Welding gun angle online adjustment method and device and electronic equipment

Abstract

The application provides a welding gun angle online adjustment method and device and electronic equipment. The method comprises the following steps: establishing a welding three-dimensional model and obtaining the structural form of a target weld, the welding three-dimensional model comprising the target weld, a welding gun and a welding gun point; constructing a three-dimensional coordinate system corresponding to the structural form according to the structural form, the structural form being used to indicate the shape of the target weld; determining the target position vector of the welding gun point under a target frame and the reference position vector of the welding gun point under a reference frame according to the three-dimensional coordinate system, the reference frame being the frame before the target frame; determining the motion 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 adjusting the target angle of the welding gun under the target frame according to the motion direction. The flexibility of the welding gun angle adjustment method is improved.

Description

Technical Field

[0001] This application relates to the field of welding technology, specifically to a method, device, and electronic equipment for online adjustment of welding torch angle. Background Technology

[0002] Welding is a manufacturing process and technique that joins metals or other heat-sensitive plastics such as plastics by heating, high temperature, or high pressure. To ensure the accuracy of welding, the angle of the welding torch usually needs to be adjusted.

[0003] In related technologies, the requirements for the welding torch trajectory are too rigid when adjusting the welding torch angle. Often, the welding torch needs to be moved in a pre-set direction in order to adjust the welding torch angle correctly.

[0004] There is currently no effective technical solution to the problem of the lack of flexibility in existing welding torch angle adjustment methods. Summary of the Invention

[0005] This application provides a method, apparatus, and electronic device for online adjustment of welding torch angle, which at least solves the problem of low flexibility in existing welding torch angle adjustment methods.

[0006] According to one aspect of the embodiments of this application, a method for online adjustment of welding torch angle is provided, comprising: 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 torch, and a welding torch point; constructing a three-dimensional coordinate system corresponding to the structural morphology, wherein the structural morphology is used to indicate the shape of the target weld bead; determining, according to the three-dimensional coordinate system, a target position vector of the welding torch point in a target frame and a reference position vector of the welding torch point in a reference frame, wherein the reference frame is the frame preceding the target frame; determining, according to the structural morphology, the target position vector, and the reference position vector, the motion direction of the welding torch corresponding to the welding torch point, and adjusting the target angle of the welding torch in the target frame according to the motion direction.

[0007] According to another aspect of the embodiments of this application, an online welding torch angle adjustment device is also provided, comprising: an acquisition unit, configured to establish a welding three-dimensional model and acquire the structural morphology of the target weld bead, the welding three-dimensional model including the target weld bead, the welding torch, and the welding torch point; a construction unit, configured to construct a three-dimensional coordinate system corresponding to the structural morphology, the structural morphology being used to indicate the shape of the target weld bead; a determination unit, configured to determine the target position vector of the welding torch point in a target frame and the reference position vector of the welding torch point in a reference frame, the reference frame being the frame preceding the target frame, based on the three-dimensional coordinate system; and an adjustment unit, configured to determine the movement direction of the welding torch corresponding to the welding torch point based on the structural morphology, 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 construction unit includes: a first acquisition subunit, used to acquire a first welding position, a second welding position, and a plane containing the base material of the target weld when the structural shape indicates that the target weld is a straight weld; the first welding position is used to indicate the initial welding position of the target weld, and the second welding position is used to indicate the end welding position of the target weld; a first construction subunit, used to establish a first coordinate system based on the first welding position, the second welding position, and the plane containing the base material, the first coordinate system being a three-dimensional coordinate system corresponding to the straight weld; a second acquisition subunit, used to acquire a target plane and the center of the arc when the structural shape indicates that the target weld is an arc weld, the target plane being the plane containing the arc; and a second construction subunit, used to establish a second coordinate system based on the target plane and the center of the arc, the second coordinate system being a three-dimensional coordinate system corresponding to the arc weld.

[0009] Optionally, the first building subunit includes: a first building module, used to take the first welding position as the origin of the first coordinate system, the line connecting the first welding position and the second welding position as the vertical axis direction in the first coordinate system, the direction perpendicular to the target weld and in the same plane as the base material as the horizontal axis direction in the first coordinate system, and the direction perpendicular to the plane containing the vertical axis direction and the horizontal axis direction as the vertical axis direction in the first coordinate system.

[0010] Optionally, the second construction subunit includes: a second construction module, used to take the center of the arc as the origin of the second coordinate system, the target plane as the plane containing the horizontal and vertical axes in the second coordinate system, and the direction perpendicular to the target plane as the direction of the vertical axis in the second coordinate system.

[0011] Optionally, the aforementioned adjustment unit includes: a first determining subunit, used to determine the difference between the target position vector and the reference position vector as a reference motion vector when the structural shape indicates that the target weld bead is a straight weld bead, and to determine the vector of the welding torch point in the vertical axis direction of the reference motion vector as the target motion vector; a second determining subunit, used to determine the motion direction based on the target motion vector; a third acquiring subunit, used to acquire the vector product of the target position vector and the reference position vector when the structural shape indicates that the target weld bead is an arc weld bead; and a third determining subunit, used to determine the motion direction based on the vector product and the target plane.

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

[0013] Optionally, the adjustment unit further includes: a fourth acquisition subunit, which acquires the welding torch angle compass and a preset angle adjustment rule corresponding to the direction of movement; and an adjustment subunit, which is used to adjust 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, wherein 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 angle includes the first angle and the second angle.

[0014] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided, which stores computer instructions for causing a computer to perform the above-described online welding torch angle adjustment method.

[0015] According to another aspect of the embodiments of this application, an electronic device is also provided, the 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, the computer program being executed by the at least one processor to cause the at least one processor to perform the above-described online welding torch angle adjustment method.

[0016] Compared with the prior art, the technical solution provided in this application embodiment may include the following beneficial effects:

[0017] The above-described online welding torch angle adjustment method solves the problem of low flexibility in existing welding torch angle adjustment methods and improves the flexibility of welding torch angle adjustment methods. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the hardware environment for an optional online welding torch angle adjustment method according to an embodiment of the present invention;

[0020] Figure 2 This is a flowchart of an optional online adjustment method for the welding torch angle according to an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of an optional online welding torch angle adjustment method according to an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of another optional online welding torch angle adjustment method according to an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of an optional welding torch angle compass according to an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of another optional online adjustment method for the welding torch angle according to an embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of an optional online welding torch angle adjustment device according to an embodiment of the present invention;

[0026] Figure 8 This is a schematic diagram of the structure of an optional electronic device according to an embodiment of the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0030] Existing welding angle adjustment methods are too rigid in their requirements for welding torch trajectory when performing real-time statistics on welding torch angle. Often, the welding torch needs to be moved in a pre-set direction in order to accurately count and score the welding torch angle.

[0031] To address the lack of flexibility in existing welding torch angle adjustment methods, this application provides an online welding torch angle adjustment method. As an optional implementation, the above-mentioned online welding torch angle adjustment method can be applied to, but is not limited to, [examples of other methods]. Figure 1 The illustrated online welding torch angle adjustment system comprises a terminal device 102 and a server 104. Figure 1 As shown, terminal device 102 is connected to server 104 via network 110. Network 110 may include, but is not limited to, wired networks and wireless networks. The wired network includes local area networks (LANs), metropolitan area networks (MANs), and wide area networks (WANs). The wireless network includes Bluetooth, Wi-Fi, and other networks that enable wireless communication. 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.), laptops, tablets, handheld computers, MIDs (Mobile Internet Devices), tablets, desktop computers, smart TVs, etc.

[0032] The aforementioned terminal device 102 is also equipped with a display 106, a processor 108, and a memory 112. The display 106 can be used to view 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, and the memory 112 can be used to store various models and data involved in this application.

[0033] The aforementioned server 104 can be a single server, a server cluster consisting of multiple servers, or a cloud server. The aforementioned server 104 includes a database 114 and a processing engine 116. The database 114 can be used to store various models and data involved in this application, and the processing engine 116 is used to process these various models and data.

[0034] According to one aspect of the embodiments of the present invention, such as Figure 1 As shown, the above-mentioned online welding torch angle adjustment system can also perform the following steps: First, the terminal device 102 executes S102, sending an online welding torch angle adjustment request to the server 104 via the network 110; then, the server 104 executes S104 to S110: establishing a welding three-dimensional model and obtaining the structural morphology of the target weld bead, the welding three-dimensional model including the target weld bead, the welding torch, and the welding torch point; constructing a three-dimensional coordinate system corresponding to the structural morphology, the structural morphology being used to indicate the shape of the target weld bead; 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 based on the three-dimensional coordinate system, the reference frame being the frame preceding the target frame; determining the movement direction of the welding torch corresponding to the welding torch point based on the structural morphology, the target position vector, and the reference position vector, and adjusting the target angle of the welding torch in the target frame based on the movement direction.

[0035] In the above embodiments of the present invention, the above-described online welding torch angle adjustment method solves the problem of low flexibility in existing welding torch angle adjustment methods and improves the flexibility of welding torch angle adjustment.

[0036] The above is merely an example, and no limitations are made in this embodiment.

[0037] As an alternative implementation method, please refer to Figure 2 The diagram illustrates a flowchart of an online welding torch angle adjustment method according to an embodiment of this application. The execution entities for each step of this method can be the terminal devices and servers described above. In the following method embodiments, for ease of description, the execution entity for each step is described only as a "computer device." This method may include at least one of the following steps (S202 to S208):

[0038] S202, Establish a three-dimensional welding model and obtain the structural morphology of the target weld bead. The three-dimensional welding model includes the target weld bead, welding torch, and welding torch point.

[0039] S204, construct a three-dimensional coordinate system corresponding to the structural shape, and the structural shape is used to indicate the shape of the target weld bead;

[0040] S206, 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. The reference frame is the frame before the target frame.

[0041] S208: Based on the structural shape, target position vector, and reference position vector, determine the motion direction of the welding torch corresponding to the welding torch point, and adjust the target angle of the welding torch in the target frame according to the motion direction.

[0042] It should be noted that the target weld bead in S202 above can be understood as, but is not limited to, the weld bead under the target frame. The method for establishing the three-dimensional models of the target weld bead, welding torch, and welding torch point can be as follows: after scanning the weld bead, welding torch, and welding torch point in the actual welding scene to obtain the initial three-dimensional models corresponding to the weld bead, welding torch, and welding torch point respectively, all the initial three-dimensional models are calibrated in the standard coordinate system. The above-mentioned welding three-dimensional model also includes the bevel model, base material model, etc.

[0043] The structural morphology in S204 above can not only indicate the shape of the target weld bead, but also the bevel trajectory under the target frame (for example, for a straight weld bead / straight bevel, the structural morphology can be from left to right or from right to left; for a circular arc weld bead / circular arc bevel, the interface morphology can be clockwise or counterclockwise, etc.). It should be noted that a weld refers to the metal connection area formed by welding materials during the welding process. It is usually the metallurgical bond of the welded part, a joint formed after two or more workpieces are joined through the welding process; a weld bead refers to the metal additive obtained after the weld pool actually formed during the welding process cools and solidifies, usually a metal layer or strip produced one at a time during the welding process; a bevel is the joint shape prepared for welding, which involves machining or cutting the edges of the workpieces to be welded to form a groove with a certain angle and shape. A bevel allows the welding material to better penetrate the joint, improving the quality and strength of the weld.

[0044] It is understood that the above structural form can be understood, but is not limited to, as the trajectory (or shape) of the newly formed weld bead (i.e., the aforementioned target weld bead) from the reference frame to the target frame, determined based on the reference frame and the target frame. 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 short, the movement trajectory of the welding torch point can be determined based on the position information of the welding torch point in the reference frame and the target frame, respectively (e.g., ...). Figure 3 The movement trajectory of the welding torch point 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 is shown, thereby determining the above-mentioned structural morphology.

[0045] The operation in S204 above can be understood, but is not limited to, constructing different three-dimensional coordinate systems according to different structural forms, and then executing S206, which determines 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 based on the constructed three-dimensional coordinate system corresponding to the structural form. Finally, the motion direction corresponding to the welding torch point is determined, and the motion direction corresponding to the welding torch point can be understood, but is not limited to, as the motion trajectory of the welding torch point when it moves from the reference frame to the target frame at the moment of reaching the target frame (e.g., from left to right, from right to left, from top to bottom, from bottom to top, clockwise, counterclockwise, etc.).

[0046] Through the above-described embodiments of this application, the movement direction of the welding torch point in the target frame can be sensed in real time, and the correct angle of the welding torch can be calculated in real time based on this. 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 under the current trajectory can be determined in real time. The statistical method is more flexible, which solves the problem of low flexibility in existing welding torch angle adjustment methods, and improves the flexibility of welding torch angle adjustment methods.

[0047] As an optional implementation, the above-mentioned construction of a three-dimensional coordinate system corresponding to the structural form includes:

[0048] S1, when the structural shape indicates that the target weld bead is a straight weld bead, obtain the first welding position, the second welding position, and the plane where the base material is located 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.

[0049] S2, establish a first coordinate system based on the first welding position, the second welding position, and the plane where the base material is located. The first coordinate system is a three-dimensional coordinate system corresponding to the straight weld bead.

[0050] S3, when the structural shape indicates that the target weld bead is a circular arc weld bead, obtain the target plane and the center of the circular arc, where the target plane is the plane where the circular arc is located;

[0051] 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.

[0052] The straight weld bead in S1 above can be understood, but is not limited to, as a bevel to be welded that is a straight bevel (e.g., Figure 3 The bevel model 304 shown establishes a first coordinate system based on the first welding position, the second welding position, and the plane where the base material is located. This includes: taking the first welding position as the origin of the first coordinate system, taking the line connecting 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 vertical axis direction in the first coordinate system.

[0053] The vertical axis mentioned above is the Z-axis, while the connecting line has two directions, such as... Figure 3 As shown, the connecting line connects the first welding position 308 and the second welding position 310, and there are two directions: one is from the first welding position 308 to the second welding position 310 (i.e., as shown). Figure 3 The Z-axis direction shown is one direction, 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 is a simplified explanation of the X-axis direction.) Figure 3 For example, the first coordinate system corresponding to the above-mentioned construction of straight weld beads will be explained in detail:

[0054] like Figure 3 As shown, when establishing a 3D welding model, in addition to the target weld bead, welding torch, and welding torch point mentioned above, it also includes, as well as, Figure 3The model shown includes the parent material model 302, the bevel model 304, the target droplet model 306 (which can be understood, but is not limited to, as the droplet model currently forming), and the droplet model that has already cooled and solidified before the target droplet model 306. And from... Figure 3 It can be seen that the bevel model 304 is a straight bevel, the first welding position 308 is the first welding position, and the second welding position 310 is the second welding position. Taking the first welding position 308 as the 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 (i.e., as shown). Figure 3 The Z-axis (as shown) is defined by a direction perpendicular to the target weld bead and perpendicular to the plane containing the base material model 302 (which can be either the plane containing the upper surface or the plane containing the lower surface of the base material model 302). This direction is the horizontal axis in the first coordinate system. Figure 3 The X direction shown), with the direction perpendicular to the plane containing the vertical and horizontal axes as the ordinate direction in the first coordinate system (i.e., as shown in the figure). Figure 3 Y direction shown).

[0055] The aforementioned target weld bead being an arc weld bead can be understood, but is not limited to, as the target weld bead already formed and the groove model to be welded being an arc groove. The straight weld bead and arc weld bead mentioned in this application can be understood, but is not limited to, as the groove currently being welded determined according to the reference frame and the target frame being a straight groove or an arc groove. Then, a second coordinate system is established based on the target plane and the center of the arc, specifically including: taking the center of the arc as the origin of the second coordinate system, taking the target plane as the plane containing the horizontal and vertical axes in the second coordinate system, and taking the direction perpendicular to the target plane as the direction of the vertical axis in the second coordinate system.

[0056] After determining the plane containing the horizontal and vertical axes in the second coordinate system, the tangent line on the arc formed by the welding torch point along its movement direction during the process of moving from the reference position information under the reference frame to the target position information under the target frame can be determined. Then, the direction of this tangent line is determined as the vertical axis direction of the second coordinate system, or the opposite direction of this tangent line is determined as the vertical axis direction of the second coordinate system, and the direction perpendicular to the tangent line and towards the inside of the arc is the horizontal axis direction of the second coordinate system.

[0057] Through the above-described embodiments of this application, the movement of the welding torch point is decomposed into continuous image frames (i.e., the aforementioned reference frame and target frame). Then, whenever the position of the welding torch point changes, the position of the welding torch point in the previous frame (i.e., the reference frame) is compared. By the slight difference in the position of the welding torch point in two adjacent frames, the movement direction of the welding torch can be determined. Then, by accurately constructing a three-dimensional coordinate system corresponding to weld beads (or bevels) with different structural shapes, the position vector of the welding torch point in different coordinate systems can be determined more accurately.

[0058] As an optional implementation, the movement direction of the welding torch corresponding to the welding torch point is determined based on the structural shape, target position vector, and reference position vector, including:

[0059] S1, when the structural shape indicates that the target weld bead is a straight weld bead, the difference between the target position vector and the reference position vector is determined as the reference motion vector, and the vector of the welding gun point in the vertical axis direction in the reference motion vector is determined as the target motion vector;

[0060] S2, determine the direction of motion based on the target motion vector;

[0061] S3, when the structural shape indicates that the target weld bead is an arc weld bead, obtain the vector product of the target position vector and the reference position vector;

[0062] S4. Determine the direction of motion based on the vector product and the target plane.

[0063] The following is Figure 3 The above S1 to S2 will be explained in detail using examples:

[0064] like Figure 3 As shown, assuming the target weld bead is a straight weld bead, and as... Figure 3 The position information of the welding torch point shown in the reference frame is the aforementioned reference position vector, such as... Figure 3 The position information of the welding torch point in the target frame shown is the target position vector mentioned above. The reference motion vector can be determined based on the difference between the reference position vector and the target position vector. Then, the motion components of the reference motion vector in the three coordinate axes of the first coordinate system can be determined based on the reference motion vector, i.e., as shown below. Figure 3 The X-direction motion component, Y-direction motion component, and Z-direction motion component are shown. When constructing the first coordinate system, the direction of the Z-axis in the first coordinate system can be determined as the direction from the first welding position 308 to the second welding position 310. Therefore, the vector of the welding torch point in the vertical axis direction (Z-axis direction) among the three motion direction components (i.e., as shown in the figure) can be considered as... Figure 3 The Z-direction motion component shown is determined as the target motion vector.

[0065] The target motion vector may be greater than zero or less than zero. The direction of motion can then be determined based on the target motion vector, for example... Figure 3As shown: when the target motion vector is greater than zero (i.e., the target motion vector is positive), the motion direction is determined to be from left to right; when the target motion vector is less than zero (i.e., the target motion vector is negative), the motion direction is determined to be from right to left. Similarly, when the target motion vector is greater than zero (i.e., the target motion vector is positive), the motion direction is determined to be from right to left; when the target motion vector is less than zero (i.e., the target motion vector is negative), the motion direction is determined to be from left to right, and so on. Specific settings can be flexibly configured according to business needs; this application does not impose limitations.

[0066] For straight weld beads, this application specifies the weld bead direction as the Z-axis direction. The position vectors of the welding torch points in two adjacent frames are subtracted to obtain the motion vector (x, y, z) of the welding torch point (i.e., the aforementioned reference motion vector). Next, the sign of the z-value (i.e., the vector in the vertical axis direction) in the motion vector is determined to obtain the component of the welding torch motion vector along the weld bead direction. This is then combined with the base material (i.e., such as...). Figure 3 The placement of the base material model 302 shown can be used to determine the real-time movement state of the welding torch (such as from left to right, from top to bottom, etc.) (i.e. the above-mentioned movement direction). The placement of the base material determines the welding method, which includes flat welding, horizontal welding, vertical welding, overhead welding, and inclined welding. Flat welding can be understood, but is not limited to, as the upper and lower surfaces of the base material being parallel to the carrier surface (currently on the upper surface of the carrier of the base material) or on the same plane as the carrier surface, and the bevel being parallel to the carrier surface. Horizontal welding can be understood, but is not limited to, as the upper and lower surfaces of the base material being perpendicular to the carrier surface, and the bevel being parallel to the carrier surface. Vertical welding is as follows: the upper and lower surfaces of the base material, as well as the bevel, are perpendicular to the carrier surface. Overhead welding is the opposite of flat welding; that is, in flat welding, the base material and the bevel are located below the welding torch, while in overhead welding, the base material and the bevel are located above the welding torch, and the upper and lower surfaces of the base material are parallel to the carrier surface (currently on the upper surface of the carrier of the base material) or on the same plane as the carrier surface, and the bevel is parallel to the carrier surface. Inclined welding is as follows: there is a certain angle of inclination between the base material, the bevel, and the carrier surface (e.g., 45 degrees). During the welding process of a straight weld bead, the above operation is performed on each frame of the straight weld bead by the welding torch. This allows for real-time judgment and adjustment of the welding torch's movement direction, thereby determining and adjusting the correct angle that the welding torch and the corresponding welding torch point should have in that movement direction.

[0067] like Figure 4 As shown, when the structural morphology indicates that the target weld bead is a circular arc weld bead, the corresponding structural morphology is as follows: Figure 4 The three-dimensional coordinate system 402 shown is the second coordinate system mentioned above. The vector product of the reference position vector 404 and the target position vector 406 can then be determined. Different directions of motion can be determined based on the orientation of the vector product. The specific methods for determining the direction of motion in S4 include:

[0068] When the vector product is perpendicular to the target plane and the direction of the vector product is upward (e.g.) Figure 4 Given the vector product of the position vectors shown (408), the direction of motion is determined to be counterclockwise; when the vector product is perpendicular to the target plane and the direction of the vector product is downward (e.g., ... Figure 4 Given the vector product of the position vectors shown (410), the direction of motion is determined to be clockwise.

[0069] For circular arc welds, although the XZ plane (the plane containing the X and Z axes) can be defined as the plane of the arc, and the origin of the XYZ coordinate system as the center of the arc, the welding torch moves a small distance between adjacent frames. The component of this small motion vector along the tangent direction can then be used to determine whether the welding torch is moving clockwise or counterclockwise. However, directly calculating the component of the motion vector along the tangent direction of the arc and using this to determine the direction of the welding torch's movement is cumbersome and wastes computer resources. Therefore, this application adopts a simpler method: by calculating the vector product of the position vectors of the welding torch point in adjacent frames, the direction of the welding torch (or welding torch point)'s movement can be quickly determined as clockwise or counterclockwise. Figure 4 As 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 upwards, then the direction of the welding torch movement 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 downwards, then the direction of the welding torch (or the welding torch point) movement is clockwise. Based on the coordinate system established in this application, it is only necessary to determine the y-value of the vector product of the position vectors (x, y, z) of the welding torch point in two adjacent frames to determine whether the direction of the welding torch movement is clockwise or counterclockwise.

[0070] For circular arc welds, the above operation is performed on the welding torch along each frame of the circular arc weld to determine the direction of the welding torch's movement in real time, and then determine the correct angle of the welding torch point in the target frame in that direction of movement.

[0071] Through the above-described embodiments of this application, the actual movement 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.

[0072] As an optional implementation, adjusting the target angle of the welding torch in the target frame according to the direction of motion includes:

[0073] S1, acquire the welding torch angle compass and the preset angle adjustment rules corresponding to the direction of movement;

[0074] S2, adjust the first angle and the second angle of the welding torch according to the welding torch angle compass, the preset angle adjustment rules 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.

[0075] Once the direction of the welding torch's movement in a straight or circular weld bead is obtained, the correct position and orientation of the welding torch angle compass can be set. The appearance of the welding torch angle compass in S1 above is as follows: Figure 5 As shown.

[0076] The following combination Figure 5 and Figure 6 A detailed explanation of S1 to S2 above is provided below:

[0077] like Figure 5 and Figure 6 As shown, the welding torch angle compass consists of a circular dial and a sector dial. The circular dial records the horizontal angle of the welding torch in real time, while the sector dial records the vertical angle. The welding torch angle compass moves in real time with the welding torch and adjusts its direction based on the calculated direction of the torch's movement (e.g., up, down, left, right for straight welds, and clockwise or counterclockwise for arc welds) and the torch's position within the weld bead. This allows for more accurate tracking of the welding torch angle. The specific effect during movement is shown in the figure. Figure 6 As shown:

[0078] The models that need to be constructed during the simulated welding process include welding torch 602, welding torch point 604, base material 606, bevel 608, and the aforementioned multiple three-dimensional welding models. In addition, the simulated welding process also includes a welding torch angle compass 610.

[0079] For straight weld beads, each time the welding torch moves to a new position, it is necessary to compare it with the previous position of the welding torch point 604 (that is, to compare the reference position vector of the welding torch point 604 in the reference frame with the target position vector of the welding torch point 604 in the target frame), calculate the motion vector of the welding torch point 604 in the two adjacent frames, and extract the component of the welding torch motion vector along the straight line direction (i.e., the vertical axis direction in the first coordinate system mentioned above) (i.e., the target motion vector mentioned above), so as to determine the direction of the welding torch movement 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 circular weld beads, each time the welding torch moves to a new position, it is necessary to compare it with the previous position of the welding torch point, calculate the vector product of the position vectors of the welding torch point in the two adjacent frames, and extract the component of the vector product along the perpendicular line direction of the plane where the circular arc is located, so as to determine the direction of the welding torch movement along the circular weld bead.

[0080] The calculated direction of motion is the result. Based on this result, the position and direction of the welding torch angle compass are updated in real time. By measuring the angle between the welding torch and the angle compass in the horizontal and vertical directions, it can be determined whether the welding torch is at the correct welding angle.

[0081] It is understood that the aforementioned welding torch angle compass can also be understood as a preset target angle adjustment rule. Based on the welding torch angle compass, and the aforementioned preset angle adjustment rule can be understood, but is not limited to, as a pre-set relationship between the welding torch angle compass and the adjustment angle (such as how many angles the adjustment range is within the circular or fan-shaped scale of the welding torch angle compass when the movement direction is from left to right, etc., the specific adjustment rule is not limited in this application) and the position information of the welding torch point in the current frame, the target angle of the welding torch (or welding torch point) in the target frame can be determined.

[0082] The online welding torch angle adjustment method described in this application allows for real-time adjustment of the correct angle of the welding torch in each frame, improving the flexibility of welding torch angle adjustment.

[0083] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0084] According to another aspect of the present invention, an online welding torch angle adjustment device for implementing the above-described online welding torch angle adjustment method is also provided, such as... Figure 7 As shown, the device includes:

[0085] The acquisition unit 702 is used to establish a three-dimensional welding model and acquire the structural morphology of the target weld bead. The three-dimensional welding model includes the target weld bead, welding torch, and welding torch point.

[0086] The construction unit 704 is used to construct a three-dimensional coordinate system corresponding to the structural shape, and the structural shape is used to indicate the shape of the target weld bead.

[0087] The determining unit 706 is used 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. The reference frame is the frame before the target frame.

[0088] The adjustment unit 708 is used to determine the motion direction of the welding torch corresponding to the welding torch point based on the structural shape, target position vector, and reference position vector, and adjust the target angle of the welding torch in the target frame according to the motion direction.

[0089] The specific methods of execution of each unit in the above device embodiments have been described in detail in the embodiments related to the method, and will not be elaborated further here.

[0090] According to another aspect of the present invention, an electronic device for implementing the above-described online welding torch angle adjustment method is also provided. This electronic device may be as follows: Figure 8 The terminal device or server shown. This embodiment uses this electronic device as an example for illustration. Figure 8 As shown, the electronic device includes: at least one processor 804; and a memory 802 communicatively connected to at least one processor 804; wherein the memory 802 stores a computer program executable by at least one processor 804, the computer program being executed by at least one processor 804 to cause at least one processor 804 to perform the steps in any of the above method embodiments.

[0091] Optionally, in this embodiment, the aforementioned electronic device may be located in at least one of a plurality of network devices in a computer network.

[0092] Optionally, in this embodiment, the processor can be configured to execute each step of the online welding torch angle adjustment method via a computer program.

[0093] Alternatively, as those skilled in the art will understand, Figure 8 The structure shown is for illustrative purposes only. Electronic devices can also be smartphones (such as Android phones, iOS phones, etc.), tablets, PDAs, mobile internet devices (MIDs), PADs, and other terminal devices. Figure 8 This does not limit the structure of the aforementioned electronic devices. For example, the electronic device may also include components that are more... Figure 8 The more or fewer components shown (such as network interfaces, etc.), or having the same Figure 8 The different configurations shown.

[0094] The memory 802 can be used to store software programs and modules, such as the program instructions / modules corresponding to the online welding torch angle adjustment method and device in this embodiment of the invention. The processor 804 executes various functional applications and data processing by running the software programs and modules stored in the memory 802, thereby realizing the above-mentioned online welding torch angle adjustment method. The memory 802 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 802 may further include memory remotely located relative to the processor 804, and these remote memories can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. Specifically, the memory 802 may be used, but is not limited to, to store various models and data information involved in this application. As an example, such as Figure 8 As shown, the memory 802 may include, but is not limited to, the acquisition unit 702, the construction unit 704, the determination unit 706, and the adjustment unit 708 in the online welding torch angle adjustment device. Furthermore, it may include, but is not limited to, other module units in the online welding torch angle adjustment device, which will not be elaborated upon in this example.

[0095] Optionally, the transmission device 806 described above is used to receive or send data via a network. Specific examples of the network described above may include wired networks and wireless networks. In one example, the transmission device 806 includes a Network Interface Controller (NIC), which can be connected to other network devices and a router via a network cable to communicate with the Internet or a local area network. In another example, the transmission device 806 is a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0096] In addition, the above-mentioned electronic device also includes a display 808 and a connection bus 810 for connecting the various module components in the above-mentioned electronic device.

[0097] In other embodiments, the aforementioned terminal device or server can be a node in a distributed system, wherein the distributed system can be a blockchain system, which is a distributed system formed by connecting multiple nodes through network communication. The nodes can form a peer-to-peer (P2P) network, and any form of computing device, such as a server, terminal, or other electronic device, can become a node in the blockchain system by joining this peer-to-peer network.

[0098] According to one aspect of this application, a computer program product is provided, comprising a computer program / instructions containing program code for performing the online adjustment method for the welding torch angle shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by a central processing unit, it performs various functions provided in the embodiments of this application.

[0099] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0100] According to one aspect of this application, a computer-readable storage medium is provided, wherein a processor of a computer device reads computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the above-described online welding torch angle adjustment method.

[0101] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a computer program for performing the above-described online welding torch angle adjustment method.

[0102] Those skilled in the art will understand that all or part of the processes in the above method embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes as described in the above method embodiments. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory (FM), hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium can also include combinations of the above types of memory.

[0103] If the integrated units in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in the aforementioned computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0104] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0105] In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between units or modules, and may be electrical or other forms.

[0106] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0107] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0108] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for online adjustment of welding torch angle, characterized in that, include: A three-dimensional welding model is established, and the structural morphology of the target weld bead is obtained. The three-dimensional welding model includes the target weld bead, the welding torch, and the welding torch point. A three-dimensional coordinate system corresponding to the structural morphology is constructed based on the structural morphology, and the structural morphology is used to indicate the shape of the target weld bead. 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 are determined according to the three-dimensional coordinate system, wherein the reference frame is the frame preceding the target frame. Based on the structural shape, the target position vector, and the reference position vector, the movement direction of the welding torch corresponding to the welding torch point is determined, and the target angle of the welding torch in the target frame is adjusted according to the movement direction. The step of determining the motion direction of the welding torch corresponding to the welding torch point based on the structural morphology, the target position vector, and the reference position vector includes: when the structural morphology indicates that the target weld bead is a straight weld bead, determining the difference between the target position vector and the reference position vector as a reference motion vector, and determining the vector of the welding torch point in the vertical axis direction of the reference motion vector as the target motion vector; determining the motion direction based on the target motion vector; when the structural morphology indicates that the target weld bead is an arc weld bead, obtaining the vector product of the target position vector and the reference position vector; and determining the motion direction based on the vector product and the target plane, where the target plane is the plane containing the arc.

2. The method according to claim 1, characterized in that, Constructing a three-dimensional coordinate system corresponding to the structural form based on the structural form includes: When the structural morphology indicates that the target weld bead is a straight weld bead, the first welding position, the second welding position, and the plane where the base material is located of the target weld bead are obtained. 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 coordinate system is established based on the first welding position, the second welding position, and the plane where the base material is located. The first coordinate system is a three-dimensional coordinate system corresponding to the straight weld bead. When the structural morphology indicates that the target weld bead is an arc weld bead, the target plane and the center of the arc are obtained, wherein the target plane is the plane in which the arc is located; A second coordinate system is established 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.

3. The method according to claim 2, characterized in that, Establish a first coordinate system based on 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 origin of the first coordinate system, taking the line connecting 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 vertical axis direction in the first coordinate system.

4. The method according to claim 2, characterized in that, Establishing a second coordinate system based on the target plane and the center of the arc includes: taking the center of the arc as the origin of the second coordinate system, taking the target plane as the plane containing the horizontal and vertical axes of the second coordinate system, and taking the direction perpendicular to the target plane as the direction of the vertical axis of the second coordinate system.

5. The method according to claim 1, characterized in that, Determining the direction of motion based on the vector product and the target plane includes: If the vector product is perpendicular to the target plane and the direction of the vector product is upward, the direction of motion is determined to be counterclockwise. When the vector product is perpendicular to the target plane and the direction of the vector product is downward, the direction of motion is determined to be clockwise.

6. The method according to claim 1, characterized in that, Adjusting the target angle of the welding torch in the target frame according to the direction of motion includes: Obtain the welding torch angle compass and the preset angle adjustment rules corresponding to the direction of movement; The first angle and the second angle of the welding torch are adjusted according to the welding torch angle compass, the preset angle adjustment rules 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.

7. A welding torch angle online adjustment device, characterized in that, include: The acquisition unit is used to establish a three-dimensional welding model and acquire the structural morphology of the target weld bead. The three-dimensional welding model includes the target weld bead, the welding torch, and the welding torch point. A construction unit is used to construct a three-dimensional coordinate system corresponding to the structural form, wherein the structural form is used to indicate the shape of the target weld bead. The determining unit is used 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, wherein the reference frame is the frame preceding the target frame; The adjustment unit is used to determine the movement direction of the welding torch corresponding to the welding torch point according to the structural shape, the target position vector, and the reference position vector, and to adjust the target angle of the welding torch in the target frame according to the movement direction. The step of determining the motion direction of the welding torch corresponding to the welding torch point based on the structural morphology, the target position vector, and the reference position vector includes: when the structural morphology indicates that the target weld bead is a straight weld bead, determining the difference between the target position vector and the reference position vector as a reference motion vector, and determining the vector of the welding torch point in the vertical axis direction of the reference motion vector as the target motion vector; determining the motion direction based on the target motion vector; when the structural morphology indicates that the target weld bead is an arc weld bead, obtaining the vector product of the target position vector and the reference position vector; and determining the motion direction based on the vector product and the target plane, where the target plane is the plane containing the arc.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the online welding torch angle adjustment method according to any one of claims 1-6.

9. 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, the computer program being executed by the at least one processor to cause the at least one processor to perform the online welding torch angle adjustment method according to any one of claims 1-6.

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