CN105312731A - Delivery side displacement sensing based automatic tracking method for inner weld seam of spiral steel pipe - Google Patents
Delivery side displacement sensing based automatic tracking method for inner weld seam of spiral steel pipe Download PDFInfo
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- CN105312731A CN105312731A CN201410367314.5A CN201410367314A CN105312731A CN 105312731 A CN105312731 A CN 105312731A CN 201410367314 A CN201410367314 A CN 201410367314A CN 105312731 A CN105312731 A CN 105312731A
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- steel pipe
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- displacement
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Abstract
The invention relates to a vision sensing image recognition technology, a displacement sensing technology and a welding process quality real-time sensing and controlling technology, in particular to a delivery side displacement sensing based automatic tracking method for an inner weld seam of a spiral steel pipe. For inner welding of the spiral steel pipe, particularly when the pipe diameter is smaller, a sensor for detecting the weld seam is almost impossible to be mounted in residual effective space in the steel pipe due to the influence of elements such as a roller beam, a flux pipe, a welding gun, a welding gun cable and the like operating in the steel pipe. According to the method, a displacement sensor is adopted to detect the delivery side edge position and displacement of strip steel close to joint close, and the problem that automatic track of the weld seam is difficult to detect due to the limitation of inner space of the pipe with small pipe diameter is completely solved; by means of signal processing and operation, devices such as an intelligent instrument, a computer and the like are adopted for processing and weld seam deviation direction and deviation value are sent to a driver, an electric sliding table is controlled to drive an inner-weld welding gun to perform position adjustment, the welding gun is accurately positioned, and automatic tracking of the inner weld seam of the spiral steel pipe is realized.
Description
Technical field
This patent relates to visual sensing image recognition technology, displacement sensing technology, welding process quality real-time sensing and control technology, particularly based on welding line automatic tracking method in the spiral steel pipe sending limit displacement sensing.
Background technology
Soldering joint automatic tracking is realized to guarantee welding quality in welding process, improve Automation of Welding level and have extremely important practical significance, the key of soldering joint automatic tracking technology is the method for sensing of position while welding, extensive use both at home and abroad is laser vision sensor at present, by gathering the distortion laser stripe image of weld seam, calculate and obtain the characteristics of weld seam information such as position while welding, groove width, groove depth, welding gun height, unfitness of butt joint, the amount of cracking, realize the monitoring of soldering joint automatic tracking, the highly automated control of welding gun and characteristics of weld seam parameter.
But, be directed to weldering in spiral steel pipe, affect by the roller fine strain of millet of its steel duct work, solder flux pipe, the partial component such as welding gun mechanical mechanism and welding torch cable, especially during caliber less (caliber is less than 700mm), the remaining useful space of steel duct makes to install the sensor detecting weld seam and hardly may, in addition, if the outer inspection method of weldering detects position while welding in employing spiral steel pipe, realized the method for inner welding gun and the asynchronous movement of outside weld seam sensor by displacement transducer, soldering joint automatic tracking real-time, precision, reliability, synchronism are all very poor.Therefore, welding line detection method and always perplex industry research and producers in the realizing of motion tracking in pipe with small pipe diameter spiral steel pipe for many years, at present, the interior weldering of domestic spiral steel pipe submerged-arc welding realizes weld joint tracking and almost all adopts manual hand manipulation to complete, by the sense of responsibility of operator, the impact such as ability to work is larger, and manual operation is difficult to accomplish fine adjustment accurately, usually weld seam is caused to turn sharp turn in production, unsightly and to follow-up anticorrosive work bring a lot of adverse effect, even cause the incomplete fusion of weld seam, the defect such as lack of penetration, reprocess, waste a large amount of manpowers, financial resources.Efficient in the urgent need to one, the reliable method for sensing of actual production detects welding line position or change in displacement situation in spiral steel pipe, thus to realize in spiral steel pipe submerged-arc welding welding line from motion tracking, improve Automation of Welding degree, welding quality, speed of welding, reach energy-efficient, increase production and improve productivity.
In the welding production welded in spiral steel pipe, in order to regulate the gap of pipe diameter size and joint close, be that namely axle swing steel pipe is put bridge to realize usually with pad, as shown in Figure 1 and Figure 2, as can be seen from the figure, when putting bridge, owing to taking pad as axle center so substantially can not weld seam deviation be caused.Weld seam deviation mainly causes as " crescent moon is curved " because band steel exists distortion, as shown in Figure 3, Figure 4, when being with steel to move left and right, weld seam will produce deviation, and band steel moves has good linear relationship with weld seam deviation, if adopt suitable sensor, Real-Time Monitoring band steel vibration, control welding gun and make drift correction in time, guarantee welding electrode real-time tracking weld seam, thus realize the soldering joint automatic tracking of weldering in spiral steel pipe.If adopt sensor to be placed in steel pipe external detection band steel vibration method, will thoroughly solve the problem being difficult to detection by the soldering joint automatic tracking of pipe with small pipe diameter tubular body space constraint.
Summary of the invention
This patent content adopts contact or non-contact displacement sensor, detect forward and backward near joint close, comprise the band steel that sensor is placed in steel pipe inside and outside and send limit edge placement and displacement, can detect perpendicular to sending side plate end face direction, as Fig. 5 send front, limit mechanical contact sensing, Fig. 6 sends front, limit laser displacement sensing, Fig. 7 sends front, limit laser stripe visual sensing; Can perpendicular to sending steel plate face direction, limit, as Fig. 8 send flank side surface mechanical contact displacement sensing, Fig. 9 sends flank side surface laser stripe visual sensing.Displacive transformation is become the signal of telecommunication by displacement transducer, through signal transacting and computing, undertaken processing by intelligence instrument, computer etc. and driver is sent in weld seam deviation direction and departure, controlling electric sliding moving stage drives interior weldering welding gun to carry out position adjustment, realize the precise positioning of welding gun, realize welding line in spiral steel pipe from motion tracking.Meanwhile, the data display of weld seam deviation, characteristics of weld seam parameter, duty etc. can also be carried out and store.
This patent feature (1) detect forward and backward near pre-joint close, comprise that sensor is placed in the inside and outside position of steel pipe send the limit displacement of porch, because sensor can be placed in steel pipe outside, do not limit by caliber, the restricted problem in thorough solution pipe with small pipe diameter tubular body space, having versatility (2) sensor being well applicable to welding line position detection in various caliber spiral steel pipe can be mechanical contact displacement transducer, laser displacement formula sensor, laser stripe vision sensor etc., and selectable range is wide.(3) sensor is fixed on welding gun, and with welding gun synchronizing moving, weld seam detection is real-time, synchronism good, detection control precision is all very high.(4) send the limit displacement of porch owing to detecting, therefore, detect the impact whether not having the factor such as groove, weld gap size by weld seam.
Accompanying drawing explanation
Fig. 1 puts bridge 3 ° of butt welded seam deviation effects effect schematic diagrames.
Fig. 2 puts bridge-3 ° of butt welded seam deviation effects effect schematic diagrames.
Fig. 3 band steel vibration 2mm butt welded seam deviation effects effect schematic diagram.
Fig. 4 band steel vibration-2mm butt welded seam deviation effects effect schematic diagram.
Fig. 5 sends front, limit mechanical contact sensing soldering joint automatic tracking principle schematic.
Fig. 6 sends front, limit laser displacement sensing soldering joint automatic tracking principle schematic.
Fig. 7 sends front, limit laser stripe visual sensing soldering joint automatic tracking principle schematic.
Fig. 8 sends flank side surface mechanical contact displacement sensing soldering joint automatic tracking principle schematic.
Fig. 9 sends flank side surface laser stripe visual sensing soldering joint automatic tracking principle schematic.
Detailed description of the invention
Sensor is fixed on welding gun, with welding gun synchronizing moving, the attitude of sensor can be regulated by multiple degrees of freedom fixed mechanism, can be divided into following several situation according to sensor installation direction, and object is to detect near pre-joint close sends the limit displacement of porch or position.
(1) limit end face pattern sent by sensor senses direction belt steel.Figure 5 shows that mechanical contact displacement sensing, displacement sensor probe end roller with send limit steel plate end face close contact, real-time detection zone steel is in the vibration of steel pipe axis direction, and displacement signal is changed into signal of telecommunication feeding signal processor, then calculate direction of displacement and displacement by processor;
Figure 6 shows that laser displacement sensor sensing, laser displacement sensor is by irradiating the projected position of some shaped laser spot at inner linear array photoelectrical coupler in sending limit end face, the distance between aware delivery limit end face and sensor and change thereof.When being with steel vibration, in laser spot hot spot linear array photoelectrical coupler in the sensor, projected position also will equal proportion change, and sensor output signal can be calculated by Computing process and send limit direction of displacement and displacement; Figure 7 shows that laser stripe visual sensing, laser displacement sensor is by irradiating the projected position of wire hot spot at inside face battle array photoelectrical coupler in sending limit end face, the distance between aware delivery limit end face and sensor and change thereof.When being with steel vibration, in laser filamentary hot spot face battle array photoelectrical coupler in the sensor, projected position also will equal proportion change, and sensor output signal can be calculated by Computer Image Processing and send limit direction of displacement and displacement;
(2) sensor senses direction belt steel surface modes.Figure 8 shows that and adopt mechanical contact displacement sensing, displacement sensor probe end roller with send limit steel plate end face close contact, real-time detection zone steel is in the vibration of steel pipe axis direction, and displacement signal is changed into signal of telecommunication feeding signal processor, then calculate direction of displacement and displacement by processor; Figure 9 shows that and adopt laser stripe visual sensing, in sensor, laser tube sends bar shaped laser by cylindrical mirror, be radiated on steel plate face and form bar shaped laser spot, bar shaped laser spot is fractureed sending edge, limit, when being with steel vibration, in the feature video camera in the sensor that laser stripe sends limit place, on the battle array photoelectrical coupler of face, projected position also will equal proportion change, can be calculated send limit direction of displacement and displacement by Computer Image Processing.
Above-mentioned several sensing modes calculates sends position, limit, direction of displacement and displacement, calculation process is carried out by adopting the core component as one chip microcomputer, intelligent control instrument, programmable logic controller (PLC), computer etc., export weld seam deviation direction and departure signal to stepping motor or servo motor drives, drag motorized precision translation stage by stepping motor or servomotor to move, thus mobile welding gun realizes welding electrode aims at weld seam in real time, realize soldering joint automatic tracking.According to user demand, setting parameter and display can be carried out by man-machine interface or display element.
Claims (3)
1. adopt contact or non-contact sensor detect the pre-joint close of weldering in spiral steel pipe forward and backward, comprise sensor be placed in steel pipe inside and outside send the limit displacement of porch or position, realize welding line position in spiral steel pipe and detect or the method for soldering joint automatic tracking.
2. adopt mechanical contact displacement transducer, laser displacement sensor, laser stripe vision sensor etc. detect the pre-joint close of weldering in spiral steel pipe forward and backward, comprise sensor be placed in steel pipe inside and outside send the limit displacement of porch or position, realize welding line position in spiral steel pipe and detect or the method for soldering joint automatic tracking.
3. sensor mounting means comprise any direction detection spiral steel pipe in the pre-joint close of weldering forward and backward, comprise sensor be placed in steel pipe inside and outside send the limit displacement of porch or position, realize welding line position in spiral steel pipe and detect or the method for soldering joint automatic tracking.
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| CN201410367314.5A CN105312731A (en) | 2014-07-30 | 2014-07-30 | Delivery side displacement sensing based automatic tracking method for inner weld seam of spiral steel pipe |
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| CN201410367314.5A CN105312731A (en) | 2014-07-30 | 2014-07-30 | Delivery side displacement sensing based automatic tracking method for inner weld seam of spiral steel pipe |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378315A (en) * | 2017-06-24 | 2017-11-24 | 江苏瑞伯特视觉科技股份有限公司 | A kind of robotic laser visual sensing inspection software system |
| CN109158734A (en) * | 2018-10-31 | 2019-01-08 | 芜湖常瑞汽车部件有限公司 | A kind of automatic tracking system and method for abnormal shape weld seam |
| CN112881305A (en) * | 2021-01-14 | 2021-06-01 | 王泽平 | Rapid detection equipment for aluminum profile |
| CN114654143A (en) * | 2022-05-24 | 2022-06-24 | 湖北工业大学 | Intelligent welding machine tool based on voice control |
| CN115229363A (en) * | 2022-08-05 | 2022-10-25 | 湖南湘投金天新材料有限公司 | Device for monitoring formation of inner weld joint of straight-seam continuous welded pipe |
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| US4047419A (en) * | 1976-04-30 | 1977-09-13 | The Steel Company Of Canada, Limited | Method and apparatus for expanding spiralweld pipe |
| CN1044912A (en) * | 1989-12-18 | 1990-08-29 | 天津市电视技术研究所 | The method and apparatus of torch head to track weld line automatically |
| CN202180284U (en) * | 2011-07-11 | 2012-04-04 | 中国石化集团江汉石油管理局沙市钢管厂 | External tracking device for fine and internal welding tracking points of spiral steel pipes |
| CN102554413A (en) * | 2012-01-05 | 2012-07-11 | 机械科学研究院哈尔滨焊接研究所 | Novel tracking method for internal welding of spiral pipe |
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2014
- 2014-07-30 CN CN201410367314.5A patent/CN105312731A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4047419A (en) * | 1976-04-30 | 1977-09-13 | The Steel Company Of Canada, Limited | Method and apparatus for expanding spiralweld pipe |
| CN1044912A (en) * | 1989-12-18 | 1990-08-29 | 天津市电视技术研究所 | The method and apparatus of torch head to track weld line automatically |
| CN202180284U (en) * | 2011-07-11 | 2012-04-04 | 中国石化集团江汉石油管理局沙市钢管厂 | External tracking device for fine and internal welding tracking points of spiral steel pipes |
| CN102554413A (en) * | 2012-01-05 | 2012-07-11 | 机械科学研究院哈尔滨焊接研究所 | Novel tracking method for internal welding of spiral pipe |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378315A (en) * | 2017-06-24 | 2017-11-24 | 江苏瑞伯特视觉科技股份有限公司 | A kind of robotic laser visual sensing inspection software system |
| CN109158734A (en) * | 2018-10-31 | 2019-01-08 | 芜湖常瑞汽车部件有限公司 | A kind of automatic tracking system and method for abnormal shape weld seam |
| CN112881305A (en) * | 2021-01-14 | 2021-06-01 | 王泽平 | Rapid detection equipment for aluminum profile |
| CN112881305B (en) * | 2021-01-14 | 2022-11-25 | 河南天子铝业有限公司 | Rapid detection equipment for aluminum profile |
| CN114654143A (en) * | 2022-05-24 | 2022-06-24 | 湖北工业大学 | Intelligent welding machine tool based on voice control |
| CN115229363A (en) * | 2022-08-05 | 2022-10-25 | 湖南湘投金天新材料有限公司 | Device for monitoring formation of inner weld joint of straight-seam continuous welded pipe |
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Application publication date: 20160210 |