Workpiece welding method, device and system, readable storage medium and program product

Abstract

The invention relates to a workpiece welding method, device and system, a readable storage medium and a program product. The method comprises the steps that under the condition that the groove type of a weld joint formed between multiple workpieces is a V-shaped groove, welding teaching posture information corresponding to an initial weld bead between the multiple workpieces and teaching deviation position information and teaching deviation angle information of at least one current weld bead between the multiple workpieces relative to a previous weld bead are obtained; according to the welding teaching posture information and teaching deviation position information and teaching deviation angle information of the at least one current welding bead relative to the previous welding bead, welding posture information of the corresponding at least one current welding bead is detected; and based on the welding teaching posture information, the welding robot is controlled to conduct welding among the multiple workpieces along the initial welding bead, and based on the at least one piece of welding posture information, the welding robot is controlled to conduct welding among the multiple workpieces along the corresponding current welding bead. By adopting the method, workpiece welding can be accurately realized.

Description

Technical Field

[0001] This application relates to the field of workpiece welding technology, and in particular to a workpiece welding method, apparatus, system, readable storage medium, and program product. Background Technology

[0002] In the field of welding, for workpieces with wide bevels and large thicknesses, the weld seam is often also large. Welding only once cannot meet the requirements of high quality. Such structures require welding many passes, and the welding posture requirements for different passes are different.

[0003] In traditional techniques, for workpieces with wide bevels and large thicknesses (such as butt joints of thick steel plates, circumferential seams of pressure vessels, etc.), for example, if the weld formed between the workpieces is a V-shaped bevel, the weld needs to be divided into multiple layers (along the thickness direction), and each layer is further divided into multiple passes (along the width direction) for welding. Moreover, for each weld pass, multiple passes need to be welded manually, one layer at a time.

[0004] However, current workpiece welding methods are not accurate enough. Summary of the Invention

[0005] Therefore, it is necessary to provide an accurate workpiece welding method, apparatus, system, readable storage medium, and program product to address the aforementioned technical problems.

[0006] In a first aspect, this application provides a workpiece welding method, comprising:

[0007] When the groove type of the weld formed between multiple workpieces is V-groove, the welding teaching posture information corresponding to the starting weld bead between the multiple workpieces is obtained, as well as the teaching offset position information and teaching offset angle information of at least one current weld bead between the multiple workpieces relative to the previous weld bead. The weld includes multiple weld beads, and the multiple weld beads include at least the starting weld bead.

[0008] Based on the welding teaching posture information, the teaching offset position information and teaching offset angle information of at least one current weld bead relative to the previous weld bead, the welding posture information of at least one corresponding current weld bead is detected.

[0009] Based on the welding teaching posture information, the welding robot is controlled to weld between multiple workpieces along the starting weld bead, and based on at least one welding posture information, the welding robot is controlled to weld between multiple workpieces along the corresponding current weld bead.

[0010] In one embodiment, based on at least one welding posture information, a welding robot is controlled to weld between multiple workpieces along the corresponding current weld bead, including:

[0011] Obtain the teach weld markings for multiple weld passes;

[0012] The welding sequence of the welding robot is tested to ensure that the weld markings match the teaching weld markings.

[0013] Based on at least one welding posture information, the welding robot is controlled to weld between multiple workpieces sequentially along the corresponding current weld bead according to the welding sequence.

[0014] In one embodiment, based on the welding teaching posture information, the teaching offset position information and teaching offset angle information of at least one current weld bead relative to the previous weld bead, the welding posture information of at least one current weld bead is detected, including:

[0015] Next weld offset detection step: From at least one current weld offset position information and teaching offset angle information relative to the previous weld, obtain the target offset position information and target offset angle information of the target weld relative to the starting weld, where the target weld is the next weld of the starting weld.

[0016] Based on the welding teaching posture information, target offset position information, and target offset angle information, detect the welding posture information corresponding to the target weld bead;

[0017] The target weld bead is used as the new starting weld bead, and the next weld bead of the target weld bead is used as the new target weld bead. The process returns to the next weld bead offset detection step until there is no next weld bead of the target weld bead, thus obtaining the welding posture information of all weld beads.

[0018] In one embodiment, the welding teaching posture information of the starting weld bead includes first welding posture information of a first starting point and second welding posture information of a first ending point, and the welding posture information corresponding to the target weld bead includes third welding posture information corresponding to a second starting point and fourth welding posture information corresponding to a second ending point; based on the welding teaching posture information, target offset position information, and target offset angle information, the welding posture information corresponding to the target weld bead is detected, including:

[0019] The weld offset amount of the target weld is detected based on the teaching offset position information and teaching offset angle information of the target weld relative to the starting weld.

[0020] Based on the weld offset and the first welding posture information, the third welding posture information corresponding to the second starting point is obtained;

[0021] Based on the weld offset and the second welding posture information, the fourth welding posture information corresponding to the second end point is obtained.

[0022] In one embodiment, the first welding posture information includes the initial teaching position component information and the initial teaching angle component information corresponding to each of the multiple coordinate axes, and the weld offset includes the offset position component information and the offset angle component information corresponding to each of the multiple coordinate axes, wherein the coordinate axes are multiple coordinate axes in the welding coordinate system of the welding robot;

[0023] Based on the weld offset and the first welding posture information, the third welding posture information corresponding to the second starting point is obtained, including:

[0024] Based on the initial teaching position component information and offset position component information corresponding to the same coordinate axis, detect the initial position component information of the second starting point;

[0025] Based on the starting teaching angle component information and offset angle component information corresponding to the same coordinate axis, detect the starting angle component information of the second starting point;

[0026] Based on the initial position component information and the initial angle component information, the third welding posture information corresponding to the second starting point is detected.

[0027] In one embodiment, the teaching offset position information includes first offset position component information corresponding to the first coordinate axis, second offset position component information corresponding to the second coordinate axis, and third offset position component information corresponding to the third coordinate axis; the teaching offset angle information includes first offset angle component information corresponding to the first coordinate axis, second offset angle component information corresponding to the second coordinate axis, and third offset angle component information corresponding to the third coordinate axis.

[0028] Based on the teaching offset position and teaching offset angle information of the target weld bead relative to the starting weld bead, the weld bead offset amount of the target weld bead is detected, including:

[0029] The weld offset of the target weld is detected based on the first offset position component information, the second offset position component information, the third offset position component information, the first offset angle component information, the second offset angle component information, and the third offset angle component information.

[0030] Secondly, this application also provides a workpiece welding apparatus, comprising:

[0031] The teaching module is used to acquire the welding teaching posture information corresponding to the starting weld bead between multiple workpieces when the bevel type of the weld seam formed between multiple workpieces is V-groove, as well as the teaching offset position information and teaching offset angle information of at least one current weld bead between multiple workpieces relative to the previous weld bead. The weld seam includes multiple weld beads, and the multiple weld beads include at least the starting weld bead.

[0032] The offset information processing module is used to detect the welding posture information of at least one current weld bead based on the welding teaching posture information, the teaching offset position information and the teaching offset angle information of at least one current weld bead relative to the previous weld bead.

[0033] The welding module is used to control the welding robot to weld between multiple workpieces along the starting weld bead based on welding teaching posture information, and to control the welding robot to weld between multiple workpieces along the corresponding current weld bead based on at least one welding posture information.

[0034] Thirdly, this application also provides a workpiece welding system, the system comprising:

[0035] Welding robots are used to weld between multiple workpieces along corresponding weld lines;

[0036] The controller, connected to the welding robot, is used for:

[0037] When the groove type of the weld formed between multiple workpieces is V-groove, the welding teaching posture information corresponding to the starting weld bead between the multiple workpieces is obtained, as well as the teaching offset position information and teaching offset angle information of at least one current weld bead between the multiple workpieces relative to the previous weld bead. The weld includes multiple weld beads, and the multiple weld beads include at least the starting weld bead.

[0038] Based on the welding teaching posture information, the teaching offset position information and teaching offset angle information of at least one current weld bead relative to the previous weld bead, the welding posture information of at least one corresponding current weld bead is detected.

[0039] Based on the welding teaching posture information, the welding robot is controlled to weld between multiple workpieces along the starting weld bead, and based on at least one welding posture information, the welding robot is controlled to weld between multiple workpieces along the corresponding current weld bead.

[0040] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0041] When the groove type of the weld formed between multiple workpieces is V-groove, the welding teaching posture information corresponding to the starting weld bead between the multiple workpieces is obtained, as well as the teaching offset position information and teaching offset angle information of at least one current weld bead between the multiple workpieces relative to the previous weld bead. The weld includes multiple weld beads, and the multiple weld beads include at least the starting weld bead.

[0042] Based on the welding teaching posture information, the teaching offset position information and teaching offset angle information of at least one current weld bead relative to the previous weld bead, the welding posture information of at least one corresponding current weld bead is detected.

[0043] Based on the welding teaching posture information, the welding robot is controlled to weld between multiple workpieces along the starting weld bead, and based on at least one welding posture information, the welding robot is controlled to weld between multiple workpieces along the corresponding current weld bead.

[0044] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0045] When the groove type of the weld formed between multiple workpieces is V-groove, the welding teaching posture information corresponding to the starting weld bead between the multiple workpieces is obtained, as well as the teaching offset position information and teaching offset angle information of at least one current weld bead between the multiple workpieces relative to the previous weld bead. The weld includes multiple weld beads, and the multiple weld beads include at least the starting weld bead.

[0046] Based on the welding teaching posture information, the teaching offset position information and teaching offset angle information of at least one current weld bead relative to the previous weld bead, the welding posture information of at least one corresponding current weld bead is detected.

[0047] Based on the welding teaching posture information, the welding robot is controlled to weld between multiple workpieces along the starting weld bead, and based on at least one welding posture information, the welding robot is controlled to weld between multiple workpieces along the corresponding current weld bead.

[0048] The aforementioned workpiece welding method, apparatus, system, computer-readable storage medium, and computer program product, because the weld seam corresponding to the V-groove requires a change in posture for each weld pass, can accurately detect the welding posture information of at least one current weld pass relative to the previous weld pass by combining the teaching offset position information and teaching offset angle information of at least one current weld pass with the welding teaching posture information corresponding to the starting weld pass. Based on the welding teaching posture information and at least one welding posture information, the welding robot can be controlled to accurately weld along the corresponding weld pass between multiple workpieces. The entire process is simple and convenient to operate, and does not require high professional skills from the operator. In other words, ordinary operators can accurately weld workpieces using the above method to improve welding quality. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 This is a diagram illustrating the application environment of a workpiece welding method in one embodiment;

[0051] Figure 2 This is a schematic flowchart of a workpiece welding method in one embodiment;

[0052] Figure 3 This is a flowchart illustrating the workpiece welding method in another embodiment;

[0053] Figure 4 This is a schematic diagram of a V-groove weld between workpiece A and workpiece B in one embodiment;

[0054] Figure 5 This is a schematic diagram illustrating the welding posture information of the welding torch for the initial weld bead 1, weld bead 2, and weld bead 3 in one embodiment.

[0055] Figure 6 This is a structural block diagram of the workpiece welding device in one embodiment;

[0056] Figure 7 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application.

[0058] The workpiece welding method provided in this application embodiment can be applied to, for example... Figure 1 The workpiece welding system 1000 shown includes a welding robot 102 that communicates with a controller 104 via a network. The welding robot 102 is used to perform welding between multiple workpieces 106. In practical applications, the controller 104 can be an electrical box.

[0059] When the bevel type of the weld formed between multiple workpieces 106 is a V-groove, the controller 104 acquires the welding teaching posture information corresponding to the starting weld bead between the multiple workpieces 106, and the teaching offset position information and teaching offset angle information of at least one current weld bead relative to the previous weld bead between the multiple workpieces 106. The weld includes multiple weld beads, and the multiple weld beads include at least the starting weld bead. The controller 104 detects the welding posture information of the corresponding at least one current weld bead based on the welding teaching posture information, the teaching offset position information and the teaching offset angle information of the at least one current weld bead relative to the previous weld bead. Based on the welding teaching posture information, the controller 104 controls the welding robot 102 to weld between the multiple workpieces 106 along the starting weld bead, and controls the welding robot 102 to weld between the multiple workpieces 106 along the corresponding current weld bead based on at least one welding posture information.

[0060] In one exemplary embodiment, such as Figure 2 As shown, a workpiece welding method is provided, which is applied to... Figure 1 The following explanation uses controller 104 as an example. Wherein:

[0061] S200, when the groove type of the weld formed between multiple workpieces is V-groove, the welding teaching posture information corresponding to the starting weld bead between the multiple workpieces is obtained, as well as the teaching offset position information and teaching offset angle information of at least one current weld bead between the multiple workpieces relative to the previous weld bead, wherein the weld includes multiple weld beads, and the multiple weld beads include at least the starting weld bead.

[0062] A weld is a permanent joint formed at the joint by filler metal (or the melting of the base metal) when two or more workpieces are joined together through welding. A bevel is a specific geometric shape (such as an inclined plane or groove) pre-machined into the part of the workpiece to be welded before welding to ensure root penetration, control weld formation, and reduce welding deformation. Weld bevel types can include I-grooves, right-angle bevels, or V-grooves, etc.

[0063] Taking a V-groove as an example, the weld seam comprises multiple layers and multiple weld passes. It should be noted that the multiple layers and multiple weld passes are for thicker workpieces or weld seams with large grooves. The welding process involves welding in layers and passes sequentially to gradually fill the groove and form a complete weld seam. Therefore, the multiple weld passes included in the weld seam in this application refer to the weld passes of all weld layers, including not only the initial weld pass of the initial weld layer but also the weld passes of other weld layers. Furthermore, each weld pass is a straight weld pass.

[0064] Specifically, when the weld bevel type formed between multiple workpieces is a V-groove, the welding teaching posture information corresponding to the initial weld bead between the multiple workpieces can be pre-taught using a teach pendant. Furthermore, the number of welding layers and the number of passes for each weld layer can also be taught using the teach pendant.

[0065] Among them, the welding teaching posture information is the welding posture information corresponding to the starting weld bead. Since each weld bead welded after the starting weld bead needs to be offset relative to the starting weld bead, the teaching pendant can also teach the teaching offset position information and teaching offset angle information of at least one current weld bead relative to the previous weld bead between multiple workpieces. That is, the teaching offset position information and teaching offset angle information between two weld beads welded successively can be taught.

[0066] S400, based on the welding teaching posture information, the teaching offset position information and teaching offset angle information of at least one current weld bead relative to the previous weld bead, detects the welding posture information of at least one corresponding current weld bead.

[0067] Specifically, the welding teaching posture information is the welding posture information corresponding to the starting weld bead. The teaching offset position information and teaching offset angle information of at least one current weld bead relative to the previous weld bead are the teaching offset position information and teaching offset angle information between two weld beads that need to be welded successively. Therefore, the welding teaching posture information can be used as a basis, combined with the teaching offset position information and teaching offset angle information of at least one current weld bead relative to the previous weld bead, to sequentially overlay and detect the corresponding welding posture information of at least one current weld bead.

[0068] The S600 controls the welding robot to weld between multiple workpieces along the starting weld bead based on welding teaching posture information, and controls the welding robot to weld between multiple workpieces along the corresponding current weld bead based on at least one welding posture information.

[0069] Specifically, the welding teaching posture information of the starting weld bead is pushed to the welding robot. The welding robot obtains the welding teaching posture information of the starting weld bead and welds between multiple workpieces along the starting weld bead. Furthermore, after the starting weld bead is completed, the welding posture information of all other weld beads is also sent to the welding robot. The welding robot receives the welding posture information of other weld beads and welds between multiple workpieces along the corresponding weld beads in sequence until all weld beads are completed.

[0070] In addition, welding teaching posture information and at least one welding posture information can be sent to the welding robot at the same time. The welding robot first welds between multiple workpieces along the starting weld according to the welding teaching posture information of the starting weld. Then, according to at least one welding posture information, it welds between multiple workpieces along the corresponding current weld until all welds are completed.

[0071] In one embodiment, a welding gun is mounted on the robotic arm of a welding robot, and the welding robot welds between multiple workpieces along the corresponding weld path. In fact, the welding robot controls the welding gun to weld between multiple workpieces along the corresponding weld path.

[0072] In the above workpiece welding method, since the weld seam corresponding to the V-groove requires the posture of each weld pass to change, when the groove type of the weld seam formed between multiple workpieces is a V-groove, by combining the teaching offset position information and teaching offset angle information of at least one current weld pass relative to the previous weld pass between multiple workpieces with the welding teaching posture information corresponding to the starting weld pass, the welding posture information of at least one current weld pass can be accurately detected. Based on the welding teaching posture information and at least one welding posture information, the welding robot can be controlled to accurately weld between multiple workpieces along the corresponding weld pass. The whole process is simple and convenient to operate, and does not require high professional skills from the operator. In other words, ordinary operators can accurately weld workpieces in the above way to improve the welding quality.

[0073] In one exemplary embodiment, based on at least one welding posture information, a welding robot is controlled to weld between multiple workpieces along the corresponding current weld bead, including:

[0074] Acquire the teach weld markers of multiple weld passes; detect the weld sequence of the welding robot that matches the teach weld markers; based on at least one welding posture information, control the welding robot to weld between multiple workpieces sequentially along the corresponding current weld pass according to the weld sequence.

[0075] Specifically, there is a welding sequence among all weld beads. Therefore, each weld bead can be identified using a teach weld bead identifier. Then, based on the detected welding sequence corresponding to each teach weld bead identifier, the welding sequence of the welding robot matching the teach weld bead identifier can be determined. The welding sequence can be such that the teach weld bead identifier corresponding to the first weld bead is at the beginning of the sequence, or it can be such that the teach weld bead identifier corresponding to the first weld bead is at the end of the sequence.

[0076] The welding sequence corresponding to each teaching weld mark is related to the weld level and position. In addition, the welding sequence can also be set by the welder in advance.

[0077] After determining the welding sequence, based on at least one welding posture information, the welding robot is controlled to weld between multiple workpieces sequentially along the corresponding current weld, until all welds are completed.

[0078] Taking the welding sequence where the first weld bead is welded first as an example, the first teaching weld bead in the welding sequence is generally the teaching weld bead of the starting weld bead. The welding process can be as follows: based on the first teaching weld bead in the welding sequence, the welding robot is controlled to weld between multiple workpieces along the starting weld bead; based on the second teaching weld bead in the welding sequence, the welding robot is controlled to weld between multiple workpieces along the weld bead corresponding to the second teaching weld bead, and so on, until all weld bead corresponding to all teaching weld bead marks are welded.

[0079] In one embodiment, during the process of controlling the welding robot to sequentially weld between multiple workpieces along the corresponding current weld bead, after the welding robot controls the welding torch to finish welding the current weld bead, the welding torch retracts its arc. Under the control of the welding robot, the welding torch moves to the starting point of the next weld bead and automatically retracts its arc, then welds between multiple workpieces along the new weld bead.

[0080] In the above embodiments, by detecting the welding sequence of the welding robot that matches the taught weld bead identifier, the welding robot can be accurately controlled to weld between multiple workpieces in sequence along the weld beads corresponding to the corresponding welding posture information.

[0081] In one exemplary embodiment, such as Figure 3 As shown, S400 includes:

[0082] S420, Next weld bead offset detection step: Obtain the target offset position information and target offset angle information of the target weld bead relative to the starting weld bead, where the target weld bead is the next weld bead after the starting weld bead.

[0083] S440 detects the welding posture information corresponding to the target weld bead based on the welding teaching posture information, target offset position information, and target offset angle information.

[0084] S460: Take the target weld bead as the new starting weld bead, take the next weld bead of the target weld bead as the new target weld bead, return to the next weld bead offset detection step, until there is no next weld bead of the target weld bead, and obtain the welding posture information of all weld beads.

[0085] Specifically, the target weld bead is taken as the next weld bead after the starting weld bead, and the target offset position information and target offset angle information of the target weld bead relative to the starting weld bead are obtained from at least one current weld bead's teaching offset position information and teaching offset angle information relative to the previous weld bead.

[0086] At this point, since the welding posture information corresponding to the target weld bead is obtained by offsetting the welding teaching posture information corresponding to the starting weld bead, the welding teaching posture information corresponding to the starting weld bead can be adjusted according to the target offset position information and target offset angle information of the target weld bead relative to the starting weld bead to obtain the welding posture information corresponding to the target weld bead. Subsequently, the welding robot can be controlled to weld between multiple workpieces along the corresponding target weld bead according to the welding posture information corresponding to the target weld bead.

[0087] After completing the welding of the next weld bead after the starting weld bead, i.e. the second weld bead, the welding process of the third weld bead is executed. At this time, the target weld bead, i.e. the second weld bead, is taken as the new starting weld bead, and the next weld bead, i.e. the third weld bead, is taken as the new target weld bead. The process returns to the step of obtaining the welding posture information corresponding to the target weld bead based on the target offset position information and target offset angle information of the target weld bead relative to the starting weld bead. This process is repeated until the welding posture information of all weld beads is detected. At this time, there is no next weld bead of the target weld bead.

[0088] In one embodiment, detecting the welding posture information of at least one current weld bead based on the welding teaching posture information, the teaching offset position information and the teaching offset angle information of at least one current weld bead relative to the previous weld bead, further includes: obtaining the welding posture information corresponding to the first weld bead based on the welding teaching posture information of the starting weld bead, the target offset position information and the target offset angle information of the first weld bead relative to the starting weld bead, and obtaining the welding posture information corresponding to the second weld bead based on the welding posture information corresponding to the first weld bead, the target offset position information and the target offset angle information of the second weld bead relative to the first weld bead, and so on, until the welding posture information of all weld beads is detected.

[0089] In the above embodiments, based on the welding posture information of the previous weld bead, the teaching offset position information and teaching offset angle information of the current weld bead relative to the previous weld bead, the welding posture information of at least one current weld bead can be accurately detected, thereby improving the accuracy of workpiece welding.

[0090] In an exemplary embodiment, the welding teaching posture information of the starting weld bead includes first welding posture information of the first starting point and second welding posture information of the first ending point, and the welding posture information corresponding to the target weld bead includes third welding posture information corresponding to the second starting point and fourth welding posture information corresponding to the second ending point; based on the welding teaching posture information, target offset position information, and target offset angle information, the welding posture information corresponding to the target weld bead is detected, including:

[0091] Based on the teaching offset position information and teaching offset angle information of the target weld bead relative to the starting weld bead, the weld bead offset amount of the target weld bead is detected; based on the weld bead offset amount and the first welding posture information, the third welding posture information corresponding to the second starting point is obtained; based on the weld bead offset amount and the second welding posture information, the fourth welding posture information corresponding to the second ending point is obtained.

[0092] Specifically, the welding teaching posture information of the starting weld bead is taught by the teaching pendant, which is actually teaching the first welding posture information of the first starting point and the second welding posture information of the first ending point of the starting weld bead. Since the weld bead is a straight weld bead, the starting weld bead can be determined based on the first starting point and the first ending point.

[0093] Similarly, based on the welding teaching posture information, target offset position information, and target offset angle information, the welding posture information corresponding to the target weld bead is detected. That is, the third welding posture information corresponding to the second starting point and the fourth welding posture information corresponding to the second ending point of the target weld bead are detected. Then, by combining the third welding posture information corresponding to the second starting point and the fourth welding posture information corresponding to the second ending point, the welding posture information corresponding to the target weld bead is obtained.

[0094] Therefore, in order to obtain the welding posture information corresponding to the target weld bead, it is necessary to detect the third welding posture information corresponding to the second starting point and the fourth welding posture information corresponding to the second ending point of the target weld bead. The third welding posture information corresponding to the second starting point of the target weld bead is related to the first welding posture information of the first starting point of the starting weld bead, and the fourth welding posture information corresponding to the second ending point is related to the second welding posture information of the first ending point of the starting weld bead. At this time, the weld bead offset amount of the target weld bead can be detected first according to the teaching offset position information and teaching offset angle information of the target weld bead relative to the starting weld bead. Then, according to the weld bead offset amount, the first welding posture information is offset to obtain the third welding posture information corresponding to the second starting point. And according to the weld bead offset amount, the second welding posture information is offset to obtain the fourth welding posture information corresponding to the second ending point.

[0095] It should be noted that this example uses the third welding posture information corresponding to the second starting point and the fourth welding posture information corresponding to the second ending point. The welding posture information corresponding to the target weld bead may include not only the third welding posture information corresponding to the second starting point and the fourth welding posture information corresponding to the second ending point, but also the welding posture information corresponding to multiple weld points between the second starting point and the second ending point.

[0096] In the above embodiments, by combining the teaching offset position information and teaching offset angle information of the target weld bead relative to the starting weld bead, the weld bead offset amount of the target weld bead can be accurately determined. At this time, the first welding posture information can be offset according to the weld bead offset amount to accurately obtain the third welding posture information corresponding to the second starting point, and the second welding posture information can be offset according to the weld bead offset amount to accurately obtain the fourth welding posture information corresponding to the second ending point.

[0097] In an exemplary embodiment, the first welding posture information includes the initial teaching position component information and the initial teaching angle component information corresponding to each of the multiple coordinate axes, and the weld offset includes the offset position component information and the offset angle component information corresponding to each of the multiple coordinate axes, wherein the coordinate axes are multiple coordinate axes in the welding coordinate system of the welding robot.

[0098] Based on the weld offset and the first welding posture information, the third welding posture information corresponding to the second starting point is obtained, including: detecting the starting position component information of the second starting point based on the starting teaching position component information and the offset position component information corresponding to the same coordinate axis; detecting the starting angle component information of the second starting point based on the starting teaching angle component information and the offset angle component information corresponding to the same coordinate axis; and detecting the third welding posture information corresponding to the second starting point based on the starting position component information and the starting angle component information.

[0099] Specifically, this application uses the robotic arm coordinate system of the welding robot as the welding coordinate system, whose coordinate axes include the X-axis, Y-axis and Z-axis.

[0100] Therefore, the first welding posture information K1 of the first starting point P1 includes the starting teaching position component information x0 and the starting teaching angle component information rx0 corresponding to the X-axis, the starting teaching position component information y0 and the starting teaching angle component information ry0 corresponding to the Y-axis, and the starting teaching position component information z0 and the starting teaching angle component information rz0 corresponding to the Z-axis. That is, K1 = (x0, y0, z0, rx0, ry0, rz0).

[0101] The teaching offset position information Ln of the target weld bead n relative to the starting weld bead includes the starting teaching position component information x1 corresponding to the X-axis, the starting teaching position component information y1 corresponding to the Y-axis, and the starting teaching position component information z1 corresponding to the Z-axis.

[0102] The teaching offset angle information An of the target weld bead n relative to the starting weld bead includes the starting teaching angle component information rx1 corresponding to the X-axis, the starting teaching angle component information ry1 corresponding to the Y-axis, and the starting teaching angle component information rz1 corresponding to the Z-axis.

[0103] The weld offset of the target weld bead is detected based on the teaching offset position information and teaching offset angle information of the target weld bead relative to the starting weld bead. Therefore, the weld offset is set to LnAn, where LnAn represents the combination of Ln and An. In other words, the weld offset includes the offset position component x1 and offset angle component rx1 corresponding to the X-axis, the offset position component y1 and offset angle component ry1 corresponding to the Y-axis, and the offset position component z1 and offset angle component rz1 corresponding to the Z-axis, i.e., offset = (x1, y1, z1, rx1, ry1, rz1).

[0104] At this point, based on the weld offset and the first welding posture information K1 of the first starting point P1, the third welding posture information K2 corresponding to the second starting point P2 is obtained as K2 = offset + K1. This essentially involves processing the component information corresponding to the same coordinate axis separately. In other words, the third welding posture information K2 corresponding to the second starting point P2 is... .

[0105] More specifically, based on the initial teaching position component information and the offset position component information corresponding to the same coordinate axis, the initial position component information of the second starting point P2 is detected as follows: based on the initial teaching position component information x0 and the offset position component information x1 corresponding to the X-axis, the initial position component information x2 of the second starting point on the X-axis is detected; based on the initial teaching position component information y0 and the offset position information y1 corresponding to the Y-axis, the initial position component information y2 of the second starting point on the Y-axis is detected; and based on the initial teaching position component information z0 and the offset position information z1 corresponding to the Z-axis, the initial position component information z2 of the second starting point P2 on the Z-axis is detected.

[0106] Then, based on the initial teaching angle component information and offset angle component information corresponding to the same coordinate axis, the initial angle component information of the second starting point is detected. That is, based on the initial teaching angle component information rx0 and offset angle component information rx1 corresponding to the X-axis, the initial position component information rx2 of the second starting point on the X-axis is detected; based on the initial teaching angle component information ry0 and offset angle information ry1 corresponding to the Y-axis, the initial position component information ry2 of the second starting point on the Y-axis is detected; and based on the initial teaching angle component information rz0 and offset angle information rz1 corresponding to the Z-axis, the initial position component information rz2 of the second starting point P2 on the Z-axis is detected.

[0107] By combining the initial position component information and the initial angle component information, the third welding posture information corresponding to the second starting point P2 can be obtained as (x2, y2, z2, rx2, ry2, rz2).

[0108] In the above embodiments, by using the starting teaching position component information and offset position component information corresponding to the same coordinate axis, and the starting teaching angle component information and offset angle component information corresponding to the same coordinate axis, the attitude update of the same coordinate axis can be performed, and the third welding attitude information corresponding to the second starting point can be accurately detected.

[0109] In an exemplary embodiment, the second welding posture information includes end-teach position component information and end-teach angle component information corresponding to each of multiple coordinate axes, and the weld offset includes offset position component information and offset angle component information corresponding to each of multiple coordinate axes, wherein the coordinate axes are multiple coordinate axes in the welding coordinate system of the welding robot; based on the weld offset and the second welding posture information, the fourth welding posture information corresponding to the second end point is obtained, including:

[0110] Based on the end teaching position component information and offset position component information corresponding to the same coordinate axis, the end position component information of the second end point is detected; based on the end teaching angle component information and offset angle component information corresponding to the same coordinate axis, the end angle component information of the second end point is detected; based on the end position component information and end angle component information, the fourth welding posture information corresponding to the second end point is detected. The specific process is similar to the embodiment described above, which obtains the third welding posture information corresponding to the second starting point based on the weld offset and the first welding posture information, and will not be repeated here.

[0111] In an exemplary embodiment, the teaching offset position information includes first offset position component information corresponding to the first coordinate axis, second offset position component information corresponding to the second coordinate axis, and third offset position component information corresponding to the third coordinate axis; the teaching offset angle information includes first offset angle component information corresponding to the first coordinate axis, second offset angle component information corresponding to the second coordinate axis, and third offset angle component information corresponding to the third coordinate axis.

[0112] Based on the teaching offset position and teaching offset angle information of the target weld bead relative to the starting weld bead, the weld bead offset amount of the target weld bead is detected, including:

[0113] The weld offset of the target weld is detected based on the first offset position component information, the second offset position component information, the third offset position component information, the first offset angle component information, the second offset angle component information, and the third offset angle component information.

[0114] Specifically, this application uses the robotic arm coordinate system of the welding robot as the welding coordinate system, whose coordinate axes include a first coordinate axis (X-axis), a second coordinate axis (Y-axis), and a third coordinate axis (Z-axis).

[0115] The teaching offset position information of the target weld bead n relative to the starting weld bead includes the first offset position component information x1 corresponding to the X-axis, the second offset position component information y1 corresponding to the Y-axis, and the third offset position component information z1 corresponding to the Z-axis. The teaching offset angle information includes the first offset angle component information rx1 corresponding to the X-axis, the second offset angle component information ry1 corresponding to the Y-axis, and the third offset angle component information rz1 corresponding to the Z-axis.

[0116] At this time, based on the teaching offset position information and teaching offset angle information, the weld offset of the target weld is considered from multiple coordinate axes. Then, based on the first offset position component information x1, the second offset position component information y1, the third offset position component information z1, the first offset angle component information rx1, the second offset angle component information and the third offset angle component information rz1, the weld offset of the target weld is detected as offset = (x1, y1, z1, rx1, ry1, rz1).

[0117] In the above embodiments, by considering the offset position component information and the offset angle information corresponding to all coordinate axes, the accurate weld offset of the target weld can be obtained.

[0118] The welding method of the workpiece in this application will be described in detail below with a specific embodiment of a V-groove weld, as follows:

[0119] like Figure 4As shown, workpieces A and B are welded together with a V-shaped weld. The initial weld bead in the teaching demonstration includes the arc starting point P01 and the arc ending point P02. The number of welding layers and the number of passes per layer are then input through the teaching pendant. For example, if two layers are input, the first layer has one weld bead, which is the initial weld bead 1. The second layer has two weld beads, including weld bead 2 and weld bead 3. Weld bead 2 and weld bead 3 both have a certain offset and posture change relative to the initial weld bead 1. All weld beads are straight lines, and the cross-section of the weld bead is perpendicular to the weld bead.

[0120] At this point, it is also necessary to control the welding robot to continuously adjust its position via the teach pendant to record the welding teaching posture information K01 (x) corresponding to the arc starting point P01. 00 y 00 , z 00 rx 00 ry 00 rz 00 The welding teaching posture information K02 (x) corresponding to the arc termination point P02 02 y 02 , z 02 rx 02 ry 02 rz 02 It is also necessary to set the teaching offset position information L of the nth weld pass relative to the previous weld pass. n =(x 01 y 01 , z 01 ) and teaching offset angle information A n =(rx 01 ry 01 rz 01 ).

[0121] The teach pendant sends the above parameters to the controller, which is usually an electrical box. The teach pendant can also send a task start command to the controller. After receiving the task start command, the controller's internal welding program begins to execute the workpiece welding process.

[0122] Based on the teaching offset position information L of the nth weld pass relative to the previous weld pass n =(x 01 y 01 , z 01 ) and teaching offset angle information A n =(rx 01 ry 01 rz 01 Determine the welding offset of each weld pass relative to the previous weld pass, Offet1=L. n1 A n1 , where L n1 A n1 Indicates teaching offset position information Ln1 With teaching offset angle information A n1 Combination, i.e.: OffSet1(x 01 y 01 , z 01 rx 01 ry 01 rz 01 ).

[0123] Since the welding teaching posture information of the initial weld bead 1 has been determined, the welding posture information of weld bead 2 can be detected based on the welding offset of weld bead 2 relative to the initial weld bead 1, and the welding posture information of weld bead 3 can be detected based on the welding offset of weld bead 3 relative to weld bead 2.

[0124] The formula for calculating the welding posture information for each layer and each weld pass is as follows: and That is: the starting point of the target weld (K01.x) 00 +offset.x 01 K01.y 00 +offset.y 01 K01.z 00 +offset.z 01 K01.rx 00 +offset.rx 01 K01.ry 00 +offset.ry 01 K01.rz 00 +offset.rz 01 The starting point of the target weld bead can be deduced similarly as (K02.x). 02 +offset.x 01 K02.y3+offset.y 01 , K02.z3+offset.z1, K02.rx0+offset.rx 01 K02.ry0+offset.ry 01 K02.rz0+offset.rz 01 ).

[0125] Finally, the welding teaching posture information of the initial weld 1, the welding posture information of weld 2, and the welding posture information of weld 3 are pushed to the welding robot.

[0126] Based on the welding teaching posture information of the initial weld bead 1, the welding robot controls the welding torch to weld between multiple workpieces along the initial weld bead. After welding is completed, the welding torch is controlled to retract the arc. At this time, welding of the second layer, weld beads 2 and 3, begins. First, the welding robot controls the welding torch to weld weld bead 2, that is, based on the welding posture information of weld bead 2, it controls the welding torch to weld between multiple workpieces along the corresponding weld bead. After welding weld bead 2 is completed, the welding torch is controlled to move to the starting point of weld bead 3 and automatically ignite the arc, continuing to weld between multiple workpieces along the corresponding weld bead based on the welding posture information of weld bead 3. At this point, all weld beads of all layers are completed. Figure 5 As shown, ①, ②, and ③ represent the welding posture information of the welding torch for the initial weld bead 1, weld bead 2, and weld bead 3, respectively.

[0127] As can be seen from the above method, the workpiece welding steps of this application have the following advantages:

[0128] 1. Low cost, no additional equipment required.

[0129] 2. It is easy and simple to operate, and does not require high professional skills from the operators.

[0130] 3. For the same weldment, batch welding can be automated.

[0131] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0132] Based on the same inventive concept, this application also provides a workpiece welding apparatus for implementing the workpiece welding method described above. The solution provided by this apparatus is similar to the solution described in the above method; therefore, the specific limitations in one or more workpiece welding apparatus embodiments provided below can be found in the limitations of the workpiece welding method described above, and will not be repeated here.

[0133] In one exemplary embodiment, such as Figure 6 As shown, a workpiece welding apparatus is provided, comprising: a teaching module 200, an offset information processing module 400, and a welding module 600, wherein:

[0134] The teaching module 200 is used to acquire the welding teaching posture information corresponding to the starting weld bead between multiple workpieces, and the teaching offset position information and teaching offset angle information of at least one current weld bead relative to the previous weld bead when the bead type of the weld seam formed between multiple workpieces is a V-groove. The weld seam includes multiple weld beads, and the multiple weld beads include at least the starting weld bead.

[0135] The offset information processing module 400 is used to detect the welding posture information of at least one current weld bead based on the welding teaching posture information, the teaching offset position information and the teaching offset angle information of at least one current weld bead relative to the previous weld bead.

[0136] The welding module 600 is used to control the welding robot to weld between multiple workpieces along the starting weld bead based on welding teaching posture information, and to control the welding robot to weld between multiple workpieces along the corresponding current weld bead based on at least one welding posture information.

[0137] In one embodiment, the welding module 600 is further configured to acquire teach weld markers for multiple weld passes; detect the weld pass welding sequence of the welding robot that matches the teach weld pass markers; and control the welding robot to weld between multiple workpieces sequentially along the corresponding current weld pass according to at least one welding posture information.

[0138] In one embodiment, the offset information processing module 400 is further used in the next weld offset detection step: from at least one current weld offset position information and teaching offset angle information relative to the previous weld, obtain the target offset position information and target offset angle information of the target weld relative to the starting weld, wherein the target weld is the next weld of the starting weld; detect the welding posture information corresponding to the target weld according to the welding teaching posture information, the target offset position information and the target offset angle information; take the target weld as the new starting weld, take the next weld of the target weld as the new target weld, return to the next weld offset detection step, until there is no next weld of the target weld, and obtain the welding posture information of all welds.

[0139] In one embodiment, the welding teaching posture information of the starting weld bead includes the first welding posture information of the first starting point and the second welding posture information of the first ending point; the welding posture information corresponding to the target weld bead includes the third welding posture information corresponding to the second starting point and the fourth welding posture information corresponding to the second ending point; the offset information processing module 400 is further configured to detect the weld bead offset amount of the target weld bead based on the teaching offset position information and teaching offset angle information of the target weld bead relative to the starting weld bead; obtain the third welding posture information corresponding to the second starting point based on the weld bead offset amount and the first welding posture information; and obtain the fourth welding posture information corresponding to the second ending point based on the weld bead offset amount and the second welding posture information.

[0140] In one embodiment, the first welding posture information includes initial teaching position component information and initial teaching angle component information corresponding to each of multiple coordinate axes, and the weld offset includes offset position component information and offset angle component information corresponding to each of multiple coordinate axes, wherein the coordinate axes are multiple coordinate axes in the welding coordinate system of the welding robot; the offset information processing module 400 is further configured to detect the initial position component information of the second starting point based on the initial teaching position component information and offset position component information corresponding to the same coordinate axis; detect the initial angle component information of the second starting point based on the initial teaching angle component information and offset angle component information corresponding to the same coordinate axis; and detect the third welding posture information corresponding to the second starting point based on the initial position component information and the initial angle component information.

[0141] In one embodiment, the teaching offset position information includes first offset position component information corresponding to the first coordinate axis, second offset position component information corresponding to the second coordinate axis, and third offset position component information corresponding to the third coordinate axis; the teaching offset angle information includes first offset angle component information corresponding to the first coordinate axis, second offset angle component information corresponding to the second coordinate axis, and third offset angle component information corresponding to the third coordinate axis; the offset information processing module 400 is further configured to detect the weld offset of the target weld bead based on the first offset position component information, second offset position component information, third offset position component information, first offset angle component information, second offset angle component information, and third offset angle component information.

[0142] Each module in the aforementioned workpiece welding device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0143] In one exemplary embodiment, this application also provides a workpiece welding system, the system comprising:

[0144] Welding robots are used to weld between multiple workpieces along corresponding weld lines;

[0145] The controller, connected to the welding robot, is used for:

[0146] When the groove type of the weld formed between multiple workpieces is V-groove, the welding teaching posture information corresponding to the starting weld bead between the multiple workpieces is obtained, as well as the teaching offset position information and teaching offset angle information of at least one current weld bead between the multiple workpieces relative to the previous weld bead. The weld includes multiple weld beads, and the multiple weld beads include at least the starting weld bead.

[0147] Based on the welding teaching posture information, the teaching offset position information and teaching offset angle information of at least one current weld bead relative to the previous weld bead, the welding posture information of at least one corresponding current weld bead is detected.

[0148] Based on the welding teaching posture information, the welding robot is controlled to weld between multiple workpieces along the starting weld bead, and based on at least one welding posture information, the welding robot is controlled to weld between multiple workpieces along the corresponding current weld bead.

[0149] Specifically, the workpiece welding system in this application includes a controller and a welding robot, the welding robot and the controller are connected, and the controller is used to control the motion trajectory of the robot.

[0150] The welding robot has a welding torch mounted on its robotic arm. The welding robot can control the welding trajectory of the welding torch. The welding torch can also be directly connected to a controller, which controls parameters such as arc initiation, arc termination, wire feeding, gas supply, voltage, and current.

[0151] In addition, the workpiece welding system also includes a teach pendant, which is connected to the controller. The teach pendant sends the number of welding layers, the number of weld passes per layer, the welding teaching posture information corresponding to the starting weld passes between multiple workpieces, the teaching offset position information and teaching offset angle information of at least one current weld pass relative to the previous weld pass between multiple workpieces, and the task start command, etc.

[0152] The controller receives the data sent by the teach pendant. When the weld bevel type formed between multiple workpieces is a V-groove, it acquires the welding teaching posture information corresponding to the starting weld bead between the multiple workpieces, as well as the teaching offset position information and teaching offset angle information of at least one current weld bead relative to the previous weld bead between the multiple workpieces. The weld includes multiple weld beads, and each weld bead includes at least a starting weld bead. Based on the welding teaching posture information, the teaching offset position information and teaching offset angle information of at least one current weld bead relative to the previous weld bead, the controller detects the welding posture information of the corresponding at least one current weld bead. Based on the welding teaching posture information, the controller controls the welding robot to weld between the multiple workpieces along the starting weld bead, and based on at least one welding posture information, the controller controls the welding robot to weld between the multiple workpieces along the corresponding current weld bead. The specific process is described in the above embodiments and will not be repeated here.

[0153] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 7 As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores welding teaching posture information corresponding to the initial weld passes between multiple workpieces, as well as teaching offset position and teaching offset angle information of at least one current weld pass relative to the previous weld pass between multiple workpieces. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a workpiece welding method.

[0154] Those skilled in the art will understand that Figure 7 The structure shown is a block diagram of a partial structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0155] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0156] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0157] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0158] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0159] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0160] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for welding a workpiece, characterized in that, The method includes: When the groove type of the weld formed between multiple workpieces is V-groove, the welding teaching posture information corresponding to the starting weld bead between the multiple workpieces is obtained, as well as the teaching offset position information and teaching offset angle information of at least one current weld bead between the multiple workpieces relative to the previous weld bead. The weld includes multiple weld beads, and the multiple weld beads include at least the starting weld bead. Based on the welding teaching posture information, the teaching offset position information and teaching offset angle information of the at least one current weld bead relative to the previous weld bead, the welding posture information of the corresponding at least one current weld bead is detected. Based on the welding teaching posture information, the welding robot is controlled to weld between the multiple workpieces along the starting weld bead, and based on at least one of the welding posture information, the welding robot is controlled to weld between the multiple workpieces along the corresponding current weld bead.

2. The method according to claim 1, characterized in that, The step of controlling a welding robot to weld between the plurality of workpieces along the corresponding current weld bead based on at least one of the welding posture information includes: Obtain the teach weld identifiers for the multiple weld passes; The welding sequence of the welding robot is detected to match the taught weld bead identifier; Based on at least one of the welding posture information, the welding robot is controlled to weld between the multiple workpieces sequentially along the corresponding current weld bead according to the welding sequence.

3. The method according to claim 1, characterized in that, The step of detecting the welding posture information of the corresponding at least one current weld bead based on the welding teaching posture information, the teaching offset position information and teaching offset angle information of the at least one current weld bead relative to the previous weld bead, includes: Next weld offset detection step: From the taught offset position information and taught offset angle information of the at least one current weld relative to the previous weld, obtain the target offset position information and target offset angle information of the target weld relative to the starting weld, wherein the target weld is the next weld of the starting weld; Based on the welding teaching posture information, the target offset position information, and the target offset angle information, the welding posture information corresponding to the target weld bead is detected; The target weld bead is used as the new starting weld bead, and the next weld bead of the target weld bead is used as the new target weld bead. The process returns to the next weld bead offset detection step until there is no next weld bead of the target weld bead, thus obtaining the welding posture information of all the weld beads.

4. The method according to claim 3, characterized in that, The welding teaching posture information of the starting weld bead includes the first welding posture information of the first starting point and the second welding posture information of the first ending point; the welding posture information corresponding to the target weld bead includes the third welding posture information corresponding to the second starting point and the fourth welding posture information corresponding to the second ending point; the step of detecting the welding posture information corresponding to the target weld bead based on the welding teaching posture information, the target offset position information, and the target offset angle information includes: The weld offset amount of the target weld is detected based on the teaching offset position information and teaching offset angle information of the target weld relative to the starting weld. Based on the weld offset and the first welding posture information, the third welding posture information corresponding to the second starting point is obtained; Based on the weld offset and the second welding posture information, the fourth welding posture information corresponding to the second end point is obtained.

5. The method according to claim 4, characterized in that, The first welding posture information includes the initial teaching position component information and the initial teaching angle component information corresponding to each of the multiple coordinate axes, and the weld offset includes the offset position component information and the offset angle component information corresponding to each of the multiple coordinate axes, wherein the coordinate axes are multiple coordinate axes in the welding coordinate system of the welding robot; The step of obtaining the third welding posture information corresponding to the second starting point based on the weld offset and the first welding posture information includes: Based on the initial teaching position component information corresponding to the same coordinate axis and the offset position component information, detect the initial position component information of the second starting point; Based on the starting teaching angle component information and the offset angle component information corresponding to the same coordinate axis, detect the starting angle component information of the second starting point; Based on the starting position component information and the starting angle component information, the third welding posture information corresponding to the second starting point is detected.

6. The method according to claim 5, characterized in that, The teaching offset position information includes the first offset position component information corresponding to the first coordinate axis, the second offset position component information corresponding to the second coordinate axis, and the third offset position component information corresponding to the third coordinate axis; the teaching offset angle information includes the first offset angle component information corresponding to the first coordinate axis, the second offset angle component information corresponding to the second coordinate axis, and the third offset angle component information corresponding to the third coordinate axis. The step of detecting the weld offset of the target weld based on the teaching offset position information and teaching offset angle information relative to the starting weld includes: The weld offset of the target weld bead is detected based on the first offset position component information, the second offset position component information, the third offset position component information, the first offset angle component information, the second offset angle component information, and the third offset angle component information.

7. A workpiece welding apparatus, characterized in that, The device includes: The teaching module is used to acquire welding teaching posture information corresponding to the starting weld bead between multiple workpieces when the bevel type of the weld seam formed between multiple workpieces is V-groove, as well as teaching offset position information and teaching offset angle information of at least one current weld bead between multiple workpieces relative to the previous weld bead. The weld seam includes multiple weld beads, and the multiple weld beads include at least the starting weld bead. The offset information processing module is used to detect the welding posture information of the corresponding at least one current weld bead based on the welding teaching posture information, the teaching offset position information and the teaching offset angle information of the at least one current weld bead relative to the previous weld bead. The welding module is used to control the welding robot to weld between the plurality of workpieces along the starting weld bead based on the welding teaching posture information, and to control the welding robot to weld between the plurality of workpieces along the corresponding current weld bead based on at least one of the welding posture information.

8. A workpiece welding system, characterized in that, The system includes: Welding robots are used to weld between multiple workpieces along corresponding weld lines; A controller, connected to the welding robot, is used for: When the groove type of the weld formed between multiple workpieces is V-groove, the welding teaching posture information corresponding to the starting weld bead between the multiple workpieces is obtained, as well as the teaching offset position information and teaching offset angle information of at least one current weld bead between the multiple workpieces relative to the previous weld bead. The weld includes multiple weld beads, and the multiple weld beads include at least the starting weld bead. Based on the welding teaching posture information, the teaching offset position information and teaching offset angle information of the at least one current weld bead relative to the previous weld bead, the welding posture information of the corresponding at least one current weld bead is detected. Based on the welding teaching posture information, the welding robot is controlled to weld between the multiple workpieces along the starting weld bead, and based on at least one of the welding posture information, the welding robot is controlled to weld between the multiple workpieces along the corresponding current weld bead.

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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