Welding parameter subprogram automatic calling method based on three-dimensional model

Abstract

The invention provides an automatic calling method for a welding parameter subprogram based on a three-dimensional model. The automatic calling method comprises the following steps: (1) establishing a welding process parameter library comprising a welding process parameter table and a process parameter matching rule table; (2) on the basis of the established three-dimensional model, identifying structural parameters among the parts, and generating corresponding welding seams; (3) in the established three-dimensional model, performing three-dimensional marking on the generated welding seam to obtain a welding seam section code; the information of the three-dimensional label is process parameter information including the size of a weld fillet, the arrangement of weld layer channels and the welding position; (4) taking the obtained weld joint section code as an initial condition value, obtaining corresponding welding process parameters from a welding process parameter library, and realizing automatic calling of the welding parameters; and aiming at the obtained welding process parameters, under the world coordinate system of the welding robot, according to the vector decomposition of the Y axis in the defined offset coordinate system in the Z direction under the world coordinate system, the A direction and the B direction of the welding parameter subprogram are automatically judged.

Description

Technical Field

[0001] The invention belongs to the technical field of welding process design, and in particular relates to a method for automatically calling a welding parameter subroutine based on a three-dimensional model. Background Art

[0002] Welding robot welding technology is widely used in the manufacturing process of hydraulic supports. The preparation of welding robot welding programs is mostly manual on-site teaching and offline programming teaching. However, the structure of hydraulic support structural parts is relatively complex, and there are many types of welds. The existing technology is to set the welding process parameters of each weld of the welded component according to the design process information provided by the manual drawing, and manually identify the structural form of the parts around the weld, and manually call the corresponding welding process parameters. This method of calling welding parameters has the following disadvantages: 1. The welding parameter calling method is relatively cumbersome, and it is necessary to manually call the welding parameter program stored in the teach pendant, which has high requirements for the operator; 2. The welding process parameter calling is inaccurate; 3. The direction of the welding subroutine calling the parameter program cannot be correctly determined; 4. The welding process parameters cannot be planned in advance.

[0003] There are also some welding methods based on welding robots, such as: the Chinese invention patent application with publication number CN118595688A, which published a welding method and system based on welding robots on September 6, 2024. The welding method based on welding robots includes: obtaining the weld information of the workpiece, generating a planning path according to the weld information; based on the planning path, controlling the welding robot to move along the workpiece and perform trial welding; obtaining the first welding parameter of the welding robot in the trial welding process in real time; determining the welding gun position point that meets the alignment condition of the weld centerline according to the first welding parameter, so that the welding gun of the welding robot welds the workpiece along the welding gun position point. The present invention reduces the requirements for workpiece standardization during welding, can always keep welding above the weld centerline, and ensure the accuracy of automatic welding. This scheme has the following three disadvantages: 1. The scheme adopts a machine vision recognition mode, and the hardware investment cost is high; 2. The main structural parts of the hydraulic support are usually box-type structure design modes, and there are blind spots in machine vision recognition; 3. The accuracy of machine vision recognition is greatly affected by the production environment and assembly quality.

[0004] Therefore, it is particularly important to develop a method for automatically calling welding parameter subroutines for hydraulic support structural parts, so as to improve the efficiency and quality of welding program compilation and reduce labor costs. Summary of the invention

[0005] The purpose of the present invention is to solve the problems of low work efficiency, poor program consistency, strong dependence on personnel and the like in the existing method, and to provide a method for automatically calling a welding parameter subroutine based on a three-dimensional model.

[0006] In a first aspect, the present invention provides a method for automatically calling a welding parameter subroutine based on a three-dimensional model, comprising the following steps: (1) Establish a welding process parameter library including a welding process parameter table and a process parameter matching rule table; (2) Based on the established 3D model, identify the structural parameters between the parts and generate the corresponding welds; (3) In the established 3D model, the generated weld is 3D-annotated to obtain the weld section code; the 3D-annotated information includes process parameter information including weld angle size, weld layer arrangement and welding position; (4) Using the obtained weld cross-section code as the initial condition value, the corresponding welding process parameters are obtained from the welding process parameter library to realize automatic calling of welding parameters; For the acquired welding process parameters, in the world coordinate system of the welding robot, the A and B directions of the welding parameter subroutine are automatically determined according to the vector decomposition of the Y axis in the Z direction of the world coordinate system in the defined offset coordinate system.

[0007] In a second aspect, the present invention provides a system for automatically calling a welding parameter subroutine based on a three-dimensional model, comprising: A welding process parameter library establishment module is used to establish a welding process parameter library including a welding process parameter table and a process parameter matching rule table; The weld generation module is used to identify the structural parameters between the parts based on the established 3D model and generate the corresponding welds; The 3D annotation module is used to perform 3D annotation on the generated welds in the established 3D model to obtain the weld section code; the 3D annotation information includes process parameter information including weld angle size, weld layer arrangement and welding position; The automatic calling module is used to use the obtained weld section code as the initial condition value, obtain the corresponding welding process parameters in the welding process parameter library, and realize the automatic calling of welding parameters; It is also used to automatically determine the A and B directions of the welding parameter subroutine based on the acquired welding process parameters in the world coordinate system of the welding robot according to the vector decomposition of the Y axis in the Z direction in the world coordinate system in the defined offset coordinate system.

[0008] In a third aspect, the present invention provides a computer device, comprising: one or more processors; a memory for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors execute the steps of the method for automatically calling a welding parameter subroutine based on a three-dimensional model.

[0009] In a fourth aspect, the present invention provides a computer-readable storage medium storing a computer program, characterized in that when the program is executed by a processor, the steps of the method for automatically calling a welding parameter subroutine based on a three-dimensional model are implemented.

[0010] In a fifth aspect, the present invention provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the method for automatically calling a welding parameter subroutine based on a three-dimensional model.

[0011] Compared with the prior art, the present invention has outstanding substantive features and significant progress, specifically: 1. The present invention firstly establishes a corresponding welding process parameter library for process information such as base material and weld angle size related to the weld in combination with on-site process tests; then, according to the three-dimensional annotation of the weld, the corresponding weld information is extracted and matched with the welding process parameter library, so as to automatically select the corresponding welding parameter subroutine, thereby ensuring the accuracy and efficiency of welding parameter calling.

[0012] 2. The present invention automatically determines the direction of welding parameters according to the provided welding parameter program A and B calling rules.

[0013] 3. The present invention supports the efficient execution of on-site welding equipment by planning the layout of welding process parameters in advance and intervening in the welding procedure in advance, thereby greatly improving the operating efficiency and welding quality of on-site equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The figure is a flow chart of the automatic calling method of the welding parameter subroutine based on the three-dimensional model of the present invention.

[0015] Figure 2 Schematic diagram of the offset coordinate system in the judgment rules of welding parameter subroutines A and B.

[0016] Figure 3 It is a schematic diagram of the vector decomposition of the Y-axis of the offset coordinate system in the world coordinate system. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0018] Example 1 This embodiment proposes a method for automatically calling a welding parameter subroutine based on a three-dimensional model, such as Figure 1 As shown, the following steps are included: (1) Establish a welding process parameter library including a welding process parameter table and a process parameter matching rule table; The process parameter matching rule table matches the corresponding weld section code by combing the part features associated with the weld; the welding process parameters in the welding process parameter table are the optimal welding parameters obtained after repeated tests of on-site specimens, and are matched with the corresponding weld section code.

[0019] Specifically, the process parameter matching rule table includes but is not limited to parent material specifications, weld form, weld leg size, number of weld layers, weld section code, etc. (as shown in Table 1); the welding process parameter table includes but is not limited to weld section code, welding current, welding voltage, etc. (as shown in Table 2); Table 1 Process parameter matching rules table Serial number Base material 1 Base material 2 Base material 1 specification Specification of base material 2 Welding seam form Solder foot size Number of weld layers Weld section code 1 xx xx xx xx xx xx 1 K6_JH_PB_Q6 2 xx xx xx xx xx xx 1 K6_SH_PB_Q6 3 xx xx xx xx xx xx 1 / 2 K10_SH_PB_Q6 … … … … … … … … … Table 2 Welding process parameters Serial number Weld section code Root welding current (A) Filling welding current (A) Cover welding current (A) Root welding voltage (V) Filling welding voltage (V) Cover welding voltage (V) 1 K6_JH_PB_Q6 xx xx xx xx xx xx 2 K6_SH_PB_Q6 xx xx xx xx xx xx 3 K10_SH_PB_Q6 xx xx xx xx xx xx … … … … … … … … (2) Based on the established three-dimensional model of the hydraulic support structure, identify the structural parameters between the parts and generate the corresponding welds; The establishment of a three-dimensional model of a hydraulic support structure can be achieved in CAD software, and an automatic recognition tool can also be developed in the CAD software. By calling the automatic recognition tool, the structural parameters between the parts are identified, thereby generating the corresponding welds.

[0020] Among them, the automatic recognition tool is used to obtain the structural parameters between the parts of the constructed three-dimensional model of the hydraulic support structure (such as the angle relationship of the parts assembly and the distance relationship between the parts) to generate the corresponding welds. The automatic recognition tool is a series of algorithms for obtaining structural parameters, such as the part thickness acquisition algorithm, the part assembly relationship algorithm (coincidence, tangency, parallelism, normal, etc.), etc., which are realized through the interactive window interface of secondary development in the CAD software.

[0021] (3) In the established 3D model, the generated weld is 3D-annotated to obtain the weld section code; the 3D-annotated information includes process parameter information including weld angle size, weld layer arrangement and welding position; After obtaining the welds between parts through operation (2), the CAD annotation feature function is used in the 3D model to mark the welds, and the marked information is stored in the part parameter panel of the secondary development.

[0022] The 3D annotated parameters will be matched with the weld leg size, weld form, layer arrangement, etc. in the process parameter matching rule table in the welding process parameter library to infer the specific weld section code; (4) Using the obtained weld cross-section code as the initial condition value, the corresponding welding process parameters are obtained from the welding process parameter library to realize automatic calling of welding parameters; For the acquired welding process parameters, in the world coordinate system of the welding robot, the A and B directions of the welding parameter subroutine are automatically determined according to the vector decomposition of the Y axis in the Z direction of the world coordinate system in the defined offset coordinate system.

[0023] Welding parameter subroutines A and B are program codes in the welding robot, including the current, voltage, welding speed, etc. used during welding. These welding parameters are consistent in the same parameter subroutine, and the difference is the offset direction. In multi-layer and multi-pass welding, the offset direction of the welding wire stack is different for each pass due to different welding directions. In welding parameter subroutine A, the offset direction is the Y direction in the world coordinate system of the welding robot; in welding parameter subroutine B, the offset direction is the +Y direction in the world coordinate system of the welding robot.

[0024] Specifically, the method for automatically determining the A and B directions of the welding parameter subroutine is as follows: 1) Establish a reference point at the starting point of the weld, and use the trajectory direction from the starting point of the weld to the end point of the weld as the welding direction; 2) With the welding direction as the X positive direction, the welding gun TCP point along the welding wire and pointing to the nozzle as the Z positive direction, the Y positive direction is determined by the right-hand rule of the Cartesian coordinate system combined with the determined X / Z positive direction, and the offset coordinate system is established, such as Figure 2 As shown; 3) If Figure 3 As shown, the calling rules of welding parameter subroutines A and B are: Fillet weld: Based on the world coordinate system of the welding robot, if the Z axis is upward, that is, when the welding robot is installed upright, the Y axis of the solved offset coordinate system is vector-decomposed in the world coordinate system of the welding robot; When the decomposed vector along the Z axis points to the positive direction of the Z axis, the welding parameter subroutine B is called; When the decomposed vector along the Z axis points to the negative direction of the Z axis, the welding parameter subroutine A is called; Based on the world coordinate system of the welding robot, if the Z axis is downward, that is, when the welding robot is inverted, the Y axis of the solved offset coordinate system is vector-decomposed in the world coordinate system of the welding robot; when the decomposed vector along the Z axis points to the positive direction of the Z axis, the welding parameter subroutine A is called; when the decomposed vector along the Z axis points to the negative direction of the Z axis, the welding parameter subroutine B is called; Groove weld: Based on the world coordinate system of the welding robot, if the Z axis is upward, that is, when the welding robot is installed upright, the Y axis of the solved offset coordinate system is vector-decomposed in the world coordinate system of the welding robot; When the decomposed vector along the Z axis points to the positive direction of the Z axis, the welding parameter subroutine A is called; When the decomposed vector along the Z axis points to the negative direction of the Z axis, the welding parameter subroutine B is called; Based on the world coordinate system of the welding robot, if the Z axis is downward, that is, when the welding robot is inverted, the vector decomposition of the Y axis of the solved offset coordinate system in the world coordinate system of the welding robot is performed; When the decomposed vector along the Z axis points to the positive direction of the Z axis, the welding parameter subroutine B is called; When the decomposition vector along the Z axis points to the negative direction of the Z axis, the welding parameter subroutine A is called.

[0025] Example 2 Based on the same inventive concept, the embodiment of the present application also provides a system for automatically calling a welding parameter subroutine based on a three-dimensional model. The implementation scheme for solving the problem provided by the system for automatically calling a welding parameter subroutine based on a three-dimensional model is similar to the implementation scheme recorded in the method of Example 1, so the specific limitations in one or more embodiments of the system for automatically calling a welding parameter subroutine based on a three-dimensional model provided below can refer to the limitations on the method in Example 1, and will not be repeated here.

[0026] In an exemplary embodiment, a system for automatically calling a welding parameter subroutine based on a three-dimensional model is provided, comprising: A welding process parameter library establishment module is used to establish a welding process parameter library including a welding process parameter table and a process parameter matching rule table; The weld generation module is used to identify the structural parameters between the parts based on the established 3D model and generate the corresponding welds; The 3D annotation module is used to perform 3D annotation on the generated welds in the established 3D model to obtain the weld section code; the 3D annotation information includes process parameter information including weld angle size, weld layer arrangement and welding position; The automatic calling module is used to extract the three-dimensional annotation information of the weld and automatically determine the A and B directions of the welding parameter subroutine in the world coordinate system of the welding robot according to the vector decomposition of the Y axis in the defined offset coordinate system in the Z direction of the world coordinate system; It is also used to match the extracted process parameter information of the weld with the welding process parameter library to obtain the corresponding welding process parameters and realize automatic calling of the welding parameters.

[0027] Example 3 Each module in the above system can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module above.

[0028] In an exemplary embodiment, a computer device is provided, which may be a terminal. The computer device further includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, the memory, and the input / output interface are connected via a system bus, and the communication interface, the display unit, and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, the steps of automatically calling a method based on a three-dimensional model welding parameter subroutine are implemented. The display unit of the computer device is used to form a visually visible picture, which may be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0029] Those skilled in the art will appreciate that the structure of the above-mentioned computer device is only a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components, or combine certain components, or have a different arrangement of components.

[0030] In an exemplary embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method for automatically calling a welding parameter subroutine based on a three-dimensional model are implemented.

[0031] In an exemplary embodiment, a computer program product is provided, including a computer program / instruction, which, when executed by a processor, implements the steps of a method for automatically calling a welding parameter subroutine based on a three-dimensional model.

[0032] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0033] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0034] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for automatically calling a welding parameter subroutine based on a three-dimensional model, characterized in that: The following steps are involved: (1) Establish a welding process parameter library including a welding process parameter table and a process parameter matching rule table; (2) Based on the established 3D model, identify the structural parameters between the parts and generate the corresponding welds; (3) In the established 3D model, the generated weld is 3D-annotated to obtain the weld section code; the 3D-annotated information includes process parameter information including weld angle size, weld layer arrangement and welding position; (4) Using the obtained weld cross-section code as the initial condition value, the corresponding welding process parameters are obtained from the welding process parameter library to realize automatic calling of welding parameters; For the acquired welding process parameters, in the world coordinate system of the welding robot, the A and B directions of the welding parameter subroutine are automatically determined according to the vector decomposition of the Y axis in the Z direction of the world coordinate system in the defined offset coordinate system.

2. The automatic calling method of welding parameter subroutine based on three-dimensional model according to claim 1 is characterized in that: The method for automatically determining the A and B directions of the welding parameter subroutine is: 1) Establish a reference point at the starting point of the weld, and use the trajectory direction from the starting point of the weld to the end point of the weld as the welding direction; 2) With the welding direction as the X positive direction, the welding gun TCP point along the welding wire and pointing to the nozzle as the Z positive direction, the Y positive direction is determined by the right-hand rule of the Cartesian coordinate system combined with the determined X / Z positive direction to establish an offset coordinate system; 3) Calling rules of welding parameter subroutines A and B: Fillet weld: Based on the world coordinate system of the welding robot, if the Z axis is upward, that is, when the welding robot is installed upright, the Y axis of the solved offset coordinate system is vector-decomposed in the world coordinate system of the welding robot; When the decomposed vector along the Z axis points to the positive direction of the Z axis, the welding parameter subroutine B is called; When the decomposed vector along the Z axis points to the negative direction of the Z axis, the welding parameter subroutine A is called; Based on the world coordinate system of the welding robot, if the Z axis is downward, that is, when the welding robot is inverted, the Y axis of the solved offset coordinate system is vector-decomposed in the world coordinate system of the welding robot; when the decomposed vector along the Z axis points to the positive direction of the Z axis, the welding parameter subroutine A is called; when the decomposed vector along the Z axis points to the negative direction of the Z axis, the welding parameter subroutine B is called; Groove weld: Based on the world coordinate system of the welding robot, if the Z axis is upward, that is, when the welding robot is installed upright, the Y axis of the solved offset coordinate system is vector-decomposed in the world coordinate system of the welding robot; When the decomposed vector along the Z axis points to the positive direction of the Z axis, the welding parameter subroutine A is called; When the decomposed vector along the Z axis points to the negative direction of the Z axis, the welding parameter subroutine B is called; Based on the world coordinate system of the welding robot, if the Z axis is downward, that is, when the welding robot is inverted, the vector decomposition of the Y axis of the solved offset coordinate system in the world coordinate system of the welding robot is performed; When the decomposed vector along the Z axis points to the positive direction of the Z axis, the welding parameter subroutine B is called; When the decomposition vector along the Z axis points to the negative direction of the Z axis, the welding parameter subroutine A is called.

3. A three-dimensional model-based welding parameter subroutine automatic calling system, characterized in that: include: A welding process parameter library establishment module is used to establish a welding process parameter library including a welding process parameter table and a process parameter matching rule table; The weld generation module is used to identify the structural parameters between the parts based on the established 3D model and generate the corresponding welds; The 3D annotation module is used to perform 3D annotation on the generated welds in the established 3D model to obtain the weld section code; the 3D annotation information includes process parameter information including weld angle size, weld layer arrangement and welding position; The automatic calling module is used to use the obtained weld section code as the initial condition value, obtain the corresponding welding process parameters in the welding process parameter library, and realize the automatic calling of welding parameters; It is also used to automatically determine the A and B directions of the welding parameter subroutine based on the acquired welding process parameters in the world coordinate system of the welding robot according to the vector decomposition of the Y axis in the defined offset coordinate system in the Z direction of the world coordinate system.

4. The automatic calling system of welding parameter subroutine based on three-dimensional model according to claim 3 is characterized in that: The method for automatically determining the A and B directions of the welding parameter subroutine is: 1) Establish a reference point at the starting point of the weld, and use the trajectory direction from the starting point of the weld to the end point of the weld as the welding direction; 2) With the welding direction as the X positive direction, the welding gun TCP point along the welding wire and pointing to the nozzle as the Z positive direction, the Y positive direction is determined by the right-hand rule of the Cartesian coordinate system combined with the determined X / Z positive direction to establish an offset coordinate system; 3) Calling rules of welding parameter subroutines A and B: Fillet weld: Based on the world coordinate system of the welding robot, if the Z axis is upward, that is, when the welding robot is installed upright, the Y axis of the solved offset coordinate system is vector-decomposed in the world coordinate system of the welding robot; When the decomposed vector along the Z axis points to the positive direction of the Z axis, the welding parameter subroutine B is called; When the decomposed vector along the Z axis points to the negative direction of the Z axis, the welding parameter subroutine A is called; Based on the world coordinate system of the welding robot, if the Z axis is downward, that is, when the welding robot is inverted, the Y axis of the solved offset coordinate system is vector-decomposed in the world coordinate system of the welding robot; when the decomposed vector along the Z axis points to the positive direction of the Z axis, the welding parameter subroutine A is called; when the decomposed vector along the Z axis points to the negative direction of the Z axis, the welding parameter subroutine B is called; Groove weld: Based on the world coordinate system of the welding robot, if the Z axis is upward, that is, when the welding robot is installed upright, the Y axis of the solved offset coordinate system is vector-decomposed in the world coordinate system of the welding robot; When the decomposed vector along the Z axis points to the positive direction of the Z axis, the welding parameter subroutine A is called; When the decomposed vector along the Z axis points to the negative direction of the Z axis, the welding parameter subroutine B is called; Based on the world coordinate system of the welding robot, if the Z axis is downward, that is, when the welding robot is inverted, the vector decomposition of the Y axis of the solved offset coordinate system in the world coordinate system of the welding robot is performed; When the decomposed vector along the Z axis points to the positive direction of the Z axis, the welding parameter subroutine B is called; When the decomposition vector along the Z axis points to the negative direction of the Z axis, the welding parameter subroutine A is called.

5. A computer device, characterized in that: include: one or more processors; a memory for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors execute the steps of the method for automatically calling a three-dimensional model welding parameter subroutine as described in any one of claims 1 to 2.

6. A computer-readable storage medium storing a computer program, characterized in that: When the program is executed by a processor, the steps of the method for automatically calling a three-dimensional model welding parameter subroutine as described in any one of claims 1 to 2 are implemented.

7. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the steps of the method for automatically calling a three-dimensional model welding parameter subroutine as described in any one of claims 1-2 are implemented.

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