Electron beam welding device and control method thereof

Abstract

The present invention relates to the field of welding technology, specifically to an electron beam welding device and a control method thereof, comprising the steps of: obtaining an initial state of the welding device; obtaining a three-dimensional geometric model of a superconducting cavity, and generating an optimal welding path scheme based on the three-dimensional geometric model and the initial state of the welding device; obtaining parameter data for the welding device to control the movement of the superconducting cavity according to the optimal welding path scheme, and mapping it to the same time axis for synchronous processing to obtain a synchronous control signal, fusing the synchronous control signal with the optimal welding path scheme to obtain a control instruction for the welding device; controlling a welding workbench to weld the superconducting cavity, and during the welding process, controlling the welding device to move the superconducting cavity according to the control instruction until the welding is completed. The present application can significantly improve the accuracy, continuity and stability of electron beam welding by comprehensively controlling position calibration, path optimization and motion synchronization during the welding process.

Description

Technical Field

[0001] The present invention relates to the technical field of welding, and in particular to an electron beam welding device and a control method thereof. Background Art

[0002] With the in-depth development of modern physics, particle accelerator technology has become the core technology for research in many fields such as high-energy physics and nuclear physics. As a key component of a particle accelerator, the performance of the superconducting cavity directly determines the efficiency and effect of the accelerator. At present, the most suitable processing method for superconducting cavity niobium materials is vacuum electron beam welding. However, in practical applications, for different types of superconducting cavities, the welding devices used for welding will also be different. Maintaining the accuracy of the welding point position and the continuity of the welding process has always been a technical problem.

[0003] The geometry of the superconducting cavity is complex, and the determination of the welding path not only needs to consider the accuracy of the spatial position, but also needs to ensure the continuity and consistency of the welding process. Existing welding technologies lack sufficient flexibility and real-time performance in path planning and parameter adjustment, especially in the dynamic control of the equipment during the welding process. Most existing welding path optimizations are designed under static conditions, ignoring real-time feedback and adjustments during the welding process, making the execution of the welding path prone to interruption, deviation or discontinuity, resulting in the inability to effectively guarantee the welding quality.

[0004] However, the existing technology for design optimization of dynamic conditions cannot maintain synchronization with the welding points during the actual welding process, that is, during the dynamic movement of the welding device. This lack of synchronization can lead to inconsistent gaps between welding points or uneven welding joints, which in turn affects the continuity and strength of the welding, resulting in suboptimal welding results. Summary of the invention

[0005] The main purpose of the present invention is to provide an electron beam welding device and a control method thereof, aiming to overcome the technical problem that the prior art cannot perform continuous welding without changing the position of the welding spot, resulting in low welding efficiency.

[0006] In order to achieve the above-mentioned invention problem, the present invention provides a control method for an electron beam welding device, the method comprising:

[0007] Acquire an initial position of the welding device, and calibrate the initial position by a positioning algorithm to obtain an initial state of the welding device;

[0008] Acquire a three-dimensional geometric model of the superconducting cavity, generate a welding path diagram based on the three-dimensional geometric model and the initial state of the welding device, adjust the sequence and welding parameters of the welding path according to a path optimization algorithm, and obtain an optimal welding path solution;

[0009] Acquiring parameter data for controlling the movement of the superconducting cavity body by a welding device according to the optimal welding path solution, wherein the parameter data includes translation data and rotation data;

[0010] Mapping the translation data and the rotation data to the same time axis for synchronous processing to obtain a synchronous control signal, and fusing the synchronous control signal with the optimal welding path solution to obtain a control instruction for the welding device;

[0011] The welding workbench is controlled to weld the superconducting cavity body. During the welding process, the welding device is controlled to move the superconducting cavity body according to the control instruction until the welding is completed.

[0012] Furthermore, the step of obtaining the initial position of the welding device and calibrating the initial position by a positioning algorithm to obtain the initial state of the welding device includes:

[0013] An initial position data set is generated by using a dynamic sampling method based on position data collected by sensors and encoders;

[0014] Performing noise filtering on the initial position data set to obtain denoised initial position data;

[0015] Performing position error estimation processing on the denoised initial position data to obtain a position error correction model;

[0016] The initial position data is calibrated according to the position error correction model to obtain the initial position, and the initial position is transformed into a global reference coordinate system to obtain an initial state in the global coordinate system.

[0017] Furthermore, the step of obtaining a three-dimensional geometric model of the superconducting cavity and generating a welding path diagram based on the three-dimensional geometric model and the initial state of the welding device includes:

[0018] Scanning the surface of the superconducting cavity multiple times with a scanning device to obtain a three-dimensional geometric model of the superconducting cavity, and performing boundary detection on the three-dimensional geometric model to obtain a welding area of ​​the superconducting cavity;

[0019] Performing data preprocessing on the three-dimensional geometric model to obtain geometric point cloud data, and performing registration processing on the geometric point cloud data based on a spatial registration algorithm to obtain a fusion model that matches the initial state of the welding device;

[0020] According to the fusion model, the welding area is segmented using a path planning algorithm to obtain a plurality of local welding areas;

[0021] According to the plurality of local welding areas, the welding path is smoothed based on a curve fitting algorithm to obtain a welding path diagram.

[0022] Furthermore, the step of adjusting the sequence and welding parameters of the welding path according to the path optimization algorithm to obtain the optimal welding path solution includes:

[0023] Performing geometric decomposition processing on the welding area of ​​the superconducting cavity body to obtain a plurality of sub-areas;

[0024] Presetting welding parameters for each of the sub-areas to obtain an initial welding parameter set for each sub-area, wherein the initial welding parameter set at least includes welding speed, electron beam power, welding focus position and welding time;

[0025] Performing multi-objective optimization processing on the initial welding parameter set of each sub-region to obtain an optimized welding parameter set;

[0026] Performing sequential optimization processing on the optimal welding path to obtain an optimal welding path sequence, and performing dynamic timing optimization processing on the optimal welding path sequence to obtain a time allocation plan for the welding path;

[0027] A path smoothing process is performed according to the time allocation scheme of the welding path and the welding parameter set to obtain a final welding path trajectory, and the final welding path trajectory is simulated to obtain an optimal welding path scheme.

[0028] Further, the step of acquiring parameter data for controlling the movement of the superconducting cavity body by the welding device according to the optimal welding path scheme, wherein the parameter data includes translation data and rotation data, comprises:

[0029] Performing path point extraction processing on the optimal welding path solution to obtain a path point set, wherein the path point set includes a starting point, an end point, and an intermediate transition point of a motion trajectory of the welding device;

[0030] Performing coordinate transformation processing on each path point in the path point set to obtain a transformed path point coordinate system, performing rotation matrix calculation on the transformed path point coordinate system to obtain a rotation matrix between each pair of adjacent path points;

[0031] Calculating the relative translation between the path points to obtain a relative translation vector, wherein the translation vector is generated by the difference between the coordinates of adjacent path points;

[0032] The rotation matrix and the relative translation vector are combined to obtain the displacement characteristics between the path points, wherein the displacement characteristics include the rotation angle and the displacement vector of each path point relative to the previous path point;

[0033] Performing quaternion transformation processing on the displacement features between the path points to obtain a rotation representation in quaternion form, and fusing the rotation representation with the displacement vector to obtain a relative displacement matrix;

[0034] The relative displacement matrix is ​​combined with the initial position data of the superconducting cavity body to calculate parameter data for the welding device to control the movement of the superconducting cavity body.

[0035] Furthermore, the step of mapping the translation data and the rotation data to the same time axis for synchronous processing to obtain a synchronous control signal includes:

[0036] Decomposing the translation data according to time points to obtain the changing trend of the translation displacement in different time periods to form a translation time series;

[0037] Decomposing the rotation data according to time points to obtain the changing trend of the rotation angle in different time periods to form a rotation time series;

[0038] The difference parameters between the translation time series and the rotation time series at each time point are calculated, the translation data and the rotation data are corrected by a compensation algorithm according to the difference parameters, and the corrected translation data and rotation data are combined to obtain a synchronization control signal.

[0039] Furthermore, the step of fusing the synchronization control signal with the optimal welding path solution to obtain the control instruction of the welding device includes:

[0040] The synchronous control signal and the optimal welding path solution are processed in time synchronization to obtain the time synchronization signal:

[0041] Perform multi-dimensional data integration on the time synchronization signal to obtain a control data set, divide the control data into time periods, and perform path smoothing processing on each section to generate multiple welding control instruction sections;

[0042] The welding control instruction segment is simulated and optimized in real time to obtain a final control instruction.

[0043] Furthermore, the step of controlling the welding workbench to weld the superconducting cavity body comprises:

[0044] According to the control instruction of the welding device, a time control signal for the welding workbench to weld the superconducting cavity body is obtained, and welding parameters of the welding workbench are obtained, wherein the welding parameters at least include current intensity, acceleration voltage and beam diameter;

[0045] Controlling the welding device to align the superconducting cavity body with the welding port of the welding workbench, and controlling the welding workbench to perform vacuum treatment on the surface of the superconducting cavity body:

[0046] Based on the time control signal and welding parameters, the welding workbench is controlled to weld the superconducting cavity body in a vacuum environment.

[0047] Furthermore, during the welding process, the step of controlling the welding device to move the superconducting cavity body according to the control instruction until the welding is completed includes:

[0048] Acquire the motion target parameters of the welding device according to the control instruction to obtain the target position and motion trajectory;

[0049] According to the target position and motion trajectory, the speed and acceleration of the welding device are optimized based on the gradient descent method to obtain optimized motion parameters;

[0050] Performing real-time path adjustment on the optimized motion parameters to obtain a correction control signal, and controlling the welding device in real time according to the correction control signal to obtain actual motion data;

[0051] The position and posture of the welding device are adjusted according to the actual motion data until the welding operation is completed.

[0052] The present invention also discloses an electron beam welding device, which adopts the control method of the electron beam welding device as described in any one of the above items, comprising:

[0053] A fixture, used for clamping the outer tube wall of the superconducting cavity workpiece;

[0054] A supporting platform, used for supporting the fixture and the superconducting cavity workpiece, wherein a pulley device is provided at the bottom of the supporting platform for driving the superconducting cavity workpiece to translate;

[0055] A turntable is arranged on the supporting platform, the supporting platform is connected to the welding workbench through the turntable, and the turntable is used to drive the superconducting cavity workpiece to rotate.

[0056] Beneficial effects:

[0057] The present application can effectively eliminate the problem of inaccurate welding point position caused by equipment position deviation by calibrating the initial position of the welding device and using a positioning algorithm to accurately determine the initial state of the welding device, thereby ensuring the position stability during the welding process, thereby improving the accuracy of the welding point and avoiding welding deviations that may occur in traditional technologies. Furthermore, by obtaining a three-dimensional geometric model of the superconducting cavity and generating a welding path diagram based on the model and the initial state of the welding device, it is possible to optimize and adjust the welding path. Different from the static path optimization in the prior art, the present invention uses a path optimization algorithm to dynamically adjust the welding path sequence and welding parameters, so that the welding process can be optimized in real time according to actual conditions, thereby effectively improving the continuity and consistency of the welding process and avoiding path interruption or discontinuity. Furthermore, by mapping the translation data and rotation data to the same time axis for synchronous processing and generating a synchronization control signal, the problem of asynchronous translation and rotation movement during welding in the prior art is overcome. The fusion of the synchronization control signal and the welding path scheme enables the welding device to maintain precise synchronization with the welding point during dynamic movement, avoiding inconsistent gaps or uneven welding joints due to asynchronous movement, thereby improving welding quality and welding strength, and ensuring the stability and accuracy of the welding process.

[0058] To summarize, compared with the prior art, the present invention can significantly improve the accuracy, continuity and stability of electron beam welding through the comprehensive control of position calibration, path optimization and motion synchronization during the welding process, effectively solves the problems of weld point offset, path interruption and poor synchronization during the welding process, and ensures that the welding quality reaches the optimal state. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 It is a schematic diagram of the steps of a control method for an electron beam welding device in one embodiment of the present invention;

[0060] Figure 2 It is a schematic block diagram of the structure of an electron beam welding device according to an embodiment of the present invention;

[0061] Figure 3 It is a schematic block diagram of a supporting base structure based on an electron beam welding device according to an embodiment of the present invention;

[0062] Description of reference numerals:

[0063] 1. Turntable; 2. Upper half of the long end fixture; 3. Lower half of the long end fixture; 4. Upper half of the short end fixture; 5. Lower half of the short end fixture; 6. Support base.

[0064] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0065] 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.

[0066] It will be understood by those skilled in the art that, unless expressly stated, the singular forms "one", "above", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of features, integers, steps, operations, elements, modules, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, components, and / or groups thereof. It should be understood that when an element is said to be "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any module and all combinations of one or more associated listed items.

[0067] Those skilled in the art will understand that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art in the field to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as here.

[0068] Reference Figure 1 The embodiment of the present invention provides a control method for an electron beam welding device, comprising the following steps:

[0069] S1: Acquire the initial position of the welding device, and calibrate the initial position through a positioning algorithm to obtain the initial state of the welding device;

[0070] In step S1, the welding device is composed of a plurality of adjustable components, and the initial position of the welding device is obtained by a high-precision sensor and a positioning device. The positioning device may include a laser rangefinder, an optical sensor or other high-precision position sensor, which can measure the relative position of the welding device in real time in three-dimensional space. Through these sensors, the precise position of each moving component of the welding device relative to a fixed coordinate system (such as a reference point of a superconducting cavity or a workpiece) can be obtained. After obtaining the initial position data, these data are calibrated by a positioning algorithm. The positioning algorithm compares the original position data with a predetermined standard reference position and corrects any existing errors. The positioning algorithm may include a least squares method, a Kalman filter algorithm or other optimization algorithms suitable for multi-point calibration and error correction. Through the positioning algorithm, the welding device can accurately adjust its initial position so that each component can be accurately in a predetermined working position. For example, assuming that during the welding process, it is necessary to accurately focus the electron beam to the welding point of the superconducting cavity, and the welding device is used to move the superconducting cavity, the initial position of the welding device is calibrated by the positioning algorithm, which can ensure that the electron beam is accurately aligned with the welding point.

[0071] S2: obtaining a three-dimensional geometric model of the superconducting cavity, generating a welding path diagram based on the three-dimensional geometric model and the initial state of the welding device, adjusting the sequence and welding parameters of the welding path according to a path optimization algorithm, and obtaining an optimal welding path solution;

[0072] In step S2, the superconducting cavity body usually has a complex shape and structure, including multiple welding surfaces, welding joints and different geometric surfaces. Before welding, the three-dimensional geometric information of the superconducting cavity body is obtained, which can be obtained by three-dimensional scanning technology, computer tomography (CT) or other forms of three-dimensional imaging technology. The key geometric features of the cavity such as shape, size, thickness distribution, etc. can be recorded in detail and converted into a computer-processable digital model, such as a three-dimensional CAD (computer-aided design) model. The model is combined with the initial state of the welding device to generate a welding path diagram. The welding path diagram is a path planning diagram of how the electron beam moves on the workpiece surface or welding joint during the welding process. The path calculation can be performed based on the path planning algorithm combined with the three-dimensional geometric model of the superconducting cavity body.

[0073] S3: acquiring parameter data for controlling the movement of the superconducting cavity body by a welding device according to the optimal welding path solution, wherein the parameter data includes translation data and rotation data;

[0074] In step S3, the generation of the optimal welding path scheme is based on the analysis of the initial state of the welding device and the three-dimensional geometric model of the superconducting cavity. During the welding process of the superconducting cavity, the welding device is required to perform precise translation and rotation operations in three-dimensional space to ensure that the electron beam can weld the superconducting cavity according to the optimal path. The control parameter data includes translation data and rotation data, which will guide the welding device on how to move the superconducting cavity to achieve the purpose of precise welding. The translation data determines the linear movement distance and direction of the superconducting cavity in three-dimensional space, while the rotation data controls the rotation angle and speed of the superconducting cavity around a specific axis.

[0075] S4: mapping the translation data and the rotation data to the same time axis for synchronous processing to obtain a synchronous control signal, and fusing the synchronous control signal with the optimal welding path solution to obtain a control instruction for the welding device;

[0076] In step S4, the translation data and the rotation data are mapped to the same time axis for synchronous processing in order to ensure that the movement of the superconducting cavity and the movement of the electron beam can be accurately matched during the welding process. Through the synchronous control signal, the welding device can be finely controlled to ensure the accuracy of the residence time and position of the electron beam at the welding point. This synchronous processing can be achieved through algorithms such as time series analysis and predictive control algorithms. According to the welding path scheme and real-time feedback data, the control instructions are dynamically adjusted to adapt to various changes in the welding process. After integrating the optimal welding path scheme and the synchronous control signal, the welding device control instructions finally generated will guide the welding device to perform precise welding according to the predetermined path and parameters, thereby improving welding quality and efficiency.

[0077] S5: controlling the welding workbench to weld the superconducting cavity body, and during the welding process, controlling the welding device to move the superconducting cavity body according to the control instruction until the welding is completed;

[0078] In step S5, the welding workbench is controlled to perform vacuum welding on the superconducting cavity body. Since the welding workbench is fixed, during the welding process, it is necessary to move each welding surface of the superconducting cavity body through the welding device for welding. The welding device controls the translation and rotation of the superconducting cavity according to the control instructions to ensure that the electron beam moves along the optimal welding path and can maintain precise synchronization with the welding point during dynamic movement, thereby avoiding inconsistent gaps or uneven welded joints caused by asynchronous movement, thereby improving the welding quality and welding strength, and ensuring the stability and accuracy of the welding process.

[0079] In summary, through a series of interconnected steps, the precise control of the welding device is achieved, ensuring the efficiency and accuracy of the entire welding process. This method can achieve high-quality continuous welding on superconducting cavity cavities with complex geometries, and in actual operation can effectively improve the welding speed and accuracy, avoiding the errors and inefficiencies that may occur in traditional methods.

[0080] In one embodiment, the step of obtaining the initial position of the welding device and calibrating the initial position by a positioning algorithm to obtain the initial state of the welding device includes:

[0081] An initial position data set is generated by using a dynamic sampling method based on position data collected by sensors and encoders;

[0082] Performing noise filtering on the initial position data set to obtain denoised initial position data;

[0083] Performing position error estimation processing on the denoised initial position data to obtain a position error correction model;

[0084] The initial position data is calibrated according to the position error correction model to obtain the initial position, and the initial position is transformed into a global reference coordinate system to obtain an initial state in the global coordinate system.

[0085] In the above embodiment, the initial position of the device is acquired by a dynamic sampling method based on a sensor and an encoder. The sensor is used to detect the real-time position of the welding device, and the encoder is responsible for accurately recording the motion state of each part of the welding device. Through dynamic sampling, the data of the device position can be collected in real time, thereby forming an initial position data set. The dynamic sampling method here refers to continuously acquiring real-time position data from sensors and encoders within a certain time range, and generating a series of numerical points, which will provide a basis for subsequent error correction and calibration. For the collected initial position data set, these data are subjected to noise filtering. Since in actual applications, sensors and encoders may be interfered by various external factors, such as mechanical vibration, temperature changes or electromagnetic interference, etc., resulting in noise in the collected data, a filtering algorithm (such as Kalman filtering or mean filtering) can be used to smooth the data, remove abnormal fluctuations, retain the valid part of the data, and obtain a more stable and reliable initial position data set. After noise filtering, the position error estimation is performed on the denoised initial position data. The position error estimation method is used to estimate the error range in the data by analyzing the change law of the collected data, combining historical experience or model prediction, and constructing a position error correction model. The model is based on statistical principles or mathematical tools such as the least squares method. By comparing and calculating a large amount of position data, an error compensation function is obtained, which can effectively correct the position deviation. The model is applied to the actual initial position data to perform position calibration. The calibration process is actually to adjust the original initial position data through the correction model, so that the adjusted data is more accurate and reliable. In this way, the initial position of the welding device is accurately corrected, and the initial position is transformed into a global reference coordinate system. The transformation of the global coordinate system transforms the local coordinate system of the device into a reference state under the global coordinate system. In practical applications, the initial position of the welding device is often measured relative to the local coordinate system, and its position is defined relative to a reference point of the device. The global coordinate system is defined based on the coordinate frame of the workbench or the entire system, which can help the system achieve coordination and positioning across multiple areas or multiple components. A more accurate initial state of the welding device can be obtained through global coordinate system transformation.

[0086] In one embodiment, the step of obtaining a three-dimensional geometric model of the superconducting cavity and generating a welding path diagram based on the three-dimensional geometric model and an initial state of the welding device comprises:

[0087] Scanning the surface of the superconducting cavity multiple times with a scanning device to obtain a three-dimensional geometric model of the superconducting cavity, and performing boundary detection on the three-dimensional geometric model to obtain a welding area of ​​the superconducting cavity;

[0088] Performing data preprocessing on the three-dimensional geometric model to obtain geometric point cloud data, and performing registration processing on the geometric point cloud data based on a spatial registration algorithm to obtain a fusion model that matches the initial state of the welding device;

[0089] According to the fusion model, the welding area is segmented using a path planning algorithm to obtain a plurality of local welding areas;

[0090] According to the plurality of local welding areas, the welding path is smoothed based on a curve fitting algorithm to obtain a welding path diagram.

[0091] In the above embodiment, the process of obtaining the three-dimensional geometric model of the superconducting cavity is completed by scanning the surface of the superconducting cavity multiple times using a scanning device. The scanning device can be a laser scanner or an optical scanner. The detailed information of the object surface is obtained by continuously emitting lasers or light beams and receiving reflected signals. These scanning data will form a large amount of point cloud data, which represents the accurate digital model of the shape of the surface of the superconducting cavity. The three-dimensional geometric model is processed by boundary detection, and the goal is to identify which areas on the surface of the superconducting cavity need to be welded. The welding area refers to those parts with seams or gaps, or parts that require high-precision connection. Through boundary detection, the outline of the welding area can be extracted to ensure that the welding device will not mistakenly operate to the area that does not need welding during the subsequent welding process. Boundary detection may use image processing, edge detection algorithm and other methods to determine the exact position of the welding area by analyzing the continuity and changes in the point cloud data. It is worth noting that the welding data here is adjusted according to actual needs, that is, combined with the user's welding instructions. After completing the boundary detection, the raw data obtained from the scanning device is sorted and cleaned. Since noise points or repeated data may appear during the scanning process, data preprocessing will filter out these irrelevant data to obtain geometric point cloud data. Subsequently, the geometric point cloud data is registered by a spatial registration algorithm to obtain a fusion model that matches the initial state of the welding device. The purpose of spatial registration is to align point cloud data from different scanning angles or different time points so that all data can be unified into a reference coordinate system, thereby eliminating the spatial error caused by different scanning positions. The ICP (Iterative Closest Point) algorithm can be used, which minimizes the distance difference between the two sets of point clouds through iterative optimization, and finally fuses the point cloud data from different sources into a unified, more accurate three-dimensional model. In this way, the welding device can determine its relative position and posture with the cavity based on the fusion model. After obtaining the fusion model, the path planning algorithm is used to segment the welding area. The goal of the path planning algorithm is to divide the entire welding area into multiple local welding areas according to the geometric characteristics of the welding area. The shape and size of each local welding area should match the working range and motion capability of the welding device to ensure that the welding device can move smoothly in each local area and complete the task during the welding process. The path planning algorithm is based on certain optimization principles, such as minimizing welding time, avoiding collisions, or ensuring uniformity of welding quality. Through geometric analysis of the welding area, the specific shape and distribution of each local welding area are determined. Finally, based on multiple local welding areas, the welding path is smoothed using a curve fitting algorithm to obtain the final welding path map. The generation of the welding path map is the final result of path planning, ensuring that the welding device can perform the welding task according to the optimal path.The function of the curve fitting algorithm is to smooth discontinuities or sharp turns in the welding path to avoid unstable movement or uneven welding in actual operation. The fitting algorithm can be a B-spline curve, a Bezier curve, etc. These algorithms optimize the control points in the path to obtain a smooth and continuous welding path, so that the welding device can smoothly transition during execution, reduce energy loss and improve welding quality.

[0092] In one embodiment, the step of adjusting the sequence and welding parameters of the welding path according to the path optimization algorithm to obtain the optimal welding path solution includes:

[0093] Performing geometric decomposition processing on the welding area of ​​the superconducting cavity body to obtain a plurality of sub-areas;

[0094] Presetting welding parameters for each of the sub-areas to obtain an initial welding parameter set for each sub-area, wherein the initial welding parameter set at least includes welding speed, electron beam power, welding focus position and welding time;

[0095] Performing multi-objective optimization processing on the initial welding parameter set of each sub-region to obtain an optimized welding parameter set;

[0096] Performing sequential optimization processing on the optimal welding path to obtain an optimal welding path sequence, and performing dynamic timing optimization processing on the optimal welding path sequence to obtain a time allocation plan for the welding path;

[0097] A path smoothing process is performed according to the time allocation scheme of the welding path and the welding parameter set to obtain a final welding path trajectory, and the final welding path trajectory is simulated to obtain an optimal welding path scheme.

[0098] In the above embodiment, the welding area of ​​the superconducting cavity body is effectively partitioned by geometric decomposition, that is, the entire welding area is geometrically decomposed and divided into several sub-areas. The division principle of these sub-areas is usually based on the characteristics of the geometric shape, which can be the size, complexity, curvature change and other factors of the welding area. An initial welding parameter set is set for each sub-area, and the welding parameter set includes key parameters such as the welding speed, electron beam power, welding focus position and welding time of the welding workbench. When setting these initial parameters, reasonable estimation is performed according to the geometric shape, material properties and welding process requirements of the sub-area. Multi-objective optimization is performed on these initial parameters. The purpose of multi-objective optimization is to find a balance point between multiple optimization targets. The optimization targets may include welding speed, welding quality, energy consumption, welding time, etc. Through multi-objective optimization processing, welding efficiency can be improved as much as possible and unnecessary energy loss can be reduced under the premise of ensuring welding quality. This process can be performed by algorithms such as genetic algorithms and particle swarm optimization, and iterative calculations are performed to analyze the influence of different welding parameters on the target and find the optimal solution between multiple targets. After obtaining the optimized welding parameter set, the order of the welding path is optimized. By analyzing the relative positions and welding requirements between each sub-area, an optimal welding path sequence is determined. The goal of the optimization is to ensure that the moving path of the welding device is as short and smooth as possible, avoiding unnecessary rotation and repeated welding operations. The optimal welding path sequence is dynamically optimized. The purpose of dynamic timing optimization is to allocate appropriate time for each welding step according to the welding path sequence to ensure that each welding area can complete welding in a suitable time. Timing optimization is set according to multiple factors in the welding process, including the response time, heating time, cooling time, etc. of the welding table. By dynamically optimizing the welding path, too fast or too slow welding speed can be avoided, and the various actions of the welding device can be reasonably arranged to ensure a smoother and more efficient welding process. After completing the timing optimization, the next step is to perform path smoothing to eliminate sharp changes or discontinuities in the welding path. Finally, the welding path trajectory after path smoothing will be simulated and verified to evaluate the feasibility of the path and the welding effect before actual welding. Through simulation, potential problems such as collisions and unreasonable paths can be identified in advance, and the welding path can be further adjusted and optimized. It is worth noting that in this embodiment, the welding process is mainly carried out by moving the superconducting cavity body through the welding device, and the welding is carried out by the welding workbench. The optimal welding path scheme is specifically a scheme in which the welding device moves the superconducting cavity body while the welding workbench maintains the same welding point, that is, the welding device controls the superconducting cavity body to move along a predetermined path in three-dimensional space to achieve precise welding of the superconducting cavity body.

[0099] In one embodiment, the step of acquiring parameter data for controlling the movement of the superconducting cavity body by the welding device according to the optimal welding path scheme, wherein the parameter data includes translation data and rotation data, comprises:

[0100] Performing path point extraction processing on the optimal welding path solution to obtain a path point set, wherein the path point set includes a starting point, an end point, and an intermediate transition point of a motion trajectory of the welding device;

[0101] Performing coordinate transformation processing on each path point in the path point set to obtain a transformed path point coordinate system, performing rotation matrix calculation on the transformed path point coordinate system to obtain a rotation matrix between each pair of adjacent path points;

[0102] Calculating the relative translation between the path points to obtain a relative translation vector, wherein the translation vector is generated by the difference between the coordinates of adjacent path points;

[0103] The rotation matrix and the relative translation vector are combined to obtain the displacement characteristics between the path points, wherein the displacement characteristics include the rotation angle and the displacement vector of each path point relative to the previous path point;

[0104] Performing quaternion transformation processing on the displacement features between the path points to obtain a rotation representation in quaternion form, and fusing the rotation representation with the displacement vector to obtain a relative displacement matrix;

[0105] The relative displacement matrix is ​​combined with the initial position data of the superconducting cavity body to calculate parameter data for the welding device to control the movement of the superconducting cavity body.

[0106] In the above embodiment, by performing path point extraction processing on the optimal welding path solution, a set of key path point sets can be obtained. The path point set generally includes the starting point, the end point and the transition point in the path of the welding device motion trajectory. These path points represent the key positions that the welding device needs to pass through during the entire welding process, and are closely related to the geometric shape of the welding area, the welding sequence and the process requirements. Coordinate transformation processing is performed on each path point. The initial position of the welding device is defined in a certain coordinate system, while the geometric model of the superconducting cavity body is modeled based on another coordinate system. The coordinates of the path points are converted to the coordinate system used by the welding device, which can be achieved by a coordinate transformation method, such as using mathematical tools such as translation and rotation matrices to map the path point data of the original coordinate system to the target coordinate system, thereby ensuring that the path points can accurately correspond to the position of the actual welding device. After completing the coordinate transformation, the rotation matrix is ​​calculated between each pair of adjacent path points. For each pair of adjacent path points, the rotation matrix calculation can provide the angle of relative rotation between the two points. In the process of path optimization, the welding device can adjust its direction according to the specified angle and move along the optimal path. The relative translation between path points is calculated synchronously with the calculation of the rotation matrix. The translation between adjacent path points is obtained by calculating the difference between the coordinates of the two points. This translation vector represents the displacement required for the welding device to move from one path point to the next. The rotation matrix and the relative translation vector are combined and processed. By combining the rotation matrix and the translation vector, a complete displacement feature can be generated. The feature includes the rotation angle and displacement vector of each path point relative to the previous path point. The rotation and translation information of the welding device in path tracking are integrated to form a composite motion description. These displacement features are processed by quaternion transformation. By converting the rotation representation into quaternion form, the rotation operation required by the welding device in the path tracking process can be more accurately described, avoiding the numerical instability and error accumulation problems that may occur in the rotation process. The quaternion representation can not only ensure the continuity of the rotation, but also effectively reduce the amount of calculation in path planning and improve the overall control accuracy. The rotation representation in quaternion form is fused with the translation vector to generate a relative displacement matrix. This relative displacement matrix contains the rotation and displacement information between each pair of adjacent path points and is the core control data required by the welding device in the process of completing path tracking. The matrix provides precise control instructions, instructing the welding device how to move and rotate to ensure that it can weld according to the optimized path. Finally, the relative displacement matrix is ​​combined with the initial position data of the superconducting cavity to calculate the final parameter data of the welding device controlling the movement of the superconducting cavity, and the welding device is calculated at each moment.

[0107] Furthermore, the algorithm expression of this embodiment is: ,in, is the final welding device position, the target position at time t, which is the target output of the entire path control, indicating the position and posture that the welding device needs to reach at a certain time t; is the initial position of the welding device, which can be expressed as a vector , is the initial coordinate; , represents the cumulative effect of rotation and translation between waypoints. This part integrates the rotation and displacement effects between waypoints into a continuous control instruction; is the rotation matrix between the i-th pair of adjacent path points, used to represent the rotation transformation between path points. is the rotation angle between path point i and path point i+1, calculated as follows: , which is a two-dimensional rotation matrix, representing the rotation angle For the transformation under three-dimensional space, the rotation matrix will be adjusted according to the different rotation axes; is the translation vector between the i-th pair of path points, obtained by the difference in the coordinates of the two points; It is the quaternion rotation representation between path points, used to represent the rotation between path points i and i+1. The quaternion representation is: ,in is the unit vector of the rotation axis, is the rotation angle.

[0108] In one embodiment, the step of mapping the translation data and the rotation data to the same time axis for synchronous processing to obtain a synchronous control signal includes:

[0109] Decomposing the translation data according to time points to obtain the changing trend of the translation displacement in different time periods to form a translation time series;

[0110] Decomposing the rotation data according to time points to obtain the changing trend of the rotation angle in different time periods to form a rotation time series;

[0111] The difference parameters between the translation time series and the rotation time series at each time point are calculated, the translation data and the rotation data are corrected by a compensation algorithm according to the difference parameters, and the corrected translation data and rotation data are combined to obtain a synchronization control signal.

[0112] In the above embodiment, the translation data and the rotation data represent the position change and posture change of the welding device in three-dimensional space, respectively. During the entire welding process, the welding device needs to control the surface of the superconducting cavity body to move and rotate accurately according to the preset path. First, the translation data is decomposed according to the time point, which means that the translation displacement in the entire welding path is divided into time periods, and the translation time series is generated by analyzing the change trend of the translation displacement in each time period. For each time point, the translation data can be described as the displacement required for the device to reach the next target position from the current position. Similarly, the rotation data is decomposed according to the time point, which means that the posture change of the welding device is analyzed time by time. The rotation of the welding device involves its rotation around a specific axis (such as the x-axis, y-axis, and z-axis), specifically around the axis of the turntable in the welding device, and the rotation data can reflect the rotation angle of the device at each time point. After the decomposition and trend extraction of the translation data and the rotation data are completed, the difference parameters between the translation time series and the rotation time series are calculated, and the inconsistencies in time and motion trajectory are found by comparing the changes in each time period in the translation time series with the corresponding time period in the rotation time series. This difference can be a position offset, an error in the rotation angle, or even a combination of the two. Through the calculated difference parameters, a compensation algorithm can be used to correct the translation data and rotation data. The function of the compensation algorithm is to adjust the translation and rotation data so that they are aligned on the time axis so that the translation and rotation actions of the welding device can be coordinated and consistent. This can be achieved through optimization methods, such as interpolation, curve fitting and other technical means to smoothly adjust the inconsistent parts so that the timing relationship between translation and rotation can be accurately matched. The corrected translation data and rotation data are combined to generate the final synchronization control signal. This signal combines the translation and rotation control instructions of the welding device to ensure that the welding device can control the workpiece to move according to the optimal path and posture.

[0113] In one embodiment, the step of fusing the synchronous control signal with the optimal welding path solution to obtain the control instruction of the welding device includes:

[0114] The synchronous control signal and the optimal welding path solution are processed in time synchronization to obtain the time synchronization signal:

[0115] Perform multi-dimensional data integration on the time synchronization signal to obtain a control data set, divide the control data into time periods, and perform path smoothing processing on each section to generate multiple welding control instruction sections;

[0116] The welding control instruction segment is simulated and optimized in real time to obtain a final control instruction.

[0117] In the above embodiment, the synchronization control signal is generated based on the translation data and the rotation data, which respectively describe the position change and posture change of the welding device in the three-dimensional space. The optimal welding path scheme is obtained based on the three-dimensional geometric model of the superconducting cavity and the path optimization algorithm, which specifies the path along which the welding device should weld. In practical applications, the time axes of the two are not completely consistent, and there is a certain time difference. The purpose of time synchronization processing is to align the time axes between the synchronization control signal and the optimal welding path scheme to ensure that they can work in coordination under the same time frame. The process of time synchronization includes timestamping the respective data, and then mapping them to the same time axis through interpolation algorithms or other time synchronization methods to eliminate time differences. After completing time synchronization, a comprehensive control data set is formed by combining the synchronized translation data, rotation data and welding path data. The purpose of multi-dimensional data integration is to merge data from different sources and different types into a unified data structure, so that the motion information of the entire welding process can be fully and accurately reflected, avoiding the control deviation that may be caused by a single data source. During the welding process, the entire welding path will be divided into multiple time periods, each of which represents a specific motion stage of the welding device. After the time period is divided, the data in each time period is interpolated by an interpolation algorithm or curve fitting technology to generate a smooth path through calculation, so that the movement process of the welding device is smoother. Each welding control instruction segment is simulated and optimized in real time. Real-time simulation means that in each time period, according to the movement requirements and control instructions of the welding device, the entire movement process is simulated by computer simulation technology, and the behavior and state of the welding device are monitored in real time. In this process, the welding path, speed, acceleration and other parameters can be simulated through a virtual environment to ensure that the welding device can move accurately according to the expected path during actual operation. Through the optimization algorithm, the real-time simulation results can be used to correct the deficiencies in path planning, so that each welding instruction segment is optimized in time and space, ensuring the final welding quality.

[0118] In one embodiment, the step of controlling the welding workbench to weld the superconducting cavity body comprises:

[0119] According to the control instruction of the welding device, a time control signal for the welding workbench to weld the superconducting cavity body is obtained, and welding parameters of the welding workbench are obtained, wherein the welding parameters at least include current intensity, acceleration voltage and beam diameter;

[0120] Controlling the welding device to align the superconducting cavity body with the welding port of the welding workbench, and controlling the welding workbench to perform vacuum treatment on the surface of the superconducting cavity body:

[0121] Based on the time control signal and welding parameters, the welding workbench is controlled to weld the superconducting cavity body in a vacuum environment.

[0122] In the above embodiment, based on the control instruction of the welding device, before starting welding, a time control signal for the welding workbench to weld the superconducting cavity body is obtained. This time control signal is actually a time scheduling of the welding process, so that the welding workbench completes its work according to a certain time sequence, and obtains the welding parameters of the welding workbench, and controls the welding device to align the superconducting cavity body to the welding port of the welding workbench. After the alignment is completed, the welding workbench is controlled to perform vacuum treatment on the surface of the superconducting cavity body. Since electron beam welding requires to be carried out in a high vacuum environment to avoid interference from gases in the air and scattering of the electron beam. The welding workbench gradually adjusts the electron beam energy input, acceleration voltage and other factors during the welding process according to the instructions provided by the time control signal and the current welding parameter settings to adapt to the welding requirements of different parts of the superconducting cavity body. For example, during the welding process, the power and speed of the electron beam may need to be adjusted according to different welding positions to cope with different heat conduction and cooling requirements.

[0123] In one embodiment, during the welding process, the step of controlling the welding device to move the superconducting cavity body according to the control instruction until the welding is completed includes:

[0124] Acquire the motion target parameters of the welding device according to the control instruction to obtain the target position and motion trajectory;

[0125] According to the target position and motion trajectory, the speed and acceleration of the welding device are optimized based on the gradient descent method to obtain optimized motion parameters;

[0126] Performing real-time path adjustment on the optimized motion parameters to obtain a correction control signal, and controlling the welding device in real time according to the correction control signal to obtain actual motion data;

[0127] The position and posture of the welding device are adjusted according to the actual motion data until the welding operation is completed.

[0128] In the above embodiment, according to the control instructions in the welding process, the motion target parameters of the welding device are obtained, and the motion target parameters refer to the target position and motion trajectory of the welding device. The target position refers to the position that the welding device should eventually reach, and the motion trajectory refers to the translation trajectory and the rotation trajectory. The speed and acceleration of the welding device are optimized according to the target position and the motion trajectory. At this time, the gradient descent method is used to optimize these parameters, and an objective function is minimized by iterative calculation. In this embodiment, the objective function is the time, energy consumption or motion stability required for the welding device to reach the target position from the current state. The gradient descent method finds an optimal solution that meets all constraints by gradually adjusting the speed and acceleration. The real-time path adjustment is performed according to the optimized motion parameters. The purpose of the real-time path adjustment is to ensure that the welding device always moves according to the optimal path to avoid welding quality problems or time waste due to deviations. As the real-time path adjustment proceeds, the welding device is controlled in real time according to the corrected control signal. At this time, the welding device will continuously adjust its motion state according to these correction signals. The position and posture of the welding device are finally adjusted according to the actual motion data to ensure that it is in the correct position after welding is completed. Specifically, when the welding workbench performs single-point continuous welding on the superconducting cavity workpiece, the welding device synchronously rotates and translates the superconducting cavity workpiece so that the electron beam can evenly cover the entire welding area.

[0129] Reference Figure 2 and Figure 3 The present application also discloses an electron beam welding device, which adopts the control method of the electron beam welding device as described in any of the above items, including: a clamp for clamping the outer tube wall of the superconducting cavity workpiece; a support platform for supporting the clamp and the superconducting cavity workpiece, and a pulley device is provided at the bottom of the support platform for driving the superconducting cavity workpiece to translate; a turntable 1, which is arranged on the support platform, and the support platform is connected to the welding workbench through the turntable 1, and the turntable 1 is used to drive the superconducting cavity workpiece to rotate.

[0130] In this embodiment, the fixture includes a long-end fixture upper half 2, a long-end fixture lower half 3, a short-end fixture upper half 4, and a short-end fixture lower half 5. The long-end fixture and the short-end fixture are positioned by pin holes and pins and fixed by bolts. The upper and lower halves are also positioned by pin holes and pins and fixed by bolts. The long-end fixture and the short-end fixture respectively clamp the outer tube wall of the conductor workpiece outside the superconducting cavity, and then the turntable 1, the long-end fixture, and the short-end fixture are aligned, assembled, and fixedly connected by pins and bolts. After the connection is completed, the tooling is transferred to the welding workbench, fixedly connected to the workbench turntable through the turntable 1, and the circumferential part of the tail of the fixture is placed on the tailstock size platform. A pulley device is installed on the support platform, so that when the welding device drives the conductor workpiece outside the superconducting cavity to rotate around the A axis, the outer conductor workpiece is kept parallel to the moving base. After adjusting the tooling, the program is called to synchronize the X-axis displacement of the mobile base with the A-axis rotation of the work platform, that is, the position of the welding point remains unchanged, ensuring welding continuity and controllable quality.

[0131] Those of ordinary skill 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 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 memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double-speed data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0132] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A control method for an electron beam welding device, characterized in that: include: Acquire the initial position of the welding device, and calibrate the initial position by a positioning algorithm to obtain the initial state of the welding device; Acquire a three-dimensional geometric model of the superconducting cavity, generate a welding path diagram based on the three-dimensional geometric model and the initial state of the welding device, adjust the sequence and welding parameters of the welding path according to the path optimization algorithm, and obtain an optimal welding path solution; Acquiring parameter data for controlling the movement of the superconducting cavity body by a welding device according to the optimal welding path solution, wherein the parameter data includes translation data and rotation data; Mapping the translation data and the rotation data to the same time axis for synchronous processing to obtain a synchronous control signal, and fusing the synchronous control signal with the optimal welding path solution to obtain a control instruction for the welding device; Controlling the welding workbench to weld the superconducting cavity body, and during the welding process, controlling the welding device to move the superconducting cavity body according to the control instruction until the welding is completed; The step of obtaining a three-dimensional geometric model of the superconducting cavity and generating a welding path diagram based on the three-dimensional geometric model and the initial state of the welding device comprises: Scanning the surface of the superconducting cavity multiple times with a scanning device to obtain a three-dimensional geometric model of the superconducting cavity, and performing boundary detection on the three-dimensional geometric model to obtain a welding area of ​​the superconducting cavity; Performing data preprocessing on the three-dimensional geometric model to obtain geometric point cloud data, and performing registration processing on the geometric point cloud data based on a spatial registration algorithm to obtain a fusion model that matches the initial state of the welding device; According to the fusion model, the welding area is segmented using a path planning algorithm to obtain a plurality of local welding areas; According to the plurality of local welding areas, a welding path is smoothed based on a curve fitting algorithm to obtain a welding path diagram; The step of adjusting the sequence and welding parameters of the welding path according to the path optimization algorithm to obtain the optimal welding path solution includes: Performing geometric decomposition processing on the welding area of ​​the superconducting cavity body to obtain a plurality of sub-areas; Presetting welding parameters for each of the sub-areas to obtain an initial welding parameter set for each sub-area, wherein the initial welding parameter set at least includes welding speed, electron beam power, welding focus position and welding time; Performing multi-objective optimization processing on the initial welding parameter set of each sub-region to obtain an optimized welding parameter set; Performing sequential optimization processing on the optimal welding path to obtain an optimal welding path sequence, and performing dynamic timing optimization processing on the optimal welding path sequence to obtain a time allocation plan for the welding path; A path smoothing process is performed according to the time allocation scheme of the welding path and the welding parameter set to obtain a final welding path trajectory, and the final welding path trajectory is simulated to obtain an optimal welding path scheme.

2. The control method of the electron beam welding device according to claim 1, characterized in that: The step of obtaining the initial position of the welding device and calibrating the initial position by a positioning algorithm to obtain the initial state of the welding device includes: An initial position data set is generated by using a dynamic sampling method based on position data collected by sensors and encoders; Performing noise filtering on the initial position data set to obtain denoised initial position data; Performing position error estimation processing on the denoised initial position data to obtain a position error correction model; The initial position data is calibrated according to the position error correction model to obtain the initial position, and the initial position is transformed into a global reference coordinate system to obtain an initial state in the global coordinate system.

3. The control method of the electron beam welding device according to claim 1, characterized in that: The step of acquiring parameter data for controlling the movement of the superconducting cavity body by the welding device according to the optimal welding path scheme, wherein the parameter data includes translation data and rotation data, comprises: Performing path point extraction processing on the optimal welding path solution to obtain a path point set, wherein the path point set includes a starting point, an end point, and an intermediate transition point of a motion trajectory of the welding device; Performing coordinate transformation processing on each path point in the path point set to obtain a transformed path point coordinate system, performing rotation matrix calculation on the transformed path point coordinate system to obtain a rotation matrix between each pair of adjacent path points; Calculating the relative translation between the path points to obtain a relative translation vector, wherein the translation vector is generated by the difference between the coordinates of adjacent path points; The rotation matrix and the relative translation vector are combined to obtain the displacement characteristics between the path points, wherein the displacement characteristics include the rotation angle and the displacement vector of each path point relative to the previous path point; Performing quaternion transformation processing on the displacement features between the path points to obtain a rotation representation in quaternion form, and fusing the rotation representation with the displacement vector to obtain a relative displacement matrix; The relative displacement matrix is ​​combined with the initial position data of the superconducting cavity body to calculate parameter data for the welding device to control the movement of the superconducting cavity body.

4. The control method of the electron beam welding device according to claim 1, characterized in that: The step of mapping the translation data and the rotation data to the same time axis for synchronous processing to obtain a synchronous control signal comprises: Decomposing the translation data according to time points to obtain the changing trend of the translation displacement in different time periods to form a translation time series; Decomposing the rotation data according to time points to obtain the changing trend of the rotation angle in different time periods to form a rotation time series; The difference parameters between the translation time series and the rotation time series at each time point are calculated, the translation data and the rotation data are corrected by a compensation algorithm according to the difference parameters, and the corrected translation data and rotation data are combined to obtain a synchronization control signal.

5. The control method of the electron beam welding device according to claim 1, characterized in that: The step of fusing the synchronous control signal with the optimal welding path solution to obtain the control instruction of the welding device includes: The synchronous control signal and the optimal welding path solution are processed in time synchronization to obtain the time synchronization signal: Perform multi-dimensional data integration on the time synchronization signal to obtain a control data set, divide the control data into time periods, and perform path smoothing processing on each section to generate multiple welding control instruction sections; The welding control instruction segment is simulated and optimized in real time to obtain a final control instruction.

6. The control method of the electron beam welding device according to claim 1, characterized in that: The step of controlling the welding workbench to weld the superconducting cavity body comprises: According to the control instruction of the welding device, a time control signal for the welding workbench to weld the superconducting cavity body is obtained, and welding parameters of the welding workbench are obtained, wherein the welding parameters at least include current intensity, acceleration voltage and beam diameter; Controlling the welding device to align the superconducting cavity body with the welding port of the welding workbench, and controlling the welding workbench to perform vacuum treatment on the surface of the superconducting cavity body: Based on the time control signal and welding parameters, the welding workbench is controlled to weld the superconducting cavity body in a vacuum environment.

7. The control method of the electron beam welding device according to claim 1, characterized in that: The step of controlling the welding device to move the superconducting cavity body according to the control instruction during the welding process until the welding is completed includes: Acquire the motion target parameters of the welding device according to the control instruction to obtain the target position and motion trajectory; According to the target position and motion trajectory, the speed and acceleration of the welding device are optimized based on the gradient descent method to obtain optimized motion parameters; Performing real-time path adjustment on the optimized motion parameters to obtain a correction control signal, and controlling the welding device in real time according to the correction control signal to obtain actual motion data; The position and posture of the welding device are adjusted according to the actual motion data until the welding operation is completed.

8. An electron beam welding device, characterized in that: The control method of the electron beam welding device according to any one of claims 1 to 7 comprises: A fixture, used for clamping the outer tube wall of the superconducting cavity workpiece; A supporting platform, used for supporting the fixture and the superconducting cavity workpiece, wherein a pulley device is provided at the bottom of the supporting platform for driving the superconducting cavity workpiece to translate; A turntable is arranged on the supporting platform, the supporting platform is connected to the welding workbench through the turntable, and the turntable is used to drive the superconducting cavity workpiece to rotate.

Images