Chain groove curved surface surfacing path control method and device, electronic equipment and storage medium

Abstract

The present application relates to chain wheel repair technical field, especially to a kind of chain nest curved surface surfacing path control method, device, electronic equipment and storage medium, the present application method first obtains first curved surface;Then based on the first curved surface, constructs multiple first surfacing path data sets;Then for each first surfacing path data set, iteratively point position data is taken out from data set as target point position data, according to the near neighbor point position data of the target point position data determines welding posture, and welding posture is added to first surfacing path data set and obtains second surfacing path data set;Finally, according to the multiple second surfacing path data sets to chain wheel assembly, to chain wheel is surfacing and / or cladding.The present application chain nest curved surface surfacing path control method generates surfacing path according to curved surface, and surfacing positioning is accurate, forms a predetermined thickness of surfacing layer arranged with curved surface, guarantees the quality and durability of surfacing.

Description

Technical Field

[0001] This invention relates to the field of sprocket repair technology, and in particular to a method, device, electronic device and storage medium for controlling the path of curved surface overlay welding of sprocket sockets. Background Technology

[0002] In mechanisms that require frequent contact and separation and bear heavy loads, the wear on the clutch surfaces of parts can be severe, such as the chain groove surface of heavy-duty sprockets in mining machinery. Traditional wear-resistant treatments include heat treatment and surface hardening, but these methods have limited effectiveness in certain complex scenarios. With the development of surface engineering technology, welding or cladding techniques are gradually becoming alternatives. This technology forms a dense wear-resistant layer by applying high-strength, high-toughness materials to the surface of parts under high temperature and pressure.

[0003] The original method for forming these dense, wear-resistant layers was using hand tools. This method was inefficient, inconsistent, and posed safety risks.

[0004] At the same time, the robot's features of precise operation, repeatability, and automation provide new possibilities for wear-resistant overlay technology.

[0005] The key to using robots to accomplish the above tasks is that the robot end effector equipped with welding or cladding devices can move along a planned path. Common methods for controlling the robot end effector to achieve this movement include:

[0006] Using a robot teaching mode, the motion trajectory is determined point by point. This method is more suitable for regular geometric shapes, but for complex shapes such as irregular curved surfaces, there are problems of large workload and inaccurate positioning.

[0007] Therefore, it is necessary to develop and design a method for controlling the welding path of the chain socket curved surface. Summary of the Invention

[0008] The present invention provides a method, apparatus, electronic device and storage medium for controlling the welding path of chain nest curved surfaces, which is used to solve the problem of inaccurate positioning when welding chain nest curved surfaces by robots in the prior art.

[0009] In a first aspect, embodiments of the present invention provide a method for controlling the path of chain socket curved surface welding, comprising:

[0010] A first curved surface is obtained, wherein a welding machine performs overlay welding and / or cladding based on the first curved surface to form a chain socket hardened layer, and the circular chain abuts against the sprocket through the chain socket;

[0011] Based on the first surface, multiple first welding path datasets are constructed, wherein each first welding path dataset corresponds to a welding layer, and the first welding path dataset includes multiple point data arranged in sequence.

[0012] For each first weld path dataset, point data is extracted from the dataset traversally as target point data. The welding posture is determined based on the nearest point data of the target point data, and the welding posture is added to the first weld path dataset to obtain the second weld path dataset. The welding machine performs weld overlay and / or cladding on the target point based on the welding posture.

[0013] Based on the plurality of second weld path datasets, the sprocket assembly is welded and / or clad.

[0014] In one possible implementation, the construction of multiple first weld path datasets based on the first surface includes:

[0015] A first width and a first thickness are obtained, wherein the welding machine forms a weld layer of the first width and the first thickness when performing overlay welding and / or cladding.

[0016] Extract the coordinate range of the first surface in the target dimension;

[0017] The coordinate interval is divided according to the first width to obtain multiple first coordinate points;

[0018] For each first coordinate point, the curve corresponding to the first coordinate point is extracted from the first surface as the target curve, and the point data is extracted from the target curve at equal intervals and added to the newly constructed first welding path dataset.

[0019] If the total thickness of the weld overlay does not reach the threshold, the first thickness of the first surface is redrawn, the redrawn surface is used as the first surface, the dimension orthogonal to the target dimension is used as the target dimension, a new first weld overlay path dataset is constructed, and the process jumps to the step of extracting the coordinate range of the first surface in the target dimension.

[0020] In one possible implementation, if the first surface is generated based on the sprocket base, then the construction of multiple first weld path datasets based on the first surface includes:

[0021] A first width and a first thickness are obtained, wherein the welding machine forms a weld layer of the first width and the first thickness when performing overlay welding and / or cladding.

[0022] Extract the edge of the first surface as the first target curve;

[0023] Using the first target curve as a reference, a curve whose distance from the first target curve gradually increases with the perimeter to the first width is generated, which is used as the second target curve;

[0024] Using the second target curve as a reference and the first width as an offset, multiple offsets are made into the second target curve until the distance between the offset curve and the center of the first surface is less than the first width, thereby obtaining multiple third target curves.

[0025] Point data are extracted at equal intervals from the second target curve and the plurality of third target curves and added to the newly constructed first weld path dataset;

[0026] If the total thickness of the weld overlay does not reach the threshold, the first thickness of the first surface is redrawn, the redrawn surface is used as the first surface, and a new first weld overlay path dataset is constructed by selecting one dimension from multiple coordinate dimensions as the target dimension, and then the process jumps to the step of extracting the coordinate interval of the first surface in the target dimension.

[0027] In one possible implementation, for each first weld path dataset, iteratively extracting point data from the dataset as target point data, and determining the welding posture based on the nearest neighbor point data of the target point data, includes:

[0028] Obtain the attitude angles of the first target and the second target;

[0029] Extract point data sequentially from the first weld path dataset as target point data, and perform the following steps after each extraction:

[0030] The data following the target point data is taken as the first nearest neighbor point data;

[0031] The difference between the target point data and the first nearest neighbor point data is used to construct a difference vector;

[0032] The welding posture is determined based on the difference vector, the first target posture angle, and the second target posture angle.

[0033] In one possible implementation, determining the welding posture based on the difference vector, the first target posture angle, and the second target posture angle includes:

[0034] The welding posture includes a first tilt angle and a second tilt angle. The welding posture is determined according to a first formula, the difference vector, the first target posture angle, and the second target posture angle. The first tilt angle is the angle between the welding torch axis and the x-axis in the xy coordinate system, and the second tilt angle is the angle between the welding torch axis and the x-axis in the xz coordinate system. The first formula is:

[0035]

[0036] In the formula, The first target attitude angle, The second target attitude angle, The first swing angle, This is the second swing angle. The elements along the x-axis of the difference vector are... These are the elements along the y-axis of the difference vector. These are the elements along the z-axis of the difference vector. It is the tangent function. It is the cotangent function. It is a cosine function.

[0037] In one possible implementation, the step of performing weld overlay and / or cladding on the sprocket assembly based on the plurality of second weld overlay path datasets includes:

[0038] Obtain reference values ​​for welding voltage and welding speed;

[0039] Data sets are sequentially extracted from the plurality of second welding path data sets and used as the datasets to be executed;

[0040] Sequentially extract point data and welding posture data from the dataset to be executed, and use them as point data to be executed and welding posture data to be executed, and perform the following steps after each extraction:

[0041] The welding torch is controlled to move from the current position to the position indicated by the welding position data to be executed, and the wire feeding speed is controlled according to the welding speed, the first width and the first thickness, wherein the welding machine forms a weld layer of the first width and the first thickness when performing cladding and / or welding.

[0042] Adjust the height of the welding torch according to the welding voltage reference value.

[0043] In one possible implementation, adjusting the height of the welding torch according to the welding voltage reference value includes:

[0044] If the welding voltage is higher than the reference value, adjust the welding torch height.

[0045] Otherwise, lower the height of the welding torch.

[0046] Secondly, embodiments of the present invention provide a chain socket curved surface welding path control device for implementing the chain socket curved surface welding path control method as described in the first aspect or any possible implementation thereof, the chain socket curved surface welding path control device comprising:

[0047] A chain socket surface acquisition module is used to acquire a first surface, wherein a welding machine performs overlay welding and / or cladding based on the first surface to form a chain socket hardened layer, and the circular chain abuts against the sprocket through the chain socket;

[0048] The welding path construction module is used to construct multiple first welding path datasets based on the first surface, wherein each first welding path dataset corresponds to a welding layer, and the first welding path dataset includes multiple point data arranged in sequence.

[0049] The welding posture module is used to iterate through each first weld path dataset, extract point data from the dataset as target point data, determine the welding posture based on the nearest point data of the target point data, and add the welding posture to the first weld path dataset to obtain the second weld path dataset. The welding machine performs weld overlay and / or cladding on the target point based on the welding posture.

[0050] as well as,

[0051] The overlay control module is used to perform overlay welding and / or cladding on the sprocket assembly based on the plurality of second overlay welding path datasets.

[0052] Thirdly, embodiments of the present invention provide an electronic device, including a memory and a processor, wherein the memory stores a computer program executable on the processor, and the processor executes the computer program to implement the steps of the method as described in the first aspect or any possible implementation of the first aspect.

[0053] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method as described in the first aspect or any possible implementation thereof.

[0054] The beneficial effects of the embodiments of the present invention compared with the prior art are as follows:

[0055] This invention discloses a method for controlling the welding path of a chain socket curved surface. First, a first curved surface is obtained, wherein a welding machine performs welding and / or cladding on the first curved surface to form a chain socket hardened layer, and the circular chain abuts against the sprocket through the chain socket. Then, based on the first curved surface, multiple first welding path datasets are constructed, wherein each first welding path dataset corresponds to a welding layer, and the first welding path dataset includes multiple point data arranged sequentially. Next, for each first welding path dataset, point data is traversally extracted from the dataset as target point data, the welding posture is determined based on the nearest neighbor point data of the target point data, and the welding posture is added to the first welding path dataset to obtain a second welding path dataset, wherein the welding machine performs welding and / or cladding on the target points based on the welding posture. Finally, the sprocket assembly is welded and / or clad according to the multiple second welding path datasets. The chain socket curved surface welding path control method of the present invention generates a welding path according to the curved surface, and the welding positioning is accurate, forming a welding layer of predetermined thickness that follows the curved surface, thus ensuring the quality and durability of the welding. Attached Figure Description

[0056] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0057] Figure 1 This is a flowchart of the chain socket curved surface welding path control method provided in the embodiments of the present invention;

[0058] Figure 2 This is a perspective view of the sprocket provided in an embodiment of the present invention;

[0059] Figure 3 This is a schematic diagram of the first welding path provided by an embodiment of the present invention;

[0060] Figure 4 This is a schematic diagram of the second welding path provided by an embodiment of the present invention;

[0061] Figure 5 This is a functional block diagram of the chain socket curved surface overlay welding path control device provided in the embodiments of the present invention;

[0062] Figure 6 This is a functional block diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0063] In the following description, specific details such as particular system structures and techniques are set forth for illustrative purposes and not for limitation, so as to provide a thorough understanding of embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0064] To make the objectives, technical solutions, and advantages of the present invention clearer, specific embodiments will be described below in conjunction with the accompanying drawings.

[0065] The embodiments of the present invention will be described in detail below. This example is implemented based on the technical solution of the present invention, and provides detailed implementation methods and specific operation processes. However, the protection scope of the present invention is not limited to the following embodiments.

[0066] Figure 1 A flowchart of a chain socket curved surface welding path control method provided for an embodiment of the present invention.

[0067] like Figure 1 As shown, a flowchart illustrating the implementation of the chain socket curved surface welding path control method provided by an embodiment of the present invention is presented below in detail:

[0068] In step 101, a first curved surface is obtained, wherein the welding machine performs overlay welding and / or cladding based on the first curved surface to form a chain socket hardened layer, and the circular chain abuts against the sprocket through the chain socket.

[0069] For example, such as Figure 2 As shown, for the chain socket 201 of the sprocket body 200, the present invention first constructs a curved surface of the chain socket 201, and performs welding based on the curved surface to form a hardened chain socket layer. After the chain socket 201 of the sprocket is worn, the chain socket 201 is welded again to complete the repair of the chain socket 201 (during the repair, because the surface shape after welding is irregular, the hardened chain socket layer is usually machined to form a more complete and regular chain socket 201). Compared with the heat treatment method of the sprocket 200, the processing efficiency and energy consumption are significantly improved, and the number of times the sprocket can be reused is significantly increased.

[0070] Before the chain socket is formed or repaired, the chain socket position on the sprocket body is usually machined. For example, the base of the chain socket curved surface is machined by a milling machine, and the chain socket is welded on the base. The base is the first curved surface of the chain socket hardened layer.

[0071] The above process is illustrated by an example of welding. In fact, the cladding process is the same as the above process. For ease of description, the embodiments of the present invention are only described by welding.

[0072] In step 102, based on the first surface, multiple first weld path datasets are constructed, wherein each first weld path dataset corresponds to a weld layer, and the first weld path dataset includes multiple point data arranged in sequence.

[0073] In some implementations, constructing multiple first weld path datasets based on the first surface includes:

[0074] A first width and a first thickness are obtained, wherein the welding machine forms a weld layer of the first width and the first thickness when performing overlay welding and / or cladding.

[0075] Extract the coordinate range of the first surface in the target dimension;

[0076] The coordinate interval is divided according to the first width to obtain multiple first coordinate points;

[0077] For each first coordinate point, the curve corresponding to the first coordinate point is extracted from the first surface as the target curve, and the point data is extracted from the target curve at equal intervals and added to the newly constructed first welding path dataset.

[0078] If the total thickness of the weld overlay does not reach the threshold, the first thickness of the first surface is redrawn, the redrawn surface is used as the first surface, the dimension orthogonal to the target dimension is used as the target dimension, a new first weld overlay path dataset is constructed, and the process jumps to the step of extracting the coordinate range of the first surface in the target dimension.

[0079] In some implementations, if the first surface is generated based on the sprocket base, then the step of constructing multiple first weld path datasets based on the first surface includes:

[0080] A first width and a first thickness are obtained, wherein the welding machine forms a weld layer of the first width and the first thickness when performing overlay welding and / or cladding.

[0081] Extract the edge of the first surface as the first target curve;

[0082] Using the first target curve as a reference, a curve whose distance from the first target curve gradually increases with the perimeter to the first width is generated, which is used as the second target curve;

[0083] Using the second target curve as a reference and the first width as an offset, multiple offsets are made into the second target curve until the distance between the offset curve and the center of the first surface is less than the first width, thereby obtaining multiple third target curves.

[0084] Point data are extracted at equal intervals from the second target curve and the plurality of third target curves and added to the newly constructed first weld path dataset;

[0085] If the total thickness of the weld overlay does not reach the threshold, the first thickness of the first surface is redrawn, the redrawn surface is used as the first surface, and a new first weld overlay path dataset is constructed by selecting one dimension from multiple coordinate dimensions as the target dimension, and then the process jumps to the step of extracting the coordinate interval of the first surface in the target dimension.

[0086] For example, in terms of weld overlay path planning, the present invention plans the weld overlay path based on the width and height of the weld overlay layer and the curved surface shape. Generally, the thicker the weld overlay layer, the higher the wear-resistant layer is formed, and the longer the durability and maintenance cycle of the sprocket's chain socket. Therefore, in terms of weld overlay formation, multiple weld overlays are usually performed to form multiple stacked weld overlay layers, thereby increasing the thickness of the wear-resistant layer.

[0087] However, due to the irregularity of the weld overlay and the stress characteristics of the weld, such as Figure 3 As shown, the present invention proposes to adopt a rotary welding path 301 in the formation of the weld overlay layer with the substrate, which is characterized by minimizing the stress formed by the weld overlay.

[0088] When forming a spiral welding path, the edge of the first surface is extracted and used as the first target curve. Then, the curve is gradually shifted from the starting point of the first target curve towards the inside until the shift width reaches the first width (welding width), forming a spiral curve: the second target curve. That is, the distance between the end of the second target curve and the first target curve is the first width, while the distance between the starting point of the second target curve and the first target curve is 0. Based on this, the second target curve is shifted multiple times with the first width. It can be seen that multiple shifts form multiple third target curves that are connected end to end, forming a spiral curve. Based on these curves, point data is extracted sequentially at equal intervals, starting from the innermost or outermost side, and finally the first welding path dataset is constructed.

[0089] After the first weld overlay path is formed, the path formation of the remaining weld overlays will be quite different from that of the first weld overlay. This is because after the weld overlay is formed, it has multiple grooves. If the existing weld overlay path formation is continued on this basis, various defects such as pores and inclusions will be formed between the weld overlays.

[0090] Therefore, this invention proposes to form a braided path in the formation of the remaining weld overlay layers. Specifically, the path planning for the two weld overlay layers is based on different coordinate dimensions. Figure 4The path in the middle is a rotary path 302 formed by the x-axis. If a new weld overlay layer is formed on this layer, a new rotary path is formed by the y-axis. The advantage of this is that the two layers will be better fused during the weld overlay, reducing defects such as porosity and inclusions.

[0091] Since the surface is three-dimensional and has already undergone a previous welding process, this invention forms a new surface with a first thickness (welding thickness) on the basis of the original surface. Then, using one of the coordinates as the target dimension, the coordinate interval of the surface in that coordinate dimension is extracted. For example, using the x-axis as the coordinate dimension, the surface is distributed as N1-Nk in that dimension. Then, the coordinate interval is divided into multiple sub-intervals with a first width, forming multiple interval point values, which are multiple first coordinate points. Then, the curve corresponding to the first coordinate point value is extracted from the surface as the target curve. Or, in other words, the surface is cut by the plane where the first coordinate point is located, and the resulting cutting edge line is the target curve. Based on this target curve, point data is extracted at equal intervals and added to the first welding dataset.

[0092] The above steps can form a braided path with the base layer weld overlay as a swirling weld overlay path and the remaining layers as rotating paths. The resulting weld overlay layer is characterized by low stress and few weld overlay defects.

[0093] In step 103, for each first welding path dataset, point data is extracted from the dataset traversally as target point data, welding posture is determined based on the nearest point data of the target point data, and the welding posture is added to the first welding path dataset to obtain the second welding path dataset. The welding machine performs welding and / or cladding on the target point based on the welding posture.

[0094] In some implementations, the step of iteratively extracting point data from each first weld path dataset as target point data, and determining the welding posture based on the nearest neighbor point data of the target point data, includes:

[0095] Obtain the attitude angles of the first target and the second target;

[0096] Extract point data sequentially from the first weld path dataset as target point data, and perform the following steps after each extraction:

[0097] The data following the target point data is taken as the first nearest neighbor point data;

[0098] The difference between the target point data and the first nearest neighbor point data is used to construct a difference vector;

[0099] The welding posture is determined based on the difference vector, the first target posture angle, and the second target posture angle.

[0100] In some implementations, determining the welding attitude based on the difference vector, the first target attitude angle, and the second target attitude angle includes:

[0101] The welding posture includes a first tilt angle and a second tilt angle. The welding posture is determined according to a first formula, the difference vector, the first target posture angle, and the second target posture angle. The first tilt angle is the angle between the welding torch axis and the x-axis in the xy coordinate system, and the second tilt angle is the angle between the welding torch axis and the x-axis in the xz coordinate system. The first formula is:

[0102]

[0103] In the formula, The first target attitude angle, The second target attitude angle, The first swing angle, This is the second swing angle. The elements along the x-axis of the difference vector are... These are the elements along the y-axis of the difference vector. These are the elements along the z-axis of the difference vector. It is the tangent function. It is the cotangent function. It is a cosine function.

[0104] For example, during the welding process, the welding torch angle (including the perpendicular angle to the workpiece surface and the tilt angle along the welding direction) is a key parameter affecting the quality of the weld overlay, which is directly related to the penetration depth, weld width and weld overlay performance.

[0105] The tilt angle of the welding torch along the welding direction (push / pull angle) refers to the tilt state of the welding torch along the welding forward direction. It is divided into push torch (forward tilt) and pull torch (backward tilt), which mainly affects the arc stability, molten pool protection and weld overlay formation.

[0106] Pushing the torch (tent tilted forward, pointing in the welding direction): Increases arc stiffness and stability. When pushing the torch, the arc is more concentrated due to the airflow, suitable for high-current, high-speed welding, reducing porosity and slag inclusions. Increased weld width. Decreased weld depth: Heat diffuses towards the welding direction, melting the front of the weld layer more thoroughly, increasing the width, but the weld depth is shallower, resulting in a lower dilution rate. Good weld pool protection: Molten droplets formed after the welding wire melts are pushed towards the weld pool by the airflow, and the shielding gas (such as argon) can more effectively cover the weld pool, reducing air pollution (especially for gas-shielded welding). Prone to "undercut": If the forward tilt angle is too large (>20°), the arc may over-melt the bevel edge, potentially causing undercut defects on both sides of the weld layer.

[0107] Pulling the torch back (tilting the torch backward, away from the welding direction): Increases penetration depth and reduces weld width. The arc heat is more concentrated in the current molten pool, resulting in deeper melting of the substrate and a narrower, thicker weld overlay with a higher dilution rate. Reduced molten pool fluidity: The molten pool cools faster, making it suitable for welding high-alloy materials (such as stainless steel and wear-resistant alloys) and reducing the tendency for hot cracking. Slightly lower arc stability: The arc is more susceptible to interference from molten pool vapor during torch pull-back, resulting in slightly more spatter than when pushing the torch back. Strict control of current and speed matching is required.

[0108] As can be seen from the above, the angle between the welding torch and the welding direction (welding posture angle) has a significant impact on the forming width and height of the weld overlay, as well as the welding quality. This invention decomposes the welding posture angle into the included angle between two directions (two target posture angles), represented by a motion coordinate system, namely the angle between the welding torch and the X-axis in the XY coordinate system. And, the angle between the XZ coordinate system and the X-axis. .

[0109] Since the direction of welding motion changes with the curved surface, the posture of the welding torch also changes accordingly. This invention extracts two consecutive points from the welding path, calculates the difference between the two points, and constructs a difference vector from the difference data. Using this difference vector, two target posture angles, and a first formula, the angle between the welding torch and the coordinate system is obtained. The first formula is:

[0110]

[0111] In the formula, The first target attitude angle, The second target attitude angle, The first swing angle, This is the second swing angle. The elements along the x-axis of the difference vector are... These are the elements along the y-axis of the difference vector. These are the elements along the z-axis of the difference vector. It is the tangent function. It is the cotangent function. It is a cosine function.

[0112] The angle between the welding torch and the coordinate system is added to the path dataset. During welding, the attitude angle of the welding torch is adjusted in real time according to the welding point. In other words, after obtaining the path, the attitude angle of the welding torch at the predetermined point can be planned according to the path data, so that the welding torch and the welding movement direction are always at a predetermined angle, ensuring the width and height of the weld.

[0113] In step 104, the sprocket assembly is subjected to welding and / or cladding according to the plurality of second welding path datasets.

[0114] In some embodiments, the step of performing weld overlay and / or cladding on the sprocket assembly based on the plurality of second weld overlay path datasets includes:

[0115] Obtain reference values ​​for welding voltage and welding speed;

[0116] Data sets are sequentially extracted from the plurality of second welding path data sets and used as the datasets to be executed;

[0117] Sequentially extract point data and welding posture data from the dataset to be executed, and use them as point data to be executed and welding posture data to be executed, and perform the following steps after each extraction:

[0118] The welding torch is controlled to move from the current position to the position indicated by the welding position data to be executed, and the wire feeding speed is controlled according to the welding speed, the first width and the first thickness, wherein the welding machine forms a weld layer of the first width and the first thickness when performing cladding and / or welding.

[0119] Adjust the height of the welding torch according to the welding voltage reference value.

[0120] In some embodiments, adjusting the height of the welding torch according to the welding voltage reference value includes:

[0121] If the welding voltage is higher than the reference value, adjust the welding torch height.

[0122] Otherwise, lower the height of the welding torch.

[0123] For example, during the surfacing welding process of the present invention, the welding current and welding speed are first set, and on this basis, a voltage reference value is set. Then, the point data are sequentially retrieved from the surfacing welding path dataset, the welding gun is moved according to the predetermined welding speed, and the wire feeding speed is controlled according to the predetermined welding width and welding thickness. In terms of welding voltage, the welding voltage is always maintained near the welding voltage reference value by adjusting the height of the welding gun.

[0124] The present invention discloses an embodiment of a chain socket curved surface cladding welding path control method, which firstly obtains a first curved surface, wherein a welding machine performs cladding and / or cladding on the first curved surface to form a chain socket hardened layer, and the circular chain abuts against the sprocket through the chain socket; then, based on the first curved surface, multiple first cladding welding path datasets are constructed, wherein each first cladding welding path dataset corresponds to a cladding layer, and the first cladding welding path dataset includes multiple point data arranged sequentially; next, for each first cladding welding path dataset, point data is traversally extracted from the dataset as target point data, the welding posture is determined based on the nearest point data of the target point data, and the welding posture is added to the first cladding welding path dataset to obtain a second cladding welding path dataset, wherein the welding machine performs cladding and / or cladding on the target point based on the welding posture; finally, the sprocket assembly is cladding and / or cladding on the sprocket according to the multiple second cladding welding path datasets. The chain socket curved surface welding path control method of the present invention generates a welding path according to the curved surface, and the welding positioning is accurate, forming a welding layer of predetermined thickness that follows the curved surface, thus ensuring the quality and durability of the welding.

[0125] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0126] The following are embodiments of the apparatus of the present invention. For details not described in detail, please refer to the corresponding method embodiments described above.

[0127] Figure 5 This is a functional block diagram of the chain socket curved surface welding path control device provided in the embodiments of the present invention, with reference to... Figure 5 The chain socket curved surface welding path control device includes: a chain socket curved surface acquisition module 501, a welding path construction module 502, a welding posture module 503, and a welding control module 504, wherein:

[0128] Chain socket surface acquisition module 501 is used to acquire a first surface, wherein the welding machine performs overlay welding and / or cladding based on the first surface to form a chain socket hardened layer, and the circular chain abuts against the sprocket through the chain socket;

[0129] The welding path construction module 502 is used to construct multiple first welding path datasets based on the first curved surface, wherein each first welding path dataset corresponds to a welding layer, and the first welding path dataset includes multiple point data arranged in sequence.

[0130] The welding posture module 503 is used to iteratively extract point data from each first weld path dataset as target point data, determine the welding posture based on the nearest point data of the target point data, and add the welding posture to the first weld path dataset to obtain the second weld path dataset. The welding machine performs weld overlay and / or cladding on the target point based on the welding posture.

[0131] The welding control module 504 is used to weld and / or clad the sprocket assembly according to the plurality of second welding path datasets.

[0132] Figure 6 This is a functional block diagram of the electronic device provided in an embodiment of the present invention. For example... Figure 6 As shown, the electronic device 6 of this embodiment includes a processor 600 and a memory 601, wherein the memory 601 stores a computer program 602 that can run on the processor 600. When the processor 600 executes the computer program 602, it implements the steps of the various chain-hole curved surface welding path control methods and embodiments described above, for example... Figure 1 Steps 101 to 104 are shown.

[0133] For example, the computer program 602 may be divided into one or more modules / units, which are stored in the memory 601 and executed by the processor 600 to complete the present invention.

[0134] The electronic device 6 can be a desktop computer, laptop, handheld computer, cloud server, or other computing device. The electronic device 6 may include, but is not limited to, a processor 600 and a memory 601. Those skilled in the art will understand that... Figure 6 This is merely an example of electronic device 6 and does not constitute a limitation on electronic device 6. It may include more or fewer components than shown, or combine certain components, or different components. For example, electronic device 6 may also include input / output devices, network access devices, buses, etc.

[0135] The processor 600 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0136] The memory 601 can be an internal storage unit of the electronic device 6, such as a hard disk or memory. The memory 601 can also be an external storage device of the electronic device 6, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory 601 can include both internal and external storage units of the electronic device 6. The memory 601 is used to store the computer program 602 and other programs and data required by the electronic device 6. The memory 601 can also be used to temporarily store data that has been output or will be output.

[0137] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the aforementioned method embodiments, and will not be repeated here.

[0138] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0139] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0140] In the embodiments provided by this invention, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0141] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0142] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0143] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above-described embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various methods and apparatus embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0144] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for controlling the path of chain socket curved surface welding, characterized in that, include: A first curved surface is obtained, wherein a welding machine performs overlay welding and / or cladding based on the first curved surface to form a chain socket hardened layer, and the circular chain abuts against the sprocket through the chain socket; Based on the first surface, multiple first welding path datasets are constructed, wherein each first welding path dataset corresponds to a welding layer, and the first welding path dataset includes multiple point data arranged in sequence. For each first weld path dataset, point data is extracted from the dataset traversally as target point data. The welding posture is determined based on the nearest neighbor point data of the target point data, including: Obtain the attitude angles of the first target and the second target; Extract point data sequentially from the first weld path dataset as target point data, and perform the following steps after each extraction: The data following the target point data is taken as the first nearest neighbor point data; The difference between the target point data and the first nearest neighbor point data is used to construct a difference vector; The welding posture is determined based on the difference vector, the first target posture angle and the second target posture angle, wherein the welding machine performs overlay welding and / or cladding on the target point based on the welding posture; The welding posture is added to the first weld path dataset to obtain the second weld path dataset; Based on the multiple second welding path datasets, the sprocket assembly is welded and / or clad. The step of determining the welding posture based on the difference vector, the first target posture angle, and the second target posture angle includes: The welding posture includes a first tilt angle and a second tilt angle. The welding posture is determined according to a first formula, the difference vector, the first target posture angle, and the second target posture angle. The first tilt angle is the angle between the welding torch axis and the x-axis in the xy coordinate system, and the second tilt angle is the angle between the welding torch axis and the x-axis in the xz coordinate system. The first formula is: In the formula, The first target attitude angle, The second target attitude angle, The first swing angle, This is the second swing angle. The elements along the x-axis of the difference vector are... These are the elements along the y-axis of the difference vector. These are the elements along the z-axis of the difference vector. It is the tangent function. It is the cotangent function. It is a cosine function.

2. The chain socket curved surface welding path control method according to claim 1, characterized in that, Based on the first curved surface, multiple first welding path datasets are constructed, including: A first width and a first thickness are obtained, wherein the welding machine forms a weld layer of the first width and the first thickness when performing overlay welding and / or cladding. Extract the coordinate range of the first surface in the target dimension; The coordinate interval is divided according to the first width to obtain multiple first coordinate points; For each first coordinate point, the curve corresponding to the first coordinate point is extracted from the first surface as the target curve, and the point data is extracted from the target curve at equal intervals and added to the newly constructed first welding path dataset. If the total thickness of the weld overlay does not reach the threshold, the first thickness of the first surface is redrawn, the redrawn surface is used as the first surface, the dimension orthogonal to the target dimension is used as the target dimension, a new first weld overlay path dataset is constructed, and the process jumps to the step of extracting the coordinate range of the first surface in the target dimension.

3. The chain socket curved surface welding path control method according to claim 2, characterized in that, If the first surface is generated based on the sprocket base, then the construction of multiple first weld path datasets based on the first surface includes: A first width and a first thickness are obtained, wherein the welding machine forms a weld layer of the first width and the first thickness when performing overlay welding and / or cladding. Extract the edge of the first surface as the first target curve; Using the first target curve as a reference, a curve whose distance from the first target curve gradually increases with the perimeter to the first width is generated, which is used as the second target curve; Using the second target curve as a reference and the first width as an offset, multiple offsets are made into the second target curve until the distance between the offset curve and the center of the first surface is less than the first width, thereby obtaining multiple third target curves. Point data are extracted at equal intervals from the second target curve and the plurality of third target curves and added to the newly constructed first weld path dataset; If the total thickness of the weld overlay does not reach the threshold, the first thickness of the first surface is redrawn, the redrawn surface is used as the first surface, and a new first weld overlay path dataset is constructed by selecting one dimension from multiple coordinate dimensions as the target dimension, and then the process jumps to the step of extracting the coordinate interval of the first surface in the target dimension.

4. The chain socket curved surface welding path control method according to any one of claims 1-3, characterized in that, The step of performing weld overlay and / or cladding on the sprocket assembly based on the plurality of second weld overlay path datasets includes: Obtain reference values ​​for welding voltage and welding speed; Data sets are sequentially extracted from the plurality of second welding path data sets and used as the datasets to be executed; Sequentially extract point data and welding posture data from the dataset to be executed, and use them as point data to be executed and welding posture data to be executed, and perform the following steps after each extraction: The welding torch is controlled to move from the current position to the position indicated by the welding position data to be executed, and the wire feeding speed is controlled according to the welding speed, the first width and the first thickness, wherein the welding machine forms a weld layer of the first width and the first thickness when performing cladding and / or welding. Adjust the height of the welding torch according to the welding voltage reference value.

5. The chain socket curved surface welding path control method according to claim 4, characterized in that, The step of adjusting the height of the welding torch according to the welding voltage reference value includes: If the welding voltage is higher than the reference value, increase the height of the welding torch; Otherwise, lower the height of the welding torch.

6. A chain socket curved surface welding path control device, characterized in that, For implementing the chain socket curved surface welding path control method as described in any one of claims 1-5, the chain socket curved surface welding path control device comprises: A chain socket surface acquisition module is used to acquire a first surface, wherein a welding machine performs overlay welding and / or cladding based on the first surface to form a chain socket hardened layer, and the circular chain abuts against the sprocket through the chain socket; The welding path construction module is used to construct multiple first welding path datasets based on the first surface, wherein each first welding path dataset corresponds to a welding layer, and the first welding path dataset includes multiple point data arranged in sequence. The welding posture module is used to iterate through each first weld path dataset, extract point data from the dataset as target point data, determine the welding posture based on the nearest point data of the target point data, and add the welding posture to the first weld path dataset to obtain the second weld path dataset. The welding machine performs weld overlay and / or cladding on the target point based on the welding posture. as well as, The overlay control module is used to perform overlay welding and / or cladding on the sprocket assembly based on the plurality of second overlay welding path datasets.

7. An electronic device comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 5 above.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 5 above.

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