阅读说明：本技术 气电立焊装置、其控制方法、控制装置、和气电立焊系统 (Electrogas welding device, control method thereof, control device, and electrogas welding system ) 是由 冯消冰 潘百蛙 陈子胥 汪正伟 徐瑞 于 2020-12-31 设计创作，主要内容包括：本申请提供了一种气电立焊装置、其控制方法、控制装置、和气电立焊系统,该气电立焊装置包括爬行焊接机器人、焊机和驱动结构,焊机安装在爬行焊接机器人上,焊机包括送丝机和焊枪,送丝机的出口和焊枪的入口连接,驱动结构与焊枪连接以驱动焊枪运动。与现有技术相比,该装置无需铺设轨道,实现了无轨式自动焊接,保证了气电立焊系统较为简化轻便。同时,由于无需铺设轨道,节省了铺设轨道和调整轨道的时间,也节省了焊接位置移动造成的轨道安装时间,保证了气电立焊装置的焊接效率较高,并且,气电立焊装置没有安装轨道所需的空间限制,保证了气电立焊装置的实用性较强。(The application provides a gas electric vertical welding device, a control method thereof, a control device and a gas electric vertical welding system, wherein the gas electric vertical welding device comprises a crawling welding robot, a welding machine and a driving structure, the welding machine is installed on the crawling welding robot, the welding machine comprises a wire feeder and a welding gun, an outlet of the wire feeder is connected with an inlet of the welding gun, and the driving structure is connected with the welding gun to drive the welding gun to move. Compared with the prior art, the device need not to lay the track, has realized trackless automatic weld, has guaranteed that the electrogas welding system is comparatively simplified lightly. Meanwhile, the track is not required to be laid, the time for laying the track and adjusting the track is saved, the track installation time caused by movement of the welding position is also saved, the welding efficiency of the electro-gas welding device is higher, the electro-gas welding device is not limited by the space required by the installation of the track, and the electro-gas welding device is higher in practicability.)

1. The utility model provides a gas electric vertical welding device, its characterized in that, includes crawling welding robot, welding machine and drive structure, the welding machine is installed crawling welding robot is last, the welding machine includes a machine and a welder, send the export of a machine with the entry linkage of welder, the drive structure with welder connects with the drive welder moves.

2. The electrogas welding apparatus according to claim 1, characterized by further comprising:

and the laser tracking module is installed on the crawling welding robot and used for detecting the information of the welding seam, wherein the information of the welding seam comprises the position information of the welding seam and the size information of the welding seam.

3. The electrogas welding apparatus according to claim 1, characterized by further comprising:

and the cooling structure is used for cooling the molten iron.

4. The electrogas welding apparatus according to claim 1, characterized by further comprising:

and the arc sensor is used for acquiring the voltage between the anode and the cathode of the welding machine.

5. The electrogas welding apparatus according to any one of claims 1 to 4, wherein the driving structure includes three driving shafts, the three driving shafts are perpendicular to each other in pairs, the three driving shafts are respectively a first driving shaft for driving the welding torch to move in a length direction of the weld, a second driving shaft for driving the welding torch to move in a width direction of the weld, and a third driving shaft for driving the welding torch to move in a depth direction of the weld.

6. A control method of an electrogas welding apparatus according to any one of claims 1 to 5, characterized by comprising:

acquiring welding seam information, wherein the welding seam information comprises position information of the welding seam and size information of the welding seam;

acquiring welding parameters, wherein the welding parameters comprise technological parameters of a welding machine and operating parameters of a crawling welding robot;

controlling a welding gun to reach the initial welding position of the first welding line and start welding according to the welding parameters and the welding line information;

and in the case of detecting that the length of the current welding arc is smaller than a preset threshold value, controlling the welding gun to move to the next welding position for welding until the welding is finished.

7. The method of claim 6, wherein controlling the welding gun to move to a next welding position for welding until welding is completed in the event that the length of the current welding arc is detected to be less than a predetermined threshold value comprises:

a first welding process, wherein under the condition that the length of the current welding arc is detected to be smaller than the preset threshold value, the welding gun is controlled to move to the next welding position of the current welding seam along the depth direction of the welding seam to weld until the welding gun moves to the last welding position of the current welding seam;

a second welding process of controlling the welding gun to move to the initial welding position of the next welding seam along the height direction of the welding seam to weld when the length of the current welding arc is detected to be smaller than the preset threshold value;

and repeating the first welding process and the second welding process in sequence until the welding is finished.

8. The method of claim 7, wherein the dimensional information of the weld includes a depth of the weld, the first welding process further comprising:

obtaining a moving distance, wherein the moving distance is the distance of the welding gun moving in the depth direction of the current welding seam;

and determining that the welding gun moves to the last welding position of the current welding seam when the difference value between the depth of the welding seam and the moving distance is a preset value.

9. The method of claim 6, wherein controlling the welding torch to reach an initial welding position of the first weld and to start welding based on the welding parameters and the weld information comprises:

controlling the welding guns to move according to the position information of the welding seams so that the welding guns are aligned to the first welding seam;

and controlling the welding gun to move in the depth direction of the welding seam until the initial welding position of the first welding seam is reached.

10. A control device of an electrogas welding apparatus according to any one of claims 1 to 5, characterized by comprising:

the first acquisition unit is used for acquiring welding seam information, and the welding seam information comprises position information of the welding seam and size information of the welding seam;

the second acquisition unit is used for acquiring welding parameters, and the welding parameters comprise process parameters of the welding machine and operation parameters of the crawling welding robot;

the first control unit is used for controlling the welding gun to reach the initial welding position of the first welding line and start welding according to the welding parameters and the welding line information;

and the second control unit is used for controlling the welding gun to move to the next welding position for welding until the welding is finished under the condition that the length of the current welding arc is detected to be smaller than a preset threshold value.

11. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program performs the method of any one of claims 6 to 9.

12. A processor, characterized in that the processor is configured to run a program, wherein the program when running performs the method of any of claims 6 to 9.

13. An electrogas welding system, comprising: an electrogas welding apparatus, one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing the method of any one of claims 6 to 9, the electrogas welding apparatus being the electrogas welding apparatus of any one of claims 1 to 5.

Technical Field

The application relates to the field of electrogas welding, in particular to an electrogas welding device, a control method thereof, a control device, a computer readable storage medium, a processor and an electrogas welding system.

Background

The electrogas welding trolley in the existing electrogas welding system needs to be laid with a track, and all parts of the trolley are connected complicatedly, so that the trolley is not convenient to transport and install, and the preparation time before welding is long.

The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.

Disclosure of Invention

The main purpose of the present application is to provide an electrogas welding device, a control method thereof, a control device, a computer-readable storage medium, a processor, and an electrogas welding system, so as to solve the problem that in the prior art, an electrogas welding trolley in the electrogas welding system needs to lay a track, which results in a more complicated electrogas welding system.

According to an aspect of an embodiment of the present invention, there is provided a gas electric vertical welding apparatus including a crawling welding robot on which a welding machine is mounted, the welding machine including a wire feeder and a welding torch, an outlet of the wire feeder being connected to an inlet of the welding torch, and a driving structure connected to the welding torch to drive the welding torch to move.

Optionally, the electrogas welding device further comprises a laser tracking module, the laser tracking module is installed on the crawling welding robot and used for detecting information of the welding seam, and the information of the welding seam comprises position information of the welding seam and size information of the welding seam.

Optionally, the electrogas welding device further comprises a cooling structure for cooling the molten iron.

Optionally, the electrogas welding device further comprises an arc sensor for acquiring a voltage between the positive electrode and the negative electrode of the welding machine.

Optionally, the driving structure includes three driving shafts, three driving shafts are perpendicular to each other two by two, the three driving shafts are respectively a first driving shaft, a second driving shaft and a third driving shaft, the first driving shaft is used for driving the welding gun to move along the length direction of the welding seam, the second driving shaft is used for driving the welding gun to move along the width direction of the welding seam, and the third driving shaft is used for driving the welding gun to move along the depth direction of the welding seam.

According to another aspect of the embodiments of the present invention, there is also provided a control method of an electrogas welding apparatus, including: acquiring welding seam information, wherein the welding seam information comprises position information of the welding seam and size information of the welding seam; acquiring welding parameters, wherein the welding parameters comprise technological parameters of a welding machine and operating parameters of a crawling welding robot; controlling a welding gun to reach the initial welding position of the first welding line and start welding according to the welding parameters and the welding line information; and in the case of detecting that the length of the current welding arc is smaller than a preset threshold value, controlling the welding gun to move to the next welding position for welding until the welding is finished.

Optionally, in a case that the length of the current welding arc is detected to be smaller than a predetermined threshold, controlling the welding gun to move to the next welding position for welding until welding is completed, including: a first welding process, wherein under the condition that the length of the current welding arc is detected to be smaller than the preset threshold value, the welding gun is controlled to move to the next welding position of the current welding seam along the depth direction of the welding seam to weld until the welding gun moves to the last welding position of the current welding seam; a second welding process of controlling the welding gun to move to the initial welding position of the next welding seam along the height direction of the welding seam to weld when the length of the current welding arc is detected to be smaller than the preset threshold value; and repeating the first welding process and the second welding process in sequence until the welding is finished.

Optionally, the size information of the weld includes a depth of the weld, and the first welding process further includes: obtaining a moving distance, wherein the moving distance is the distance of the welding gun moving in the depth direction of the current welding seam; and determining that the welding gun moves to the last welding position of the current welding seam when the difference value between the depth of the welding seam and the moving distance is a preset value.

Optionally, controlling the welding gun to reach an initial welding position of a first weld and start welding according to the welding parameters and the weld information, including: controlling the welding guns to move according to the position information of the welding seams so that the welding guns are aligned to the first welding seam; and controlling the welding gun to move in the depth direction of the welding seam until the initial welding position of the first welding seam is reached.

According to still another aspect of the embodiments of the present invention, there is also provided a control apparatus of an electrogas welding apparatus, the control apparatus including a first acquisition unit, a second acquisition unit, a first control unit, and a second control unit, wherein the first acquisition unit is configured to acquire weld information, the weld information including position information of the weld and size information of the weld; the second acquisition unit is used for acquiring welding parameters, and the welding parameters comprise process parameters of a welding machine and operation parameters of the crawling welding robot; the first control unit is used for controlling the welding gun to reach the initial welding position of the first welding line and start welding according to the welding parameters and the welding line information; and the second control unit is used for controlling the welding gun to move to the next welding position for welding under the condition that the length of the current welding arc is detected to be smaller than a preset threshold value until the welding is finished.

According to still another aspect of embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program executes any one of the methods.

According to another aspect of the embodiments of the present invention, there is also provided a processor, configured to execute a program, where the program executes any one of the methods.

There is also provided, in accordance with another aspect of an embodiment of the present invention, an electrogas welding system, including an electrogas welding apparatus, one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any one of the methods, the electrogas welding apparatus being any one of the electrogas welding apparatuses.

The application discloses electrogas welding device, including crawling welding robot, welding machine and drive structure, the welding machine includes wire feeder and welder, wire feeder is used for the continuous filling of welding wire. Because the crawling welding robot need not the guide rail, compare with prior art, the electrogas welding device need not to lay the track, has realized trackless automatic weld, has guaranteed that electrogas welding system is comparatively simplified lightly. Meanwhile, the track is not required to be laid, the time for laying the track and adjusting the track is saved, the track installation time caused by movement of the welding position is also saved, the welding efficiency of the electro-gas welding device is higher, the electro-gas welding device is free of space limitation required by the installation of the track, and the electro-gas welding device is higher in practicability.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:

FIG. 1 shows a schematic view of an electrogas welding apparatus according to an embodiment of the present application;

FIG. 2 shows a flow diagram generated by a control method of an electrogas welding apparatus according to an embodiment of the present application;

fig. 3 shows a schematic view of a control device of an electrogas welding device according to an embodiment of the present application.

Wherein the figures include the following reference numerals:

10. a crawling welding robot; 20. a welding machine; 30. a drive structure; 40. a laser tracking module; 50. a cooling structure; 60. a slider; 70. an electrogas welding device; 80. a workpiece to be welded; 100. a cable; 200. a wire feeder; 201. and (4) welding the welding gun.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.

As described in the background art, in order to solve the above-mentioned problems, in an exemplary embodiment of the present application, an electrogas welding apparatus, a control method thereof, a control apparatus, a computer-readable storage medium, a processor, and an electrogas welding system are provided.

According to an exemplary embodiment of the present application, there is provided an electrogas welding apparatus 70, as shown in fig. 1, the electrogas welding apparatus 70 is used for welding a workpiece 80 to be welded, the electrogas welding apparatus 70 includes a crawling welding robot 10, a welder 20 and a driving structure 30, the welder 20 is mounted on the crawling welding robot 10 (not limited to the positional relationship shown in the figure), the welder 20 includes a wire feeder 200 and a welding gun 201, an outlet of the wire feeder 200 is connected to an inlet of the welding gun 201, and the driving structure 30 is connected to the welding gun 201 to drive the welding gun 201 to move.

The gas electric vertical welding device comprises a crawling welding robot, a welding machine and a driving structure, wherein the welding machine comprises a wire feeder and a welding gun, and the wire feeder is used for continuously filling welding wires. Because above-mentioned creeping welding robot need not the guide rail, compares with prior art, above-mentioned electrogas welding device need not to lay the track, has realized trackless automatic weld, has guaranteed that electrogas welding system is comparatively simplified lightly. Meanwhile, the track is not required to be laid, the time for laying the track and adjusting the track is saved, the track installation time caused by movement of a welding position is also saved, the welding efficiency of the electro-gas welding device is higher, the electro-gas welding device is not limited by the space required by the installation of the track, and the electro-gas welding device is higher in practicability.

In actual application, the crawling welding robot can be the crawling welding robot that describes in the utility model patent of application number 201920946737.0, application name "crawling welding robot", of course, crawling welding robot can also be other feasible trackless guide crawling welding robot among the prior art.

In order to more accurately position the welding seam and further ensure a good welding effect, according to a specific embodiment of the present application, as shown in fig. 1, the above-mentioned electro-gas welding device further includes a laser tracking module 40, the above-mentioned laser tracking module 40 is installed on the above-mentioned crawling welding robot 10 for detecting information of the welding seam, the information of the above-mentioned welding seam includes position information of the above-mentioned welding seam and size information of the above-mentioned welding seam.

According to another specific embodiment of the present application, as shown in fig. 1, the electrogas welding apparatus further includes a cooling structure 50 for cooling molten iron. The cooling structure cools the molten iron, so that the molten iron is prevented from falling during welding, welding seams are formed conveniently, and the welding effect of the welding seams is better.

In a specific embodiment of the present application, the cooling structure forms molten iron during a welding process by a contact cooling method.

In order to further ensure that the welding effect of the welding seam is better, in the practical application process, the electrogas welding device further comprises an electric arc sensor which is used for collecting the voltage between the anode and the cathode of the welding machine. The voltage between the anode and the cathode of the welding machine is acquired through the arc sensor, so that the voltage of the welding machine is further monitored.

In still another embodiment of the present application, as shown in fig. 1, the driving structure includes three driving shafts, and the three driving shafts are illustrated as sliders 60, two of the three driving shafts are perpendicular to each other, and the three driving shafts are respectively a first driving shaft, a second driving shaft and a third driving shaft, the first driving shaft is used for driving the welding gun to move along the length direction of the welding seam, the second driving shaft is used for driving the welding gun to move along the width direction of the welding seam, and the third driving shaft is used for driving the welding gun to move along the depth direction of the welding seam. Through the driving structure, the flexible movement of the welding gun along the length direction, the width direction and the depth direction of the welding seam is realized, and the welding seam can be better welded.

In a specific embodiment, as shown in fig. 1, the electrogas welding apparatus further comprises a cable 100 for connecting the welder 20 with the crawling welding robot 10, and connecting the driving structure 30 with the crawling welding robot 10.

According to an embodiment of the present application, there is provided a control method of an electrogas welding apparatus.

Fig. 2 is a flowchart of a control method of the electrogas welding apparatus according to an embodiment of the present application. As shown in fig. 2, the method comprises the steps of:

step S101, obtaining welding seam information, wherein the welding seam information comprises position information of the welding seam and size information of the welding seam;

step S102, obtaining welding parameters, wherein the welding parameters comprise technological parameters of a welding machine and operation parameters of a crawling welding robot;

step S103, controlling a welding gun to reach the initial welding position of a first welding line and start welding according to the welding parameters and the welding line information;

and step S104, controlling the welding gun to move to the next welding position for welding until the welding is finished under the condition that the length of the current welding arc is detected to be smaller than a preset threshold value.

The control method of the electro-gas welding device comprises the steps of firstly obtaining welding seam information, then obtaining welding parameters, then controlling a welding gun to reach the initial welding position of a first welding seam and start welding according to the welding parameters and the welding seam information, then indicating that the welding at the current welding position of the welding seam is finished when the length of the current welding arc is detected to be smaller than a preset threshold value, wherein the length of the welding arc is the distance between the welding gun and molten iron in the welding seam, and controlling the welding gun to move to the next welding position to weld until the welding is finished. The method realizes trackless automatic welding, ensures that the electrogas welding system is simplified and light, saves the time for laying the track and adjusting the track, also saves the track installation time caused by the movement of the welding position, and ensures that the electrogas welding device has higher welding efficiency.

In the practical application process, the technological parameters of the welding machine include parameters such as input voltage, output current, output voltage, input capacity and load duration of the welding machine, the operation parameters of the crawling welding robot include parameters such as vehicle body operation speed and rotation angular speed, of course, the technological parameters of the welding machine can also include other parameters, and the operation parameters of the crawling welding robot can also include other parameters.

In a specific embodiment, the length of the welding arc is detected by an arc sensor, the arc sensor is installed at the output end of the welding machine and is used for collecting the output voltage of the welding machine, and the arc sensor detects the height and the left-right deviation of the welding seam through the welding parameter change caused by the length change of the welding arc.

According to another specific embodiment of the present application, in a case that it is detected that the length of the current welding arc is smaller than a predetermined threshold, controlling the welding gun to move to the next welding position for welding until welding is completed includes: a first welding process of controlling the welding gun to move to the next welding position of the current welding seam along the depth direction of the welding seam to weld until the welding gun moves to the last welding position of the current welding seam when the length of the current welding arc is detected to be smaller than the preset threshold; a second welding step of controlling the welding torch to move to the initial welding position of the next welding bead in the height direction of the welding bead to perform welding when it is detected that the length of the current welding arc is smaller than the predetermined threshold value; and repeating the first welding process and the second welding process in sequence until the welding is completed. According to the method, the welding effect of the welding line is better ensured through the first welding process and the second welding process.

In order to ensure that the last welding position of the weld can be determined more accurately and the welding machine is controlled to move to the last welding position more accurately, in the practical application process, the size information of the weld includes the depth of the weld, the first welding process further includes: acquiring a moving distance, wherein the moving distance is a distance of the welding gun moving in the depth direction of the current welding seam; and determining that the welding gun moves to the last welding position of the current welding seam when the difference value between the depth of the welding seam and the moving distance is a preset value.

According to another specific embodiment of the present application, controlling the welding gun to reach the initial welding position of the first weld and start welding according to the welding parameters and the weld information includes: controlling the welding guns to move according to the position information of the welding seams so that the welding guns are aligned to the first welding seam; and controlling the welding gun to move in the depth direction of the welding seam until the initial welding position of the first welding seam is reached. Therefore, the initial welding position of the first welding line can be accurately determined, and the welding machine is controlled to accurately move to the initial welding position of the first welding line.

It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.

The embodiment of the present application further provides a control device of an electrogas welding device, and it should be noted that the control device of the electrogas welding device of the embodiment of the present application may be used to execute the control method for the electrogas welding device provided in the embodiment of the present application. The following describes a control device of an electrogas welding device according to an embodiment of the present application.

Fig. 3 is a schematic diagram of a control device of the electrogas welding device according to an embodiment of the present application. As shown in fig. 3, the apparatus includes a first acquiring unit 800, a second acquiring unit 801, a first control unit 802, and a second control unit 803, wherein the first acquiring unit 800 is configured to acquire weld information, and the weld information includes position information of the weld and size information of the weld; the second obtaining unit 801 is configured to obtain welding parameters, where the welding parameters include process parameters of a welding machine and operation parameters of a crawling welding robot; the first control unit 802 is configured to control the welding gun to reach an initial welding position of a first welding line and start welding according to the welding parameters and the welding line information; the second control unit 803 is configured to control the welding gun to move to the next welding position for welding until welding is completed when the length of the current welding arc is detected to be smaller than a predetermined threshold.

The control device of the electrogas welding device obtains the welding seam information through the first obtaining unit, obtains the welding parameters through the second obtaining unit, controls the welding gun to reach the initial welding position of the first welding seam and start welding according to the welding parameters and the welding seam information through the first control unit, and controls the welding gun to move to the next welding position for welding until the welding is completed through the second control unit when the second control unit detects that the length of the current welding arc is smaller than a preset threshold value and indicates that the current welding position of the welding seam is welded. The device has realized trackless automatic weld, has guaranteed that the electrogas vertical welding system is comparatively simplified lightly to, saved the time of laying the track and adjusting track, also saved the track installation time that the welding position removed and caused, guaranteed that above-mentioned electrogas vertical welding device's welding efficiency is higher.

The control device of the electrogas welding device includes a processor and a memory, the first acquiring unit, the second acquiring unit, the first control unit, the second control unit, and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.

In the practical application process, the technological parameters of the welding machine include parameters such as input voltage, output current, output voltage, input capacity and load duration of the welding machine, the operation parameters of the crawling welding robot include parameters such as vehicle body operation speed and rotation angular speed, of course, the technological parameters of the welding machine can also include other parameters, and the operation parameters of the crawling welding robot can also include other parameters.

In a specific embodiment, the length of the welding arc is detected by an arc sensor, the arc sensor is installed at the output end of the welding machine and is used for collecting the output voltage of the welding machine, and the arc sensor detects the height and the left-right deviation of the welding seam through the welding parameter change caused by the length change of the welding arc.

According to another specific embodiment of the present application, the second control unit includes a first welding module, a second welding module and a repeating module, wherein the first welding module is used for a first welding process, and in a case that the length of the current welding arc is detected to be smaller than the predetermined threshold, the first welding module controls the welding gun to move to a next welding position of the current welding seam along the depth direction of the welding seam to perform welding until the welding gun moves to a last welding position of the current welding seam; the second welding module is used for a second welding process, and controls the welding gun to move to the initial welding position of the next welding seam along the height direction of the welding seam to perform welding when the length of the current welding arc is detected to be smaller than the preset threshold value; the repeating module is used for repeating the first welding process and the second welding process in sequence until the welding is finished. Above-mentioned device, through above-mentioned first welding process and above-mentioned second welding process, it is better to have guaranteed the welding effect of welding seam.

In one embodiment, the length of the welding arc may be detected by an arc sensor mounted at an output of the welding machine for acquiring an output voltage of the welding machine, and the arc sensor detects a height of the weld and a left-right deviation by a change in welding parameters caused by a change in a distance between the welding gun and the welding wire.

In order to ensure that the last welding position of a welding seam is determined more accurately and the welding machine is controlled to move to the last welding position more accurately, in the practical application process, the size information of the welding seam comprises the depth of the welding seam, the first welding module comprises a first obtaining submodule and a determining submodule, wherein the first obtaining submodule is used for obtaining a moving distance, and the moving distance is the distance of the welding gun moving in the depth direction of the current welding seam; the determining submodule is used for determining that the welding gun moves to the last welding position of the current welding seam when the difference value between the depth of the welding seam and the moving distance is a preset value.

According to another specific embodiment of the present application, the first control unit includes a first control module and a second control module, wherein the first control module is configured to control the movement of the welding guns according to the position information of the welding seams, so that the welding guns are aligned with a first welding seam; the second control module is used for controlling the welding gun to move in the depth direction of the welding seam until the initial welding position of the first welding seam is reached. Therefore, the seamless welding seam after welding is further ensured, and the welding effect is further ensured to be better. Therefore, the initial welding position of the first welding line can be accurately determined, and the welding machine is controlled to accurately move to the initial welding position of the first welding line.

The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the problem that the electrogas welding system is complex due to the fact that tracks need to be laid on an electrogas welding trolley in the electrogas welding system in the prior art is solved by adjusting kernel parameters.

The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

An embodiment of the present invention provides a storage medium having stored thereon a program that, when executed by a processor, implements the control method of the above-described electrogas welding apparatus.

The embodiment of the invention provides a processor, which is used for running a program, wherein the program executes the control method of the electro-gas welding device when running.

The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein when the processor executes the program, at least the following steps are realized:

step S101, obtaining welding seam information, wherein the welding seam information comprises position information of the welding seam and size information of the welding seam;

step S102, obtaining welding parameters, wherein the welding parameters comprise technological parameters of a welding machine and operation parameters of a crawling welding robot;

step S103, controlling a welding gun to reach the initial welding position of a first welding line and start welding according to the welding parameters and the welding line information;

and step S104, controlling the welding gun to move to the next welding position for welding until the welding is finished under the condition that the length of the current welding arc is detected to be smaller than a preset threshold value.

The device herein may be a server, a PC, a PAD, a mobile phone, etc.

The present application further provides a computer program product adapted to perform a program of initializing at least the following method steps when executed on a data processing device:

step S101, obtaining welding seam information, wherein the welding seam information comprises position information of the welding seam and size information of the welding seam;

step S102, obtaining welding parameters, wherein the welding parameters comprise technological parameters of a welding machine and operation parameters of a crawling welding robot;

step S103, controlling a welding gun to reach the initial welding position of a first welding line and start welding according to the welding parameters and the welding line information;

and step S104, controlling the welding gun to move to the next welding position for welding until the welding is finished under the condition that the length of the current welding arc is detected to be smaller than a preset threshold value.

There is also provided in accordance with yet another exemplary embodiment of the present application a gas electric welding system, including a gas electric welding apparatus, one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the above-described methods, the gas electric welding apparatus being any of the above-described gas electric welding apparatuses.

The electrogas welding system comprising an electrogas welding device, one or more processors, memory, and one or more programs, said one or more programs comprising instructions for performing any of the methods described above, said electrogas welding device being any of the electrogas welding devices described above. Because above-mentioned creeping welding robot need not the guide rail, compares with prior art, above-mentioned electrogas welding system need not to lay the track, has realized trackless automatic weld, has guaranteed that electrogas welding system is comparatively simplified lightly. Meanwhile, the track does not need to be laid, the time for laying the track and adjusting the track is saved, the track installation time caused by movement of a welding position is also saved, the welding efficiency of the electro-gas welding system is higher, the electro-gas welding system is not limited by the space required by the installation of the track, and the electro-gas welding system is higher in practicability.

In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the above methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:

1) the utility model provides a gas electric vertical welding device, including crawling welding robot, welding machine and drive structure, above-mentioned welding machine includes wire feeder and welder, and above-mentioned wire feeder is used for the continuous filling of welding wire. Because above-mentioned creeping welding robot need not the guide rail, compares with prior art, above-mentioned electrogas welding device need not to lay the track, has realized trackless automatic weld, has guaranteed that electrogas welding system is comparatively simplified lightly. Meanwhile, the track is not required to be laid, the time for laying the track and adjusting the track is saved, the track installation time caused by movement of a welding position is also saved, the welding efficiency of the electro-gas welding device is higher, the electro-gas welding device is not limited by the space required by the installation of the track, and the electro-gas welding device is higher in practicability.

2) The control method of the electro-gas welding device comprises the steps of firstly obtaining welding seam information, then obtaining welding parameters, then controlling a welding gun to reach an initial welding position of a first welding seam and start welding according to the welding parameters and the welding seam information, and then indicating that the current welding position of the welding seam is welded under the condition that the length of a current welding arc is detected to be smaller than a preset threshold value, wherein the length of the welding arc is the distance between the welding gun and molten iron in the welding seam, and controlling the welding gun to move to the next welding position to weld until the welding is finished. The method realizes trackless automatic welding, ensures that the electrogas welding system is simplified and light, saves the time for laying the track and adjusting the track, also saves the track installation time caused by the movement of the welding position, and ensures that the electrogas welding device has higher welding efficiency.

3) The control device of the electro-gas welding device obtains welding seam information through the first obtaining unit, obtains welding parameters through the second obtaining unit, controls the welding gun to reach an initial welding position of a first welding seam and start welding according to the welding parameters and the welding seam information through the first control unit, and controls the welding gun to move to a next welding position to weld when the second control unit detects that the length of a current welding arc is smaller than a preset threshold value, wherein the length of the welding arc is a distance between the welding gun and molten iron in the welding seam, and the welding gun is detected to move to the next welding position until the welding is finished. The device has realized trackless automatic weld, has guaranteed that the electrogas vertical welding system is comparatively simplified lightly to, saved the time of laying the track and adjusting track, also saved the track installation time that the welding position removed and caused, guaranteed that above-mentioned electrogas vertical welding device's welding efficiency is higher.

4) An electrogas welding system of the present application, comprising an electrogas welding device, one or more processors, memory, and one or more programs, said one or more programs comprising instructions for performing any of the above methods, said electrogas welding device being any of the above electrogas welding devices. Because above-mentioned creeping welding robot need not the guide rail, compares with prior art, above-mentioned electrogas welding system need not to lay the track, has realized trackless automatic weld, has guaranteed that electrogas welding system is comparatively simplified lightly. Meanwhile, the track does not need to be laid, the time for laying the track and adjusting the track is saved, the track installation time caused by movement of a welding position is also saved, the welding efficiency of the electro-gas welding system is higher, the electro-gas welding system is not limited by the space required by the installation of the track, and the electro-gas welding system is higher in practicability.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.