CN105458483A - Automatic correcting and ultrasonic impacting system of post-welding seam tracking robot - Google Patents
Automatic correcting and ultrasonic impacting system of post-welding seam tracking robot Download PDFInfo
- Publication number
- CN105458483A CN105458483A CN201610006491.XA CN201610006491A CN105458483A CN 105458483 A CN105458483 A CN 105458483A CN 201610006491 A CN201610006491 A CN 201610006491A CN 105458483 A CN105458483 A CN 105458483A
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- measuring sensor
- distance measuring
- ultrasonic impact
- reflecting piece
- controller
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/003—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to controlling of welding distortion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/12—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to investigating the properties, e.g. the weldability, of materials
- B23K31/125—Weld quality monitoring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D10/00—Modifying the physical properties by methods other than heat treatment or deformation
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D11/00—Process control or regulation for heat treatments
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
- C21D9/50—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor for welded joints
Abstract
The invention discloses an automatic correcting and ultrasonic impacting system of a post-welding seam tracking robot. The automatic correcting and ultrasonic impacting system is composed of a mobile welding device, an ultrasonic impacting system, a step motor, a controller, a Zibee wireless communication module, a reflection sheet and a distance measurement sensor. According to the invention, the deviation between the operation tail end of the ultrasonic impacting system and post-welding seams can be sensed in real time and can be corrected in real time, and an ultrasonic impacting head can accurately impact the post-welding seams for removing the welding stress. The automatic correcting and ultrasonic impacting system has the advantages that the structure is simple, the automation degree is high, and the accuracy of tracking the post-welding seams is high.
Description
The application is application number: the divisional application of 201410670000.2, the applying date: 2014.11.20, title " after full automatic welding weld joint tracking and ultrasonic impact system ".
Technical field
The present invention relates to a kind of postwelding weld joint tracking and ultrasonic impact system.
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.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.
Domestic only patent " constant scanning locate mode postwelding weld joint tracking and residual stress eliminate system (CN201210401736), " weld stress eliminate and devise relevant full automatic welding in mobile robot tracking system (CN201310341420), " postwelding weld seam high precision tracking and residual stress eliminate system (CN201310341500) " after weld joint tracking and stress elimination system.Though developed with travelling car be both at home and abroad carrier with weldering (postwelding) stress elimination equipment, all can not the situation of the longer or bead bend of processing welding lines, namely do not possess long weld seam, bending weld seam automatic tracking function.So will enable automatically to implement operation with weldering/post-weld stress abatement apparatus, there is no all postwelding weld seams of process omitted, postwelding welding line tracking function need be possessed.
Summary of the invention
The object of the present invention is to provide a kind of rational in infrastructure, postwelding weld joint tracking precision is high, weld joint tracking and ultrasonic impact system after the full automatic welding do not affected postwelding weld joint tracking by welding slag or weld defect.
Technical solution of the present invention is:
Weld joint tracking and ultrasonic impact system after a kind of full automatic welding, it is characterized in that: comprise Mobile welding equipment, ultrasonic impact system, Mobile welding equipment, ultrasonic impact system are fixed with reflecting piece A, reflecting piece B respectively, and reflecting piece A, reflecting piece B are used for reflective distance measuring sensor and realize range measurement; Be fixed on reflecting piece A on Mobile welding equipment and Mobile welding device synchronization is moved, be fixed on reflecting piece B in ultrasonic impact system and ultrasonic impact system synchronization is moved; Reflecting piece in Mobile welding equipment, ultrasonic impact system avoids mutual interference by being arranged on differing heights, and adopts the laser of different modulating frequency or infrared light to avoid interference; Walk enters motor and is fixedly mounted on weld seam with exterior domain, four stepper motor B
1, B
2, B
3, B
4symmetrical composition flat rectangular or square, and ensure in the rectangle that weld seam surrounds at four stepper motors or square; With stepper motor B
1with stepper motor B
4axial connecting line is Y-axis, with stepper motor B
1with stepper motor B
4distance mid point is initial point O (0,0), sets up plane X-Y rectangular coordinate system; Each stepper motor is all provided with distance measuring sensor, and distance measuring sensor is fixedly connected with motor shaft, coaxial rotating; Four distance measuring sensor C
1, C
2, C
3, C
4o is respectively with stepper motor axle center line intersecting point coordinate
1(X
1, Y
1), O
2(X
2, Y
2), O
3(X
3, Y
3), O
4(X
4, Y
4); In four stepper motors, two for determining the motion track of welding tip, other two for obtaining the motion track of ultrasonic impact head, two tracks are compared, the Distance geometry direction that ultrasonic impact head departs from welding line can be obtained, thus realizing correction by control system, proof stress cancellation element operation end aims at weld seam operation all the time; Controller K
1, K
2, K
3, K
4be respectively stepper motor B
1, B
2, B
3, B
4micro-stepping control device, the linear velocity of stepper motor is greater than the speed of Mobile welding equipment, ultrasonic impact system; Wireless communication module Z
1, Z
2, Z
3, Z
4respectively by controller K
1, K
2, K
3, K
4control, wireless communication module adopts Zigbee wireless communication module.
Ultrasonic impact system adopts wheeled mobile robot as body, realizes robot location's coarse positioning by two-wheeled is differential, adopts crosshead shoe as ultrasonic impact head positioning drive mechanisms, realizes the precision positioning of ultrasonic impact head.
Distance measuring sensor adopts laser sensor or infrared sensor.
Mobile welding equipment welds by welding initial point, when Mobile welding equipment is when welding initial point, reflecting piece A is installed by mobile welding equipment, reflecting piece A and distance measuring sensor C
1, C
2in same level, and for avoiding the interference such as arc light in welding process, distance measuring sensor C
1, C
2with reflecting piece A setting height(from bottom) higher than welding tip; Mobile welding equipment, when welding initial point, ensures distance measuring sensor C
1, C
2the optical signal sent can be penetrated on reflecting piece A, distance measuring sensor C
1, C
2signal respectively by controller K
1, K
2carry out processing and calculating, the distance obtained is respectively L
1, L
2; Controller K
1by the distance L detected
1by wireless communication module Z
1be transferred to wireless communication module Z
2, and by wireless communication module Z
2send into controller K
2, obtain triangle " AO
1o
2" the coordinate of summit A; Controller K
1, K
2to sample at regular intervals the signal of distance measuring sensor, calculate an A point coordinates;
When Mobile welding equipment starts to weld, mobile welding equipment produces mobile, as controller K
1, K
2when not collecting the signal of distance measuring sensor, then illustrate that the optical signal that distance measuring sensor is launched can not be mapped to reflecting piece; Now, stepper motor B
1, B
2be rotated counterclockwise, distance measuring sensor is driven to produce rotary motion, the optical signal that distance measuring sensor is launched is mapped to reflecting piece again, now stepper motor is out of service, and calculates the distance made new advances, by new distance value, above-mentioned plane geometry computational methods can be repeated, obtain new A point coordinates, by that analogy, the trajectory coordinates " (n of A point can be obtained
1, m
1), (n
2, m
2), (n
3, m
3) ... ... ", any point coordinate on the A locus of points, with (n
x, m
x) represent, this track is exactly the track of welding tip motion, assuming that mobile welding equipment has accurate weld joint tracking performance, and the track of this track i.e. weld seam;
After Mobile welding equipment has welded certain hour, start ultrasonic impact system, followed the track of Mobile welding equipment, carried out postwelding and impact operation; The operation of ultrasonic impact system, also from welding initial point; Ultrasonic impact system installs reflecting piece B, reflecting piece B and distance measuring sensor C
3, C
4in same level, and in order to eliminate interference, reflecting piece B and reflecting piece A is not in same level; Time initial, ensure distance measuring sensor C
3, C
4the optical signal sent can be penetrated on reflecting piece B, distance measuring sensor C
3, C
4signal respectively by controller K
3, K
4carry out processing and calculating, the distance obtained is respectively L
2', L
1'; Controller K
4by the distance L detected
1' by wireless communication module Z
4be transferred to wireless communication module Z
3, and by wireless communication module Z
3send into controller K
3, at controller K
3in, calculate triangle " BO
3o
4" the coordinate of summit B; Controller K
3, K
4to sample at regular intervals the signal of distance measuring sensor, calculate a B point coordinates;
When ultrasonic impact system produces mobile, as controller K
3, K
4when not collecting the signal of distance measuring sensor, then illustrate that the optical signal that distance measuring sensor is launched can not be mapped to reflecting piece.Now, stepper motor B
3, B
4turn clockwise, distance measuring sensor is driven to produce rotary motion, the optical signal that distance measuring sensor is launched is mapped to reflecting piece again, now stepper motor is out of service, and calculates the distance made new advances, by new distance value, repeat above-mentioned plane geometry computational methods, obtain new B point coordinates, by that analogy, the trajectory coordinates " (n of B point can be obtained
1', m
1'), (n
2', m
2'), (n
3', m
3') ... ... ", any point coordinate on the B locus of points, with (n
x', m
x') represent, this track is exactly the cephalomotor track of ultrasonic impact;
Controller K
2the discrete point " (n of the track of the A point obtained
1, m
1), (n
2, m
2), (n
3, m
3) ... ... " all by Zigbee wireless communication module Z
2be transferred to controller K
3, and be stored in controller K
3in; Controller K
3often obtain a new cephalomotor tracing point (n of ultrasonic impact
x', m
x') after, with K
3all point " (n in memory
1, m
1), (n
2, m
2), (n
3, m
3) ... ... " compare one by one, select and (n
x', m
x') the shortest point (n of Euclidean distance
x, m
x) as impact point, calculate " n
x'-n
x", " m
x'-m
x" size, and using this size as departure, the DC servo motor of adjustment mobile apparatus human body and the stepper motor of crosshead shoe, drive ultrasonic impact system towards the direction motion reducing deviation.
The present invention can sense the deviation of ultrasonic impact system job end (ultrasonic impact head) and postwelding weld seam in real time, and realizes real-time deviation correcting, realizes the accurate impact of ultrasonic impact head to welding line, to eliminate welding stress.Structure 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.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is weld joint tracking and ultrasonic impact system construction drawing after full automatic welding of the present invention.
Fig. 2 is after full automatic welding of the present invention in weld joint tracking and ultrasonic impact system, and welding stress eliminates Mobile Robot Control System structure chart.
By stepper motor B in Fig. 1
1, B
2, B
3, B
4, distance measuring sensor C
1, C
2, C
3, C
4, controller K
1, K
2, K
3, K
4, reflecting piece A, B, Mobile welding equipment 1 (containing welding tip), ultrasonic impact system 2 (containing ultrasonic impact head) etc.4 distance measuring sensor C
1, C
2, C
3, C
4be separately fixed at B
1, B
2, B
3, B
4on step motor shaft, rotate with motor coaxle.Weld seam is planar-two-dimensional weld seam mixing, and filled black line is welding line, and all the other are non-welding line.Reflecting piece A, B are separately fixed in Mobile welding equipment and ultrasonic impact system.The center of reflecting piece A and distance measuring sensor C
1, C
2in same level, when distance measuring sensor and reflecting piece A are just relative, AC can be measured
1, AC
2distance.The center of reflecting piece B and distance measuring sensor C
3, C
4in same level, as distance measuring sensor C
3, C
4time just relative with reflecting piece B, BC can be measured
3, BC
4distance.Reflecting piece A, B avoid mutual interference by being arranged on differing heights, and adopt the laser of different modulating frequency or infrared light to avoid interference.With stepper motor B shown in Figure of description 1
1and B
4axial connecting line is Y-axis, with stepper motor B
1and B
4distance mid point is initial point, sets up plane X-Y rectangular coordinate system.Each stepper motor is all provided with distance measuring sensor, and distance measuring sensor is fixedly connected with motor shaft, coaxial rotating.Four distance measuring sensors and stepper motor axle center line intersecting point coordinate can be determined, are respectively O
1(X
1, Y
1), O
2(X
2, Y
2), O
3(X
3, Y
3), O
4(X
4, Y
4).Guarantee that weld seam is at O
1, O
2, O
3, O
4in 4 rectangles surrounded (or square).Controller K
1, K
2, K
3, K
4be respectively stepper motor B
1, B
2, B
3, B
4micro-stepping control device.The linear velocity of stepper motor should be greater than the speed (in actual applications, speed of welding and ultrasonic impact speed are all comparatively slow, and therefore this condition can meet) of Mobile welding equipment, ultrasonic impact system.Wireless communication module Z
1, Z
2, Z
3, Z
4respectively by controller K
1, K
2, K
3, K
4control, wireless communication module can adopt Zigbee wireless communication module.
Ultrasonic impact system 3, mobile apparatus human body 4, crosshead shoe 5, two stepper motor and driving governor 6 is comprised, two DC servo motor and driving governor 7 in Fig. 2.Ultrasonic impact system is fixedly connected with crosshead shoe, and two stepper motor drives the precision positioning of ultrasonic impact system for driving crosshead shoe.Mobile apparatus human body is two-wheel difference structure, is moved, realize coarse positioning by two DC servo motor control machine human bodies.The driving of crosshead shoe and robot body, also can adopt other motor to substitute stepper motor and DC servo motor.
Detailed description of the invention
Weld joint tracking and ultrasonic impact system after a kind of full automatic welding, comprise Mobile welding equipment, ultrasonic impact system, Mobile welding equipment, ultrasonic impact system are fixed with reflecting piece A, reflecting piece B respectively, and reflecting piece A, reflecting piece B are used for reflective distance measuring sensor and realize range measurement; Be fixed on reflecting piece A on Mobile welding equipment and Mobile welding device synchronization is moved, be fixed on reflecting piece B in ultrasonic impact system and ultrasonic impact system synchronization is moved; Reflecting piece in Mobile welding equipment, ultrasonic impact system avoids mutual interference by being arranged on differing heights, and adopts the laser of different modulating frequency or infrared light to avoid interference; Walk enters motor and is fixedly mounted on weld seam with exterior domain, four stepper motor B
1, B
2, B
3, B
4symmetrical composition flat rectangular or square, and ensure in the rectangle that weld seam surrounds at four stepper motors or square; With stepper motor B
1with stepper motor B
4axial connecting line is Y-axis, with stepper motor B
1with stepper motor B
4distance mid point is initial point O (0,0), sets up plane X-Y rectangular coordinate system; Each stepper motor is all provided with distance measuring sensor, and distance measuring sensor is fixedly connected with motor shaft, coaxial rotating; Four distance measuring sensor C
1, C
2, C
3, C
4o is respectively with stepper motor axle center line intersecting point coordinate
1(X
1, Y
1), O
2(X
2, Y
2), O
3(X
3, Y
3), O
4(X
4, Y
4); In four stepper motors, two for determining the motion track of welding tip, other two for obtaining the motion track of ultrasonic impact head, two tracks are compared, the Distance geometry direction that ultrasonic impact head departs from welding line can be obtained, thus realizing correction by control system, proof stress cancellation element operation end aims at weld seam operation all the time; Controller K
1, K
2, K
3, K
4be respectively stepper motor B
1, B
2, B
3, B
4micro-stepping control device, the linear velocity of stepper motor is greater than the speed of Mobile welding equipment, ultrasonic impact system; Wireless communication module Z
1, Z
2, Z
3, Z
4respectively by controller K
1, K
2, K
3, K
4control, wireless communication module adopts Zigbee wireless communication module.
Ultrasonic impact system adopts wheeled mobile robot as body, realizes robot location's coarse positioning by two-wheeled is differential, adopts crosshead shoe as ultrasonic impact head positioning drive mechanisms, realizes the precision positioning of ultrasonic impact head.
Distance measuring sensor adopts laser sensor or infrared sensor.
For two-dimentional weld seam, as shown in Figure 1, before welding, first four stepper motor B are fixedly mounted
1, B
2, B
3, B
4, four stepper motor axle center can connect into rectangle (or square), and two dimension is bending or straight bead should in this rectangle (or square).With stepper motor B
1and B
4axial connecting line is Y-axis, with stepper motor B
1and B
4distance mid point is initial point O (0,0), sets up plane X-Y rectangular coordinate system.Stepper motor B
1, B
2, B
3, B
4on be separately installed with distance measuring sensor (infrared or laser sensor can be adopted) C
1, C
2, C
3, C
4, distance measuring sensor is fixedly connected with motor shaft, coaxial rotating.Before welding, determine four distance measuring sensors and stepper motor axle center line intersecting point coordinate, be respectively O
1(X
1, Y
1), O
2(X
2, Y
2), O
3(X
3, Y
3), O
4(X
4, Y
4).
Mobile welding equipment welds by welding initial point, when Mobile welding equipment is when welding initial point, mobile welding equipment installs reflecting piece A, A and C
1, C
2in same level, and for avoiding the interference such as arc light in welding process, distance measuring sensor and reflecting piece setting height(from bottom) are higher than welding tip, and distance measuring sensor adopts specific modulation frequency to avoid the interference of arc light and plasma resonance.Mobile welding equipment, when welding initial point, ensures distance measuring sensor C
1, C
2the optical signal (infrared or laser) sent can be penetrated in reflecting piece, distance measuring sensor C
1, C
2signal respectively by controller K
1, K
2carry out processing and calculating, the distance obtained is respectively L
1, L
2.Controller K
1by the distance L detected
1by wireless communication module (Zigbee wireless communication module can be adopted) Z
1be transferred to wireless communication module Z
2, and by wireless communication module Z
2send into controller K
2, at controller K
2in, calculated by plane geometry and can calculate triangle " AO
1o
2" coordinate (this triangle two summit O of summit A
1(X
1, Y
1), O
2(X
2, Y
2) coordinate is known, then O
1o
2between distance L known, Atria bar limit is known, then can determine the coordinate of summit A).Controller K
1, K
2(tms) samples the signal of distance measuring sensor at regular intervals, calculates an A point coordinates.
When Mobile welding equipment starts to weld, (as shown in Figure 1, if welding direction from right to left), mobile welding equipment produces mobile, as controller K
1, K
2when not collecting the signal of distance measuring sensor, then illustrate that the optical signal that distance measuring sensor is launched can not be mapped to reflecting piece.Now, stepper motor B
1, B
2be rotated counterclockwise, distance measuring sensor is driven to produce rotary motion, the optical signal that distance measuring sensor is launched is mapped to reflecting piece again, now stepper motor is out of service, and the distance that calculating makes new advances is (because speed of welding is slower, therefore stepper motor linear velocity is much larger than the speed of mobile welding equipment, can ensure that optical signal that distance measuring sensor sends can follow the tracks of the change in location of mobile welding equipment.And due to step angle after Design of Stepper Motor Subdivision very little, after again distance signal being detected, stepper motor stops at once, therefore there will not be the optical signal of range finding to surmount the situation of reflecting piece.)。By new distance value, above-mentioned plane geometry computational methods can be repeated, obtain new A point coordinates.By that analogy, the trajectory coordinates " (n of A point can be obtained
1, m
1), (n
2, m
2), (n
3, m
3) ... ... ", any point coordinate on the A locus of points, with (n
x, m
x) represent, this track is exactly the track of welding tip motion, assuming that mobile welding equipment has accurate weld joint tracking performance, and the track of this track i.e. weld seam.
After Mobile welding equipment has welded certain hour, just can start ultrasonic impact system, follow the track of Mobile welding equipment, carry out postwelding and impact operation.The operation of ultrasonic impact system, also from welding initial point.Ultrasonic impact system installs reflecting piece B, B and C
3, C
4in same level, and in order to eliminate interference, B and A is not in same level.Time initial, ensure distance measuring sensor C
3, C
4the optical signal (infrared or laser) sent can be penetrated on reflecting piece B, distance measuring sensor C
3, C
4signal respectively by controller K
3, K
4carry out processing and calculating, the distance obtained is respectively L
2', L
1'.Controller K
4by the distance L detected
1' by wireless communication module (Zigbee wireless communication module can be adopted) Z
4be transferred to wireless communication module Z
3, and by wireless communication module Z
3send into controller K
3, at controller K
3in, calculated by plane geometry and can calculate triangle " BO
3o
4" coordinate (this triangle two summit O of summit B
3(X
3, Y
3), O
4(X
4, Y
4)) coordinate is known, then O
3o
4between distance L known, Atria bar limit is known, then can determine the coordinate of summit B).Controller K
3, K
4(tms) samples the signal of distance measuring sensor at regular intervals, calculates a B point coordinates.
When ultrasonic impact system produces mobile (see Fig. 1, being set to from right to left), as controller K
3, K
4when not collecting the signal of distance measuring sensor, then illustrate that the optical signal that distance measuring sensor is launched can not be mapped to reflecting piece.Now, stepper motor B
3, B
4turn clockwise, distance measuring sensor is driven to produce rotary motion, the optical signal that distance measuring sensor is launched is mapped to reflecting piece again, now stepper motor is out of service, and the distance that calculating makes new advances is (because ultrasonic impact speed is slower, therefore stepper motor linear velocity is much larger than the speed of ultrasonic impact system, can ensure that optical signal that distance measuring sensor sends can the change in location of ultrasonic impact system.And due to step angle after Design of Stepper Motor Subdivision very little, after again distance signal being detected, stepper motor stops at once, therefore there will not be the optical signal of range finding to surmount the situation of reflecting piece B.)。By new distance value, above-mentioned plane geometry computational methods can be repeated, obtain new B point coordinates.By that analogy, the trajectory coordinates " (n of B point can be obtained
1', m
1'), (n
2', m
2'), (n
3', m
3') ... ... ", any point coordinate on the B locus of points, with (n
x', m
x') represent, this track is exactly the cephalomotor track of ultrasonic impact.
In order to make the movement locus of ultrasonic impact head, follow the change of mobile welding equipment movement locus, concrete methods of realizing is as follows.Controller K
2the discrete point " (n of the track of the A point obtained
1, m
1), (n
2, m
2), (n
3, m
3) ... ... " all by Zigbee wireless communication module Z
2be transferred to controller K
3, and be stored in controller K
3in.Controller K
3often obtain a new cephalomotor tracing point (n of ultrasonic impact
x', m
x') after, with K
3all point " (n in memory
1, m
1), (n
2, m
2), (n
3, m
3) ... ... " compare one by one, select and (n
x', m
x') the shortest point (n of Euclidean distance
x, m
x) as impact point, calculate " n
x'-n
x", " m
x'-m
x" size, and using this size as departure, the DC servo motor of adjustment mobile apparatus human body and the stepper motor of crosshead shoe, drive ultrasonic impact system towards the direction motion reducing deviation.This makes it possible to the motion constantly keeping ultrasonic impact head, follow the change of mobile welding equipment movement locus all the time.
Claims (4)
1. a postwelding weld joint tracking robot automatic deviation correction and ultrasonic impact system, it is characterized in that: comprise Mobile welding equipment, ultrasonic impact system, Mobile welding equipment, ultrasonic impact system are fixed with reflecting piece A, reflecting piece B respectively, and reflecting piece A, reflecting piece B are used for reflective distance measuring sensor and realize range measurement; Be fixed on reflecting piece A on Mobile welding equipment and Mobile welding device synchronization is moved, be fixed on reflecting piece B in ultrasonic impact system and ultrasonic impact system synchronization is moved; Reflecting piece in Mobile welding equipment, ultrasonic impact system avoids mutual interference by being arranged on differing heights, and adopts the laser of different modulating frequency or infrared light to avoid interference; Walk enters motor and is fixedly mounted on weld seam with exterior domain, four stepper motor B
1, B
2, B
3, B
4symmetrical composition flat rectangular or square, and ensure in the rectangle that weld seam surrounds at four stepper motors or square; With stepper motor B
1with stepper motor B
4axial connecting line is Y-axis, with stepper motor B
1with stepper motor B
4distance mid point is initial point O (0,0), sets up plane X-Y rectangular coordinate system; Each stepper motor is all provided with distance measuring sensor, and distance measuring sensor is fixedly connected with motor shaft, coaxial rotating; Four distance measuring sensor C
1, C
2, C
3, C
4o is respectively with stepper motor axle center line intersecting point coordinate
1(X
1, Y
1), O
2(X
2, Y
2), O
3(X
3, Y
3), O
4(X
4, Y
4); In four stepper motors, two for determining the motion track of welding tip, other two for obtaining the motion track of ultrasonic impact head, two tracks are compared, the Distance geometry direction that ultrasonic impact head departs from welding line can be obtained, thus realizing correction by control system, proof stress cancellation element operation end aims at weld seam operation all the time; Controller K
1, K
2, K
3, K
4be respectively stepper motor B
1, B
2, B
3, B
4micro-stepping control device, the linear velocity of stepper motor is greater than the speed of Mobile welding equipment, ultrasonic impact system; Wireless communication module Z
1, Z
2, Z
3, Z
4respectively by controller K
1, K
2, K
3, K
4control;
Mobile welding equipment welds by welding initial point, when Mobile welding equipment is when welding initial point, reflecting piece A is installed by mobile welding equipment, reflecting piece A and distance measuring sensor C
1, C
2in same level, and for avoiding the interference such as arc light in welding process, distance measuring sensor C
1, C
2with reflecting piece A setting height(from bottom) higher than welding tip; Mobile welding equipment, when welding initial point, ensures distance measuring sensor C
1, C
2the optical signal sent can be penetrated on reflecting piece A, distance measuring sensor C
1, C
2signal respectively by controller K
1, K
2carry out processing and calculating, the distance obtained is respectively L
1, L
2; Controller K
1by the distance L detected
1by wireless communication module Z
1be transferred to wireless communication module Z
2, and by wireless communication module Z
2send into controller K
2, obtain triangle " AO
1o
2" the coordinate of summit A; Controller K
1, K
2to sample at regular intervals the signal of distance measuring sensor, calculate an A point coordinates;
When Mobile welding equipment starts to weld, mobile welding equipment produces mobile, as controller K
1, K
2when not collecting the signal of distance measuring sensor, then illustrate that the optical signal that distance measuring sensor is launched can not be mapped to reflecting piece; Now, stepper motor B
1, B
2be rotated counterclockwise, distance measuring sensor is driven to produce rotary motion, the optical signal that distance measuring sensor is launched is mapped to reflecting piece again, now stepper motor is out of service, and calculates the distance made new advances, by new distance value, above-mentioned plane geometry computational methods can be repeated, obtain new A point coordinates, by that analogy, the trajectory coordinates " (n of A point can be obtained
1, m
1), (n
2, m
2), (n
3, m
3) ... ... ", any point coordinate on the A locus of points, with (n
x, m
x) represent, this track is exactly the track of welding tip motion, assuming that mobile welding equipment has accurate weld joint tracking performance, and the track of this track i.e. weld seam;
After Mobile welding equipment has welded certain hour, start ultrasonic impact system, followed the track of Mobile welding equipment, carried out postwelding and impact operation; The operation of ultrasonic impact system, also from welding initial point; Ultrasonic impact system installs reflecting piece B, reflecting piece B and distance measuring sensor C
3, C
4in same level, and in order to eliminate interference, reflecting piece B and reflecting piece A is not in same level; Time initial, ensure distance measuring sensor C
3, C
4the optical signal sent can be penetrated on reflecting piece B, distance measuring sensor C
3, C
4signal respectively by controller K
3, K
4carry out processing and calculating, the distance obtained is respectively L
2', L
1'; Controller K
4by the distance L detected
1' by wireless communication module Z
4be transferred to wireless communication module Z
3, and by wireless communication module Z
3send into controller K
3, at controller K
3in, calculate triangle " BO
3o
4" the coordinate of summit B; Controller K
3, K
4to sample at regular intervals the signal of distance measuring sensor, calculate a B point coordinates;
When ultrasonic impact system produces mobile, as controller K
3, K
4when not collecting the signal of distance measuring sensor, then illustrate that the optical signal that distance measuring sensor is launched can not be mapped to reflecting piece; Now, stepper motor B
3, B
4turn clockwise, distance measuring sensor is driven to produce rotary motion, the optical signal that distance measuring sensor is launched is mapped to reflecting piece again, now stepper motor is out of service, and calculates the distance made new advances, by new distance value, repeat above-mentioned plane geometry computational methods, obtain new B point coordinates, by that analogy, the trajectory coordinates " (n of B point can be obtained
1', m
1'), (n
2', m
2'), (n
3', m
3') ... ... ", any point coordinate on the B locus of points, with (n
x', m
x') represent, this track is exactly the cephalomotor track of ultrasonic impact;
Controller K
2the discrete point " (n of the track of the A point obtained
1, m
1), (n
2, m
2), (n
3, m
3) ... ... " all by Zigbee wireless communication module Z
2be transferred to controller K
3, and be stored in controller K
3in; Controller K
3often obtain a new cephalomotor tracing point (n of ultrasonic impact
x', m
x') after, with K
3all point " (n in memory
1, m
1), (n
2, m
2), (n
3, m
3) ... ... " compare one by one, select and (n
x', m
x') the shortest point (n of Euclidean distance
x, m
x) as impact point, calculate " n
x'-n
x", " m
x'-m
x" size, and using this size as departure, the DC servo motor of adjustment mobile apparatus human body and the stepper motor of crosshead shoe, drive ultrasonic impact system towards the direction motion reducing deviation;
Ultrasonic impact system adopts wheeled mobile robot as body, realizes robot location's coarse positioning by two-wheeled is differential, adopts crosshead shoe as ultrasonic impact head positioning drive mechanisms, realizes the precision positioning of ultrasonic impact head.
2. postwelding weld joint tracking robot automatic deviation correction according to claim 1 and ultrasonic impact system, is characterized in that: wireless communication module Z
1for Zigbee wireless communication module.
3. postwelding weld joint tracking robot automatic deviation correction according to claim 1 and ultrasonic impact system, is characterized in that: wireless communication module Z
2for Zigbee wireless communication module.
4. according to claim 1, it is characterized in that: wireless communication module Z
3, Z
4be Zigbee wireless communication module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610006491.XA CN105458483B (en) | 2014-11-20 | 2014-11-20 | Postwelding weld joint tracking robot automatic deviation correction and ultrasonic impact system |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410670000.2A CN104384734B (en) | 2014-11-20 | 2014-11-20 | Weld joint tracking and ultrasonic impact system after full automatic welding |
| CN201610006491.XA CN105458483B (en) | 2014-11-20 | 2014-11-20 | Postwelding weld joint tracking robot automatic deviation correction and ultrasonic impact system |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410670000.2A Division CN104384734B (en) | 2014-11-20 | 2014-11-20 | Weld joint tracking and ultrasonic impact system after full automatic welding |
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| Publication Number | Publication Date |
|---|---|
| CN105458483A true CN105458483A (en) | 2016-04-06 |
| CN105458483B CN105458483B (en) | 2017-09-12 |
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ID=52602741
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|---|---|---|---|
| CN201610006491.XA Active CN105458483B (en) | 2014-11-20 | 2014-11-20 | Postwelding weld joint tracking robot automatic deviation correction and ultrasonic impact system |
| CN201410670000.2A Expired - Fee Related CN104384734B (en) | 2014-11-20 | 2014-11-20 | Weld joint tracking and ultrasonic impact system after full automatic welding |
| CN201610006838.0A Active CN105618951B (en) | 2014-11-20 | 2014-11-20 | Weld seam intelligent tracking system |
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| CN201410670000.2A Expired - Fee Related CN104384734B (en) | 2014-11-20 | 2014-11-20 | Weld joint tracking and ultrasonic impact system after full automatic welding |
| CN201610006838.0A Active CN105618951B (en) | 2014-11-20 | 2014-11-20 | Weld seam intelligent tracking system |
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| CN106181042A (en) * | 2016-07-28 | 2016-12-07 | 东南大学 | A kind of ultra-large type sea frock for low stress without surplus welding method and device |
| CN106191420A (en) * | 2016-08-09 | 2016-12-07 | 南通大学 | Postwelding impact manipulator trajectory tracking TT&C system |
| CN108154778A (en) * | 2017-12-28 | 2018-06-12 | 深圳科创广泰技术有限公司 | Based on motion-captured and mixed reality ophthalmologic operation training system and method |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105618951B (en) | 2018-01-23 |
| CN104384734B (en) | 2016-08-17 |
| CN105618951A (en) | 2016-06-01 |
| CN105458483B (en) | 2017-09-12 |
| CN104384734A (en) | 2015-03-04 |
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