc resistance is unaffected by dust, welding fumes, or welding spatter, resulting in high detection accuracy and improved reliability of pipeline welding. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a flowchart of a welding torch control method provided in an embodiment of this disclosure;

[0021] Figure 2 This is a schematic diagram showing the relationship between the end of a welding wire and the sidewall of a bevel, according to an embodiment of this disclosure.

[0022] Figure 3 This is a schematic diagram of the structure of a welding torch control system provided in an embodiment of this disclosure;

[0023] Figure 4 This is a flowchart of another welding torch control method provided in this embodiment of the present disclosure;

[0024] Figure 5 This is a schematic diagram of the angular position of a welding torch provided in an embodiment of this disclosure;

[0025] Figure 6 This is a block diagram of a control device for a welding torch provided in an embodiment of this disclosure;

[0026] Figure 7 This is a block diagram of a control device for a welding torch provided in an embodiment of this disclosure. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this disclosure will be described in further detail below with reference to the accompanying drawings.

[0028] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” “third,” and similar terms used in this patent application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an” or “a” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising” or “including” and similar terms mean that the elements or objects preceding “comprising” or “including” encompass the elements or objects listed following “comprising” or “including” and their equivalents, and do not exclude other elements or objects. The terms “connected” or “linked” and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms “upper,” “lower,” “left,” “right,” “top,” and “bottom,” etc., are used only to indicate relative positional relationships, and these relative positional relationships may change accordingly when the absolute position of the described objects changes.

[0029] To facilitate understanding of the embodiments of this disclosure, the welding process of long-distance oil and gas pipelines will be described below. Due to the large diameter and wall thickness of long-distance oil and gas pipelines, a bevel needs to be welded after the two pipelines are joined at the construction site. The bevel runs around the inner wall of the pipeline at the joint, and the types of bevels include V-grooves and U-grooves. The size of the bevel is determined according to the structural parameters of the oil and gas pipeline, such as the pipe wall thickness and inner diameter. During welding, the welding torch needs to be moved while its length direction is perpendicular to the inner wall of the pipeline. The movement of the welding torch includes movement in the extension direction of the bevel and oscillation in a direction perpendicular to the extension direction of the bevel. By controlling the movement of the welding torch, both sides of the bevel are melted, completing the pipeline welding.

[0030] Figure 1 This is a flowchart of a welding torch control method provided in an embodiment of this disclosure. Figure 1 As shown, the method includes:

[0031] Step S101: Detect the first welding arc resistance of the welding torch in the first position.

[0032] The first position refers to the position of the welding torch in the extension direction of the bevel to be welded. The first welding arc resistance of the welding torch in the first position is the actual welding arc resistance of the welding torch during the welding process.

[0033] Step S102: Determine the target welding arc resistance of the welding torch in the first position.

[0034] Step S103: Based on the first welding arc resistance and the target welding arc resistance, control the welding torch to swing in a direction perpendicular to the extension direction.

[0035] In this embodiment, the target welding arc resistance of the welding torch at the first position is determined by detecting the first welding arc resistance at the first position. Then, based on the first welding arc resistance and the target welding arc resistance, the welding torch is controlled to oscillate in a direction perpendicular to the extension direction for pipe welding. In a plane perpendicular to the length direction of the welding torch, the minimum distance between the end of the welding wire and the sidewall of the bevel corresponds one-to-one with the arc length. Since the arc length is proportional to the arc resistance, meaning this minimum distance corresponds one-to-one with the welding arc resistance, the oscillation width of the welding torch can be accurately controlled based on the welding arc resistance to complete the pipe welding. This embodiment replaces the acquisition of images of the welding bevel with the detection of welding arc resistance, eliminating the need for additional components such as laser assemblies and industrial cameras, thus reducing costs. Furthermore, the welding arc resistance is unaffected by dust, welding fumes, welding spatter, etc., resulting in high detection accuracy and improved reliability of pipe welding.

[0036] Figure 2 This is a schematic diagram illustrating the relationship between the end of a welding wire and the sidewall of a bevel, according to an embodiment of this disclosure. Figure 2 As shown, the welding torch 1 includes a conductive tip 11 and a welding wire 12. During welding, the length direction of the welding torch 1 is perpendicular to the inner wall of the pipe. In this embodiment, controlling the oscillation of the welding torch means controlling the welding torch 1 to move left and right in a direction perpendicular to the extension direction of the bevel 2. During the welding process, an electric arc is generated at the end of the welding wire 12, and the length of the electric arc directly affects the welding arc resistance.

[0037] Figure 2 In this context, H represents the wire extension, which is the distance between the end of the welding wire 12 and the end of the contact tip 11 of the welding torch 1. L represents the minimum distance between the end of the welding wire 12 and the sidewall of the bevel 2 in a plane perpendicular to the length direction of the welding torch 1. Figure 2As shown, in a plane perpendicular to the length direction of the welding torch 1, the distance between the end of the welding wire 12 and the right side wall of the groove 2 is less than the distance between the end of the welding wire 12 and the left side wall of the groove 2. At this time, the minimum distance L between the end of the welding wire 12 and the side wall of the groove 2 is the minimum distance between the end of the welding wire 12 and the right side wall of the groove 2.

[0038] In a plane perpendicular to the length of the welding torch 1, the minimum distance L from the end of the welding wire 12 to the sidewall of the bevel 2 is measured. This minimum distance L can be measured manually. When the minimum distance L equals the preset target distance L... d By changing the swing direction of welding torch 1, the welding torch 1 can be controlled to move left and right within a certain width to complete the welding. The target distance L d This can be preset according to the bevel width. When the welding torch 1 swings from left to right, the minimum distance L between the end of the welding wire 12 and the right side wall of the bevel 2 is equal to the target distance L. d Then, the welding torch 1 is changed to swing from right to left; when the welding torch 1 swings from right to left, the minimum distance L between the end of the welding wire 12 and the left side wall of the bevel 2 is equal to the target distance L. d Then change the welding torch to swing from left to right.

[0039] During the welding process of the welding torch 1 oscillating left and right, the welding parameters, bevel angle, and angular position of the welding torch 1 affect the welding arc resistance. The welding parameters include wire feed speed and wire extension length H, where the wire feed speed is the feed rate of the welding wire 12. Therefore, if the wire feed speed, wire extension length H, bevel angle, and angular position of the welding torch 1 are fixed, then in a plane perpendicular to the length direction of the welding torch 1, the minimum distance L between the end of the welding wire 12 and the sidewall of the bevel 2 corresponds one-to-one with the arc length. Since the arc length is proportional to the arc resistance, that is, L corresponds one-to-one with the welding arc resistance R. Thus, the target distance L can be determined based on... d Preset target welding arc resistance R d Target welding arc resistance R d That is, when the welding torch 1 swings left and right to the target distance L d The welding arc resistance at the position.

[0040] Therefore, the welding arc resistance R can be detected, and when the welding arc resistance R is equal to the target welding arc resistance R... d When the direction of the welding torch 1 is changed, the welding torch 1 can be controlled to move left and right within a certain width range to complete the welding.

[0041] Figure 3 This is a schematic diagram of the control system for a welding torch provided in an embodiment of this disclosure. Figure 3As shown, the welding torch control system includes a current sensor, a voltage sensor, an angle sensor, a control device, and a welding torch motion mechanism. The current sensor, voltage sensor, and angle sensor are connected to the control device, which in turn is connected to the welding torch motion mechanism. The control device acquires the welding current from the current sensor, the welding voltage from the voltage sensor, and the angular position of the welding torch from the position sensor. After processing these data, it generates motion control commands and sends them to the welding torch motion mechanism. The welding torch motion mechanism controls the movement of the welding torch according to the received motion control commands.

[0042] The process of the control device detecting the movement of the welding torch is described in the method embodiment below.

[0043] Figure 4 This is a flowchart of another welding torch control method provided in an embodiment of this disclosure. Figure 4 As shown, the method includes:

[0044] Step S201: Detect the welding voltage and welding current of the welding torch in the first position.

[0045] The first position refers to the position of the welding torch in the extension direction of the bevel to be welded.

[0046] Welding voltage refers to the voltage at which the welding torch operates, and can be obtained using a voltage sensor mounted on the welding torch. Welding current refers to the current flowing through the welding circuit during welding, and can be obtained using a current sensor mounted on the welding torch.

[0047] Step S202: Determine the first welding arc resistance based on the welding voltage and welding current.

[0048] The first welding arc resistance can be obtained according to the following formula (1):

[0049] R1 = U1 / I1 (1);

[0050] In formula (1), U1 represents the welding voltage collected by the voltage sensor, I1 represents the welding current collected by the current sensor, and R1 represents the first welding arc resistance.

[0051] In steps S201 to S202, both the voltage sensor and the current sensor collect real-time welding voltage and welding current. The first welding arc resistance determined in this way can reflect the length of the welding arc in real time, that is, it can reflect the minimum distance from the end of the welding wire to the sidewall of the bevel in a plane perpendicular to the length direction of the welding torch during the torch's movement. The current sensor and voltage sensor are low-cost, and the first welding arc resistance determined in this way is accurate, unaffected by dust, welding fumes, welding spatter, etc., resulting in high detection accuracy.

[0052] Step S203: Detect the angle position of the welding torch.

[0053] Figure 5 This is a schematic diagram illustrating the angular position of a welding torch according to an embodiment of this disclosure. Figure 5 As shown, the angle P is formed by the line connecting the welding torch 1's position in the pipe (i.e., the current welding position) to the lowest point of the pipe and the horizontal plane tangent to the lowest point of the pipe. The angle P of the welding torch can be obtained by an angle sensor installed on the welding torch. During pipe welding, the angle P of the welding torch changes continuously between 0 and 180 degrees depending on the welding position. Welding parameters may differ at different welding positions, including wire feed speed and wire extension. Therefore, even if the bevel width is the same, the left-right swing width of the welding torch may need to be adjusted according to the position when the angle of the welding torch changes.

[0054] Step S204: Based on the correspondence between welding parameters, angle position and welding arc resistance, the second welding arc resistance corresponding to the welding parameters and angle position used by the welding torch is taken as the target welding arc resistance.

[0055] This correspondence is in the execution Figure 4 The method shown is obtained and saved in advance.

[0056] The welding parameters here can include wire feed speed and wire extension. Wire feed speed is the feed rate of the welding wire, and wire extension is the distance between the end of the welding wire and the end of the contact tip of the welding torch.

[0057] In steps S203 to S204, the angle sensor detects the real-time angle position of the welding torch. The second welding arc resistance determined in this way not only takes into account the actual angle of the welding torch, but also the actual welding parameters, namely wire feed speed and wire extension. Using this second welding arc resistance as the target welding arc resistance, the width of the welding torch swinging in the direction perpendicular to the bevel extension direction can be controlled more accurately.

[0058] Step S205: Determine whether the first welding arc resistance is equal to the target welding arc resistance. When the first welding arc resistance is equal to the target welding arc resistance, proceed to step S206a; when the first welding arc resistance is greater than or less than the target welding arc resistance, proceed to step S206b.

[0059] Step S206a: Change the oscillation direction of the welding torch.

[0060] Change the swing direction of the welding torch so that, in a direction perpendicular to the bevel extension direction, the welding torch moves in the opposite direction to the current movement direction.

[0061] For example, in a direction perpendicular to the bevel extension direction, when the welding torch is currently oscillating away from the first sidewall and towards the second sidewall, step S206a controls the welding torch to oscillate away from the second sidewall and towards the first sidewall; when the welding torch is currently oscillating away from the second sidewall and towards the first sidewall, step S206a controls the welding torch to oscillate away from the first sidewall and towards the second sidewall. The first and second sidewalls are the two opposing sidewalls of the bevel.

[0062] Step S206b: Keep the oscillation direction of the welding torch unchanged.

[0063] For example, in a direction perpendicular to the bevel extension direction, when the welding torch is currently oscillating away from the first sidewall and moving closer to the second sidewall, step S206b controls the welding torch to remain oscillating away from the first sidewall and moving closer to the second sidewall; when the welding torch is currently oscillating away from the second sidewall and moving closer to the first sidewall, step S206b controls the welding torch to remain oscillating away from the second sidewall and moving closer to the first sidewall.

[0064] When the first welding arc resistance equals the target welding arc resistance, it means that the minimum distance between the end of the welding wire and the sidewall of the bevel in a plane perpendicular to the length direction of the welding torch is equal to the target distance. The welding torch has moved to the set target position, so the swing direction of the welding torch should be changed. When the first welding arc resistance is not equal to the target welding arc resistance, that is, when the first welding arc resistance is greater than or less than the target welding arc resistance, it means that the welding torch has not yet moved to the set target position. There is no need to change the swing direction of the welding torch, so the swing direction of the welding torch should remain unchanged.

[0065] By using steps S205, S206a, and S206b, pipe welding can be achieved by controlling the welding torch to swing in a direction perpendicular to the bevel extension direction based on the first welding arc resistance and the target welding arc resistance.

[0066] The first welding arc resistance is the welding arc resistance measured in real time during the welding process, which is highly accurate. The target welding arc resistance is the welding arc resistance when the welding torch swings to the target position that needs to be reversed under different welding torch angles and different welding parameters. Based on the relationship between the two, the welding torch swing is controlled more accurately and is not affected by dust, welding fumes, welding spatter, etc., resulting in high detection accuracy and improved reliability of pipeline welding.

[0067] Optionally, the method further includes obtaining the correspondence between the aforementioned welding parameters, angular position, and welding arc resistance.

[0068] For example, the following four steps can be used to determine the correspondence.

[0069] The first step is to control the welding torch to weld the flat welding specimen using multiple sets of welding parameters to obtain the first experimental welding arc resistance corresponding to the multiple sets of welding parameters. The first experimental welding arc resistance refers to the welding arc resistance in a plane perpendicular to the length direction of the welding torch when the minimum distance between the end of the welding wire of the welding torch and the side wall of the bevel of the flat welding specimen is equal to the target distance.

[0070] The bevel of the planar welding specimen is a standard bevel, which means that the bevel width is the same preset width at any position in the extension direction of the bevel, in order to improve the accuracy of the test results. On the planar welding specimen, the standard bevel can be a V-shaped bevel, which is an elongated strip, and the bevel width is the same preset width at any position in the extension direction of the V-shaped bevel.

[0071] In this first step, the welding torch is kept perpendicular to the surface of the flat welding specimen. Multiple wire feed speeds S and wire extension lengths H are used to weld the flat welding specimen with a standard bevel. In a plane perpendicular to the length of the welding torch, the minimum distance L between the end of the welding wire and the sidewall of the standard bevel is equal to the target distance L. d1 At the same time, the first experimental welding arc resistance R corresponding to the above-mentioned multiple sets of wire feed speeds and wire extension lengths was obtained respectively. d1 Furthermore, in this first step, the minimum distance L can be obtained manually, and the target distance L... d1 The bevel width can be preset, or it can be an empirical value.

[0072] For example, the length direction of the welding torch is kept perpendicular to the surface of the planar welding specimen, and the target distance is preset to L. d1 Multiple sets of welding parameters were used to weld planar welded specimens with a standard V-groove. The groove width was the same preset width W at any position along the extension direction of the V-groove. Welding parameters included wire feed speed S and wire extension H. Wire feed speeds S included S1, S2, S3, S4, and S5, and wire extension H included H1, H2, H3, H4, and H5. Welding was first performed with the wire feed speed set to S1 and the wire extension H1. A voltage sensor collected the welding voltage in real time, and a current sensor collected the welding current in real time. In a plane perpendicular to the length direction of the welding torch, the minimum distance L between the tip of the welding wire and the sidewall of the standard groove was manually measured to be equal to the target distance L. d1 At that time, based on the welding voltage and welding current, the first experimental welding arc resistance R was obtained. d1 Then, the wire feed speed was set to S1 and the wire extension length to H2 for welding. The second experimental welding arc resistance R was obtained using the same method. d1The wire extension length was changed sequentially to obtain the first experimental welding arc resistance. When the wire extension length reached H5, the wire feed speed was set to S2, and the wire extension length was set sequentially from H1 to H5 to obtain the first experimental welding arc resistance. This process was repeated, meaning that a total of 25 sets of welding parameters were used, and at least one of the wire feed speed and wire extension length differed between any two sets of welding parameters, thus obtaining 25 sets of corresponding wire feed speeds, wire extension lengths, and the first experimental welding arc resistance. Of course, the number of welding parameter sets can also be other, such as 20, 30, or 40 sets; this disclosure does not limit this.

[0073] Optionally, when setting welding parameters, the wire feed speed can be set at a set interval, that is, the difference between two adjacent wire feed speeds is fixed, for example, the difference between two adjacent wire feed speeds can be 1 mm / s; similarly, the dry extension can be set at a set interval, that is, the difference between two adjacent dry extensions is fixed, for example, the difference between two adjacent dry extensions can be 1 mm.

[0074] The second step is to determine the first correspondence between the welding parameters and the first experimental welding arc resistance based on multiple sets of welding parameters and the corresponding first experimental welding arc resistance.

[0075] The first correspondence can be expressed by the following formula (2):

[0076] R d1 =f(S,H) (2);

[0077] In formula (2), S represents the wire feeding speed, H represents the dry stretch, f(S, H) represents the first correspondence, and R d1 This indicates the arc resistance during the first welding test.

[0078] For example, formula (2) can be obtained through data fitting. In the above steps of determining the first correspondence, since the welding arc resistance is affected by the wire feed speed, extension length, bevel angle, and welding torch angle position, the welding torch angle position is not considered. The bevel angle is kept constant, and only the wire feed speed and extension length are changed. The correspondence between welding parameters, angle position and welding arc resistance is determined based on multiple sets of corresponding wire feed speed, extension length and first experimental arc resistance data. It is not affected by the bevel angle and welding torch angle position, and the number of experimental data sets is large, so the first correspondence obtained is more accurate.

[0079] The third step involves controlling the welding torch to weld pipe welding specimens at different angles using multiple sets of welding parameters to obtain the second experimental welding arc resistance corresponding to different angles. The second experimental welding arc resistance refers to the welding arc resistance at the corresponding angle when the minimum distance between the end of the welding wire and the side wall of the bevel of the pipe welding specimen is equal to the target distance.

[0080] In this third step, the bevel of the pipe welding specimen is also a standard bevel. Keeping the length of the welding torch perpendicular to the inner wall of the pipe welding specimen, multiple sets of wire feed speeds S and wire extension lengths H are used to weld the pipe welding specimen, identical to the steps described above for determining the first correspondence. In a plane perpendicular to the length of the welding torch, the minimum distance L between the end of the welding wire and the sidewall of the standard bevel is equal to the pre-set target distance L. d2 At that time, multiple sets of wire feed speeds and wire extension lengths corresponding to the second experimental welding arc resistance R were obtained at that angle position. d2 .

[0081] Since the welded specimen is a pipe weldment with a standard bevel, and this bevel is the same as the one used in the step of determining the first correspondence, the width of the welding torch's left-right swing can be set to be the same as in the step of determining the first correspondence, i.e., L is preset. d2 equal to L d1 When welding pipe specimens, the angle position P of the welding torch varies between 0 and 180 degrees. At a certain angle position P, when the welding torch swings to the target position, the second experimental welding arc resistance at the corresponding position is obtained based on the welding voltage collected in real time by the voltage sensor and the welding current collected in real time by the current sensor. Since the angle position P of the welding torch is different in this step, the obtained second experimental welding arc resistance is affected by the angle position of the welding torch.

[0082] For example, multiple sets of wire feed speeds and wire extensions that are exactly the same as those in the example above for determining the first correspondence can be used to obtain data on 25 sets of corresponding wire feed speeds, wire extensions, and the second experimental welding arc resistance at angular position P.

[0083] In this third step, the number of angle positions and the angle difference between adjacent angle positions can be set as needed. For example, the number of angle positions can be set to 25, starting from 0 degrees, with an angle difference of 7.5 degrees between adjacent angle positions.

[0084] The fourth step is to determine the correspondence between welding parameters, angle positions, and welding arc resistance based on the second experimental welding arc resistance corresponding to different angle positions and the first correspondence.

[0085] In this fourth step, a second correspondence is first determined based on the angle position, the first test welding arc resistance, and the second test welding arc resistance. Then, the correspondence between the aforementioned welding parameters, angle position, and welding arc resistance is determined based on the first and second correspondences.

[0086] The second correspondence can be expressed by the following formula (3):

[0087] R d2 =Rd1 ×f(P) (3);

[0088] In formula (3), P represents the angle position of the welding torch detected in real time by the angle sensor, f(P) represents the second correspondence, and R d2 This represents the arc resistance of the second experimental welding. f(P) can also be called the correction coefficient function of the arc resistance of the second experimental welding with respect to the angular position.

[0089] For example, formula (3) can be obtained by data fitting.

[0090] The relationship between the aforementioned welding parameters, angle position, and welding arc resistance can be expressed by the following formula (4):

[0091] R = f(S, H) × f(P) (4);

[0092] In formula (4), R represents the welding arc resistance.

[0093] In the above steps for determining the second correspondence, since the welding arc resistance is affected by the wire feed speed, wire extension, bevel angle, and welding torch angle, the bevel angle is kept constant. Based on the first experimental arc resistance and considering the welding torch angle, the second correspondence is determined according to the angle, the first experimental welding arc resistance, and the second experimental welding arc resistance. Then, based on the first and second correspondences, the correspondence between welding parameters, angle position, and welding arc resistance is determined. The experimental method is simple, and the obtained second correspondence is accurate.

[0094] Figure 6 This is a block diagram of a control device for a welding torch provided in an embodiment of this disclosure. Figure 6 As shown, the control device 1000 of the welding torch includes: a detection module 1001, a determination module 1002, and a control module 1003.

[0095] The detection module 1001 is used to detect the first welding arc resistance of the welding torch at a first position, where the first position is the position of the welding torch in the extension direction of the bevel to be welded. The determination module 1002 is used to determine the target welding arc resistance of the welding torch at the first position. The control module 1003 is used to control the welding torch to swing in a direction perpendicular to the extension direction based on the first welding arc resistance and the target welding arc resistance.

[0096] Optionally, the detection module 1001 is used to detect the welding voltage and welding current of the welding torch at the first position; and to determine the first welding arc resistance based on the welding voltage and welding current.

[0097] Optionally, the determining module 1002 is used to detect the angular position of the welding torch; and based on the correspondence between the welding parameters, the angular position and the welding arc resistance, to take the second welding arc resistance corresponding to the welding parameters and the angular position used by the welding torch as the target welding arc resistance.

[0098] Optionally, the control module 1003 is used to change the swing direction of the welding torch when the first welding arc resistance is equal to the target welding arc resistance; and to keep the swing direction of the welding torch unchanged when the first welding arc resistance is greater than or less than the target welding arc resistance.

[0099] It should be noted that the welding torch control device 1000 provided in the above embodiments is only illustrated by the division of the above functional modules when controlling the welding torch. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the welding torch control device and the welding torch control method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0100] Figure 7 This is a block diagram of a control device for a welding torch provided in an embodiment of this disclosure. Figure 7 As shown, the control device 2000 for the welding torch includes a processor 2001 and a memory 2002. The control device 2000 for the welding torch can be a computer device or other types of devices.

[0101] Processor 2001 may include one or more processing cores, such as a 5-core processor, an 8-core processor, etc. Processor 2001 may be implemented using at least one hardware form selected from Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). Processor 2001 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 2001 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 2001 may also include an Artificial Intelligence (AI) processor, which is used to handle computational operations related to machine learning.

[0102] The memory 2002 may include one or more computer-readable storage media, which may be non-transitory. The memory 2002 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 2002 is used to store at least one instruction, which is executed by the processor 2001 to implement the welding torch control method provided in the embodiments of this disclosure.

[0103] Those skilled in the art will understand that Figure 7 The structure shown does not constitute a limitation on the control device 2000 for the welding torch, and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0104] Exemplarily, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 2002 including instructions, which can be executed by a processor 2001 of a welding torch control device 2000 as described above for the welding torch control method. For example, the non-transitory computer-readable storage medium may be a read-only memory, a random access memory, an optical disc, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0105] By way of example, a computer program product is also provided, including a computer program / instructions that, when executed by a processor, implement the welding torch control method provided in the embodiments of this disclosure.

[0106] The above description is not intended to limit this disclosure in any way. Although this disclosure has been disclosed above through embodiments, it is not intended to limit this disclosure. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the technical solution of this disclosure. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of this disclosure without departing from the content of the technical solution of this disclosure shall still fall within the scope of the technical solution of this disclosure.

Claims

1. A control method of a welding torch, characterized by, include: The welding torch is controlled to weld a planar welding specimen using multiple sets of welding parameters to obtain the first test welding arc resistance corresponding to the multiple sets of welding parameters. The first test welding arc resistance refers to the welding arc resistance in a plane perpendicular to the length direction of the welding torch when the minimum distance between the end of the welding wire of the welding torch and the side wall of the bevel of the planar welding specimen is equal to the target distance. Based on the multiple sets of welding parameters and the corresponding first experimental welding arc resistance, a first correspondence between the welding parameters and the first experimental welding arc resistance is determined; The welding torch is controlled to weld pipe welding specimens at different angle positions using the multiple sets of welding parameters to obtain the second test welding arc resistance corresponding to different angle positions. The second test welding arc resistance refers to the welding arc resistance when the minimum distance between the end of the welding wire and the side wall of the bevel of the pipe welding specimen is equal to the target distance at the corresponding angle position. Based on the second experimental welding arc resistance corresponding to the different angular positions and the first correspondence, the correspondence between the welding parameters, angular positions, and welding arc resistance is determined. The welding arc resistance of the welding torch at a first position is detected. The first position is the position of the welding torch in the extension direction of the bevel to be welded. The bevel is the bevel at the joint of the pipe to be welded. The first position is the angular position of the welding torch in the pipe to be welded. Detect the angular position of the welding torch; Based on the correspondence between the welding parameters, angle position and welding arc resistance, the welding parameters used by the welding torch and the second welding arc resistance corresponding to the angle position are taken as the target welding arc resistance. When the first welding arc resistance is equal to the target welding arc resistance, the swing direction of the welding torch is changed; When the first welding arc resistance is greater than or less than the target welding arc resistance, the oscillation direction of the welding torch remains unchanged.

2. The control method of a welding torch according to claim 1, characterized in that, Detecting the first welding arc resistance of the welding torch at a first position includes: The welding voltage and welding current of the welding torch at the first position are detected; The first welding arc resistance is determined based on the welding voltage and the welding current.

3. A control device for a welding torch, characterized in that include: The detection module is used to detect the first welding arc resistance of the welding torch at a first position, the first position being the position of the welding torch in the extension direction of the bevel to be welded, the bevel being the bevel at the joint of the pipe to be welded, and the first position being the angular position of the welding torch in the pipe to be welded. A determination module is used to detect the angular position of the welding torch; based on the correspondence between welding parameters, angular position and welding arc resistance, the welding parameters used by the welding torch and the second welding arc resistance corresponding to the angular position are used as the target welding arc resistance; The correspondence between the welding parameters, angular positions, and welding arc resistance is determined as follows: The welding torch is controlled to weld planar welding specimens using multiple sets of welding parameters to obtain a first experimental welding arc resistance corresponding to the multiple sets of welding parameters. The first experimental welding arc resistance refers to the welding arc resistance in a plane perpendicular to the length direction of the welding torch when the minimum distance between the end of the welding wire and the sidewall of the bevel of the planar welding specimen is equal to the target distance. Based on the multiple sets of welding parameters and the corresponding first experimental welding arc resistance, a first correspondence between the welding parameters and the first experimental welding arc resistance is determined. The welding torch is controlled to weld pipe welding specimens using the multiple sets of welding parameters at different angular positions to obtain a second experimental welding arc resistance corresponding to different angular positions. The second experimental welding arc resistance refers to the welding arc resistance at the corresponding angular position when the minimum distance between the end of the welding wire and the sidewall of the bevel of the pipe welding specimen is equal to the target distance. Based on the second experimental welding arc resistance corresponding to different angular positions and the first correspondence, the correspondence between the welding parameters, angular positions, and welding arc resistance is determined. The control module is used to change the swing direction of the welding torch when the first welding arc resistance is equal to the target welding arc resistance; and to keep the swing direction of the welding torch unchanged when the first welding arc resistance is greater than or less than the target welding arc resistance.

4. A control device for a welding torch, characterized by include: processor; Memory used to store processor-executable instructions; The processor is configured to execute the welding torch control method according to any one of claims 1 to 2.

5. A computer readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which is executed by a processor to implement the welding torch control method as described in any one of claims 1 to 2.

6. A computer program product comprising computer programs / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the welding torch control method according to any one of claims 1 to 2.

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