Welding method, system and device for straight weld bead of right-angle welding groove

Abstract

The invention relates to a welding method, system and device for a straight weld bead of a right-angle welding groove and computer equipment. The method comprises the steps that the welding height and the welding layer number of a right-angle welding groove, the welding bead number of each layer of welding seam and a starting layer welding bead are obtained, under the condition that a welding instruction is received, the offset of each welding bead relative to the starting layer welding bead is determined according to the welding height, the welding layer number and the welding bead number, and the offset of each welding bead is determined according to the offset. And determining each welding bead according to the initial layer welding bead and the offset of each welding bead relative to the initial layer welding bead, and controlling a welding gun to sequentially weld each welding bead from the initial layer welding bead until the welding of the right-angle welding groove is completed. By adopting the method, the welding efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of welding technology, and in particular to a welding method, system and device for a right-angle welding groove and a straight weld. Background Art

[0002] With the development of welding technology, for some thick metals with relatively large welds, only welding in one pass is often difficult to meet the requirements of high-quality welding. Therefore, this kind of structure often requires welding of many layers, and each layer requires welding in many passes. The welding paths of different layers and passes are often not the same.

[0003] In traditional solutions, welding is usually done manually layer by layer, or laser vision technology is used to identify the shape and size of the welding groove through laser vision sensors, perform three-dimensional modeling of the welding groove, determine the position of each weld, and then perform the welding operation.

[0004] However, the laser vision technology and 3D modeling technology in traditional solutions are costly and require professional laser equipment and modeling equipment. In addition, in order to identify the weld position, a series of additional recognition algorithms and software need to be introduced, resulting in low welding efficiency of traditional solutions. Summary of the invention

[0005] Based on this, it is necessary to provide a welding method, device and computer equipment for a right-angle welding groove straight weld that can improve welding efficiency in response to the above technical problems.

[0006] In a first aspect, the present application provides a welding method for a right-angle welding groove and a straight weld. The method comprises:

[0007] Obtain the welding height, number of welding layers, number of weld passes per weld layer, and the starting weld pass of the right-angle welding groove;

[0008] Upon receiving a welding instruction, determining the offset of each weld bead relative to the starting layer weld bead according to the welding height, the number of welding layers, and the number of weld beads;

[0009] Determine each weld bead according to the starting layer weld bead and the offset of each weld bead relative to the starting layer weld bead;

[0010] The welding gun is controlled to start from the initial layer weld bead and weld each weld bead in sequence until the welding of the right-angle welding groove is completed.

[0011] In one embodiment, determining the offset of each weld bead relative to the starting layer weld bead according to the welding height, the number of welding layers, and the number of weld bead includes:

[0012] Determining the weld height of each weld layer according to the welding height and the number of welding layers;

[0013] For each layer of weld, the offset of each weld relative to the weld of the starting layer is determined according to the weld height of each layer of weld, the number of welds of the weld, and the number of each weld in the weld.

[0014] In one embodiment, obtaining a starting layer weld of a right-angle welding groove includes:

[0015] Receiving the teaching points of the right-angle welding groove sent by the teaching pendant, wherein the teaching points are used to describe the groove shape of the right-angle welding groove, and the teaching points include the arc starting point and arc ending point of the starting layer weld;

[0016] The slope starting layer weld bead of the right-angle welding groove is determined according to the arc starting point and the arc ending point of the starting layer weld bead.

[0017] In one embodiment, determining each weld bead according to the starting layer weld bead and the offset of each weld bead relative to the starting layer weld bead comprises:

[0018] Determining the arc starting point of each weld pass according to the arc starting point of the starting layer weld pass and the offset;

[0019] Determining the arc ending point of each weld pass according to the arc ending point of the starting layer weld pass and the offset;

[0020] Each weld bead is determined according to the arc starting point of each weld bead and the arc ending point of each weld bead.

[0021] In one embodiment, the controlling the welding gun starts from the starting layer weld bead and welds each weld bead in sequence until the welding of the right-angle welding groove is completed, comprising:

[0022] Controlling the welding gun to perform welding operation along the starting layer weld bead from the arc starting point of the starting layer weld bead, and when the welding gun moves to the arc ending point of the starting layer weld bead, controlling the welding gun to move to the arc starting point of the next weld bead;

[0023] The welding gun is controlled to perform welding operations along the weld bead from the arc starting point of the weld bead, and when the welding gun moves to the arc ending point of the weld bead, the step of controlling the welding gun to move to the arc starting point of the next weld bead is returned to until the welding of the right-angle welding groove is completed.

[0024] In a second aspect, the present application also provides a welding system for a right-angle welding groove and a straight weld. The system comprises: the system comprises a teaching pendant, an electric box and a welding robot, the teaching pendant is connected to the electric box, and the electric box is connected to the welding robot;

[0025] The teaching pendant is used to send the teaching points, welding height, number of welding layers, and number of welds per weld layer of the right-angle welding groove to the electrical box, wherein the teaching points are used to describe the groove shape of the right-angle welding groove; and send welding instructions to the electrical box;

[0026] The electrical box is used to receive the teaching point of the right-angle welding groove, the welding height, the number of welding layers, and the number of welds of each layer of weld, and determine the starting layer weld of the right-angle welding groove according to the teaching point of the right-angle welding groove; when receiving the welding instruction, the welding height, the number of welding layers, and the number of welds are used to determine the offset of each weld relative to the starting layer weld, and determine each weld according to the starting layer weld and the offset of each weld relative to the starting layer weld; and send a control instruction carrying the starting layer weld and each weld to the welding robot;

[0027] The welding robot is used to respond to the control instruction, and weld each weld bead in sequence starting from the starting layer weld bead through the welding gun carried by the end of the robot arm until the welding of the right-angle welding groove is completed.

[0028] In a third aspect, the present application also provides a welding device for a right-angle welding groove and a straight weld. The device comprises:

[0029] A data acquisition module is used to acquire the welding height of the right-angle welding groove, the number of welding layers, the number of weld passes of each weld layer, and the weld pass of the starting layer;

[0030] An offset calculation module, for determining the offset of each weld bead relative to the starting layer weld bead according to the welding height, the number of welding layers, and the number of weld beads when receiving a welding instruction;

[0031] A weld bead determination module, used to determine each weld bead according to the starting layer weld bead and the offset of each weld bead relative to the starting layer weld bead;

[0032] The welding module is used to control the welding gun to weld each weld bead in sequence starting from the starting layer weld bead until the welding of the right-angle welding groove is completed.

[0033] In a fourth aspect, the present application further provides a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps in the above-mentioned welding method embodiment for a right-angle welding groove straight weld when executing the computer program.

[0034] In a fifth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the above-mentioned welding method embodiment for a right-angle welding groove straight weld.

[0035] In a sixth aspect, the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned welding method embodiment for a right-angle welding groove straight weld are implemented.

[0036] The above-mentioned welding method, system, device and computer equipment for the straight weld of the right-angle welding groove are different from the traditional scheme that relies on complex and expensive laser vision sensors and related professional modeling equipment. In this scheme, it is only necessary to obtain the welding height, number of welding layers, number of welds of each weld layer and the starting layer weld of the right-angle welding groove, and when receiving the welding instruction, calculate the offset of each weld relative to the starting layer weld according to the above data, and then plan each weld, and then control the welding gun to start from the starting layer weld and weld each weld in sequence until the welding of the right-angle welding groove is completed. This scheme omits time-consuming links such as complex laser recognition, modeling and cumbersome algorithm processing, and greatly improves the overall efficiency of welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A diagram of the application environment of a welding method for a right-angle welding groove and a straight weld in one embodiment;

[0038] Figure 2 A schematic diagram of a flow chart of a welding method for a right-angle welding groove straight weld in one embodiment;

[0039] Figure 3 A schematic diagram of the structure of a right-angle welding groove in an embodiment;

[0040] Figure 4 A schematic flow chart of a welding method for a right-angle welding groove straight weld in another embodiment;

[0041] Figure 5 A schematic diagram of the structure of multiple welds of a right-angle welding groove in one embodiment;

[0042] Figure 6 A schematic flow chart of a welding method for a right-angle welding groove straight weld in another embodiment;

[0043] Figure 7 A schematic diagram of a flow chart of a welding method for a right-angle welding groove straight weld in another embodiment;

[0044] Figure 8A schematic diagram of a process of welding a straight weld bevel at a right angle in a detailed embodiment;

[0045] Fig. 9 A structural block diagram of a welding system for a right-angle welding groove and a straight weld in one embodiment;

[0046] Fig.10 A structural block diagram of a welding device for a right-angle welding groove and a straight weld in one embodiment;

[0047] Fig.11 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] The welding method of the right-angle welding groove straight weld provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown, the welding robot 102 communicates with the control terminal 104 through a network. The data storage system can store data that the control terminal 104 needs to process. The data storage system can be integrated on the control terminal 104, or placed on the cloud or other network servers.

[0050] Specifically, the operator can send the groove size data, welding height, number of welding layers, number of welds of each weld layer, and the starting layer weld of the right-angle welding groove to the control end 104 through the teaching pendant, and the operator can send a welding instruction to the control end 104 through the teaching pendant, and the control end 104 determines the offset of each weld relative to the starting layer weld according to the groove size data, welding height, number of welding layers, and number of welds, and then determines each weld according to the starting layer weld and the offset of each weld relative to the starting layer weld. Further, the control end 104 controls the welding robot 102 to use the welding gun at the end of its mechanical arm to start from the starting layer weld and weld each weld in sequence until the welding of the right-angle welding groove is completed.

[0051] The control end 104 may be implemented by an independent server or a server cluster composed of multiple servers, or may be an electrical box that can distribute power to the welding robot 102 , control the movement of the welding robot 102 , and adjust welding gun parameters.

[0052] In one embodiment, Figure 2 As shown, a welding method for a right-angle welding groove straight weld is provided, and the method is applied to Figure 1The control end 104 in the example is described as an electric box, and the following steps are included:

[0053] S100, obtaining the welding height of the right-angle welding groove, the number of welding layers, the number of weld passes of each weld layer, and the weld pass of the starting layer.

[0054] Among them, the right-angle welding groove is a groove form in which the two sides of the groove are at right angles, for example Figure 3 As shown, when two thicker weldments A and B need to be butt-welded, if the edges of weldments A and B are directly aligned and welded, it is difficult to ensure that the root of the weld can be penetrated. At this time, weldments A and B can be spliced ​​into a right-angle groove to improve the welding effect.

[0055] Welding height refers to the height of the entire weld from the surface of the weldment base material. For example, for weldments that need to withstand greater pressure, a larger welding height is often required to enhance the weld strength. Figure 3 The welding height is . The number of welding layers is related to the thickness of the weldment, the groove size data, and the welding process. For thicker metal weldments, single-layer welding may not meet the weld filling and quality requirements, so it needs to be divided into multiple layers to gradually complete the weld filling and forming. The number of welds per layer must also take into account a variety of factors, such as the welding height of each layer, the groove width, etc. For each layer of weld, multiple welds may need to be set to evenly fill the layer. The number of welds per layer is the number of welds per layer. The number of welds in the starting layer can be only one, that is, there is only one weld in the starting layer. The weld in the starting layer can be used as the base weld so that the root of the weld can be well fused with the base material of the weldment. For right-angle welding grooves, the starting layer weld can be welded along the bottom or root area of ​​the groove. Figure 3 The starting weld is ,in The arc starting point (the position where the welding arc starts to be generated and a molten pool is formed on the weldment during the welding process, i.e. the welding starting point), It is the arc ending point (the position where the arc is extinguished at the end of the welding process, that is, the welding end point).

[0056] Specifically, the above data can all be sent by the teaching pendant. For example, the operator manually guides the welding robot's welding gun to the arc starting point and arc ending point of the starting layer weld, and records the coordinates of the arc starting point and arc ending point, and sends them to the electric box, so that the electric box determines the starting layer weld, and teaches three teaching points through the teaching pendant, and sends the coordinates of the three teaching points to the electric box, so that the electric box determines the groove size data of the right-angle welding groove. Figure 3 The three teaching points can be The operator can also input welding parameters such as welding height, number of welding layers, number of welds per weld layer, etc. through the operation interface of the teach pendant, and the teach pendant will send the above welding parameters to the electric box.

[0057] S200, when a welding instruction is received, determining the offset of each weld bead relative to the starting layer weld bead according to the welding height, the number of welding layers, and the number of weld beads.

[0058] The offset refers to the change in position of the weld bead relative to the starting layer weld bead, which may refer to the change in position in the horizontal direction, the change in position in the height direction, or both.

[0059] Following the above steps, when the operator sends a welding instruction to the electric box through the teach pendant, the electric box will use the built-in algorithm to calculate the offset based on the acquired groove size data, welding height, number of welding layers, number of welds and other information.

[0060] Exemplarily, the electrical box will calculate the height of each weld layer based on the welding height and the number of welding layers, and then combined with the number of welds in each layer, it can determine the offset of each weld in the height direction relative to the weld of the starting layer. Furthermore, the electrical box can also determine the offset of each weld in the horizontal direction relative to the weld of the starting layer based on the number of welds in each layer.

[0061] S300, determining each weld bead according to the weld bead of the starting layer and the offset of each weld bead relative to the weld bead of the starting layer.

[0062] Following the above steps, the position of the starting layer weld is known. For subsequent welds, the height position of the arc starting point and the height position of the arc ending point can be determined according to the offset in the height direction, and then the horizontal position of the arc starting point and the horizontal position of the arc ending point can be determined according to the offset in the plane direction of the weld relative to the starting layer weld. Finally, the arc starting point and arc ending point of each weld in the space can be determined according to the height position and horizontal position of the arc starting point and the height position and horizontal position of the arc ending point.

[0063] Furthermore, in this embodiment, the shape of the weld bead can be a straight line, so for each weld bead, after determining the arc starting point and the arc ending point, the weld bead is determined by connecting the two points with a straight line. In addition, the shape of the weld bead can also be a non-straight line, so each weld bead can be determined based on the weld bead and the arc starting point and the arc ending point, as well as preset shape requirements, such as using a specific mathematical model to fit the arc starting point and the arc ending point.

[0064] S400, controlling the welding gun to weld each weld bead in sequence starting from the initial layer weld bead until the welding of the right-angle welding groove is completed.

[0065] Following the above steps, after the electrical box determines each weld bead, it can send a control instruction to the welding robot to control the welding gun at the end of the robotic arm of the welding robot to start from the starting layer weld bead and weld each weld bead in sequence until the welding of the right-angle welding groove is completed.

[0066] Specifically, the electric box can control the welding gun to perform operations such as arc starting, arc ending, wire feeding, and gas feeding, and can also change the working current and working voltage of the welding gun. For example, the electric box sends an arc starting instruction to the welding gun, so that the welding power supply connected to the welding gun outputs a suitable voltage and current, and ignites the arc at the arc starting point of the weld through a specific arc starting method. The high temperature generated by the arc instantly melts the weld base material and the filler metal to form a molten pool. The welding gun moves along the weld until it moves to the arc ending point. The electric box controls the welding gun to end the arc and complete the welding of the weld. The above welding operation is performed for each weld until the welding of the right-angle welding groove is completed.

[0067] The above-mentioned welding method for straight welds of right-angle welding grooves is different from the traditional solution that relies on complex and expensive laser vision sensors and related professional modeling equipment. In this solution, it is only necessary to obtain the welding height, number of welding layers, number of welds in each weld layer and starting layer welds of the right-angle welding groove, and when receiving the welding instruction, calculate the offset of each weld relative to the starting layer weld according to the above data, and then plan each weld, and then control the welding gun to start from the starting layer weld and weld each weld in sequence until the welding of the right-angle welding groove is completed. This solution omits time-consuming links such as complex laser recognition, modeling and cumbersome algorithm processing, and greatly improves the overall efficiency of welding.

[0068] In one embodiment, Figure 4 As shown, S200 includes:

[0069] S210, determining the weld height of each weld layer according to the welding height and the number of welding layers.

[0070] S220, for each layer of weld, according to the weld height of each layer of weld, the number of welds of the weld, and the number of each weld in the weld, determine the offset of each weld relative to the weld of the starting layer.

[0071] The number of the weld bead indicates which layer of weld the weld bead belongs to and which weld bead number the weld bead belongs to in the layer of weld. The number of the weld bead can be preset to distinguish different weld bead.

[0072] Specifically, in order to achieve uniform and reasonable weld filling, the total weld height needs to be distributed to each layer of welds. The method for calculating the height of each layer of welds is to divide the total weld height by the number of weld layers. For example, the weld height is , the number of welding layers is , then the weld height of each layer of weld It can be shown as formula (1):

[0073] (1)

[0074] Further, determine the three teaching points of the right-angle welding groove ,like Figure 5 As shown in the figure, the two right-angle side vectors of the right-angle welding grooves of weldments A and B are and , the hypotenuse vector is In this embodiment, the arc starting point and arc ending point of each weld are set on the bevel, and the weld is a straight line, so the calculation formula of the right-angle side vector in each layer of weld is shown in formula (2) and (3), and the calculation formula of the bevel side vector in each layer of weld is shown in formula (4):

[0075] (2)

[0076] (3)

[0077] (4)

[0078] The first weld is the starting weld and can be Figure 5 Vector in Indicates that the number of welds in each subsequent weld layer is , weld bead number is , then the offset of each weld bead of each layer of weld except the first layer is As shown in formula (5):

[0079] (5)

[0080] For example, if the second layer weld has two welds, then C=2, and the offsets of the two welds are:

[0081]

[0082]

[0083] Combination Figure 5 It can be seen that since the initial layer weld is , then the two weld passes of the second layer weld are and .

[0084] Similarly, assuming that the number of welds in the third layer is 3, then C=3, and the offsets of the three welds are:

[0085]

[0086]

[0087]

[0088] Correspondingly, the three weld passes of the third layer weld are Figure 5 In , , The same applies to the offset of each weld bead of subsequent other layers of welds.

[0089] In this embodiment, the above formula for calculating the offset can accurately plan the offset of each weld bead in each layer of weld compared to the weld bead in the starting layer, and make the weld bead in each layer of weld evenly distributed, which not only improves the welding efficiency, but also improves the welding strength. In addition, for right-angle welding grooves of the same shape and structure, the above method for calculating the offset can be directly reused to realize automated batch welding without the need for additional equipment configuration, greatly reducing the welding cost.

[0090] In one embodiment, obtaining the starting layer weld of a right-angle welding groove includes: receiving the teaching points of the right-angle welding groove sent by a teaching pendant, the teaching points are used to describe the groove shape of the right-angle welding groove, the teaching points include the arc starting point and the arc ending point of the starting layer weld, and determining the starting layer weld of the right-angle welding groove according to the arc starting point and the arc ending point of the starting layer weld.

[0091] Specifically, in the preparation stage before welding, the operator can manually control the welding equipment (for example, by controlling the mechanical arm of the welding robot through a joystick to drive the welding gun to move, or directly moving the handheld welding equipment) to move it along the key part of the right-angle welding groove. During this process, the teach pendant will record the coordinate information of the position where the welding gun passes according to a certain sampling frequency or according to the operator's manual triggering recording. These recorded coordinate points are the teaching points. For example, the above Figure 3 As shown in , These are teaching points.

[0092] For the initial weld, the operator can operate the welding gun to move along the expected path of the initial weld, starting from the arc starting point of the initial weld and ending at the arc ending point. Figure 3 The right angle welding groove After the operator positions the welding gun at this point, the teach pendant records the coordinates of this position, which is the teaching point corresponding to the arc starting point of the starting layer weld. Then, the operator moves the welding gun along the welding direction of the starting layer weld (which can be preset) until it reaches the arc ending point of the starting layer weld. At this time, the teach pendant will also record the coordinates of the arc ending point to form a teaching point, for example Figure 3 In .

[0093] In addition, in order to more accurately describe the shape of the starting layer weld, multiple teaching points at intermediate positions may be recorded at intervals between the arc starting point and the arc ending point, which together constitute a set of teaching points related to the starting layer weld, and these teaching points are then sent to the electrical box. Furthermore, after the electrical box receives the teaching points sent by the teach pendant, it can determine the slope starting layer weld of the right-angle welding groove based on the arc starting point and arc ending point of the starting layer weld.

[0094] In this embodiment, based on the teaching points issued by the teach pendant, the key information of the right-angle welding groove can be accurately obtained, and then the shape of the right-angle welding groove, the starting layer weld and other information can be analyzed according to the teaching points, providing a data basis for subsequent high-quality and efficient welding.

[0095] In one embodiment, Figure 6 As shown, S300 includes:

[0096] S310, determine the arc starting point of each weld according to the arc starting point and offset of the starting layer weld, determine the arc ending point of each weld according to the arc ending point and offset of the starting layer weld, and determine each weld according to the arc starting point and arc ending point of each weld.

[0097] Following the above embodiment, taking the case where all the welds are straight welds as an example, after determining the arc starting point and arc ending point of each weld, the corresponding weld can be determined. Therefore, when the offset of each weld compared to the starting layer weld is known, in order to simplify the calculation, it is only necessary to calculate the points after the offset between any two points on the starting layer weld according to the offset, and then connect the offset points to determine the corresponding weld. Furthermore, the arc starting point and arc ending point on the starting layer weld can be selected, and the arc starting point and arc ending point of the weld can be calculated according to the offset, and finally the weld can be determined.

[0098] For example, in Figure 5 In the example, the arc starting point of the initial layer weld is , combined with the offset calculated in the above embodiment, the arc starting points of the two welds on the second layer of weld are and Similarly, the arc ending point of the initial layer weld is The arc ending points of the two welds on the second layer are and Similarly, the arc starting point and arc ending point of each weld bead on other layers of weld seams can be calculated. Further, after the arc starting point and arc ending point of each weld bead are determined, the line segment formed by connecting the arc starting point and arc ending point is the corresponding weld bead.

[0099] In this embodiment, based on the arc starting point and arc ending point of the starting layer weld, the arc starting point and arc ending point of each weld can be accurately determined, providing an accurate basis for subsequent orderly control of the welding gun to perform welding operations along the weld, thereby improving welding efficiency and welding quality.

[0100] In one embodiment, Figure 7 As shown, S400 includes:

[0101] S410, controlling the welding gun to perform welding operation along the starting layer weld bead from the arc starting point of the starting layer weld bead.

[0102] S420, when the welding gun moves to the arc ending point of the starting layer weld, control the welding gun to move to the arc starting point of the next weld.

[0103] S430, control the welding gun to perform welding operation along the weld bead from the arc starting point of the weld bead, and when the welding gun moves to the arc ending point of the weld bead, return to S420 until the welding of the right-angle welding groove is completed.

[0104] Specifically, when welding starts, the electric box may send an arc starting command to the welding robot, so that the welding gun (hereinafter referred to as the welding gun) at the end of the robotic arm of the welding robot welds the starting layer weld along the starting layer weld according to the preset arc starting parameters (arc starting voltage, arc starting current, etc.). When the welding gun moves to the arc ending point along the starting layer weld, it means that the welding of the starting layer weld is about to end. At this time, an arc ending operation is required, such as the circling arc ending method, the re-welding arc ending method, and the repeated arc breaking method.

[0105] After completing the arc extinguishing operation of the starting layer weld, the electric box accurately controls the welding gun to move quickly and smoothly to the arc starting point of the next weld based on the coordinate position information of the arc starting point of the next weld that has been determined before. For each weld, after reaching its arc starting point, the arc extinguishing operation must also be performed. This process is similar to the arc extinguishing operation of the starting layer weld. When the welding gun moves along the weld to the arc extinguishing point, the arc extinguishing operation must be performed. After the arc extinguishing operation is completed, the welding gun is controlled to move to the arc starting point of the next weld to perform the welding operation. This reciprocating process continues as the welding process continues. After completing the welding and arc extinguishing operations of the last weld, it is confirmed that all welds of the entire right-angle welding groove have been welded.

[0106] In this embodiment, the welding gun is strictly and orderly controlled to perform welding operations in sequence according to the arc starting point, arc ending point, and weld bead of each weld until the welding of the right-angle welding groove is completed, thereby improving the welding efficiency.

[0107] In order to provide a more detailed and clear description of the welding method for the right-angle welding groove straight weld provided in the present application, the following is a detailed description of the welding method for the right-angle welding groove straight weld provided in the present application. Figure 8 and oneA detailed embodiment is explained, and the detailed embodiment includes the following steps:

[0108] S801, obtain the welding height, number of welding layers, and number of welds of each layer of the right-angle welding groove, receive the teaching point of the right-angle welding groove sent by the teaching pendant, and determine the starting layer weld of the right-angle welding groove according to the arc starting point and arc ending point of the starting layer weld.

[0109] S802, determining the weld height of each weld layer according to the welding height and the number of welding layers, and for each weld layer, determining the offset of each weld bead relative to the weld bead of the starting layer according to the weld height of each weld layer, the number of weld beads in the weld, and the number of each weld bead in the weld.

[0110] S803, determine the arc starting point of each weld according to the arc starting point and offset of the starting layer weld, determine the arc ending point of each weld according to the arc ending point and offset of the starting layer weld, and determine each weld according to the arc starting point and arc ending point of each weld.

[0111] S804, controlling the welding gun to perform welding operation along the starting layer weld bead from the arc starting point of the starting layer weld bead.

[0112] S805, when the welding gun moves to the arc ending point of the starting layer weld, control the welding gun to move to the arc starting point of the next weld.

[0113] S806, control the welding gun to perform welding operation along the weld bead from the arc starting point of the weld bead, and when the welding gun moves to the arc ending point of the weld bead, return to S805 until the welding of the right-angle welding groove is completed.

[0114] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0115] In one embodiment, the present application provides a welding system 500 for a right-angle welding groove and a straight weld. Fig. 9As shown, the welding system 500 for the right-angle welding groove and straight weld includes a teaching pendant 510, an electric box 520 and a welding robot 530. The teaching pendant 510 is connected to the electric box 520, and the electric box 520 is connected to the welding robot 530.

[0116] The teaching pendant 510 is used to send the teaching points, welding height, number of welding layers, and number of welds of each layer of weld of the right-angle welding groove to the electrical box 520, where the teaching points are used to describe the groove shape of the right-angle welding groove; and to send welding instructions to the electrical box 520.

[0117] The electrical box 520 is used to receive the teaching point, welding height, number of welding layers, and number of welds of each layer of weld of the right-angle welding groove, and determine the starting layer weld of the right-angle welding groove according to the teaching point of the right-angle welding groove; when receiving the welding instruction, the welding height, number of welding layers, and number of welds, determine the offset of each weld relative to the starting layer weld, and determine each weld according to the starting layer weld and the offset of each weld relative to the starting layer weld; and send the control instruction carrying the starting layer weld and each weld to the welding robot 530.

[0118] The welding robot 530 is used to respond to the control command, and weld each weld bead in sequence starting from the initial layer weld bead through the welding gun carried by the end of the robot arm until the welding of the right-angle welding groove is completed.

[0119] Among them, the teaching pendant 510 is a handheld device for robot programming and operation control, which allows the operator to convey various task instructions and parameter information to the electric box 520 and the welding robot 530 through manual operation, graphical interface input, etc. For example, the operator can manually control the movement of the mechanical arm of the welding robot 530 to move the welding gun along the desired welding path. In this process, the teaching pendant 510 will record the key position points (i.e., teaching points) passed by the welding gun. These points contain spatial coordinate information for describing the welding path, such as the shape of the right-angle welding groove, the arc starting point and arc ending point of the starting layer weld, etc. In addition, the teaching pendant 510 can also set various welding-related parameters, such as welding height, number of welding layers, number of welds per layer of weld, etc., and send these welding parameters to the electric box 520 to provide basic data for subsequent welding process planning. After completing the teaching and parameter setting, the operator can send a welding instruction to the electric box 520 through the teaching pendant 510 to start the entire welding process.

[0120] The electrical box 520 is used to receive various instructions and data from the teach pendant 510, and perform processing and calculation to generate specific instructions for controlling the welding robot 530, so as to coordinate and manage the electrical equipment and parameters in the entire welding process. For example, according to the teaching points of the right-angle welding groove and various welding parameters sent by the teach pendant 510, the starting layer weld, the offset of each weld relative to the starting layer weld, etc. are determined. After receiving the welding instruction, the electrical box 520 combines the starting layer weld and the calculated offset to accurately determine the arc starting point, arc ending point and welding path of each weld, and generates detailed control instructions to control the welding robot 530 to perform welding operations along the weld.

[0121] The welding robot 530 is a device used to perform welding tasks. A welding gun is carried at the end of the robot arm. The robot arm usually has multiple degrees of freedom and can flexibly move the welding gun to a specified welding position and perform welding operations on right-angle welding grooves according to weld beads and welding parameters.

[0122] It should be noted that the implementation solution provided by the system to solve the problem is similar to the implementation solution recorded in the above method. Therefore, the specific limitations in the embodiment of the welding system 500 for the right-angle welding groove and straight weld can be found in the above limitations on the welding method for the right-angle welding groove and straight weld, which will not be repeated here.

[0123] Based on the same inventive concept, the embodiment of the present application also provides a welding device for a right-angle welding groove straight bead for realizing the welding method for a right-angle welding groove straight bead involved in the above-mentioned. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in the embodiments of one or more welding devices for a right-angle welding groove straight bead provided below can refer to the limitations of the welding method for a right-angle welding groove straight bead above, and will not be repeated here.

[0124] In one embodiment, Fig.10 As shown, a welding device 600 for a right-angle welding groove and a straight weld is provided, comprising: a data acquisition module 610, an offset calculation module 620, a weld bead determination module 630 and a welding module 640, wherein:

[0125] The data acquisition module 610 is used to acquire the welding height of the right-angle welding groove, the number of welding layers, the number of weld passes of each weld layer, and the weld pass of the starting layer.

[0126] The offset calculation module 620 is used to determine the offset of each weld bead relative to the starting layer weld bead according to the welding height, the number of welding layers, and the number of weld beads when a welding instruction is received.

[0127] The weld bead determination module 630 is used to determine each weld bead according to the starting layer weld bead and the offset of each weld bead relative to the starting layer weld bead.

[0128] The welding module 640 is used to control the welding gun to weld each weld bead in sequence starting from the initial layer weld bead until the welding of the right-angle welding groove is completed.

[0129] In one embodiment, the offset calculation module 620 is also used to determine the weld height of each layer of weld according to the welding height and the number of welding layers, and for each layer of weld, determine the offset of each weld relative to the starting layer weld according to the weld height of each layer of weld, the number of welds in the weld, and the number of each weld in the weld.

[0130] In one embodiment, the data acquisition module 610 is also used to receive the teaching points of the right-angle welding groove sent by the teaching pendant, and the teaching points are used to describe the groove shape of the right-angle welding groove. The teaching points include the arc starting point and the arc ending point of the starting layer weld. According to the arc starting point and the arc ending point of the starting layer weld, the slope starting layer weld of the right-angle welding groove is determined.

[0131] In one embodiment, the weld bead determination module 630 is also used to determine the arc starting point of each weld bead according to the arc starting point and offset of the starting layer weld bead, determine the arc ending point of each weld bead according to the arc ending point and offset of the starting layer weld bead, and determine each weld bead according to the arc starting point of each weld bead and the arc ending point of each weld bead.

[0132] In one embodiment, the welding module 640 is also used to control the welding gun to perform welding operations along the starting layer weld from the arc starting point of the starting layer weld, and when the welding gun moves to the arc ending point of the starting layer weld, control the welding gun to move to the arc starting point of the next weld, control the welding gun to perform welding operations along the weld from the arc starting point of the weld, and when the welding gun moves to the arc ending point of the weld, return to the step of controlling the welding gun to move to the arc starting point of the next weld until the welding of the right-angle welding groove is completed.

[0133] Each module in the above-mentioned welding device for a right-angle welding groove and a straight weld can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each of the above modules.

[0134] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Fig.11As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data such as the welding height and the number of welding layers of the right-angle welding groove. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a welding method for a straight weld of a right-angle welding groove is implemented.

[0135] Those skilled in the art will understand that Fig.11 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0136] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps in the above-mentioned welding method embodiment for teaching welding grooves are implemented.

[0137] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned welding method embodiment for teaching welding grooves are implemented.

[0138] In one embodiment, a computer program product is provided, including a computer program, which, when executed by a processor, implements the steps in the above-mentioned welding method embodiment for teaching welding grooves.

[0139] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0140] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0141] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0142] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A welding method for a right-angle welding groove straight weld, characterized in that: The method comprises: Obtain the welding height, number of welding layers, number of weld passes per weld layer, and the starting weld pass of the right-angle welding groove; Upon receiving a welding instruction, determining the offset of each weld bead relative to the starting layer weld bead according to the welding height, the number of welding layers, and the number of weld beads; Determine each weld bead according to the starting layer weld bead and the offset of each weld bead relative to the starting layer weld bead; The welding gun is controlled to start from the initial layer weld bead and weld each weld bead in sequence until the welding of the right-angle welding groove is completed.

2. The method according to claim 1, characterized in that Determining the offset of each weld bead relative to the starting layer weld bead according to the welding height, the number of welding layers, and the number of weld bead includes: Determining the weld height of each weld layer according to the welding height and the number of welding layers; For each layer of weld, the offset of each weld relative to the weld of the starting layer is determined according to the weld height of each layer of weld, the number of welds of the weld, and the number of each weld in the weld.

3. The method according to claim 1, characterized in that Get the starting layer weld of the right-angle welding groove, including: Receiving the teaching points of the right-angle welding groove sent by the teaching pendant, wherein the teaching points are used to describe the groove shape of the right-angle welding groove, and the teaching points include the arc starting point and arc ending point of the starting layer weld; The slope starting layer weld bead of the right-angle welding groove is determined according to the arc starting point and the arc ending point of the starting layer weld bead.

4. The method according to claim 3, characterized in that Determining each weld bead according to the starting layer weld bead and the offset of each weld bead relative to the starting layer weld bead comprises: Determining the arc starting point of each weld pass according to the arc starting point of the starting layer weld pass and the offset; Determining the arc ending point of each weld pass according to the arc ending point of the starting layer weld pass and the offset; Each weld bead is determined according to the arc starting point of each weld bead and the arc ending point of each weld bead.

5. The method according to any one of claims 1 to 4, characterized in that: The controlling welding gun starts from the starting layer weld bead and sequentially welds each weld bead until the welding of the right-angle welding groove is completed, including: Controlling the welding gun to perform welding operation along the starting layer weld bead from the arc starting point of the starting layer weld bead, and when the welding gun moves to the arc ending point of the starting layer weld bead, controlling the welding gun to move to the arc starting point of the next weld bead; The welding gun is controlled to perform welding operations along the weld bead from the arc starting point of the weld bead, and when the welding gun moves to the arc ending point of the weld bead, the step of controlling the welding gun to move to the arc starting point of the next weld bead is returned to until the welding of the right-angle welding groove is completed.

6. A welding system for a right-angle welding groove and a straight weld, characterized in that: The system comprises a teaching pendant, an electric box and a welding robot, wherein the teaching pendant is connected to the electric box, and the electric box is connected to the welding robot; The teaching pendant is used to send the teaching points, welding height, number of welding layers, and number of welds per weld layer of the right-angle welding groove to the electrical box, wherein the teaching points are used to describe the groove shape of the right-angle welding groove; and send welding instructions to the electrical box; The electrical box is used to receive the teaching point of the right-angle welding groove, the welding height, the number of welding layers, and the number of welds of each layer of weld, and determine the starting layer weld of the right-angle welding groove according to the teaching point of the right-angle welding groove; when receiving the welding instruction, the welding height, the number of welding layers, and the number of welds are used to determine the offset of each weld relative to the starting layer weld, and determine each weld according to the starting layer weld and the offset of each weld relative to the starting layer weld; and send a control instruction carrying the starting layer weld and each weld to the welding robot; The welding robot is used to respond to the control instruction, and weld each weld bead in sequence starting from the starting layer weld bead through the welding gun carried by the end of the robot arm until the welding of the right-angle welding groove is completed.

7. A welding device for a right-angle welding groove and a straight weld, characterized in that: The device comprises: A data acquisition module is used to acquire the welding height of the right-angle welding groove, the number of welding layers, the number of weld passes of each weld layer, and the weld pass of the starting layer; An offset calculation module, for determining the offset of each weld bead relative to the starting layer weld bead according to the welding height, the number of welding layers, and the number of weld beads when receiving a welding instruction; A weld bead determination module, used to determine each weld bead according to the starting layer weld bead and the offset of each weld bead relative to the starting layer weld bead; The welding module is used to control the welding gun to weld each weld bead in sequence starting from the starting layer weld bead until the welding of the right-angle welding groove is completed.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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