Ocean engineering part multi-degree-of-freedom posture welding method based on magnetic force control

The invention discloses an ocean engineering component multi-degree-of-freedom attitude welding method based on magnetic force control, which comprises the following steps: installing an attitude adjusting structure, establishing a space coordinate system in the structure, determining an initial value of a magnetic force required to be applied by an electromagnet according to an external force applied to a structural component during welding; the magnetic force of the electromagnet is adjusted in real time by acquiring the angle change through the attitude detection device, so that the structural component is fixed by variable magnetic force; and then the three-dimensional model of the structural component is imported into TEKLA software to collect and classify welding seam information, a Harris angular point extraction algorithm is used for extracting welding seam information feature angular points of each L-shaped vertical plate, and finally double-robot welding path planning is conducted. According to the