Welding treatment method and device, robot and storage medium

Abstract

The invention discloses a welding processing method and device, a robot, a storage medium and a computer program product.The method comprises the steps that in the welding process, after each welding is completed, the maximum value of the local deformation degree and the global deformation degree of a weldment are determined according to form data of the weldment and preset reference form data, and the maximum value of the local deformation degree and the global deformation degree of the weldment are determined; and whether heat treatment is conducted on the weldment or not is determined according to the maximum value of the local deformation degree and the global deformation degree, and if it is determined that heat treatment is conducted on the weldment, heat treatment equipment is used for conducting heat treatment on the weldment. According to the scheme, whether heat treatment is needed and executed or not can be automatically judged, manual intervention is not needed, and welding quality and production efficiency are improved.

Description

Technical Field

[0001] The present invention belongs to the field of welding technology, and in particular relates to a welding processing method, device, robot, storage medium and computer program product. Background Art

[0002] In modern industrial production, robotic welding has been widely used due to its high efficiency and strong stability. However, the welding process is easily affected by material properties, uneven heat input and environmental factors, which can easily lead to stress concentration. Residual stress is formed after cooling, resulting in defects such as deformation and thermal cracks in the weldment. This problem is particularly prominent in multi-layer and multi-pass welding of medium and thick plates.

[0003] Research on robotic welding mostly focuses on welding path planning. Although some solutions can reduce large-scale deformation through structural design, they cannot solve the problem of stress concentration in a small area and there is still a risk of potential defects. Heat treatment is a key means to relieve residual stress and improve weld quality.

[0004] However, during the current robotic welding process, the automation system cannot determine whether heat treatment is required, nor can it automatically perform heat treatment. Manual intervention is required, resulting in poor welding quality stability and low production efficiency.

[0005] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute an admission that the above content is prior art. Summary of the Invention

[0006] The object of the present invention is to provide a welding processing method, device, robot, storage medium and computer program product to solve the problem that in the robot welding process in the related scheme, the automation system cannot determine whether heat treatment is required, nor can it automatically perform heat treatment, and manual intervention is required, resulting in poor welding quality stability and low production efficiency. The local deformation degree and the global deformation degree are determined according to the morphological data and the reference morphological data of the weldment during the welding process, and then the need for heat treatment is automatically determined and performed without manual intervention, thereby improving the welding quality and production efficiency.

[0007] The present invention provides a welding processing method, comprising: during a welding process, obtaining morphological data of a weldment after each welding pass is completed; the morphological data is used to reflect the surface shape and contour features of the weldment; a local deformation maximum value and a global deformation value of the weldment are respectively determined based on the morphological data and preset reference morphological data; the local deformation maximum value is used to characterize the maximum deformation degree of a local surface area of ​​the weldment, and the global deformation value is used to reflect the deformation trend and morphological change of the weldment; determining whether to perform heat treatment on the weldment based on the local deformation maximum value and the global deformation value; and if it is determined that the weldment is to be heat treated, performing heat treatment on the weldment using heat treatment equipment.

[0008] In some embodiments, the maximum local deformation and the global deformation of the weldment are respectively determined based on the morphological data and the preset reference morphological data, including: for each corresponding point in the morphological data and the preset reference morphological data, calculating the Euclidean distance of the corresponding points, and determining the maximum Euclidean distance therebetween as the maximum local deformation; the corresponding points are measurement points at the same physical position on the surface of the weldment in different states.

[0009] In some embodiments, determining the maximum local deformation and the global deformation of the weldment based on the morphological data and the preset reference morphological data, respectively, further includes: extracting a measurement curve from the morphological data, each measurement curve corresponding to the contour features of a different position on the weldment surface; extracting a reference curve corresponding to the position of the measurement curve from the preset reference morphological data; representing the contours of the measurement curve and the reference curve as a series of discrete coordinate points, respectively, to obtain measurement contour coordinates and reference contour coordinates; normalizing the measurement contour coordinates and the reference contour coordinates, respectively; The normalized measured contour coordinates and the reference contour coordinates are converted into complex form and subjected to Fourier transform to obtain the Fourier descriptors of the measured contour coordinates and the Fourier descriptors of the reference contour coordinates; the first k descriptors of the low-frequency part of the Fourier descriptors of the measured contour coordinates and the Fourier descriptors of the reference contour coordinates are retained, and the retained first k descriptors are normalized; based on the normalized first k descriptors, the Euclidean distance between each measured curve and the corresponding reference curve is calculated, and the maximum Euclidean distance therebetween is determined as the global deformation degree.

[0010] In some embodiments, determining whether to perform heat treatment on the weldment is based on the local maximum deformation value and the global deformation value includes: judging the size relationship between the local maximum deformation value and a preset local deformation threshold value; if the local maximum deformation value is greater than the local deformation threshold value, determining to perform heat treatment on the weldment; if the local deformation value is less than or equal to the local deformation threshold value, not performing heat treatment on the weldment; and / or judging the size relationship between the global deformation value and a preset global deformation threshold value; if the global deformation value is greater than the global deformation threshold value, determining to perform heat treatment on the weldment; if the global deformation value is less than or equal to the global deformation threshold value, not performing heat treatment on the weldment.

[0011] In some embodiments, the preset reference data is the contour feature data of the weldment in an undeformed state obtained by fixing the weldment before welding begins and scanning the weldment surface using the same measuring equipment used to obtain the morphological data.

[0012] In some embodiments, the welding piece is heat treated by: matching a heat treatment temperature and a heat treatment duration according to the local maximum deformation degree or the preset range of the global deformation degree; heating the welding piece to the heat treatment temperature and holding for the heat treatment duration; and stopping heating and cooling the welding piece to a preset temperature.

[0013] According to the above method, the present application provides a welding processing device, comprising: an acquisition unit configured to acquire shape data of a welding piece after each welding is completed during welding; the shape data is used to reflect the surface shape and contour features of the welding piece; a calculation unit configured to determine a local maximum deformation degree and a global deformation degree of the welding piece according to the shape data and preset reference shape data, respectively; the local maximum deformation degree is used to represent the maximum deformation degree of the local area of the surface of the welding piece, and the global deformation degree is used to reflect the deformation trend and shape change of the welding piece; the calculation unit is further configured to determine whether to heat treat the welding piece according to the local maximum deformation degree and the global deformation degree; and a heat treatment unit configured to heat treat the welding piece by using a heat treatment device if it is determined to heat treat the welding piece.

[0014] In some embodiments, the calculation unit determines the local maximum deformation degree and the global deformation degree of the welding piece according to the shape data and the preset reference shape data, comprising: calculating the Euclidean distance of each corresponding point in the shape data and the preset reference shape data, and determining the maximum Euclidean distance as the local maximum deformation degree; the corresponding point is the measurement point of the same physical position on the surface of the welding piece in different states.

[0015] In some embodiments, the computing unit determines the local maximum deformation degree and the global deformation degree of the welding piece according to the shape data and preset reference shape data, and further comprises: extracting measurement curves from the shape data, each measurement curve corresponding to the profile features of different positions on the surface of the welding piece; extracting reference curves corresponding to the positions of the measurement curves from the preset reference shape data; representing the profiles of the measurement curves and the reference curves as a series of discrete coordinate points respectively to obtain measurement profile coordinates and reference profile coordinates; performing normalization processing on the measurement profile coordinates and the reference profile coordinates respectively; converting the normalized measurement profile coordinates and the normalized reference profile coordinates into complex numbers and performing Fourier transform to obtain Fourier descriptors of the measurement profile coordinates and Fourier descriptors of the reference profile coordinates; retaining the first k descriptors in the low-frequency part of the Fourier descriptors of the measurement profile coordinates and the Fourier descriptors of the reference profile coordinates, and normalizing the first k descriptors; and calculating the Euclidean distance between each measurement curve and the corresponding reference curve based on the normalized first k descriptors, and determining the maximum Euclidean distance as the global deformation degree.

[0016] In some embodiments, the computing unit determines whether to perform heat treatment on the welding piece according to the local maximum deformation degree and the global deformation degree, comprising: judging the size relationship between the local maximum deformation degree and a preset local deformation degree threshold; if the local maximum deformation degree is greater than the local deformation degree threshold, it is determined that heat treatment is performed on the welding piece; if the local deformation degree is less than or equal to the local deformation degree threshold, the welding piece is not heat treated; and / or, judging the size relationship between the global deformation degree and a preset global deformation degree threshold; if the global deformation degree is greater than the global deformation degree threshold, it is determined that heat treatment is performed on the welding piece; if the global deformation degree is less than or equal to the global deformation degree threshold, the welding piece is not heat treated.

[0017] In some embodiments, the preset reference data is the profile feature data of the welding piece in the undeformed state obtained by scanning the surface of the welding piece before welding starts, using the same measurement device as that used to obtain the shape data.

[0018] In some embodiments, the heat treatment unit performs heat treatment on the welding piece, comprising: matching the heat treatment temperature and the heat treatment duration according to the preset range in which the local maximum deformation degree or the global deformation degree is located; heating the welding piece to the heat treatment temperature and holding for the heat treatment duration; stopping heating and cooling the welding piece to a preset temperature.

[0019] To match the above device, the present application further provides a robot, comprising: the above welding processing device.

[0020] In accordance with the above method, the present invention further provides a storage medium, which includes a stored program, wherein when the program is run, the device where the storage medium is located is controlled to execute the above-mentioned welding processing method.

[0021] In accordance with the above method, the present invention further provides a computer program product, which includes a computer program. When the computer program product is processed and executed, the steps of the above welding processing method are implemented.

[0022] The present invention determines the maximum local and global deformation of the weld after each weld pass based on the weldment's morphological data and preset reference morphological data. A determination is then made based on the maximum local and global deformations to determine whether the weldment should be heat treated. If heat treatment is required, the weldment is heat treated. This automatically determines the need for heat treatment and performs the heat treatment, eliminating the need for manual intervention and improving welding quality and production efficiency.

[0023] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the present invention.

[0024] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic flow chart of a welding method according to an embodiment of the present invention;

[0026] Figure 2 Schematic diagram of the structure of a welding processing device according to an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of the robot welding heat treatment system;

[0028] Figure 4 Schematic diagram of line laser combination;

[0029] Figure 5 Schematic diagram of the process for calculating global deformation;

[0030] Figure 6 FIG. 4 is a flow chart of another embodiment of the welding method of the present invention.

[0031] In conjunction with the accompanying drawings, the reference numerals in the embodiments of the present invention are as follows:

[0032] 1-weld; 2-line laser; 101-acquisition unit; 102-calculation unit; 103-heat treatment unit. DETAILED DESCRIPTION

[0033] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0034] According to an embodiment of the present invention, a welding processing method is provided. The welding processing method is applied in a robot welding heat treatment system. The structure of the system is as follows: Figure 3 As shown, it includes a master control module, a heat treatment module, a handling module, a welding module, and a measurement module. The master control module uses PLC as the hardware carrier, receives feedback signals from each module through a preset program, and sends control instructions to each module to coordinate and control the collaborative work of other modules to achieve automation of the entire process. The measurement module obtains the morphological data and temperature data of the weldment, providing a basis for deformation judgment and cooling monitoring after heat treatment. The heat treatment module heats, keeps warm, and controls the cooling of weldments that require heat treatment to eliminate welding residual stress and reduce deformation and cracks. The handling module is responsible for transferring weldments between the welding workbench and the heat treatment module to achieve automated flow of weldments between different processes. The welding module is responsible for completing multi-layer and multi-pass welding of weldments according to preset paths and process parameters. As Figure 1 FIG. 1 is a flow chart of an embodiment of a method of the present invention. The welding method may include steps S110 to S140.

[0035] At step S110 , during the welding process, after each welding pass is completed, the morphological data of the weldment is obtained; the morphological data is used to reflect the surface shape and contour characteristics of the weldment.

[0036] During welding, the heat input of each weld seam can cause partial or overall deformation of the weldment, and this deformation can accumulate over multiple passes. Therefore, real-time morphological data acquisition after each weld can capture deformation status promptly, preventing excessive deformation from affecting subsequent weld quality or causing workpiece scrap.

[0037] When performing multi-pass welding, the welding robot returns to a safe position after completing each pass. The measurement module scans the weld surface, collecting morphological data reflecting the current surface shape and contour characteristics. In multi-layer, multi-pass welding, the process between arc starting and arc ending is considered a weld pass.

[0038] The measurement module includes a line laser sensor, a depth vision camera, a binocular camera, etc. When the measurement module is a line laser sensor, as shown in FIG. 8, the line laser sensor is fixedly installed at a position where the entire welding part can be measured and does not interfere with the movement of the robot. Several lines of laser light form a specific shape to evaluate the shape of the entire welding part surface. The shape data includes the spatial coordinates of each point on the welding part surface, the contour curve, and other information, which can reflect the shape and contour characteristics of the welding part surface. Figure 4

[0039] At step S120, the maximum local deformation degree and the global deformation degree of the welding part are determined according to the shape data and the preset reference shape data, respectively. The maximum local deformation degree is used to represent the maximum deformation degree of the local region of the welding part surface, and the global deformation degree is used to reflect the deformation trend and shape change of the welding part.

[0040] Welding deformation is divided into local (such as bulging near the weld) and global (such as overall bending) two categories, and it is difficult to comprehensively evaluate the influence of deformation on the quality of the workpiece through a single dimension. It is necessary to calculate the local and global deformation degrees respectively to ensure that different types of deformation risks are covered. Among them, the deformation trend of the welding part refers to the overall macroscopic deformation direction or law of the welding part caused by uneven heat input and other factors during the welding process, for example, the tendency of the welding part to bend, twist, warp, and other systematic deformation; the shape change of the welding part refers to the macroscopic difference between the overall contour of the welding part and the initial state, which is a quantitative description of the change in the overall shape of the welding part, for example, the overall scaling, shifting or shape feature change of the contour curve.

[0041] In some embodiments, the preset reference data is the contour feature data of the welding part in the undeformed state obtained by scanning the welding part surface using the same measurement device as that used to obtain the shape data before the welding starts.

[0042] Scanning the welding part after it is fixed can avoid the deviation of the reference data caused by the position shaking of the welding part; using the same measurement device as that used to obtain the shape data can eliminate the system error between different devices and ensure the comparability of the reference data and the subsequent shape data. The process of collecting the reference data is as follows: before the welding process starts, fix the welding part to be welded on the welding workbench to ensure its stable position; enable the same measurement device as that used to obtain the shape data to scan the surface of the fixed welding part comprehensively; store the contour feature data reflecting the undeformed state of the welding part obtained by scanning as the reference data for comparison with the shape data after each welding is completed.

[0043] ​In some embodiments, in step S120, the specific process of determining the local deformation maximum value and the global deformation of the welding piece according to the shape data and the preset reference shape data respectively comprises: calculating the Euclidean distance of each corresponding point in the shape data and the preset reference shape data, and determining the maximum Euclidean distance as the local deformation maximum value; the corresponding point is a measurement point of the same physical position on the welding piece surface in different states, specifically: before welding, when the un-deformed welding piece is scanned by the measuring device, the coordinate point of the physical position is recorded; after each welding is completed, when the welding piece is scanned again using the same measuring device, the coordinate point of the same physical position is recorded.

[0044] In the welding process, the heat input of each weld will cause the local material of the welding piece to expand and contract due to heat, and then produce local deformation (such as bulging, concave, micro-cracks, etc.) near the weld or heat-affected zone. If the local deformation is too large, it may cause weld stress concentration, size out-of-tolerance, and even affect the assembly accuracy of subsequent welding. By calculating the Euclidean distance of the corresponding points and taking the maximum value, the most serious local deformation can be accurately captured, and then it can be accurately judged whether to heat treat. Specifically, first, the three-dimensional coordinate information of all corresponding points is extracted from the shape data (after welding) obtained from the measurement module and the preset reference shape data (before welding); second, the Euclidean distance between each group of corresponding points is calculated one by one, that is, the deformation amount of the same physical position is quantified by the spatial coordinate difference; finally, the maximum value is selected from all calculated Euclidean distances, and the maximum value is determined as the local deformation maximum value.

[0045] By calculating the Euclidean distance of the corresponding points, the deformation amount of each physical position on the surface of the welding piece can be directly quantified, and taking the maximum value can focus on the most serious local deformation area, ensuring that when the local deformation exceeds the limit, the stress is released in time through heat treatment, reducing hidden dangers such as cracks and fractures.

[0046] In some embodiments, in step S120, the specific process of determining the local deformation maximum value and the global deformation of the welding piece according to the shape data and the preset reference shape data respectively further comprises: steps S210 to S260.

[0047] Step S210: extracting a measurement curve from the shape data, each measurement curve corresponding to the profile features of different positions on the surface of the welding piece; extracting a reference curve corresponding to the position of the measurement curve from the preset reference shape data.

[0048] Select representative locations on the weld surface (such as edges and symmetry axes) from the morphological data and extract the corresponding contour curves as measurement curves. Extract the contour curves at the same locations from the reference morphological data as reference curves. Extracting multiple curves covers different areas of the weld, ensuring comprehensive global deformation assessment.

[0049] Step S220 : Expressing the contours of the measurement curve and the reference curve as a series of discrete coordinate points, respectively, to obtain measurement contour coordinates and reference contour coordinates.

[0050] Continuous curves cannot be directly digitized. By converting them into discrete coordinate points, numerical methods can be used to quantify their contour features. Specifically, the contours of the measured and reference curves are sampled at fixed intervals, and the three-dimensional coordinates of each sampling point are recorded to form a dataset of the measured and reference contour coordinates.

[0051] Step S230 , normalizing the measured contour coordinates and the reference contour coordinates respectively.

[0052] During the measurement process, coordinate differences due to non-deformation factors may occur due to slight displacement of the weldment, angular deviation of the measuring equipment, etc. Normalization can eliminate the effects of translation, scaling, and rotation on the measured contour coordinates and the reference contour coordinates.

[0053] Step S240 , converting the normalized measured contour coordinates and the reference contour coordinates into complex form, and performing Fourier transform to obtain the Fourier descriptor of the measured contour coordinates and the Fourier descriptor of the reference contour coordinates.

[0054] The normalized discrete coordinate points are converted into complex form, and the complex sequence is Fourier transformed to obtain a Fourier descriptor that can characterize the overall characteristics of the contour. The low-frequency part reflects the overall contour and the high-frequency part reflects the details, which facilitates the separation of global deformation and local noise.

[0055] Step S250 , retaining the first k descriptors of the low-frequency part of the Fourier descriptor of the measured contour coordinates and the Fourier descriptor of the reference contour coordinates, and normalizing the retained first k descriptors.

[0056] The first k parameters in the low-frequency band of the Fourier descriptor are selected and normalized to eliminate deviations caused by differences in measurement range and curve length. Low-frequency descriptors dominate the overall shape of the contour, and retaining the first k reduces computational effort and filters high-frequency noise. Further normalization eliminates scale and phase differences, ensuring comparability of descriptors across different curves.

[0057] Step S260 : Based on the normalized first k descriptors, the Euclidean distance between each of the measurement curves and the corresponding reference curve is calculated, and the maximum Euclidean distance therebetween is determined as the global deformation degree.

[0058] The Euclidean distance between each measured curve and the Fourier descriptor of the corresponding reference curve is calculated, and the maximum value of all distances is selected as the global deformation degree that characterizes the overall deformation of the weldment. The Euclidean distance of the Fourier descriptor can quantify the overall morphological difference between the two curves, and the maximum value can reflect the most significant global deformation of the weldment. Therefore, through multi-curve sampling, Fourier transform focusing on low-frequency features and normalization processing, the overall deformation of the weldment can be accurately assessed, making the deformation assessment more comprehensive; the two normalization processes eliminate the influence of non-deformation factors (translation, scaling, etc.) and noise, ensuring that the calculated global deformation degree only reflects the actual deformation caused by welding, improving the accuracy of judgment.

[0059] In step S130 , it is determined whether to perform heat treatment on the weldment according to the local maximum deformation value and the global deformation value.

[0060] When deformation exceeds a threshold, residual stress is generated within the weldment, potentially leading to defects such as cracks and dimensional deviations. By determining whether heat treatment is necessary based on a preset threshold, stress can be eliminated promptly to ensure workpiece performance.

[0061] In some embodiments, in step S130, the specific process of determining whether to perform heat treatment on the weldment based on the local maximum deformation value and the global deformation value includes: judging the size relationship between the local maximum deformation value and a preset local deformation threshold value; if the local maximum deformation value is greater than the local deformation threshold value, determining to perform heat treatment on the weldment; if the local deformation value is less than or equal to the local deformation threshold value, not performing heat treatment on the weldment.

[0062] Excessive local deformation can lead to stress concentration, potentially causing thermal cracks or local fractures, requiring heat treatment to relieve stress. The master control module uses a preset local deformation threshold and compares the calculated maximum local deformation with the threshold. If the maximum local deformation exceeds the threshold, the heat treatment process is triggered. If the maximum local deformation is less than or equal to the threshold, local heat treatment is temporarily suspended.

[0063] In some embodiments, in step S130, the specific process of determining whether to perform heat treatment on the weldment based on the local deformation maximum value and the global deformation degree also includes: judging the size relationship between the global deformation degree and a preset global deformation degree threshold; if the global deformation degree is greater than the global deformation degree threshold, determining to perform heat treatment on the weldment; if the global deformation degree is less than or equal to the global deformation degree threshold, not performing heat treatment on the weldment.

[0064] Global deformation can affect the overall dimensional accuracy and structural stability of a workpiece. Even if local deformation does not exceed the specified value, excessive global deformation may require heat treatment. The master control module uses a preset global deformation threshold and compares the calculated global deformation with the threshold. If the global deformation exceeds the threshold, the heat treatment process is triggered. If the global deformation is less than or equal to the threshold, global heat treatment is temporarily suspended.

[0065] By comparing the preset threshold with the measured deformation, the automatic start of heat treatment is achieved, unnecessary heat treatment operations are avoided, and timely processing is ensured when the deformation exceeds the limit.

[0066] In step S140 , if it is determined that the weldment needs to be heat treated, the weldment is heat treated using heat treatment equipment.

[0067] Heat treatment relieves internal stress in welds through heating and insulation, reducing the risk of deformation and cracking. It is particularly suitable for multi-layer, multi-pass welding of medium and thick plates. Heat treatment equipment includes electromagnetic induction furnaces and resistance furnaces.

[0068] This solution does not require human intervention. The system can automatically determine the deformation state and perform heat treatment. By real-time monitoring of the deformation of the weldment and timely heat treatment, it can effectively eliminate residual stress, reduce workpiece deformation, cracks and other defects, and improve production efficiency.

[0069] In some embodiments, in step S140, the specific process of heat treating the weldment includes: matching the heat treatment temperature and heat treatment time according to the preset range of the local deformation maximum value or the global deformation; heating the weldment to the heat treatment temperature and then keeping it warm for the heat treatment time; stopping heating and allowing the weldment to cool to the preset temperature.

[0070] The master control module obtains the maximum local or global deformation value, determines the preset range to which it belongs, and calls the heat treatment temperature and duration parameters corresponding to this range, such as 300°C and 60 minutes for a deformation of 1-2mm. The handling module feeds the weldment into the heat treatment equipment, and the master control module controls the equipment to heat it to the target temperature at a preset speed. Once the temperature is reached, it is held at 300°C for a set duration, such as 60 minutes. After the holding period is completed, the master control module controls the heat treatment equipment to stop heating, open the furnace door to allow the weldment to cool naturally, and monitor the temperature using temperature measurement equipment until it drops to the preset value. By matching the deformation range with the heat treatment parameters, different degrees of residual stress can be targeted, avoiding residual stress caused by insufficient parameters or material performance damage caused by excessive parameters.

[0071] Figure 6 FIG. 1 is a flow chart of another embodiment of the welding method of the present invention, as shown in FIG. Figure 6 As shown, the method includes:

[0072] Step 1: Initialization and benchmark measurement: Fix the line laser sensor in a position where it can measure the entire weldment and will not interfere with the movement of the robot; use the line laser sensor to perform benchmark measurement before welding to obtain undeformed benchmark data; set the multi-layer and multi-pass welding path and process parameters of the welding robot; set the handling path of the handling robot; set the maximum allowable local deformation and the maximum allowable global deformation, and set the heat treatment temperature and time corresponding to different deformation ranges beyond the allowable deformation.

[0073] Step 2: During the welding process, after the welding robot completes a weld according to the predetermined path and process parameters and returns to a safe position, it calculates the Euclidean distance between the reference data and each corresponding point in the current morphological data, and obtains the maximum value as the local deformation of the weldment; determines whether the local deformation is greater than the preset maximum allowable local deformation. If so, execute step 4; otherwise, execute step 3.

[0074] Step 3: Based on Fourier transform, calculate the deformation value of each measured curve in the current morphological data relative to the reference data, and obtain the maximum value as the global deformation of the weldment; determine whether the global deformation is greater than the preset maximum allowable global deformation, if so, execute step 4, otherwise execute step 5. The process of calculating the global deformation is as follows: Figure 5 As shown, it includes: contour parameterization, representing the contours of the baseline curve and the current curve as a series of discrete coordinate points respectively; contour normalization, normalizing the contour data to eliminate the influence of translation, scaling and rotation; Fourier transform, converting the normalized contour coordinates into complex form, and then performing Fourier transform on it to obtain Fourier descriptors; retaining the first k descriptors, in order to reduce computational complexity and remove noise, only retaining the first k Fourier descriptors of the low-frequency part; normalizing the descriptors, further normalizing the retained k Fourier descriptors to eliminate scale and phase effects; calculating the Euclidean distance, using the retained Fourier descriptors to calculate the Euclidean distance, and the result obtained is the curve deformation degree.

[0075] Step 4. According to the range of deformation value, the preset heat treatment temperature and time are obtained; the PLC adjusts the temperature of the induction heating furnace to the preset value and opens the furnace door; the handling robot uses a clamp to clamp the weldment and sends it into the induction heating furnace; the PLC controls the closing of the induction heating furnace door and starts heating according to the preset heating speed. After heating to the specified temperature, it is kept warm for the specified time; the PLC controls the closing of the heating function of the induction heating furnace and opens the furnace door; the handling robot uses a clamp to clamp the weldment and puts the weldment back to the original welding position; the PLC controls the closing of the induction heating furnace door; the temperature of the weldment is measured using an infrared thermometer until it cools to the preset temperature, and then the steps are executed.

[0076] Step 5: Determine whether all welding has been completed. If so, end the process; otherwise, proceed to step 2.

[0077] Using the technical solution of this embodiment, after each weld pass, the maximum local and global deformation values ​​of the weld are determined based on the weldment's morphological data and preset reference morphological data. Whether heat treatment is required for the weldment is determined based on these values. If heat treatment is determined, it is performed. Thus, by determining the local and global deformation values ​​based on the weldment's morphological data and reference morphological data during the welding process, the need for heat treatment is automatically determined and executed, eliminating the need for manual intervention and improving welding quality and production efficiency.

[0078] According to an embodiment of the present invention, a welding processing device corresponding to the welding processing method is also provided. The welding processing device is used in a robot welding heat treatment system, the structure of which is as follows: Figure 3 As shown, it includes a master control module, a heat treatment module, a handling module, a welding module, and a measurement module. The master control module uses PLC as the hardware carrier, receives feedback signals from each module through a preset program, and sends control instructions to each module to coordinate and control the collaborative work of other modules to achieve automation of the entire process. The measurement module obtains the morphological data and temperature data of the weldment, providing a basis for deformation judgment and cooling monitoring after heat treatment. The heat treatment module heats, keeps warm, and controls the cooling of weldments that require heat treatment to eliminate welding residual stress and reduce deformation and cracks. The handling module is responsible for transferring weldments between the welding workbench and the heat treatment module to achieve automated flow of weldments between different processes. The welding module is responsible for completing multi-layer and multi-pass welding of weldments according to preset paths and process parameters. See Figure 2 FIG2 is a schematic structural diagram of an embodiment of the device of the present invention. The welding device may include: an acquisition unit 101 , a calculation unit 102 , and a heat treatment unit 103 .

[0079] The acquisition unit 101 is configured to acquire morphological data of the weldment after each weld pass during the welding process. The morphological data is used to reflect the surface shape and contour characteristics of the weldment. The specific functions and processing of the acquisition unit 101 are described in step S110.

[0080] During welding, the heat input of each weld seam can cause partial or overall deformation of the weldment, and this deformation can accumulate over multiple passes. Therefore, real-time morphological data acquisition after each weld can capture deformation status promptly, preventing excessive deformation from affecting subsequent weld quality or causing workpiece scrap.

[0081] When performing multi-pass welding, the welding robot returns to a safe position after completing each pass. The measurement module scans the weld surface, collecting morphological data reflecting the current surface shape and contour characteristics. In multi-layer, multi-pass welding, the process between arc starting and arc ending is considered a weld pass.

[0082] The measurement module includes a line laser sensor, a depth vision camera, a binocular camera, etc. When the measurement module is a line laser sensor, such as Figure 4 As shown, a line laser sensor is fixed in a position where it can measure the entire weld without interfering with the robot's motion. Several laser lines form a specific pattern to assess the overall weld surface morphology. The morphological data includes information such as the spatial coordinates and contour curves of each point on the weld surface, reflecting the weld surface shape and contour characteristics.

[0083] Calculation unit 102 is configured to determine a maximum local deformation degree and a global deformation degree of the weldment based on the morphological data and preset reference morphological data, respectively. The maximum local deformation degree is used to represent the maximum deformation degree of a local region of the weldment surface, and the global deformation degree is used to reflect the deformation trend and morphological change of the weldment. The specific functions and processing of calculation unit 102 are described in step S120.

[0084] Welding deformation is divided into two categories: local (such as bulges near the weld) and global (such as overall bending). It is difficult to fully evaluate the impact of deformation on workpiece quality using only a single dimension. Local and global deformation degrees need to be calculated separately to ensure that different types of deformation risks are covered. Among them, the deformation trend of the weldment refers to the overall macroscopic deformation direction or law caused by factors such as uneven heat input during the welding process. For example, the weldment as a whole tends to exhibit systematic deformations such as bending, torsion, and warping. The morphological change of the weldment refers to the macroscopic difference in the overall contour of the weldment compared to the initial state. It is a quantitative description of the overall shape change of the weldment, such as the overall scaling, offset, or change in shape characteristics of the contour curve.

[0085] In some embodiments, the preset reference data is the contour feature data of the weldment in an undeformed state obtained by fixing the weldment before welding begins and scanning the weldment surface using the same measuring equipment used to obtain the morphological data.

[0086] The welding part is fixed and then scanned, which can avoid the deviation of the reference data caused by the position shaking of the welding part; using the same measuring device as that for acquiring the shape data can eliminate the system error between different devices and ensure the comparability of the reference data and the subsequent shape data. The process of collecting the reference data is as follows: before the welding process starts, the welding part to be welded is fixed on the welding workbench to ensure its stable position; the same measuring device as that for acquiring the shape data is enabled to comprehensively scan the surface of the fixed welding part; the profile feature data reflecting the undeformed state of the welding part obtained by scanning is stored as the reference data for comparison with the shape data after each welding is completed.

[0087] In some embodiments, the computing unit 102 determines the local deformation maximum value and the global deformation of the welding part according to the shape data and the preset reference shape data, including: for each corresponding point in the shape data and the preset reference shape data, calculating the Euclidean distance of the corresponding point, and determining the maximum Euclidean distance as the local deformation maximum value; the corresponding point is a measurement point at the same physical position in different states on the surface of the welding part, specifically: before welding starts, the coordinate point of the physical position is recorded when the undeformed welding part is scanned by the measuring device; the coordinate point of the same physical position is recorded again when the same measuring device is used to scan the welding part after each welding is completed.

[0088] During the welding process, the heat input of each welding seam will cause the local material of the welding part to expand and contract due to heat, and then produce local deformation (such as bulging, concave, micro-cracks, etc.) near the welding seam or in the heat-affected zone. If the local deformation is too large, it may cause stress concentration of the welding seam, size out-of-tolerance, and even affect the assembly accuracy of subsequent welding. By calculating the Euclidean distance of the corresponding points and taking the maximum value, the most serious local deformation can be accurately captured, and then it can be judged whether to heat treat. Specifically, first, the three-dimensional coordinate information of all corresponding points is extracted from the shape data (after welding) obtained by the measuring module and the preset reference shape data (before welding); second, the Euclidean distance between each group of corresponding points is calculated one by one, that is, the deformation amount of the same physical position is quantified by the spatial coordinate difference; finally, the maximum value is selected from all the calculated Euclidean distances, and the maximum value is determined as the local deformation maximum value.

[0089] Through the Euclidean distance calculation of the corresponding points, the deformation amount of each physical position on the surface of the welding part can be directly quantified, and the most serious local deformation area can be focused by taking the maximum value, so as to ensure that the stress is released in time through heat treatment when the local deformation exceeds the limit, and to reduce the hidden dangers such as cracks and fractures.

[0090] In some embodiments, the computing unit 102 determines the local deformation maximum value and the global deformation of the welding part according to the shape data and the preset reference shape data, further including:

[0091] The computing unit 102 is further configured to extract measurement curves from the morphological data, each measurement curve corresponding to a contour feature at a different location on the weldment surface; and extract reference curves corresponding to the locations of the measurement curves from the preset reference morphological data. The specific functions and processing of the computing unit 102 are described in step S210.

[0092] Select representative locations on the weld surface (such as edges and symmetry axes) from the morphological data and extract the corresponding contour curves as measurement curves. Extract the contour curves at the same locations from the reference morphological data as reference curves. Extracting multiple curves covers different areas of the weld, ensuring comprehensive global deformation assessment.

[0093] The calculation unit 102 is further configured to represent the contours of the measurement curve and the reference curve as a series of discrete coordinate points, respectively, to obtain measurement contour coordinates and reference contour coordinates. Specific functions and processing of the calculation unit 102 are described in step S220.

[0094] Continuous curves cannot be directly digitized. By converting them into discrete coordinate points, numerical methods can be used to quantify their contour features. Specifically, the contours of the measured and reference curves are sampled at fixed intervals, and the three-dimensional coordinates of each sampling point are recorded to form a dataset of the measured and reference contour coordinates.

[0095] The calculation unit 102 is further configured to perform normalization processing on the measured contour coordinates and the reference contour coordinates, respectively. Specific functions and processing of the calculation unit 102 are described in step S230.

[0096] During the measurement process, coordinate differences due to non-deformation factors may occur due to slight displacement of the weldment, angular deviation of the measuring equipment, etc. Normalization can eliminate the effects of translation, scaling, and rotation on the measured contour coordinates and the reference contour coordinates.

[0097] The computing unit 102 is further configured to convert the normalized measured contour coordinates and the reference contour coordinates into complex form and perform Fourier transforms to obtain Fourier descriptors of the measured contour coordinates and the reference contour coordinates. The specific functions and processing of the computing unit 102 are described in step S240.

[0098] The normalized discrete coordinate points are converted into complex form, and the complex sequence is Fourier transformed to obtain a Fourier descriptor that can characterize the overall characteristics of the contour. The low-frequency part reflects the overall contour and the high-frequency part reflects the details, which facilitates the separation of global deformation and local noise.

[0099] The calculation unit 102 is further configured to retain the first k low-frequency descriptors of the Fourier descriptors of the measured contour coordinates and the reference contour coordinates, and normalize the retained first k descriptors. The specific functions and processing of the calculation unit 102 are described in step S250.

[0100] The first k parameters in the low-frequency band of the Fourier descriptor are selected and normalized to eliminate deviations caused by differences in measurement range and curve length. Low-frequency descriptors dominate the overall shape of the contour, and retaining the first k reduces computational effort and filters high-frequency noise. Further normalization eliminates scale and phase differences, ensuring comparability of descriptors across different curves.

[0101] The calculation unit 102 is further configured to calculate the Euclidean distance between each of the measured curves and the corresponding reference curve based on the normalized first k descriptors, and determine the maximum Euclidean distance as the global deformation degree. The specific functions and processing of the calculation unit 102 are described in step S260.

[0102] The Euclidean distance between each measured curve and the Fourier descriptor of the corresponding reference curve is calculated, and the maximum value of all distances is selected as the global deformation degree that characterizes the overall deformation of the weldment. The Euclidean distance of the Fourier descriptor can quantify the overall morphological difference between the two curves, and the maximum value can reflect the most significant global deformation of the weldment. Therefore, through multi-curve sampling, Fourier transform focusing on low-frequency features and normalization processing, the overall deformation of the weldment can be accurately assessed, making the deformation assessment more comprehensive; the two normalization processes eliminate the influence of non-deformation factors (translation, scaling, etc.) and noise, ensuring that the calculated global deformation degree only reflects the actual deformation caused by welding, improving the accuracy of judgment.

[0103] The calculation unit 102 is further configured to determine whether to perform heat treatment on the weldment based on the local maximum deformation value and the global deformation value. The specific functions and processing of the calculation unit 102 are shown in step S130.

[0104] When deformation exceeds a threshold, residual stress is generated within the weldment, potentially leading to defects such as cracks and dimensional deviations. By determining whether heat treatment is necessary based on a preset threshold, stress can be eliminated promptly to ensure workpiece performance.

[0105] In some embodiments, the calculation unit 102 determines whether to perform heat treatment on the weldment based on the local deformation maximum value and the global deformation, including: judging the size relationship between the local deformation maximum value and a preset local deformation threshold value; if the local deformation maximum value is greater than the local deformation threshold value, determining to perform heat treatment on the weldment; if the local deformation is less than or equal to the local deformation threshold value, not performing heat treatment on the weldment.

[0106] Excessive local deformation can lead to stress concentration, potentially causing thermal cracks or local fractures, requiring heat treatment to relieve stress. The master control module uses a preset local deformation threshold and compares the calculated maximum local deformation with the threshold. If the maximum local deformation exceeds the threshold, the heat treatment process is triggered. If the maximum local deformation is less than or equal to the threshold, local heat treatment is temporarily suspended.

[0107] In some embodiments, the calculation unit 102 determines whether to perform heat treatment on the weldment based on the local deformation maximum value and the global deformation, and also includes: judging the size relationship between the global deformation and a preset global deformation threshold; if the global deformation is greater than the global deformation threshold, determining to perform heat treatment on the weldment; if the global deformation is less than or equal to the global deformation threshold, not performing heat treatment on the weldment.

[0108] Global deformation can affect the overall dimensional accuracy and structural stability of a workpiece. Even if local deformation does not exceed the specified value, excessive global deformation may require heat treatment. The master control module uses a preset global deformation threshold and compares the calculated global deformation with the threshold. If the global deformation exceeds the threshold, the heat treatment process is triggered. If the global deformation is less than or equal to the threshold, global heat treatment is temporarily suspended.

[0109] By comparing the preset threshold with the measured deformation, the automatic start of heat treatment is achieved, unnecessary heat treatment operations are avoided, and timely processing is ensured when the deformation exceeds the limit.

[0110] The heat treatment unit 103 is configured to perform heat treatment on the weldment using heat treatment equipment if it is determined that the weldment needs to be heat treated. Specific functions and processing of the heat treatment unit 103 are described in step S140.

[0111] In some embodiments, the heat treatment unit 103 performs heat treatment on the weldment, including: matching the heat treatment temperature and heat treatment time according to the preset range of the local deformation maximum value or the global deformation; heating the weldment to the heat treatment temperature and then keeping it warm for the heat treatment time; stopping heating and allowing the weldment to cool to the preset temperature.

[0112] The master control module obtains the maximum local or global deformation value, determines the preset range to which it belongs, and calls the heat treatment temperature and duration parameters corresponding to this range, such as 300°C and 60 minutes for a deformation of 1-2mm. The handling module feeds the weldment into the heat treatment equipment, and the master control module controls the equipment to heat it to the target temperature at a preset speed. Once the temperature is reached, it is held at 300°C for a set duration, such as 60 minutes. After the holding period is completed, the master control module controls the heat treatment equipment to stop heating, open the furnace door to allow the weldment to cool naturally, and monitor the temperature using temperature measurement equipment until it drops to the preset value. By matching the deformation range with the heat treatment parameters, different degrees of residual stress can be targeted, avoiding residual stress caused by insufficient parameters or material performance damage caused by excessive parameters.

[0113] Figure 6 FIG. 1 is a flow chart of another embodiment of the welding method of the present invention, as shown in FIG. Figure 6 As shown, the method includes:

[0114] Step 1: Initialization and benchmark measurement: Fix the line laser sensor in a position where it can measure the entire weldment and will not interfere with the movement of the robot; use the line laser sensor to perform benchmark measurement before welding to obtain undeformed benchmark data; set the multi-layer and multi-pass welding path and process parameters of the welding robot; set the handling path of the handling robot; set the maximum allowable local deformation and the maximum allowable global deformation, and set the heat treatment temperature and time corresponding to different deformation ranges beyond the allowable deformation.

[0115] Step 2: During the welding process, after the welding robot completes a weld according to the predetermined path and process parameters and returns to a safe position, it calculates the Euclidean distance between the reference data and each corresponding point in the current morphological data, and obtains the maximum value as the local deformation of the weldment; determines whether the local deformation is greater than the preset maximum allowable local deformation. If so, execute step 4; otherwise, execute step 3.

[0116] Step 3: Based on Fourier transform, calculate the deformation value of each measured curve in the current morphological data relative to the reference data, and obtain the maximum value as the global deformation of the weldment; determine whether the global deformation is greater than the preset maximum allowable global deformation, if so, execute step 4, otherwise execute step 5. The process of calculating the global deformation is as follows: Figure 5As shown, it includes: contour parameterization, representing the contours of the baseline curve and the current curve as a series of discrete coordinate points respectively; contour normalization, normalizing the contour data to eliminate the influence of translation, scaling and rotation; Fourier transform, converting the normalized contour coordinates into complex form, and then performing Fourier transform on it to obtain Fourier descriptors; retaining the first k descriptors, in order to reduce computational complexity and remove noise, only retaining the first k Fourier descriptors of the low-frequency part; normalizing the descriptors, further normalizing the retained k Fourier descriptors to eliminate scale and phase effects; calculating the Euclidean distance, using the retained Fourier descriptors to calculate the Euclidean distance, and the result obtained is the curve deformation degree.

[0117] Step 4. According to the range of deformation value, the preset heat treatment temperature and time are obtained; the PLC adjusts the temperature of the induction heating furnace to the preset value and opens the furnace door; the handling robot uses a clamp to clamp the weldment and sends it into the induction heating furnace; the PLC controls the closing of the induction heating furnace door and starts heating according to the preset heating speed. After heating to the specified temperature, it is kept warm for the specified time; the PLC controls the closing of the heating function of the induction heating furnace and opens the furnace door; the handling robot uses a clamp to clamp the weldment and puts the weldment back to the original welding position; the PLC controls the closing of the induction heating furnace door; the temperature of the weldment is measured using an infrared thermometer until it cools to the preset temperature, and then the steps are executed.

[0118] Step 5: Determine whether all welding has been completed. If so, end the process; otherwise, proceed to step 2.

[0119] Since the processing and functions implemented by the device of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned method, for any details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments and will not be repeated here.

[0120] With the technical solution of the present invention, after each weld pass, the maximum local and global deformation values ​​of the weld are determined based on the weldment's morphological data and preset reference morphological data. A determination is then made based on the local and global deformation values ​​to determine whether the weldment should be heat treated. If heat treatment is determined to be necessary, the weldment is heat treated. This automatically determines the need for heat treatment and performs the process without manual intervention, improving welding quality and production efficiency.

[0121] According to an embodiment of the present invention, a robot corresponding to the welding processing device is also provided. The robot may include: the welding processing device described above.

[0122] Since the processing and functions implemented by the robot of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned devices, for any details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments and will not be repeated here.

[0123] With the technical solution of the present invention, after each weld pass, the maximum local and global deformation values ​​of the weld are determined based on the weldment's morphological data and preset reference morphological data. A determination is then made based on the local and global deformation values ​​to determine whether the weldment should be heat treated. If heat treatment is determined to be necessary, the weldment is heat treated. This automatically determines the need for heat treatment and performs the process without manual intervention, improving welding quality and production efficiency.

[0124] According to an embodiment of the present invention, a storage medium corresponding to the welding process method is also provided, wherein the storage medium includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the welding process method described above.

[0125] Since the processing and functions implemented by the storage medium of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned method, for any details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments and will not be repeated here.

[0126] With the technical solution of the present invention, after each weld pass, the maximum local and global deformation values ​​of the weld are determined based on the weldment's morphological data and preset reference morphological data. A determination is then made based on the local and global deformation values ​​to determine whether the weldment should be heat treated. If heat treatment is determined to be necessary, the weldment is heat treated. This automatically determines the need for heat treatment and performs the process without manual intervention, improving welding quality and production efficiency.

[0127] According to an embodiment of the present invention, a computer program product corresponding to the welding process method is further provided. The computer program product includes a computer program. When the computer program product is processed and executed, the steps of the welding process method are implemented.

[0128] Since the processing and functions implemented by the computer program product of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned method, for any details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments and will not be repeated here.

[0129] With the technical solution of the present invention, after each weld pass, the maximum local and global deformation values ​​of the weld are determined based on the weldment's morphological data and preset reference morphological data. A determination is then made based on the local and global deformation values ​​to determine whether the weldment should be heat treated. If heat treatment is determined to be necessary, the weldment is heat treated. This automatically determines the need for heat treatment and performs the process without manual intervention, improving welding quality and production efficiency.

[0130] In summary, it is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous methods can be freely combined and superimposed.

[0131] The foregoing description is merely an embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of the claims.

Claims

1. A welding method, characterized in that: include: During the welding process, after each welding is completed, the morphological data of the weldment is obtained; The morphological data is used to reflect the surface shape and contour characteristics of the weldment; Determining a local maximum deformation degree and a global deformation degree of the weldment based on the morphological data and preset reference morphological data, respectively; the local maximum deformation degree is used to characterize the maximum deformation degree of a local surface area of ​​the weldment, and the global deformation degree is used to reflect the deformation trend and morphological change of the weldment; determining whether to perform heat treatment on the weldment according to the maximum local deformation value and the global deformation value; If it is determined to perform heat treatment on the weldment, heat treatment equipment is used to perform heat treatment on the weldment.

2. The welding method according to claim 1, wherein: Determining the maximum local deformation degree and the global deformation degree of the weldment according to the morphological data and the preset reference morphological data respectively, including: For each corresponding point in the morphological data and the preset reference morphological data, the Euclidean distance of the corresponding points is calculated, and the maximum Euclidean distance therebetween is determined as the maximum value of the local deformation; the corresponding points are measurement points at the same physical position on the surface of the weldment under different states.

3. The welding method according to claim 1, wherein: Determining the maximum local deformation degree and the global deformation degree of the weldment according to the morphological data and the preset reference morphological data, further comprising: Extracting measurement curves from the morphological data, each measurement curve corresponding to a contour feature at a different position on the weldment surface; extracting a reference curve corresponding to the position of the measurement curve from the preset reference morphological data; Representing the contours of the measurement curve and the reference curve as a series of discrete coordinate points, respectively, to obtain measurement contour coordinates and reference contour coordinates; Normalizing the measured contour coordinates and the reference contour coordinates respectively; Converting the normalized measured contour coordinates and the reference contour coordinates into complex form, and performing Fourier transform to obtain a Fourier descriptor of the measured contour coordinates and a Fourier descriptor of the reference contour coordinates; retaining the first k descriptors of the low-frequency part in the Fourier descriptor of the measured contour coordinates and the Fourier descriptor of the reference contour coordinates, and normalizing the retained first k descriptors; Based on the normalized first k descriptors, the Euclidean distance between each of the measurement curves and the corresponding reference curve is calculated, and the maximum Euclidean distance therebetween is determined as the global deformation degree.

4. The welding method according to any one of claims 1 to 3, characterized in that: Determining whether to perform heat treatment on the weldment according to the local deformation maximum value and the global deformation degree includes: Determining the magnitude relationship between the maximum local deformation value and a preset local deformation value threshold; If the maximum local deformation value is greater than the local deformation value threshold, determining to perform heat treatment on the weldment; If the local deformation degree is less than or equal to the local deformation degree threshold, then the weldment is not heat treated; and / or, Determining a magnitude relationship between the global deformation degree and a preset global deformation degree threshold; If the global deformation degree is greater than the global deformation degree threshold, determining to perform heat treatment on the weldment; If the global deformation degree is less than or equal to the global deformation degree threshold, the weldment is not heat treated.

5. The welding method according to any one of claims 1 to 3, characterized in that: The preset reference data is the contour feature data of the weldment in an undeformed state obtained by fixing the weldment before welding begins and scanning the weldment surface using the same measuring equipment as that used to obtain the morphological data.

6. The welding method according to claim 1, wherein: The weldment is subjected to heat treatment, comprising: Matching the heat treatment temperature and heat treatment duration according to the preset range of the local deformation maximum value or the global deformation; Heating the weldment to the heat treatment temperature and then maintaining the temperature for the heat treatment time; Heating is stopped and the weld is allowed to cool to a predetermined temperature.

7. A welding processing device, characterized in that: include: An acquisition unit is configured to acquire morphological data of the weldment after each weld is completed during the welding process; The morphological data is used to reflect the surface shape and contour characteristics of the weldment; a calculation unit configured to determine a maximum local deformation degree and a global deformation degree of the weldment according to the morphological data and preset reference morphological data; The maximum local deformation value is used to characterize the maximum deformation degree of the local surface area of ​​the weldment, and the global deformation value is used to reflect the deformation trend and morphological change of the weldment; The calculation unit is further configured to determine whether to perform heat treatment on the weldment according to the local deformation maximum value and the global deformation; The heat treatment unit is configured to perform heat treatment on the weldment using heat treatment equipment if it is determined that the weldment needs to be heat treated.

8. A robot, characterized in that: include: The welding process apparatus according to claim 7.

9. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the welding method according to any one of claims 1 to 6.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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