CN105618898A - Intelligent line welding method - Google Patents
Intelligent line welding method Download PDFInfo
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- CN105618898A CN105618898A CN201610160982.XA CN201610160982A CN105618898A CN 105618898 A CN105618898 A CN 105618898A CN 201610160982 A CN201610160982 A CN 201610160982A CN 105618898 A CN105618898 A CN 105618898A
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- 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
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
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- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention relates to an intelligent line welding method. The intelligent line welding method comprises following steps: firstly, the welding line position is detected in real time; secondly, according to welding line position information, a motion trail of a welding gun is generated; and thirdly, according to the motion trail of the welding gun, the welding gun is driven to weld a welding line. Compared with the prior art, the welding line is scanned in real time, and operational data are processed; and the motion trail of the welding gun is generated while scanning is carried out. According to the intelligent line welding method, synchronous scanning and synchronous welding can be achieved, no pre-scanning time exists, and the welding efficiency is improved in a maximization manner; secondly, pipe bending, pipe height changes, and welding of complex pipe rows of a variable diameter part of a pipe can be processed, welding is completed at a time, and extra manual repairing welding is not needed.
Description
Technical field
The present invention relates to a kind of weld seam method, particularly the intelligent weld seam method of a kind of energy real time scan, automatically weld seam.
Background technology
In station boiler, pressure vessel industries, it is necessary to carry out process for processing for what pipe welded with fin sheet. As shown in Figure 1, it is the weld seam schematic diagram of pipe with fin sheet. Wherein, gap between two pipes is the weld seam A of required welding.
But existing machine welding set is in welding process, at every moment all need operative employee to observe the position of weld seam, and need manually to adjust welding gun timely and effectively, so that welding gun can catch up with seam track, ensure welding quality. Manually is there is deviation in observation or the weld seam of seam track, it has been manually do not accomplish accurately observe and anticipation can not be accomplished in advance, even regulating manually, also there will be control lag and adjusting coarse problem.
And existing automatic welding device, it is necessary to intervening pipe manually to the welding of fin sheet, specifically there is following defect in it:
1, require the necessary horizontal positioned of welded tube row, only the straight part of pipe row can be realized welding, the pipe row of tube bending, pipe height change, pipe reducing can not be welded, can only complete additionally by repair welding manually.
2, existing welding set finely tunes, mainly through welding gun, the adjustment that cross bar mechanical mechanism carries out welding gun. Position and the welding gun adjustment of welding weld seam in operational process can only carry out by manual observation seam track and manually regulating welding gun to finely tune cross bar mechanism, poor accuracy, error is big, and very difficult Primary regulation puts in place, needing repeatedly to regulate and welding gun just can be made to arrive suitable position, this kind of regulative mode will be delayed and inaccurate.
3, the order of every bar weld seam of welded tube row can only be mobile workstation manually, can not edit welding sequence in advance.
4,2 workstations need 2 operation workman's real-time follow-ups monitoring, it is necessary to finely tune the regulating handle of cross bar according to actual welds position manual regulation welding gun, make welding gun arrive correct position, such workman often divide every second in tension, load just obviously increases the weight of.
5, the electrical control of existing welding set is with PLC core, cannot accomplish precise positioning control, and error is big; Products C AD figure can not be realized and import function.
Summary of the invention
The invention reside in the shortcoming overcoming prior art with not enough, it is provided that a kind of Intelligent vision follows the tracks of weld seam method, has both improved welding quality, alleviate again workman's burden, minimizing operation workman and improve production efficiency.
The present invention is realized by following technical scheme: a kind of intelligence weld seam method, comprises the following steps:
Step 1: this position while welding of detection in real time;
Step 2: generate welding gun motion track according to welding seam position information;
Step 3: weld seam is welded according to welding gun this welding gun of motion Track fusion.
Compared to prior art, real time scan weld seam of the present invention and process computing data, accomplish scanning, while generating welding gun motion track. So just can realize synchronous scanning, synchronously weld, it does not have pre-sweep time, maximumization improves welding efficiency.
Secondly, the present invention can process the welding of tube bending, pipe height change, the complicated pipe row of pipe reduced diameter portion, and disposable welding completes, it is not necessary to extra repair welding manually.
Again, the present invention can according to actual welds position automatic fine tuning welding torch position, and workman monitors without the need to real-time follow-up, and working strength reduces greatly.
As a further improvement on the present invention, in described step 1, by CCD vision sensor, this position while welding is detected in real time.
As a further improvement on the present invention, in described step 2, received the welding seam position information of CCD vision sensor transmission by industrial PC, and carry out calculating the welding gun motion track generating correspondence.
As a further improvement on the present invention, in described step 3, received the welding gun motion trace data information of industrial PC by the first numerical control device, control this welding gun and move with this motion track.
As a further improvement on the present invention, described first numerical control device, when driving this welding gun to move, comprises the following steps:
Step 31: finely tune the control command that cross bar motion control mechanism receives the first numerical control device by welding gun;
Step 32: welding gun fine setting cross bar motion control mechanism adjusts the motion track of described welding gun according to this control command.
As a further improvement on the present invention, described welding gun fine setting cross bar motion control mechanism comprises and moves horizontally axle, vertically moves axle, rotates mobile axle, the first servomotor, the 2nd servomotor and the 3rd servomotor;
Described first servomotor moves horizontally axle with this and is connected, and rotates for driving this to move horizontally axle according to the drive command of the first numerical control device, thus drives this welding gun to move horizontally;
Described 2nd servomotor vertically moves axle with this and is connected, and for driving this vertically mobile axle rotation according to the drive command of the first numerical control device, thus drives this welding gun vertically to move;
Described 3rd servomotor moves axle with this rotation and is connected, and rotates for driving this rotation to move axle according to the drive command of the first numerical control device, thus it is mobile to drive this welding gun to carry out rotation.
As a further improvement on the present invention, step 4 is also comprised: the first numerical control device finely tunes, by vision, the motion that cross bar motion control mechanism drives CCD vision sensor.
As a further improvement on the present invention, described vision fine setting cross bar motion control mechanism comprises the 2nd and moves horizontally axle, the 2nd vertically mobile axle, the 4th servomotor and the 5th servomotor;
Described 4th servomotor moves horizontally axle with the 2nd and is connected, and rotates for driving the 2nd to move horizontally axle according to the drive command of the first numerical control device, thus drives this CCD vision sensor to move horizontally;
Described 5th servomotor vertically moves axle with the 2nd and is connected, and for driving the 2nd vertically mobile axle rotation according to the drive command of the first numerical control device, thus drives this CCD vision sensor vertically to move.
As a further improvement on the present invention, also comprise step 5: by the 2nd numerical control device editor's welding sequence, control this welding gun and weld according to the welding sequence editted in advance.
As a further improvement on the present invention, before step 1, comprise step: input welding condition setting by described tactile screen operator's console, and in welding process data according to vision-based detection and by the calculating of visual processes software, can automatically regulate welding current, voltage, wire feed rate and welding speed.
In order to understand better and implement, below in conjunction with accompanying drawing, the present invention is described in detail.
Accompanying drawing explanation
Fig. 1 is the weld seam schematic diagram of pipe with fin sheet in prior art.
Fig. 2 is the flow chart of steps of the intelligent weld seam method of the present invention.
Fig. 3 is the connection block diagram of the intelligent weld seam system of the present invention.
Fig. 4 is the schematic diagram of CCD vision sensor detection weld seam in the present invention.
Fig. 5 is the structural representation of the welding gun fine setting cross bar motion control mechanism of the present invention.
Fig. 6 is the structural representation of the vision fine setting cross bar motion control mechanism of the present invention.
Embodiment
Referring to Fig. 2, it is the flow chart of steps of the intelligent weld seam method of the present invention. The present invention provides a kind of intelligence weld seam method, and it comprises the following steps:
S1: input welding condition setting by described tactile screen operator's console, and in welding process data according to vision-based detection and by the calculating of visual processes software, can automatically regulate welding current, voltage, wire feed rate and welding speed.
S2: this position while welding is detected in real time by CCD vision sensor.
S3: the welding seam position information being received the transmission of CCD vision sensor by industrial PC, and carry out calculating the welding gun motion track generating correspondence.
S4: the welding gun motion trace data information being received industrial PC by the first numerical control device, is controlled this welding gun and move with this motion track. Concrete, described first numerical control device, when driving this welding gun to move, comprises the following steps:
S41: finely tune the control command that cross bar motion control mechanism receives the first numerical control device by welding gun;
S42: welding gun fine setting cross bar motion control mechanism adjusts the motion track of described welding gun according to this control command.
S5: the first numerical control device finely tunes, by vision, the motion that cross bar motion control mechanism drives CCD vision sensor.
S6: by the 2nd numerical control device editor's welding sequence, control this welding gun and weld according to the welding sequence editted in advance.
Compared to prior art, real time scan weld seam of the present invention and process computing data, accomplish scanning, while generating welding gun motion track. So just can realize synchronous scanning, synchronously weld, it does not have pre-sweep time, maximumization improves welding efficiency. Secondly, the present invention can process the welding of tube bending, pipe height change, the complicated pipe row of pipe reduced diameter portion, and disposable welding completes, it is not necessary to extra repair welding manually. Again, the present invention can according to actual welds position automatic fine tuning welding torch position, and workman monitors without the need to real-time follow-up, and working strength reduces greatly.
In addition, in order to realize above-mentioned intelligent weld seam method better, present invention also offers a kind of intelligent weld seam system that can be used in realizing aforesaid method. Specifically referring to Fig. 3, it is the connection block diagram of the intelligent weld seam system of the present invention.
Present invention also offers a kind of intelligence weld seam system, comprise CCD vision sensor 1, industrial PC 2, first numerical control device 3, welding gun fine setting cross bar motion control mechanism 4, welding gun 5, vision fine setting cross bar motion control mechanism 6, the 2nd numerical control device 7, portalframe motion control mechanism 8 and touch screen operator's console 9.
Described CCD vision sensor 1 is for carrying out real time scan to weld seam, and this scanning information is sent to industrial PC 2. Please refer to Fig. 4, it is the schematic diagram of CCD vision sensor detection weld seam in the present invention. Described CCD vision sensor 1 is positioned at the middle part A0 of institute's testing pipes or fin sheet, and detects the weld seam A1 and weld seam A2 on this pipeline or fin sheet both sides simultaneously.
Described industrial PC 2, for scanning information is carried out calculation process, generates welding gun motion trajectory coordinates, and the motion trajectory coordinates of generation is sent to the first numerical control device 3.
Described first numerical control device 3, according to the motion trajectory coordinates received, sends drive command to welding gun and finely tunes cross bar motion control mechanism 5 and vision fine setting cross bar motion control mechanism 8.
Correspondingly, in the present embodiment, described welding gun 5 is two, and every bar welding gun 5 is finely tuned cross bar motion control mechanism 6 with one respectively and is connected.
Described welding gun fine setting cross bar motion control mechanism 4, for controlling the moving horizontally of described welding gun 5, vertically moves and attitude angle rotates mobile. Concrete, referring to Fig. 5, it is the structural representation of the welding gun fine setting cross bar motion control mechanism of the present invention.
Described welding gun fine setting cross bar motion control mechanism 4 comprises and moves horizontally axle 41, vertically mobile axle 42, rotates mobile axle 43, first servomotor 44, the 2nd servomotor 45 and the 3rd servomotor 46.
Wherein, described first servomotor 44 moves horizontally axle 41 and is connected with this, rotates for driving this to move horizontally axle 41 according to the drive command of the first numerical control device 3, thus drives this welding gun 5 to move horizontally.
Described 2nd servomotor 45 vertically moves axle 42 with this and is connected, and rotates for driving this vertically to move axle 42 according to the drive command of the first numerical control device 3, thus drives this welding gun 5 vertically to move.
Described 3rd servomotor 46 moves axle 43 with this rotation and is connected, and rotates for driving this rotation to move axle 43 according to the drive command of the first numerical control device 3, thus it is mobile to drive this welding gun 5 to carry out rotation.
Described vision fine setting cross bar motion control mechanism 6 controls tangential movement and the vertical motion of CCD vision sensor according to this drive command. Cross bar motion control mechanism is finely tuned, it is possible to control the weld seam that this CCD vision sensor detects any position by vision. Please refer to Fig. 6, it is the structural representation of the vision fine setting cross bar motion control mechanism of the present invention.
Described vision fine setting cross bar motion control mechanism 6 comprises the 2nd and moves horizontally axle 61, the 2nd vertically mobile axle 62, the 4th servomotor 63 and the 5th servomotor 64.
Described 4th servomotor 63 moves horizontally axle 61 with the 2nd and is connected, and rotates for driving the 2nd to move horizontally axle 61 according to the drive command of the first numerical control device 3, thus drives this CCD vision sensor 1 to move horizontally.
Described 5th servomotor 64 vertically moves axle 62 with the 2nd and is connected, and rotates for driving the 2nd vertically to move axle 62 according to the drive command of the first numerical control device, thus drives this CCD vision sensor 1 vertically to move.
Described 2nd numerical control device 7, for editing welding sequence, controls this welding gun and welds according to the welding sequence editted in advance. Further, the welding sequence of pipe row's weld seam is edited by the 2nd numerical control device 7, edit the welding sequence of weld seam in advance, then automatically carry out welding job according to the order editted completely, it is achieved be automatically automatically moved to, without the need to manual intervention, the mode that welding position carries out welding.
Described portalframe motion control mechanism 8 is connected with described welding gun, for receiving the order of the 2nd numerical control device 7, controls the welding position of described welding gun, welds with the welding sequence according to setting.
Described tactile screen operator's console 9 for receiving welding condition setting, and in welding process data according to vision-based detection and by the calculating of visual processes software, can automatically regulate welding current, voltage, wire feed rate and welding speed.
Hereinafter the working process of the intelligent weld seam system of the present invention is simply introduced:
First, user first by inputting relevant parameter on tactile screen operator's console 9, comprise the parameters such as tube outer diameter, fin width, wlding diameter, tubing, fin material and wlding, welding condition setting is inputted by described tactile screen operator's console, data according to vision-based detection in welding process and by the calculating of visual processes software, can automatically regulate welding current, voltage, wire feed rate and welding speed. Meanwhile, the order of welding is set by the 2nd numerical control device.
When starting welding, described 2nd numerical control device first controls portalframe and drives welding gun to move to the pipe place of required welding in order. Now, CCD vision sensor real time scan position while welding, and these data are sent to described industrial PC. Described industrial PC generates welding gun motion track according to this data information, send to the first numerical control device. Described first numerical control device sends drive command and finely tunes cross bar motion control mechanism to welding gun, controls the level of this welding gun, the movement of vertical direction and attitude angle and rotates. Meanwhile, this first numerical control device sends drive command and finely tunes cross bar motion control mechanism to vision, controls the movement of this CCD vision sensor level and vertical direction, thus detects further position while welding.
Compared to prior art, the present invention, by CCD vision sensor real time scan weld seam and process computing data, accomplishes scanning, while generating welding gun motion track. So just can realize synchronous scanning, synchronously weld, it does not have pre-sweep time, maximumization improves welding efficiency.
Secondly, the Intelligent vision of the present invention follows the tracks of the welding that weld seam Controlling System can process tube bending, pipe height change, the complicated pipe row of pipe reduced diameter portion, and disposable welding completes, it is not necessary to extra repair welding manually.
Again, the vision system of the present invention can according to actual welds position automatic fine tuning welding torch position, and workman monitors without the need to real-time follow-up, and working strength reduces greatly.
The present invention is not limited to above-mentioned enforcement mode, if various change or distortion to the present invention do not depart from the spirit and scope of the present invention, if these are changed and are out of shape within the claim and equivalent technologies scope that belong to the present invention, then the present invention also is intended to comprise these changes and distortion.
Claims (10)
1. an intelligent weld seam method, comprises the following steps:
Step 1: this position while welding of detection in real time;
Step 2: generate welding gun motion track according to welding seam position information;
Step 3: weld seam is welded according to welding gun this welding gun of motion Track fusion.
2. according to claim 1 intelligence weld seam method, it is characterised in that: in described step 1, by CCD vision sensor, this position while welding is detected in real time.
3. intelligence weld seam method according to claim 2, it is characterised in that: in described step 2, receive, by industrial PC, the welding seam position information that CCD vision sensor sends, and carry out calculating and generate corresponding welding gun motion track.
4. according to claim 3 intelligence weld seam method, it is characterised in that: in described step 3, by first numerical control device receive industrial PC welding gun motion trace data information, control this welding gun and move with this motion track.
5. according to claim 4 intelligence weld seam method, it is characterised in that: described first numerical control device drive this welding gun move time, comprise the following steps:
Step 31: finely tune the control command that cross bar motion control mechanism receives the first numerical control device by welding gun;
Step 32: welding gun fine setting cross bar motion control mechanism adjusts the motion track of described welding gun according to this control command.
6. intelligence weld seam method according to claim 5, it is characterised in that: described welding gun fine setting cross bar motion control mechanism comprises and moves horizontally axle, vertically moves axle, rotates mobile axle, the first servomotor, the 2nd servomotor and the 3rd servomotor;
Described first servomotor moves horizontally axle with this and is connected, and rotates for driving this to move horizontally axle according to the drive command of the first numerical control device, thus drives this welding gun to move horizontally;
Described 2nd servomotor vertically moves axle with this and is connected, and for driving this vertically mobile axle rotation according to the drive command of the first numerical control device, thus drives this welding gun vertically to move;
Described 3rd servomotor moves axle with this rotation and is connected, and rotates for driving this rotation to move axle according to the drive command of the first numerical control device, thus it is mobile to drive this welding gun to carry out rotation.
7. according to claim 2 intelligence weld seam method, it is characterised in that: also comprise step 4: the first numerical control device by vision finely tune cross bar motion control mechanism drive CCD vision sensor motion.
8. intelligence weld seam method according to claim 7, it is characterised in that: described vision fine setting cross bar motion control mechanism comprises the 2nd and moves horizontally axle, the 2nd vertically mobile axle, the 4th servomotor and the 5th servomotor;
Described 4th servomotor moves horizontally axle with the 2nd and is connected, and rotates for driving the 2nd to move horizontally axle according to the drive command of the first numerical control device, thus drives this CCD vision sensor to move horizontally;
Described 5th servomotor vertically moves axle with the 2nd and is connected, and for driving the 2nd vertically mobile axle rotation according to the drive command of the first numerical control device, thus drives this CCD vision sensor vertically to move.
9. intelligence weld seam method according to claim 1 or 7, it is characterised in that: also comprise step 5: by the 2nd numerical control device editor's welding sequence, control this welding gun and weld according to the welding sequence editted in advance.
10. according to claim 1 intelligence weld seam method, it is characterized in that: before step 1, comprise step: input welding condition setting by described tactile screen operator's console, and in welding process data according to vision-based detection and by the calculating of visual processes software, can automatically regulate welding current, voltage, wire feed rate and welding speed.
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| CN201610160982.XA CN105618898A (en) | 2016-03-21 | 2016-03-21 | Intelligent line welding method |
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| CN201610160982.XA CN105618898A (en) | 2016-03-21 | 2016-03-21 | Intelligent line welding method |
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| CN106964923A (en) * | 2017-04-13 | 2017-07-21 | 江门健维自动化设备有限公司 | A kind of automatic welding device and method that weld seam is tracked based on intelligent vision |
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| CN109079280A (en) * | 2018-10-23 | 2018-12-25 | 中船澄西船舶修造有限公司 | A kind of flat docking of hull is big to close up seam combined welding technique |
| CN109202219A (en) * | 2018-09-14 | 2019-01-15 | 河南工学院 | A kind of Intelligent welding tracking system |
| CN109317871A (en) * | 2018-11-29 | 2019-02-12 | 合肥常青机械股份有限公司 | A kind of welding robot welding track control method |
| CN109332966A (en) * | 2018-11-28 | 2019-02-15 | 合肥常青机械股份有限公司 | A kind of guide-less all-position welding system and method |
| CN109664008A (en) * | 2018-12-19 | 2019-04-23 | 北京百慕航材高科技有限公司 | A kind of repair welding system and intelligent repair method |
| CN110434512A (en) * | 2019-07-25 | 2019-11-12 | 西北工业大学 | A kind of length of hull weld seam real-time tracking welding system based on gantry and robot |
| CN111037062A (en) * | 2018-10-12 | 2020-04-21 | 哈尔滨工业大学 | Adaptive control and automatic visual inspection method for GTAW weld forming |
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| CN106964923A (en) * | 2017-04-13 | 2017-07-21 | 江门健维自动化设备有限公司 | A kind of automatic welding device and method that weld seam is tracked based on intelligent vision |
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| CN108581284B (en) * | 2018-05-09 | 2020-05-05 | 滁州职业技术学院 | Accurate intelligent welding equipment |
| CN109202219A (en) * | 2018-09-14 | 2019-01-15 | 河南工学院 | A kind of Intelligent welding tracking system |
| CN111037062A (en) * | 2018-10-12 | 2020-04-21 | 哈尔滨工业大学 | Adaptive control and automatic visual inspection method for GTAW weld forming |
| CN109079280A (en) * | 2018-10-23 | 2018-12-25 | 中船澄西船舶修造有限公司 | A kind of flat docking of hull is big to close up seam combined welding technique |
| CN109332966A (en) * | 2018-11-28 | 2019-02-15 | 合肥常青机械股份有限公司 | A kind of guide-less all-position welding system and method |
| CN109317871A (en) * | 2018-11-29 | 2019-02-12 | 合肥常青机械股份有限公司 | A kind of welding robot welding track control method |
| CN109664008A (en) * | 2018-12-19 | 2019-04-23 | 北京百慕航材高科技有限公司 | A kind of repair welding system and intelligent repair method |
| CN109664008B (en) * | 2018-12-19 | 2021-03-23 | 北京航空材料研究院有限公司 | Repair welding system and intelligent repair welding method |
| CN110434512A (en) * | 2019-07-25 | 2019-11-12 | 西北工业大学 | A kind of length of hull weld seam real-time tracking welding system based on gantry and robot |
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Application publication date: 20160601 |