CN103386554B - Tracking system for movable welding line stress eliminating robot - Google Patents
Tracking system for movable welding line stress eliminating robot Download PDFInfo
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- CN103386554B CN103386554B CN201310341420.1A CN201310341420A CN103386554B CN 103386554 B CN103386554 B CN 103386554B CN 201310341420 A CN201310341420 A CN 201310341420A CN 103386554 B CN103386554 B CN 103386554B
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Abstract
The invention discloses a tracking system for a movable welding line stress eliminating robot. The tracking system comprises movable welding equipment for welding a welding line and the movable welding line stress eliminating robot for eliminating welding line stress, wherein a synchronous motor is fixedly placed outside the welding line, and the axis of a rotary shaft of the synchronous motor is used as a reference point; two reflection type distance measuring sensors are fixed on a motor shaft and coaxially rotate with the motor shaft; a distance is formed between the two sensors; and reflector plates are stuck on a welding initial point, a welding nozzle of the movable welding equipment and the tail end of the movable welding line stress eliminating robot. The tracking system disclosed by the invention is simple in structure, high in automation degree and high in tracking precision of the welded welding line, and is not suffered from the influences to the welded welding line by welding dregs or welding defects.
Description
The application is application number 201210401736.0, the applying date: 2012.10.19, the divisional application of title " constant scanning locate mode postwelding weld joint tracking and residual stress eliminate system ".
Technical field
The present invention relates to a kind of welding stress and eliminate automatic control system, belong to sensing and observation and control technology field.
Background technology
In large-sized structural parts welding, plate sheet welding, different-metal material welding, high temperature alloy welding, and in fields such as high accuracy special equipment welding, welding deformation need be effectively controlled, otherwise can have impact to weldment size and profile, and can reduce the bearing capacity of structure.As in aluminium alloy shipbuilding industry, sheet material deforms comparatively greatly due to heat larger in welding process input, property of welded joint is poor.When building hull, about there is the workload of 25% to be to deck of boat shaping and beating flat, to meet the requirements of flatness and curvature, the deck of boat can be fixed together.This not only have impact on the efficiency of Ship production, and greatly reduces the quality of ship.Even heat input little, be out of shape little laser weld, also there is welding deformation problem.Welding stress is the main cause of welding deformation.Eliminate welding stress, the method controlling welding deformation is a lot, and several after welding treatment methods comparatively conventional in engineering at present have ultrasonic impact, weld toe ground, shot-peening, hammering, TIG moltenly to repair, apply low transformation temperature welding rod method etc.With weldering or postwelding impact, hammering, to roll be a kind of effective way reducing welding stress, prevent welding deformation.Wherein ultrasonic impact technology is a kind of effective elimination parts surface of novelty or weld metal zone harmful residual tension, the method introducing useful compression, compares its advantages of other method.The powerful energy of ultrasonic impact equipment utilization promotes impact head and impacts metal object surface with the frequency of about 20,000 times per second, and high frequency, efficient and under focusing on macro-energy make metal surface produce larger compressive plastic deformation; Ultrasonic impact changes original stress field simultaneously, produces useful compression; Under high energy impact events, the very fast rising of metallic surface temperature cools rapidly again, and active region coating metal tissue is changed, and impact site is strengthened.
Though developed both at home and abroad travelling car carrying with weldering/post-weld stress abatement apparatus, do not possess the long weld seam of postwelding, bending weld seam automatic tracking function.Enable automatically to implement operation with weldering/post-weld stress abatement apparatus, postwelding welding line tracking function need be possessed.Advanced postwelding weld joint tracking is all used in welding quality inspection, the mode of the method many employings machine vision used, see document (Lu Changfu. based on the inspection after welding technical research [D] of laser-vision sensing. [master thesis]. Harbin: Harbin Institute of Technology, college of materials science and engineering, 2007.7.; Jean-Paul Boillot, Koichi Uota, Etienne Berthiaume, et al.Tracking and inspection for laser welding [J] .Proceeding ofSPIE, 2002 (4): 165-170.), because postwelding groove characteristic disappear, weld defect, residual solder flux welding slag and splashing etc. all directly have influence on vision-based detection.Explore weld joint tracking mode after a kind of precision full automatic welding that is high, that do not affect by postwelding operating mode, and be applied to, in post-weld stress elimination system, will there is very strong practical value.
Summary of the invention
The object of the present invention is to provide a kind of real time record welding tip motion track, the weld stress that stress elimination operation effectiveness is good eliminates mobile robot tracking system.
Technical solution of the present invention is:
A kind of weld stress eliminates mobile robot tracking system, it is characterized in that: comprise the Mobile welding equipment that butt welded seam carries out welding, the welding stress elimination mobile robot eliminating welding stress, a synchronous motor fixed placement is outside weld seam, as a reference point with synchronous motor rotating shaft core; Two reflective distance measuring sensors are fixed on motor shaft, rotate with motor coaxle, a segment distance of being separated by between two sensors; Eliminate mobile robot's operation end all post reflector plate at welding initial point, the welding tip place of Mobile welding equipment, welding stress, coordinate with above-mentioned distance measuring sensor and find range, one of them distance measuring sensor detects reference point respectively and welds initial point, distance between reference point and welding tip, and another distance measuring sensor detects reference point respectively and welds initial point, reference point and welding stress and eliminate distance between mobile robot's operation end; In system operation, motor is constant speed rotary ceaselessly, and distance measuring sensor constantly detects the distance of welding tip and reference point, and is the center of circle with reference point, the angle that reference point, welding initial point, welding tip are formed, thus obtain the motion track of welding tip relative to reference point; Distance measuring sensor detects the distance that welding stress eliminates mobile robot's operation end and reference point in real time simultaneously, and be the center of circle with reference point, reference point, welding initial point, welding stress eliminate the angle that mobile robot's operation end is formed, thus obtain the motion track of welding stress elimination mobile robot operation end relative to reference point, above-mentioned two tracks are compared, the Distance geometry direction that welding stress elimination mobile robot operation end departs from welding line can be obtained, and rectified a deviation by control system.
Welding initial point arranges upper and lower two reflector plates, and a segment distance of being separated by between two reflector plates; A reflector plate center on the reflector plate center at welding tip place, welding initial point and a distance measuring sensor are in same level; Welding stress eliminates another reflector plate center on the reflector plate center of mobile robot operation end, welding initial point and another distance measuring sensor in same level.
Distance measuring sensor setting height(from bottom), higher than welding tip, adopts modulating frequency to avoid the interference of arc light and plasma resonance.
Eliminate on mobile robot at welding stress and pose detecting sensor is installed, obtain the pose of any instant robot relative to reference point, rectified a deviation by control system.
Welding stress is eliminated mobile robot and is adopted wheeled mobile robot as body, realizes robot location's coarse positioning by two-wheeled is differential, adopts crosshead shoe as stress elimination operation end positioning drive mechanisms, realizes the precision positioning of stress elimination operation end.
Structure of the present invention is simple, automaticity is high, postwelding weld joint tracking precision is high, is not subject to welding slag or weld defect on the impact of postwelding weld joint tracking.The Department of Automation making a general survey of domestic existing welding field unifies equipment, and the design object that the present invention carries there is no unit and realizes.
The present invention is using constant speed rotary motor as reference position, adopt the method real time record welding tip motion track that range measurement and angular surveying (angular surveying adopts the segmentation of high-frequency impulse linear interpolation) combine, and control the adjustment of welding stress elimination mobile robot pose, implement stress elimination operation along welding tip track.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is that constant scanning locate mode postwelding weld joint tracking of the present invention and residual stress eliminate system construction drawing.
Fig. 2 is in of the present invention kind of constant scanning locate mode postwelding weld joint tracking and residual stress elimination system, and welding stress eliminates Mobile Robot Control System structure chart.
Fig. 3 is in constant scanning locate mode postwelding weld joint tracking of the present invention and residual stress elimination system, postwelding seam tracking system measuring principle top view sketch.
Fig. 4 is in constant scanning locate mode postwelding weld joint tracking of the present invention and residual stress elimination system, postwelding seam tracking system measuring principle sequential chart.
Detailed description of the invention
A kind of weld stress eliminates mobile robot tracking system, comprise the Mobile welding equipment 1 that butt welded seam carries out welding, the welding stress elimination mobile robot 2 eliminating welding stress, synchronous motor 3 fixed placement is outside weld seam, as a reference point with synchronous motor rotating shaft core; Two reflective distance measuring sensors 4,5 are fixed on motor shaft, rotate with motor coaxle, a segment distance of being separated by between two sensors; Eliminate mobile robot's operation end post reflector plate C, reflector plate D, reflector plate A, reflector plate B respectively at welding initial point, the welding tip place of Mobile welding equipment, welding stress, coordinate with above-mentioned distance measuring sensor and find range, one of them distance measuring sensor detects reference point respectively and welds initial point, distance between reference point and welding tip, and another distance measuring sensor detects reference point respectively and welds initial point, reference point and welding stress and eliminate distance between mobile robot's operation end; In system operation, motor is constant speed rotary ceaselessly, and distance measuring sensor constantly detects the distance of welding tip and reference point, and is the center of circle with reference point, the angle that reference point, welding initial point, welding tip are formed, thus obtain the motion track of welding tip relative to reference point; Distance measuring sensor detects the distance that welding stress eliminates mobile robot's operation end and reference point in real time simultaneously, and be the center of circle with reference point, reference point, welding initial point, welding stress eliminate the angle that mobile robot's operation end is formed, thus obtain the motion track of welding stress elimination mobile robot operation end relative to reference point, above-mentioned two tracks are compared, the Distance geometry direction that welding stress elimination mobile robot operation end departs from welding line can be obtained, and rectified a deviation by control system.Welding stress is eliminated mobile robot and is adopted wheeled mobile robot as body, realizes robot location's coarse positioning by two-wheeled is differential, adopts crosshead shoe as stress elimination operation end positioning drive mechanisms, realizes the precision positioning of stress elimination operation end.
Specific as follows: the bending or straight weld for two dimensional surface, as shown in Figure 1.Wherein there is synchronous motor, distance measuring sensor F, distance measuring sensor E, reflector plate A, B, C, D, Mobile welding equipment (containing welding tip), stress elimination mobile robot (containing electronic compass, stress elimination equipment availability end can adopt electromagnetic hammer or ultrasonic impact first-class).Distance measuring sensor E, F are fixed on motor shaft, rotate with motor coaxle, a segment distance of being separated by between E, F.The reflector plate of E, F and correspondence avoids mutual interference by being arranged on differing heights, and adopts the laser of different modulating frequency or infrared light to avoid interference.Weld seam is planar-two-dimensional weld seam mixing, and filled black line is welding line, and all the other are non-welding line.A mark post is holded up at welding initial point place, and reflector plate C, D are fixed on mark post, a segment distance of being separated by between C, D.The center of reflector plate A, C and distance measuring sensor F, on a horizontal plane, when distance measuring sensor F and reflector plate A, C are just relative, can measure the distance of FA, FC.The center of reflector plate B, D and distance measuring sensor E, on a horizontal plane, when distance measuring sensor E and reflector plate B, D are just relative, can measure the distance of EB, ED.For avoiding the interference such as arc light in laser beam welding, distance measuring sensor setting height(from bottom) higher than welding tip, and adopts specific modulation frequency to avoid the interference of arc light and plasma resonance.
For the purpose of easy analysis, draw measuring principle diagrammatic top view as indicated at 3.If synchronous motor drives distance measuring sensor E, F to turn clockwise, transfer point A moves in the counterclockwise direction.Transfer point A initial position is A0, welding equipment along in weld movement process, the continuous high-speed rotating scanning of distance measuring sensor.
The distance L0 of A0 point and F point can be obtained.If the light that F sends is through C point and A0 point, exports two high level pulses by interface circuit and see Fig. 4.If time initial, welding tip is still in A0 place, position, starting phase angle ∠ CFA
0be designated as α
0.Light starts high-frequency impulse counting through A, stops counting when arriving C.If motor speed is constant, and in rotation one circle, filling high-frequency impulse is N number of.And the high-frequency impulse number N0 between A0 and C representated by angle can be recorded by controller, then can calculate:
The L that in like manner can survey
1, ∠ CFA
1, L
2, ∠ CFA
2Therefore can under real time record welding tip relative to distance variation track (L1, L2, L3 of reference position ...) and angle variation track (∠ CFA
0, ∠ CFA
1, ∠ CFA
2), the track (prerequisite is defaulted as welding tip to have higher weld joint tracking precision) of Weld pipe mill is obtained by matching.
Adopt said method, adopt sensor E to coordinate with reflector plate B, D, the position of real-time detection stress elimination equipment availability end, stress elimination equipment availability end can be obtained relative to the distance variation track of reference position and angle variation track.The track of stress elimination equipment availability end orbit and welding tip is compared, the angle and distance (taking reference position as benchmark) that stress elimination equipment availability end departs from Weld pipe mill can be obtained.On stress elimination mobile robot, electronic compass is installed simultaneously, the pose of robot relative to reference position can be obtained, now can by the motion control to robot, reduce the deviation of robot current location and matching track, make stress elimination equipment availability end aim at weld seam all the time and (when adopting hammer mode, by electromagnetic hammer tup, the toe of weld of the condition of high temperature and the hammer force of weld metal zone metal applying certain frequency are still in postwelding.When adopting ultrasonic impact, realize toe of weld or full welding bead cover type impact by ultrasonic impact head.Therefore the motion track of stress elimination equipment availability end, actually along Weld pipe mill track, or toe of weld track, depending on concrete process of eliminating stress.)
Constant scanning locate mode postwelding weld joint tracking of the present invention and residual stress eliminate system, and under laser weld operating mode, E, F can adopt the infrared distance sensor that range is less.Because the cooling velocity of weld metal is faster compared with normal welding during Laser Welding, can reach 106 DEG C/s, welding gun and stress elimination equipment distance can be comparatively near, after welding, can implement the process such as hammering, impact after the short time.Under other welding manners, E, F can adopt and can adopt laser sensor, follow the tracks of on a large scale to realize long weld seam.
Claims (1)
1. a weld stress eliminates mobile robot tracking system, it is characterized in that: comprise the Mobile welding equipment that butt welded seam carries out welding, the welding stress elimination mobile robot eliminating welding stress, a synchronous motor fixed placement is outside weld seam, as a reference point with synchronous motor rotating shaft core; Two reflective distance measuring sensors are fixed on motor shaft, rotate with motor coaxle, a segment distance of being separated by between two sensors; Eliminate mobile robot's operation end all post reflector plate at welding initial point, the welding tip place of Mobile welding equipment, welding stress, coordinate with above-mentioned distance measuring sensor and find range, one of them distance measuring sensor detects reference point respectively and welds initial point, distance between reference point and welding tip, and another distance measuring sensor detects reference point respectively and welds initial point, reference point and welding stress and eliminate distance between mobile robot's operation end; In system operation, motor is constant speed rotary ceaselessly, and distance measuring sensor constantly detects the distance of welding tip and reference point, and is the center of circle with reference point, the angle that reference point, welding initial point, welding tip are formed, thus obtain the motion track of welding tip relative to reference point; Distance measuring sensor detects the distance that welding stress eliminates mobile robot's operation end and reference point in real time simultaneously, and be the center of circle with reference point, reference point, welding initial point, welding stress eliminate the angle that mobile robot's operation end is formed, thus obtain the motion track of welding stress elimination mobile robot operation end relative to reference point, above-mentioned two tracks are compared, the Distance geometry direction that welding stress elimination mobile robot operation end departs from welding line can be obtained, and rectified a deviation by control system; Welding initial point arranges upper and lower two reflector plates, and a segment distance of being separated by between two reflector plates; A reflector plate center on the reflector plate center at welding tip place, welding initial point and a distance measuring sensor are in same level; Welding stress eliminates another reflector plate center on the reflector plate center of mobile robot operation end, welding initial point and another distance measuring sensor in same level; Distance measuring sensor setting height(from bottom), higher than welding tip, adopts modulating frequency to avoid the interference of arc light and plasma resonance; Welding stress is eliminated mobile robot and is adopted wheeled mobile robot as body, realizes robot location's coarse positioning by two-wheeled is differential, adopts crosshead shoe as stress elimination operation end positioning drive mechanisms, realizes the precision positioning of stress elimination operation end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201310341420.1A CN103386554B (en) | 2012-10-19 | 2012-10-19 | Tracking system for movable welding line stress eliminating robot |
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| CN201310341420.1A CN103386554B (en) | 2012-10-19 | 2012-10-19 | Tracking system for movable welding line stress eliminating robot |
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| CN 201210401736 Division CN102922147B (en) | 2012-10-19 | 2012-10-19 | Constant-speed scanning positioning type post-welding seam tracking and residual stress removal system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103866112A (en) * | 2014-03-18 | 2014-06-18 | 北京理工大学 | Residual stress eliminating device based on high-energy acoustic and magnetic coupling principle |
| CN105618951B (en) * | 2014-11-20 | 2018-01-23 | 南通大学 | Weld seam intelligent tracking system |
| CN107315426A (en) * | 2017-08-31 | 2017-11-03 | 珠海市微半导体有限公司 | One kind rotation ranging sensing device and robot |
| CN109797276B (en) * | 2017-12-26 | 2020-09-01 | 南通大学 | Postweld seam impact method based on image processing |
| CN108115304A (en) * | 2017-12-30 | 2018-06-05 | 安徽泉盛化工有限公司 | A kind of Intelligentized regulating and controlling method of welding process |
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| DE10346264A1 (en) * | 2003-10-06 | 2005-04-28 | Daimler Chrysler Ag | Method for joining two workpieces by fusion welding |
| JP4868223B2 (en) * | 2006-06-19 | 2012-02-01 | 日産自動車株式会社 | Method and apparatus for joining dissimilar metal panels |
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| EP1640111A2 (en) * | 2004-09-22 | 2006-03-29 | Airbus Deutschland GmbH | System and process for manufacturing of welded structures, as well as a welding filler material therefor |
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