Arc track adjustment method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides an electric arc track adjusting method and device, electronic equipment and a storage medium, and relates to the technical field of welding, the method comprises the steps that in the welding process, the area swept by a welding gun in the current period is obtained, the area comprises the first area and the second area, the integral of the current of the welding gun in the current period is obtained, and the integral comprises the first area and the second area; the integrals of the welding gun current include a first integral indicating a current integral corresponding to a first time interval corresponding to the first area and a second integral indicating a current integral corresponding to a second time interval corresponding to the second area, the welding gun current being determined based on the first area, the second area, the first integral, and the second integral. And the movement track of the welding gun is adjusted, so that the arc track is adjusted. On the basis of the mode, the asymmetrically swinging arc track can be adjusted, so that the welding accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the field of welding technology, and in particular to an arc trajectory adjustment method, device, electronic equipment and storage medium. Background Art

[0002] With the development of welding technology, arc welding has become one of the widely used processes in modern industry. In the existing arc welding process, a sinusoidal wave swing is usually used to control the movement of the arc. This swing method can meet the basic needs of welding to a certain extent and can ensure the quality and stability of the weld. Specifically, the arc swings according to the sine wave law under the drive of the welding gun, so that the molten metal can be evenly filled into the weld to achieve a good welding effect.

[0003] However, in actual operation, it is found that many welding tasks require the welding gun to swing in an asymmetrical manner. For example, in the welding of complex structural parts, in order to adapt to different welding angles and directions, more flexible and precise arc control is required. In this case, the arc adjustment method in the prior art that can only adjust the sine wave swing is not enough. This means that when the welding gun swings in an asymmetrical manner, the existing arc adjustment method cannot accurately adjust the arc, thereby affecting the welding quality and efficiency. Summary of the invention

[0004] The object of the present invention is to provide an arc trajectory adjustment method, device, electronic equipment and storage medium, which can adjust the asymmetrically swinging arc trajectory.

[0005] In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides an arc trajectory adjustment method, the method comprising:

[0007] During welding, an area swept by the welding gun during a current cycle is obtained, wherein the area includes a first area and a second area, the first area being an area swept by the welding gun during the current cycle in a first direction, and the second area being an area swept by the welding gun during the current cycle in a second direction;

[0008] Obtaining an integral of the welding gun current in the current cycle, wherein the integral of the welding gun current includes a first integral and a second integral, the first integral indicating an integral of the current corresponding to a first time interval corresponding to the first area, and the second integral indicating an integral of the current corresponding to a second time interval corresponding to the second area;

[0009] Based on the first area, the second area, the first integral and the second integral, the motion trajectory of the welding gun is adjusted to adjust the arc trajectory.

[0010] In an optional embodiment, the step of adjusting the motion trajectory of the welding gun based on the first area, the second area, the first integral and the second integral to adjust the arc trajectory includes:

[0011] Calculating a first ratio based on the first area and the second area;

[0012] calculating a second ratio based on the first integral and the second integral;

[0013] determining a first compensation direction based on the first ratio and the second ratio;

[0014] Determine a first compensation distance based on the first area, the second area, the first integral, and the second integral;

[0015] Based on the first compensation distance and the first compensation direction, the motion trajectory of the welding gun is adjusted to adjust the arc trajectory.

[0016] In an optional implementation, the step of determining a first compensation direction based on the first ratio and the second ratio includes:

[0017] When the second ratio is greater than the first ratio, determining the first compensation direction to be the first direction;

[0018] When the second ratio is smaller than the first ratio, the first compensation direction is determined to be a second direction, wherein the first direction is opposite to the second direction.

[0019] In an optional implementation, the step of determining the first compensation distance based on the first area, the second area, the first integral, and the second integral includes:

[0020] determining a first compensation coefficient;

[0021] calculating a first product of the first integral and the second area;

[0022] calculating a second product of the second integral and the first area;

[0023] calculating a third ratio of the first product to the product;

[0024] A third product of the third ratio and the first compensation coefficient is calculated as a first compensation distance.

[0025] In an optional embodiment, the method further comprises:

[0026] Determine the integral of the welding gun current in the previous cycle of the current cycle;

[0027] Determine a second compensation direction and a second compensation distance based on the integral of the welding gun current in the previous cycle and the integral of the welding gun current in the current cycle;

[0028] Based on the second compensation direction and the second compensation distance, the motion trajectory of the welding gun is adjusted to adjust the arc trajectory.

[0029] In an optional embodiment, the step of determining the second compensation direction based on the integral of the welding gun current in the previous cycle and the integral of the welding gun current in the current cycle includes:

[0030] Comparing the integral of the welding gun current in the previous cycle with the integral of the welding gun current in the current cycle;

[0031] When the integral of the welding gun current in the current cycle is greater than the integral of the welding gun current in the previous cycle, determining the second compensation direction to be the third direction;

[0032] When the integral of the welding gun current in the current cycle is less than the integral of the welding gun current in the previous cycle, the second compensation direction is determined to be a fourth direction, wherein the third direction is opposite to the fourth direction.

[0033] In an optional embodiment, the step of determining the second compensation distance based on the integral of the welding gun current in the previous cycle and the integral of the welding gun current in the current cycle includes:

[0034] determining a second compensation coefficient;

[0035] Calculating a first difference between an integral of the welding gun current in the current cycle and an integral of the welding gun current in the previous cycle;

[0036] Determine the preset benchmark score;

[0037] Calculating a second difference between the first difference and the preset reference integral;

[0038] Calculating the sum of the first area and the second area;

[0039] calculating a fourth ratio of the second difference to the sum;

[0040] A fourth product of the second compensation coefficient and the fourth ratio is calculated as a second compensation distance.

[0041] In a second aspect, an embodiment of the present application provides an arc trajectory adjustment device, the device comprising:

[0042] an acquisition module, used for acquiring, during welding, an area swept by the welding gun during a current cycle, wherein the area includes a first area and a second area, the first area being an area swept by the welding gun during the current cycle in a first direction, and the second area being an area swept by the welding gun during the current cycle in a second direction; acquiring an integral of the welding gun current during the current cycle, wherein the integral of the welding gun current includes a first integral and a second integral, the first integral indicating an integral of a current corresponding to a first time interval corresponding to the first area, and the second integral indicating an integral of a current corresponding to a second time interval corresponding to the second area;

[0043] An adjustment module is used to adjust the motion trajectory of the welding gun based on the first area, the second area, the first integral and the second integral, so as to adjust the arc trajectory.

[0044] In a third aspect, an embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the arc trajectory adjustment method when executing the computer program.

[0045] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the arc trajectory adjustment method when executed by a processor.

[0046] This application has the following beneficial effects:

[0047] The present application obtains the area swept by the welding gun in the current cycle during welding, wherein the area includes a first area and a second area, the first area is the area swept by the welding gun in the current cycle in the first direction, and the second area is the area swept by the welding gun in the current cycle in the second direction, and obtains the integral of the welding gun current in the current cycle, wherein the integral of the welding gun current includes a first integral and a second integral, the first integral indicates the current integral corresponding to the first time interval corresponding to the first area, and the second integral indicates the current integral corresponding to the second time interval corresponding to the second area, and based on the first area, the second area, the first integral and the second integral, the motion trajectory of the welding gun is adjusted to adjust the arc trajectory. Based on the above method, the present application can adjust the arc trajectory of asymmetric swinging to improve the accuracy of welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0049] Figure 1 A block diagram of an electronic device provided by an embodiment of the present invention;

[0050] Figure 2 One of the flow charts of an arc trajectory adjustment method provided by an embodiment of the present invention;

[0051] Figure 3 A schematic diagram of arc trajectory adjustment direction provided by an embodiment of the present invention;

[0052] Figure 4 A schematic diagram of the area swept by the welding gun provided by the embodiment of the present invention during the swing cycle;

[0053] Figure 5 A schematic diagram of the integration of the welding gun current within a cycle provided by an embodiment of the present invention;

[0054] Figure 6 A second flow chart of an arc trajectory adjustment method provided by an embodiment of the present invention;

[0055] Figure 7 A third flow chart of an arc trajectory adjustment method provided by an embodiment of the present invention;

[0056] Figure 8 A fourth flow chart of an arc trajectory adjustment method provided by an embodiment of the present invention;

[0057] Fig. 9 A fifth flow chart of an arc trajectory adjustment method provided by an embodiment of the present invention;

[0058] Fig.10 A structural block diagram of an arc trajectory adjustment device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0060] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0061] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0062] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0063] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0064] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0065] After extensive research, the inventors found that when welding tasks require the welding gun to swing in an asymmetrical manner, such as in the welding of complex structural parts, in order to adapt to different welding angles and directions, more flexible and precise arc control is required. In this case, the arc adjustment method in the prior art that can only adjust the sine wave swing is not enough. This means that when the welding gun swings in an asymmetrical manner, the existing arc adjustment method cannot accurately adjust the arc, thereby affecting the welding quality and efficiency.

[0066] In view of the discovery of the above problems, the present embodiment provides an arc trajectory adjustment method, device, electronic device and storage medium, which can obtain the area swept by the welding gun in the current cycle during the welding process, wherein the area includes a first area and a second area, the first area is the area swept by the welding gun in the current cycle in the first direction, and the second area is the area swept by the welding gun in the current cycle in the second direction, and the integral of the welding gun current in the current cycle is obtained, wherein the integral of the welding gun current includes a first integral and a second integral, the first integral indicates the current integral corresponding to the first time interval corresponding to the first area, and the second integral indicates the current integral corresponding to the second time interval corresponding to the second area, and based on the first area, the second area, the first integral and the second integral, the motion trajectory of the welding gun is adjusted to adjust the arc trajectory. Based on the above method, the present application can adjust the arc trajectory of asymmetric swinging to improve the accuracy of welding. The scheme provided by the present embodiment is described in detail below.

[0067] This embodiment provides an electronic device that can adjust the arc trajectory. In a possible implementation, the electronic device can be a user terminal, for example, the electronic device can be, but is not limited to, a server, a smart phone, a personal computer (PC), a tablet computer, a personal digital assistant (PDA), a mobile Internet device (MID), etc.

[0068] Please refer to Figure 1 , Figure 1 1 is a schematic diagram of the structure of the electronic device 100 provided in the embodiment of the present application. The electronic device 100 may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0069] The electronic device 100 includes an arc trajectory adjustment device 110 , a memory 120 and a processor 130 .

[0070] The components of the memory 120 and the processor 130 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The arc trajectory adjustment device 110 includes at least one software function module that can be stored in the memory 120 in the form of software or firmware or solidified in the operating system (OS) of the electronic device 100. The processor 130 is used to execute the executable modules stored in the memory 120, such as the software function modules and computer programs included in the arc trajectory adjustment device 110.

[0071] The memory 120 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc. The memory 120 is used to store a program, and the processor 130 executes the program after receiving an execution instruction.

[0072] Please refer to Figure 2 , Figure 2 For application Figure 1 A flow chart of an arc trajectory adjustment method for an electronic device 100 is provided, and the method including each step is described in detail below.

[0073] S201: During the welding process, the area swept by the welding gun during the current cycle is obtained.

[0074] The area includes a first area and a second area, the first area is an area swept by the welding gun in the current cycle by swinging in the first direction, and the second area is an area swept by the welding gun in the current cycle by swinging in the second direction.

[0075] S202: Obtain the integral of the welding gun current in the current cycle.

[0076] The integral of the welding gun current includes a first integral and a second integral, the first integral indicates the current integral corresponding to a first time interval corresponding to a first area, and the second integral indicates the current integral corresponding to a second time interval corresponding to a second area.

[0077] S203: Based on the first area, the second area, the first integral and the second integral, the motion trajectory of the welding gun is adjusted to adjust the arc trajectory.

[0078] like Figure 3 As shown in the figure, the arc trajectory adjustment direction schematic diagram, the arc trajectory adjustment includes two parts: up and down tracking and left and right tracking. Up and down tracking refers to the tracking compensation in the Z-axis direction of the welding coordinate system, and left and right tracking refers to the tracking compensation in the Y-axis direction of the welding coordinate system. X is the welding forward direction.

[0079] like Figure 4 As shown, blue is the first area, red is the second area, F is the distance, and t is the time.

[0080] During welding, the area swept by the welding gun in the current cycle is obtained, and the first area swept by the welding gun in the current cycle in the first direction and the second area swept by the welding gun in the current cycle in the second direction are determined respectively.

[0081] like Figure 5 As shown, blue is the first integral, red is the second integral, I is the current, and t is the time.

[0082] The arc tracking principle uses the current integration principle to integrate the current in a single cycle into the charge amount. Compared with the method of directly reading the sampled current for compensation, it can reduce the impact of current fluctuations and distortion glitches, making the compensation process smoother.

[0083] The method of obtaining the area swept by the welding gun in the current surroundings can be obtained by the following formula:

[0084]

[0085] Where i is the cycle number, T i is the ith cycle, T i-1 is the i-1th period, F(t) is the function of the swing direction distance with respect to the time variable, S i It is the area swept by the welding gun during the current cycle.

[0086] The integral of the welding gun current in the current cycle can be obtained by the following formula:

[0087]

[0088] Where I(t) is the function of current with respect to time variable, P i is the integral of the welding gun current in the i-th cycle.

[0089] FI

[0090] Since the arc current has a relationship with the distance between the welding gun and the workpiece that is "larger when closer and smaller when farther away", the distance between the welding gun and the workpiece can be obtained based on the integral value of the current in one cycle, thereby achieving up and down adjustment of the arc trajectory.

[0091] The principle of adjusting the left and right bars of the arc trajectory also utilizes the relationship between current and distance. When welding workpieces with groove types (right-angle groove, V-shaped groove, U-shaped groove, etc.), the robot uses swing welding to periodically move near the center line of the groove. Through the collected current transformation, it can be inferred that the center line of the groove is in the direction of the swing center and the arc trajectory can be adjusted.

[0092] There are many ways to adjust the motion trajectory of the welding gun based on the first area, the second area, the first integral and the second integral to adjust the arc trajectory. In one implementation, Figure 6 As shown, the following steps are included:

[0093] S301: Calculate a first ratio based on the first area and the second area.

[0094] S302: Calculate a second ratio based on the first integral and the second integral.

[0095] S303: Determine a first compensation direction based on the first ratio and the second ratio.

[0096] S304: Determine a first compensation distance based on the first area, the second area, the first integral, and the second integral.

[0097] S305: Based on the first compensation distance and the first compensation direction, the motion trajectory of the welding gun is adjusted to adjust the arc trajectory.

[0098] When the second ratio is greater than the first ratio, the first compensation direction is determined to be the first direction. When the second ratio is less than the first ratio, the first compensation direction is determined to be the second direction. The first direction is opposite to the second direction.

[0099] When the second ratio of the first integral to the second integral is consistent with the first ratio of the first area to the second area, it means that the swing center is in the center of the weld and no adjustment is needed; when the second ratio is greater than the first ratio, it means that the swing center is on the left side of the weld and needs to be adjusted to the right, so the first direction is to the right; when the second ratio is less than the first ratio, it means that the swing center is on the right side of the weld and needs to be adjusted to the left, so the second direction is to the left.

[0100] Based on the first area, the second area, the first integral and the second integral, a first compensation distance is determined, and based on the first compensation distance and the first compensation direction, the motion trajectory of the welding gun is adjusted to adjust the arc trajectory.

[0101] There are multiple implementations for determining the first compensation distance based on the first area, the second area, the first integral, and the second integral. In one implementation, for example: Figure 7 As shown, the following steps are included:

[0102] S401: Determine a first compensation coefficient.

[0103] S402: Calculate a first product of the first integral and the second area.

[0104] S403: Calculate a second product of the second integral and the first area.

[0105] S404: Calculate a third ratio of the first product to the product.

[0106] S405: Calculate a third product of the third ratio and the first compensation coefficient as the first compensation distance.

[0107] It should be noted that the first compensation coefficient can be set based on the adjustment sensitivity.

[0108] The first compensation distance can be calculated based on the following formula:

[0109] Where K 左右 is the first compensation coefficient, P 左 is the first integral, P 右 is the second integral, S 右 is the second area, S 左 is the first area.

[0110] When adjusting the arc trajectory up and down, Figure 8 As shown, the following steps are included:

[0111] S501: Determine the integral of the welding gun current of the previous cycle of the current cycle.

[0112] S502: Determine a second compensation direction and a second compensation distance based on the integral of the welding gun current in the previous cycle and the integral of the welding gun current in the current cycle.

[0113] S503: Based on the second compensation direction and the second compensation distance, the motion trajectory of the welding gun is adjusted to adjust the arc trajectory.

[0114] The integral of the welding gun current in the previous cycle is compared with the integral of the welding gun current in the current cycle. When the integral of the welding gun current in the current cycle is greater than the integral of the welding gun current in the previous cycle, the second compensation direction is determined to be the third direction. When the integral of the welding gun current in the current cycle is less than the integral of the welding gun current in the previous cycle, the second compensation direction is determined to be the fourth direction, wherein the third direction is opposite to the fourth direction.

[0115] Another implementation method for determining the second compensation direction may be:

[0116] In the current cycle, the integral of the welding gun current is greater than the reference charge, wherein the reference charge can be set to P 基准 =I 基准 ×(T i -T i-1 )) , where Ibase is the preset base current value. This means that the distance between the welding gun and the workpiece has become shorter, and the robot needs to adjust the welding gun to move away from the workpiece, and vice versa, it needs to be adjusted closer to the workpiece.

[0117] There are many ways to determine the second compensation distance based on the integral of the welding gun current in the previous cycle and the integral of the welding gun current in the current cycle. In one implementation, Fig. 9 As shown, the following steps are included:

[0118] S601: Determine a second compensation coefficient.

[0119] S602: Calculate a first difference between the integral of the welding gun current in the current cycle and the integral of the welding gun current in the previous cycle.

[0120] S603: Determine a preset benchmark score.

[0121] S604: Calculate a second difference between the first difference and a preset reference integral.

[0122] S605: Calculate the sum of the first area and the second area.

[0123] S606: Calculate a fourth ratio of the second difference to the sum.

[0124] S607: Calculate a fourth product of the second compensation coefficient and the fourth ratio as a second compensation distance.

[0125] The second compensation distance can be calculated based on the following formula:

[0126]

[0127] Among them, K 上下 is the second compensation coefficient, P i is the integral of the welding gun current in the current cycle, P i-1 is the integral of the welding gun current in the previous cycle, P 基准 is the preset benchmark integral, S 右 is the second area, S 左 is the first area.

[0128] Please refer to Fig.10 The present application embodiment also provides a method for applying Figure 1The arc trajectory adjustment device 110 of the electronic device 100 includes:

[0129] The acquisition module 111 is used to acquire, during welding, an area swept by the welding gun during a current cycle, wherein the area includes a first area and a second area, the first area being an area swept by the welding gun during the current cycle in a first direction, and the second area being an area swept by the welding gun during the current cycle in a second direction; acquiring an integral of the welding gun current during the current cycle, wherein the integral of the welding gun current includes a first integral and a second integral, the first integral indicating an integral of a current corresponding to a first time interval corresponding to the first area, and the second integral indicating an integral of a current corresponding to a second time interval corresponding to the second area;

[0130] The adjustment module 112 is used to adjust the motion trajectory of the welding gun based on the first area, the second area, the first integral and the second integral, so as to adjust the arc trajectory.

[0131] The present application also provides an electronic device 100, which includes a processor 130 and a memory 120. The memory 120 stores computer executable instructions, and when the computer executable instructions are executed by the processor 130, the arc trajectory adjustment method is implemented.

[0132] The embodiment of the present application further provides a computer-readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by the processor 130, the arc trajectory adjustment method is implemented.

[0133] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of boxes in the block diagram and / or the flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0134] In addition, each functional module in each embodiment of the present application can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part. If the function is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk.

[0135] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0136] The above are only various implementations of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for adjusting arc trajectory, characterized in that: The method comprises: During welding, an area swept by the welding gun during a current cycle is obtained, wherein the area includes a first area and a second area, the first area being an area swept by the welding gun during the current cycle in a first direction, and the second area being an area swept by the welding gun during the current cycle in a second direction; Obtaining an integral of the welding gun current in the current cycle, wherein the integral of the welding gun current includes a first integral and a second integral, the first integral indicating an integral of the current corresponding to a first time interval corresponding to the first area, and the second integral indicating an integral of the current corresponding to a second time interval corresponding to the second area; Based on the first area, the second area, the first integral and the second integral, the motion trajectory of the welding gun is adjusted to adjust the arc trajectory.

2. The method according to claim 1, characterized in that The step of adjusting the motion trajectory of the welding gun based on the first area, the second area, the first integral and the second integral to adjust the arc trajectory comprises: Calculating a first ratio based on the first area and the second area; calculating a second ratio based on the first integral and the second integral; determining a first compensation direction based on the first ratio and the second ratio; Determine a first compensation distance based on the first area, the second area, the first integral, and the second integral; Based on the first compensation distance and the first compensation direction, the motion trajectory of the welding gun is adjusted to adjust the arc trajectory.

3. The method according to claim 2, characterized in that The step of determining a first compensation direction based on the first ratio and the second ratio comprises: When the second ratio is greater than the first ratio, determining the first compensation direction to be the first direction; When the second ratio is smaller than the first ratio, the first compensation direction is determined to be a second direction, wherein the first direction is opposite to the second direction.

4. The method according to claim 1, characterized in that: The step of determining a first compensation distance based on the first area, the second area, the first integral, and the second integral includes: determining a first compensation coefficient; calculating a first product of the first integral and the second area; calculating a second product of the second integral and the first area; calculating a third ratio of the first product to the product; A third product of the third ratio and the first compensation coefficient is calculated as a first compensation distance.

5. The method according to claim 1, characterized in that The method further comprises: Determine the integral of the welding gun current in the previous cycle of the current cycle; Determine a second compensation direction and a second compensation distance based on the integral of the welding gun current in the previous cycle and the integral of the welding gun current in the current cycle; Based on the second compensation direction and the second compensation distance, the motion trajectory of the welding gun is adjusted to adjust the arc trajectory.

6. The method according to claim 5, characterized in that The step of determining a second compensation direction based on the integral of the welding gun current in the previous cycle and the integral of the welding gun current in the current cycle comprises: Comparing the integral of the welding gun current in the previous cycle with the integral of the welding gun current in the current cycle; When the integral of the welding gun current in the current cycle is greater than the integral of the welding gun current in the previous cycle, determining the second compensation direction to be the third direction; When the integral of the welding gun current in the current cycle is less than the integral of the welding gun current in the previous cycle, the second compensation direction is determined to be a fourth direction, wherein the third direction is opposite to the fourth direction.

7. The method according to claim 5, characterized in that The step of determining a second compensation distance based on the integral of the welding gun current in the previous cycle and the integral of the welding gun current in the current cycle comprises: determining a second compensation coefficient; Calculating a first difference between an integral of the welding gun current in the current cycle and an integral of the welding gun current in the previous cycle; Determine the preset benchmark score; Calculating a second difference between the first difference and the preset reference integral; Calculating the sum of the first area and the second area; calculating a fourth ratio of the second difference to the sum; A fourth product of the second compensation coefficient and the fourth ratio is calculated as a second compensation distance.

8. An arc trajectory adjustment device, characterized in that: The device comprises: an acquisition module, used for acquiring, during welding, an area swept by the welding gun during a current cycle, wherein the area includes a first area and a second area, the first area being an area swept by the welding gun during the current cycle in a first direction, and the second area being an area swept by the welding gun during the current cycle in a second direction; acquiring an integral of the welding gun current during the current cycle, wherein the integral of the welding gun current includes a first integral and a second integral, the first integral indicating an integral of a current corresponding to a first time interval corresponding to the first area, and the second integral indicating an integral of a current corresponding to a second time interval corresponding to the second area; An adjustment module is used to adjust the motion trajectory of the welding gun based on the first area, the second area, the first integral and the second integral, so as to adjust the arc trajectory.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method according to any one of claims 1 to 7 when executing the computer program.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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