Arc multilayer welding method, device, equipment, storage medium and program product

Abstract

The invention relates to an arc multi-layer welding method, device and equipment, a storage medium and a program product. The method comprises the steps that an initial welding bead and a welding seam reference positioning point of a to-be-welded arc welding seam are obtained, and the initial welding bead comprises a plurality of initial welding seam track feature points; under the base coordinate system, reference position information of a welding seam reference positioning point is determined; according to the reference position information, weld joint track offset feature points obtained by respective offset of the multiple initial weld joint track feature points are positioned under a base coordinate system, and the weld joint track offset feature points represent corresponding weld joint track feature points on a specific layer channel of the to-be-welded arc weld joint; according to all the welding seam track offset feature points, target welding seam tracks of all layers and all paths of the to-be-welded arc welding seam are generated; and according to the target welding seam track and the corresponding welding parameters, the to-be-welded arc welding seam is welded. By adopting the method, the test effect of arc multi-layer welding is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding, in particular to a circular-arc multi-layer pass welding method and device, computer equipment, computer readable storage medium and computer program product. BACKGROUND

[0002] With the continuous development of science and technology, welding technology is also gradually iterating, and has become one of the irreplaceable processing technologies in many fields such as automobile manufacturing, shipbuilding, aerospace and mechanical manufacturing. However, due to the different types of welding parts, multi-layer pass welding is inevitable in the welding process, that is, for thicker welding parts or higher welding requirements, multi-layer welding is required to complete the filling of multiple welding passes in the same welding groove, and good fusion and forming are required between each layer of welding pass, and finally a complete weld that meets the performance requirements of strength, sealing and the like is formed.

[0003] At present, the 3D (Three-Dimensional) camera and laser equipment are usually used to identify the three-dimensional information of the welding seam of the welding part and plan the path, and finally the multi-layer pass welding is completed by real-time tracking and adjustment. However, the recognition accuracy of the 3D camera is easily affected by the environmental light, and only the position of the initial welding pass at the bottom can be determined in the welding seam recognition process, and the positions of the subsequent welding passes cannot be accurately positioned, which leads to the lack of accurate basis for path planning of each layer of welding pass, and further causes irregular welding seam forming and insufficient dimensional accuracy, etc. Therefore, the welding effect of the circular-arc multi-layer pass welding by the welding robot is poor. SUMMARY

[0004] Therefore, it is necessary to provide a circular-arc multi-layer pass welding method, device, computer equipment, computer readable storage medium and computer program product for improving the welding effect of the circular-arc multi-layer pass welding by the welding robot.

[0005] In a first aspect, the present application provides a circular-arc multi-layer pass welding method, which comprises:

[0006] obtaining an initial welding pass and a welding seam reference positioning point of a to-be-welded circular-arc welding seam, wherein the initial welding pass comprises a plurality of initial welding seam trajectory feature points;

[0007] determining reference position information of the welding seam reference positioning point in a base coordinate system;

[0008] positioning welding seam trajectory offset feature points obtained by offsetting the plurality of initial welding seam trajectory feature points in the base coordinate system according to the reference position information, wherein the welding seam trajectory offset feature points represent corresponding welding seam trajectory feature points on a specific layer pass of the to-be-welded circular-arc welding seam;

[0009] generating target weld seam trajectories of each layer and each pass of the to-be-welded circular arc weld seam according to all the weld seam trajectory offset feature points;

[0010] welding the to-be-welded circular arc weld seam according to the target weld seam trajectories and corresponding welding parameters.

[0011] In one of the embodiments, the plurality of initial weld seam trajectory feature points comprises an initial weld seam trajectory starting point, and the weld seam trajectory offset feature point comprises a first weld seam trajectory offset feature point obtained by offsetting the initial weld seam trajectory starting point;

[0012] The positioning of the weld seam trajectory offset feature points obtained by offsetting the plurality of initial weld seam trajectory feature points in the base coordinate system according to the reference position information comprises:

[0013] determining, according to the reference position information, a first offset vector of the initial weld seam trajectory starting point in a first preset direction and a second offset vector of the initial weld seam trajectory starting point in a second preset direction in the base coordinate system, wherein the first preset direction and the second preset direction are perpendicular to each other;

[0014] determining a weld pass plane vector corresponding to the initial weld seam trajectory starting point according to the first offset vector and the second offset vector;

[0015] generating an initial offset vector corresponding to the initial weld seam trajectory starting point according to the weld pass plane vector and a preset inter-layer offset parameter;

[0016] converting the initial weld seam trajectory starting point into the first weld seam trajectory offset feature point in the base coordinate system according to the initial offset vector.

[0017] In one of the embodiments, the plurality of initial weld seam trajectory feature points comprises an initial weld seam trajectory passing point, and the weld seam trajectory offset feature point comprises a second weld seam trajectory offset feature point obtained by offsetting the initial weld seam trajectory passing point;

[0018] The positioning of the weld seam trajectory offset feature points obtained by offsetting the plurality of initial weld seam trajectory feature points in the base coordinate system according to the reference position information comprises:

[0019] determining an offset circular arc radius according to the reference position information, the initial weld seam trajectory starting point and the first weld seam trajectory offset feature point, wherein the offset circular arc radius represents a distance between the initial weld seam trajectory starting point and the first weld seam trajectory offset feature point;

[0020] determine, according to the circle center corresponding to the arc radius, the initial weld seam trajectory starting point and the first weld seam trajectory offset feature point, a plane offset amount of the initial weld seam trajectory passing point in the arc plane;

[0021] determine, according to the first weld seam trajectory offset feature point and the offset feature projection point, a normal offset amount of the vertical offset after the offset;

[0022] determine, according to the circle center corresponding to the arc radius, the initial weld seam trajectory starting point and the first offset feature point, a plane offset amount of the initial weld seam trajectory passing point in the arc plane;

[0023] obtain the second weld seam trajectory offset feature point by fusing the normal offset amount and the plane offset amount.

[0024] In one of the embodiments, the determining, according to the circle center corresponding to the arc radius, the initial weld seam trajectory starting point and the first offset feature point, the plane offset amount of the initial weld seam trajectory passing point in the arc plane, comprises:

[0025] obtain a projection ratio of the offset feature projection point on a vector formed by the circle center and the initial weld seam trajectory starting point;

[0026] determine a first vector length of the vector formed by the circle center and the initial weld seam trajectory starting point, and determine a second vector length of a vector formed by the circle center and the offset feature projection point;

[0027] obtain the plane offset amount by fusing the first vector length, the second vector length and the projection ratio.

[0028] In one of the embodiments, before the determining, according to the reference position information, the first offset vector of the initial weld seam trajectory starting point in the first preset direction and the second offset vector in the second preset direction under the base coordinate system, the method further comprises:

[0029] in a case where it is detected that the initial weld seam trajectory feature point and the coordinate origin of the base coordinate system do not coincide, determine a position conversion relationship between the initial weld seam trajectory feature point and the coordinate origin;

[0030] perform position conversion on the initial weld seam trajectory feature point according to the position conversion relationship, and take the converted initial weld seam trajectory feature point as the initial weld seam trajectory feature point.

[0031] In one of the embodiments, the arc weld to be welded comprises at least one of a single arc weld, a first combined weld composed of a straight line and an arc, a second combined weld composed of an arc and a straight line, and a third combined weld composed of an arc and an arc.

[0032] In a second aspect, the present application further provides an arc multi-layer pass welding device, comprising:

[0033] An acquisition module is configured to acquire an initial weld of an arc weld to be welded and a weld reference positioning point, wherein the initial weld comprises a plurality of initial weld trace feature points.

[0034] A determination module is configured to determine reference position information of the weld reference positioning point in a base coordinate system.

[0035] A positioning module is configured to position weld trace offset feature points obtained by offsetting the plurality of initial weld trace feature points in the base coordinate system according to the reference position information, wherein the weld trace offset feature points represent corresponding weld trace feature points on specific layers of the arc weld to be welded.

[0036] A generation module is configured to generate target weld traces of each layer and each pass of the arc weld to be welded according to all the weld trace offset feature points.

[0037] A welding module is configured to weld the arc weld to be welded according to the target weld traces and corresponding welding parameters.

[0038] In a third aspect, the present application further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0039] acquire an initial weld of an arc weld to be welded and a weld reference positioning point, wherein the initial weld comprises a plurality of initial weld trace feature points; determine reference position information of the weld reference positioning point in a base coordinate system; position weld trace offset feature points obtained by offsetting the plurality of initial weld trace feature points in the base coordinate system according to the reference position information, wherein the weld trace offset feature points represent corresponding weld trace feature points on specific layers of the arc weld to be welded; generate target weld traces of each layer and each pass of the arc weld to be welded according to all the weld trace offset feature points; and weld the arc weld to be welded according to the target weld traces and corresponding welding parameters.

[0040] In a fourth aspect, the present application further provides a computer readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to implement the following steps:

[0041] obtaining an initial welding bead and a welding seam reference positioning point of a to-be-welded circular arc welding seam, wherein the initial welding bead comprises a plurality of initial welding seam track feature points; determining reference position information of the welding seam reference positioning point in a base coordinate system; positioning welding seam track offset feature points obtained by offsetting the plurality of initial welding seam track feature points respectively in the base coordinate system according to the reference position information, wherein the welding seam track offset feature points represent corresponding welding seam track feature points on specific layers and passes of the to-be-welded circular arc welding seam; generating target welding seam tracks of each layer and pass of the to-be-welded circular arc welding seam according to all the welding seam track offset feature points; and welding the to-be-welded circular arc welding seam according to the target welding seam tracks and corresponding welding parameters.

[0042] In a fifth aspect, the present application further provides a computer program product comprising a computer program which, when executed by a processor, implements the following steps:

[0043] obtaining an initial welding bead and a welding seam reference positioning point of a to-be-welded circular arc welding seam, wherein the initial welding bead comprises a plurality of initial welding seam track feature points; determining reference position information of the welding seam reference positioning point in a base coordinate system; positioning welding seam track offset feature points obtained by offsetting the plurality of initial welding seam track feature points respectively in the base coordinate system according to the reference position information, wherein the welding seam track offset feature points represent corresponding welding seam track feature points on specific layers and passes of the to-be-welded circular arc welding seam; generating target welding seam tracks of each layer and pass of the to-be-welded circular arc welding seam according to all the welding seam track offset feature points; and welding the to-be-welded circular arc welding seam according to the target welding seam tracks and corresponding welding parameters.

[0044] The aforementioned method, apparatus, computer equipment, computer-readable storage medium, and computer program product for multi-pass arc welding first acquire the initial weld bead and weld reference positioning points of the arc weld to be welded. The initial weld bead includes multiple initial weld trajectory feature points. Then, in the base coordinate system, the reference position information of the weld reference positioning points is determined. Based on the reference position information, multiple initial weld trajectory feature points are located in the base coordinate system through their respective offsets to obtain weld trajectory offset feature points. These weld trajectory offset feature points characterize the weld trajectory feature points corresponding to specific layers of the arc weld to be welded. In other words, by relying on the base coordinate system to determine the reference position information of the weld reference positioning points, and using the reference position information as a reference, the purpose of transforming and obtaining the offset weld trajectory feature points of each layer and pass in the base coordinate system is achieved. Finally, through all the weld trajectory offset feature points, the weld to be welded is generated. The target weld trajectory for each layer and pass of the circular arc weld is ultimately used to weld the circular arc weld to be welded by means of the target weld trajectory and the corresponding welding parameters. This allows for the precise positioning of the weld trajectory for each layer and pass in multi-pass circular arc welding by utilizing spatial position transformation relationships. This effectively avoids the inter-layer deviation problem caused by environmental interference and the positioning accuracy of subsequent weld passes. In other words, the welding robot can effectively complete multi-pass circular arc welding. Therefore, it overcomes the technical defects of 3D camera recognition accuracy being easily affected by ambient light, and the inability to accurately locate the position of the initial bottom weld pass during weld recognition, which leads to a lack of accurate basis for path planning for each layer of weld pass, resulting in irregular weld formation and insufficient dimensional accuracy. Therefore, it improves the welding effect of welding robot for multi-pass circular arc welding. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a flowchart illustrating a multi-pass arc welding method in one embodiment;

[0047] Figure 2 This is a reference schematic diagram of the circular arc weld seam to be welded in a multi-pass circular arc welding method in one embodiment;

[0048] Figure 3 This is a reference diagram of the weld reference positioning point for a multi-pass arc welding method in one embodiment;

[0049] Figure 4A flowchart of a circular-arc multi-layer pass welding method in another embodiment;

[0050] Figure 5 A structural block diagram of a circular-arc multi-layer pass welding device in an embodiment;

[0051] Figure 6 An internal structural diagram of a computer device in an embodiment. DETAILED DESCRIPTION

[0052] In order to make the purposes, technical solutions and advantages of the present application clearer, further detailed description will be made to the present application in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0053] First of all, it should be understood that in the field of welding, the weld of a welding piece is not necessarily a standard straight line, for example, the shape of the weld of some welding pieces is a circular arc, and at the same time, in the case of a relatively thick welding piece, a multi-layer multi-pass welding process needs to be used, that is, the welding process for this type of process can be called circular-arc multi-layer pass welding. It can be understood that in the process of circular-arc multi-layer pass welding, the welding track of each layer and each pass is not the same. Except for the initial weld of the bottom, each subsequent weld needs to be offset according to the position of the initial weld, and the direction and absolute distance of the offset at any position of the weld need to be consistent. At present, the multi-layer pass welding of a welding piece is usually completed in the following way: first, a 3D camera or a laser device is used to scan the welding piece, identify the weld and obtain its three-dimensional information, and then the path and welding process parameters of each layer of weld are planned according to the three-dimensional information. In the subsequent welding process, the welding robot executes the pre-set program, and the laser vision system tracks the geometric features of the weld in real time, so as to adjust the welding gun track and posture until the welding of all layers and all passes of the weld is completed. However, since the recognition accuracy of the 3D camera is easily affected by the environment light, and only the position of the initial weld of the bottom can be determined in the process of weld recognition, the position of the subsequent weld cannot be accurately positioned, which leads to the lack of accurate basis for the path planning of each layer of weld, and thus the irregular weld forming and insufficient dimensional accuracy are easily caused. Therefore, there is an urgent need for a circular-arc multi-layer pass welding method that can improve the welding effect of a welding robot in circular-arc multi-layer pass welding.

[0054] In one embodiment, as Figure 1As shown, a circular arc multi-layer pass welding method is provided, and in this embodiment, the method is applied to a welding robot. Specifically, the welding robot can include an electric box, a mechanical arm body, a welding power source, a welding gun, and the like. The electric box is a core control device for controlling the movement trajectory of the mechanical arm of the robot. The electric box can be integrated with a controller, a driving module, a power module, and various interface circuits inside. The electric box is connected to the mechanical arm, and the movement trajectory of the mechanical arm can be controlled through the electric box. The electric box can also be connected to one end of the welding machine, and welding commands such as arc striking and arc stopping can be sent to the welding machine through the electric box. The other end of the welding machine is connected to one end of the welding gun, and the other end of the welding gun is bound to the end of the mechanical arm. During the welding process, the welding gun moves with the movement of the mechanical arm. The electric box can also be connected to a teach pendant, and point positions and layer height information of the welding can be issued through the teach pendant. It can be understood that the welding robot can also include an acquisition module, a determination module, a positioning module, a generation module, and a welding module. The acquisition module is used to acquire the initial welding pass and the welding seam reference positioning point of the circular arc welding seam to be welded. The initial welding pass includes a plurality of initial welding seam trajectory feature points. The determination module is used to determine the reference position information of the welding seam reference positioning point in the base coordinate system. The positioning module is used to position the welding seam trajectory offset feature points obtained by offsetting the plurality of initial welding seam trajectory feature points in the base coordinate system according to the reference position information. The welding seam trajectory offset feature points represent the corresponding welding seam trajectory feature points on the specific layer pass of the circular arc welding seam to be welded. The generation module is used to generate the target welding seam trajectory of each layer and each pass of the circular arc welding seam to be welded according to all the welding seam trajectory offset feature points. The welding module is used to weld the circular arc welding seam to be welded according to the target welding seam trajectory and the corresponding welding parameters. Thus, the reference position information of the welding seam reference positioning point is determined in the base coordinate system, and the offset welding seam trajectory feature points of each layer and each pass are converted in the base coordinate system with reference to the reference position information. Finally, the spatial position conversion relationship is used to accurately position the welding seam trajectory of each layer and each pass in the circular arc multi-layer pass welding. Therefore, the layer deviation problem caused by environmental interference and subsequent welding pass positioning accuracy can be effectively avoided, thereby improving the welding effect of the welding robot in the circular arc multi-layer pass welding. In this embodiment, the method includes the following steps 202 to 210.

[0055] Step 202, acquiring the initial welding pass and the welding seam reference positioning point of the circular arc welding seam to be welded, wherein the initial welding pass includes a plurality of initial welding seam trajectory feature points.

[0056] It should be noted that the to-be-welded circular arc weld is an arc-shaped weld that needs to be welded in multiple layers, and the to-be-welded circular arc weld is a target area for the welding robot to work on. The to-be-welded circular arc weld includes at least one of an independent circular arc weld, a first combined weld formed by a straight line and a circular arc, a second combined weld formed by a circular arc and a straight line, and a third combined weld formed by a circular arc and a circular arc. For example, the to-be-welded circular arc weld can be a pipe around or a pressure vessel circular arc joint, etc. For example, in an implementable manner, refer to Figure 2 , Figure 2 for a reference diagram of the to-be-welded circular arc weld, wherein 21 is an independent circular arc weld, 22 is a first combined weld, 23 is a second combined weld, and 24 is a third combined weld. It can be understood that the angle of the to-be-welded circular arc weld is not limited and can be any angle. If the to-be-welded circular arc weld is the first combined weld or the second combined weld, it is necessary to ensure that the circular arc weld and the straight line weld in the first combined weld and the second combined weld are tangent to each other, so as to accurately control the offset amount of the weld track of different layers in the subsequent process. In addition, the type of the to-be-welded circular arc weld is not limited in the embodiment, and the to-be-welded circular arc weld can be a right-angle type weld. Any layer of the to-be-welded circular arc weld can be determined by three or more points. For example, in an implementable manner, for a specific welding pass A of a layer, there are track points E, S and M, and the welding track of the welding pass A can be determined based on the three track points.

[0057] It should be noted that the initial welding pass is the first welding pass in the multi-layer welding, and the initial welding pass can provide a basis for the determination of subsequent welding passes. The forming quality of the initial welding pass will directly affect the interlayer fusion between different layers and the overall weld strength. The initial welding pass includes a plurality of initial welding track feature points. The initial welding track feature points represent discrete key points that constitute the initial welding pass track, and can include a welding start point, a welding intermediate point and a welding termination point of the initial welding pass. The welding reference positioning point represents a key reference point for determining the welding coordinate system, and is the core of establishing the entire circular arc weld space positioning reference. For example, in an implementable manner, refer to Figure 3 , Figure 3 for a reference diagram of the welding reference positioning point, wherein P1, P2 and P3 can all be referred to as welding reference positioning points.

[0058] As an example, step 202 includes teaching the welding robot to weld the to-be-welded circular arc weld by the teaching device, determining the initial welding pass of the to-be-welded circular arc weld according to the track start point, the track intermediate point and the track termination point, and teaching the welding robot to weld the welding reference positioning point of the to-be-welded circular arc weld by the teaching device. The plurality of initial welding track feature points include the track start point, the track intermediate point and the track termination point.

[0059] Step 204, determine the reference position information of the weld reference positioning point in the base coordinate system.

[0060] It should be noted that the base coordinate system refers to a three-dimensional rectangular coordinate system established with the welding robot as the origin, and the reference position information is used, which can be a spatial reference coordinate. By determining the reference position information of the weld reference positioning point in the base coordinate system, a basis can be provided for the subsequent offset of the trajectory points. Specifically, the weld reference positioning point can include a first weld reference positioning point P4, a second weld reference positioning point P5, and a third weld reference positioning point P6. Thus, the initial weld trajectory feature points in the base coordinate system can be positioned by the positional correlation between the first weld reference positioning point, the second weld reference positioning point, and the third weld reference positioning point. The first weld reference positioning point, the second weld reference positioning point, and the third weld reference positioning point are not collinear.

[0061] As an example, step 204 includes obtaining the respective reference position information of the first weld reference positioning point, the second weld reference positioning point, and the third weld reference positioning point in the base coordinate system.

[0062] Step 206, according to the reference position information, position the weld trajectory offset feature points obtained by the respective offset of the plurality of initial weld trajectory feature points in the base coordinate system, wherein the weld trajectory offset feature points represent the corresponding weld trajectory feature points on the specific layer of the to-be-welded circular arc weld.

[0063] It should be noted that based on the differences in welding process requirements, such as interlayer thickness or groove filling amount, the initial weld trajectory feature points are adjusted in the base coordinate system. Specifically, the trajectory offset uses the offset of the Base coordinate system, so the offset values of different initial weld trajectory feature points are different. The weld trajectory offset feature points represent the corresponding weld trajectory feature points on the specific layer of the to-be-welded circular arc weld. Specifically, the weld trajectory offset feature points can be the weld trajectory feature points of the second layer second pass or the weld trajectory feature points of the third layer second pass, etc.

[0064] As an example, step 206 includes adjusting the plurality of initial weld trajectory feature points according to the reference position information in the base coordinate system to obtain the respective weld trajectory offset feature points.

[0065] Step 208, according to all the weld trajectory offset feature points, generate the target weld trajectory of each layer and each pass of the to-be-welded circular arc weld.

[0066] It should be noted that after obtaining all the weld seam track offset feature points, the weld seam track offset feature points of the same layer and the same pass can be fitted and continuous processing, so as to obtain the complete layer pass track, for example, in an implementable manner, assuming that the third layer of the weldment circular arc weld needs to be completed in three passes, then all the weld seam track offset feature points P3-4, P3-4 and P3-5 of the third layer of the third pass can be understood as the weld seam track offset feature points of the same layer and the same pass, preferably, the number of weld seam track offset feature points of each target weld seam track can be greater than or equal to 3, and the target weld seam track refers to any layer and any pass of the weld seam track fitted in the multi-layer pass welding.

[0067] As an example, step 208 includes fitting the weld seam track offset feature points of the same layer and the same pass in all the weld seam track offset feature points to obtain the target weld seam track of each layer and each pass of the to-be-welded circular arc weld.

[0068] Step 210, according to the target weld seam track and the corresponding welding parameters, the to-be-welded circular arc weld is welded.

[0069] It should be noted that the welding parameters include the welding angle height, the total height of the weld, the thickness of each layer of the weld, the thickness of each pass in each layer, the number of layers of the weld, and the number of passes of the weld in each layer, etc. It can be understood that the total height of the to-be-welded circular arc weld is determined by the user through the teach pendant, the thickness of each layer of the to-be-welded circular arc weld is determined by the user through the teach pendant, and the number of layers of the to-be-welded circular arc weld is determined by the ratio of the total height of the to-be-welded circular arc weld to the thickness of each layer. It can be understood that the initial pass is usually one, that is, the first layer of the to-be-welded circular arc weld has one pass, and from the second layer, the number of passes in each layer defaults to be consistent with the number of layers, so the second layer has two passes. At the same time, the user can also customize the number of passes of the second layer and subsequent layers of the to-be-welded circular arc weld through the teach pendant, wherein the first pass of the first layer of the to-be-welded circular arc weld is not offset, and the to-be-welded circular arc weld starts from the second layer, and each layer is offset based on the initial pass of the first layer of the first layer. The distance of the circular arc after the offset of the to-be-welded circular arc weld is equal to the distance of the circular arc track taught by the teach pendant.

[0070] As an example, step 210 includes: starting from the first layer and the first pass of the to-be-welded circular arc weld, starting the arc when each pass of the weld is welded according to the target weld seam track and the corresponding welding parameters, and ending the arc after each pass of the weld is welded, until all the layer pass welding is completed.

[0071] In an implementable manner, assuming that the total height of the to-be-welded circular arc weld is , the welding thickness of each layer of the to-be-welded circular arc weld is , then the expression of the to-be-welded circular arc weld is as follows:

[0072]

[0073] The above-mentioned arc multi-layer welding method first obtains an initial welding bead and a welding seam reference positioning point of the to-be-welded arc welding seam, wherein the initial welding bead includes a plurality of initial welding seam trajectory feature points; then, in the base coordinate system, the reference position information of the welding seam reference positioning point is determined, and according to the reference position information, the welding seam trajectory offset feature points obtained by offsetting the plurality of initial welding seam trajectory feature points are positioned in the base coordinate system, wherein the welding seam trajectory offset feature points represent the corresponding welding seam trajectory feature points on the specific layer of the to-be-welded arc welding seam, that is, the reference position information of the welding seam reference positioning point is determined in the base coordinate system, and the purpose of converting the offset welding seam trajectory feature points of each layer and each pass in the base coordinate system is achieved with the reference position information as a reference; then, through all the welding seam trajectory offset feature points, the target welding seam trajectory of each layer and each pass of the to-be-welded arc welding seam is generated; finally, through the target welding seam trajectory and the welding parameters corresponding to the target welding seam trajectory, the to-be-welded arc welding seam is welded, so as to utilize the spatial position conversion relationship to achieve the purpose of accurate positioning of the welding seam trajectory of each layer and each pass in the arc multi-layer welding, effectively avoiding the layer deviation problem caused by environmental interference and subsequent welding pass positioning accuracy, that is, the welding robot can effectively complete the arc multi-layer welding, so as to overcome the technical defects that the recognition accuracy of the 3D camera is easily affected by environmental light, and only the position of the bottom initial welding bead can be determined in the welding seam recognition process, the position of the subsequent welding bead cannot be accurately positioned, the path planning for each layer of welding bead lacks accurate basis, and the welding seam forming is irregular and the size accuracy is insufficient, and so on, so as to improve the welding effect of the welding robot in the arc multi-layer welding.

[0074] In one embodiment, as shown in Figure 4 the plurality of initial welding seam trajectory feature points include an initial welding seam trajectory starting point, and the welding seam trajectory offset feature points include a first welding seam trajectory offset feature point obtained by offsetting the initial welding seam trajectory starting point; according to the reference position information, the welding seam trajectory offset feature points obtained by offsetting the plurality of initial welding seam trajectory feature points are positioned in the base coordinate system, wherein the welding seam trajectory offset feature points represent the corresponding welding seam trajectory feature points on the specific layer of the to-be-welded arc welding seam, including:

[0075] In step 302, according to the reference position information, the first offset vector in the first preset direction and the second offset vector in the second preset direction of the initial welding seam trajectory starting point in the base coordinate system are determined, wherein the first preset direction and the second preset direction are perpendicular to each other.

[0076] It should be noted that the initial weld seam trajectory starting point represents the starting position of the first layer first pass of the to-be-welded circular arc weld seam without any offset adjustment, the first preset direction and the second preset direction are two mutually perpendicular spatial directions preset in the base coordinate system, specifically, the first preset direction can be the x-axis direction, and the second preset direction can be the y-axis direction, corresponding to the to-be-welded circular arc weld seam, the first preset direction can be perpendicular to the length direction of the to-be-welded circular arc weld seam, and the second preset direction can be parallel to the direction in which the weld layer number increases; the first offset vector and the second offset vector both belong to the offset vector, the offset vector refers to the displacement from the initial weld seam trajectory starting point to the starting point of a pass of a certain layer in the corresponding preset direction, and specifically can include a direction and a distance value, wherein the first offset vector corresponds to the first preset direction, and the second offset vector corresponds to the second preset direction; it can be understood that the to-be-welded circular arc weld seam is welded from the first layer in the welding process, and then all layers are welded in turn from the second layer, and at the same time, the first pass of each layer starts from the bottom right angle edge, and the last pass ends at the vertical right angle edge, and from the second layer, the offset of each pass is not only the offset in the horizontal direction, but also the offset in the vertical direction, or a combination of the two directions, and from the second layer, to ensure the welding effect, the first pass of each layer can be welded from the horizontal direction of the right angle weld seam.

[0077] For ease of understanding, the expressions of different variables in the base coordinate system are defined, wherein for a point, an arbitrary combination of letters and numbers is used for identification, for example, letters in front of numbers, that is, the first letter represents the type of the point, and the second letter represents the layer number of the to-be-welded circular arc weld seam, and the third letter represents the pass number of the to-be-welded circular arc weld seam. represents a point in a three-dimensional coordinate system , represents the straight-line distance of a line segment from a point to a point , represents the vector from a point to a point , represents the vector from a point to a point , the layer number of the to-be-welded circular arc weld seam can start from 1, the pass number of each layer of the to-be-welded circular arc weld seam can also start from 1, and the initial trajectory of the to-be-welded circular arc weld seam can be determined by three teaching points, the first pass of the first layer follows the trajectory, and each subsequent pass has three points with offset, and the three weld seam trajectory offset feature points obtained after offset are used to determine a new circular arc trajectory, wherein the offset is represented by a three-tuple, which represents the change amount of the three coordinate axes in the three-dimensional coordinate system.

[0078] In an implementable manner, from the second layer of the to-be-welded circular arc weld seam, the initial offset of each pass is determined according to the three weld seam shape points of the teaching, wherein the three weld seam reference positioning points are set as , and , It is a right-angle point. and These are the direction points of the two right-angled sides, through , and A unique right triangle can be identified, and the feature points of weld trajectory offset can be located through this right triangle.

[0079] As an example, step 302 includes: calculating a first offset vector of the starting point of the initial weld trajectory in a first preset direction in the base coordinate system based on the reference position information, and calculating a second offset vector of the starting point of the initial weld trajectory in a second preset direction in the base coordinate system based on the reference position information, wherein the first preset direction and the second preset direction are perpendicular to each other.

[0080] In one feasible approach, the normal vector can be calculated based on the three weld reference points on the circular arc. The radius of the initial arc shown in the demonstration The circular arc weld to be welded consists of N layers, thus forming a straight line. and Average score Share, assuming in The points of equal division in the direction are ,exist The points of equal division in the direction are Then the nth layer is The offset vector in the direction is shown below:

[0081]

[0082] in, That is, the first offset vector; similarly, the nth layer... The offset vector in the direction is shown below:

[0083]

[0084] in, This is the second offset vector.

[0085] Step 304: Determine the weld plane vector corresponding to the starting point of the initial weld trajectory based on the first offset vector and the second offset vector.

[0086] As an example, step 304 includes: calculating the weld plane vector corresponding to the starting point of the initial weld trajectory by inputting the first offset vector and the second offset vector together into a first preset expression, wherein the first preset expression is as follows:

[0087]

[0088] wherein, is a first offset vector, is a second offset vector, is a weld bead plane vector.

[0089] At step 306, an initial offset vector corresponding to the initial weld bead trajectory starting point is generated according to the weld bead plane vector and a preset interlayer offset parameter.

[0090] As an example, step 306 includes: calculating the initial offset vector corresponding to the initial weld bead trajectory starting point by inputting the weld bead plane vector and the preset interlayer offset parameter into a second preset expression, wherein the second preset expression is as follows:

[0091]

[0092] wherein, the preset interlayer parameter includes a total amount of bead numbers of a specific layer and a bead number of a specific bead, is the initial offset vector, is the bead number, is the total amount of bead numbers, is the second offset vector, is the weld bead plane vector.

[0093] At step 308, the initial weld bead trajectory starting point is converted into a first weld bead trajectory offset feature point according to the initial offset vector in the base coordinate system.

[0094] As an example, step 308 includes: inputting the initial offset vector into a third preset expression to calculate the first weld bead trajectory offset feature point in the base coordinate system, wherein the third preset expression is as follows:

[0095]

[0096] wherein, is the first weld bead trajectory offset feature point, is the initial weld bead trajectory starting point, is the initial offset vector.

[0097] In the embodiment, in the process of obtaining the first weld seam trajectory offset feature point after the initial weld seam trajectory starting point is offset, first, based on the reference position information, a first offset vector of the initial weld seam trajectory starting point in a first preset direction and a second offset vector of the initial weld seam trajectory starting point in a second preset direction are respectively calculated, wherein the first preset direction and the second preset direction are perpendicular to each other, and then a weld bead plane vector corresponding to the initial weld seam trajectory starting point is calculated through the first offset vector and the second offset vector, and then an initial offset vector corresponding to the initial weld seam trajectory starting point is calculated through the weld bead plane vector and a preset interlayer offset parameter, and finally, in the base coordinate system, the initial weld seam trajectory starting point is converted based on the initial offset vector to obtain the first weld seam trajectory offset feature point, and then the first weld seam trajectory offset feature point obtained after the initial weld seam trajectory starting point is offset can be determined through the spatial position conversion relationship, thereby laying a foundation for accurately positioning the target weld seam trajectory, and therefore, laying a foundation for improving the welding effect of the arc multi-layer bead welding of the welding robot.

[0098] In one embodiment, the initial weld seam trajectory feature point includes an initial weld seam trajectory passing point, and the weld seam trajectory offset feature point includes a second weld seam trajectory offset feature point obtained after the initial weld seam trajectory passing point is offset; based on the reference position information, weld seam trajectory offset feature points obtained after a plurality of initial weld seam trajectory feature points are respectively offset are positioned in the base coordinate system, wherein the weld seam trajectory offset feature point represents a corresponding weld seam trajectory feature point on a specific layer of the to-be-welded arc weld, and includes:

[0099] Based on the reference position information, the initial weld seam trajectory starting point and the first weld seam trajectory offset feature point, a offset arc radius is determined, wherein the offset arc radius represents the distance between the initial weld seam trajectory starting point and the first weld seam trajectory offset feature point; based on the center of the arc radius corresponding to the initial weld seam trajectory starting point and the first weld seam trajectory offset feature point, an offset feature projection point of the first weld seam trajectory offset feature point in the arc plane is determined; based on the first weld seam trajectory offset feature point and the offset feature projection point, a normal offset amount of the offset vertical offset is determined; based on the center of the arc radius corresponding to the initial weld seam trajectory starting point and the first offset feature point, a plane offset amount of the initial weld seam trajectory passing point in the arc plane is determined; and the second weld seam trajectory offset feature point is obtained by fusing the normal offset amount and the plane offset amount.

[0100] It should be noted that the offset arc radius represents the distance between the initial weld seam trajectory starting point and the first weld seam trajectory offset feature point, for example, in one implementable manner, assuming that the initial weld seam trajectory starting point is , the first weld seam trajectory offset feature point is a weld seam trajectory feature point obtained by offsetting the initial weld seam trajectory starting point by 2 mm in the first preset direction and by 1 mm in the second preset direction, and specifically , the distance between the initial weld seam trajectory starting point and the first weld seam trajectory offset feature point is 3 mm, that is, the offset arc radius is 3 mm; the offset feature projection point refers to a point obtained by vertically projecting the first weld seam trajectory offset feature point onto the plane of the arc, the vertical offset normal offset amount after offset is the thickness direction offset amount perpendicular to the plane of the arc, and the second weld seam trajectory offset feature point is a weld seam trajectory feature point obtained by offsetting the initial weld seam trajectory passing point, wherein the initial weld seam trajectory passing point refers to a series of key feature points on the initial weld seam trajectory path, which can be specifically an initial weld seam trajectory middle point or any non-starting and ending point trajectory feature point. It can be understood that after the offset amount of the initial weld seam trajectory starting point is calculated, the new offset arc radius can be further calculated.

[0101] As an example, the initial weld seam trajectory starting point and the first weld seam trajectory offset feature point are jointly input into a fourth preset expression to calculate the offset arc radius, wherein the fourth preset expression is as follows:

[0102]

[0103] wherein, is the offset arc radius, S is the initial weld seam trajectory starting point, is the first weld seam trajectory offset feature point; the offset feature projection point of the first weld seam trajectory offset feature point in the plane of the arc is calculated by jointly inputting the center of the circle corresponding to the offset arc radius, the initial weld seam trajectory starting point and the first weld seam trajectory offset feature point into a fifth preset expression, wherein the fifth preset expression is as follows:

[0104]

[0105] wherein, is the offset feature projection point, B is the center of the circle corresponding to the arc radius, is the first weld seam trajectory offset feature point; the normal offset amount of the vertical offset after offset is calculated by jointly inputting the first weld seam trajectory offset feature point and the offset feature projection point into a sixth preset expression, wherein the sixth preset expression is as follows:

[0106]

[0107] wherein, is the normal offset amount, which can also be referred to as a lifting vector, is the lifting height of the initial weld seam trajectory passing point after offset, which is specifically determined by the first weld seam trajectory offset feature point and the offset feature projection point, The normal vector of the circular arc is specifically obtained by lifting the height and the normal vector of the circular arc, the normal vector is normalized, and the vector is multiplied by the lifting height, that is, the lifting vector. It can be understood that the initial weld seam trajectory feature point also includes an initial weld seam trajectory end point, and the initial weld seam trajectory passing point and the initial weld seam trajectory end point have the same lifting vector. According to the center of the circular arc corresponding to the circular arc radius, the initial weld seam trajectory starting point and the first offset feature point, the plane offset of the initial weld seam trajectory passing point in the circular arc plane is determined, wherein the plane offset can be expressed as ; the normal offset and the plane offset are jointly input into the seventh preset expression, and the second weld seam trajectory offset feature point is calculated, wherein the seventh preset expression is as follows:

[0108]

[0109]

[0110] wherein, is the plane offset, is the second weld seam trajectory offset feature point, is the normal offset; it can be understood that since is equal to , the plane offset can be calculated by the ratio of B and S.

[0111] In the embodiment, in the process of obtaining the second weld seam trajectory offset feature point after the initial weld seam trajectory passing point is offset, first, the offset circular arc radius is determined based on the reference position information, the initial weld seam trajectory starting point and the first weld seam trajectory offset feature point, and then the offset feature projection point is further determined depending on the center of the circular arc corresponding to the circular arc radius, the initial weld seam trajectory starting point and the first weld seam trajectory offset feature point. Finally, after the plane offset and the normal offset are obtained respectively, the second weld seam trajectory offset feature point is fused to determine the second weld seam trajectory offset feature point after the initial weld seam trajectory passing point is offset, so as to lay a foundation for accurately positioning the target weld seam trajectory. Therefore, it lays a foundation for improving the welding effect of the arc multi-layer welding of the welding robot.

[0112] In one embodiment, the plane offset of the initial weld seam trajectory passing point in the circular arc plane is determined according to the center of the circular arc corresponding to the circular arc radius, the initial weld seam trajectory starting point and the first offset feature point, comprising:

[0113] ​a projection ratio of the offset feature projection point on a vector formed by the circle center and the initial weld seam trajectory starting point is obtained; a first vector length formed by the circle center and the initial weld seam trajectory starting point is determined, and a second vector length formed by the circle center and the offset feature projection point is determined; and a planar offset is obtained by fusing the first vector length, the second vector length and the projection ratio.

[0114] It should be noted that the vector formed by the circle center and the initial weld seam trajectory starting point can be understood as a reference vector, and the projection ratio represents the projection length of the offset feature projection point on the reference vector; the first vector length represents the length of the vector formed by the circle center and the initial weld seam trajectory starting point, and the second vector length represents the length of the vector formed by the circle center and the offset feature projection point.

[0115] As an example, a projection ratio of the offset feature projection point on a vector formed by the circle center and the initial weld seam trajectory starting point is obtained; a first vector length formed by the circle center and the initial weld seam trajectory starting point is determined, and a second vector length formed by the circle center and the offset feature projection point is determined, wherein the first vector length is denoted as , and the second vector length is denoted as ; the planar offset is calculated by inputting the first vector length, the second vector length and the projection ratio into a fifth preset expression, wherein the fifth preset expression is as follows:

[0116]

[0117] wherein is the first vector length, is the second vector length.

[0118] In an implementable manner, for the initial weld seam trajectory ending point, the same manner as described above can be used to determine a third weld seam trajectory offset feature point obtained by offsetting the initial weld seam trajectory ending point, and the specific manner is as follows:

[0119]

[0120] wherein is the third weld seam trajectory offset feature point, B is the circle center, is the normal offset; the offset of the initial weld seam trajectory ending point .

[0121] In an embodiment, before determining, according to the reference position information, a first offset vector in a first preset direction and a second offset vector in a second preset direction of the initial weld seam trajectory starting point in the base coordinate system, the method further comprises:

[0122] In a case where it is detected that the initial weld seam trajectory feature point and the coordinate origin of the base coordinate system do not coincide, a position conversion relationship between the initial weld seam trajectory feature point and the coordinate origin is determined; and the initial weld seam trajectory feature point is positionally converted according to the position conversion relationship, and the converted initial weld seam trajectory feature point is taken as the initial weld seam trajectory feature point.

[0123] It should be noted that, assuming that the initial weld seam trajectory starting point is S, the initial weld seam trajectory passing point is M, the initial weld seam trajectory ending point is E, the right-angle point in the weld seam reference positioning point is P1, and the other angle points are P2 and P3 respectively, the initial weld seam trajectory feature point and the weld seam reference positioning point can coincide or not coincide, and in a case where the initial weld seam trajectory feature point and the weld seam reference positioning point do not coincide, they can be made to coincide through position conversion, so as to facilitate subsequent calculation of the feature point offset.

[0124] As an example, in a case where it is detected that the initial weld seam trajectory feature point and the coordinate origin of the base coordinate system do not coincide, a position conversion relationship between the initial weld seam trajectory feature point and the coordinate origin is determined; and the initial weld seam trajectory feature point is positionally converted according to the position conversion relationship, and the converted initial weld seam trajectory feature point is taken as the initial weld seam trajectory feature point.

[0125] It can be understood that, for a combined weld seam, for example, there is a straight weld bead after a circular arc weld bead, and the circular arc weld bead and the straight weld bead are tangent to each other, so the offset of the subsequent straight weld bead is also .

[0126] In an implementable manner, assuming that the circular arc weld seam to be welded is a pure circular arc weld seam, the welding process of the pure circular arc weld seam is as follows: 1) the weld seam confirmation points P1, P2 and P3 are recorded by continuously adjusting the position of the robot controlled by the teach pendant; 2) the three point positions S, M and E of the circular arc are taught by the teach pendant, S is the arc starting point, and E is the arc ending point; 3) the welding parameters are set by the teach pendant; 4) the welding angle height and the thickness of each layer are set by the teach pendant; 5) the welding task is issued by the teach pendant; 6) after receiving the welding task, the service in the electric box automatically generates the offset trajectory of each pass; 7) starting from the first pass of the first layer, the arc is started when each pass starts to weld, and the arc is ended after each pass is welded, and all layers and passes are cycled to be welded.

[0127] That is, the reference position information of the weld reference positioning point is determined in the base coordinate system, and the offset weld track feature points of each layer and each pass are converted in the base coordinate system with the reference position information as a reference, and then the target weld track of each layer and each pass of the to-be-welded arc weld is generated through all the weld track offset feature points, and finally the to-be-welded arc weld is welded through the target weld track and the welding parameters corresponding to the target weld track, so that the spatial position conversion relationship is utilized to achieve the purpose of accurate positioning of the weld track of each layer and each pass in the arc multi-layer pass welding, and the interlayer deviation problem caused by environmental interference and subsequent pass positioning accuracy is effectively avoided, that is, the welding robot can effectively complete the arc multi-layer pass welding, so that the welding effect of the welding robot in the arc multi-layer pass welding is improved.

[0128] It should be understood that, although each step in the flowchart involved in each of the above embodiments is displayed in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the flowchart involved in each of the above embodiments can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be alternately executed with at least part of other steps or steps or stages in other steps.

[0129] Based on the same inventive concept, the embodiments of the present application also provide a kind of arc multi-layer pass welding device for realizing the above-mentioned arc multi-layer pass welding method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitation in one or more arc multi-layer pass welding device embodiments provided below can refer to the limitation of the arc multi-layer pass welding method in the above, which will not be repeated here.

[0130] In one exemplary embodiment, as shown in Figure 5 An arc multi-layer pass welding device is provided, comprising: an acquisition module 401, a generation module 402 and a control module 403, wherein:

[0131] The acquisition module 401 is configured to acquire an initial welding pass and a welding seam reference positioning point of the to-be-welded circular-arc welding seam, wherein the initial welding pass comprises a plurality of initial welding seam track feature points.

[0132] The determination module 402 is configured to determine reference position information of the welding seam reference positioning point in a base coordinate system.

[0133] The positioning module 403 is configured to position welding seam track offset feature points of the plurality of initial welding seam track feature points offset from each other according to the reference position information in the base coordinate system, wherein the welding seam track offset feature points represent corresponding welding seam track feature points on a specific layer pass of the to-be-welded circular-arc welding seam.

[0134] The generation module is configured to generate target welding seam tracks of each layer and each pass of the to-be-welded circular-arc welding seam according to all the welding seam track offset feature points.

[0135] The welding module is configured to weld the to-be-welded circular-arc welding seam according to the target welding seam tracks and corresponding welding parameters.

[0136] In one of the embodiments, the plurality of initial welding seam track feature points comprise an initial welding seam track starting point, and the welding seam track offset feature points comprise a first welding seam track offset feature point offset from the initial welding seam track starting point; the positioning module 403 is further configured to:

[0137] determine a first offset vector in a first preset direction and a second offset vector in a second preset direction of the initial welding seam track starting point in the base coordinate system according to the reference position information, wherein the first preset direction and the second preset direction are perpendicular to each other; determine a welding pass plane vector corresponding to the initial welding seam track starting point according to the first offset vector and the second offset vector; generate an initial offset vector corresponding to the initial welding seam track starting point according to the welding pass plane vector and a preset layer offset parameter; and convert the initial welding seam track starting point into the first welding seam track offset feature point in the base coordinate system according to the initial offset vector.

[0138] In one of the embodiments, the plurality of initial welding seam track feature points comprise an initial welding seam track path point, and the welding seam track offset feature points comprise a second welding seam track offset feature point offset from the initial welding seam track path point; the positioning module 403 is further configured to:

[0139] According to the reference position information, the initial weld seam track starting point and the first weld seam track offset feature point, a radius of the offset circular arc is determined, wherein the radius of the offset circular arc represents a distance between the initial weld seam track starting point and the first weld seam track offset feature point; according to a center of the circular arc corresponding to the radius, the initial weld seam track starting point and the first weld seam track offset feature point, an offset feature projection point of the first weld seam track offset feature point on a plane of the circular arc is determined; according to the center of the circular arc corresponding to the radius, the initial weld seam track starting point and the first offset feature point, a plane offset amount of a track passing point of the initial weld seam track on the plane of the circular arc is determined; and by fusing the normal offset amount and the plane offset amount, a second weld seam track offset feature point is obtained.

[0140] In one of the embodiments, the positioning module 403 is further configured to:

[0141] An offset feature projection point is obtained on a vector formed by the center and the initial weld seam track starting point; a first vector length formed by the center and the initial weld seam track starting point is determined, and a second vector length formed by the center and the offset feature projection point is determined; and by fusing the first vector length, the second vector length and a projection ratio, the plane offset amount is obtained.

[0142] In one of the embodiments, the circular-arc multi-layer welding device is further configured to:

[0143] In a case where it is detected that the initial weld seam track feature point and the coordinate origin of the base coordinate system do not coincide, a position conversion relationship between the initial weld seam track feature point and the coordinate origin is determined; the initial weld seam track feature point is positionally converted according to the position conversion relationship, and the converted initial weld seam track feature point is taken as the initial weld seam track feature point.

[0144] The above-mentioned modules in the circular-arc multi-layer welding device can be all or partially realized by software, hardware and combinations thereof. The above-mentioned modules can be embedded in or independent of a processor in a computer device in a hardware form, or can be stored in a memory in the computer device in a software form, so as to be called and executed by a processor to perform operations corresponding to the above-mentioned modules.

[0145] In one exemplary embodiment, a computer device is provided, which can be a terminal, and an internal structure diagram of the computer device can be as shown in Figure 6As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. Among them, the processor, the memory and the input / output interface are connected through the system bus, the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control ability. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with the external terminal in a wired or wireless manner. The wireless manner can be realized through WIFI, mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by the processor to realize a kind of arc multilayer channel welding method. Those skilled in the art can understand, Figure 6 The structure shown in the figure is only the block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0146] In one embodiment, a computer device is also provided, including a memory and a processor, the memory stores a computer program, and the processor executes the computer program to realize the steps in each method embodiment described above.

[0147] In one embodiment, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to realize the steps in each method embodiment described above.

[0148] In one embodiment, a computer program product is provided, which includes a computer program, and the computer program is executed by a processor to realize the steps in each method embodiment described above.

[0149] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0150] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0151] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method for multi-pass welding of circular arcs, characterized in that, The method includes: Obtain the initial weld bead and weld reference positioning point of the circular arc weld to be welded, wherein the initial weld bead includes multiple initial weld trajectory feature points; In the base coordinate system, determine the reference position information of the weld reference positioning point; Based on the reference position information, the weld trajectory offset feature points obtained by offsetting the multiple initial weld trajectory feature points in the base coordinate system are located, wherein the weld trajectory offset feature points represent the weld trajectory feature points corresponding to the specific layer of the circular arc weld to be welded. Based on all weld trajectory offset feature points, generate the target weld trajectory for each layer and pass of the circular arc weld to be welded. Welding is performed on the circular arc weld seam to be welded according to the target weld seam trajectory and the corresponding welding parameters.

2. The method according to claim 1, characterized in that, The plurality of initial weld trajectory feature points include the initial weld trajectory starting point, and the weld trajectory offset feature points include the first weld trajectory offset feature point obtained after offsetting the initial weld trajectory starting point; The step of locating the weld trajectory offset feature points obtained by offsetting the plurality of initial weld trajectory feature points in the base coordinate system according to the reference position information includes: Based on the reference position information, determine the first offset vector of the starting point of the initial weld trajectory in the first preset direction and the second offset vector in the second preset direction in the base coordinate system, wherein the first preset direction and the second preset direction are perpendicular to each other; Based on the first offset vector and the second offset vector, determine the weld plane vector corresponding to the starting point of the initial weld trajectory; Based on the weld plane vector and the preset interlayer offset parameters, an initial offset vector corresponding to the starting point of the initial weld trajectory is generated; In the base coordinate system, the starting point of the initial weld trajectory is converted into the first weld trajectory offset feature point according to the initial offset vector.

3. The method according to claim 2, characterized in that, The initial weld trajectory feature points include the initial weld trajectory path points, and the weld trajectory offset feature points include the second weld trajectory offset feature points obtained after offsetting the initial weld trajectory path points. The step of locating the weld trajectory offset feature points obtained by offsetting the plurality of initial weld trajectory feature points in the base coordinate system according to the reference position information includes: Based on the reference position information, the starting point of the initial weld trajectory, and the first weld trajectory offset feature point, the radius of the offset arc is determined, wherein the radius of the offset arc represents the distance between the starting point of the initial weld trajectory and the first weld trajectory offset feature point; Based on the center of the circle corresponding to the arc radius, the starting point of the initial weld trajectory, and the first weld trajectory offset feature point, determine the offset feature projection point of the first weld trajectory offset feature point on the arc plane; Based on the first weld trajectory offset feature point and the offset feature projection point, determine the normal offset amount of the vertical offset after offset; Based on the center of the circle corresponding to the radius of the arc, the starting point of the initial weld trajectory, and the first offset feature point, determine the plane offset of the path point of the initial weld trajectory in the arc plane; The second weld trajectory offset feature point is obtained by fusing the normal offset and the plane offset.

4. The method according to claim 3, characterized in that, The step of determining the planar offset of the initial weld trajectory path point in the arc plane based on the center of the circle corresponding to the arc radius, the starting point of the initial weld trajectory, and the first offset feature point includes: Obtain the projection ratio of the offset feature projection point on the vector formed by the center of the circle and the starting point of the initial weld trajectory; Determine the length of the first vector formed by the center of the circle and the starting point of the initial weld trajectory, and determine the length of the second vector formed by the center of the circle and the offset feature projection point; The plane offset is obtained by fusing the first vector length, the second vector length, and the projection ratio.

5. The method according to claim 2, characterized in that, Before determining, based on the reference position information, the first offset vector of the initial weld trajectory starting point in the first preset direction and the second offset vector in the second preset direction in the base coordinate system, the method further includes: If the initial weld trajectory feature point and the origin of the base coordinate system are not coincident, determine the position transformation relationship between the initial weld trajectory feature point and the origin of the coordinate system. According to the position transformation relationship, the initial weld trajectory feature points are transformed, and the transformed initial weld trajectory feature points are used as the initial weld trajectory feature points.

6. The method according to claim 1, characterized in that, The circular arc weld to be welded includes at least one of the following: an independent circular arc weld, a first combined weld consisting of straight lines and circular arcs, a second combined weld consisting of circular arcs and straight lines, and a third combined weld consisting of circular arcs and circular arcs.

7. A multi-pass arc welding device, characterized in that, The device includes: The acquisition module is used to acquire the initial weld bead and weld reference positioning point of the circular arc weld to be welded, wherein the initial weld bead includes multiple initial weld trajectory feature points; The determination module is used to determine the reference position information of the weld reference positioning point in the base coordinate system; The positioning module is used to locate the weld trajectory offset feature points obtained by offsetting the multiple initial weld trajectory feature points in the base coordinate system according to the reference position information, wherein the weld trajectory offset feature points represent the weld trajectory feature points corresponding to the specific layer of the arc weld to be welded. The generation module is used to generate the target weld trajectory for each layer and pass of the circular arc weld to be welded based on all weld trajectory offset feature points. The welding module is used to weld the circular arc weld to be welded according to the target weld trajectory and the corresponding welding parameters.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the 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, it implements the steps of the method according to any one of claims 1 to 6.

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