CN104493420A - Intersecting line weld bead positioning method - Google Patents

Intersecting line weld bead positioning method Download PDF

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Publication number
CN104493420A
CN104493420A CN201410838343.5A CN201410838343A CN104493420A CN 104493420 A CN104493420 A CN 104493420A CN 201410838343 A CN201410838343 A CN 201410838343A CN 104493420 A CN104493420 A CN 104493420A
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Prior art keywords
coordinate system
coordinate
welding bead
intersection
value
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CN201410838343.5A
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CN104493420B (en
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不公告发明人
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SHANGHAI ACETYLENE WELDER FACTORY CO Ltd
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SHANGHAI ACETYLENE WELDER FACTORY CO Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/053Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0252Steering means

Abstract

The invention discloses an intersecting line weld bead positioning method, comprising the following steps: installing a to-be-welded element with an intersecting line weld bead, and fixing the to-be-welded element through a chuck, wherein the center of the chuck is an original point of a first coordinate system; determining the first coordinate system and a coordinate value of the intersecting line weld bead in the first coordinate system; rotating the first coordinate system by a preset rotation angle around a Z1 axis of the first coordinate system; building a second coordinate system, and moving the second coordinate system by a preset displacement value along a Z2 axis of the second coordinate system; building a third coordinate system, and calculating the coordinate system of the intersecting weld bead in the third coordinate system according to the rotation angle and the displacement value; positioning the intersecting line weld bead according to the coordinate value of the intersecting line weld bead in the third coordinate system. The intersecting line weld bead positioning method disclosed by the invention can be applicable to positioning of any intersecting line weld bead, is not limited by the position and the structure of the weld bead, and is accurate to position, high in efficiency and high in applicability.

Description

Intersection welding bead localization method
Technical field
The present invention relates to welding technology field, particularly a kind of method of intersection positioning system for automatic soldering.
Background technology
At welding technology field, the welding of intersection welding bead is very common, determines the position of intersection welding bead, and the degree of accuracy for welding seems extremely important.
Usually to the determination of welding bead position, be all generally the position directly measuring welding bead, under the first fixing coordinate, namely find the position of welding bead, then directly weld.But such detection, have very high requirement to the position of welding bead structure, welding bead, once welding bead beyond ad-hoc location or welding bead structure special, just cannot search and measure, thus the position of welding bead cannot be determined, and then cannot weld.Sometimes also can under the first coordinate, rebuild intersection welding bead, welding bead position is accurate although it is so, but needs the time spending a large amount of artificial implants welding beads.
Summary of the invention
Based on this, be necessary the problem for how determining intersection welding bead, a kind of intersection welding bead localization method is provided.
A kind of intersection welding bead localization method, comprise the element to be welded installed and there is intersection welding bead, described element to be welded is fixed by chuck, described chuck hub is the first coordinate origin, determine described first coordinate system and the coordinate value of described intersection welding bead in described first coordinate system, described intersection welding bead localization method, also comprises the steps:
By the Z of described first coordinate system around described first coordinate system 1axle rotates the anglec of rotation preset, and sets up the second coordinate system;
By the Z of described second coordinate system along described second coordinate system 2axle moves default shift value, sets up three-coordinate;
According to the described anglec of rotation and described shift value, calculate the coordinate value of described intersection welding bead in described three-coordinate;
According to the coordinate value of described intersection welding bead in described three-coordinate, locate described intersection welding bead.
Wherein in an embodiment, described element to be welded comprises the first pipe and the second pipe, and described first pipe and described second pipe intersect vertically, form intersection welding bead, described first pipe is fixed by chuck, and described chuck hub is the initial point of the first coordinate system, and described first pipe direction is Z 1axle, determines described first coordinate system and the coordinate value of described intersection welding bead in described first coordinate system.
Wherein in an embodiment, the described default anglec of rotation is determined by following steps:
First angle value of record welding gun in described first coordinate system;
Rotate described welding gun, by described second pipe of the neck of described welding gun touching, record the second angle value of described welding gun;
The described default anglec of rotation is the difference of described second angle value and described first angle value.
Wherein in an embodiment, described default shift value is determined by following steps:
By the X of welding gun around described second coordinate system 2axle 90-degree rotation, along the Z of described second coordinate system 2axle moves described welding gun, and by described second pipe of the neck of described welding gun touching, record the shift value of described welding gun, described shift value is set to described default shift value.
Wherein in an embodiment, the described anglec of rotation is 0 to 90 degree.
Wherein in an embodiment, described shift value be zero or on the occasion of.
Wherein in an embodiment, described welding gun is controlled by mechanical arm.
Wherein in an embodiment, described mechanical arm is controlled by computer program.
Wherein in an embodiment, described first coordinate is system default initial coordinate system.
Above-mentioned intersection welding bead localization method, by mobile and rotation intersection welding bead, re-establish coordinate system, location intersection welding bead, thus can break through the limitation of welding bead home position and structure, accurately locate, convenient welding, efficiency is high, and applicability is strong.
Accompanying drawing explanation
Fig. 1 is the flow chart of the intersection welding bead localization method of an embodiment;
Fig. 2 is the first coordinate system schematic diagram of the intersection welding bead localization method shown in Fig. 1;
Fig. 3 is the second coordinate system schematic diagram of the intersection welding bead localization method shown in Fig. 1;
Fig. 4 is the three-coordinate schematic diagram of the intersection welding bead localization method shown in Fig. 1;
Fig. 5 is the sub-step flow chart of the step S200 of an embodiment of the intersection welding bead localization method shown in Fig. 1;
Fig. 6 is the sub-step flow chart of the step S300 of an embodiment of the intersection welding bead localization method shown in Fig. 1.
Detailed description of the invention
For enabling above-mentioned purpose of the present invention, feature and advantage become apparent more, are described in detail the specific embodiment of the present invention below in conjunction with accompanying drawing.Set forth a lot of detail in the following description so that fully understand the present invention.But the present invention can be much different from alternate manner described here to implement, those skilled in the art can when without prejudice to doing similar improvement when intension of the present invention, therefore the present invention is by the restriction of following public concrete enforcement.
See Fig. 1 to Fig. 4, Fig. 1 is the flow chart of the intersection welding bead localization method of an embodiment, and Fig. 2 is the first coordinate system schematic diagram, and Fig. 3 is the second coordinate system schematic diagram, and Fig. 4 is three-coordinate schematic diagram.As shown in the figure, this intersection welding bead localization method comprises:
Step S100 sets up the first coordinate system R 1, record intersection welding bead is at the first coordinate system R 1coordinate value.Install the element to be welded with intersection welding bead, this element to be welded is fixed by chuck, and chuck hub is the first coordinate system R 1initial point O 1, determine the first coordinate system R 1and intersection welding bead is at this first coordinate system R 1in coordinate value, on this intersection welding bead, such as choose abc 3 for example, form intersection welding bead abc, coordinate value is respectively a (x a1, y a1, z a1), b (x b1, y b1, z b1), c (x c1, y c1, z c1).
Step S200 rotates the anglec of rotation g preset, and sets up the second coordinate system R 2.
By the first coordinate system R 1around Z 1axle rotates described anglec of rotation g, sets up the second coordinate system R 2.Second coordinate system R 2initial point O 2=O 1.Now, intersection welding bead abc, at the second coordinate system R 2in coordinate value be a (x a2, y a2, z a2), b (x b2, y b2, z b2), c (x c2, y c2, z c2).
Step S300 moves default shift value w, sets up three-coordinate R 3.
By the second coordinate system R 2along Z axis moving displacement value w, set up three-coordinate R 3, three-coordinate R 3initial point O 3=O 2+ w.Now, intersection welding bead abc, at three-coordinate R 3in coordinate value be a (x a3, y a3, z a3), b (x b3, y b3, z b3), c (x c3, y c3, z c).
Step S400, calculates intersection welding bead abc at three-coordinate R 3in coordinate value.
First this intersection welding bead abc is calculated at the second coordinate system R 2in coordinate value, for a point, a point is at the second coordinate system R 2in coordinate value (x a2, y a2, z a2), can following formulae discovery be passed through:
x a 2 2 + y a 2 2 = x a 1 2 + y a 1 2
z a2=z a1
B point and c point are at the second coordinate system R 2in the computational methods of coordinate value the same, b (x can be obtained respectively b2, y b2, z b2), c (x c2, y c2, z c2).
Calculate a point again at three-coordinate R 3in coordinate value (xa3, ya3, za3), can following formulae discovery be passed through:
x a3=x a2
y a3=y a2
z a3=z a2+w
B point and c point are at three-coordinate R 3in the computational methods of coordinate value the same, b (x can be obtained respectively b3, y b3, z b3), c (x c3, y c3, z c3).
Suppose that setting a point is at the first coordinate system R 1under coordinate value (x a1, y a1, z a1) value be (10,30,5), anglec of rotation g=60 °, shift value w=30, substitute into above formula and can obtain a point at the second coordinate system R 2under coordinate value (x a2, y a2, z a2) be (30,10,5), a point is at three-dimensional R 3under coordinate value (x a3, y a3, z a3) be (30,10,35).
Step S500 according to intersection welding bead abc at three-coordinate R 3in coordinate value, i.e. a (x a3, y a3, z a3), b (x b3, y b3, z b3), c (x c3, y c3, z c3) location intersection welding bead.Then weld.
It should be noted that, also can first by the first coordinate system R 1along Z 1axle moves preset displacement value w, sets up the second coordinate system R 2', then by the second coordinate system R 2' around Z 2' axle rotation preset angle angle value g, set up three-coordinate R 3, then calculate intersection welding bead abc at three-coordinate R 3in coordinate value, do not affect intersection welding bead abc at three-coordinate R 3in coordinate value.Also to set a point at the first coordinate system R 1under coordinate value (x a1, y a1, z a1) value be (10,30,5), anglec of rotation g=60 °, shift value w=30 is example, can be calculated a point at the second coordinate system R 2' under coordinate value (x a2, y a2, z a2) be (10,30,35), a point is at three-coordinate R 3under coordinate value (x a3, y a3, z a3) be still (30,10,35).
This makes it possible to the position by adjustment intersection welding bead, adjusted to the position of an applicable welding gun welding, by setting up the coordinate of new coordinate system and intersection welding bead, welded by new coordinate value again, can only according to the first coordinate of intersection welding bead before breaking through, mobile welding gun carries out the restriction of welding, accurately, comprehensively can complete the welding of intersection welding bead, substantially increase welding production speed, ensure the quality of production of welding, breach traditional under fixed coordinate system the limitation to intersection welding bead location.
Wherein in an embodiment, this element to be welded comprises the first pipe and the second pipe, and the first pipe and the second pipe intersect vertically, and form intersection welding bead abc, fixed by chuck by the first pipe, arranging chuck hub is the first origin of coordinates O 1, the first pipe direction is Z 1axle.
See Fig. 5, it is the sub-step flow chart of the step S200 of an embodiment of the intersection welding bead localization method shown in Fig. 1.As shown in the figure, preset anglec of rotation g to be determined by following steps:
Step S210 records welding gun at the first coordinate system R 1in the first angle value;
Step S220 rotary welding gun, touches the second pipe by the neck of welding gun, and record welding gun is at the first coordinate system R 1in the second angle value;
Step S230 calculates and presets anglec of rotation g, presets the difference that anglec of rotation g is the second angle value and the first angle value, namely presets anglec of rotation g=second angle value-the first angle value.
See Fig. 6, it is the sub-step flow chart of the step S300 of an embodiment of the intersection welding bead localization method shown in Fig. 1.As shown in the figure, preset displacement value w can be determined by following steps:
Step S310 by welding gun around the second coordinate system R 2x 2axle 90-degree rotation;
Step S320 is along the second coordinate system R 2z 2axle moves welding gun, and the neck of welding gun is touched the second pipe;
Step S330 determines preset displacement value w.The shift value w of record welding gun, is set to preset displacement value by this shift value w.
Wherein in an embodiment, this anglec of rotation g is 0 to 90 degree, can facilitate the rotation of welding gun like this, the anglec of rotation of optimization welding gun.
Wherein in an embodiment, shift value w be zero or on the occasion of, namely make element to be welded along Z 2axial welding torch position moves near direction, can facilitate the welding of welding gun like this.
Wherein in an embodiment, welding gun is controlled by mechanical arm, can control accurately flexibly, realize automation.
Wherein in an embodiment, this mechanical arm is controlled by computer program, and the relevant parameter of intersection welding bead, such as coordinate value, be input in computer program, thus can ensure the accuracy of welding, and conveniently can adjust welding parameter.
Wherein in an embodiment, this first coordinate is system default initial coordinate system, thus without the need to re-establishing the first coordinate system, simplifies flow process.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.

Claims (9)

1. an intersection welding bead localization method, comprise the element to be welded installed and there is intersection welding bead, described element to be welded is fixed by chuck, described chuck hub is the first coordinate origin, determine described first coordinate system and the coordinate value of described intersection welding bead in described first coordinate system, it is characterized in that, described intersection welding bead localization method, also comprises the steps:
By the Z of described first coordinate system around described first coordinate system 1axle rotates the anglec of rotation preset, and sets up the second coordinate system;
By the Z of described second coordinate system along described second coordinate system 2axle moves default shift value, sets up three-coordinate;
According to the described anglec of rotation and described shift value, calculate the coordinate value of described intersection welding bead in described three-coordinate;
According to the coordinate value of described intersection welding bead in described three-coordinate, locate described intersection welding bead.
2. intersection welding bead localization method according to claim 1, it is characterized in that, described element to be welded comprises the first pipe and the second pipe, described first pipe and described second pipe intersect vertically, form intersection welding bead, described first pipe is fixed by chuck, and described chuck hub is the initial point of the first coordinate system, and described first pipe direction is Z 1axle, determines described first coordinate system and the coordinate value of described intersection welding bead in described first coordinate system.
3. intersection welding bead localization method according to claim 2, is characterized in that, the described default anglec of rotation is determined by following steps:
First angle value of record welding gun in described first coordinate system;
Rotate described welding gun, by described second pipe of the neck of described welding gun touching, record the second angle value of described welding gun;
The described default anglec of rotation is the difference of described second angle value and described first angle value.
4. intersection welding bead localization method according to claim 2, is characterized in that, described default shift value is determined by following steps:
By the X of welding gun around described second coordinate system 2axle 90-degree rotation, along the Z of described second coordinate system 2axle moves described welding gun, and by described second pipe of the neck of described welding gun touching, record the shift value of described welding gun, described shift value is set to described default shift value.
5. intersection welding bead localization method according to claim 3, is characterized in that, the described anglec of rotation is 0 to 90 degree.
6. intersection welding bead localization method according to claim 4, is characterized in that, described shift value be zero or on the occasion of.
7. the intersection welding bead localization method according to claim 3 or 4, it is characterized in that, described welding gun is controlled by mechanical arm.
8. intersection welding bead localization method according to claim 7, it is characterized in that, described mechanical arm is controlled by computer program.
9. intersection welding bead localization method according to claim 1, is characterized in that, described first coordinate is system default initial coordinate system.
CN201410838343.5A 2014-12-25 2014-12-25 Intersection welding bead localization method Active CN104493420B (en)

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CN104842046A (en) * 2015-05-18 2015-08-19 北京航空航天大学 Control method for submerged-arc welding platform for intersection-line seam of thick-wall large-size cylindrical weld element
CN105773055A (en) * 2016-05-23 2016-07-20 中国冶集团有限公司 Pipeline axis setting-out device and setting-out method
CN114260625A (en) * 2021-12-31 2022-04-01 上海新时达电气股份有限公司 Method for welding intersecting line of circular tube, welding equipment and storage medium

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104842046A (en) * 2015-05-18 2015-08-19 北京航空航天大学 Control method for submerged-arc welding platform for intersection-line seam of thick-wall large-size cylindrical weld element
CN105773055A (en) * 2016-05-23 2016-07-20 中国冶集团有限公司 Pipeline axis setting-out device and setting-out method
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CN114260625A (en) * 2021-12-31 2022-04-01 上海新时达电气股份有限公司 Method for welding intersecting line of circular tube, welding equipment and storage medium
CN114260625B (en) * 2021-12-31 2023-08-15 上海新时达电气股份有限公司 Welding method, welding equipment and storage medium for circular tube intersecting line

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