Tower foot welding calibration method, system, equipment and medium

Abstract

The invention discloses a tower foot welding calibration method, system and equipment and a medium. The method comprises the steps that a tower foot welding interface is entered; the home posture is calibrated, the home posture is the initial posture of the workpiece on the external shaft, the preset weld joint should be parallel to the horizon, and the home posture is recorded; a safety point of the tower foot workpiece is calibrated, the safety point is the position where a welding gun is prevented from colliding with the workpiece in the workpiece rotating process, and the safety point is located above the tower foot workpiece; the multiple welding seams are calibrated in sequence; after calibration of tower foot welding seams is completed, the number of layers and welding parameters of a single channel and multiple layers are set; and calibration and welding setting of tower foot welding are completed, and the procedure is ended. The simple and fixed calibration process is adopted, and the whole calibration process is clear in logic and clear in step. In the welding process, setting is carried out according to the set initial position, then the workpiece is rotated under the prompt of a system, welding seam calibration is completed, the misoperation risk caused by complex operation is effectively reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of steel structure tower manufacturing, and relates to a tower foot welding calibration method, system, equipment and medium. Background Art

[0002] As the connection part between the steel structure tower and the foundation, the welding quality of the tower foot is directly related to the stability and strength of the tower under load, and plays a crucial role in the manufacturing of various steel structure towers such as power towers and communication towers. Existing tower foot welding calibration methods and existing problems:

[0003] The calibration method based on the vision module, the vision module mainly includes a camera and a laser scanner. Camera calibration is to determine the weld position by taking weld images and using image recognition technology; the laser scanner can accurately obtain the three-dimensional data of the tower foot and achieve accurate calibration through point cloud reconstruction. However, whether using a camera or a laser scanner, the corresponding equipment needs to be calibrated before calibration. High equipment cost and strong professional operation and maintenance: The three-dimensional laser scanning equipment is expensive, and its operation and maintenance require professionals to have specific knowledge and skills, increasing the equipment procurement cost and manpower training cost of the enterprise. The vision module is more sensitive to environmental conditions, and insufficient light or strong reflection will significantly affect the calibration accuracy. Laser scanning is more sensitive to the reflectivity and color of the object surface. Surfaces with strong reflectivity or transparency may cause inaccurate scanning results or data loss, and need to be treated such as spraying on the surface, increasing additional processes and costs. The camera stability and attitude control have a great impact. During the calibration process, the stability and attitude control of the camera have a great impact on the calibration result. If the camera is unstable or the attitude control is improper, the captured images will be inaccurate, thus affecting the determination of the weld position. From the perspective of accuracy, although the vision module can provide high accuracy, it requires more resources. When using a camera, precise operation and multiple shootings are required to ensure obtaining sufficient calibration information to improve the accuracy. At the same time, the calibration result may be affected by camera lens distortion and sensor noise. Although laser scanning can provide high accuracy, the generated point cloud data volume is huge, and processing and storing data require a large amount of time and computing power. If effective data simplification and optimization are not carried out, it will lead to low processing efficiency.

[0004] Measurement and calibration method. The mainstream measurement and calibration method is to determine the position of the weld by calculating the deviation between the bottom plate coordinate system and the tower foot and the bottom plate coordinate system. The specific steps are as follows: Establish a tower foot reference coordinate system with the center point of the bottom plate of the tower foot as the origin O. This coordinate system satisfies that the X and Y axis directions are parallel to the two side plates of the tower foot respectively (the first side plate is parallel to the X axis, and the second side plate is parallel to the Y axis), the positive direction of the Z axis is perpendicular to the bottom plate upward, and the x' coordinate and y' coordinate of the intersection center point O' of the two side plates in the tower foot reference coordinate system are both in the positive direction of the X and Y axes. First, teach the welding sample to obtain point position data, including teaching the reference origin of the tower foot reference coordinate system, teaching the 4 bottom corner points of the welding sample, teaching the 4 top corner points, and teaching the 8 side corner points. Establish the tower foot reference coordinate system according to the point position data; then obtain the tower foot parameters, the bottom plate length A, the bottom plate width B, the bottom plate thickness C, the first side plate inclination parameter D, the second side plate inclination parameter E, the side plate height parameter F, the offset X axis parameter G, and the offset Y axis parameter H; then perform the offset of the tower foot reference coordinate system to obtain the tower foot reference coordinate system; finally, calculate the coordinates of each end point of the tower foot weld in the tower foot reference coordinate system, and determine the weld track of the tower foot according to these coordinates and complete the welding. It is necessary to manually move to the calibration position, and there are many calibration positions and the process is complex, which increases the work intensity of the operator and is also prone to calibration errors due to human factors, affecting the welding quality and the stability of the tower.

[0005] In summary, the existing tower foot welding calibration methods have problems such as high equipment cost, difficult operation and maintenance, high environmental sensitivity, large resource consumption, and complex calibration processes. Therefore, it is necessary to develop a tower foot welding calibration method that can overcome the above disadvantages to improve the efficiency and quality of tower foot welding and reduce production costs. Summary of the Invention

[0006] The purpose of the present invention is to solve the problems of high equipment cost, difficult operation and maintenance, high environmental sensitivity, large resource consumption, and complex calibration process in the existing tower foot welding calibration method, and provide a tower foot welding calibration method, system, device, and medium.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] A tower foot welding calibration method includes the following steps:

[0009] Enter the tower foot welding interface;

[0010] Calibrate the home pose. The home pose is the initial pose of the workpiece on the external axis. In the home pose, the preset weld should be parallel to the horizon. Record the home pose so that it can be moved to this pose each time the workpiece is replaced;

[0011] Calibrate the safety points of the tower foot workpiece. The safety points are the positions where the welding torch avoids collision with the workpiece during the rotation of the workpiece, and the safety point positions are above the tower foot workpiece.

[0012] Calibrate multiple weld seams in sequence. Specifically: press the rotation button to move to the corresponding weld seam position, and calibrate the starting point and ending point of each weld seam respectively.

[0013] After completing the calibration of the tower foot weld seams, set the number of layers and welding parameters for single-pass multi-layer welding.

[0014] After completing the calibration and welding settings of the tower foot welding, end the program.

[0015] The specific calibration of the home pose is as follows:

[0016] Preparatory work in the early stage: Check the external axis drive device to ensure its normal operation, no abnormal noise and jamming, and firm electrical connection; Check the workpiece clamping device to ensure firm clamping and no interference with the normal rotation and attitude adjustment of the workpiece; Confirm that the ground in the calibration area is flat, and check whether there are interference factors such as strong magnetic fields and strong electric fields in the surrounding environment. If so, take shielding measures.

[0017] Determination of the initial position: Operate the external axis control device to make the external axis return to the preset mechanical zero position; Place the workpiece on the clamping device and fix it preliminarily to ensure that the workpiece is within the operable range of the external axis.

[0018] Attitude adjustment: Control the movement of the external axis through the external axis control device to make the workpiece reach the preset home pose direction; Fine-tune the workpiece attitude through the external axis control device to make the preset weld seam parallel to the horizon.

[0019] Attitude recording: When the workpiece reaches the preset home pose, collect the external axis position data and the workpiece tilt angle data; Store the collected attitude data, and the stored data includes various attitude parameters.

[0020] The specific calibration of the safety points of the tower foot workpiece is as follows:

[0021] Establish a three-dimensional model of the tower foot workpiece and the welding torch, simulate the movement trajectory of the welding torch during the rotation of the workpiece, and determine the path and attitude of the welding torch during the welding process according to the welding process requirements; By observing the simulated movement trajectory, judge the area where the welding torch collides with the workpiece during the rotation of the workpiece, determine the range of the safety points, and the safety points are located above the workpiece and away from the collision area.

[0022] Control the welding torch to move above the workpiece, and at the same time rotate the workpiece, and record the position of the safety point.

[0023] Record the coordinate values of the safety point in three-dimensional space, including the coordinates of the X, Y, and Z axes and the coordinates of the first and second axes of the positioner.

[0024] A tower foot welding calibration system, comprising the following modules:

[0025] An interface entry module, used for an operator to enter the tower foot welding interface;

[0026] A home pose calibration module, used for calibrating the initial pose of a workpiece on an external axis, i.e., the home pose. In the home pose, a preset weld seam is parallel to the horizon, and this home pose is recorded so as to move to this pose each time the workpiece is replaced;

[0027] A safety point calibration module, used for calibrating the safety points of the tower foot workpiece. The safety points are positions where the welding torch avoids colliding with the workpiece during the rotation of the workpiece, and the safety point positions are above the tower foot workpiece;

[0028] A weld seam calibration module, used for calibrating multiple weld seams in sequence. The specific operation is as follows: move to the corresponding weld seam position by pressing the rotation button, and calibrate the starting point and the ending point of each weld seam respectively;

[0029] A welding parameter setting module, used for setting the number of layers of single-pass multi-layer and welding parameters after the calibration of the tower foot weld seams is completed;

[0030] An end module, used for ending the program after the calibration and welding settings of the tower foot welding are completed.

[0031] The home pose calibration module includes:

[0032] A pose control unit, used for connecting to an external axis drive device, controlling the rotation and movement of the workpiece, and making it reach the preset home pose.

[0033] The weld seam calibration module includes:

[0034] A weld seam selection unit, which presets the numbers and related information of multiple weld seams in the system, and an operator selects the weld seam to be calibrated through the interface;

[0035] A position movement unit, the system controls the external axis drive device to move the workpiece to the corresponding weld seam position, and displays the current position and movement trajectory of the workpiece in real time;

[0036] A starting point and ending point calibration unit, when the workpiece reaches the specified weld seam position, determines the starting point and the ending point positions of the weld seam respectively, and inputs the position data into the system.

[0037] The end module includes:

[0038] A data saving unit, before the program ends, the system saves all calibration data, welding parameters and setting information to a specified storage medium;

[0039] The device reset unit controls the external axis drive device and the welding torch to reset to the initial state, and closes the relevant power supply and signal channels;

[0040] The interface prompt unit displays prompt information on the interface after the program ends, and provides operation options to return to the main interface or close the system.

[0041] A device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the method described in any one of the previous items.

[0042] A computer-readable storage medium stores a computer program. When the computer program is executed by a processor, it implements the steps of the method described in any one of the previous items.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] The tower foot welding calibration method in the present invention adopts a simple and fixed calibration process. The entire calibration process has clear logic and definite steps. Compared with the complex operation process of the prior art, the operator does not need to have profound professional knowledge and rich operation experience. Only need to set according to the initial position set by the system, and then rotate the workpiece under the system prompt and complete the weld calibration. The simple and easy-to-understand operation method greatly reduces the operation threshold, enables operators with different skill levels to quickly get started, effectively reduces the risk of misoperation caused by complex operations, and improves work efficiency.

[0045] The calibration method of the present invention does not require additional equipment and can complete the calibration work only relying on the functions of the system itself, reducing the equipment procurement and maintenance costs of enterprises. It avoids the cumbersome calculation process, reduces the problem of inaccurate calibration caused by calculation errors, and improves the accuracy and reliability of calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0047] Figure 1 It is a flowchart of the tower foot welding calibration method of the present invention;

[0048] Figure 2 It is a schematic diagram of the tower foot welding calibration system in an embodiment of the present invention;

[0049] Figure 3Flow chart of the tower foot welding calibration method in an embodiment of the present invention;

[0050] Figure 4 Schematic diagram of the tower foot structure;

[0051] Figure 5 Schematic diagram of establishing a coordinate system by the measurement and calibration method in the prior art. Detailed implementation manners

[0052] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Generally, the components of the embodiments of the present invention described and illustrated in the drawings here can be arranged and designed in various different configurations.

[0053] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. 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.

[0054] It should be noted that: like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0055] The present invention will be further described in detail below with reference to the accompanying drawings:

[0056] Refer to Figure 1 Flow chart of the tower foot welding calibration method of the present invention, including the following steps:

[0057] Enter the tower foot welding interface;

[0058] Calibrate the home pose. The home pose is the initial pose of the workpiece on the external axis. In the home pose, the preset weld seam should be parallel to the horizon. Record the home pose so that it can be moved to this pose each time the workpiece is replaced. Specifically:

[0059] Preliminary preparation: Check the external axis drive device to ensure its normal operation, no abnormal noise and jamming, and firm electrical connection; check the workpiece clamping device to ensure firm clamping and no interference with the normal rotation and pose adjustment of the workpiece; confirm that the ground in the calibration area is flat, and check whether there are interference factors such as strong magnetic fields and strong electric fields in the surrounding environment. If so, take shielding measures.

[0060] Initial position determination: Operate the external axis control device to return the external axis to the preset mechanical zero position; Place the workpiece on the clamping device and perform preliminary fixation to ensure that the workpiece is within the operable range of the external axis.

[0061] Posture adjustment: Control the movement of the external axis through the external axis control device to make the workpiece reach the preset home posture direction; Fine-tune the workpiece posture through the external axis control device to make the preset weld parallel to the horizon;

[0062] Posture recording: When the workpiece reaches the preset home posture, collect the external axis position data and the workpiece tilt angle data; Store the collected posture data, and the stored data includes various posture parameters.

[0063] Calibrate the safety point of the tower foot workpiece. The safety point is the position where the welding torch avoids collision with the workpiece during the rotation of the workpiece, and the safety point position is above the tower foot workpiece.

[0064] Specifically:

[0065] Establish a three-dimensional model of the tower foot workpiece and the welding torch, simulate the movement trajectory of the welding torch when the workpiece rotates, and determine the path and posture of the welding torch during the welding process according to the welding process requirements; By observing the simulated movement trajectory, judge the area where the welding torch collides with the workpiece during the rotation of the workpiece, determine the range of the safety point, and the safety point is located above the workpiece and far from the collision area;

[0066] Control the welding torch to move above the workpiece, and at the same time rotate the workpiece, and record the safety point position;

[0067] Record the coordinate values of the safety point in three-dimensional space, including the coordinates of the X, Y, and Z axes and the coordinates of the first and second axes of the positioner.

[0068] Calibrate multiple welds in sequence. Specifically: Press the rotation button to move to the corresponding weld position, and calibrate the start point and end point of each weld respectively.

[0069] After completing the calibration of the tower foot weld, set the number of layers and welding parameters for single-pass multi-layer welding.

[0070] After completing the calibration and welding settings of the tower foot welding, end the program.

[0071] The present invention adopts a fixed and clear calibration process, and does not require the operator to have profound professional knowledge and rich operating experience. Compared with the complex and cumbersome operating steps of the prior art, the operator only needs to set according to the initial position set by the system, and then rotate the workpiece under the system prompt and complete the weld calibration. This simple and clear operation method reduces the operation threshold and reduces the risk of misoperation caused by complex operations. At the same time, when marking the required welds, the system is provided with corresponding buttons, and clicking can move the workpiece to the approximate position, without manual complex adjustment and search, further saving operation time and improving work efficiency.

[0072] An embodiment of the present invention is a tower foot welding calibration system, including the following modules:

[0073] An interface entry module for enabling the operator to enter the tower foot welding interface.

[0074] A home attitude calibration module for calibrating the initial attitude of the workpiece on the external axis, that is, the home attitude. In the home attitude, the preset weld is parallel to the horizon, and this home attitude is recorded so as to move to this attitude each time the workpiece is replaced. It includes:

[0075] An attitude control unit for connecting to the external axis drive device to control the rotation and movement of the workpiece to make it reach the preset home attitude.

[0076] A weld calibration module for calibrating multiple welds in sequence. The specific operation is: move to the corresponding weld position by pressing the rotation button, and calibrate the starting point and ending point of each weld respectively.

[0077] It includes:

[0078] A weld selection unit that presets the numbers and relevant information of multiple welds in the system, and the operator selects the welds to be calibrated through the interface;

[0079] A position movement unit, the system controls the external axis drive device to move the workpiece to the corresponding weld position, and displays the current position and movement trajectory of the workpiece in real time;

[0080] A starting point and ending point calibration unit, when the workpiece reaches the specified weld position, respectively determine the starting point and ending point positions of the weld, and input the position data into the system.

[0081] A welding parameter setting module for setting the number of layers and welding parameters of single-pass multi-layer after the calibration of the tower foot welds is completed.

[0082] An end module for ending the program after the calibration and welding settings of the tower foot welding are completed. It includes:

[0083] Data storage unit: Before the program ends, the system saves all calibration data, welding parameters, and setting information to a specified storage medium.

[0084] Device reset unit: Controls the external axis drive device and the welding torch to reset to the initial state, and closes the relevant power supplies and signal channels.

[0085] Interface prompt unit: After the program ends, the interface displays prompt information and provides operation options to return to the main interface or shut down the system.

[0086] The present invention does not require additional equipment and can complete the calibration work only relying on the functions of the system itself, reducing the equipment procurement and maintenance costs of enterprises. Moreover, it avoids the complex and error-prone link of calculating the coordinate system offset in the traditional calibration method, reduces the calibration inaccuracy caused by calculation errors, and improves the accuracy and reliability of calibration. In addition, this method simplifies the calibration steps. The user only needs to determine the starting and ending points of each weld without redundant calibration operations, making the entire calibration process more compact and efficient.

[0087] Embodiment

[0088] See Figure 3 , which is the tower foot welding calibration system in the present invention. The system includes a weld database 16, a calibration algorithm 17, and a display interface 18. The weld database 16 is used to record the weld information of the tower foot, and the weld information includes welding parameters, welding torch position coordinates, welding joint coordinates, and external axis joint coordinates.

[0089] The present invention uses the calibration algorithm 17 for the calibration of tower foot welding through the prompt of the display interface 18. The calibration results are saved in the weld database 16. This process is applicable to Figure 4 the case where weld 0 is not welded. This process supports the single-pass multi-layer function and only needs to be calibrated once, supporting up to three layers at most.

[0090] See Figure 4 , which is a usage method of the present invention using the above system, including the following steps:

[0091] Step 0: Enter the tower foot welding interface.

[0092] Step 1: Calibrate the home pose. The home pose is the initial pose of the workpiece on the external axis. In the home pose, Figure 4 weld 1 should be parallel to the horizon. After recording the home pose, each time the workpiece is replaced, it only needs to be moved to the home pose.

[0093] Step 2: Calibrate the safety points of the tower foot workpiece. During the welding of the tower foot, the workpiece rotates along the plane of the workpiece bottom plate on the external axis. The safety point is the position where the welding torch will not collide with the workpiece during the rotation of the workpiece. The safety point is located above the tower foot workpiece.

[0094] Step 3: Calibrate Figure 4 the starting point and the ending point of weld seam 1.

[0095] Step 4: Press the rotation button to move to weld seam 2, and calibrate Figure 4 the starting point and the ending point of weld seam 2.

[0096] Step 5: Press the rotation button to move to weld seam 3, and calibrate Figure 4 the starting point and the ending point of weld seam 3.

[0097] Step 6: Press the rotation button to move to weld seam 4, and calibrate Figure 4 the starting point and the ending point of weld seam 4.

[0098] Step 7: Press the rotation button to move to weld seam 5, and calibrate Figure 4 the starting point and the ending point of weld seam 5.

[0099] Step 8: Press the rotation button to move to weld seam 6, and calibrate Figure 4 the starting point and the ending point of weld seam 6.

[0100] Step 9: Press the rotation button to move to weld seam 7, and calibrate Figure 4 the starting point and the ending point of weld seam 7.

[0101] Step 10: Press the rotation button to move to weld seam 8, and calibrate Figure 4 the starting point and the ending point of weld seam 8.

[0102] Step 11: Press the rotation button to move to weld seam 9, and calibrate Figure 4 the starting point and the ending point of weld seam 9.

[0103] Step 12: Press the rotation button to move to weld seam 10, and calibrate Figure 4 the starting point and the ending point of weld seam 10.

[0104] Step 13: Press the rotation button to move to weld seam 11, and calibrate Figure 4 the starting point and the ending point of weld seam 11.

[0105] Step 14: Complete the calibration of the tower foot weld seams, and set the number of layers and welding parameters for single-pass multi-layer welding.

[0106] Step 15: Complete the calibration and welding settings for the tower foot welding, and end the program.

[0107] An embodiment of the present invention provides a terminal device. The terminal device of this embodiment includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor executes the computer program, the functions of each module / unit in the above-mentioned device embodiments are implemented.

[0108] The computer program can be divided into one or more modules / units, and the one or more modules / units are stored in the memory and executed by the processor to complete the present invention.

[0109] The device / terminal device can be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The device / terminal device may include, but is not limited to, a processor and a memory.

[0110] The processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0111] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the device / terminal device by running or executing the computer program and / or module stored in the memory and calling the data stored in the memory.

[0112] If the modules / units integrated in the device / terminal device are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above-described embodiment methods of the present invention, it can also be completed by a computer program instructing the relevant hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0113] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A calibration method for tower foot welding, characterized in that, It includes the following steps: Enter the tower foot welding interface; Calibrate the home pose. The home pose is the initial pose of the workpiece on the external axis. In the home pose, the preset weld seam should be parallel to the horizon. Record the home pose so that it can be moved to this pose each time the workpiece is replaced; Calibrate the safety point of the tower foot workpiece. The safety point is the position where the welding torch avoids collision with the workpiece during the rotation of the workpiece, and the safety point is located above the tower foot workpiece; Calibrate multiple weld seams in sequence. Specifically: move to the corresponding weld seam position by pressing the rotation button, and calibrate the starting point and ending point of each weld seam respectively; After calibrating the tower foot weld seams, set the number of layers and welding parameters for single-pass multi-layer welding; After completing the calibration and welding settings of the tower foot welding, end the program.

2. The calibration method for tower foot welding according to claim 1, wherein, The specific calibration of the home pose is as follows: Preliminary preparation: Check the external axis drive device to ensure its normal operation, no abnormal noise and jamming, and the electrical connection is firm; Check the workpiece clamping device to ensure that the clamping is firm and does not affect the normal rotation and pose adjustment of the workpiece; Confirm that the ground in the calibration area is flat, and check whether there are interference factors such as strong magnetic fields and strong electric fields in the surrounding environment. If so, take shielding measures; Determine the initial position: Operate the external axis control device to make the external axis return to the preset mechanical zero position; Place the workpiece on the clamping device and fix it preliminarily to ensure that the workpiece is within the operable range of the external axis; Pose adjustment: Control the movement of the external axis through the external axis control device to make the workpiece reach the preset home pose direction; Adjust the pose of the workpiece through the external axis control device to make the preset weld seam parallel to the horizon; Pose recording: When the workpiece reaches the preset home pose, collect the external axis position data and the workpiece tilt angle data; Store the collected pose data, and the stored data includes various pose parameters.

3. The calibration method for tower foot welding according to claim 1, characterized in that, The specific calibration of the safety point of the tower foot workpiece is as follows: Establish a three-dimensional model of the tower foot workpiece and the welding torch, simulate the movement trajectory of the welding torch during the rotation of the workpiece, and determine the path and pose of the welding torch during the welding process according to the welding process requirements; By observing the simulated movement trajectory, judge the area where the welding torch collides with the workpiece during the rotation of the workpiece, and determine the range of the safety point. The safety point is located above the workpiece and away from the collision area; Control the welding torch to move above the workpiece, and at the same time rotate the workpiece, and record the position of the safety point; Record the coordinate values of the safety point in three-dimensional space, including the coordinates of the X, Y, and Z axes and the coordinates of the first and second axes of the positioner.

4. A tower foot welding calibration system, characterized in that, It includes the following modules: Interface entry module, used to enable the operator to enter the tower foot welding interface; Home pose calibration module, used to calibrate the initial pose of the workpiece on the external axis, that is, the home pose. In the home pose, the preset weld seam is parallel to the horizon, and record this home pose so that it can be moved to this pose each time the workpiece is replaced; Safety point calibration module, used to calibrate the safety point of the tower foot workpiece. The safety point is the position where the welding torch avoids collision with the workpiece during the rotation of the workpiece, and the safety point is located above the tower foot workpiece; The weld calibration module is used to calibrate multiple welds in sequence. The specific operation is as follows: Move to the corresponding weld position by pressing the rotation button, and calibrate the starting point and ending point of each weld respectively; The welding parameter setting module is used to set the number of layers and welding parameters of single-pass multi-layer after the calibration of the tower foot welds; The end module is used to end the program after the calibration and welding settings of the tower foot welding are completed.

5. The tower foot welding calibration system according to claim 4, characterized in that The home pose calibration module includes: The pose control unit is used to connect to the external axis drive device to control the rotation and movement of the workpiece to make it reach the preset home pose.

6. The tower foot welding calibration system according to claim 4, wherein The weld calibration module includes: The weld selection unit presets the numbers and relevant information of multiple welds in the system, and the operator selects the welds to be calibrated through the interface; The position movement unit controls the external axis drive device by the system to move the workpiece to the corresponding weld position and real-time display the current position and movement trajectory of the workpiece; The starting point and ending point calibration unit, when the workpiece reaches the specified weld position, determines the starting point and ending point positions of the weld respectively and inputs the position data into the system.

7. The tower foot welding calibration system according to claim 4, wherein The end module includes: The data saving unit saves all calibration data, welding parameters and setting information to the specified storage medium before the program ends; The equipment reset unit controls the external axis drive device and the welding torch to reset to the initial state and closes the relevant power supply and signal channels; The interface prompt unit displays prompt information on the interface after the program ends and provides operation options to return to the main interface or close the system.

8. An apparatus, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1-3.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the method according to any one of claims 1-3.

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