Welding gun angle online adjusting method and device and electronic equipment

Abstract

The invention provides a welding gun angle online adjusting method and device and electronic equipment, and the method comprises the steps that a welding three-dimensional model is established, the structural form of a target welding bead is obtained, and the welding three-dimensional model comprises the target welding bead, a welding gun and a welding gun point; constructing a three-dimensional coordinate system corresponding to the structural form according to the structural form, wherein the structural form is used for indicating the shape of the target weld bead; according to the three-dimensional coordinate system, a target position vector of the welding gun point under a target frame and a reference position vector of the welding gun point under a reference frame are determined, and the reference frame is a previous frame of the target frame; and according to the structural form, the target position vector and the reference position vector, the movement direction of a welding gun corresponding to the welding gun point is determined, and the target angle of the welding gun under the target frame is adjusted according to the movement direction. And the flexibility of the welding gun angle adjusting method is improved.

Description

Technical Field

[0001] This application relates to the field of welding technology, and in particular to an online welding torch angle adjustment method, device, and electronic device. Background Art

[0002] Welding is a manufacturing process and technology for joining metals or other thermoplastics such as plastics by means of heating, high temperature, or high pressure. To ensure the accuracy of the welding torch during welding, it is usually necessary to adjust the angle of the welding torch.

[0003] In the related art, when adjusting the angle of the welding torch, the requirements for the welding torch trajectory are too rigid. Often, the welding torch needs to move along a pre-set direction to correctly adjust the angle of the welding torch.

[0004] In view of the problem of low flexibility of the existing welding torch angle adjustment method, no effective technical solution has been proposed yet. Summary of the Invention

[0005] Embodiments of this application provide an online welding torch angle adjustment method, device, and electronic device to at least solve the problem of low flexibility of the existing welding torch angle adjustment method.

[0006] According to one aspect of the embodiments of this application, an online welding torch angle adjustment method is provided, including: establishing a welding three-dimensional model and obtaining the structural form of a target weld bead, where the welding three-dimensional model includes the target weld bead, the welding torch, and the torch point; constructing a three-dimensional coordinate system corresponding to the structural form according to the structural form, where the structural form is used to indicate the shape of the target weld bead; determining the target position vector of the torch point in the target frame and the reference position vector of the torch point in the reference frame according to the three-dimensional coordinate system, where the reference frame is the previous frame of the target frame; determining the movement direction of the welding torch corresponding to the torch point according to the structural form, the target position vector, and the reference position vector, and adjusting the target angle of the welding torch in the target frame according to the movement direction.

[0007] According to another aspect of the embodiments of this application, an online welding torch angle adjustment device is further provided, including: an obtaining unit, configured to establish a welding three-dimensional model and obtain the structural form of a target weld bead, where the welding three-dimensional model includes the target weld bead, the welding torch, and the torch point; a constructing unit, configured to construct a three-dimensional coordinate system corresponding to the structural form according to the structural form, where the structural form is used to indicate the shape of the target weld bead; a determining unit, configured to determine the target position vector of the torch point in the target frame and the reference position vector of the torch point in the reference frame according to the three-dimensional coordinate system, where the reference frame is the previous frame of the target frame; an adjusting unit, configured to determine the movement direction of the welding torch corresponding to the torch point according to the structural form, the target position vector, and the reference position vector, and adjust the target angle of the welding torch in the target frame according to the movement direction.

[0008] Optionally, the above-mentioned building unit includes: a first acquisition subunit, configured to acquire a first welding position, a second welding position, and a base material plane of the target weld bead when the structural form indicates that the target weld bead is a straight weld bead, where the first welding position is used to indicate the initial welding position of the target weld bead, and the second welding position is used to indicate the end welding position of the target weld bead; a first construction subunit, configured to establish a first coordinate system according to the first welding position, the second welding position, and the base material plane, where the first coordinate system is a three-dimensional coordinate system corresponding to the straight weld bead; a second acquisition subunit, configured to acquire a target plane and an arc center when the structural form indicates that the target weld bead is an arc weld bead, where the target plane is the plane where the arc is located; a second construction subunit, configured to establish a second coordinate system according to the target plane and the arc center, where the second coordinate system is a three-dimensional coordinate system corresponding to the arc weld bead.

[0009] Optionally, the above-mentioned first construction subunit includes: a first construction module, configured to use the first welding position as the coordinate origin of the first coordinate system, use the connection line between the first welding position and the second welding position as the vertical axis direction in the first coordinate system, use the direction perpendicular to the target weld bead and in the same plane as the base material plane as the horizontal axis direction in the first coordinate system, and use the direction perpendicular to the plane where the vertical axis direction and the horizontal axis direction are located as the vertical axis direction in the first coordinate system.

[0010] Optionally, the above-mentioned second construction subunit includes: a second construction module, configured to use the arc center as the coordinate origin of the second coordinate system, use the target plane as the plane where the horizontal axis and the vertical axis are located in the second coordinate system, and use the direction perpendicular to the target plane as the vertical axis direction in the second coordinate system.

[0011] Optionally, the above-mentioned adjustment unit includes: a first determination subunit, configured to, when the structural form indicates that the target weld bead is a straight weld bead, determine the difference between the target position vector and the reference position vector as the reference motion vector, and determine the vector of the welding torch point in the vertical axis direction in the reference motion vector as the target motion vector; a second determination subunit, configured to determine the motion direction according to the target motion vector; a third acquisition subunit, configured to acquire the vector product of the target position vector and the reference position vector when the structural form indicates that the target weld bead is an arc weld bead; a third determination subunit, configured to determine the motion direction according to the vector product and the target plane.

[0012] Optionally, the above-mentioned third determination subunit includes: a first determination module, configured to determine the motion direction as counterclockwise when the vector product is perpendicular to the target plane and the direction of the vector product is upward; a second determination module, configured to determine the motion direction as clockwise when the vector product is perpendicular to the target plane and the direction of the vector product is downward.

[0013] Optionally, the above adjustment unit further includes: a fourth acquisition subunit that acquires a welding torch angle compass and a preset angle adjustment rule corresponding to the movement direction; an adjustment subunit that adjusts the first angle and the second angle of the welding torch according to the welding torch angle compass, the preset angle adjustment rule, and the target position vector, where the first angle is the angle between the welding torch and the base material, the second angle is the angle between the welding torch and the weld bead, and the target angles include the first angle and the second angle.

[0014] According to another aspect of the embodiments of the present application, there is provided a computer-readable storage medium storing computer instructions for causing a computer to execute the above welding torch angle online adjustment method.

[0015] According to another aspect of the embodiments of the present application, there is also provided an electronic device including: 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 to cause the at least one processor to execute the above welding torch angle online adjustment method.

[0016] Compared with the prior art, the technical solutions provided by the embodiments of the present application may include the following beneficial effects: Through the above welding torch angle online adjustment method, the problem of low flexibility of the existing welding torch angle adjustment method is solved, and the flexibility of the welding torch angle adjustment method is improved. Description of the Drawings

[0017] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0018] Figure 1 is a schematic diagram of the hardware environment of an optional welding torch angle online adjustment method according to an embodiment of the present invention; Figure 2 is a flowchart of an optional welding torch angle online adjustment method according to an embodiment of the present invention; Figure 3 is a schematic diagram of an optional welding torch angle online adjustment method according to an embodiment of the present invention; Figure 4 is a schematic diagram of another optional welding torch angle online adjustment method according to an embodiment of the present invention; Figure 5 is a schematic diagram of an optional welding torch angle compass according to an embodiment of the present invention; Figure 6 It is a schematic diagram of another optional online welding torch angle adjustment method according to an embodiment of the present invention; Figure 7 It is a schematic structural diagram of an optional online welding torch angle adjustment device according to an embodiment of the present invention; Figure 8 It is a schematic structural diagram of an optional electronic device according to an embodiment of the present invention. Detailed implementation manners

[0019] In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0020] 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 do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances 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 inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0021] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0022] When the existing welding angle adjustment method performs real-time statistics on the welding torch angle, the requirements for the welding torch trajectory are too rigid. Often, the welding torch needs to move along a preset direction in order to correctly count and score the welding torch angle.

[0023] In order to solve the problem of low flexibility of the existing welding torch angle adjustment method, the embodiments of the present application provide an online welding torch angle adjustment method. As an optional implementation manner, the above-mentioned online welding torch angle adjustment method can be but is not limited to being applied to, for example, Figure 1 the online welding torch angle adjustment system composed of the terminal device 102 and the server 104 as shown. As Figure 1As shown in the figure, the terminal device 102 is connected to the server 104 through the network 110. The above-mentioned network 110 may include but is not limited to: wired networks and wireless networks. Among them, the wired network includes: local area networks, metropolitan area networks, and wide area networks, and the wireless network includes: Bluetooth, WIFI, and other networks that implement wireless communication. The above-mentioned terminal device 102 may include but is not limited to at least one of the following: mobile phones (such as Android phones, iOS phones, etc.), laptop computers, tablet computers, handheld computers, MIDs (Mobile Internet Devices), PADs, desktop computers, smart TVs, etc.

[0024] The above-mentioned terminal device 102 is also provided with a display 106, a processor 108, and a memory 112. The display 106 can be used for the process and effect of online adjustment of the welding torch angle. The processor 108 can be used to process the data involved in the online adjustment method of the welding torch angle. The memory 112 can be used to store various models and data involved in this application.

[0025] The above-mentioned server 104 can be a single server, or a server cluster composed of multiple servers, or a cloud server. The above-mentioned server 104 includes a database 114 and a processing engine 116. Among them, the above-mentioned database 114 can be used to store various models and data involved in this application, and the above-mentioned processing engine 116 is used to process the above various models and data.

[0026] According to one aspect of the embodiments of the present invention, as Figure 1 shown, the above-mentioned online welding torch angle adjustment system can also perform the following steps: First, the terminal device 102 executes S102 and sends an online welding torch angle adjustment request to the server 104 through the network 110; then, the server 104 executes S104 to S110: establish a welding three-dimensional model, and obtain the structural form of the target weld bead. The welding three-dimensional model includes the target weld bead, the welding torch, and the welding torch point; construct a three-dimensional coordinate system corresponding to the structural form according to the structural form, and the structural form is used to indicate the shape of the target weld bead; determine the target position vector of the welding torch point in the target frame and the reference position vector of the welding torch point in the reference frame according to the three-dimensional coordinate system, and the reference frame is the previous frame of the target frame; determine the movement direction of the welding torch corresponding to the welding torch point according to the structural form, the target position vector, and the reference position vector, and adjust the target angle of the welding torch in the target frame according to the movement direction.

[0027] In the above embodiment of the present invention, by using the above-mentioned online welding torch angle adjustment method, the problem of low flexibility of the existing welding torch angle adjustment method is solved, and the flexibility of the welding torch angle adjustment is improved.

[0028] The above is only an example, and no limitation is made in this embodiment.

[0029] As an alternative implementation, please refer to Figure 2 , which shows a flowchart of an online welding torch angle adjustment method provided by an embodiment of the present application. The execution subject of each step of this method can be the terminal device and the server introduced above. In the following method embodiments, for the convenience of description, only the execution subject of each step is introduced as "computer device". This method may include at least one of the following steps (S202 to S208): S202, establish a welding three-dimensional model and obtain the structural form of the target weld bead. The welding three-dimensional model includes the target weld bead, the welding torch, and the torch point; S204, construct a three-dimensional coordinate system corresponding to the structural form according to the structural form, where the structural form is used to indicate the shape of the target weld bead; S206, determine the target position vector of the torch point in the target frame and the reference position vector of the torch point in the reference frame according to the three-dimensional coordinate system, where the reference frame is the previous frame of the target frame; S208, determine the movement direction of the welding torch corresponding to the torch point according to the structural form, the target position vector, and the reference position vector, and adjust the target angle of the welding torch in the target frame according to the movement direction.

[0030] It should be noted that the target weld bead in S202 above can be understood as, but not limited to, the weld bead in the target frame. The method for establishing three-dimensional models such as the target weld bead, the welding torch, and the torch point can be to scan the weld bead, the welding torch, and the torch point in the actual welding scene to obtain the initial three-dimensional models corresponding to the weld bead, the welding torch, and the torch point respectively, and then calibrate all the initial three-dimensional models in the standard coordinate system. After calibrating multiple initial three-dimensional models to the standard coordinate system, the above-mentioned welding three-dimensional model is obtained. The above-mentioned welding three-dimensional model also includes a groove model, a base material model, etc.

[0031] The structural form in S204 above can not only indicate the shape of the target weld bead, but also indicate the groove track of the groove in the target frame (for example, for a straight weld bead / straight groove, the structural form can be from left to right or from right to left; for an arc weld bead / arc groove, the interface form can be clockwise or counterclockwise, etc.). It should be noted that a weld seam refers to the metal connection area formed by welding materials during the welding process. It is usually a metallurgical bond at the welding site, which is the joint formed after two or more workpieces are joined through the welding process; a weld bead refers to the metal additive obtained after the actual welding molten pool formed during the welding process cools and solidifies, usually a metal layer or strip generated one by one during the welding process; a groove is the joint shape prepared for welding, which involves machining or cutting the edges of the workpieces to be welded to form a notch with a certain angle and shape. The groove can make the welding materials penetrate better into the joint, improving the quality and strength of the weld seam.

[0032] It can be understood that the above structural form can be but is not limited to being understood as the trajectory (or called shape) of the weld bead (i.e., the above target weld bead) newly formed from the reference frame to the target frame determined according to the reference frame and the target frame, and the reference frame is the previous frame adjacent to the target frame. Because the distance between the reference frame and the target frame is relatively close, therefore, the movement trajectory of the welding torch point can be determined according to the position information of the welding torch point in the reference frame and the target frame respectively (such as Figure 3 the movement trajectory shown from the position information of the welding torch point in the reference frame to the position information of the welding torch point in the target frame), thereby determining the above structural form.

[0033] The operation in S204 above can be but is not limited to being understood as constructing different three-dimensional coordinate systems according to different structural forms, and then executing S206, that is, determining the target position vector of the welding torch point in the target frame and the reference position vector of the welding torch point in the reference frame according to the constructed three-dimensional coordinate system corresponding to the structural form. Finally, the movement direction corresponding to the welding torch point is determined, and the movement direction corresponding to the welding torch point can be but is not limited to being understood as the movement trajectory of the welding torch point when moving from the reference frame to the target frame to the moment of the target frame (such as from left to right, from right to left, from top to bottom, from bottom to top, clockwise, counterclockwise, etc.).

[0034] Through the above implementation manners of the present application, the movement direction of the welding torch point in the target frame can be sensed in real time, and on this basis, the correct angle that the welding torch should have can be calculated in real time. For example, when the welding torch moves from left to right, from top to bottom, clockwise, and counterclockwise, the correct angle of the welding torch that should be possessed under the current welding torch trajectory can be judged in real time. The statistical method is more flexible, eliminating the need for users to control the movement of the welding torch in a certain specific direction in order to correctly count the welding torch angle, solving the problem of low flexibility of the existing welding torch angle adjustment method and improving the flexibility of the welding torch angle adjustment method.

[0035] As an alternative implementation, constructing a three-dimensional coordinate system corresponding to the structural form as described above includes: S1. When the structural form indicates that the target weld bead is a straight weld bead, obtain the first welding position, the second welding position, and the plane of the base material of the target weld bead. The first welding position is used to indicate the initial welding position of the target weld bead, and the second welding position is used to indicate the end welding position of the target weld bead; S2. Establish a first coordinate system based on the first welding position, the second welding position, and the plane of the base material. The first coordinate system is the three-dimensional coordinate system corresponding to the straight weld bead; S3. When the structural form indicates that the target weld bead is an arc weld bead, obtain the target plane and the center of the arc. The target plane is the plane where the arc is located; S4. Establish a second coordinate system based on the target plane and the center of the arc. The second coordinate system is the three-dimensional coordinate system corresponding to the arc weld bead.

[0036] The straight weld bead in S1 above can be understood, but is not limited to, that the groove to be welded is a straight groove (such as the groove model 304 shown in Figure 3 ). Establishing a first coordinate system based on the first welding position, the second welding position, and the plane of the base material includes: taking the first welding position as the origin of the first coordinate system, taking the connection line between the first welding position and the second welding position as the vertical axis direction in the first coordinate system, taking the direction perpendicular to the target weld bead and in the same plane as the plane of the base material as the horizontal axis direction in the first coordinate system, and taking the direction perpendicular to the plane where the vertical axis direction and the horizontal axis direction are located as the vertical axis direction in the first coordinate system.

[0037] The above vertical axis direction is the Z-axis, and there are two directions for the connection line. As shown in Figure 3 The connection line is the line connecting the first welding position 308 and the second welding position 310, and there are two directions. One is the direction from the first welding position 308 to the second welding position 310 (i.e., the Z-axis direction shown in Figure 3 ), and the other is the direction from the second welding position 310 to the first welding position 308. The horizontal axis direction is the X-axis, and the vertical axis direction is the Y-axis. The following takes Figure 3 as an example to elaborate on the construction of the first coordinate system corresponding to the straight weld bead: As shown in Figure 3 When establishing a welding three-dimensional model, in addition to the target weld bead, the welding torch, and the torch point mentioned above, it also includes a base material model 302, a groove model 304, a target droplet model 306 (which can be understood, but is not limited to, as the droplet model currently being formed), and the droplet model that has cooled and solidified before the target droplet model 306. And from Figure 3 As shown, there is also... Figure 3It can be known that the groove model 304 is a straight groove. The above-mentioned first welding position 308 is the above-mentioned first welding position, and the second welding position 310 is the above-mentioned second welding position. Taking the first welding position 308 as the coordinate origin of the first coordinate system, the direction from the first welding position 308 to the second welding position 310 is the vertical axis direction of the first coordinate system (that is, the Z axis as shown in Figure 3 ), and the direction perpendicular to the target weld bead and to the plane where the base material model 302 is located (which can be the plane where the upper surface of the base material model 302 is located or the plane where the lower surface of the base material model 302 is located) is the horizontal axis direction in the first coordinate system (that is, the X direction as shown in Figure 3 ), and the direction perpendicular to the plane where the vertical axis and the horizontal axis are located is the vertical axis direction in the first coordinate system (that is, the Y direction as shown in Figure 3 ).

[0038] The above-mentioned target weld bead being an arc weld bead can be, but is not limited to, understood as the target weld bead that has been welded and the groove model to be welded being an arc groove. And the straight weld bead and the arc weld bead mentioned in this application can be, accurately speaking, understood as, but are not limited to, the groove currently being welded being a straight groove or an arc groove determined according to the reference frame and the target frame; then a second coordinate system is established according to the target plane and the center of the arc, specifically including: taking the center of the arc as the coordinate origin of the second coordinate system, taking the target plane as the plane where the horizontal axis and the vertical axis are located in the second coordinate system, and taking the direction perpendicular to the target plane as the vertical axis direction in the second coordinate system.

[0039] After determining that the target plane is the plane where the horizontal axis and the vertical axis are located in the second coordinate system, it is also possible to determine the tangent line of the arc formed by the welding torch point along its moving direction during the process from the reference position information of the welding torch point in the reference frame to the target position information in the target frame, and then determine the tangent line direction as the vertical axis direction of the second coordinate system, or determine the opposite direction of the tangent line direction as the vertical axis direction of the second coordinate system, and take the direction perpendicular to the tangent line and towards the inside of the arc as the horizontal axis direction of the second coordinate system.

[0040] Through the above implementation manner of this application, by disassembling the movement of the welding torch point into continuous frame pictures (that is, the above-mentioned reference frame and target frame), and then every time the position of the welding torch point changes, the position of the welding torch point in the previous frame (that is, the reference frame) will be compared. Through the slight difference in the position of the welding torch point between two adjacent frames, the movement direction of the welding torch can be judged, and then a three-dimensional coordinate system corresponding to different structural forms of weld beads (or grooves) is accurately constructed, so as to more accurately determine the position vector of the welding torch point in different coordinate systems.

[0041] As an optional implementation manner, determining the movement direction of the welding torch corresponding to the welding torch point according to the structural form, the target position vector, and the reference position vector includes: S1. When the structural form indicates that the target weld bead is a straight weld bead, determine the difference between the target position vector and the reference position vector as the reference motion vector, and determine the vector of the torch point in the vertical axis direction in the reference motion vector as the target motion vector; S2. Determine the motion direction according to the target motion vector; S3. When the structural form indicates that the target weld bead is an arc weld bead, obtain the cross product of the target position vector and the reference position vector; S4. Determine the motion direction according to the cross product and the target plane.

[0042] The following takes Figure 3 as an example to elaborate on the above S1 to S2 in detail: As Figure 3 shown, assume that the target weld bead is a straight weld bead, and the position information of the torch point in the reference frame as shown in Figure 3 is the above reference position vector, and the position information of the torch point in the target frame as shown in Figure 3 is the above target position vector. According to the difference between the reference position vector and the target position vector, the reference motion vector can be determined. Then, the motion components of the reference motion vector in the three coordinate axes directions in the first coordinate system can be determined, that is, the X-direction motion component, the Y-direction motion component, and the Z-direction motion component as shown in Figure 3 . When constructing the first coordinate system, it can be determined that the direction of the Z axis in the first coordinate system is the direction from the first welding position 308 to the second welding position 310. Therefore, among the three motion direction components, the vector of the torch point in the vertical axis direction (Z-axis direction) (that is, the Z-direction motion component as shown in Figure 3 ) can be determined as the target motion vector.

[0043] The above target motion vector may be greater than zero or less than 0. Then, the motion direction can be determined according to the target motion vector. For example, as shown in Figure 3 : When the target motion vector is greater than zero (that is, the target motion vector is positive), determine the motion direction as from left to right; when the target motion vector is less than zero (that is, the target motion vector is negative), determine the motion direction as from right to left. Another example is when the target motion vector is greater than zero (that is, the target motion vector is positive), determine the motion direction as from right to left; when the target motion vector is less than zero (that is, the target motion vector is negative), determine the motion direction as from left to right, and so on. Specifically, it can be flexibly set according to business needs, and this application does not make any limitations.

[0044] That is, for a straight weld bead, the present application stipulates that the weld bead direction is the Z-axis direction. Subtract the position vectors of the welding torch points in two adjacent frames to obtain the motion vector (x, y, z) of the welding torch point (i.e., the above-mentioned reference motion vector). Next, judge the positive and negative of the z value in the motion vector (i.e., the vector in the vertical axis direction), and the component of the welding torch motion vector along the weld bead direction can be obtained. Then, combined with the placement method of the base material (i.e., the base material model 302 as shown in Figure 3 ), the real-time motion state of the welding torch can be judged (such as from left to right, from top to bottom, etc.) (i.e., the above-mentioned motion direction). The placement method of the base material determines the welding method, and the welding methods include flat welding, horizontal welding, vertical welding, overhead welding, and inclined welding, etc. Flat welding can be understood but not limited to that the upper and lower surfaces of the base material are parallel to the carrier surface (the upper surface of the carrier of the base material) or in the same plane as the carrier surface, and the groove is parallel to the carrier surface. Horizontal welding can be understood but not limited to that the upper and lower surfaces of the base material are perpendicular to the carrier surface, and the groove is parallel to the carrier surface. Vertical welding means that the upper surface, lower surface, and groove of the base material are all perpendicular to the carrier surface. Overhead welding is opposite to flat welding, that is, in flat welding, the base material and the groove are below the welding torch, and in overhead welding, the base material and the groove are above the welding torch, and the upper and lower surfaces of the base material are parallel to the carrier surface (the upper surface of the carrier of the base material) or in the same plane as the carrier surface, and the groove is parallel to the carrier surface; Inclined welding means that there is a certain inclination angle between the base material, the groove and the carrier surface (for example, inclined 45 degrees). During the welding process of a straight weld bead, the above operations are performed for each frame of the welding torch along the straight weld bead, and the motion direction of the welding torch can be judged and adjusted in real time, and then the correct angle of the welding torch and the corresponding welding torch point in this motion direction can be judged and adjusted.

[0045] As Figure 4 shown, in the case where the structural form indicates that the target weld bead is an arc weld bead, the three-dimensional coordinate system 402 as shown in Figure 4 is the above-mentioned second coordinate system. Then, the vector product of the reference position vector 404 and the target position vector 406 can be determined. According to the different orientations of the vector product, different motion directions can be determined. The specific methods for determining the motion direction in S4 above specifically include: When the vector product is perpendicular to the target plane and the direction of the vector product is upward (such as the vector product 408 of the position vectors as shown in Figure 4 ), determine the motion direction as the counterclockwise direction; when the vector product is perpendicular to the target plane and the direction of the vector product is downward (such as the vector product 410 of the position vectors as shown in Figure 4 ), determine the motion direction as the clockwise direction.

[0046] That is, for an arc weld bead, although the XZ plane (the plane where the X-axis and Z-axis are located) can be defined as the plane where the arc is located, and the origin of the XYZ foot coordinate system is the center of the arc. In two adjacent frames, the welding torch moves a small distance. Then, based on the component of this small motion vector along the tangent direction, it can be determined whether the welding torch moves in the clockwise direction or the counterclockwise direction. However, directly calculating the component of the motion vector along the tangent direction of the arc and using this to determine whether the motion direction of the welding torch is clockwise or counterclockwise is a cumbersome process and a waste of the computer's performance. Therefore, the present application adopts a more convenient method. By calculating the vector product of the position vectors of the welding torch point in two adjacent frames, the motion direction of the welding torch (or the welding torch point) can be quickly determined to be clockwise or counterclockwise. As Figure 4 shown, if the vector product of the position vectors of the welding torch point in two adjacent frames is perpendicular to the arc plane and points upward, the motion direction of the welding torch is counterclockwise; if the vector product of the position vectors of the welding torch point in two adjacent frames is perpendicular to the arc plane and points downward, the motion direction of the welding torch (or the welding torch point) is clockwise. According to the coordinate system established in the present application, only by judging the y value in the vector product of the position vectors (x, y, z) of the welding torch point in two adjacent frames can the motion direction of the welding torch be determined to be clockwise or counterclockwise.

[0047] For an arc weld bead, performing the above operation on each frame of the welding torch along the arc weld bead can determine the motion direction of the welding torch in real time, and further determine the correct angle of the welding torch that the welding torch point should have in the target frame in this motion direction.

[0048] Through the above implementation manner of the present application, the actual motion direction of the welding torch point from the reference frame to the target frame can be accurately determined, thereby improving the accuracy of welding torch angle adjustment.

[0049] As an alternative implementation manner, adjusting the target angle of the welding torch in the target frame according to the motion direction includes: S1, obtaining a welding torch angle compass and a preset angle adjustment rule corresponding to the motion direction; S2, adjusting the first angle and the second angle of the welding torch according to the welding torch angle compass, the preset angle adjustment rule, and the target position vector. The first angle is the angle between the welding torch and the base material, and the second angle is the angle between the welding torch and the weld bead. The target angle includes the first angle and the second angle.

[0050] After obtaining the motion direction of the welding torch in a straight weld bead or an arc weld bead, the correct position and direction can be set for the welding torch angle compass. The appearance of the welding torch angle compass in S1 above is as Figure 5 shown.

[0051] The following will Figure 5 and Figure 6 be used to elaborate on the above S1 to S2 in detail: As Figure 5 and Figure 6 shown, the welding torch angle compass is composed of a circular scale and a sector scale. The circular scale records the horizontal angle of the welding torch in real time, and the sector scale records the vertical angle of the welding torch in real time. The welding torch angle compass moves in real time as the welding torch moves, and adjusts its direction in real time according to the calculated movement direction of the welding torch (such as up, down, left, right, etc. for straight weld beads, and clockwise or counterclockwise for circular weld beads) and the position of the welding torch in the weld bead, so as to more accurately track the angle of the welding torch. The specific effect during movement is as Figure 6 shown: During the simulation welding process, the models to be constructed include the welding torch 602, the welding torch point 604, the base material 606, the groove 608, and the multiple welding three-dimensional models mentioned above. At the same time, the welding torch angle compass 610 is also included during the simulation welding process. For a straight weld bead, every time the welding torch moves to a new position point, it is necessary to compare the previous position point of the welding torch point 604 (i.e., compare the reference position vector of the welding torch point 604 in the reference frame and the target position vector of the welding torch point 604 in the target frame), calculate the movement vector of the welding torch point 604 in two adjacent frames, and extract the component of the welding torch movement vector along the straight line direction (i.e., the vertical axis direction in the above-mentioned first coordinate system) (i.e., the above-mentioned target movement vector), so as to judge the movement direction of the welding torch along the straight weld bead (such as from left to right, from right to left, from top to bottom, from bottom to top, etc.); for a circular weld bead, every time the welding torch moves to a new position point, it is necessary to compare the previous position point of the welding torch point, calculate the vector product of the position vectors of the welding torch point in two adjacent frames, and extract the component of the vector product along the perpendicular direction of the plane where the circular arc is located, so as to judge the movement direction of the welding torch along the circular weld bead.

[0052] The above calculated movement direction is the calculation result. Based on this calculation result, the position and direction of the welding torch angle compass are updated in real time. By the included angles between the horizontal and vertical directions of the welding torch and the angle compass, it can be judged whether the welding torch is at the correct welding angle.

[0053] It can be understood that the above welding torch angle compass can also be understood as a preset target angle adjustment rule. According to this welding torch angle compass, and the above preset angle adjustment rule can be but not limited to understood as the relationship between the welding torch angle compass and the adjustment angle set in advance (such as when the movement direction is from left to right, the adjustment range is within how many angles of the circular scale or sector scale of the welding torch angle compass, etc. The specific adjustment rule is not limited in this application) and the position information of the welding torch point in the current frame to determine the target angle of the welding torch (or the welding torch point) in the target frame.

[0054] Through the above-mentioned online welding torch angle adjustment method of the present application, the correct angle that the welding torch should have in each frame can be adjusted in real time, improving the flexibility of welding torch angle adjustment.

[0055] It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, 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 essential to the present invention.

[0056] According to another aspect of the embodiments of the present invention, there is also provided a welding torch angle online adjustment device for implementing the above-mentioned welding torch angle online adjustment method, as Figure 7 shown, the device includes: An acquisition unit 702, configured to establish a welding three-dimensional model and acquire the structural form of the target weld bead. The welding three-dimensional model includes the target weld bead, the welding torch, and the welding torch point; A construction unit 704, configured to construct a three-dimensional coordinate system corresponding to the structural form according to the structural form, where the structural form is used to indicate the shape of the target weld bead; A determination unit 706, configured to determine the target position vector of the welding torch point in the target frame and the reference position vector of the welding torch point in the reference frame according to the three-dimensional coordinate system, where the reference frame is the previous frame of the target frame; An adjustment unit 708, configured to determine the movement direction of the welding torch corresponding to the welding torch point according to the structural form, the target position vector, and the reference position vector, and adjust the target angle of the welding torch in the target frame according to the movement direction.

[0057] The specific manners of the execution operations of each unit in the above device embodiment have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0058] According to yet another aspect of the embodiments of the present invention, there is also provided an electronic device for implementing the above-mentioned welding torch angle online adjustment method. The electronic device can be a Figure 8 terminal device or a server as shown. This embodiment takes the electronic device as a terminal device as an example for illustration. As Figure 8 shown, the electronic device includes: at least one processor 804; and a memory 802 communicatively connected to the at least one processor 804; wherein, the memory 802 stores a computer program executable by the at least one processor 804, and the computer program is executed by the at least one processor 804 to enable the at least one processor 804 to execute the steps in any one of the above method embodiments.

[0059] Optionally, in this embodiment, the above-mentioned electronic device may be at least one network device among multiple network devices of a computer network.

[0060] Optionally, in this embodiment, the above-mentioned processor may be configured to execute each step in the above-mentioned online adjustment method of the welding torch angle through a computer program.

[0061] Optionally, those of ordinary skill in the art can understand that Figure 8 the structure shown is only schematic, and the electronic device may also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a palm computer, and a mobile Internet device (Mobile Internet Devices, MID), a PAD and other terminal devices. Figure 8 It does not limit the structure of the above-mentioned electronic device. For example, the electronic device may further include more or fewer components (such as a network interface, etc.) than those shown in Figure 8 and may have a different configuration from that shown in Figure 8 .

[0062] Among them, the memory 802 can be used to store software programs and modules, such as the program instructions / modules corresponding to the online adjustment method and device of the welding torch angle in the embodiments of the present invention. The processor 804 executes various functional applications and data processing by running the software programs and modules stored in the memory 802, that is, implements the above-mentioned online adjustment method of the welding torch angle. The memory 802 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 memories, or other non-volatile solid-state memories. In some instances, the memory 802 may further include a memory remotely set relative to the processor 804, and these remote memories can be connected to the terminal through a network. Examples of the above-mentioned network include but are not limited to the Internet, an enterprise internal network, a local area network, a mobile communication network, and combinations thereof. Among them, the memory 802 may specifically but not limitedly be used to store various models and data and other information involved in this application. As an example, as Figure 8 shown, the above-mentioned memory 802 may include but are not limited to the acquisition unit 702, the construction unit 704, the determination unit 706, and the adjustment unit 708 in the above-mentioned online adjustment device of the welding torch angle. In addition, it may also include but are not limited to other module units in the above-mentioned online adjustment device of the welding torch angle, which will not be elaborated in this example.

[0063] Optionally, the above-mentioned transmission device 806 is used to receive or send data via a network. Specific examples of the above-mentioned network may include a wired network and a wireless network. In one example, the transmission device 806 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices and routers through a network cable, so as to communicate with the Internet or a local area network. In one example, the transmission device 806 is a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0064] In addition, the above-mentioned electronic device further includes: a display 808, and a connection bus 810, which is used to connect each module component in the above-mentioned electronic device.

[0065] In other embodiments, the above-mentioned terminal device or server may be a node in a distributed system. Among them, the distributed system may be a blockchain system, and the blockchain system may be a distributed system formed by connecting the multiple nodes in a form of network communication. Among them, the nodes can form a peer-to-peer (P2P, Peer To Peer) network, and any form of computing device, such as an electronic device such as a server or a terminal, can become a node in the blockchain system by joining the peer-to-peer network.

[0066] According to one aspect of the present application, there is provided a computer program product, which includes computer programs / instructions, and the computer programs / instructions include program codes for executing the online welding torch angle adjustment method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the 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.

[0067] The serial numbers of the above-mentioned embodiments of the present invention are only for description, and do not represent the advantages or disadvantages of the embodiments.

[0068] According to one aspect of the present application, there is provided a computer-readable storage medium. The processor of the 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 online welding torch angle adjustment method.

[0069] Optionally, in this embodiment, the above-mentioned computer-readable storage medium may be set to store a computer program for executing the above-mentioned online welding torch angle adjustment method.

[0070] Those skilled in the art can understand that to implement all or part of the processes in the above method embodiments, it can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above method embodiments. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (FM), a hard disk drive (HDD), or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above types of memories.

[0071] If the integrated units in the above embodiments are implemented in the form of software function units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing one or more computer devices (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in the various embodiments of the present invention.

[0072] In the above embodiments of the present invention, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0073] 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 illustrative. For example, the above division of units is only a logical function division. In actual implementation, there can be other division methods. 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 displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of units or modules can be in an electrical or other form.

[0074] The units described as separate components above may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place, or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0075] In addition, in each embodiment of the present invention, each functional unit can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0076] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A method for online adjustment of welding gun angle, characterized in that: include: Establishing a three-dimensional welding model and obtaining the structural morphology of a target weld bead, wherein the three-dimensional welding model includes a target weld bead, a welding gun, and welding gun points; Constructing a three-dimensional coordinate system corresponding to the structural form according to the structural form, wherein the structural form is used to indicate the shape of the target weld bead; Determine a target position vector of the welding gun point in a target frame and a reference position vector of the welding gun point in a reference frame according to the three-dimensional coordinate system, wherein the reference frame is a frame before the target frame; According to the structural form, the target position vector and the reference position vector, the movement direction of the welding gun corresponding to the welding gun point is determined, and the target angle of the welding gun in the target frame is adjusted according to the movement direction.

2. The method according to claim 1, characterized in that Constructing a three-dimensional coordinate system corresponding to the structural form according to the structural form, including: When the structural form indicates that the target weld is a straight weld, a first welding position, a second welding position, and a plane where a parent material is located of the target weld are obtained, wherein the first welding position is used to indicate an initial welding position of the target weld, and the second welding position is used to indicate an end welding position of the target weld; Establishing a first coordinate system according to the first welding position, the second welding position, and the plane where the parent material is located, wherein the first coordinate system is a three-dimensional coordinate system corresponding to the straight weld; When the structural form indicates that the target weld is an arc weld, obtaining a target plane and a center of the arc, wherein the target plane is a plane where the arc is located; A second coordinate system is established according to the target plane and the center of the arc, where the second coordinate system is a three-dimensional coordinate system corresponding to the arc weld.

3. The method according to claim 2, characterized in that A first coordinate system is established according to the first welding position, the second welding position, and the plane where the base material is located, including: taking the first welding position as the coordinate origin of the first coordinate system, taking the connecting line of the first welding position and the second welding position as the vertical axis direction in the first coordinate system, taking the direction perpendicular to the target weld and in the same plane as the plane where the base material is located as the horizontal axis direction in the first coordinate system, and taking the direction perpendicular to the plane where the vertical axis direction and the horizontal axis direction are located as the longitudinal axis direction in the first coordinate system.

4. The method according to claim 2, characterized in that: A second coordinate system is established according to the target plane and the center of the arc, including: taking the center of the arc as the coordinate origin of the second coordinate system, taking the target plane as the plane where the horizontal axis and the vertical axis in the second coordinate system are located, and taking the direction perpendicular to the target plane as the longitudinal axis direction in the second coordinate system.

5. The method according to claim 4, characterized in that Determining the movement direction of the welding gun corresponding to the welding gun point according to the structural form, the target position vector, and the reference position vector, includes: In the case where the structural form indicates that the target weld is a straight weld, the difference between the target position vector and the reference position vector is determined as a reference motion vector, and the vector of the welding gun point in the vertical axis direction in the reference motion vector is determined as a target motion vector; Determining the motion direction according to the target motion vector; When the structural morphology indicates that the target weld is an arc weld, obtaining a vector product of the target position vector and the reference position vector; The moving direction is determined according to the vector product and the target plane.

6. The method according to claim 5, characterized in that Determining the movement direction according to the vector product and the target plane includes: When the vector product is perpendicular to the target plane and the direction of the vector product is upward, determining that the movement direction is counterclockwise; When the vector product is perpendicular to the target plane and the direction of the vector product is downward, the movement direction is determined to be a clockwise direction.

7. The method according to claim 1, characterized in that Adjusting the target angle of the welding gun in the target frame according to the movement direction includes: Obtaining a welding gun angle compass and a preset angle adjustment rule corresponding to the movement direction; The first angle and the second angle of the welding gun are adjusted according to the welding gun angle compass, the preset angle adjustment rule and the target position vector, the first angle is the angle between the welding gun and the base material, the second angle is the angle between the welding gun and the weld, and the target angle includes the first angle and the second angle.

8. A welding gun angle online adjustment device, characterized in that: include: An acquisition unit, used to establish a three-dimensional welding model and acquire the structural form of a target weld bead, wherein the three-dimensional welding model includes the target weld bead, a welding gun, and a welding gun point; A construction unit, used for constructing a three-dimensional coordinate system corresponding to the structural form according to the structural form, wherein the structural form is used for indicating the shape of the target weld bead; a determination unit, configured to determine a target position vector of the welding gun point in a target frame and a reference position vector of the welding gun point in a reference frame according to the three-dimensional coordinate system, wherein the reference frame is a frame preceding the target frame; The adjustment unit is used to determine the movement direction of the welding gun corresponding to the welding gun point according to the structural form, the target position vector, and the reference position vector, and adjust the target angle of the welding gun in the target frame according to the movement direction.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the welding gun angle online adjustment method according to any one of claims 1 to 7.

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 gun angle online adjustment method described in any one of claims 1-7.

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