Straight seam steel pipe welding method and welding device

Abstract

The invention relates to the technical field of welding, in particular to a straight seam steel pipe welding method and device. The method comprises the following steps: collecting values of process parameters at each moment, a joint closing gap and a joint closing height; acquiring a preset process parameter and a corresponding standard process parameter, determining a poor joint closing index according to the difference between the standard process parameter and the process parameter at the current moment, and judging whether correction is needed or not; determining the universal joint clearance difference and the universal joint height difference of the class of flaws according to the difference between the joint condition of each flaw in the class of flaws and the flawless joint condition with the same process parameters; determining a flaw possible index according to the similarity with the current moment; a reasonable joint closing condition is obtained based on the flaw possible indexes, and corrected welding current and corrected arc voltage are obtained; and welding is conducted according to the corrected welding current and the corrected welding voltage. According to the invention, the welding yield of the straight seam steel pipe is improved.

Description

Technical Field

[0001] The present application relates to the field of welding technology, and in particular to a straight seam steel pipe welding method and a welding device. Background Art

[0002] High-quality straight seam steel pipes play a vital role in long-distance liquid transportation systems. However, when facing thick-walled and large-diameter steel pipes, traditional welding technology often encounters problems such as difficulty in controlling the width of the heat-affected zone, decreased mechanical properties of the joints, and severe welding deformation, which seriously affects the quality and production cycle of the product. Therefore, a straight seam steel pipe welding method or device is needed.

[0003] Because the steel pipe has some angle deviations during forming in JCO, and some scratches are caused during the previous processing, which makes it difficult for laser detection to obtain accurate seam conditions. As a result, during subsequent welding, the preset process parameters cannot match the corresponding welding points well. If the voltage and current during welding are unreasonable, defects such as weld nodules and burn-throughs will occur in the steel pipe. Summary of the invention

[0004] In order to solve the technical problem that welding defects occur due to inaccurate seam acquisition, the present application provides a straight seam steel pipe welding method and welding device, and the technical solutions adopted are as follows:

[0005] In a first aspect, the present application proposes a straight seam steel pipe welding method, the method comprising the following steps:

[0006] Collect the values ​​of process parameters at each moment of welding as well as the joint gap and joint height; process parameters include welding current and arc voltage;

[0007] The preset process parameters at the current moment are obtained based on the average of the process parameters at a preset number of moments before the current moment; the standard joint gap and standard joint height corresponding to the preset process parameters are obtained based on historical data; the joint gap difference factor and the joint height difference factor are obtained based on the difference between the standard joint gap and the standard joint height and the joint gap and the joint height at the current moment; the joint defect index at the current moment is determined based on the joint gap difference factor and the joint height difference factor, and whether the process parameters at the current moment need to be corrected is judged according to the joint defect index;

[0008] Based on historical data, different types of defects and process parameters of each defect are obtained, and the difference between the joint gap and joint height of each defect and the joint gap and joint height of the same process parameters in the defect-free state is used to obtain the joint gap defect factor and joint height defect factor of each defect; the universal joint gap difference and universal joint height difference of this type of defect are obtained according to the joint gap defect factor and joint height defect factor of all defects in the same type of defect; for the process parameters that need to be corrected, the possible defect indicators at the current moment are determined according to the similarity between the vectors of the joint gap difference factor and the joint height difference factor at the current moment and the vectors of the universal joint gap difference and the universal joint height difference; after weighting the universal joint gap difference and the universal joint height difference based on the possible defect indicators, the standard joint gap and the standard joint height are corrected to obtain the reasonable joint gap and the reasonable joint height at the current moment; based on the process parameters of the reasonable joint gap and the reasonable joint height when there are no defects in the historical data, the process parameters at the current moment are corrected to obtain the corrected welding current and the corrected arc voltage;

[0009] Welding is performed according to the corrected welding current and the corrected welding voltage.

[0010] In the above scheme, the welding process parameters are preset according to the steel pipe conditions and the previous welding conditions; then, according to the difference between the current joint conditions and the previous joint conditions, whether the preset parameters are applicable to the joint at the current position is analyzed. If applicable, no adjustment is required, otherwise adjustment is required; then, according to the current joint conditions, and the joint and welding parameters when defects occurred in the previous welding, the defects that will occur when welding with the preset parameters are analyzed; then, according to the factors of possible defects, the joint conditions corresponding to the preset parameters are corrected; finally, according to the corrected joint conditions, appropriate welding process parameters are constructed. This application can effectively avoid welding defects caused by joint defects of tube embryos caused by processing, and can effectively improve the yield rate of straight seam steel pipe welding.

[0011] In one embodiment, the method for obtaining the standard joint gap and standard joint height corresponding to the preset process parameters based on historical data is:

[0012] The process parameters and the joint gap and joint height at several moments before the current moment are obtained; the process parameters that are the same as the preset process parameters are counted, and the joint gap and joint height of the same process parameters are averaged as the standard joint gap and standard joint height.

[0013] In one embodiment, the method for obtaining the joint gap difference factor and the joint height difference factor based on the difference between the standard joint gap and the standard joint height and the joint gap and the joint height at the current moment is:

[0014] Δc w =tanh(cw -c0), Δh w =tanh(h w -h0), c w represents the joint gap at the current moment, c0 represents the standard joint gap corresponding to the preset process parameters, and h w represents the joint height at the current moment, h0 represents the standard joint height corresponding to the preset process parameters, tanh() represents the hyperbolic tangent function, Δc w Indicates the gap difference factor at the current moment, Δh w Indicates the joint height difference factor at the current moment.

[0015] In one embodiment, the method of determining the poor seam index at the current moment based on the seam gap difference factor and the seam height difference factor, and judging whether the process parameters at the current moment need to be corrected according to the poor seam index is:

[0016] The absolute value of the joint gap difference factor and the absolute value of the joint height difference factor are taken, and the maximum value of the absolute value of the joint gap difference factor and the absolute value of the joint height difference factor is taken as the joint defect index at the current moment;

[0017] A joint threshold is preset. When the joint defect index is greater than or equal to the preset joint threshold, the process parameters at the current moment need to be corrected.

[0018] In one embodiment, the method of obtaining the seam gap defect factor and the seam height defect factor of each defect by comparing the difference between the seam gap and seam height of each defect and the seam gap and seam height of the defect-free state with the same process parameters is as follows:

[0019] The difference between the defective joint gap and the corresponding flawless joint gap is processed by a hyperbolic tangent function to obtain the joint gap defect factor; the difference between the defective joint height and the corresponding flawless joint height is processed by a hyperbolic tangent function to obtain the joint height defect factor.

[0020] In one embodiment, the method for obtaining the universal joint gap difference and universal joint height difference of defects of the same type according to the joint gap defect factors and joint height defect factors of all defects in the same type of defects is:

[0021]

[0022] Δc δ,i represents the gap defect factor at the i-th defect in defect type δ, represents the arithmetic mean of all gap defect factors in defect type δ; m(Δc δ,i) represents the mode of all gap defect factors in defect type δ; o(Δc δ,i ) represents the median of all joint gap defect factors in defect type δ; Δh δ,i represents the defect factor of the joint height at the i-th defect in defect type δ, represents the arithmetic mean of all joint height defect factors in defect type δ; m(Δh δ,i ) represents the mode of all joint height defect factors in defect type δ; o(Δh δ,i ) represents the median of all joint height defect factors in defect type δ; C δ represents the general joint gap difference corresponding to the defect type δ; H δ Indicates the general height defect factor corresponding to defect type δ.

[0023] In one embodiment, the method for determining the possible defect indicator at the current moment according to the similarity between the vector of the joint gap difference factor and the joint height difference factor at the current moment and the vector of the universal joint gap difference and the universal joint height difference is:

[0024] For the current moment, the current difference vector is constructed with the joint gap difference factor and the joint height difference factor as two dimensions. Then according to the common joint gap difference C of each defect type δ Difference from the general joint height H δ Construct defect probability vector

[0025] The cosine similarity between the current difference vector and the possible defect vector is calculated as a possible defect indicator representing the current moment.

[0026] In one embodiment, the method of weighting the universal joint gap difference and the universal joint height difference based on the possible defect index to correct the standard joint gap and the standard joint height to obtain the reasonable joint gap and the reasonable joint height at the current moment is:

[0027] c0 represents the standard joint gap corresponding to the preset process parameters, C γ represents the general joint gap difference corresponding to the γth defect, h0 represents the standard joint height corresponding to the preset process parameters, H γ represents the general joint height difference corresponding to the γth defect, E represents the type of defect, and tanh -1 Represents the inverse operation of the hyperbolic tangent function, m w,γ represents the possible defect weight of the γth defect at the current moment, c ′ w Indicates the reasonable joint gap at the current moment, h ′ wIndicates the reasonable joint height at the current moment.

[0028] In one embodiment, the method for correcting the process parameters at the current moment to obtain the corrected welding current and the corrected arc voltage based on the process parameters when the reasonable joint gap and the reasonable joint height are flawless in the historical data is:

[0029] The moment corresponding to the flawless process parameters corresponding to the reasonable joint gap and the reasonable joint height are obtained in the historical data and recorded as the flawless moment; the ratio of the reciprocal of the time interval between each flawless moment and the current moment to the sum of the reciprocals of the time intervals between all flawless moments and the current moment is used as the time weight of each flawless moment;

[0030] The expressions for corrected welding current and corrected arc voltage are:

[0031] I v represents the welding current at the vth flawless moment, U v represents the arc voltage at the vth flawless moment, T v represents the time weight of the vth flawless moment, D represents the number of flawless moments, and I ′ w Indicates the corrected welding current at the current moment, U ′ w Indicates the corrected arc voltage at the current moment.

[0032] In a second aspect, an embodiment of the present application further provides a straight seam steel pipe welding device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein when the processor executes the computer program, the steps of any one of the above-mentioned straight seam steel pipe welding methods are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 A flow chart of a straight seam steel pipe welding method provided in one embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to further explain the technical means and effects adopted by the present application to achieve the predetermined invention purpose, the following is a detailed description of the straight seam steel pipe welding method and welding device proposed in the present application, its specific implementation method, structure, features and effects, in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0036] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0037] A straight seam steel pipe welding method and welding device embodiment:

[0038] The specific scheme of a straight seam steel pipe welding method and welding device provided by the present application is described in detail below with reference to the accompanying drawings.

[0039] See also Figure 1 , which shows a flow chart of a straight seam steel pipe welding method provided by an embodiment of the present application, the method comprising the following steps:

[0040] Step S001, collecting the values ​​of process parameters at each moment and the joint gap and joint height.

[0041] Numerous sensors are installed on the welding system of the pre-welding machine to detect the welding quality and the related conditions of the joint of the tube embryo before welding.

[0042] The placed sensors include: current, voltage sensors, laser sensors, gap sensors and displacement sensors.

[0043] In this embodiment, data is collected once every 1 second, and arc voltage and welding current are collected through current and voltage sensors, and welding current and arc voltage are recorded as process parameters; welding speed is obtained based on displacement sensor and time, and joint gap and joint height are obtained based on gap sensor. The function of laser sensor is to scan welding position. Since welding and adjustment are performed simultaneously in this application, the position scanned by laser is the target position, and the time when the target position is scanned is recorded as the current moment.

[0044] At this point, the values ​​of the process parameters at each moment as well as the joint gap and joint height are obtained.

[0045] Step S002, obtaining preset process parameters and their corresponding standard process parameters, determining the poor joint index according to the difference between the standard process parameters and the process parameters at the current moment, and judging whether correction is needed.

[0046] The present application is based on the JCO forming technology and calls the coiled steel plate a tube embryo. The joint gap formed by the tube embryo will approach a certain size. After the steel plate is bent to form the tube embryo, there will be a joint. It is inevitable that there will be a height difference on both sides of the joint and the joint gap will be non-uniform, resulting in the welding process parameters of the previous moment cannot be used for the next moment. The process parameters need to be adjusted according to the situation of the joint.

[0047] When the joint changes, if the height difference between some welds and both sides of the joint is large, and the original welding current and voltage are insufficient, the original welding target cannot be achieved when the previous process parameters are used. However, when the weld suddenly shrinks, the original welding current and voltage are too large, which will expand the molten pool and accumulate more metal in it, causing weld nodules or burn-through. Based on this, the situation at the joint of the tube embryo and the situation of the previous weld are analyzed to construct the process parameters for the next joint.

[0048] First, for each process parameter, the values ​​of the process parameters in history are averaged as the preset value of the process parameter. In this embodiment, the average of the values ​​of the G process parameters before the current moment is taken as the value of the process parameter at the current moment, and G is 100.

[0049] Thus, the preset process parameters at the current moment are obtained.

[0050] Due to slight differences in steel plate material and processing or accidental errors, some seams may be too small or the height difference may be too large, which is different from the general seam situation of the current tube embryo, resulting in the use of the original welding parameters, and the tube embryo seam cannot be welded well. Therefore, based on the preset process parameters, the reasonable seam gap and seam height under the process parameters are obtained, and then compared with the seam gap and seam height at the current moment to determine whether the current moment is suitable for the process parameters.

[0051] In this embodiment, the data of the three days before the current moment is used as a historical data set, and the seam gap and seam height corresponding to the preset process parameters in the historical data set are obtained. The average of the seam gap and the average of the seam height corresponding to the preset process parameters in the historical data set are taken as the standard seam gap and standard seam height corresponding to the preset process parameters, respectively.

[0052] The consequences of increasing or decreasing the size of the joint are different. That is, when the joint becomes larger, the original welding parameters are used, and there is less metal in the molten pool. At the same time, a large amount of heat cannot be diffused, causing burn-through. When the joint becomes smaller, the molten pool will become relatively larger, and there will be more metal in it, forming a weld nodule. Therefore, it is necessary to have a direction when calculating the joint difference.

[0053] Based on the difference between the standard joint gap and standard joint height corresponding to the preset process parameters and the joint gap and joint height at the current moment, the joint gap difference factor and joint height difference factor at the current moment are obtained. The specific expression is:

[0054] Δc w =tanh(c w -c0), Δh w =tanh(h w -h0), c w represents the joint gap at the current moment, c0 represents the standard joint gap corresponding to the preset process parameters, and h w represents the joint height at the current moment, h0 represents the standard joint height corresponding to the preset process parameters, tanh() represents the hyperbolic tangent function, Δc w Indicates the gap difference factor at the current moment, Δh w Represents the difference factor of the joint height at the current moment. Where Δc w and Δh w The value range is (-1, 1).

[0055] Since any aspect that is different from the preset situation will have an impact on welding, the poor joint index is determined according to the joint gap difference factor and the joint height difference factor at the current moment. The expression of the poor joint index is:

[0056] R w =max(|Δc w |,|Δh w |), Δc w Indicates the gap difference factor at the current moment, Δh w represents the difference factor of the joint height at the current moment, max() represents the maximum value function, R w Indicates the joint defect index at the current moment.

[0057] A preset joint threshold is set. When the joint defect index is greater than or equal to the joint threshold, it is considered that the preset process parameters are not applicable to the joint at the current moment, and the values ​​of the process parameters at the current moment need to be corrected; if the joint defect index is less than the joint threshold, the preset process parameters are directly used as the process parameters at the current moment.

[0058] At this point, it is determined whether the process parameters at the current moment need to be adjusted.

[0059] Step S003, determining the general joint gap difference and the general joint height difference of a type of defects according to the difference between the joint condition of each defect in a type of defects and the joint condition of no defects with the same process parameters; and determining the possible defect indicators through the similarity with the current moment; obtaining a reasonable joint condition based on the possible defect indicators, and obtaining a corrected welding current and a corrected arc voltage.

[0060] Through the above steps, the joint conditions under the preset process parameters are compared with the joint conditions at the current moment, and the preset process parameters are judged in turn to determine whether the preset process parameters are applicable at the current moment. If the preset process parameters are not applicable, various situations will occur at the current joint using the preset process parameters, resulting in poor welding. In order to adjust the appropriate process parameters, it is necessary to analyze what specific phenomena will occur, and then adjust the process parameters according to the corresponding phenomena.

[0061] In all historical welding, various defects will occur due to the failure to adjust the process parameters in time. The occurrence of welding defects will be recorded. Since different defects have different visual manifestations, all defects are marked and classified based on image vision technology to obtain the types of all defects and the process parameters of each defect.

[0062] For defects of the same type, the process parameters, joint gap and joint height of each defect are counted. The joint gap and joint height corresponding to each defect under the same process parameters are counted, and the joint gap and joint height corresponding to the corresponding process parameters when there is no defect are counted.

[0063] Under the same type of defects, the joint gap difference factor and joint height difference factor corresponding to each defect are obtained based on the difference between the joint gap and joint height of each defect and the non-defective one with the same process parameters. Specifically, the difference between the joint gap of the defect and the corresponding joint gap of the non-defective one is processed by the hyperbolic tangent function to obtain the joint gap defect factor; the difference between the joint height of the defect and the corresponding joint height of the non-defective one is processed by the hyperbolic tangent function to obtain the joint height defect factor.

[0064] Since most of the defects are caused by the mismatch between the joint conditions and welding parameters, the corresponding joint differences will be different depending on the defect manifestation. And since the defects are naturally classified, you only need to check the differences between the joint conditions of many positions corresponding to various defect types and the corresponding joint conditions of welding parameters to know the cause of the defect.

[0065] Therefore, for such defects, the joint gap difference factor and joint height difference factor of each defect are calculated, and based on this, the universal joint gap difference and universal joint height difference of such defects are obtained, and the expression is: Δc δ,i represents the gap defect factor at the i-th defect in defect type δ, represents the arithmetic mean of all gap defect factors in defect type δ; m(Δc δ,i ) represents the mode of all gap defect factors in defect type δ; o(Δc δ,i) represents the median of all joint gap defect factors in defect type δ; Δh δ,i represents the defect factor of the joint height at the i-th defect in defect type δ, represents the arithmetic mean of all joint height defect factors in defect type δ; m(Δh δ,i ) represents the mode of all joint height defect factors in defect type δ; o(Δh δ,i ) represents the median of all joint height defect factors in defect type δ; C δ represents the general gap difference corresponding to the defect type δ; H δ Indicates the general height defect factor corresponding to defect type δ.

[0066] If the difference between the gap situation at the current joint and the gap situation corresponding to the preset process parameters is similar to the general difference situation corresponding to a certain defect, it means that the current joint may also cause the situation corresponding to the defect. Based on this, the defect possible index M corresponding to each defect at the current moment is calculated w,δ .

[0067] For the current moment, the current difference vector is constructed with the joint gap difference factor and the joint height difference factor as two dimensions. Then according to the common joint gap difference C of each defect type δ Difference from the general joint height H δ Construct defect probability vector

[0068] The cosine similarity between the current difference vector and the possible defect vector is calculated as a possible defect indicator at the current moment. The larger the cosine similarity, the closer the vectors are, which means that the defect at the current moment is more likely to be of this type.

[0069] When collecting the joint gap and joint height at the current moment, some scratches during processing may cause the collected joint gap and joint height to be inaccurate. Therefore, it is necessary to correct the joint gap and joint height at the current moment based on the similarity between the current moment and different defects, and take the ratio of the possible defect index corresponding to each defect to the sum of all possible defect indexes as the possible defect weight of each defect; since the defect is compared with the defect-free state, the joint gap and joint height obtained based on the preset parameters without defects are corrected, and the expression is:

[0070] c0 represents the standard joint gap corresponding to the preset process parameters, C γ represents the general joint gap difference corresponding to the γth defect, h0 represents the standard joint height corresponding to the preset process parameters, H γ represents the general joint height difference corresponding to the γth defect, E represents the type of defect, and tanh-1 Represents the inverse operation of the hyperbolic tangent function, m w,γ represents the possible defect weight of the γth defect at the current moment, c ′ w Indicates the reasonable joint gap at the current moment, h ′ w Indicates the reasonable joint height at the current moment.

[0071] Based on the above steps, the reasonable joint gap and reasonable joint height at the current moment are obtained. The moment corresponding to the flawless process parameters corresponding to the reasonable joint gap and reasonable joint height in the historical data is recorded as the flawless moment. The time interval between each flawless moment and the current moment is obtained. The smaller the time interval, the greater the impact. Therefore, the inverse of the time interval is used as the weight, and the process parameters of each flawless moment are weighted to obtain the corrected welding current and corrected arc voltage.

[0072] Specifically, let the ratio of the reciprocal of the time interval between each flawless moment and the current moment to the sum of the reciprocals of the time intervals between all flawless moments and the current moment be the time weight of each flawless moment, expressed as: I v represents the welding current at the vth flawless moment, U v represents the arc voltage at the vth flawless moment, T v represents the time weight of the vth flawless moment, D represents the number of flawless moments, and I ′ w Indicates the corrected welding current at the current moment, U ′ w Indicates the corrected arc voltage at the current moment.

[0073] At this point, the corrected welding current and corrected arc voltage at the current moment are acquired.

[0074] Step S004, performing welding according to the corrected welding current and the corrected welding voltage.

[0075] When the pre-welding machine is running, when the laser sensor detects the current joint, the welding process parameters of the current joint during welding can be obtained according to the above steps, and welding is completed according to the corresponding welding process parameters.

[0076] Then, as the straight seam steel pipe is fed, the laser sensor continues to detect, but the preset process parameters have changed at this time, that is, the current preset process parameters are the process parameters of the joint detected by the laser sensor at the last moment. That is, the corrected welding current and corrected arc voltage at the current joint position are the preset welding parameters at the joint at the next moment, and then this is used as the preset process parameters for analysis to formulate the corrected welding parameters for the next moment.

[0077] Based on the same inventive concept as the above method, an embodiment of the present invention also provides a straight seam steel pipe welding device, including a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, the steps of any one of the above-mentioned straight seam steel pipe welding methods are implemented.

[0078] It should be noted that the above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

[0079] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. A straight seam steel pipe welding method, characterized in that: The method comprises the following steps: Collect the values ​​of process parameters at each moment of welding as well as the joint gap and joint height; process parameters include welding current and arc voltage; The preset process parameters at the current moment are obtained based on the average of the process parameters at a preset number of moments before the current moment; the standard joint gap and standard joint height corresponding to the preset process parameters are obtained based on historical data; the joint gap difference factor and the joint height difference factor are obtained based on the difference between the standard joint gap and the standard joint height and the joint gap and the joint height at the current moment; the joint defect index at the current moment is determined based on the joint gap difference factor and the joint height difference factor, and whether the process parameters at the current moment need to be corrected is judged according to the joint defect index; Based on historical data, different types of defects and process parameters of each defect are obtained, and the difference between the joint gap and joint height of each defect and the joint gap and joint height of the same process parameters in the defect-free state is used to obtain the joint gap defect factor and joint height defect factor of each defect; the universal joint gap difference and universal joint height difference of this type of defect are obtained according to the joint gap defect factor and joint height defect factor of all defects in the same type of defect; for the process parameters that need to be corrected, the possible defect indicators at the current moment are determined according to the similarity between the vectors of the joint gap difference factor and the joint height difference factor at the current moment and the vectors of the universal joint gap difference and the universal joint height difference; after weighting the universal joint gap difference and the universal joint height difference based on the possible defect indicators, the standard joint gap and the standard joint height are corrected to obtain the reasonable joint gap and the reasonable joint height at the current moment; based on the process parameters of the reasonable joint gap and the reasonable joint height when there are no defects in the historical data, the process parameters at the current moment are corrected to obtain the corrected welding current and the corrected arc voltage; Welding is performed according to the corrected welding current and the corrected welding voltage.

2. A straight seam steel pipe welding method as claimed in claim 1, characterized in that: The method for obtaining the standard joint gap and standard joint height corresponding to the preset process parameters based on historical data is: The process parameters and the joint gap and joint height at several moments before the current moment are obtained; the process parameters that are the same as the preset process parameters are counted, and the joint gap and joint height of the same process parameters are averaged as the standard joint gap and standard joint height.

3. A straight seam steel pipe welding method as claimed in claim 1, characterized in that: The method for obtaining the joint gap difference factor and the joint height difference factor based on the difference between the standard joint gap and the standard joint height and the joint gap and the joint height at the current moment is: Δc w =tanh(c w -c0), Δh w =tanh(h w -h0), c w represents the joint gap at the current moment, c0 represents the standard joint gap corresponding to the preset process parameters, and h w represents the joint height at the current moment, h0 represents the standard joint height corresponding to the preset process parameters, tanh() represents the hyperbolic tangent function, Δc w Indicates the gap difference factor at the current moment, Δh w Indicates the joint height difference factor at the current moment.

4. A straight seam steel pipe welding method as claimed in claim 1, characterized in that: The method for determining the poor joint index at the current moment based on the joint gap difference factor and the joint height difference factor, and judging whether the process parameters at the current moment need to be corrected according to the poor joint index is: The absolute value of the joint gap difference factor and the absolute value of the joint height difference factor are taken, and the maximum value of the absolute value of the joint gap difference factor and the absolute value of the joint height difference factor is taken as the joint defect index at the current moment; A joint threshold is preset. When the joint defect index is greater than or equal to the preset joint threshold, the process parameters at the current moment need to be corrected.

5. A straight seam steel pipe welding method as claimed in claim 1, characterized in that: The method of obtaining the joint gap defect factor and the joint height defect factor of each defect by comparing the difference between the joint gap and joint height of each defect and the joint gap and joint height of the defect-free state with the same process parameters is as follows: The difference between the defective joint gap and the corresponding flawless joint gap is processed by a hyperbolic tangent function to obtain the joint gap defect factor; the difference between the defective joint height and the corresponding flawless joint height is processed by a hyperbolic tangent function to obtain the joint height defect factor.

6. A straight seam steel pipe welding method as claimed in claim 1, characterized in that: The method for obtaining the universal joint gap difference and universal joint height difference of defects of the same type according to the joint gap defect factor and the joint height defect factor of all defects in the same type of defects is: Δc δ,i represents the gap defect factor at the i-th defect in defect type δ, represents the arithmetic mean of all gap defect factors in defect type δ; m(Δc δ,i ) represents the mode of all gap defect factors in defect type δ; o(Δc δ,i ) represents the median of all joint gap defect factors in defect type δ; Δh δ,i represents the defect factor of the joint height at the i-th defect in defect type δ, represents the arithmetic mean of all joint height defect factors in defect type δ; m(Δh δ,i ) represents the mode of all joint height defect factors in defect type δ; o(Δh δ,i ) represents the median of all joint height defect factors in defect type δ; C δ represents the general joint gap difference corresponding to the defect type δ; H δ Indicates the general height defect factor corresponding to defect type δ.

7. A straight seam steel pipe welding method as claimed in claim 1, characterized in that: The method for determining the possible defect indicator at the current moment according to the similarity between the vector of the joint gap difference factor and the joint height difference factor at the current moment and the vector of the universal joint gap difference and the universal joint height difference is: For the current moment, the current difference vector is constructed with the joint gap difference factor and the joint height difference factor as two dimensions. Then according to the common joint gap difference C of each defect type δ Difference from the general joint height H δ Construct defect probability vector The cosine similarity between the current difference vector and the possible defect vector is calculated as a possible defect indicator representing the current moment.

8. A straight seam steel pipe welding method as claimed in claim 1, characterized in that: The method for weighting the general joint gap difference and the general joint height difference based on the possible defect index to correct the standard joint gap and the standard joint height to obtain the reasonable joint gap and the reasonable joint height at the current moment is: c0 represents the standard joint gap corresponding to the preset process parameters, C γ represents the general joint gap difference corresponding to the γth defect, h0 represents the standard joint height corresponding to the preset process parameters, H γ represents the general joint height difference corresponding to the γth defect, E represents the type of defect, and tanh -1 Represents the inverse operation of the hyperbolic tangent function, m w,γ represents the possible defect weight of the γth defect at the current moment, c ′ w Indicates the reasonable joint gap at the current moment, h ′ w Indicates the reasonable joint height at the current moment.

9. A straight seam steel pipe welding method as claimed in claim 1, characterized in that: The method for correcting the process parameters at the current moment to obtain the corrected welding current and the corrected arc voltage based on the process parameters of the reasonable joint gap and the reasonable joint height when there are no defects in the historical data is: The moment corresponding to the flawless process parameters corresponding to the reasonable joint gap and the reasonable joint height are obtained in the historical data and recorded as the flawless moment; the ratio of the reciprocal of the time interval between each flawless moment and the current moment to the sum of the reciprocals of the time intervals between all flawless moments and the current moment is used as the time weight of each flawless moment; The expressions for corrected welding current and corrected arc voltage are: I v represents the welding current at the vth flawless moment, U v represents the arc voltage at the vth flawless moment, T v represents the time weight of the vth flawless moment, D represents the number of flawless moments, and I ′ w Indicates the corrected welding current at the current moment, U ′ w Indicates the corrected arc voltage at the current moment.

10. A straight seam steel pipe welding device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of the straight seam steel pipe welding method as described in any one of claims 1 to 8 are implemented.

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