CN114850635A

CN114850635A - Welding method and system for workpiece, processor and storage medium

Info

Publication number: CN114850635A
Application number: CN202210553166.0A
Authority: CN
Inventors: 黄建兵; 谭星; 倪川皓; 陈林; 曹瑜琦
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2022-05-20
Filing date: 2022-05-20
Publication date: 2022-08-05

Abstract

The embodiment of the invention provides a welding method and system for a workpiece, a processor and a storage medium, and belongs to the technical field of welding. The workpiece comprises a bottom plate and a vertical plate which are perpendicular to each other, two inclined planes and a transition plane connected to the two inclined planes are arranged at the end part, close to the bottom plate, of the vertical plate, and the transition plane is parallel to the bottom plate, and the welding method for the workpiece comprises the following steps: the control robots are respectively positioned at the same positions of two sides of the transition plane, wherein each robot comprises a first robot and a second robot and is used for welding workpieces; controlling a first robot to start a welding mode so as to weld according to a preset welding speed and a preset welding direction; and under the condition that the welding distance of the first robot is within the preset distance range, controlling the second robot to start a welding mode so as to realize backing welding, wherein the backing welding is to weld the transition plane and the bottom plate. The invention can solve the problem of workpiece welding deformation.

Description

Welding method and system for workpiece, processor and storage medium

Technical Field

The invention relates to the technical field of welding, in particular to a welding method and system for workpieces, a processor and a storage medium.

Background

The rotary table is a key bearing part of engineering machinery such as a pump truck, a crane and the like, plays a role in connecting and supporting the arm support, has enough strength and rigidity, and is made of a high-strength steel medium plate (for example, 20-60 mm). The turntable is usually a box-shaped structural member with an opening at the upper part, and the welding joint of the box-shaped structural member is generally in the form of a T-shaped joint, that is, the box-shaped structural member comprises a bottom plate and a vertical plate which are perpendicular to each other. Welding deformation needs to be strictly controlled in the welding process of the rotary table, so that the phenomenon that machining cannot be carried out after welding is completed and interference is caused when the rotary table is assembled with the arm support is avoided. Among the prior art, the welding of box structure usually adopts single-gun welding, and single-gun welded mode can't realize thermal balance, takes place angular deformation easily, leads to the riser toward one side slope. Therefore, the prior art has the problem that welding deformation is easy to occur in the workpiece welding process.

Disclosure of Invention

An embodiment of the invention aims to provide a method and a system for welding workpieces, a processor and a storage medium, so as to solve the problem that welding deformation is easy to occur in the workpiece welding process in the prior art.

In order to achieve the above object, a first aspect of embodiments of the present invention provides a welding method for a workpiece, where the workpiece includes a bottom plate and a vertical plate perpendicular to each other, an end of the vertical plate near the bottom plate is provided with two inclined surfaces and a transition plane connected to the two inclined surfaces, and the transition plane is parallel to the bottom plate, and the welding method includes:

the control robots are respectively positioned at the same positions of two sides of the transition plane, wherein each robot comprises a first robot and a second robot and is used for welding workpieces;

controlling a first robot to start a welding mode so as to weld according to a preset welding speed and a preset welding direction;

and under the condition that the welding distance of the first robot is within the preset distance range, controlling the second robot to start a welding mode so as to realize backing welding, wherein the backing welding is to weld the transition plane and the bottom plate.

In an embodiment of the present invention, the welding method further includes: acquiring attitude information of the robot, wherein the attitude information comprises a first included angle between the welding tail end of the robot and the bottom plate, a second included angle between the welding tail end of the robot and the vertical plate and a third included angle between the welding tail end of the robot and the preset welding direction; and controlling the posture of the robot according to the posture information and the preset posture range so that the posture of the robot is in the preset posture range, wherein the preset posture range comprises a first preset included angle range corresponding to the first included angle, a second preset included angle range corresponding to the second included angle and a third preset included angle range corresponding to the third included angle.

In the embodiment of the present invention, the first predetermined included angle ranges from 30 to 40 degrees, the second predetermined included angle ranges from 50 to 60 degrees, and the third predetermined included angle ranges from 80 to 100 degrees.

In the embodiment of the invention, the robot is also used for preheating before welding; the welding method further comprises the following steps: controlling the first robot and the second robot to be respectively positioned at the same positions, close to the bottom plate, of the two sides of the vertical plate; controlling the first robot and the second robot to start a preheating mode simultaneously so as to preheat the workpiece according to a preset preheating speed and a preset preheating direction; the preheating mode is suspended in a case where the temperature of the welding area of the workpiece is within a preset preheating temperature range.

In the embodiment of the invention, the vertical plate comprises a first vertical plate and a second vertical plate which are respectively arranged at two sides of the bottom plate; the welding method further comprises the following steps: and controlling the first robot and the second robot to alternately preheat before welding at two sides of the first vertical plate and the second vertical plate until the temperature of the welding area of the workpiece is within a preset preheating temperature range.

In the embodiment of the invention, the vertical plate comprises a first vertical plate and a second vertical plate which are respectively arranged at two sides of the bottom plate; the robot is also used for filling and welding the workpiece; the welding method further comprises the following steps: controlling the included angle between the bottom plate and the horizontal plane to be within a fourth preset included angle range; controlling the included angles between the welding tail ends of the first robot and the second robot and the horizontal plane to be within a fifth preset included angle range; and controlling the first robot and the second robot to respectively fill and weld the gap between the inclined plane on the same side of the first vertical plate and the second vertical plate and the bottom plate.

In the embodiment of the present invention, the fourth predetermined included angle ranges from 30 to 60 degrees, and the fifth predetermined included angle ranges from 80 to 100 degrees.

In an embodiment of the present invention, the welding method further includes: under the conditions that the thickness of the vertical plate is determined to be within a first preset thickness range, the width of the transition plane is determined to be within a first preset width range, and the angle of the inclined plane is determined to be within a first preset inclination angle range, determining that the assembly clearance of the transition plane and the bottom plate is within a first preset clearance range; under the conditions that the thickness of the vertical plate is determined to be within a first preset thickness range, the width of the transition plane is determined to be within a second preset width range, and the angle of the inclined plane is determined to be within a second preset inclination angle range, determining that the assembly clearance of the transition plane and the bottom plate is within a second preset clearance range; under the conditions that the thickness of the vertical plate is determined to be in a second preset thickness range, the width of the transition plane is determined to be in a first preset width range, and the angle of the inclined plane is determined to be in a third preset inclination angle range, determining that the assembly clearance of the transition plane and the bottom plate is within a first preset clearance range; and under the conditions that the thickness of the vertical plate is determined to be in a second preset thickness range, the width of the transition plane is determined to be in a second preset width range, and the angle of the inclined plane is determined to be in a fourth preset inclination angle range, determining that the assembly gap between the transition plane and the bottom plate is within a third preset gap range.

In an embodiment of the present invention, the first predetermined thickness range is 20 to 40mm, the second predetermined thickness range is 40 to 60mm, the first predetermined width range is 0 to 1mm, the second predetermined width range is 2 to 5mm, the first predetermined inclination angle range is 35 to 45 degrees, the second predetermined inclination angle range is 45 to 60 degrees, the third predetermined inclination angle range is 45 to 55 degrees, the fourth predetermined inclination angle range is 50 to 70 degrees, the first predetermined gap range is 1 to 3mm, the second predetermined gap range is 2 to 4mm, and the third predetermined gap range is 4 to 6 mm.

A second aspect of an embodiment of the present invention provides a processor configured to perform a welding method for workpieces according to the above.

A third aspect of an embodiment of the present invention provides a welding system for workpieces, comprising: the robot comprises a first robot and a second robot and is used for welding workpieces; and a processor according to the above.

In an embodiment of the present invention, the welding system for workpieces further comprises: and the positioner is used for adjusting the position and/or the angle of the workpiece.

In an embodiment of the present invention, a welding system for workpieces further comprises: and the temperature detection device is used for detecting the temperature of the workpiece.

A fourth aspect of embodiments of the present invention provides a machine-readable storage medium having instructions stored thereon, which when executed by a processor, cause the processor to perform a welding method for a workpiece according to the above.

In the welding method for the workpiece, the first robot and the second robot are controlled to be respectively positioned at the same position on two sides of the transition plane, the first robot is controlled to start a welding mode, the second robot is controlled to start the welding mode when the welding distance of the first robot is within a preset distance range, so as to realize backing welding, the welding method adopts double robots to carry out backing welding on the bottom plate and the vertical plate, so that the problem that the vertical plate inclines towards one side due to easy angular deformation in a single gun welding mode can be solved, in addition, the root part of a welding seam can be completely penetrated in a double-sided double-arc asymmetric synchronous flat angle welding mode without additionally carrying out back root cleaning work, two welding seams of double-sided double-arc welding have mutual preheating function, a front arc has preheating function on a back welding seam, a back arc has back heating function on the front welding seam, and the welding seam organization can be improved, reduce residual stress and reduce cold crack tendency.

Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:

FIG. 1 schematically illustrates a flow diagram of a welding method for workpieces in an embodiment of the invention;

FIG. 2 schematically illustrates a flow diagram of a welding method for workpieces in an exemplary embodiment of the invention;

fig. 3 schematically shows a schematic view of the structure of a workpiece (turntable structure) in an embodiment of the present invention;

FIG. 4a is a schematic diagram illustrating the synchronous preheating of the left vertical plate according to an embodiment of the present invention;

FIG. 4b is a schematic diagram illustrating the synchronous preheating of the right vertical plate according to an embodiment of the present invention;

FIG. 5a schematically illustrates a front view of a backing weld in an embodiment of the present invention;

FIG. 5b schematically illustrates a top view of a backing weld in an embodiment of the present invention;

FIG. 5c schematically illustrates a side view of a backing weld in accordance with an embodiment of the present invention;

FIG. 5d schematically illustrates a partial view of a workpiece in accordance with an embodiment of the invention;

FIG. 6a is a schematic diagram illustrating a left side fill weld and a capping weld of a riser in an embodiment of the present invention;

fig. 6b schematically shows a right filling welding and capping welding of the vertical plate in an embodiment of the present invention.

Description of the reference numerals

1 bottom board 2 left vertical board

3 right vertical plate

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.

FIG. 1 schematically illustrates a flow diagram of a welding method for workpieces in an embodiment of the invention. In an embodiment of the present invention, as shown in fig. 1, a welding method for a workpiece is provided, where the workpiece includes a bottom plate and a vertical plate perpendicular to each other, a joint type of a weld is a T-joint, an end of the vertical plate near the bottom plate is provided with two inclined surfaces and a transition plane connected to the two inclined surfaces, and the transition plane is parallel to the bottom plate, and the method is described as applied to a processor, and the method may include the following steps:

and S102, controlling the robots to be respectively located at the same positions of two sides of the transition plane, wherein the robots comprise a first robot and a second robot and are used for welding workpieces.

It will be appreciated that the number of robots, including the first and second robots, may be two and may be used to weld a workpiece, and in particular the first and second robots may include welding guns for welding.

Specifically, the treater can control first robot and second robot and be located the same position of the transition plane both sides of riser tip respectively, guarantees that first robot and second robot are located the same position of transition plane both sides to can realize the accurate welding with transition plane and bottom plate.

And step S104, controlling the first robot to start a welding mode so as to weld according to a preset welding speed and a preset welding direction.

It can be understood that the welding mode is to weld according to a preset welding speed and a preset welding direction, the preset welding speed is a preset robot welding speed, and specifically may be a moving speed of a welding gun at an end of the robot, for example, 400 to 600 mm/min. The preset welding direction is a welding direction determined in advance according to the specific structure and the placing direction of the workpiece, for example, when the vertical plate is close to the bottom plate, the direction to which the side of the vertical plate close to the bottom plate belongs is the preset welding direction.

Specifically, when the first robot and the second robot are located on two sides of the transition plane, it indicates that the first robot and the second robot are in position, the first robot and the second robot are ready for welding and can start welding, and the processor controls the first robot to start a welding mode, that is, controls the first robot to weld the bottom plate and one side of the transition plane according to a preset welding speed and a preset welding direction.

And S106, controlling the second robot to start a welding mode to realize backing welding under the condition that the welding distance of the first robot is within a preset distance range, wherein the backing welding is to weld the transition plane and the bottom plate.

It can be understood that the backing welding is a process of welding the transition plane of the vertical plate and the bottom plate, that is, welding the gap between the transition plane of the vertical plate and the bottom plate. The preset distance range is a suitable interval of the welding interval distance of the preset first robot and the preset second robot, and is 20-60 mm for example. That is to say, when backing welding is carried out to first robot and second robot, must guarantee that both welding tip (can be welder end) have certain spacing distance in the welding direction, and too big spacing distance leads to the welding seam root to be difficult to weld through easily, and spacing distance undersize, the electric arc part coincidence of two welder, electric arc mutual interference easily influences the welding effect.

Specifically, when the welding distance of the first robot is within a preset distance range (for example, 20-80 mm), the processor controls the second robot to start a welding mode, namely, the other side of the transition plane is welded with the bottom plate according to a preset welding speed and a preset welding direction, so that double-sided double-arc asymmetric synchronous fillet welding is realized.

In one embodiment, the predetermined distance ranges from 20 to 60 millimeters. Understandably, the relative distance range of the double arcs is controlled, so that the welding defect caused by the mutual interference of the double arcs can be avoided, the root part of the welding seam can be completely penetrated, and the welding seam structure can be improved.

In one embodiment, the welding method for workpieces may further include: acquiring attitude information of the robot, wherein the attitude information comprises a first included angle between the welding tail end of the robot and the bottom plate, a second included angle between the welding tail end of the robot and the vertical plate and a third included angle between the welding tail end of the robot and the preset welding direction; and controlling the posture of the robot according to the posture information and the preset posture range so that the posture of the robot is in the preset posture range, wherein the preset posture range comprises a first preset included angle range corresponding to the first included angle, a second preset included angle range corresponding to the second included angle and a third preset included angle range corresponding to the third included angle.

The robot welding device comprises a base plate, a welding head, a welding robot, a first included angle, a second included angle and a third included angle, wherein the base plate is provided with a welding end (can be the end of a welding gun) and a bottom plate, the welding head is provided with a welding end (can be the end of the welding gun) and a vertical plate, and the welding head is provided with a welding end (can be the end of the welding gun) and a preset welding direction. The preset posture range is a preset posture angle range of the welding tail end of the robot and comprises a first preset included angle range, a second preset included angle range and a third preset included angle range, the first preset included angle range is a preset angle range corresponding to the first included angle, the second preset included angle range is a preset angle range corresponding to the second included angle, and the third preset included angle range is a preset angle range corresponding to the third included angle.

Specifically, the processor may acquire pose information of the robot, so as to control a pose of the robot according to the pose information and a preset pose range, and specifically, if the pose of the robot is not within the preset pose range, the processor may adjust the pose of the robot, so as to enable the pose of the robot to be within the preset pose range, otherwise, the pose of the robot does not need to be adjusted.

In the embodiment of the invention, by limiting the welding posture of the robot, the electric arc can be intensively directed to the root of the welding line, thereby being beneficial to realizing the complete penetration of the root of the welding line, improving the welding quality and obtaining better appearance formation.

In one embodiment, the first predetermined included angle ranges from 30 to 40 degrees, the second predetermined included angle ranges from 50 to 60 degrees, and the third predetermined included angle ranges from 80 to 100 degrees.

In the embodiment of the invention, when the first included angle is within the angle range (namely 30 to 40 degrees) provided by the embodiment of the invention, the electric arc is concentrated and points to the root of the welding seam, the fusion of the root is good, the weld fusion width, the fusion depth and the excess height of the welding seam on two sides of the T-shaped joint (namely two sides of the vertical plate) are more ideal, and the appearance is formed well. When the second included angle and the third included angle are in the angle range provided by the embodiment of the invention (namely, 50-60 degrees and 80-100 degrees respectively), the electric arc is straight, the energy is concentrated, the molten drop continuously shoots to the molten pool along the axial direction at a great acceleration, the crystal grains are refined, the impurity gas and impurities are promoted to be removed, the finger-shaped penetration is easily formed, the penetration is increased, and the root complete penetration is facilitated. That is, by specifying these angle ranges, it is advantageous to achieve complete penetration of the root portion and to improve the quality of the weld.

In one embodiment, the robot is also used for pre-weld preheating; the welding method for workpieces further comprises: controlling the first robot and the second robot to be respectively positioned at the same positions, close to the bottom plate, of the two sides of the vertical plate; controlling the first robot and the second robot to start a preheating mode simultaneously so as to preheat the workpiece according to a preset preheating speed and a preset preheating direction; the preheating mode is suspended in a case where the temperature of the welding area of the workpiece is within a preset preheating temperature range.

It can be understood that the preheating mode is a step before welding, and is also called as preheating before welding, and the specific step of the preheating mode is to preheat the workpiece according to a preset preheating speed and a preset preheating direction, so that the temperature of the workpiece reaches a certain temperature range. The preset preheating temperature range is a preset temperature range which is expected to be reached by the temperature of the welding area of the preheated workpiece, such as 100-150 ℃. The preset preheating speed is the preset speed for the robot to execute the preheating before welding step. The welding area of the workpiece is the area of one side, close to the vertical plate and the bottom plate.

Specifically, before the processor controls the first robot and the second robot to weld, the first robot and the second robot can be controlled to be located at the same position, close to the bottom plate, of the two sides of the vertical plate respectively, the first robot and the second robot are controlled to start a preheating mode at the same time, namely, the first robot and the second robot are controlled to preheat a welding area of a workpiece according to a preset preheating speed and a preset preheating direction, synchronous symmetrical preheating is achieved, and when the temperature of the welding area of the workpiece is located within a preset preheating temperature range, the preheating mode of the robot can be stopped by the processor to stop preheating.

In the embodiment of the invention, the preheating before welding can prevent the generation of cold and hot lines, the symmetrical and synchronous motion of the two robots can reduce the deformation of preheating, and the welding efficiency can be improved compared with the single-gun preheating.

In one embodiment, the vertical plate comprises a first vertical plate and a second vertical plate which are respectively arranged at two sides of the bottom plate; the welding method for workpieces further comprises: and controlling the first robot and the second robot to alternately preheat before welding at two sides of the first vertical plate and the second vertical plate until the temperature of the welding area of the workpiece is within a preset preheating temperature range.

Specifically, the two robots synchronously move at the same speed and in the same direction at the same time, and alternately and synchronously preheat between two vertical plates, namely, the first robot and the second robot simultaneously perform a first pre-welding preheating process of the first vertical plate on the first vertical plate, then simultaneously perform a first pre-welding preheating process of the second vertical plate on the second vertical plate, then return to the first vertical plate to perform a second pre-welding preheating process of the first vertical plate on the first vertical plate, and then return to the second vertical plate to perform a second pre-welding preheating process of the second vertical plate, so that the processes of reciprocating, alternately and synchronously preheating are performed until all welding seam areas reach the set temperature.

In the embodiment of the invention, the preheating mode (such as switching the preheating gun) is switched by double robots to alternately and synchronously preheat, so that the heat balance of preheating of a plurality of vertical plates can be realized.

In one embodiment, the vertical plate comprises a first vertical plate and a second vertical plate which are respectively arranged at two sides of the bottom plate; the robot is also used for filling and welding the workpiece; the welding method for workpieces further comprises: controlling the included angle between the bottom plate and the horizontal plane to be within a fourth preset included angle range; controlling the included angle between the welding tail ends of the first robot and the second robot and the horizontal plane to be within a fifth preset included angle range; and controlling the first robot and the second robot to respectively fill and weld the gap between the inclined plane on the same side of the first vertical plate and the second vertical plate and the bottom plate.

It can be understood that after the workpiece is subjected to backing welding, the workpiece can be subjected to filling welding, namely, a gap between two inclined planes of the vertical plate and the bottom plate is filled. The fourth preset included angle range is the included angle range between the bottom plate and the horizontal plane when the preset double robots perform filling welding on the workpiece, and the fifth preset included angle range is the included angle range between the welding tail end of the robot and the horizontal plane when the preset double robots perform filling welding on the workpiece.

Specifically, after backing welding is carried out to the work piece, the treater can control first robot and second robot and fill the welding to the work piece, specifically, the treater can control the contained angle of bottom plate and horizontal plane to be located the fourth and predetermine contained angle scope, and control the welding end of first robot and second robot and the contained angle of horizontal plane respectively and be located the fifth and predetermine contained angle scope, and then control first robot and second robot and fill the welding to the clearance between the inclined plane of the same side (left side or right side) of first riser and second riser and the bottom plate respectively, for example, first robot fills the welding to the clearance between the inclined plane of the left side of first riser and the bottom plate, the second robot fills the welding to the clearance between the inclined plane of the left side of second riser and the bottom plate. Further, after the filling welding on the same side is completed, the processor can control the first robot and the second robot to perform the filling welding on the other side, the steps are the same as the above steps, that is, the included angle between the bottom plate and the horizontal plane needs to be controlled to be within the fourth preset included angle range, and the included angle between the welding tail end of the robot and the horizontal plane needs to be controlled to be within the fifth preset included angle range.

In one embodiment, the fourth predetermined included angle is in a range of 30 to 60 degrees, and the fifth predetermined included angle is in a range of 80 to 100 degrees.

In the embodiment of the invention, when the fourth preset included angle range is 30-60 degrees, namely the ship-shaped position, and the fifth preset included angle range is 80-100 degrees, the welding tail end (such as a welding gun) of the robot is in a vertical state, the double robots are adopted for alternately and synchronously carrying out ship-shaped welding on two vertical plates, the ship-shaped welding can enable two sides of a fillet weld to generate uniform and consistent welding leg sizes, the weld is formed smoothly and beautifully, and the defects that the vertical plates are not fused, collapsed, undercut and the like easily generated by flat fillet welding are avoided. Compared with flat fillet welding, the ship-shaped welding can increase the welding current and improve the welding efficiency.

In one embodiment, the welding method for workpieces further comprises: under the conditions that the thickness of the vertical plate is determined to be within a first preset thickness range, the width of the transition plane is determined to be within a first preset width range, and the angle of the inclined plane is determined to be within a first preset inclination angle range, determining that the assembly clearance of the transition plane and the bottom plate is within a first preset clearance range; under the conditions that the thickness of the vertical plate is determined to be within a first preset thickness range, the width of the transition plane is determined to be within a second preset width range, and the angle of the inclined plane is determined to be within a second preset inclination angle range, determining that the assembly clearance of the transition plane and the bottom plate is within a second preset clearance range; under the conditions that the thickness of the vertical plate is determined to be in a second preset thickness range, the width of the transition plane is determined to be in a first preset width range, and the angle of the inclined plane is determined to be in a third preset inclination angle range, determining that the assembly clearance of the transition plane and the bottom plate is within a first preset clearance range; and under the conditions that the thickness of the vertical plate is determined to be in a second preset thickness range, the width of the transition plane is determined to be in a second preset width range, and the angle of the inclined plane is determined to be in a fourth preset inclination angle range, determining that the assembly gap between the transition plane and the bottom plate is within a third preset gap range.

It can be understood that the first preset thickness range and the second preset thickness range are the thickness ranges of two preset different vertical plates, the first preset width range and the second preset width range are the width ranges of two preset different transition planes, the first preset inclination angle range, the second preset inclination angle range and the third preset inclination angle range are the inclination angle ranges of three preset different inclined planes, and the first preset gap range, the second preset gap range and the third preset gap range are the pairing gap ranges of the three preset different transition planes and the bottom plate.

In the embodiment of the invention, when the vertical plate is thin, the accessibility of the welding gun is better, and smaller groove angle and assembly gap can be adopted, so that the filling amount of the welding seam can be reduced on the basis of realizing full penetration welding, the welding efficiency is improved, and the cost is reduced. In addition, if the truncated edge of the groove is added, the assembly precision is favorably controlled, but the groove angle and the assembly gap need to be correspondingly increased, so that the penetration capability of the root of the welding line can be improved. When the vertical plate is thick, the welding gun accessibility is poor due to the small groove angle and the small group pairing gap, electric arcs are unstable, electric arc force cannot reach the root of a welding seam, the large groove angle and the large group pairing gap need to be adopted, and the welding gun accessibility is improved. Similarly, if the truncated edge of the groove is added, the control of the assembly precision is facilitated, but the groove angle and the assembly gap need to be correspondingly increased, and the penetration capability of the root of the welding line is improved.

In one embodiment, the first predetermined thickness range is 20 to 40mm, the second predetermined thickness range is 40 to 60mm, the first predetermined width range is 0 to 1mm, the second predetermined width range is 2 to 5mm, the first predetermined inclination angle range is 35 to 45 degrees, the second predetermined inclination angle range is 45 to 60 degrees, the third predetermined inclination angle range is 45 to 55 degrees, the fourth predetermined inclination angle range is 50 to 70 degrees, the first predetermined gap range is 1 to 3mm, the second predetermined gap range is 2 to 4mm, and the third predetermined gap range is 4 to 6 mm.

Specifically, if the vertical plate thickness t is 20-40 mm: when the width (namely the width of a transition plane) p of the truncated edge of the groove is 0-1 mm and the angle (namely the angle of the inclined plane) theta of the groove is 35-45 degrees, the corresponding pairing gap g between the transition plane and the bottom plate is 1-3 mm; when the bevel truncated edge p is 2-5 mm and the bevel angle theta is 45-60 degrees, the corresponding group gap g is 2-4 mm.

If the thickness t of the vertical plate is 40-60 mm: when the bevel truncated edge p is 0-1 mm and the bevel angle theta is 45-55 degrees, the corresponding pairing gap g is 1-3 mm; when the bevel truncated edge p is 2-5 mm and the bevel angle theta is 50-70 degrees, the corresponding group gap g is 4-6 mm.

In the embodiment of the invention, the specific numerical range in the embodiment of the invention is adopted, so that the penetration capability of the welding line can be accurately improved, the welding efficiency is further improved, and the cost is greatly reduced. The vertical plate groove size (namely the bevel angle) and the parameter combination of the welding line assembly gap (namely the assembly gap between the transition plane and the bottom plate) are specified, different groove sizes and welding line assembly gap combinations are adopted for different vertical plate thickness ranges, and the groove sizes and the parameter combination of the assembly gap can reduce the welding line filling amount, improve the welding efficiency and be beneficial to controlling the assembly precision on the basis of being beneficial to realizing the back-gouging-free full penetration welding.

The rotary table is a key bearing part of engineering machinery products such as a pump truck, a crane and the like, plays a role in connecting and supporting the arm support, has enough strength and rigidity, is designed into a box-shaped structure with an opening at the upper part, and adopts a high-strength steel medium plate of 20-60 mm. In the welding process, the welding deformation of the rotary table must be strictly controlled to prevent the interference generated when the rotary table is assembled with the arm support due to the fact that the rotary table cannot be machined after welding is completed. The welding quality of the rotary table must be strictly controlled to prevent the occurrence of welding defects such as incomplete penetration and the like and ensure the reliability of a welding structure of the rotary table. In addition, due to the medium-thickness plate structure of 20-60 mm, the filling amount of weld metal is large, and the welding time is long.

The workpiece in the embodiment of the invention can be a box-shaped structural member with an upper opening, such as a rotary table machine member in the field of engineering machinery, and the type of a welding joint of the box-shaped structural member is generally a T-shaped joint. In the prior art, the welding of the T-joint generally mainly comprises the following three steps: 1) preheating before welding: generally, single-gun manual flame preheating is adopted; 2) backing welding: adopting a manually operated gas Metal Arc (MAG) welding method, strictly controlling a welding process, firstly backing up and welding the front side, and then backing up and welding the back side after gouging back roots, gouging, polishing and preheating from the back side by carbon arc; 3) and (3) filling and cover surface welding: adopting manual MAG welding to weld in a multi-layer and multi-channel way at a straight angle position, or adopting single robot MAG welding to sequentially fill and weld at a ship-shaped position.

The above prior art has the following disadvantages: 1. the welding deformation is large: because the revolving stage is the box structure of top open-ended, rigidity is relatively poor. The welding is carried out by adopting a single preheating gun and a single welding gun, so that the heat balance cannot be realized, and the welding deformation is difficult to control; 2. the welding quality is difficult to control: the difficulty of full penetration of a thick plate T-shaped joint is high, the requirement on manual skill is high, and manual back gouging must be implemented. When the angle of the groove and the welding clearance are too small, the defects of incomplete penetration and the like are easy to occur; in order to ensure the weld penetration, a large bevel angle needs to be formed, and a large welding gap is reserved, so that the weld filling amount is increased, and the welding deformation is increased; 3. the efficiency is low: preheating: the medium plate is heated by manual flame with a single gun, and the preheating time is very long due to the fast heat conduction; backing welding: the working procedures are strictly controlled, the working procedures are various, the period is long, and the production efficiency is low; filling and cover surface welding: the steel plate thickness, the groove angle and the weld gap are large, so that the weld filling amount is large, and the welding time is long; 4. the labor intensity of workers is large: back chipping noise is high, dust is more, and the working environment is poor; and the space between two vertical plates of the box-type structure is narrow and small, and the manual operation is inconvenient.

The rotary table is a key stressed component of a pump truck and a crane, and is connected with the arm support and the base body through a pin shaft and an oil cylinder to realize the rotary amplitude variation of the arm support. The main structure of the turntable is composed of a bottom plate 1, a left vertical plate 2 and a right vertical plate 3, as shown in fig. 3. An opening is arranged above the two vertical plates, the arm support is installed during assembly, and rotation and benefit changing of the arm support are achieved.

The welding seam between the bottom plate and the vertical plate is a T-shaped joint and is a main welding seam of the rotary table structure, the main welding seam bears the dead weight of the whole cantilever crane system and needs to bear the load during working, so that the thickness of the bottom plate and the vertical plate can reach 20-60 mm, the welding quality requirement of the bottom plate and the vertical plate is high, and complete penetration welding is required.

In addition, the welding deformation of the rotary table must be strictly controlled in the welding process so as to prevent the interference generated when the rotary table is assembled with the arm support due to the fact that the rotary table cannot be machined after welding is completed. But the revolving stage structure is the box structure of top open-ended, and rigidity is relatively poor above it, and the T type of below connects the back and produces riser angular deformation easily.

The embodiment of the invention mainly solves the problems of large welding deformation, difficult welding quality control, low efficiency and high labor intensity of workers of the T-shaped joint (such as a rotary table structural member).

In an embodiment of the present invention, a welding method for workpieces is provided, and fig. 2 schematically illustrates a flow chart of the welding method for workpieces in an embodiment of the present invention, and as shown in fig. 2, the method may specifically include the following steps:

1) preparing before welding: and (5) processing the groove size of the vertical plate according to the requirement (as shown in figure 5d), and grinding the welding seam area and the area in the range of 30mm nearby the welding seam area before welding to expose the metallic luster.

2) The vertical plate and the bottom plate are assembled: the assembly is carried out according to the requirement of a product drawing, the position degree and the verticality of the vertical plate relative to the bottom plate are controlled, the assembly gap between the vertical plate and the bottom plate is controlled, and spot welding is firm.

3) Positioning and clamping a workpiece: the welding positioner is in a horizontal position, the assembled workpieces are placed on the positioner, and the bottom plate is horizontally attached to the positioner (a flat fillet welding position). The positioner is used for positioning and clamping the bottom plate, and the double-welding robot is used for identifying and positioning the welding seam position.

4) Preheating before welding: the double welding robots automatically switch the flame preheating guns to alternately and synchronously preheat the left vertical plate and the right vertical plate respectively, as shown in fig. 4, the double preheating guns synchronously move at the same speed and in the same direction, alternately and synchronously preheat the left vertical plate and the right vertical plate until all welding seam areas reach the set temperature.

5) Backing welding: the two robots are switched to welding guns which are respectively positioned on the left side and the right side of the same vertical plate, and the angles among the centers of the welding guns, the workpiece bottom plate and the vertical plate are shown in fig. 5. The two welding guns are located at the starting end of a welding line, the front welding gun arcs at the starting end and moves towards the welding direction at a set welding speed, and when the front welding gun welds the set distance D between the two welding guns, the rear welding gun arcs and moves synchronously towards the same welding direction at the same speed. When the front welding gun welds the tail end of the welding seam all the time, the front welding gun extinguishes the arc and finishes welding, and the rear welding gun continues to weld the tail end of the welding seam and also extinguishes the arc and finishes welding. The backing weld parameter ranges are shown in table 1.

6) Filling and cover surface welding: the positioner rotates to make the workpiece in the state of fig. 6a, that is, the included angle between the workpiece bottom plate and the horizontal plane is 45 degrees (which can be a proper range including 45 degrees), that is, the ship-shaped position. The two robots move to the same side (such as the left side) of the two vertical plates respectively, the welding gun is in a vertical state (namely the included angle between the welding gun and the horizontal plane is about 90 degrees), namely the included angle between the welding gun and the bottom plate is 45 degrees (namely the welding gun is in a vertical state). And the two welding guns arc simultaneously from the initial end of the welding line and synchronously move in the same welding direction until the welding line is welded to the tail end of the welding line, the two welding guns arc extinguish, and the robot returns to the initial position. The positioner rotates 90 degrees to enable the workpiece to be in the state shown in fig. 6b, the double robots move to the other sides (such as the right sides) of the two vertical plates, the included angle between the welding guns and the bottom plate is 45 degrees, the two welding guns simultaneously start arc from the starting end of the welding seam and synchronously move in the same welding direction until the welding seam is welded to the tail end of the welding seam, the two welding guns extinguish the arc, and the robot returns to the initial position. By adopting the same method, the double robots alternately fill the cover surfaces on the two sides of the vertical plate for welding until the welding seam is fully welded and the required welding seam size is achieved. The welding parameter ranges for the fill-cap weld are shown in table 1.

TABLE 1 Main weld parameter ranges

To sum up, the main process flow of the embodiment of the invention is as follows: preparing before welding: processing a vertical plate groove according to the specified requirements; assembling the bottom plate and the vertical plate: controlling the weld gap according to the specified requirements; thirdly, positioning and clamping, namely positioning and clamping the workpiece by using a positioner; preheating before welding: the left vertical plate and the right vertical plate are alternately and synchronously preheated by adopting a double-robot switching double-preheating gun; bottom welding: two sides of the vertical plate are welded by adopting double-sided double-arc asymmetric synchronous flat angles (at the flat angle position); filling and cover surface welding: adopting double robots to alternately and synchronously weld the left vertical plate and the right vertical plate in a ship shape (at the position of the ship shape); and seventhly, rotating the workpiece base plate to a horizontal position by the positioner, and automatically discharging the workpiece. Preheating before welding: the double-robot switching double-preheating guns are adopted to alternately and synchronously preheat the left vertical plate and the right vertical plate, the double-preheating guns synchronously move on two sides of the same vertical plate at the same speed and in the same direction at the same time, and alternately and synchronously preheat the left vertical plate and the right vertical plate until the temperature is preset. Backing welding: the two sides of the vertical plate are welded (at a flat angle position) by adopting a double-sided double-arc asymmetric synchronous flat angle welding method, and the specific requirements of the welding method are specified in detail.

In the embodiment of the present invention, the specified ranges of the riser groove size and the gap between the pair of weld groups are as follows (the schematic diagram is shown in fig. 5 d):

1) the thickness t of the vertical plate is 20-40 mm: when the width (namely the width of a transition plane) p of the truncated edge of the groove is 0-1 mm and the angle (namely the angle of the inclined plane) theta of the groove is 35-45 degrees, the corresponding pairing gap g between the transition plane and the bottom plate is 1-3 mm; when the bevel truncated edge p is 2-5 mm and the bevel angle theta is 45-60 degrees, the corresponding group gap g is 2-4 mm.

2) The thickness t of the vertical plate is 40-60 mm: when the bevel truncated edge p is 0-1 mm and the bevel angle theta is 45-55 degrees, the corresponding pairing gap g is 1-3 mm; when the bevel truncated edge p is 2-5 mm and the bevel angle theta is 50-70 degrees, the corresponding group gap g is 4-6 mm.

When the vertical plate is thin, the welding gun can reach well, a smaller groove angle and a smaller assembly gap can be adopted, and on the basis of realizing full penetration welding, the filling amount of a welding seam can be reduced, thereby being beneficial to improving the welding efficiency and reducing the cost. In addition, if the truncated edge of the groove is added, the assembly precision is favorably controlled, but the groove angle and the assembly gap need to be correspondingly increased, so that the penetration capability of the root of the welding line can be improved.

When the vertical plate is thick, the welding gun accessibility is poor due to the small groove angle and the small group pairing gap, electric arcs are unstable, electric arc force cannot reach the root of a welding seam, the large groove angle and the large group pairing gap need to be adopted, and the welding gun accessibility is improved. Similarly, if the truncated edge of the groove is added, the control of the assembly precision is facilitated, but the groove angle and the assembly gap need to be correspondingly increased, and the penetration capability of the root of the welding line is improved.

In the embodiment of the present invention, the specified range of the welding gun angle during backing welding may be as follows (as shown in fig. 5 as a schematic diagram):

the included angle alpha between the welding gun and the bottom plate is 30-40 degrees, the included angle beta between the welding gun and the vertical plate is 50-60 degrees (because the bottom plate is perpendicular to the vertical plate, the included angle between the welding gun and the bottom plate plus the included angle between the welding gun and the vertical plate is about equal to 90 degrees), and the included angle gamma between the welding gun and the bottom plate is 80-100 degrees (namely the included angle between the welding gun and the welding direction).

When the included angle alpha is too large, most electric arc force points to the bottom plate, the heat at the blunt edge of the pointing vertical plate is insufficient, and the welding electric arc force cannot be concentrated on the root of the welding line according to the limitation of the space position to the electric arc and the action of the voltage minimum principle, so that incomplete penetration is caused. When the included angle alpha is too small, most of electric arc thrust points to the vertical plate, and poor fusion of the bottom plate is easily caused. When the included angle alpha is positioned in the area, the electric arc is concentrated and points to the root of the welding line, the fusion of the root is good, the weld fusion width, the fusion depth and the residual height at two sides of the T-shaped joint are more ideal, and the appearance forming is good.

When the included angles beta and gamma are positioned in the area, the electric arc is straight, the energy is concentrated, the molten drops continuously irradiate the molten pool along the axial direction at a great acceleration, the crystal grains are refined, the impurity gas and impurities are promoted to be removed, the finger-shaped penetration is easy to form, the penetration is increased, and the root complete penetration is facilitated.

In the embodiment of the invention, the distance D (shown in FIG. 5 b) between two arcs (centers) during backing welding is in the range of 20-60 mm. When the distance between the double arcs is too large, the back arc cannot protect the back of the front weld bead, the back weld bead is easy to oxidize, the heat of interaction between the arcs is reduced, the fusion depth is shallow, and the root of a weld joint is difficult to weld through; when the distance between the two arcs is too small, the two arcs are partially overlapped, the arcs are easy to interfere with each other, turbulent flow is caused, air holes are generated, welding heat input is large, and welding seam crystal grains are coarsened. When the distance between the electric arcs is in the interval of the invention, the electric arcs are stable, the front electric arcs and the rear electric arcs are mutually preheated and post-heated, the welding seam root is well fused, the welding seam structure is improved, and the cold crack tendency can be reduced. Therefore, the (central) spacing of the welding guns must be tightly controlled.

In an embodiment of the present invention, the provision for filling the cap for two-gun simultaneous welding (as shown in fig. 6) is as follows:

the included angle between the workpiece bottom plate and the horizontal plane is 45 degrees, namely the welding line is in a ship-shaped position, and the double robots are respectively positioned on the same side (left side or right side) of the two vertical plates to synchronously weld in the same direction.

Compared with flat fillet welding, the ship-shaped welding can increase the welding current, increase the weld penetration and improve the welding efficiency. In addition, the uniform sizes of welding feet can be generated on two sides of the fillet weld, the weld is smooth and attractive in forming, and the defects that vertical plates are not fused, collapse, undercut and the like easily generated by flat fillet welding are avoided. The welding efficiency of the double-gun simultaneous welding is over 1 time compared with the single-gun welding.

When the cover surface is filled, the two robots alternately and synchronously weld the ship-shaped plates on the left side and the right side of the vertical plate, so that the alternate and synchronous welding is favorable for realizing the welding heat balance of the left side and the right side of the vertical plate and is favorable for controlling the deformation of the vertical plate during the filling and cover surface welding.

In summary, the technical scheme provided by the embodiment of the invention has the following beneficial effects:

1) solves the problem of large welding deformation

According to the invention, double robots are adopted to switch double preheating guns to alternately and synchronously preheat (preheating can prevent cold and hot lines from being generated), so that the heat balance of vertical plate preheating can be realized, and the deformation (symmetrical and synchronous motion) of preheating is reduced; the double-side double-arc asymmetric synchronous flat angle welding is carried out on two sides of the vertical plate by adopting double robots during backing welding, the distance between double welding guns is very short (D is 20-60 mm), the heat balance is almost realized on the left side and the right side of the vertical plate, and angular deformation (inclination to one side) is prevented during backing welding of the vertical plate (back chipping is not needed); and thirdly, the filling capping welding adopts double robots to alternately and synchronously weld the two vertical plates in a ship shape, so that the efficiency is improved, and the mutual offset of welding deformation can be realized through the alternate welding, thereby controlling the deformation of the vertical plates during the filling and capping welding.

2) Solves the problem of difficult control of welding quality

During backing welding, the double-sided double-arc asymmetric synchronous flat angle welding is adopted, so that the root of a welding seam is completely melted through, and the back gouging work is not required to be additionally carried out. And two welding passes of two-sided double-arc welding have mutual preheating function, and preceding electric arc has preheating function to the back welding pass, and the back electric arc has back heating function to the preceding welding pass. The welding method can improve the weld structure, reduce the residual stress and reduce the cold crack tendency.

During filling and cover surface welding, the invention adopts double robots to alternately and synchronously carry out ship-shaped welding on two vertical plates, the ship-shaped welding can ensure that both sides of a fillet weld can generate uniform and consistent welding leg sizes, the weld joint is formed smoothly and beautifully, and the defects of unfused, collapse, undercut and the like of the vertical plates easily generated by flat fillet welding are avoided.

3) Solve the problem of low efficiency

According to the invention, the pre-welding preheating is alternately and synchronously preheated by switching the double preheating guns by the double robots, and the efficiency is doubled compared with the preheating by a single gun. The backing welding adopts double-robot double-face double-arc asymmetric synchronous flat angle welding, so that the pure welding time of the backing welding is shortened by half, the back gouging-free full penetration welding is realized, and the manual back gouging operation time is eliminated. When the filling cover surface is welded, double robots are adopted to alternately and synchronously weld the ship-shaped welding plates on the two vertical plates, and compared with flat fillet welding, the ship-shaped welding can increase the welding current by more than 20 percent and improve the welding efficiency by 20 percent; in addition, the efficiency of the double gun is doubled compared with the single gun welding. Therefore, the invention greatly improves the welding production efficiency from preheating, backing welding to filling cover surface welding.

4) Solves the problem of high labor intensity

The invention adopts double-robot double-sided double-arc asymmetric synchronous flat angle welding, can realize the full penetration welding quality without back gouging, and avoids the high-strength operation of manual back gouging. In addition, the invention adopts robot operation, robot switching and positioner shifting from preheating, backing welding and filling cover surface welding, thereby realizing full automation of the whole process.

It should be noted that the main application objects of the welding method for workpieces provided by the embodiment of the present invention may include a turntable structure in an engineering machine, a main body structure of the turntable is a box-shaped structural member with an opening at the top, and is a T-shaped joint for a medium plate, and other box-shaped structural members with T-shaped joints may also be applicable to the technical solution provided by the embodiment of the present invention. The embodiment of the invention adopts double robots to switch double flame preheating guns for preheating before welding, and the flame preheating guns can also adopt an electromagnetic heating preheating gun (intermediate frequency induction heating) mode and can also realize automatic switching of the double robots.

Embodiments of the present invention also provide a processor configured to execute the welding method for workpieces according to the above embodiments.

An embodiment of the present invention further provides a welding system for a workpiece, including: the robot comprises a first robot and a second robot and is used for welding workpieces; and a processor according to the above.

It will be appreciated that the first and second robots may weld workpieces, and may specifically include pre-weld preheating, backing welding, and fill (cap) welding.

In one embodiment, the welding system for a workpiece further comprises: and the positioner is used for adjusting the position and/or the angle of the workpiece.

In one embodiment, the welding system for workpieces further comprises: and the temperature detection device is used for detecting the temperature of the workpiece.

Specifically, the temperature detection device may include, but is not limited to, a temperature sensor or a temperature detection instrument such as a thermometer.

Embodiments of the present invention also provide a machine-readable storage medium having instructions stored thereon, which when executed by a processor, cause the processor to perform a welding method for a workpiece according to the above.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A welding method for workpieces is characterized in that the workpieces comprise a bottom plate and a vertical plate which are perpendicular to each other, two inclined planes and a transition plane connected with the two inclined planes are arranged at the end part, close to the bottom plate, of the vertical plate, and the transition plane is parallel to the bottom plate, and the welding method comprises the following steps:

controlling robots to be respectively located at the same positions of two sides of the transition plane, wherein each robot comprises a first robot and a second robot and is used for welding the workpieces;

controlling the first robot to start a welding mode so as to weld according to a preset welding speed and a preset welding direction;

and under the condition that the welding distance of the first robot is within a preset distance range, controlling the second robot to start a welding mode so as to realize backing welding, wherein the backing welding is to weld the transition plane and the bottom plate.

2. The welding method of claim 1, further comprising:

acquiring attitude information of the robot, wherein the attitude information comprises a first included angle between the welding tail end of the robot and the bottom plate, a second included angle between the welding tail end of the robot and the vertical plate and a third included angle between the welding tail end of the robot and the preset welding direction;

and controlling the posture of the robot according to the posture information and a preset posture range so as to enable the posture of the robot to be in the preset posture range, wherein the preset posture range comprises a first preset included angle range corresponding to the first included angle, a second preset included angle range corresponding to the second included angle and a third preset included angle range corresponding to the third included angle.

3. The welding method of claim 2, wherein the first predetermined included angle is in a range of 30 to 40 degrees, the second predetermined included angle is in a range of 50 to 60 degrees, and the third predetermined included angle is in a range of 80 to 100 degrees.

4. The welding method of claim 1, wherein the robot is further configured for pre-weld preheating; the welding method further includes:

controlling the first robot and the second robot to be respectively located at the same positions, close to the bottom plate, of two sides of the vertical plate;

controlling the first robot and the second robot to start a preheating mode simultaneously so as to preheat the workpiece according to a preset preheating speed and a preset preheating direction;

the preheating mode is suspended in a case where the temperature of the welding area of the workpiece is within a preset preheating temperature range.

5. The welding method according to claim 1, wherein the vertical plate comprises a first vertical plate and a second vertical plate which are respectively arranged on two sides of the bottom plate; the welding method further includes:

and controlling the first robot and the second robot to alternately perform pre-welding preheating on two sides of the first vertical plate and the second vertical plate until the temperature of the welding area of the workpiece is within a preset preheating temperature range.

6. The welding method according to claim 1, wherein the vertical plates comprise a first vertical plate and a second vertical plate which are respectively arranged on two sides of the bottom plate; the robot is also used for filling and welding the workpiece; the welding method further includes:

controlling the included angle between the bottom plate and the horizontal plane to be within a fourth preset included angle range;

controlling the included angles between the welding tail ends of the first robot and the second robot and the horizontal plane to be within a fifth preset included angle range;

and controlling the first robot and the second robot to respectively fill and weld the gap between the inclined plane on the same side of the first vertical plate and the second vertical plate and the bottom plate.

7. The welding method according to claim 6, wherein the fourth predetermined included angle is in a range of 30 to 60 degrees and the fifth predetermined included angle is in a range of 80 to 100 degrees.

8. The welding method of claim 1, further comprising:

under the conditions that the thickness of the vertical plate is determined to be within a first preset thickness range, the width of the transition plane is determined to be within a first preset width range, and the angle of the inclined plane is determined to be within a first preset inclination angle range, determining that the assembly gap between the transition plane and the bottom plate is within a first preset gap range;

under the conditions that the thickness of the vertical plate is determined to be within a first preset thickness range, the width of the transition plane is determined to be within a second preset width range, and the angle of the inclined plane is determined to be within a second preset inclination angle range, determining that the assembly gap between the transition plane and the bottom plate is within a second preset gap range;

under the conditions that the thickness of the vertical plate is determined to be in a second preset thickness range, the width of the transition plane is determined to be in a first preset width range, and the angle of the inclined plane is determined to be in a third preset inclination angle range, determining that the assembly gap between the transition plane and the bottom plate is within a first preset gap range;

and under the conditions that the thickness of the vertical plate is determined to be in a second preset thickness range, the width of the transition plane is determined to be in a second preset width range, and the angle of the inclined plane is determined to be in a fourth preset inclination angle range, determining that the pairing gap between the transition plane and the bottom plate is within a third preset gap range.

9. The welding method according to claim 8, wherein the first predetermined thickness is in a range of 20 to 40mm, the second predetermined thickness is in a range of 40 to 60mm, the first predetermined width is in a range of 0 to 1mm, the second predetermined width is in a range of 2 to 5mm, the first predetermined inclination angle is in a range of 35 to 45 degrees, the second predetermined inclination angle is in a range of 45 to 60 degrees, the third predetermined inclination angle is in a range of 45 to 55 degrees, the fourth predetermined inclination angle is in a range of 50 to 70 degrees, the first predetermined gap is in a range of 1 to 3mm, the second predetermined gap is in a range of 2 to 4mm, and the third predetermined gap is in a range of 4 to 6 mm.

10. A processor configured to perform the welding method for workpieces according to any one of claims 1 to 9.

11. A welding system for a workpiece, comprising:

the robot comprises a first robot and a second robot and is used for welding workpieces; and

the processor of claim 10.

12. The welding system of claim 11, further comprising:

and the positioner is used for adjusting the position and/or the angle of the workpiece.

13. The welding system of claim 11, further comprising:

and the temperature detection device is used for detecting the temperature of the workpiece.

14. A machine readable storage medium having instructions stored thereon, which when executed by a processor causes the processor to perform a welding method for workpieces according to any one of claims 1 to 9.