Welding simulation method and device and electronic equipment

Abstract

The invention provides a welding simulation method and device and electronic equipment, and the method comprises the steps that a base metal model, a groove model and a target liquid drop model are obtained, the base metal model is a model corresponding to a welded material, and the groove model is a groove obtained through preset machining operation of a to-be-welded part of base metal; the target liquid drop model is a molten pool liquid drop model formed after molten pool liquid drops leave a welding gun model by a preset distance; according to the target liquid drop model, the base metal model and the groove model, a moving distance set corresponding to the target liquid drop model is determined, and the moving distance set is used for indicating the moving distance needed in the falling process of the target liquid drop model; and according to the moving distance set, the target liquid drop model is moved to the simulation welding position corresponding to the target liquid drop model, and the simulation degree of simulation welding is improved.

Description

Technical Field

[0001] The present application relates to the field of computer simulation technology, and in particular to a welding simulation method, device and electronic equipment. Background Art

[0002] Welding is a manufacturing process and technology that joins metals or other thermoplastics such as plastics by heating, high temperature or high pressure. In order to ensure the accuracy of real welding, simulation / simulation welding is usually performed before actual welding.

[0003] In the related art, when simulating the welding process, the method usually adopted is to first cover the weld material map on the rectangular 3D model to represent the weld; then during the welding process, the length of the 3D model increases continuously as the welding gun moves, so as to simulate the continuous growth of the weld. However, the weld wave pattern in the weld generated by this method is not composed of the real 3D model, but comes from the pattern in the weld material map. This method is equivalent to using the pattern of the plane picture instead of the pattern of the three-dimensional model, which will result in low welding simulation.

[0004] To address the problem of low simulation degree of existing welding simulation methods, no effective technical solution has been proposed so far. Summary of the invention

[0005] The embodiments of the present application provide a welding simulation method, device and electronic device to at least solve the problem that the existing welding simulation method has low simulation degree.

[0006] According to one aspect of an embodiment of the present application, a welding simulation method is provided, including: obtaining a base material model, a groove model, and a target droplet model, wherein the base material model is a model corresponding to the material to be welded, the groove model is a groove obtained by a preset processing operation on the part to be welded of the base material, and the target droplet model is a molten pool droplet model formed after the molten pool droplet leaves the welding gun model by a preset distance; determining a moving distance set corresponding to the target droplet model according to the target droplet model, the base material model, and the groove model, wherein the moving distance set is used to indicate the distance required to be moved by the target droplet model during the falling process; and moving the target droplet model to the simulated welding position corresponding to the target droplet model according to the moving distance set.

[0007] According to another aspect of an embodiment of the present application, a welding simulation device is also provided, including: an acquisition unit, used to acquire a base material model, a groove model, and a target droplet model, wherein the base material model is a model corresponding to the material to be welded, the groove model is a groove obtained by a preset processing operation on the part to be welded of the base material, and the target droplet model is a molten pool droplet model formed after the molten pool droplets leave the welding gun model by a preset distance; a determination unit, used to determine a moving distance set corresponding to the target droplet model according to the target droplet model, the base material model, and the groove model, wherein the moving distance set is used to indicate the distance required to be moved by the target droplet model during the falling process; and a moving unit, used to move the target droplet model to a simulated welding position corresponding to the target droplet model according to the moving distance set.

[0008] Optionally, the above-mentioned determination unit includes: a first acquisition subunit, used to acquire a droplet order corresponding to the target droplet model, wherein the droplet order is used to indicate the order of the target droplet model in the simulated welding process; a first determination subunit, used to determine the moving distance set corresponding to the target droplet model according to the target droplet model, the base material model and the groove model when the droplet order indicates that the target droplet model is the first target droplet model in the simulation process; and when the droplet order indicates that the target droplet model is not the first target droplet model in the simulation process, acquiring a reference droplet model, wherein the reference droplet model is the previous droplet model of the target droplet model; a second determination subunit, used to determine the moving distance set corresponding to the target droplet model according to the target droplet model, the base material model, the groove model and the reference droplet model.

[0009] Optionally, the above-mentioned second determination subunit includes: a first acquisition module, used to acquire a first cutting sub-model corresponding to the target droplet model, and acquire a first vertex set corresponding to the first cutting sub-model based on the first cutting sub-model, wherein the first cutting sub-model is a sub-model close to the mother material model obtained by evenly dividing the target droplet model according to a cross-section parallel to the mother material model; a control module, used to control each first vertex in the first vertex set to emit rays along the falling direction of the molten pool, and obtain a first vertex ray corresponding to each first vertex, wherein each first vertex ray is an invisible ray; a first determination module, used to determine the moving distance corresponding to each first vertex based on the target droplet model, the mother material model, the groove model, the reference droplet model and multiple first vertex rays, and obtain a moving distance set.

[0010] Optionally, the above-mentioned moving unit includes: a third determination subunit, used to determine a reference moving distance set corresponding to the second vertex set based on the moving distance set, wherein the second vertex set is a vertex set corresponding to the second cutting sub-model, and the second cutting sub-model is a sub-model far away from the base material model obtained by evenly dividing the target droplet model according to a cross-section parallel to the base material model; a moving sub-unit, used to move the first cutting sub-model to the simulated welding position corresponding to the first cutting sub-model according to the moving distance set, and move the second cutting sub-model to the simulated welding position corresponding to the second cutting sub-model according to the reference moving distance set.

[0011] Optionally, the above-mentioned first determination module includes: a first determination submodule, used to determine any vertex ray among multiple first vertex rays as the current ray; a second determination submodule, used to determine the touch point corresponding to the current ray when the current ray touches any model among the parent material model, the groove model, and the reference droplet model; a third determination submodule, used to determine the moving distance corresponding to the current vertex based on the touch point and the current vertex corresponding to the current ray; and a fourth determination submodule, used to determine any first vertex ray among multiple first vertex rays except the current ray as the current ray.

[0012] Optionally, the acquisition unit includes: a second acquisition subunit, used to acquire the welding gun model and the posture information of the welding gun head corresponding to the welding gun model; a first control subunit, which controls the welding gun head to generate an initial droplet model according to the posture information when the welding gun model is controlled to be simulated and turned on; a second control subunit, which controls the volume of the initial droplet model to gradually increase and highlight it before the initial droplet model leaves the welding gun head; and a third control subunit, which controls the volume of the initial droplet model to stop growing and solidify after the initial droplet model leaves the welding gun head and is at a preset distance from the welding gun head, so as to obtain a target droplet model.

[0013] Optionally, the above-mentioned first acquisition subunit includes: a second acquisition module, used to obtain the initial welding position of the simulated welding and the first boundary pose information and second boundary pose information of the base material model, wherein the first boundary pose information is the pose information of the base material model at one end close to the initial welding position, and the second boundary pose information is the pose information of the base material model at one end away from the initial welding position; a second determination module, used to determine whether the target droplet model is the first or non-first target droplet model in the droplet order according to the initial welding position, the first boundary pose information and the pose information; a third determination module, used to determine whether the target droplet model is the last target droplet model in the droplet order according to the second boundary pose information and the pose information.

[0014] Optionally, the above-mentioned welding simulation device also includes: a target determination unit, which is used to determine the simulated welding boundary surface according to the second boundary posture information when the droplet order indicates that the target droplet model is the last target droplet model in the simulation process; and control the growth volume and solidification shape of the initial droplet model according to the parent material model, groove model, reference droplet model and simulated welding boundary surface, and determine the moving distance set corresponding to the target droplet model; finally, the moving unit is used to move the target droplet model to the simulated welding position corresponding to the target droplet model according to the moving distance set.

[0015] According to another aspect of the embodiment of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the above welding simulation method.

[0016] According to another aspect of the embodiment of the present application, an electronic device is also provided, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor executes the welding simulation method as above.

[0017] Compared with the prior art, the technical solution provided by the embodiment of the present application may have the following beneficial effects: The welding simulation method solves the problem of low simulation degree of the existing welding simulation method and improves the simulation degree of simulated welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 is a schematic diagram of a hardware environment of an optional welding simulation method according to an embodiment of the present invention; Figure 2 is a flow chart of an optional welding simulation method according to an embodiment of the present invention; Figure 3 is a schematic diagram of an optional welding simulation method according to an embodiment of the present invention; Figure 4 is a schematic diagram of another optional welding simulation method according to an embodiment of the present invention; Figure 5is a schematic diagram of another optional welding simulation method according to an embodiment of the present invention; Figure 6 is a schematic structural diagram of an optional welding simulation device according to an embodiment of the present invention; Figure 7 It is a schematic diagram of the structure of an optional electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0021] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0022] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0023] In order to solve the problem that the existing welding simulation method has low simulation degree, the embodiment of the present application provides a high-simulation welding simulation method. As an optional implementation, the above welding simulation method can be but is not limited to being applied to Figure 1 In the welding simulation system composed of the terminal device 102 and the server 104 shown in FIG. Figure 1As shown, the terminal device 102 is connected to the server 104 via a network 110, and the network 110 may include but is not limited to: a wired network, a wireless network, wherein the wired network includes: a local area network, a metropolitan area network and a wide area network, and the wireless network includes: Bluetooth, WIFI and other networks that implement wireless communication. The terminal device 102 may include but is not limited to at least one of the following: a mobile phone (such as an Android phone, an iOS phone, etc.), a laptop, a tablet computer, a PDA, a MID (Mobile Internet Devices), a PAD, a desktop computer, a smart TV, etc.

[0024] The terminal device 102 is also provided with a display 106, a processor 108 and a memory 112. The display 106 can be used to display the process and effect of simulated welding, the processor 108 can be used to process points in the model, and the memory 112 can be used to store various models and data involved in this application.

[0025] The server 104 may be a single server, a server cluster consisting of multiple servers, or a cloud server. The server 104 includes a database 114 and a processing engine 116. The database 114 may be used to store various models and data involved in the present application, and the processing engine 116 may be used to process vertex data corresponding to the various models.

[0026] According to one aspect of an embodiment of the present invention, the above-mentioned welding simulation system can also perform the following steps: first, the terminal device 102 executes S102 and sends a welding simulation request to the server 104 through the network 110; then, the server 104 executes S104 to S108: obtain a base material model, a groove model, and a target droplet model, the base material model is a model corresponding to the material to be welded, the groove model is a groove obtained by a preset processing operation on the part to be welded of the base material, and the target droplet model is a molten pool droplet model formed after the molten pool droplet leaves the welding gun model by a preset distance; determine a moving distance set corresponding to the target droplet model according to the target droplet model, the base material model and the groove model, wherein the moving distance set is used to indicate the distance required to move the target droplet model during the falling process; move the target droplet model to the simulated welding position corresponding to the target droplet model according to the moving distance set.

[0027] In the above-mentioned embodiment of the present invention, the above-mentioned welding simulation method is adopted to solve the problem that the simulation degree of the existing welding simulation method is not high, and the simulation degree of the simulated welding is improved.

[0028] The above is only an example and is not limited in this embodiment.

[0029] As an optional implementation, please refer to Figure 2 , which shows a flow chart of a welding simulation method provided by an embodiment of the present application. The execution subject of each step of the method may be the terminal device and server introduced above. In the following method embodiment, for the convenience of description, only the execution subject of each step is introduced as a "computer device". The method may include at least one of the following steps (S202 to S206): S202, obtaining a base material model, a groove model, and a target droplet model, wherein the base material model is a model corresponding to the material to be welded, the groove model is a groove obtained by a preset processing operation at the part to be welded of the base material, and the target droplet model is a molten pool droplet model formed after the molten pool droplet leaves the welding gun model by a preset distance; S204, determining a moving distance set corresponding to the target droplet model according to the target droplet model, the base material model and the groove model, wherein the moving distance set is used to indicate the distance that the target droplet model needs to move during the falling process; S206, moving the target droplet model to a simulated welding position corresponding to the target droplet model according to the moving distance set.

[0030] It should be noted that the models involved in this application, such as the base material model, groove model, target droplet model and subsequent reference droplet model in the above S202, are all three-dimensional models. The moving distance set in S204 can be understood, but not limited to, as each vertex corresponding to the target droplet model has a moving distance, and the multiple moving distances in the moving distance set in this application indicate the moving distances of multiple first vertices in the first cutting sub-model (described in detail below) during the falling process, and each first vertex corresponds to a moving distance. That is, the moving distance set refers to the moving distance set of the vertices in the droplet model, which is used to control the independent movement of each vertex of the droplet model, so that the shape of the droplet itself changes when the droplet model drips onto a complex shape, so as to perfectly fit the complex shape onto which it drips. The process of obtaining the model in S202 can be an operation of modeling using the molten pool generated by the MR intelligent welding robot product during the welding process.

[0031] Through the above-mentioned implementation mode of the present application, the above-mentioned welding simulation method is adopted to solve the problem that the simulation degree of the existing welding simulation method is not high, and the simulation degree of simulated welding is improved.

[0032] As an optional implementation manner, the above-mentioned determining a set of moving distances corresponding to the target droplet model according to the target droplet model, the base material model and the groove model includes: S1, obtaining a droplet order corresponding to the target droplet model, wherein the droplet order is used to indicate the order of the target droplet model in the simulation welding process; S2, when the droplet order indicates that the target droplet model is the first target droplet model in the simulation process, determining a set of moving distances corresponding to the target droplet model according to the target droplet model, the base material model and the groove model; S3, when the droplet order indicates that the target droplet model is not the first target droplet model in the simulation process, obtaining a reference droplet model, wherein the reference droplet model is a previous droplet model of the target droplet model; S4, determining a set of moving distances corresponding to the target droplet model according to the target droplet model, the base material model, the groove model and the reference droplet model.

[0033] It should be noted that the order indicated by the droplet order in the above S1 includes the first target droplet model, the last droplet model (ie, the last droplet model), and the non-first droplet model (ie, the droplet model that is neither the first nor the last).

[0034] It can be understood that the method in S2 above also includes: S2-1 obtaining the boundary surface of the base material model, the welding voltage value and the welding current value corresponding to the welding gun; S2-2, determining the shape of the target droplet model according to the boundary surface, the base material model, the groove model, the welding voltage value and the welding current value; S2-3, evenly dividing the target droplet model according to the cross-section parallel to the base material model to obtain the following first segmented sub-model and second segmented sub-model; S2-4, determining the moving distance corresponding to each first vertex according to the first vertex set corresponding to the first segmented sub-model, the boundary surface, the base material model and the groove model to obtain a moving distance set. The operation in S2-4 can be understood as, but not limited to: controlling each first vertex to emit rays along the falling direction of the molten pool, obtaining the first vertex ray corresponding to each first vertex, and according to the starting point of each first vertex ray, the distance between each first vertex ray corresponding to each starting point and the contact point with the boundary surface, or the parent material model, or the groove model (the point where the first vertex ray first contacts any one of the boundary surface, the parent material model, and the groove model is the contact point), that is, the moving distance corresponding to each first vertex can be determined, thereby obtaining a moving distance set. It should be noted that controlling the welding voltage value and the welding current value can control the uniform speed welding, and no matter whether the target droplet model is the first droplet model, the non-first droplet model, or the last droplet model, in the current welding process, the welding voltage value and the welding current value are kept fixed, thereby controlling the uniform speed welding of the current welding process.

[0035] The boundary surface in S2-1 above can be understood, but is not limited to, as a boundary surface obtained when the initial welding position is the boundary between the parent material model and the groove model, and the boundary surface is the plane where the boundary between the parent material model and the groove model is located (such as Figure 5If the initial welding position is not the boundary between the parent material model and the groove model, there is no need to consider the boundary surface, and only the parent material model and the groove model need to be considered.

[0036] The above S4 determines the moving distance set corresponding to the target droplet model according to the target droplet model, the base material model and the groove model, including: S4-1, obtaining the first cutting sub-model corresponding to the target droplet model, and obtaining the first vertex set corresponding to the first cutting sub-model according to the first cutting sub-model, wherein the first cutting sub-model is a sub-model close to the base material model obtained by evenly dividing the target droplet model according to the cross-section parallel to the base material model; S4-2, controlling each first vertex in the first vertex set to emit rays along the falling direction of the molten pool, and obtaining the first vertex ray corresponding to each first vertex, wherein each first vertex ray is an invisible ray; S4-3, determining the moving distance corresponding to each first vertex according to the target droplet model, the base material model, the groove model, the reference droplet model and multiple first vertex rays, and obtaining a moving distance set.

[0037] The average segmentation in S4-1 above can be understood, but is not limited to, as average segmentation of the target droplet model according to the shape of the target droplet model to obtain a sub-model close to the parent material model (i.e., the first cut sub-model) and a sub-model far from the parent material model (i.e., the second cut sub-model), the first cut sub-model and the second cut sub-model both include multiple vertices, and the vertex ray (i.e., the first vertex ray) corresponding to each first vertex in the first vertex set corresponding to the first cut sub-model is determined by the method in S4-2 above. Then, by the method in S4-3 above, the distance between each first vertex ray corresponding to each starting point and the contact point of the parent material model below it, or the groove model or the reference droplet model (the point where the first vertex ray first contacts any one of the boundary surface, the parent material model, and the groove model is the contact point) can be determined to obtain the moving distance set.

[0038] S4-3 specifically includes: S4-3-1, determining any vertex ray among multiple first vertex rays as the current ray; S4-3-2, when the current ray touches any model among the base material model, groove model, and reference droplet model (that is, the current ray first touches any model among the base material model, groove model, reference droplet model, etc., then the touch point is the touch point corresponding to the current vertex ray, and the multiple models include the above-mentioned boundary surface and the following simulated welding surface interface in addition to the base material model, groove model, and reference droplet model, and the simulated welding surface interface is the surface of the welding end boundary of the base material model or groove model), determine the touch point corresponding to the current ray; S4-3-3, determine the moving distance corresponding to the current vertex based on the touch point and the current vertex corresponding to the current ray; S4-3-4, determine any first vertex ray among multiple first vertex rays except the current ray as the current ray.

[0039] Through the above-mentioned implementation mode of the present application, by determining the moving distance set corresponding to the target droplet model, each point in the target droplet model can be quickly dropped on its positioned point, thereby achieving the effect of accurately simulating the dripping of the target droplet model and improving the simulation.

[0040] As an optional implementation, obtaining the target droplet model includes: S1, obtaining a welding gun model and the posture information of the welding gun head corresponding to the welding gun model; S2, when the welding gun model is controlled to start simulation, the welding gun head is controlled to generate an initial droplet model according to the posture information; S3, before the initial liquid droplet model leaves the welding gun head, the volume of the initial liquid droplet model is controlled to gradually increase and is highlighted; S4, after the initial liquid droplet model leaves the welding gun head and is at a preset distance from the welding gun head, the volume of the initial liquid droplet model is controlled to stop growing and solidify to obtain a target liquid droplet model.

[0041] The above S1 also includes obtaining the welding voltage value and the welding current value. The process in S2 executed later can be, but is not limited to, controlling the welding gun head to generate an initial droplet model according to the posture information, the welding voltage value and the welding current value. After the initial droplet model is generated and before the initial droplet model leaves the welding gun head, the volume of the initial droplet model is controlled to gradually increase and be highlighted. After the initial droplet model leaves the welding gun head and is at a preset distance from the welding gun head (it can also be a moment before contacting the parent material model or the groove model), the volume of the initial droplet model is controlled to stop growing and solidify, and the initial droplet model becomes a target droplet model with a fixed shape and a fixed volume. That is, when the welding gun point completely leaves the molten pool, the volume of the molten pool droplets is controlled to gradually increase, presenting a state of continuous growth, and having a highlight effect. When the welding gun point exceeds a certain distance from the currently falling molten pool, the volume of the initial droplet model is controlled to stop growing and solidify, and the highlight effect gradually decays.

[0042] like Figure 3 As shown, after the welding gun 302 has just left the welding gun head by the welding wire disposed therein and the initial droplet pattern generated by the welding voltage and the welding current, the droplet pattern is formed as shown in FIG. Figure 3 The initial state of the molten pool droplet shown in FIG. 1 can be any shape, such as Figure 3 The irregular shape of the initial state of the molten pool droplet shown can also be as Figure 4 The circle shown can also be an ellipse, etc. Before the molten pool droplets in the initial state fall onto the parent material model 304 (the groove model is not shown), when each molten pool droplet is generated, the existing model shape in the falling direction of the molten pool is detected. After detecting the shape of the object model below the welding gun point (including the parent material model 304 and the groove model not shown), the molten pool droplets change their shape to generate a target droplet model to simulate the situation after the liquid drops. Among the molten pool models that have fallen onto the parent material model 304 before the target droplet model, the model closest to the target droplet model is the reference droplet model.

[0043] Through the above-mentioned implementation mode of the present application, a fixed process of generating a target droplet model is adopted to control the vertices in the molten pool model grid, and the generation, growth, superposition and solidification process of the molten pool are simulated with high simulation degree. Therefore, each weld wave pattern in the weld (the metal joint part formed after welding, which is filled and melted by solder (such as welding rod, welding wire), etc., that is, the metal joint part formed by each generated target droplet model falling to the parent material model and the groove model) is formed by the solidification of the 3D molten pool model, which more realistically restores the generation process of the weld, thereby simulating the entire process from the welding gun point to the initial generation of the target droplet model, thereby further improving the accuracy of the entire simulation process of simulated welding.

[0044] As an optional implementation, obtaining the droplet order corresponding to the target droplet model includes: S1, obtaining an initial welding position of simulated welding and first boundary pose information and second boundary pose information of a base material model, wherein the first boundary pose information is pose information of one end of the base material model close to the initial welding position, and the second boundary pose information is pose information of one end of the base material model far from the initial welding position; S2, determining whether the target droplet model is the first or non-first target droplet model droplet order according to the initial welding position, the first boundary posture information and the posture information; S3, determining whether the target droplet model is the droplet order of the last target droplet model according to the second boundary posture information and the posture information.

[0045] The first target droplet model in the above S2 can be understood as but not limited to the first droplet model generated in the welding process, and the non-first target droplet model can be understood as but not limited to the first droplet model generated in the welding process that is neither the first nor the last, that is, the droplet model located between the first and the last.

[0046] The operation in the above S2 can be but is not limited to being understood as determining whether the target droplet model is the first or non-first target droplet model based on the posture information at the boundary of the base material model, the initial welding position, and the posture information of the welding gun point, specifically including: when the distance between the initial welding position and the first boundary posture information is less than or equal to the first preset distance, determining that the target droplet model is the first target droplet model; when the distance between the initial welding position and the first boundary posture information is greater than the first preset distance, and the distance between the initial welding position and the posture information of the welding gun point is less than or equal to the second preset distance, determining that the target droplet model is not the first target droplet model; when the distance between the initial welding position and the first boundary posture information is greater than the first preset distance, and the distance between the initial welding position and the posture information of the welding gun point is greater than the second preset distance, determining that the target droplet model is not the first target droplet model.

[0047] The operation in the above S3 can be but is not limited to being understood as, when it is determined that the target droplet model is not the first target droplet model, determining whether the target droplet model is the last droplet model (i.e., the last droplet model mentioned above) based on the distance between the second boundary posture information and the posture information of the welding gun head.

[0048] The above S3 also includes: S4, when the droplet order indicates that the target droplet model is the last target droplet model in the simulation process, determining the simulated welding boundary surface according to the second boundary posture information; controlling the growth volume and solidification shape of the initial droplet model according to the base material model, the groove model, the reference droplet model and the simulated welding boundary surface, and determining the moving distance set corresponding to the target droplet model; S5, moving the target droplet model to the simulated welding position corresponding to the target droplet model according to the moving distance set.

[0049] The above S5 specifically includes: determining a reference moving distance set corresponding to the second vertex set based on the moving distance set, wherein the second vertex set is a vertex set corresponding to the second cutting sub-model, and the second cutting sub-model is a sub-model far away from the base material model obtained by evenly dividing the target droplet model according to a cross-section parallel to the base material model; moving the first cutting sub-model to the simulated welding position corresponding to the first cutting sub-model based on the moving distance set, and moving the second cutting sub-model to the simulated welding position corresponding to the second cutting sub-model based on the reference moving distance set.

[0050] During the welding process, a 3D model is created for each molten pool droplet, so that it falls along the arc direction. Before falling and contacting the weld, it is necessary to check in advance the shape details of all 3D models that may be covered by the droplet falling area (including the parent material, groove, and the previously solidified molten pool, i.e., the reference droplet model). Based on this, the position of each vertex in the droplet model is controlled and adjusted accordingly. In this way, the target droplet model is dropped on the existing model (including the parent material, groove, and the previously solidified molten pool, i.e., the reference droplet model) in the correct way. The multiple first vertices in the above-mentioned first vertex set are the vertices of the triangle in the first cutting sub-model, and the multiple second vertices in the second vertex set are the vertices of the triangle in the second cutting sub-model.

[0051] The specific inspection and adjustment method is as follows: each 3D model (such as the target droplet model, the first cut sub-model, the second cut sub-model, the reference droplet model, etc.) is composed of multiple triangular planes, and a triangle has three vertices. Therefore, by changing the positions of all the triangular vertices of the molten pool model (initial droplet model), the shape of the molten pool can be changed to form the target droplet model. Assume that the initial shape of the molten pool droplet model is an oblate sphere similar to a Go piece, and each bottom vertex corresponds to a top vertex. During the initial period of the generation of molten pool droplets, the program controls the emission of rays (the rays are invisible and are an internal function of the 3D engine) from each vertex at the bottom of the molten pool model (i.e., at this time, the initial droplet model is evenly divided according to the cross section parallel to the base material model to obtain the first initial segmentation sub-model and the second initial segmentation sub-model. The first initial segmentation sub-model is the sub-model close to the base material model, and the second initial segmentation sub-model is the sub-model far away from the base material model. Each vertex at the bottom is a vertex in the second initial segmentation sub-model) along the falling direction of the molten pool. When the ray touches the base material model, the groove model, or the previously generated and solidified molten pool model (i.e., the reference droplet model), the shape of the molten pool droplet is changed to obtain the target droplet model.

[0052] Then the target droplet model can be evenly segmented. The specific even segmentation process can be segmented according to the cross-section parallel to the base material model to obtain the first cutting sub-model and the second cutting sub-model. Then each first vertex in the first cutting sub-model is controlled to send rays downward to determine the moving distance corresponding to each first vertex (that is, when the first vertex ray corresponding to the first vertex touches the base material model, or the groove model, or the previously generated and solidified molten pool model (that is, the reference droplet model) , The distance traveled by each first vertex ray is recorded, and this distance is the distance required to move in the current first vertex falling process), thereby determining a moving distance set, and then the first cutting sub-model and the second cutting sub-model can be moved to corresponding positions according to the moving distance set. Specifically, according to the moving distance corresponding to each first vertex, each first vertex is moved to the corresponding simulated welding position, and according to the moving distance corresponding to each first vertex, the second vertex corresponding to each first vertex is moved to its corresponding simulated welding position. That is, the distance that the second vertex (which can be understood as but not limited to the bottom vertex of the target droplet model) corresponding to the first vertex (which can be understood as but not limited to the top vertex of the target droplet model) needs to move is equal to the distance that the first vertex needs to move. The above operation is performed on all pairs of vertices in the molten pool droplet model (that is, each first vertex and its corresponding second vertex are a pair of paired vertices), and the deformation process of the molten pool droplet falling onto a complex object (including the parent material model, the groove model, and the previously solidified molten pool (that is, the reference droplet model)) can be simulated. The above operations are all automatically completed by the computer in a very short time.

[0053] The cross section can be understood as, but is not limited to, a surface parallel to the upper surface and / or the lower surface of the parent material model. For example, when the parent material model is placed flat on a carrier parallel to the ground (e.g. Figure 3 As shown in the figure, the cross section is parallel to the ground. For example, when there is an inclination angle between the base metal model and the ground, the cross section is parallel to the base metal model, that is, there is an inclination angle between the cross section and the ground that is the same as the above inclination angle, and so on; that is, the specific inclination angle of the cross section relative to the ground depends on the placement of the base metal model during welding, and the placement of the base metal model is different from the above. Figure 3 As shown, parallel to the ground, that is, flat welding, it also includes horizontal welding, vertical welding, overhead welding and inclined welding. Horizontal welding is: Figure 5 The groove model 504 shown, or the groove to be welded, is also parallel to the ground, but one of the two boundaries of the parent material model where the groove model 504 is located is in contact with the carrier surface. The difference between flat welding and horizontal welding in this application is that flat welding is when the lower surface of the parent material model is in contact with the carrier surface, and horizontal welding is when the lower surface and upper surface of the parent material model are both perpendicular to the carrier surface, and one of the two surfaces of the parent material model away from the groove model 504 is in contact with the body surface; vertical welding is when the upper and lower surfaces of the groove model 504 and the parent material model 504 are both perpendicular to the carrier surface (i.e., Figure 5 The boundary surface 510 or the simulated welding boundary surface 514 shown is parallel to the carrier surface, or in the same plane as the carrier surface); for overhead welding, the base metal model and the groove model are located above the welding gun (opposite to the flat welding direction, the base metal model and the groove model are located below the welding gun); for inclined welding, there is a certain inclination angle (such as 45 degrees) between the groove model 504 and the carrier surface. It should be noted that the above-mentioned carrier surface can be understood as, but not limited to, the upper surface of the carrier on which the base metal model 502 is located.

[0054] The above-mentioned simulated welding boundary surface is the end boundary surface of welding. The simulated welding boundary surface can be the end boundary surface of the base material model and the groove model (such as Figure 5 The simulated welding boundary surface 514 shown in FIG. 5 may also be the end boundary surface of the non-parent material model and the groove model. In this case, the end point of the welding is the end boundary of the non-parent material model and the groove model (i.e., the end point of the welding is the end boundary surface of the non-parent material model and the groove model, such as Figure 5 The simulated welding boundary surface 512 is shown).

[0055] The above-mentioned control of the growth volume and solidification shape can be understood, but is not limited to, as determining the growth volume of the initial droplet model and the height after solidification shape based on the height of the reference droplet model. The control of the growth volume can be understood, but is not limited to, as determining the target volume between the reference target droplet model at this height and the parent material model, groove model and simulated welding boundary surface, thereby controlling the initial droplet model to grow to the target volume.

[0056] Through the above-mentioned implementation manner of the present application, the welding simulation effect formed by the welding simulation can be made more balanced and complete while ensuring the welding simulation effect.

[0057] The following Figure 5 Take the above welding simulation method as an example to explain in detail: First obtain Figure 5 The base material model 502, groove model 504, reference droplet model 506 and target droplet model 508 are shown; then the droplet order of the target droplet model 508 can be determined, that is, whether the target droplet model is the first droplet model formed after the start of welding (that is, the first droplet model mentioned above), whether the target droplet model is the last droplet model formed after the start of welding (that is, the last droplet model mentioned above), and whether the target droplet model is a non-first (that is, neither the first nor the last) droplet model formed after the start of welding. The specific judgment process is to determine the droplet order corresponding to the target droplet model according to the initial welding position, the posture information of the welding gun point, the first boundary posture information and the second boundary posture information, and when the droplet order indicates that the target droplet model is the first In the case of a droplet model, the volume and shape of the target droplet model 508 are controlled according to the boundary surface 510, the base material model 502, the groove model 504, the welding voltage value, the welding current value, etc.; in the case where the droplet order indicates that the target droplet model is not the first droplet model, the volume and shape of the target droplet model 508 are controlled according to the base material model 502, the groove model 504, the reference droplet model 506, the welding voltage value, the welding current value; in the case where the droplet order indicates that the target droplet model is the last droplet model, the volume and shape of the target droplet model 508 are controlled according to the base material model 502, the groove model 504, the reference droplet model 506, the welding voltage value, the welding current value, the simulated welding boundary surface 512 or the simulated welding boundary surface 514.

[0058] After the shape and volume of the target liquid drop model 508 are determined, the target liquid drop model can be moved to the simulated welding position corresponding to the target liquid drop model by using the above-mentioned method of determining the moving distance set.

[0059] Through the above-mentioned welding simulation method of the present application, not only the simulation degree of simulated welding is improved, but also the visual effect of the entire simulated welding process can be guaranteed, thereby ensuring that the welding simulation effect is more balanced and complete.

[0060] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0061] According to another aspect of the embodiment of the present invention, a welding simulation device for implementing the above welding simulation method is also provided. Figure 6 As shown, the device comprises: An acquisition unit 602 is used to acquire a base material model, a groove model, and a target droplet model, wherein the base material model is a model corresponding to the material to be welded, the groove model is a groove obtained by a preset processing operation at the part to be welded of the base material, and the target droplet model is a molten pool droplet model formed after the molten pool droplet leaves the welding gun model by a preset distance; A determination unit 604 is used to determine a moving distance set corresponding to the target droplet model according to the target droplet model, the base material model and the groove model, wherein the moving distance set is used to indicate the distance that the target droplet model needs to move during the falling process; The moving unit 606 is used to move the target droplet model to a simulated welding position corresponding to the target droplet model according to the moving distance set.

[0062] The specific manner in which each unit in the above device embodiment performs operations has been described in detail in the embodiment of the method, and will not be elaborated on again here.

[0063] According to another aspect of the embodiment of the present invention, an electronic device for implementing the above welding simulation method is also provided. The electronic device can be as follows: Figure 7 The terminal device or server shown in the figure. This embodiment is described by taking the electronic device as a terminal device as an example. Figure 7 As shown, the electronic device includes: at least one processor 704; and a memory 702 that is communicatively connected to the at least one processor 704; wherein the memory 702 stores a computer program that can be executed by the at least one processor 704, and the computer program is executed by the at least one processor 704 so that the at least one processor 704 executes the steps in any one of the above-mentioned welding simulation method embodiments.

[0064] Optionally, in this embodiment, the electronic device may be located in at least one network device among a plurality of network devices of a computer network.

[0065] Optionally, in this embodiment, the processor may be configured to execute each step of the welding simulation method through a computer program.

[0066] Alternatively, a person skilled in the art may understand that: Figure 7 The structure shown is for illustration only, and the electronic device may also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, a mobile Internet device (Mobile Internet Devices, MID), a PAD, or other terminal devices. Figure 7 The structure of the electronic device is not limited. Figure 7 More or fewer components (such as network interfaces, etc.) as shown in, or with Figure 7 Different configurations are shown.

[0067] Among them, the memory 702 can be used to store software programs and modules, such as the program instructions / modules corresponding to the welding simulation method and device in the embodiment of the present invention. The processor 704 executes various functional applications and data processing by running the software programs and modules stored in the memory 702, that is, realizing the above-mentioned welding simulation method. The memory 702 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 702 may further include a memory remotely located relative to the processor 704, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. Among them, the memory 702 can be specifically, but not limited to, used to store various models and data involved in this application. As an example, such as Figure 7 As shown, the memory 702 may include but is not limited to the acquisition unit 602, the determination unit 604, and the movement unit 606 in the welding simulation device. In addition, it may also include but is not limited to other module units in the welding simulation device, which will not be repeated in this example.

[0068] Optionally, the transmission device 706 is used to receive or send data via a network. Specific examples of the network may include a wired network and a wireless network. In one example, the transmission device 706 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices and routers via a network cable so as to communicate with the Internet or a local area network. In one example, the transmission device 706 is a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0069] In addition, the electronic device mentioned above further includes: a display 708, and a connection bus 710, which is used to connect various module components in the electronic device mentioned above.

[0070] In other embodiments, the terminal device or server may be a node in a distributed system, wherein the distributed system may be a blockchain system, and the blockchain system may be a distributed system formed by connecting the multiple nodes through network communication. Among them, the nodes may form a peer-to-peer (P2P, Peer To Peer) network, and any form of computing device, such as a server, terminal and other electronic devices, may become a node in the blockchain system by joining the peer-to-peer network.

[0071] According to one aspect of the present application, a computer program product is provided, the computer program product comprising a computer program / instruction, the computer program / instruction comprising a program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part, and / or installed from a removable medium. When the computer program is executed by a central processing unit, various functions provided by the embodiments of the present application are executed.

[0072] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0073] According to one aspect of the present application, a computer-readable storage medium is provided, and a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the above-mentioned welding simulation method.

[0074] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a computer program for executing the welding simulation method.

[0075] Those skilled in the art can understand that the implementation of all or part of the processes in the above method embodiments can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes in the above method embodiments. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (FM), a hard disk (HDD), or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above types of memory.

[0076] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling one or more computer devices (which can be personal computers, servers or network devices, etc.) to perform all or part of the steps of the above methods of various embodiments of the present invention.

[0077] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0078] In the several embodiments provided in the present application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0079] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0080] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0081] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A welding simulation method, characterized in that: include: Obtain a base material model, a groove model, and a target droplet model, wherein the base material model is a model corresponding to the material to be welded, the groove model is a groove obtained by a preset processing operation at the part to be welded of the base material, and the target droplet model is a molten pool droplet model formed after the molten pool droplet leaves the welding gun model by a preset distance; Determining a moving distance set corresponding to the target droplet model according to the target droplet model, the base material model and the groove model, wherein the moving distance set is used to indicate the distance that the target droplet model needs to move during the falling process; The target droplet model is moved to a simulated welding position corresponding to the target droplet model according to the moving distance set.

2. The method according to claim 1, characterized in that Determining a set of moving distances corresponding to the target droplet model according to the target droplet model, the base material model and the groove model includes: Acquire a droplet order corresponding to the target droplet model, wherein the droplet order is used to indicate the order of the target droplet model in the simulation welding process; In a case where the droplet order indicates that the target droplet model is the first target droplet model in the simulation process, determining a set of moving distances corresponding to the target droplet model according to the target droplet model, the base material model and the groove model; When the droplet order indicates that the target droplet model is not the first target droplet model in the simulation process, obtaining a reference droplet model, wherein the reference droplet model is a previous droplet model of the target droplet model; A moving distance set corresponding to the target droplet model is determined according to the target droplet model, the base material model, the groove model and the reference droplet model.

3. The method according to claim 2, characterized in that Determining a set of moving distances corresponding to the target droplet model according to the target droplet model, the base material model, the groove model, and the reference droplet model includes: Acquire a first cut sub-model corresponding to the target liquid droplet model, and acquire a first vertex set corresponding to the first cut sub-model according to the first cut sub-model, wherein the first cut sub-model is a sub-model close to the parent material model obtained by evenly dividing the target liquid droplet model according to a cross section parallel to the parent material model; Controlling each first vertex in the first vertex set to emit a ray along the falling direction of the molten pool to obtain a first vertex ray corresponding to each first vertex, wherein each first vertex ray is an invisible ray; The moving distance corresponding to each first vertex is determined according to the target droplet model, the base material model, the groove model, the reference droplet model and a plurality of the first vertex rays to obtain the moving distance set.

4. The method according to claim 3, characterized in that Moving the target droplet model to a simulated welding position corresponding to the target droplet model according to the moving distance set includes: Determine a reference moving distance set corresponding to a second vertex set according to the moving distance set, wherein the second vertex set is a vertex set corresponding to a second cut sub-model, and the second cut sub-model is a sub-model far away from the parent material model obtained by evenly dividing the target liquid droplet model according to a cross section parallel to the parent material model; The first cutting sub-model is moved to a simulated welding position corresponding to the first cutting sub-model according to the moving distance set, and the second cutting sub-model is moved to a simulated welding position corresponding to the second cutting sub-model according to the reference moving distance set.

5. The method according to claim 3, characterized in that: Determining the moving distance corresponding to each first vertex according to the target droplet model, the base material model, the groove model, the reference droplet model and a plurality of the first vertex rays to obtain the moving distance set includes: Determine any vertex ray among the plurality of first vertex rays as a current ray; When the current ray touches any one of the base material model, the groove model, and the reference droplet model, determining a touch point corresponding to the current ray; Determine the moving distance corresponding to the current vertex according to the touch point and the current vertex corresponding to the current ray; Any first vertex ray other than the current ray among the plurality of first vertex rays is determined as the current ray.

6. The method according to claim 2, characterized in that Acquiring the target droplet model includes: Acquire the welding gun model and the position information of the welding gun head corresponding to the welding gun model; When the welding gun model is controlled to start simulation, the welding gun head is controlled to generate an initial droplet model according to the posture information; Before the initial liquid droplet model leaves the welding gun head, controlling the volume of the initial liquid droplet model to gradually increase and highlight it; After the initial liquid droplet model leaves the welding gun head and is a preset distance away from the welding gun head, the volume of the initial liquid droplet model is controlled to stop growing and solidify to obtain the target liquid droplet model.

7. The method according to claim 6, characterized in that Obtaining a droplet order corresponding to the target droplet model includes: Acquire an initial welding position of simulated welding and first boundary pose information and second boundary pose information of the base material model, wherein the first boundary pose information is pose information of one end of the base material model close to the initial welding position, and the second boundary pose information is pose information of one end of the base material model away from the initial welding position; Determine, according to the initial welding position, the first boundary pose information and the pose information, whether the target droplet model is a droplet order of the first or non-first target droplet model; Determine whether the target droplet model is a droplet order of the last target droplet model according to the second boundary pose information and the pose information.

8. The method according to claim 7, characterized in that Also includes: In a case where the droplet order indicates that the target droplet model is the last target droplet model in the simulation process, determining a simulated welding boundary surface according to the second boundary pose information; Controlling the growth volume and solidification shape of the initial droplet model according to the parent material model, the groove model, the reference droplet model and the simulated welding boundary surface, and determining a set of moving distances corresponding to the target droplet model; The target droplet model is moved to a simulated welding position corresponding to the target droplet model according to the moving distance set.

9. A welding simulation device, characterized in that: include: an acquisition unit, used to acquire a base material model, a groove model, and a target droplet model, wherein the base material model is a model corresponding to the material to be welded, the groove model is a groove obtained by a preset processing operation at a part of the base material to be welded, and the target droplet model is a molten pool droplet model formed after the molten pool droplet leaves the welding gun model by a preset distance; a determining unit, configured to determine a moving distance set corresponding to the target droplet model according to the target droplet model, the base material model and the groove model, wherein the moving distance set is used to indicate a distance required for the target droplet model to move during a falling process; A moving unit is used to move the target droplet model to a simulated welding position corresponding to the target droplet model according to the moving distance set.

10. An electronic device, characterized in that: The electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor executes the welding simulation method described in any one of claims 1-8.

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