阅读说明：本技术 焊接方法及装置 (welding method and device ) 是由 皮亚东 邓俊 石晓松 牛连山 刘晓文 张倩 周伦 闫洁 赵忠刚 张连宇 柳志青 于 2018-05-31 设计创作，主要内容包括：本发明公开了一种焊接方法、装置及计算机可读存储介质,属于自动焊接技术领域。所述方法包括：获取储罐中待焊接部位的对口间隙、当前位置和最优焊接位置,然后基于当前位置和最优焊接位置确定横向位置偏差和纵向位置偏差,并对横向位置偏差和纵向位置偏差进行电压转换,得到横向电压偏差和纵向电压偏差,进而可以基于待焊接部位的对口间隙、横向电压偏差和纵向电压偏差,控制焊缝激光跟踪控制系统中的焊枪从当前的位置移动到最优焊接位置内并进行焊接,保证了焊接的质量。(The invention discloses a welding method, a welding device and a computer readable storage medium, and belongs to the technical field of automatic welding. The method comprises the following steps: the method comprises the steps of obtaining a butt gap, a current position and an optimal welding position of a part to be welded in a storage tank, determining a transverse position deviation and a longitudinal position deviation based on the current position and the optimal welding position, performing voltage conversion on the transverse position deviation and the longitudinal position deviation to obtain a transverse voltage deviation and a longitudinal voltage deviation, and controlling a welding gun in a welding line laser tracking control system to move from the current position to the optimal welding position and weld based on the butt gap, the transverse voltage deviation and the longitudinal voltage deviation of the part to be welded, so that the welding quality is guaranteed.)

1. A welding method is characterized by being applied to a welding seam laser tracking control system, and the method comprises the following steps:

Acquiring a butt gap, a current position and an optimal welding position of a to-be-welded part in a storage tank, wherein the butt gap is a gap at the butt between welding plates where the to-be-welded part in the storage tank is located;

Determining a lateral position deviation and a longitudinal position deviation based on the current position and the optimal welding position;

performing voltage conversion on the transverse position deviation and the longitudinal position deviation to obtain a transverse voltage deviation and a longitudinal voltage deviation;

And controlling a welding gun in the welding seam laser tracking control system to move from the current position to the optimal welding position and weld based on the alignment gap of the part to be welded, the transverse voltage deviation and the longitudinal voltage deviation.

2. The method of claim 1, wherein the obtaining of the butt gap, the current position and the optimal welding position of the to-be-welded part in the tank comprises:

Collecting an image of the part to be welded;

and processing the current frame image to determine the alignment gap and the current position of the part to be welded, and taking the position determined after the previous frame image is processed as the optimal welding position.

3. The method of claim 1 or 2, wherein the voltage converting the lateral position deviation and the longitudinal position deviation to obtain a lateral voltage deviation and a longitudinal voltage deviation comprises:

determining the transverse voltage deviation based on the calibration parameters and transverse internal parameters of a laser tracking sensor, a preset voltage conversion coefficient and the transverse position deviation, which are included in the welding line laser tracking control system;

And determining the longitudinal voltage deviation based on the calibration parameters and longitudinal internal parameters of the laser tracking sensor, the preset voltage conversion coefficient and the longitudinal position deviation.

4. The method of claim 1, wherein the controlling of the welding torch in the weld laser tracking control system to move from a current position into the optimal welding position and perform welding based on the fit-up gap of the to-be-welded part, the lateral voltage deviation, and the longitudinal voltage deviation comprises:

Performing pulse conversion on the transverse voltage deviation and the longitudinal voltage deviation to obtain the transverse moving pulse number and the longitudinal moving pulse number;

Determining a welding angle corresponding to the butt gap of the part to be welded according to the stored correspondence between the butt gap and the welding angle;

and when the welding angle corresponding to the alignment gap of the part to be welded is different from the current welding angle, controlling the welding gun to move from the current position to the optimal welding position and welding the part to be welded based on the welding angle corresponding to the alignment gap of the part to be welded, the transverse moving pulse number and the longitudinal moving pulse number.

5. the method of claim 1, wherein the welding comprises cross welding.

6. A welding device is applied to a welding seam laser tracking control system, and the device comprises:

The device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring an alignment gap, a current position and an optimal welding position of a part to be welded in a storage tank, and the alignment gap is the gap at the alignment between welding plates where the part to be welded in the storage tank is located;

A determination module for determining a lateral position deviation and a longitudinal position deviation based on the current position and the optimal welding position;

the conversion module is used for carrying out voltage conversion on the transverse position deviation and the longitudinal position deviation to obtain a transverse voltage deviation and a longitudinal voltage deviation;

and the control module is used for controlling a welding gun in the welding seam laser tracking control system to move from the current position to the optimal welding position and weld based on the alignment gap of the part to be welded, the transverse voltage deviation and the longitudinal voltage deviation.

7. The apparatus of claim 6, wherein the acquisition module comprises:

The acquisition submodule is used for acquiring an image of the part to be welded;

And the processing submodule is used for processing the current frame image to determine the fit-on gap and the current position of the part to be welded, and taking the position determined after the previous frame image is processed as the optimal welding position.

8. the apparatus of claim 6 or 7, wherein the conversion module comprises:

the first determining submodule is used for determining the transverse voltage deviation based on the calibration parameters and transverse internal parameters of a laser tracking sensor, a preset voltage conversion coefficient and the transverse position deviation, wherein the laser tracking sensor is arranged in the welding seam laser tracking control system;

And the second determining submodule is used for determining the longitudinal voltage deviation based on the calibration parameters and the longitudinal internal parameters of the laser tracking sensor, the preset voltage conversion coefficient and the longitudinal position deviation.

9. the apparatus of claim 6, wherein the control module comprises:

the conversion submodule is used for carrying out pulse conversion on the transverse voltage deviation and the longitudinal voltage deviation to obtain the transverse moving pulse number and the longitudinal moving pulse number;

The third determining submodule is used for determining a welding angle corresponding to the butt gap of the part to be welded according to the stored corresponding relation between the butt gap and the welding angle;

And the control submodule is used for controlling the welding gun to move from the current position to the optimal welding position and welding the welding gun based on the welding angle corresponding to the alignment gap of the part to be welded, the transverse moving pulse number and the longitudinal moving pulse number when the welding angle corresponding to the alignment gap of the part to be welded is different from the current welding angle.

10. The apparatus of claim 6, wherein the weld comprises a cross weld.

Technical Field

The invention relates to the technical field of automatic welding, in particular to a welding method and a welding device.

Background

because petroleum is related to economic development, social stability and national safety of China, China gives high attention to the construction of large storage tanks for storing petroleum, and welding is one of important processes for the construction of large storage tanks, so that a welding method capable of ensuring the welding quality is urgently needed.

In order to ensure the welding quality, the welding gun needs to be always in the optimal welding position of the welding seam for welding, but the welding gun is not in the optimal welding position in many cases, so that the position of the welding gun is generally adjusted by a welder according to own experience at present, and the welding gun is in the optimal welding position.

However, when the deviation between the position of the welding gun and the optimal welding position of the welding seam is small, a welder is likely to be unable to accurately judge whether the welding gun is in the optimal welding position, and further cause inaccurate welding and unable to ensure the welding quality.

disclosure of Invention

In order to solve the problem that the welding quality cannot be guaranteed in the related art, the embodiment of the invention provides a welding method and a welding device. The technical scheme is as follows:

in a first aspect, a welding method is provided, which is applied to a weld laser tracking control system, and the method includes:

acquiring a butt gap, a current position and an optimal welding position of a to-be-welded part in a storage tank, wherein the butt gap is a gap at the butt between welding plates where the to-be-welded part in the storage tank is located;

Determining a lateral position deviation and a longitudinal position deviation based on the current position and the optimal welding position;

Performing voltage conversion on the transverse position deviation and the longitudinal position deviation to obtain a transverse voltage deviation and a longitudinal voltage deviation;

and controlling a welding gun in the welding seam laser tracking control system to move from the current position to the optimal welding position and weld based on the alignment gap of the part to be welded, the transverse voltage deviation and the longitudinal voltage deviation.

optionally, the obtaining of the butt gap, the current position, and the optimal welding position of the to-be-welded part in the storage tank includes:

collecting an image of the part to be welded;

And processing the current frame image to determine the alignment gap and the current position of the part to be welded, and taking the position determined after the previous frame image is processed as the optimal welding position.

Optionally, the voltage converting the transverse position deviation and the longitudinal position deviation to obtain a transverse voltage deviation and a longitudinal voltage deviation includes:

Determining the transverse voltage deviation based on the calibration parameters and transverse internal parameters of a laser tracking sensor, a preset voltage conversion coefficient and the transverse position deviation, which are included in the welding line laser tracking control system;

And determining the longitudinal voltage deviation based on the calibration parameters and longitudinal internal parameters of the laser tracking sensor, the preset voltage conversion coefficient and the longitudinal position deviation.

Optionally, the controlling a welding gun in the seam laser tracking control system to move from a current position to the optimal welding position and perform welding based on the alignment gap of the to-be-welded part, the transverse voltage deviation and the longitudinal voltage deviation includes:

Performing pulse conversion on the transverse voltage deviation and the longitudinal voltage deviation to obtain the transverse moving pulse number and the longitudinal moving pulse number;

determining a welding angle corresponding to the butt gap of the part to be welded according to the stored correspondence between the butt gap and the welding angle;

and when the welding angle corresponding to the alignment gap of the part to be welded is different from the current welding angle, controlling the welding gun to move from the current position to the optimal welding position and welding the part to be welded based on the welding angle corresponding to the alignment gap of the part to be welded, the transverse moving pulse number and the longitudinal moving pulse number.

optionally, the welding comprises cross welding.

In a second aspect, a welding device is provided, which is applied to a weld laser tracking control system, and the device comprises:

The device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring an alignment gap, a current position and an optimal welding position of a part to be welded in a storage tank, and the alignment gap is the gap at the alignment between welding plates where the part to be welded in the storage tank is located;

a determination module for determining a lateral position deviation and a longitudinal position deviation based on the current position and the optimal welding position;

the conversion module is used for carrying out voltage conversion on the transverse position deviation and the longitudinal position deviation to obtain a transverse voltage deviation and a longitudinal voltage deviation;

and the control module is used for controlling a welding gun in the welding seam laser tracking control system to move from the current position to the optimal welding position and weld based on the alignment gap of the part to be welded, the transverse voltage deviation and the longitudinal voltage deviation.

Optionally, the obtaining module includes:

the acquisition submodule is used for acquiring an image of the part to be welded;

And the processing submodule is used for processing the current frame image to determine the fit-on gap and the current position of the part to be welded, and taking the position determined after the previous frame image is processed as the optimal welding position.

Optionally, the conversion module comprises:

the first determining submodule is used for determining the transverse voltage deviation based on the calibration parameters and transverse internal parameters of a laser tracking sensor, a preset voltage conversion coefficient and the transverse position deviation, wherein the laser tracking sensor is arranged in the welding seam laser tracking control system;

and the second determining submodule is used for determining the longitudinal voltage deviation based on the calibration parameters and the longitudinal internal parameters of the laser tracking sensor, the preset voltage conversion coefficient and the longitudinal position deviation.

optionally, the control module comprises:

The conversion submodule is used for carrying out pulse conversion on the transverse voltage deviation and the longitudinal voltage deviation to obtain the transverse moving pulse number and the longitudinal moving pulse number;

the third determining submodule is used for determining a welding angle corresponding to the butt gap of the part to be welded according to the stored corresponding relation between the butt gap and the welding angle;

And the control submodule is used for controlling the welding gun to move from the current position to the optimal welding position and welding the welding gun based on the welding angle corresponding to the alignment gap of the part to be welded, the transverse moving pulse number and the longitudinal moving pulse number when the welding angle corresponding to the alignment gap of the part to be welded is different from the current welding angle.

Optionally, the welding comprises cross welding.

The technical scheme provided by the embodiment of the invention has the following beneficial effects: the method comprises the steps of obtaining a butt gap, a current position and an optimal welding position of a part to be welded in a storage tank, determining a transverse position deviation and a longitudinal position deviation based on the current position and the optimal welding position, performing voltage conversion on the transverse position deviation and the longitudinal position deviation to obtain a transverse voltage deviation and a longitudinal voltage deviation, and controlling a welding gun in a welding line laser tracking control system to move from the current position to the optimal welding position and weld based on the butt gap, the transverse voltage deviation and the longitudinal voltage deviation of the part to be welded, so that the welding quality is guaranteed.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a weld laser tracking control system provided by an embodiment of the invention;

FIG. 2 is a flow chart of a welding method provided by an embodiment of the present invention;

FIG. 3 is a flow chart of a welding method provided by an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a welding device according to an embodiment of the present invention.

Detailed Description

in order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

For convenience of understanding, before explaining the embodiments of the present invention in detail, an application scenario and a system architecture of the embodiments of the present invention will be described.

first, an application scenario of the embodiment of the present invention is described:

welding is one of important processes in the construction of large-sized storage tanks, and factors influencing welding quality are many, for example, an error exists in groove machining, a storage tank plate is deformed in prefabrication, and a storage tank is mechanically damaged in a transportation process, so that a welding method capable of ensuring that a welding gun is always in an optimal welding position in a welding process is urgently needed.

In the welding process, the deviation between the current position of the part to be welded and the optimal welding position is generally very small, so that the current welder can not judge the deviation by adjusting the position of the welding gun through own experience, and the welding quality can not be ensured. The invention provides a welding method, which can accurately weld and ensure the welding quality by controlling the welding gun to move from the current position to the optimal welding position based on the deviation between the current position and the optimal welding position of the part to be welded.

Next, a system architecture of the embodiment of the present invention is introduced:

fig. 1 is a schematic structural diagram of a weld laser tracking control system 1 according to an embodiment of the present invention, where the weld laser tracking control system 1 includes a laser tracking sensor 10, a laser tracking processor 11, a motion controller 12, a control motor 13, a cross slide 14, a welding gun 15, a welding plate 16, a part to be welded 17, a power supply 18, and an encoder 19. The control motor 13 includes a left and right control motor 131, an up and down control motor 132, and an angle control motor 133, the cross slide 14 includes a left and right slide 141 and an up and down slide 142, the motion controller 12 includes a Digital Signal Processing (DSP) control unit 121, and the welding portion 17 includes a butt gap 171.

the laser tracking sensor 10 is connected with the laser tracking processor 11, the laser tracking processor 11 is connected with the motion controller 12, the motion controller 12 is respectively connected with the control motor 13, the power supply 18 and the encoder 19, the left and right control motor 131 and the up and down control motor 132 in the control motor 13 are connected with the cross slide plate 14, and the angle control motor 133, the cross slide plate 14, the power supply 18 and the encoder 19 in the control motor 13 are respectively connected with the welding gun 15.

the motion controller 12 is connected to the left and right control motor 131, the up and down control motor 132, and the angle control motor 133 of the control motor 13, respectively, the left and right control motor 131 of the control motor 13 is connected to the left and right slide plate 141, and the up and down control motor 132 is connected to the up and down slide plate 142.

The laser tracking sensor 10 can collect the image of the part 17 to be welded and send the collected current frame image to the laser tracking processor 11; the laser tracking processor 11 may receive the image of the to-be-welded portion 17 sent by the laser tracking sensor 10, process the image to determine the alignment gap 171 and the current position of the to-be-welded portion, set the position determined after the image processing of the previous frame as the optimal welding position, and then send the alignment gap 171, the current position, and the optimal welding position of the to-be-welded portion to the motion controller 12.

the power supply 18 may detect the current welding current of the welding gun 15 and send the current welding current to the motion controller 12.

the encoder 19 may detect the current welding angle of the welding gun 15 and transmit the current welding angle to the motion controller 12.

the DSP control unit 121 in the motion controller 12 may receive the opening aligning gap 171, the current position, and the optimal welding position of the to-be-welded portion sent by the laser tracking processor 11, determine a transverse position deviation and a longitudinal position deviation based on the current position and the optimal welding position, perform voltage conversion on the transverse position deviation and the longitudinal position deviation to obtain a transverse voltage deviation and a longitudinal voltage deviation, and perform pulse conversion on the transverse voltage deviation and the longitudinal voltage deviation to obtain a transverse moving pulse number and a longitudinal moving pulse number, respectively. And, the welding angle corresponding to the butt gap 171 of the portion to be welded is determined from the stored correspondence between the butt gap and the welding angle, and the welding angle corresponding to the butt gap 171 of the portion to be welded is compared with the current welding angle transmitted by the encoder 19. When the welding angle corresponding to the aligning gap 171 of the portion to be welded is different from the current welding angle, the motion controller 12 may transmit the welding angle, the number of horizontal movement pulses, and the number of vertical movement pulses corresponding to the aligning gap 171 of the portion to be welded to the control motor 13. The number of horizontal movement pulses is sent to the left and right control motors 131 in the control motors 13, and the number of vertical movement pulses is sent to the up and down control motors 132 in the control motors 13.

in addition, the DSP control unit 121 in the motion controller 12 may also determine the welding current corresponding to the butt gap 171 of the portion to be welded according to the stored correspondence between the butt gap and the welding current, and compare the welding current corresponding to the butt gap 171 of the portion to be welded with the current welding current sent by the power source 18. When the welding current corresponding to the facing gap 171 of the portion to be welded is different from the current welding current, the motion controller 12 may transmit the welding current corresponding to the facing gap 171 of the portion to be welded to the control motor 13.

The control motor 13 may receive the welding angle, the number of horizontal movement pulses, and the number of vertical movement pulses corresponding to the butt gap 171 of the portion to be welded, which are transmitted from the motion controller 12. Specifically, the left and right control motor 131 in the control motor 13 may receive the number of lateral movement pulses sent by the motion controller 12, and control the left and right sliding plate 141 in the cross sliding plate 14 to slide left and right, thereby controlling the welding gun 15 to move left and right; the up-down control motor 132 in the control motor 13 can receive the number of longitudinal movement pulses sent by the controller 12 and control the up-down sliding plate 142 in the cross sliding plate 14 to slide up and down, thereby controlling the welding gun 15 to move up and down; the angle control motor 133 of the control motor 13 may receive the welding angle corresponding to the butt gap 171 of the portion to be welded sent by the controller 12, and control the rotation angle of the welding gun 15.

In addition, the control motor 13 may receive the welding current corresponding to the butt gap 171 of the part to be welded sent by the motion controller 12, and control the welding gun to move up, down, left, right, and rotate by the welding current corresponding to the butt gap 171.

The cross slide plate 14 can control the welding gun 15 to move to the part to be welded 17 on the welding plate 16 during the sliding process, specifically, the left and right slide plates 141 in the cross slide plate 14 can control the welding gun 15 to move left and right, and the up and down slide plates 142 in the cross slide plate 14 can control the welding gun 15 to move up and down.

the welding method provided by the embodiment of the invention will be described in detail with reference to the accompanying drawings.

Fig. 2 is a flowchart of a welding method provided by an embodiment of the present invention, and referring to fig. 2, the method includes:

Step 201: and acquiring the alignment gap, the current position and the optimal welding position of the part to be welded in the storage tank, wherein the alignment gap is the gap at the alignment between the welding plates where the part to be welded in the storage tank is located.

Step 202: a lateral position deviation and a longitudinal position deviation are determined based on the current position and the optimal welding position.

Step 203: and performing voltage conversion on the transverse position deviation and the longitudinal position deviation to obtain a transverse voltage deviation and a longitudinal voltage deviation.

Step 204: and controlling a welding gun in the welding seam laser tracking control system to move from the current position to the optimal welding position and weld based on the alignment gap, the transverse voltage deviation and the longitudinal voltage deviation of the part to be welded.

The technical scheme provided by the embodiment of the invention has the following beneficial effects: the method comprises the steps of obtaining a butt gap, a current position and an optimal welding position of a part to be welded in a storage tank, determining a transverse position deviation and a longitudinal position deviation based on the current position and the optimal welding position, performing voltage conversion on the transverse position deviation and the longitudinal position deviation to obtain a transverse voltage deviation and a longitudinal voltage deviation, and controlling a welding gun in a welding line laser tracking control system to move from the current position to the optimal welding position and weld based on the butt gap, the transverse voltage deviation and the longitudinal voltage deviation of the part to be welded, so that the welding quality is guaranteed.

optionally, obtaining the current position and the optimal welding position of the gap between the to-be-welded part and the to-be-welded part in the storage tank includes:

Collecting an image of a part to be welded;

And processing the current frame image to determine the alignment gap and the current position of the part to be welded, and taking the position determined after the previous frame image is processed as the optimal welding position.

optionally, performing voltage conversion on the lateral position deviation and the longitudinal position deviation to obtain a lateral voltage deviation and a longitudinal voltage deviation, including:

Determining a transverse voltage deviation based on a calibration parameter and a transverse internal parameter of a laser tracking sensor, a preset voltage conversion coefficient and a transverse position deviation, which are included in a welding line laser tracking control system;

And determining the longitudinal voltage deviation based on the calibration parameters and longitudinal internal parameters of the laser tracking sensor, as well as the preset voltage conversion coefficient and the longitudinal position deviation.

Optionally, controlling a welding gun in the seam laser tracking control system to move from a current position to an optimal welding position and perform welding based on the alignment gap, the transverse voltage deviation and the longitudinal voltage deviation of the to-be-welded part, including:

performing pulse conversion on the transverse voltage deviation and the longitudinal voltage deviation to obtain the transverse moving pulse number and the longitudinal moving pulse number;

Determining a welding angle corresponding to the butt gap of the part to be welded according to the stored corresponding relation between the butt gap and the welding angle;

and when the welding angle corresponding to the alignment gap of the part to be welded is different from the current welding angle, controlling the welding gun to move from the current position to the optimal welding position and welding based on the welding angle corresponding to the alignment gap of the part to be welded, the transverse moving pulse number and the longitudinal moving pulse number.

Optionally, the welding comprises cross welding.

All the above optional technical solutions can be combined arbitrarily to form an optional embodiment of the present invention, which is not described herein again.

Fig. 3 is a flow chart of a welding method according to an embodiment of the present invention, and the embodiment shown in fig. 3 will be described in detail below. Referring to fig. 3, the method is applied to a weld laser tracking control system, and comprises the following steps:

Step 301: and acquiring the alignment gap, the current position and the optimal welding position of the part to be welded in the storage tank, wherein the alignment gap is the gap at the alignment between the welding plates where the part to be welded in the storage tank is located.

In the process that the welding gun welds the part to be welded in the storage tank, the welding gun is likely to deviate from the optimal welding position, so that accurate welding cannot be performed, and the welding quality is reduced.

Specifically, a laser tracking sensor included in the weld laser tracking control system collects an image of a part to be welded, and sends the collected current frame image to a laser tracking processor included in the weld laser tracking control system, and the laser tracking processor processes the current frame image to determine a butt gap and a current position of the part to be welded, and takes the position determined after processing the previous frame image as an optimal welding position.

In practical implementation, the position determined after processing each frame of image can be used as the optimal welding position referred by the next frame of image, so that in the embodiment of the present invention, when determining the current position of the to-be-welded part, the position determined after processing the previous frame of image can be used as the optimal welding position.

it should be noted that the laser tracking sensor includes a diode, a filter, and a Charge Coupled Device (CCD) imaging unit, and light emitted by the diode is irradiated onto a portion to be welded through the filter to form a laser stripe, so as to image the portion to be welded on the CCD imaging unit, and further acquire an image of the portion to be welded through the laser tracking sensor. The laser tracking sensor can be debugged to adjust the intensity of light emitted by the diode, the angle of the light irradiating on the part to be welded, the information density of the light and the like in the process of acquiring pictures.

It should be further noted that, after receiving the current frame image sent by the laser tracking sensor, the laser tracking processor may process the image by using an image processing technique to fit an image of the to-be-welded portion including the determined position and the to-be-welded portion, and the to-be-welded portion including the determined position and the to-be-welded portion may be determined by using the to-be-welded portion image including the determined position and the to-be-welded portion. The image processing technology includes filtering, binarization, threshold segmentation, edge detection, and the like.

Step 302: a lateral position deviation and a longitudinal position deviation are determined based on the current position and the optimal welding position.

specifically, after the laser tracking processor determines that the current position and the optimal welding position of the to-be-welded part are obtained, the current position and the optimal welding position may be sent to the motion controller, and the motion controller determines the lateral position deviation and the longitudinal position deviation based on the current position and the optimal welding position.

In representing the current position and the optimum welding position of the portion to be welded in the tank, they can be represented by a rectangular coordinate including an abscissa and an ordinate, and thus, the current position and the optimum welding position can be represented by an abscissa and an ordinate, that is, the current position can be represented by an abscissa and an ordinate, and the optimum welding position can also be represented by an abscissa and an ordinate, so that the lateral position deviation can be determined by the abscissa of the current position and the abscissa of the optimum welding position, and the longitudinal position deviation can be determined by the ordinate of the current position and the ordinate of the optimum welding position.

it should be noted that the current position can be represented by one rectangular coordinate or a plurality of rectangular coordinates, and the optimal welding position can also be represented by one rectangular coordinate or a plurality of rectangular coordinates, and when the current position and the optimal welding position are respectively represented by one rectangular coordinate, a position deviation, namely a transverse position deviation and a longitudinal position deviation, can be determined; when the current position and the optimum welding position are each represented by a plurality of rectangular coordinates, a plurality of positional deviations, i.e. a plurality of transverse positional deviations and a plurality of longitudinal positional deviations, can be determined.

It should be further noted that the position deviations determined by the current position and the optimal welding position may be the same or different, and when the position deviations are different, it may be determined that the current position has a sudden change relative to the optimal welding position. When the plurality of positional deviations are completely the same, the lateral positional deviation and the longitudinal positional deviation in any one positional deviation are determined as the lateral positional deviation and the longitudinal positional deviation between the current position and the optimum welding position, respectively. When the plurality of positional deviations are not completely the same, a minimum lateral positional deviation among the plurality of positional deviations may be selected, a minimum longitudinal positional deviation among the plurality of positional deviations may be selected, and the minimum lateral positional deviation and the minimum longitudinal positional deviation may be finally determined as the lateral positional deviation and the longitudinal positional deviation between the current position and the optimum welding position.

the following detailed description is given by taking as an example that the current position and the optimal welding position are both represented by three rectangular coordinates respectively and three determined position deviations are completely the same or not completely the same:

For example, the three rectangular coordinates representing the optimum welding position are a (1,3), B (3,1) and C (6,2), respectively, and the three rectangular coordinates representing the current position are a1(1,3.1), B1(3,1.1) and C1(6,2.1), respectively, then the three position deviations between the current position and the optimum welding position are a2(0,0.1), B2(0,0.1) and C2(0,0.1), respectively. It can be seen that the three positional deviations are identical, and therefore, 0 in one positional deviation can be arbitrarily determined as the lateral positional deviation between the current position and the optimum welding position, and 0.1 in one positional deviation can be arbitrarily determined as the longitudinal positional deviation between the current position and the optimum welding position. A lateral position deviation of 0 indicates that the current position is not shifted in the lateral position with respect to the optimum welding position, and a longitudinal position deviation of 0.1 indicates that the current position is shifted upward in the longitudinal position by 0.1mm with respect to the optimum welding position.

For another example, the three rectangular coordinates representing the optimal welding position are a (1,3), B (3,1) and C (6,2), respectively, and the three rectangular coordinates representing the current position are A3(1.05,3.1), B3(3.05,1.1) and C3(6.1,2.03), respectively, then the three position deviations between the current position and the optimal welding position are a4(0.05,0.1), B4(0.05,0.1) and C4(0.1,0.03), respectively. It can be seen that the smallest lateral position deviation and the smallest longitudinal position deviation among the three position deviations are 0.05 and 0.03, and thus 0.05 and 0.03 can be determined as the lateral position deviation and the longitudinal position deviation between the current position and the optimum welding position, respectively. A lateral position deviation of 0.05 indicates that the current position is shifted to the right by 0.05mm in the lateral position with respect to the optimum welding position, and a longitudinal position deviation of 0.03 indicates that the current position is shifted to the upper by 0.03mm in the longitudinal position with respect to the optimum welding position.

since the position deviation between the current position and the optimal welding position is small, the position deviation can be measured by taking millimeter mm as a measuring unit, and other measuring units can be used for measuring the position deviation, which is not limited in the embodiment of the present invention. In addition, generally, the position deviation is less than 0.1mm, that is, the transverse position deviation is less than 0.1mm, and the longitudinal position deviation is less than 0.1mm, which may be specifically set according to actual situations, and is not limited in the embodiment of the present invention.

it should be noted that, in the embodiment of the present invention, when the lateral position deviation is a positive number, it indicates that the current position is shifted rightward in the lateral position from the optimal welding position, and when the lateral position deviation is a negative number, it indicates that the current position is shifted leftward in the lateral position from the optimal welding position; when the longitudinal position deviation is a positive number, it indicates that the current position is shifted upward in the longitudinal position from the optimum welding position, and when the longitudinal position deviation is a negative number, it indicates that the current position is shifted downward in the longitudinal position from the optimum welding position. Of course, other indication methods are possible, for example, indicating that the current position is shifted rightward in the lateral position from the optimum welding position when the lateral position deviation is a negative number, and indicating that the current position is shifted leftward in the lateral position from the optimum welding position when the lateral position deviation is a positive number; when the longitudinal position deviation is a negative number, it indicates that the current position is shifted upward in the longitudinal position from the optimum welding position, and when the longitudinal position deviation is a positive number, it indicates that the current position is shifted downward in the longitudinal position from the optimum welding position. The embodiment of the present invention is not limited thereto.

After the transverse position deviation and the longitudinal position deviation are determined through step 402, voltage conversion may be performed on the transverse position deviation and the longitudinal position deviation to obtain a transverse voltage deviation and a longitudinal voltage deviation, which will be described in detail through step 403 and step 404.

step 303: and determining the transverse voltage deviation based on the calibration parameters and transverse internal parameters of a laser tracking sensor, a preset voltage conversion coefficient and the transverse position deviation of the welding seam laser tracking control system.

When the welding gun is controlled to move through the welding line laser tracking control system, the motion controller in the welding line laser tracking control system can convert the position deviation into the voltage deviation, and then the welding gun is controlled to move. Specifically, the lateral position deviation can be converted into a lateral voltage deviation by the following formula (1):

wherein z is a calibration parameter of the laser tracking sensor, s is a preset voltage conversion coefficient, a _x is a transverse internal parameter, Δ x is a transverse position deviation, and Δ V _x is a transverse voltage deviation.

In practical implementation, a motion controller included by the weld laser tracking control system determines the transverse voltage deviation based on the calibration parameters and transverse internal parameters of the laser tracking sensor, as well as the preset voltage conversion coefficient and the transverse position deviation. Specifically, the motion controller includes a DSP control unit, and thus, the process of determining the lateral voltage deviation based on the calibration parameters and the lateral internal parameters of the laser tracking sensor, and the preset voltage conversion coefficient and the lateral position deviation is performed by the DSP control unit in the motion controller.

Step 304: and determining the longitudinal voltage deviation based on the calibration parameters and longitudinal internal parameters of the laser tracking sensor, as well as the preset voltage conversion coefficient and the longitudinal position deviation.

In addition to converting the lateral position deviation into the lateral voltage deviation, the longitudinal position deviation may be converted into the longitudinal voltage deviation by the following formula (2):

Where a _y is the longitudinal internal parameter, Δ y is the longitudinal position deviation, and Δ V _y is the longitudinal voltage deviation.

In practical implementation, a motion controller included by the weld laser tracking control system determines the longitudinal voltage deviation based on the calibration parameters and longitudinal internal parameters of the laser tracking sensor, as well as the preset voltage conversion coefficient and the longitudinal position deviation. Specifically, the process of determining the longitudinal voltage deviation is performed by the DSP control unit in the motion controller based on the calibration parameters and longitudinal internal parameters of the laser tracking sensor, as well as the preset voltage conversion coefficient and longitudinal position deviation.

It should be noted that, in the embodiment of the present invention, the execution sequence of step 403 and step 404 is not limited, that is, the transverse voltage deviation may be determined through step 403, and then the longitudinal voltage deviation is determined through step 404, or the longitudinal voltage deviation may be determined through step 404, and then the transverse voltage deviation is determined through step 403.

Step 305: and controlling a welding gun in the welding seam laser tracking control system to move from the current position to the optimal welding position and weld based on the alignment gap, the transverse voltage deviation and the longitudinal voltage deviation of the part to be welded.

After the laser tracking processor determines the alignment gap of the to-be-welded part, the alignment gap of the to-be-welded part can be sent to the motion controller, and after the motion controller receives the alignment gap of the to-be-welded part and determines the transverse voltage deviation and the longitudinal voltage deviation, the welding gun in the welding seam laser tracking control system can be controlled to move to the optimal welding position from the current position and weld based on the alignment gap, the transverse voltage deviation and the longitudinal voltage deviation of the to-be-welded part.

in a possible embodiment, the motion controller may perform pulse conversion on the transverse voltage deviation and the longitudinal voltage deviation to obtain a transverse moving pulse number and a longitudinal moving pulse number, determine a welding angle corresponding to the butt gap of the to-be-welded part according to a stored correspondence between the butt gap and the welding angle, and control the welding gun to move from the current position to the optimal welding position and perform welding based on the welding angle corresponding to the butt gap of the to-be-welded part, the transverse moving pulse number, and the longitudinal moving pulse number when the welding angle corresponding to the butt gap of the to-be-welded part is different from the current welding angle.

The motion controller performs pulse conversion on the transverse voltage deviation to obtain the transverse moving pulse number, which can be realized by the following formula (3):

Where Δ P _x is the number of traverse pulses during traverse, t is a system setting parameter, s is a resolution setting value, P _x is the pulse base number for controlling the motor to make one rotation, and Δ V _x is the lateral voltage deviation.

The motion controller performs pulse conversion on the longitudinal voltage deviation to obtain the number of longitudinal movement pulses by the following formula (4):

where Δ P _y is the number of longitudinal movement pulses during longitudinal movement, P _y is the pulse base number for controlling the motor to make one rotation up and down, and Δ V _y is the longitudinal voltage deviation.

The corresponding relationship between the butt gap and the welding angle may be, for example: when the width of the butt gap is 1mm, the corresponding welding angle is 25 degrees, when the width of the butt gap is 2mm, the corresponding welding angle is 30 degrees, and when the width of the butt gap is 3mm, the corresponding welding angle is 35 degrees.

it should be noted that the motion controller can send the welding angle, the number of transverse movement pulses and the number of longitudinal movement pulses corresponding to the butt gap of the to-be-welded part to the control motor, and then control the welding gun to move from the current position to the optimal welding position by the control motor and perform welding.

After the motion controller sends the number of transverse moving pulses, the number of longitudinal moving pulses and the welding angle corresponding to the opening aligning gap of the part to be welded to the control motor, a left control motor in the control motor can control the cross sliding plate to slide left and right based on the number of transverse moving pulses so as to control the welding gun to move left and right; an up-and-down control motor in the control motors can control the cross sliding plate to slide up and down based on the longitudinal movement pulse number so as to control the welding gun to move up and down; an angle control motor of the control motors may control a welding gun rotation angle based on a welding angle corresponding to a butt gap of a portion to be welded.

In addition, when the welding seam laser tracking control system determines the current welding angle, the current welding angle of the welding gun can be detected through the encoder, the detected current welding angle is sent to the motion controller, and after the motion controller receives the current welding angle sent by the encoder, the welding angle corresponding to the butt gap of the part to be welded can be compared with the current welding angle, so that whether the welding gun needs to be controlled to weld based on the welding angle corresponding to the butt gap of the part to be welded is determined.

The embodiment of the disclosure can also control the welding current of the welding gun during welding based on the butt gap of the part to be welded. Specifically, the motion controller may determine a welding current corresponding to the butt gap of the portion to be welded according to the stored correspondence between the butt gap and the welding current, compare the welding current with the current welding current, and control the welding torch to weld based on the welding current corresponding to the butt gap of the portion to be welded when the welding current is different from the current welding current. Wherein, motion controller can detect the welding current of power in order to obtain welder's present welding current, and this power is used for detecting welder's welding current in real time.

In addition, when the welding gun in the welding seam laser tracking control system is controlled to move from the current position to the optimal welding position and perform welding, the time delay duration for the welding gun to move from the current position to the optimal welding position can be determined, and the time delay duration is the lead amount divided by the welding speed. The lead amount is the vertical distance between the position of the laser stripe irradiated to the part to be welded by the laser tracking sensor and the welding gun. Generally, the delay time is less than 10ms, which may be specifically set according to actual situations, and is not limited in the embodiment of the present invention.

It should be noted that the lead amount is a fixed value measured in advance, and the lead amount can be stored in the weld laser tracking control system in advance for use when the duration is determined; the welding speed is varied, and the movement speed of the welding gun can be detected by the motion control system during each welding process.

it should be noted that the welding in the embodiment of the present invention is horizontal welding, but may be welding of other forms, and the embodiment of the present invention is not limited thereto.

The technical scheme provided by the embodiment of the invention has the following beneficial effects: the method comprises the steps of obtaining a butt gap, a current position and an optimal welding position of a part to be welded in a storage tank, determining a transverse position deviation and a longitudinal position deviation based on the current position and the optimal welding position, performing voltage conversion on the transverse position deviation and the longitudinal position deviation to obtain a transverse voltage deviation and a longitudinal voltage deviation, and controlling a welding gun in a welding line laser tracking control system to move from the current position to the optimal welding position and weld based on the butt gap, the transverse voltage deviation and the longitudinal voltage deviation of the part to be welded, so that the welding quality is guaranteed.

Fig. 4 is a schematic structural diagram of a welding apparatus 400 according to an embodiment of the present invention, referring to fig. 4, applied to a weld laser tracking control system, where the apparatus 400 includes: an acquisition module 401, a determination module 402, a conversion module 403, and a control module 404.

The obtaining module 401 is configured to obtain an alignment gap, a current position, and an optimal welding position of a to-be-welded portion in a storage tank, where the alignment gap is a gap at an alignment between welding plates where the to-be-welded portion is located in the storage tank;

A determining module 402 for determining a lateral position deviation and a longitudinal position deviation based on the current position and the optimal welding position;

a conversion module 403, configured to perform voltage conversion on the horizontal position deviation and the vertical position deviation to obtain a horizontal voltage deviation and a vertical voltage deviation;

And the control module 404 is configured to control a welding gun in the seam laser tracking control system to move from a current position to an optimal welding position and perform welding based on a butt gap, a transverse voltage deviation and a longitudinal voltage deviation of a to-be-welded part.

Optionally, the obtaining module includes:

the acquisition submodule is used for acquiring an image of a part to be welded;

and the processing submodule is used for processing the current frame image to determine the alignment gap and the current position of the part to be welded, and taking the position determined after the previous frame image is processed as the optimal welding position.

Optionally, the conversion module comprises:

the first determining submodule is used for determining the transverse voltage deviation based on the calibration parameters and transverse internal parameters of a laser tracking sensor, a preset voltage conversion coefficient and the transverse position deviation, wherein the laser tracking sensor is arranged in the welding seam laser tracking control system;

and the second determining submodule is used for determining the longitudinal voltage deviation based on the calibration parameters and the longitudinal internal parameters of the laser tracking sensor, the preset voltage conversion coefficient and the longitudinal position deviation.

Optionally, the control module comprises:

The conversion submodule is used for carrying out pulse conversion on the transverse voltage deviation and the longitudinal voltage deviation to obtain the transverse moving pulse number and the longitudinal moving pulse number;

The third determining submodule is used for determining a welding angle corresponding to the butt gap of the part to be welded according to the stored corresponding relation between the butt gap and the welding angle;

And the control submodule is used for controlling the welding gun to move from the current position to the optimal welding position and welding the welding gun based on the welding angle corresponding to the butt gap of the part to be welded, the transverse moving pulse number and the longitudinal moving pulse number when the welding angle corresponding to the butt gap of the part to be welded is different from the current welding angle.

Optionally, the welding comprises cross welding.

The technical scheme provided by the embodiment of the invention has the following beneficial effects: the method comprises the steps of obtaining a butt gap, a current position and an optimal welding position of a part to be welded in a storage tank, determining a transverse position deviation and a longitudinal position deviation based on the current position and the optimal welding position, performing voltage conversion on the transverse position deviation and the longitudinal position deviation to obtain a transverse voltage deviation and a longitudinal voltage deviation, and controlling a welding gun in a welding line laser tracking control system to move from the current position to the optimal welding position and weld based on the butt gap, the transverse voltage deviation and the longitudinal voltage deviation of the part to be welded, so that the welding quality is guaranteed.

it should be noted that: in the welding device provided by the above embodiment, only the division of the above functional modules is taken as an example for illustration during welding, and in practical applications, the above function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions. In addition, the welding device and the welding method provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments and are not described herein again.

Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

it will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.