Medium plate welding method, device, equipment, system and medium

Abstract

The invention relates to a medium-thickness plate welding method, device, equipment, system and medium, in particular to the technical field of welding. A target welding track sequence of a to-be-welded gap is obtained in the welding forming direction of the to-be-welded gap of a medium-thickness plate, and one end of the to-be-welded gap serves as a welding starting point; and the welding gun is controlled to conduct welding operation according to the target welding track sequence in the welding forming direction so as to weld the medium-thickness plate, so that welding operation can be conducted according to the target welding track sequence in the using process, it can be ensured that a molten pool formed through welding is formed in time, focusing or falling of the molten pool can be avoided, and the welding quality is ensured. And the defects of holes or incomplete fusion and the like generated in the welding process are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of welding, and particularly to a method, device, equipment, system and medium for welding medium and thick plates. Background Art

[0002] As an important means of connecting metal structures, welding technology has a long development history and mature technology. Among numerous welding methods, metal active gas arc welding (MAG welding) has become the preferred technology for welding medium and thick plates in heavy industries such as nuclear power, shipbuilding, and pressure vessel manufacturing due to its strong penetration ability, large welding current density, high wire melting rate, and small welding deformation. MAG welding realizes welding by melting the base metal and the electrode, and is particularly suitable for the high-efficiency welding of medium and thick plates, which can effectively reduce the groove and improve the welding efficiency, and is of great significance for improving production efficiency and reducing costs.

[0003] Currently, certain progress has been made in the welding trajectory planning technology for medium and thick plates, especially in terms of automation and intelligence. Robot swing welding processes, such as sinusoidal swing welding and Z-shaped (zigzag) swing welding, have been widely applied in actual production to improve welding quality and efficiency. These technologies can ensure the uniformity and quality of the weld seam to a certain extent by precisely controlling the welding trajectory and speed. However, although these technologies have improved the welding quality to a certain extent, there are still some challenges and limitations in actual applications.

[0004] Although certain achievements have been made in the existing welding trajectory planning technology for medium and thick plates, there are still some technical problems faced in the actual production process. Especially in the horizontal welding scenario, due to the influence of gravity, the molten pool may gather or sag, resulting in unstable welding quality and forming defects such as pores or lack of fusion. Summary of the Invention

[0005] The main objective of the present invention is to propose a method, device, equipment, system and medium for welding medium and thick plates, aiming to solve the technical problem in the related art that due to the influence of gravity, the molten pool may gather or sag, resulting in unstable welding quality and forming defects such as pores or lack of fusion.

[0006] To achieve the above objective, a method for welding medium and thick plates proposed by the present invention includes the following steps:

[0007] Obtain the target welding trajectory sequence of the to-be-welded seam along the welding forming direction of the medium-thick plate; wherein, the target welding trajectory sequence includes a first welding trajectory located at the starting position of the to-be-welded seam, a second welding trajectory located at the ending position of the to-be-welded seam, and a plurality of third welding trajectories sequentially distributed between the first welding trajectory and the second welding trajectory. The welding forming direction is set along a first direction, and each of the target welding trajectories includes a first swinging trajectory, a second swinging trajectory, and a third swinging trajectory. The first swinging trajectory, the second swinging trajectory, and the third swinging trajectory are sequentially connected end to end to form a closed figure;

[0008] Take one end of the to-be-welded seam as the welding starting point, and control the welding torch to perform welding operations according to the target welding trajectory sequence along the welding forming direction to weld the medium-thick plate.

[0009] In one embodiment, the step of obtaining the target welding trajectory sequence of the to-be-welded seam along the welding forming direction of the medium-thick plate includes:

[0010] Sequentially obtain the first welding trajectory, the plurality of third welding trajectories, and the second welding trajectory along the welding forming direction of the to-be-welded seam of the medium-thick plate to form the target welding trajectory sequence of the to-be-welded seam.

[0011] In one embodiment, the step of sequentially obtaining the first welding trajectory, the plurality of third welding trajectories, and the second welding trajectory along the welding forming direction of the to-be-welded seam of the medium-thick plate to form the target welding trajectory sequence of the to-be-welded seam includes:

[0012] Along the welding forming direction of the to-be-welded seam of the medium-thick plate, for the first welding trajectory, obtain a first swing distance to determine the first swinging trajectory; wherein, the first swinging trajectory is set along the welding forming direction;

[0013] At the ending position of the first swinging trajectory, obtain a second swing distance to determine the second swinging trajectory; wherein, the second swinging trajectory is set along a second direction;

[0014] At the ending position of the second swinging trajectory, obtain a third swing distance to determine the third swinging trajectory to obtain the first welding trajectory; wherein, the third swinging trajectory is set along a third direction, and the ending position of the third swinging trajectory is connected to the starting position of the first swinging trajectory to form the target welding trajectory;

[0015] Take the second welding track and all the third welding tracks in sequence as the first welding track, and repeatedly execute the step of obtaining a first swing distance to determine the cut-off position of the first swing track to the second swing track and obtaining a third swing distance to determine the third swing track for the first welding track along the welding forming direction of the weld gap of the medium-thick plate until all the third welding tracks and the second welding track are obtained, thereby obtaining the target welding track sequence.

[0016] In one embodiment, the length of the third swing track in each of the third welding tracks is L1, and the length of the third swing track in the first welding track is L2, where L1 > L2.

[0017] In one embodiment, the step of taking one end of the weld gap as the welding starting point and controlling the welding torch to perform welding operations on the medium-thick plate along the welding forming direction according to the target welding track sequence includes:

[0018] Take one end of the weld gap as the welding starting point, and control the welding torch to perform welding operations on the medium-thick plate along the welding forming direction according to the target welding track sequence at a preset swing speed sequence.

[0019] In one embodiment, the step of taking one end of the weld gap as the welding starting point and controlling the welding torch to perform welding operations on the medium-thick plate along the welding forming direction according to the target welding track sequence at a preset swing speed sequence includes:

[0020] Take one end of the weld gap as the welding starting point, and along the welding forming direction for the first welding track, control the welding torch to perform welding operations at a first preset swing speed according to the corresponding first swing track;

[0021] At the cut-off position of the first swing track, continue to control the welding torch to perform welding operations at a second preset swing speed according to the corresponding second swing track;

[0022] At the cut-off position of the second swing track, continue to control the welding torch to perform welding operations at a third preset swing speed according to the corresponding third swing track;

[0023] Along the welding forming direction, each of the third welding trajectories and the second welding trajectory is sequentially used as the first welding trajectory, and the step of controlling the welding torch to perform welding operations at a first preset swing speed according to the corresponding first swing trajectory along the welding forming direction until the cut-off position of the second swing trajectory, and then continuing to control the welding torch to perform welding operations at a third preset swing speed according to the corresponding third swing trajectory is repeatedly executed to weld the medium-thick plate.

[0024] Based on the same technical concept, in a second aspect, the present invention further provides a medium-thick plate welding device, including:

[0025] A target welding trajectory sequence acquisition module, configured to acquire a target welding trajectory sequence of the to-be-welded gap along the welding forming direction of the to-be-welded gap of the medium-thick plate; wherein, the target welding trajectory sequence includes a first welding trajectory located at the starting position of the to-be-welded gap, a second welding trajectory located at the cut-off position of the to-be-welded gap, and a plurality of third welding trajectories sequentially distributed between the first welding trajectory and the second welding trajectory, the welding forming direction is set along a first direction, each of the target welding trajectories includes a first swing trajectory, a second swing trajectory, and a third swing trajectory, and the first swing trajectory, the second swing trajectory, and the third swing trajectory are sequentially connected end to end to form a closed figure;

[0026] A welding operation control module, configured to use one end of the to-be-welded gap as a welding starting point, and control the welding torch to perform welding operations according to the target welding trajectory sequence along the welding forming direction to weld the medium-thick plate.

[0027] Based on the same technical concept, in a third aspect, the present invention further provides a medium-thick plate welding device, the medium-thick plate welding device includes a processor and a memory, and a medium-thick plate welding program is stored on the memory. When the medium-thick plate welding program is executed by the processor, the medium-thick plate welding method described in the first aspect is implemented.

[0028] Based on the same technical concept, in a fourth aspect, the present invention further provides a medium-thick plate welding system, including:

[0029] The medium-thick plate welding device described in the third aspect; and,

[0030] A welding torch, the welding torch is communicatively connected to the medium-thick plate welding device, and the medium-thick plate welding device can control the welding torch to perform welding operations on the medium-thick plate.

[0031] Based on the same inventive concept, in a fifth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by one or more processors, the medium implements the medium plate welding method described in the first aspect.

[0032] The technical solution of the present invention obtains a target welding trajectory sequence of a to-be-welded gap along the welding forming direction of the to-be-welded gap of the medium plate, takes one end of the to-be-welded gap as a welding starting point, and controls a welding torch to perform welding operations according to the target welding trajectory sequence along the welding forming direction to weld the medium plate. When the present invention is used, welding operations can be performed according to the target welding trajectory sequence, so as to ensure that the molten pool formed by welding is formed in time, further avoid the focusing or dropping of the molten pool, ensure the welding quality, and avoid defects such as holes or lack of fusion generated during the welding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative efforts.

[0034] Figure 1 It is a flowchart of the medium plate welding method provided by the present invention;

[0035] Figure 2 It is a flowchart of step S110 in an example of the present invention;

[0036] Figure 3 It is a flowchart of step S210 in an example of the present invention;

[0037] Figure 4 It is a schematic diagram of the target welding trajectory sequence in an example of the present invention.

[0038] Explanation of the reference numerals in the drawings:

[0039] 100, the first welding trajectory; 200, the second welding trajectory; 300, the third welding trajectory; 400, the first swing trajectory; 500, the second swing trajectory; 600, the third swing trajectory.

[0040] The realization, functional features, and advantages of the objectives of the present invention will be further described with reference to the embodiments and the drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0041] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0042] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, the directional indications are only used to explain the relative position relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0043] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or a solution where A and B are satisfied simultaneously. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0044] The present invention provides a method for welding medium-thick plates.

[0045] Please refer to Figures 1 to 4 , in an embodiment of the present invention, the method for welding medium-thick plates includes the following steps:

[0046] S100. Obtain a target welding trajectory sequence of the to-be-welded gap along the welding forming direction of the to-be-welded gap of the medium-thick plate; wherein, the target welding trajectory sequence includes a first welding trajectory 100 at the starting position of the to-be-welded gap, a second welding trajectory at the cut-off position of the to-be-welded gap, and a plurality of third welding trajectories 300 sequentially distributed between the first welding trajectory 100 and the second welding trajectory 200. The welding forming direction is set along a first direction. Each of the target welding trajectories includes a first swing trajectory 400, a second swing trajectory 500, and a third swing trajectory 600. The first swing trajectory 400, the second swing trajectory 500, and the third swing trajectory 600 are sequentially connected end to end to form a closed figure.

[0047] Specifically, the welding forming direction is set along the first direction to ensure the continuity and consistency of the welding process.

[0048] Each target welding trajectory is composed of a first swing trajectory 400, a second swing trajectory 500, and a third swing trajectory 600, which are connected end to end in sequence to form a closed figure. This can effectively control the shape and size of the molten pool and prevent the molten pool from sagging or aggregating. It can be further explained that:

[0049] The first swing trajectory 400 can be set along the second direction, and its length can be adjusted according to the width of the gap to be welded, usually 5 - 15 mm. This helps to ensure the fusion quality on both sides of the weld.

[0050] The second swing trajectory 500 can form an angle of 45° with the first direction, and its length can be set to 3 - 8 mm. Arranging the second swing trajectory 500 obliquely helps to guide the upward flow of the molten pool and counteract the influence of gravity.

[0051] The third swing trajectory 600 can be parallel to the first direction, and its length can be set to 2 - 5 mm. The third swing trajectory 600 helps to stabilize the molten pool and prepare for the next swing cycle.

[0052] By setting the parameters of these three swing trajectories, precise control of the molten pool can be achieved, effectively preventing the generation of defects such as holes and lack of fusion.

[0053] S200: Take one end of the gap to be welded as the welding starting point, and control the welding torch to perform welding operations along the target welding trajectory sequence in the welding forming direction to weld the medium - thick plate.

[0054] Specifically, use a high - precision servo motor to drive the welding torch to ensure that the motion accuracy reaches ±0.1 mm.

[0055] Adopt a real - time position feedback system, such as a laser tracker or a high - precision encoder, to monitor the position of the welding torch in real time and perform correction.

[0056] The welding speed can be set to 5 - 10 mm / s to ensure welding quality while improving production efficiency.

[0057] The welding current and voltage parameters need to be optimized and adjusted according to the material and thickness of the medium - thick plate. For example, for a 10 - mm - thick low - carbon steel plate, the current can be set to 200 - 250 A and the voltage can be set to 25 - 30 V.

[0058] In this embodiment, along the welding forming direction of the weld gap of the medium-thick plate, a target welding trajectory sequence of the weld gap is obtained. One end of the weld gap is used as the welding starting point, and the welding torch is controlled to perform welding operations according to the target welding trajectory sequence along the welding forming direction to weld the medium-thick plate. Therefore, when the present invention is used, welding operations can be carried out according to the target welding trajectory sequence, thereby ensuring that the molten pool formed by welding is formed in time, avoiding the focusing or dropping of the molten pool, ensuring the welding quality, and avoiding defects such as holes or lack of fusion generated during the welding process.

[0059] In one embodiment, step S100 includes:

[0060] S110. Along the welding forming direction of the weld gap of the medium-thick plate, the first welding trajectory 100, a plurality of the third welding trajectories 300, and the second welding trajectory 200 are sequentially obtained to form the target welding trajectory sequence of the weld gap.

[0061] Specifically, the execution subject of this embodiment is the controller of the medium-thick plate welding system, which is communicatively connected to both the welding robot and the vision recognition system. In addition, the controller can also be connected to the workpiece positioning system to receive accurate position information of the workpiece. The controller can also have an interaction component to interact with the operator, so that the operator can input welding parameters into the controller.

[0062] Taking the welding of a 30-mm-thick Q345 steel plate as an example, the implementation process of this step will be described in detail. First, the operator places the steel plate to be welded on the welding workbench, and the workpiece positioning system automatically identifies and reports the accurate position of the workpiece to the controller. The operator inputs the starting position coordinates (0, 0, 0) and the ending position coordinates (1000, 0, 0) of the weld gap into the controller through the interaction component, with the unit being millimeters.

[0063] After receiving the target welding trajectory sequence, the starting position coordinates (0, 0, 0), and the ending position coordinates (1000, 0, 0), the controller starts the vision recognition system to scan the weld gap. The vision recognition system uses a high-precision laser scanner to scan the weld gap along the welding forming direction (positive X-axis direction) with a step distance of 0.1 mm. During the scanning process, the laser scanner records the width and depth data of the gap every 1 mm and transmits the width and depth data to the controller in real time.

[0064] Based on the acquired width and depth data, the controller first determines the position and shape of the first welding trajectory 100. In this embodiment, the first welding trajectory 100 is located at the starting position (0, 0, 0) of the gap to be welded, and its shape is an equilateral triangle with a side length of 15 mm. The controller stores the parameters of this trajectory in the memory as the first element of the target welding trajectory sequence.

[0065] Next, the controller generates a third welding trajectory 300 every 10 mm along the positive X-axis direction. Each third welding trajectory 300 also has an equilateral triangle shape, but its side length is dynamically adjusted according to the width of the gap at the current position, ranging from 12 - 18 mm. For example, at X = 100 mm, the width of the gap is 14 mm, so the side length of the third welding trajectory 300 at this position is set to 16 mm. Finally, the controller generates a second welding trajectory 200 at the termination position (1000, 0, 0) of the gap to be welded. The second welding trajectory 200 also has an equilateral triangle shape with a side length of 14 mm. The controller adds the parameters of this trajectory to the end of the target welding trajectory sequence.

[0066] Through the above process, the controller sequentially obtains the first welding trajectory 100, multiple third welding trajectories 300, and the second welding trajectory 200, thus forming a complete target welding trajectory sequence. This sequence contains approximately 100 welding trajectories to accurately describe the welding path of the entire gap to be welded.

[0067] More specifically, a sequence composed of the first welding trajectory 100, multiple third welding trajectories 300, and the second welding trajectory 200 is sequentially obtained in the welding forming direction.

[0068] In one embodiment, step S110 includes:

[0069] S111. Along the welding forming direction of the gap to be welded on the medium-thick plate, for the first welding trajectory 100, obtain a first swing distance to determine the first swing trajectory 400; wherein, the first swing trajectory is arranged along the welding forming direction;

[0070] S112. At the cut-off position of the first swing trajectory 400, obtain a second swing distance to determine the second swing trajectory 500; wherein, the second swing trajectory 500 is arranged along the second direction;

[0071] S113. At the cut-off position of the second swing trajectory 500, obtain a third swing distance to determine the third swing trajectory 600 to obtain the first welding trajectory 100; wherein, the third swing trajectory 600 is arranged along the third direction, and the cut-off position of the third swing trajectory 600 is connected to the starting position of the first swing trajectory 400 to form the target welding trajectory;

[0072] S114. Successively take the second welding track 200 and all the third welding tracks 300 as the first welding track 100, and repeatedly execute the step of obtaining the first swing distance to determine the cut-off position of the first swing track 400 to the second swing track 500 along the welding forming direction of the weld gap of the medium-thick plate for the first welding track 100, obtaining the third swing distance to determine the third swing track 600 to obtain the first welding track 100, until all the third welding tracks 300 and the second welding track 200 are obtained, and the target welding track sequence is obtained.

[0073] Specifically, in step S111, the controller first obtains the first swing distance for the first welding track 100. According to the gap width data, the controller calculates that the first swing distance is 15 mm. This distance ensures that the welding torch can cover the entire gap width. The controller takes this distance as the length of the first swing track 400 and sets its direction perpendicular to the welding forming direction (X-axis).

[0074] In step S112, at the cut-off position of the first swing track 400, the controller obtains the second swing distance to determine the second swing track 500. According to the welding process requirements, the controller calculates that the second swing distance is 7 mm. The direction of the second swing track 500 is set at an angle of 45° with the X-axis, which helps to improve the stability of the molten pool.

[0075] In step S113, at the cut-off position of the second swing track 500, the controller obtains the third swing distance to determine the third swing track 600. According to the welding process requirements, the controller calculates that the third swing distance is 3 mm. The direction of the third swing track 600 is set parallel to the X-axis, which helps to improve the flatness of the weld. The cut-off position of the third swing track 600 is connected to the starting position of the first swing track 400 to form a closed target welding track.

[0076] In step S114, the controller successively takes the second welding track 200 and all the third welding tracks 300 as the first welding track 100, and repeatedly executes the steps of S111 to S113. For example, for the third welding track 300 located at X = 10 mm, the controller repeats the above process, but adjusts the swing distance according to the gap width at this position.

[0077] In an embodiment, the length of the third swing track 600 in each of the third welding tracks 300 is L1, and the length of the third swing track 600 in the first welding track 100 is L2, where L1 > L2.

[0078] In one embodiment, step S200 includes:

[0079] S210. Take one end of the to-be-welded gap as the welding starting point, and along the welding forming direction, control the welding torch to perform welding operations according to the target welding trajectory sequence at a preset swing speed sequence to weld the medium-thick plate.

[0080] Specifically, perform welding operations on different swing trajectories at preset swing speeds respectively.

[0081] In one embodiment, step S210 includes:

[0082] S211. Take one end of the to-be-welded gap as the welding starting point, and along the welding forming direction, for the first welding trajectory 100, control the welding torch to perform welding operations according to the corresponding first swing trajectory 400 at a first preset swing speed;

[0083] S212. At the cut-off position of the first swing trajectory 400, continue to control the welding torch to perform welding operations according to the corresponding second swing trajectory 500 at a second preset swing speed;

[0084] S213. At the cut-off position of the second swing trajectory 500, continue to control the welding torch to perform welding operations according to the corresponding third swing trajectory 600 at a third preset swing speed;

[0085] S214. Along the welding forming direction, take each of the third welding trajectories 300 and the second welding trajectory 200 as the first welding trajectory 100 in turn, and repeat the steps of controlling the welding torch to perform welding operations according to the corresponding first swing trajectory 400 at a first preset swing speed along the welding forming direction for the first welding trajectory 100 until at the cut-off position of the second swing trajectory 500, continue to control the welding torch to perform welding operations according to the corresponding third swing trajectory 600 at a third preset swing speed to weld the medium-thick plate.

[0086] Based on the same technical concept, in a second aspect, the present invention also proposes a medium-thick plate welding device, including:

[0087] A target welding trajectory sequence acquisition module is configured to acquire a target welding trajectory sequence of the to-be-welded seam along the welding forming direction of the to-be-welded seam on the medium-thick plate. Wherein, the target welding trajectory sequence includes a first welding trajectory 100 located at the starting position of the to-be-welded seam, a second welding trajectory located at the ending position of the to-be-welded seam, and a plurality of third welding trajectories 300 sequentially distributed between the first welding trajectory 100 and the second welding trajectory 200. The welding forming direction is set along a first direction. Each of the target welding trajectories includes a first swing trajectory 400, a second swing trajectory 500, and a third swing trajectory 600. The first swing trajectory 400, the second swing trajectory 500, and the third swing trajectory 600 are sequentially connected end to end to form a closed figure.

[0088] A welding operation control module is configured to use one end of the to-be-welded seam as a welding starting point, and control a welding torch to perform a welding operation along the welding forming direction according to the target welding trajectory sequence to weld the medium-thick plate.

[0089] The medium-thick plate welding device provided in the embodiment of the present application adopts the medium-thick plate welding method in the above embodiment, and can solve the technical problem that due to the influence of gravity, the molten pool may gather or drop, resulting in unstable welding quality and forming defects such as holes or lack of fusion. Compared with the prior art, the beneficial effect of the medium-thick plate welding device provided in the embodiment of the present application is the same as the beneficial effect of the medium-thick plate welding method provided in the above embodiment, and other technical features in the medium-thick plate welding device are the same as the features disclosed in the method of the above embodiment, and will not be elaborated herein.

[0090] Based on the same technical concept, in a third aspect, the present invention further provides a medium-thick plate welding device, which includes a processor and a memory. A medium-thick plate welding program is stored on the memory. When the medium-thick plate welding program is executed by the processor, the medium-thick plate welding method described in the first aspect is implemented.

[0091] The medium-thick plate welding device in the embodiment of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions: tablet computers), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted control terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc.

[0092] The medium - thick plate welding equipment may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to the program stored in the read - only memory (ROM: Read Only Memory) 1002 or the program loaded from the storage device 1003 into the random - access memory (RAM: Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of the medium - thick plate welding equipment are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid - crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the medium - thick plate welding equipment to communicate with other devices wirelessly or wiredly to exchange data. Although the figure shows a medium - thick plate welding equipment with various systems, it should be understood that it is not required to implement or have all the shown systems. More or fewer systems can be alternatively implemented or had.

[0093] Specifically, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer - readable medium, and the computer program contains program codes for performing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above - defined functions in the methods of the embodiments disclosed in the present application are executed.

[0094] The medium - thick plate welding equipment provided by the present application adopts the medium - thick plate welding method in the above - mentioned embodiment, and can solve the technical problem that due to the influence of gravity, the molten pool may aggregate or drop, resulting in unstable welding quality and forming defects such as holes or lack of fusion. Compared with the prior art, the beneficial effects of the medium - thick plate welding equipment provided by the present application are the same as those of the medium - thick plate welding method provided by the above - mentioned embodiment, and other technical features in the medium - thick plate welding equipment are the same as the features disclosed in the method of the previous embodiment, and will not be elaborated here.

[0095] It should be understood that each part disclosed in this application can be implemented by hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0096] In addition, the medium plate welding device provided in the embodiments of the present application can solve the technical problem that due to the influence of gravity, the molten pool may gather or drop, resulting in unstable welding quality and forming defects such as holes or lack of fusion. Compared with the prior art, the beneficial effects of the medium plate welding device provided in the embodiments of the present application are the same as those of the medium plate welding method provided in the above embodiments, and other technical features in the medium plate welding device are the same as those disclosed in the above embodiment method, and will not be elaborated here.

[0097] Based on the same technical concept, in the fourth aspect, the present invention also proposes a medium plate welding system, including:

[0098] The medium plate welding device described in the third aspect; and,

[0099] A welding torch, the welding torch is communicatively connected to the medium plate welding device, and the medium plate welding device can control the welding torch to perform welding operations on the medium plate.

[0100] In addition, the medium plate welding system provided in the embodiments of the present application can solve the technical problem that due to the influence of gravity, the molten pool may gather or drop, resulting in unstable welding quality and forming defects such as holes or lack of fusion. Compared with the prior art, the beneficial effects of the medium plate welding system provided in the embodiments of the present application are the same as those of the medium plate welding method provided in the above embodiments, and other technical features in the medium plate welding system are the same as those disclosed in the above embodiment method, and will not be elaborated here.

[0101] Based on the same technical concept, in the fifth aspect, the present invention also proposes a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by one or more processors, the medium plate welding method described in the first aspect is implemented.

[0102] The computer-readable storage medium provided by this application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or components, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or component. The program code contained on the computer-readable storage medium can be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0103] The above computer-readable storage medium can be included in the medium plate welding equipment; or it can exist independently without being assembled into the medium plate welding equipment.

[0104] The above computer-readable storage medium carries one or more programs. When the above one or more programs are executed by the medium plate welding equipment, the medium plate welding equipment can implement the medium plate welding method described above.

[0105] Computer program code for performing the operations of this application can be written in one or more programming languages or combinations thereof. The above programming languages include object-oriented programming languages - such as Java, Smalltalk, C++, and also include conventional procedural programming languages - such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network - including a local area network (LAN) or a wide area network (WAN) - or can be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0106] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a portion of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0107] The modules described in the embodiments of the present application can be implemented in software or in hardware. In some cases, the name of the module does not constitute a limitation on the unit itself.

[0108] The readable storage medium provided by the present application is a computer-readable storage medium. The computer-readable storage medium stores computer-readable program instructions (i.e., computer programs) for executing the above medium plate welding method, and can solve the technical problem that due to the influence of gravity, the molten pool may aggregate or sag, resulting in unstable welding quality and forming defects such as holes or lack of fusion. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as those of the medium plate welding method provided by the above embodiments, and will not be elaborated here.

[0109] The above are only exemplary embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structural transformation made under the technical concept of the present invention by using the content of the specification and drawings of the present invention, or direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A method for welding medium-thick plates, characterized in that, The method includes the following steps: Obtain a target welding trajectory sequence of the to-be-welded seam along the welding forming direction of the to-be-welded seam of the medium-thick plate; wherein, the target welding trajectory sequence includes a first welding trajectory located at the starting position of the to-be-welded seam, a second welding trajectory located at the ending position of the to-be-welded seam, and a plurality of third welding trajectories sequentially distributed between the first welding trajectory and the second welding trajectory. The welding forming direction is set along a first direction. Each of the target welding trajectories includes a first swing trajectory, a second swing trajectory, and a third swing trajectory. The first swing trajectory, the second swing trajectory, and the third swing trajectory are sequentially connected end to end to form a closed figure. Take one end of the to-be-welded seam as the welding starting point, and control the welding torch to perform welding operations according to the target welding trajectory sequence along the welding forming direction to weld the medium-thick plate.

2. The medium-thick plate welding method according to claim 1, characterized in that, The step of obtaining the target welding trajectory sequence of the to-be-welded seam along the welding forming direction of the to-be-welded seam of the medium-thick plate includes: Obtain the first welding trajectory, the plurality of third welding trajectories, and the second welding trajectory in sequence along the welding forming direction of the to-be-welded seam of the medium-thick plate to form the target welding trajectory sequence of the to-be-welded seam.

3. The medium-thick plate welding method according to claim 2, characterized in that, The step of obtaining the first welding trajectory, the plurality of third welding trajectories, and the second welding trajectory in sequence along the welding forming direction of the to-be-welded seam of the medium-thick plate to form the target welding trajectory sequence of the to-be-welded seam includes: Along the welding forming direction of the to-be-welded seam of the medium-thick plate, for the first welding trajectory, obtain a first swing distance to determine the first swing trajectory; wherein, the first swing trajectory is set along the welding forming direction. At the ending position of the first swing trajectory, obtain a second swing distance to determine the second swing trajectory; wherein, the second swing trajectory is set along a second direction. At the ending position of the second swing trajectory, obtain a third swing distance to determine the third swing trajectory to obtain the first welding trajectory; wherein, the third swing trajectory is set along a third direction, and the ending position of the third swing trajectory is connected to the starting position of the first swing trajectory to form the target welding trajectory. Take the second welding trajectory and all the third welding trajectories as the first welding trajectory in sequence, and repeat the steps of obtaining a first swing distance to determine the first swing trajectory for the first welding trajectory along the welding forming direction of the to-be-welded seam of the medium-thick plate to obtaining the third swing distance to determine the third swing trajectory to obtain the first welding trajectory at the ending position of the second swing trajectory until all the third welding trajectories and the second welding trajectory are obtained to obtain the target welding trajectory sequence.

4. The method for welding medium and heavy plates according to claim 3, wherein, The length of the third swing trajectory in each of the third welding trajectories is L1, and the length of the third swing trajectory in the first welding trajectory is L2, where L1 > L2.

5. The medium-thick plate welding method according to claim 3, wherein, The step of taking one end of the gap to be welded as the welding starting point and controlling the welding torch to perform welding operations along the welding forming direction according to the target welding trajectory sequence to weld the medium-thick plate includes: Taking one end of the gap to be welded as the welding starting point, and controlling the welding torch to perform welding operations along the welding forming direction according to the target welding trajectory sequence at a preset swing speed sequence to weld the medium-thick plate.

6. The method for welding medium and heavy plates according to claim 5, characterized in that, The step of taking one end of the gap to be welded as the welding starting point, and controlling the welding torch to perform welding operations along the welding forming direction according to the target welding trajectory sequence at a preset swing speed sequence to weld the medium-thick plate includes: Taking one end of the gap to be welded as the welding starting point, and along the welding forming direction for the first welding trajectory, controlling the welding torch to perform welding operations at a first preset swing speed according to the corresponding first swing trajectory; At the cut-off position of the first swing trajectory, continuing to control the welding torch to perform welding operations at a second preset swing speed according to the corresponding second swing trajectory; At the cut-off position of the second swing trajectory, continuing to control the welding torch to perform welding operations at a third preset swing speed according to the corresponding third swing trajectory; Along the welding forming direction, taking each of the third welding trajectories and the second welding trajectory as the first welding trajectory in turn, and repeating the step of taking the first welding trajectory along the welding forming direction, controlling the welding torch to perform welding operations at a first preset swing speed according to the corresponding first swing trajectory to the step of at the cut-off position of the second swing trajectory, continuing to control the welding torch to perform welding operations at a third preset swing speed according to the corresponding third swing trajectory to weld the medium-thick plate.

7. A medium-thick plate welding device, characterized in that, Includes: A target welding trajectory sequence acquisition module, configured to acquire a target welding trajectory sequence of the gap to be welded along the welding forming direction of the gap to be welded on the medium-thick plate; wherein, the target welding trajectory sequence includes a first welding trajectory at the starting position of the gap to be welded, a second welding trajectory at the cut-off position of the gap to be welded, and a plurality of third welding trajectories sequentially distributed between the first welding trajectory and the second welding trajectory, the welding forming direction is set along a first direction, each of the target welding trajectories includes a first swing trajectory, a second swing trajectory, and a third swing trajectory, and the first swing trajectory, the second swing trajectory, and the third swing trajectory are sequentially connected end to end to form a closed figure; A welding operation control module, configured to take one end of the gap to be welded as the welding starting point, and control the welding torch to perform welding operations along the welding forming direction according to the target welding trajectory sequence to weld the medium-thick plate.

8. A medium-thick plate welding device, characterized in that, The medium-thick plate welding device includes a processor and a memory, and a medium-thick plate welding program is stored on the memory. When the medium-thick plate welding program is executed by the processor, the medium-thick plate welding method according to any one of claims 1 to 6 is implemented.

9. A medium-thick plate welding system, characterized in that, Includes: The medium-thick plate welding device according to claim 8; And, A welding torch, the welding torch is communicatively connected to the medium-thick plate welding equipment, and the medium-thick plate welding equipment can control the welding torch to perform welding operations on the medium-thick plate.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the storage medium, and when the computer program is executed by one or more processors, the medium-thick plate welding method according to any one of claims 1 to 6 is implemented.

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