CN105618951A - Intelligent welding line tracking system - Google Patents
Intelligent welding line tracking system Download PDFInfo
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- CN105618951A CN105618951A CN201610006838.0A CN201610006838A CN105618951A CN 105618951 A CN105618951 A CN 105618951A CN 201610006838 A CN201610006838 A CN 201610006838A CN 105618951 A CN105618951 A CN 105618951A
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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
- 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
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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
- 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
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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
- B23K9/32—Accessories
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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
- B23K9/02—Seam welding; Backing means; Inserts
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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
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- 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
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- 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
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- 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
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Numerical Control (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses an intelligent welding line tracking system with a four-point positioning method. The intelligent welding line tracking system consists of mobile welding equipment, an ultrasonic impact system, a stepper motor, a controller, a Zibee wireless communication module, a reflecting piece and a distance measuring sensor. The intelligent welding line tracking system can measure the deviation of the operation terminal of the ultrasonic impact system from an after-welding welding line in real time, realizes real-time deviation rectification, and realizes accurate impact of an ultrasonic impact head on the welded welding line to eliminate the welding stress. The intelligent welding line tracking system is simple in structure, high in automation degree and high in after-welding welding line tracking precision.
Description
The application is application number: 201410670000.2, the applying date: 2014.11.20, title " after full automatic welding weld joint tracking and ultrasonic impact system " divisional application.
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 to be effectively controlled, and weldment size and profile otherwise can have impact, and can reduce the bearing capacity of structure. Welding stress is the main cause of welding deformation. Eliminating 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 molten to repair, apply low transformation temperature welding rod method etc. With weldering or postwelding impact, hammering, to roll be a kind of reduce welding stress, prevent the effective way of welding deformation. Wherein ultrasonic impact technology is a kind of method effectively eliminating parts surface or weld metal zone harmful residual tension, introducing useful compressive stress of novelty, compares its advantages of other method.
It is domestic that only in patent, " constant scanning location formula postwelding weld joint tracking and residual stress eliminate system (CN201210401736), " weld stress eliminates weld joint tracking and stress relieving system after devising relevant full automatic welding in mobile robot tracking system (CN201310341420), " postwelding weld seam high precision tracking and residual stress eliminate system (CN201310341500) ". Though have been developed that both at home and abroad with travelling car be carrier with weldering (postwelding) stress relieving equipment, but all can not processing welding lines is longer or the situation of bead bend, namely do not possess long weld seam, bending weld seam automatic tracking function. So to enable automatically to implement operation with weldering/post-weld stress abatement apparatus, it does not have all postwelding weld seams of process of omission, need to possess postwelding welding line tracking function.
Summary of the invention
It is an object of the invention to provide a kind of rational in infrastructure, postwelding weld joint tracking precision is high, weld joint tracking and ultrasonic impact system after full automatic welding postwelding weld joint tracking not affected by welding slag or weld defect.
The 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: include Mobile welding equipment, ultrasonic impact system, being respectively fixed with reflecting piece A, reflecting piece B in Mobile welding equipment, ultrasonic impact system, reflecting piece A, reflecting piece B realize range measurement for reflective distance measuring sensor; The reflecting piece A being fixed on Mobile welding equipment is synchronized with the movement with Mobile welding equipment, is fixed on the reflecting piece B in ultrasonic impact system and the motion of ultrasonic impact system synchronization; Reflecting piece in Mobile welding equipment, ultrasonic impact system is avoided interfering by being arranged on differing heights, and adopts the laser of different modulating frequency or infrared light to avoid interference; Enter motor and be fixedly mounted on weld seam with exterior domain, four motor B1��B2��B3��B4Symmetrical composition flat rectangular or square, and ensure that weld seam is in the defined rectangle of four motors or square; With motor B1With motor B4Axial connecting line is Y-axis, with motor B1With motor B4Distance midpoint is initial point O (0,0), sets up plane X Y rectangular coordinate system; Each motor is mounted on distance measuring sensor, and distance measuring sensor is fixing with motor shaft to be connected, coaxial rotating; Four distance measuring sensor C1��C2��C3��C4With motor axle center line intersecting point coordinate respectively O1(X1��Y1)��O2(X2��Y2)��O3(X3��Y3)��O4(X4��Y4); In four motors, two for determining the motion track of welding tip, other two motion tracks being used for obtaining ultrasonic impact head, two tracks are compared, ultrasonic impact head can be obtained and deviate distance and the direction of welding line, correction is realized, it is ensured that stress eliminating device operation end is directed at weld seam operation all the time thereby through controlling system; Controller K1��K2��K3��K4Respectively motor B1��B2��B3��B4Micro-stepping control device, the linear velocity of motor is more than the speed of Mobile welding equipment, ultrasonic impact system; Wireless communication module Z1��Z2��Z3��Z4Respectively by controller K1��K2��K3��K4Controlling, wireless communication module adopts Zigbee wireless communication module.
Ultrasonic impact system adopts wheeled mobile robot as body, by the differential robot location's coarse positioning that realizes of two-wheeled, adopts crosshead shoe as ultrasonic impact head positioning drive mechanisms, it is achieved 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, installs reflecting piece A, reflecting piece A and distance measuring sensor C on mobile welding equipment1��C2In same level, and for avoiding the arc light etc. in welding process to disturb, distance measuring sensor C1��C2With reflecting piece A setting height(from bottom) higher than welding tip; Mobile welding equipment is when welding initial point, it is ensured that distance measuring sensor C1��C2The optical signal sent can be penetrated on reflecting piece A, distance measuring sensor C1��C2Signal respectively by controller K1��K2Carry out processing and calculating, the distance obtained respectively L1��L2; Controller K1Distance L by detection1By wireless communication module Z1It is transferred to wireless communication module Z2, and by wireless communication module Z2Send into controller K2, obtain triangle " AO1O2" the coordinate of summit A; Controller K1��K2Sample 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 K1��K2When 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, motor B1��B2Rotate counterclockwise, distance measuring sensor is driven to produce rotary motion, the optical signal that distance measuring sensor is launched is made again to be mapped to reflecting piece, now 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, it is possible to obtain the trajectory coordinates " (n of A point1, m1)��(n2, m2)��(n3, m3) ... ... ", any point coordinate on the A locus of points, with (nx, mx) represent, this track is exactly the track of welding tip motion, it is assumed that mobile welding equipment has the weld joint tracking performance of precision, the track of this track i.e. weld seam;
After Mobile welding equipment has welded certain time, 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 is installed reflecting piece B, reflecting piece B and distance measuring sensor C3��C4In same level, and in order to eliminate interference, reflecting piece B and reflecting piece A is not in same level; Time initial, it is ensured that distance measuring sensor C3��C4The optical signal sent can be penetrated on reflecting piece B, distance measuring sensor C3��C4Signal respectively by controller K3��K4Carry out processing and calculating, the distance obtained respectively L2����L1'; Controller K4Distance L by detection1' by wireless communication module Z4It is transferred to wireless communication module Z3, and by wireless communication module Z3Send into controller K3, at controller K3In, calculate and obtain triangle " BO3O4" the coordinate of summit B; Controller K3��K4Sample at regular intervals the signal of distance measuring sensor, calculate a B point coordinates;
When ultrasonic impact system produces mobile, as controller K3��K4When 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, motor B3��B4Turn clockwise, distance measuring sensor is driven to produce rotary motion, the optical signal that distance measuring sensor is launched is made again to be mapped to reflecting piece, now 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, it is possible to obtain the trajectory coordinates " (n of B point1', m1��)��(n2', m2��)��(n3', m3') ... ... ", any point coordinate on the B locus of points, with (nx', mx') represent, this track is exactly the cephalomotor track of ultrasonic impact;
Controller K2The discrete point " (n of the track of the A point obtained1, m1)��(n2, m2)��(n3, m3) ... ... " each through Zigbee wireless communication module Z2It is transferred to controller K3, and it is stored in controller K3In; Controller K3Often obtain a cephalomotor tracing point (n of new ultrasonic impactx', mx') after, with K3All of point " (n in memorizer1, m1)��(n2, m2)��(n3, m3) ... ... " compare one by one, select and (nx', mx') the shortest point (n of Euclidean distancex, mx) as impact point, calculate " nx��-nx������mx��-mx" size, and using this size as departure, adjust the DC servo motor of mobile apparatus human body and the 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, it is achieved the accurate impact to welding line of the ultrasonic impact head, to eliminate welding stress. Simple in construction, automaticity are high, postwelding weld joint tracking precision is high, not by welding slag or the weld defect impact on postwelding weld joint tracking.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 be the present invention full automatic welding after weld joint tracking and ultrasonic impact system structure chart.
Fig. 2 be the present invention full automatic welding after in weld joint tracking and ultrasonic impact system, welding stress eliminates Mobile Robot Control System structure chart.
By motor B in Fig. 11��B2��B3��B4, distance measuring sensor C1��C2��C3��C4, controller K1��K2��K3��K4, reflecting piece A, B, Mobile welding equipment 1 (containing welding tip), ultrasonic impact system 2 (containing ultrasonic impact head) etc. 4 distance measuring sensor C1��C2��C3��C4It is separately fixed at B1��B2��B3��B4On 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 C1��C2In same level, when distance measuring sensor is just relative with reflecting piece A, AC can be measured1��AC2Distance. The center of reflecting piece B and distance measuring sensor C3��C4In same level, as distance measuring sensor C3��C4Time just relative with reflecting piece B, BC can be measured3��BC4Distance. Reflecting piece A, B avoid interfering by being arranged on differing heights, and adopt the laser of different modulating frequency or infrared light to avoid interference. With motor B shown in Figure of description 11And B4Axial connecting line is Y-axis, with motor B1And B4Distance midpoint is initial point, sets up plane X Y rectangular coordinate system. Each motor is mounted on distance measuring sensor, and distance measuring sensor is fixing with motor shaft to be connected, coaxial rotating. Four distance measuring sensors can determine that with motor axle center line intersecting point coordinate, respectively O1(X1��Y1)��O2(X2��Y2)��O3(X3��Y3)��O4(X4��Y4). Guarantee that weld seam is at O1��O2��O3��O4In 4 defined rectangles (or square). Controller K1��K2��K3��K4Respectively motor B1��B2��B3��B4Micro-stepping control device. The linear velocity of motor should be greater than the speed (in actual applications, speed of welding and ultrasonic impact speed are all relatively slow, and therefore this condition can meet) of Mobile welding equipment, ultrasonic impact system. Wireless communication module Z1��Z2��Z3��Z4Respectively by controller K1��K2��K3��K4Controlling, wireless communication module can adopt Zigbee wireless communication module.
Fig. 2 comprises ultrasonic impact system 3, mobile apparatus human body 4, crosshead shoe 5, double; two motor and driving controller 6, double; two DC servo motors and driving controller 7. Ultrasonic impact system is fixing with crosshead shoe to be connected, and double; two motors are used for driving crosshead shoe to drive ultrasonic impact system precision positioning. Mobile apparatus human body is two-wheel difference structure, two DC servo motors control robot body motion, it is achieved coarse positioning. The driving of crosshead shoe and robot body, it is possible to adopt other motor to substitute motor and DC servo motor.
Detailed description of the invention
Weld joint tracking and ultrasonic impact system after a kind of full automatic welding, including Mobile welding equipment, ultrasonic impact system, being respectively fixed with reflecting piece A, reflecting piece B in Mobile welding equipment, ultrasonic impact system, reflecting piece A, reflecting piece B realize range measurement for reflective distance measuring sensor; The reflecting piece A being fixed on Mobile welding equipment is synchronized with the movement with Mobile welding equipment, is fixed on the reflecting piece B in ultrasonic impact system and the motion of ultrasonic impact system synchronization; Reflecting piece in Mobile welding equipment, ultrasonic impact system is avoided interfering by being arranged on differing heights, and adopts the laser of different modulating frequency or infrared light to avoid interference; Enter motor and be fixedly mounted on weld seam with exterior domain, four motor B1��B2��B3��B4Symmetrical composition flat rectangular or square, and ensure that weld seam is in the defined rectangle of four motors or square; With motor B1With motor B4Axial connecting line is Y-axis, with motor B1With motor B4Distance midpoint is initial point O (0,0), sets up plane X Y rectangular coordinate system; Each motor is mounted on distance measuring sensor, and distance measuring sensor is fixing with motor shaft to be connected, coaxial rotating; Four distance measuring sensor C1��C2��C3��C4With motor axle center line intersecting point coordinate respectively O1(X1��Y1)��O2(X2��Y2)��O3(X3��Y3)��O4(X4��Y4); In four motors, two for determining the motion track of welding tip, other two motion tracks being used for obtaining ultrasonic impact head, two tracks are compared, ultrasonic impact head can be obtained and deviate distance and the direction of welding line, correction is realized, it is ensured that stress eliminating device operation end is directed at weld seam operation all the time thereby through controlling system; Controller K1��K2��K3��K4Respectively motor B1��B2��B3��B4Micro-stepping control device, the linear velocity of motor is more than the speed of Mobile welding equipment, ultrasonic impact system; Wireless communication module Z1��Z2��Z3��Z4Respectively by controller K1��K2��K3��K4Controlling, wireless communication module adopts Zigbee wireless communication module.
Ultrasonic impact system adopts wheeled mobile robot as body, by the differential robot location's coarse positioning that realizes of two-wheeled, adopts crosshead shoe as ultrasonic impact head positioning drive mechanisms, it is achieved the precision positioning of ultrasonic impact head.
Distance measuring sensor adopts laser sensor or infrared sensor.
For two dimension weld seam, as it is shown in figure 1, before welding, first four motor B of fixed installation1��B2��B3��B4, four motor axle center can connect into rectangle (or square), and two dimension bending or straight bead should in this rectangles (or square). With motor B1And B4Axial connecting line is Y-axis, with motor B1And B4Distance midpoint is initial point O (0,0), sets up plane X Y rectangular coordinate system. Motor B1��B2��B3��B4On be separately installed with distance measuring sensor (infrared or laser sensor can be adopted) C1��C2��C3��C4, distance measuring sensor is fixing with motor shaft to be connected, coaxial rotating. Before welding, it is determined that four distance measuring sensors and motor axle center line intersecting point coordinate, respectively O1(X1��Y1)��O2(X2��Y2)��O3(X3��Y3)��O4(X4��Y4)��
Mobile welding equipment welds by welding initial point, when Mobile welding equipment is when welding initial point, installs reflecting piece A, A and C on mobile welding equipment1��C2In same level, and for avoiding the arc light etc. in welding process to disturb, 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 is when welding initial point, it is ensured that distance measuring sensor C1��C2The optical signal (infrared or laser) sent can be penetrated in reflecting piece, distance measuring sensor C1��C2Signal respectively by controller K1��K2Carry out processing and calculating, the distance obtained respectively L1��L2. Controller K1Distance L by detection1By wireless communication module (Zigbee wireless communication module can be adopted) Z1It is transferred to wireless communication module Z2, and by wireless communication module Z2Send into controller K2, at controller K2In, calculated by plane geometry and can calculate triangle " AO1O2" coordinate (this triangle two summit O of summit A1(X1��Y1)��O2(X2��Y2) coordinate is it is known that then O1O2Between distance L it can be seen that Atria bar limit is it is known that then can determine that the coordinate of summit A). Controller K1��K2(tms) samples the signal of distance measuring sensor at regular intervals, calculates an A point coordinates.
When Mobile welding equipment starts to weld, (as it is shown in figure 1, setting welding direction from right to left), mobile welding equipment produces mobile, as controller K1��K2When 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, motor B1��B2Rotate counterclockwise, distance measuring sensor is driven to produce rotary motion, the optical signal that distance measuring sensor is launched is made again to be mapped to reflecting piece, now motor is out of service, and calculate the distance made new advances (owing to speed of welding is slower, therefore motor linear velocity is much larger than the speed of mobile welding equipment, it is ensured that the optical signal that distance measuring sensor sends can follow the tracks of the change in location of mobile welding equipment. And due to after Design of Stepper Motor Subdivision step angle only small, after again distance signal being detected, motor stops at once, surmounts the situation of reflecting piece thus without optical signal range finding occur. ). By new distance value, it is possible to repeat above-mentioned plane geometry computational methods, obtain new A point coordinates. By that analogy, it is possible to obtain the trajectory coordinates " (n of A point1, m1)��(n2, m2)��(n3, m3) ... ... ", any point coordinate on the A locus of points, with (nx, mx) represent, this track is exactly the track of welding tip motion, it is assumed that mobile welding equipment has the weld joint tracking performance of precision, the track of this track i.e. weld seam.
After Mobile welding equipment has welded certain time, it is possible to 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 is installed reflecting piece B, B and C3��C4In same level, and in order to eliminate interference, B and A is not in same level. Time initial, it is ensured that distance measuring sensor C3��C4The optical signal (infrared or laser) sent can be penetrated on reflecting piece B, distance measuring sensor C3��C4Signal respectively by controller K3��K4Carry out processing and calculating, the distance obtained respectively L2����L1'. Controller K4Distance L by detection1' by wireless communication module (Zigbee wireless communication module can be adopted) Z4It is transferred to wireless communication module Z3, and by wireless communication module Z3Send into controller K3, at controller K3In, calculated by plane geometry and can calculate triangle " BO3O4" coordinate (this triangle two summit O of summit B3(X3��Y3)��O4(X4��Y4)) coordinate is it is known that then O3O4Between distance L it can be seen that Atria bar limit is it is known that then can determine that the coordinate of summit B). Controller K3��K4(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, be set to from right to left), as controller K3��K4When 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, motor B3��B4Turn clockwise, distance measuring sensor is driven to produce rotary motion, the optical signal that distance measuring sensor is launched is made again to be mapped to reflecting piece, now motor is out of service, and calculate the distance made new advances (owing to ultrasonic impact speed is slower, therefore motor linear velocity is much larger than the speed of ultrasonic impact system, it is ensured that the optical signal that distance measuring sensor sends can the change in location of ultrasonic impact system. And due to after Design of Stepper Motor Subdivision step angle only small, after again distance signal being detected, motor stops at once, surmounts the situation of reflecting piece B thus without optical signal range finding occur. ). By new distance value, it is possible to repeat above-mentioned plane geometry computational methods, obtain new B point coordinates. By that analogy, it is possible to obtain the trajectory coordinates " (n of B point1', m1��)��(n2', m2��)��(n3', m3') ... ... ", any point coordinate on the B locus of points, with (nx ', mx ') represent, this track is exactly the cephalomotor track of ultrasonic impact.
In order to make the movement locus of ultrasonic impact head, following the change of mobile welding equipment movement locus, concrete methods of realizing is as follows. Controller K2The discrete point " (n of the track of the A point obtained1, m1)��(n2, m2)��(n3, m3) ... ... " each through Zigbee wireless communication module Z2It is transferred to controller K3, and it is stored in controller K3In. Controller K3Often obtain a cephalomotor tracing point (n of new ultrasonic impactx', mx') after, with K3All of point " (n in memorizer1, m1)��(n2, m2)��(n3, m3) ... ... " compare one by one, select and (nx', mx') the shortest point (n of Euclidean distancex, mx) as impact point, calculate " nx��-nx������mx��-mx" size, and using this size as departure, adjust the DC servo motor of mobile apparatus human body and the motor of crosshead shoe, drive ultrasonic impact system towards the direction motion reducing deviation. This makes it possible to constantly keep the motion of ultrasonic impact head, follow the change of mobile welding equipment movement locus all the time.
Claims (4)
1. the weld seam intelligent tracking system of a kind " bow and beam bearings ", it is characterized in that: include Mobile welding equipment, ultrasonic impact system, being respectively fixed with reflecting piece A, reflecting piece B in Mobile welding equipment, ultrasonic impact system, reflecting piece A, reflecting piece B realize range measurement for reflective distance measuring sensor; The reflecting piece A being fixed on Mobile welding equipment is synchronized with the movement with Mobile welding equipment, is fixed on the reflecting piece B in ultrasonic impact system and the motion of ultrasonic impact system synchronization; Reflecting piece in Mobile welding equipment, ultrasonic impact system is avoided interfering by being arranged on differing heights, and adopts the laser of different modulating frequency or infrared light to avoid interference; Enter motor and be fixedly mounted on weld seam with exterior domain, four motor B1��B2��B3��B4Symmetrical composition flat rectangular or square, and ensure that weld seam is in the defined rectangle of four motors or square; With motor B1With motor B4Axial connecting line is Y-axis, with motor B1With motor B4Distance midpoint is initial point O (0,0), sets up plane X-Y rectangular coordinate system; Each motor is mounted on distance measuring sensor, and distance measuring sensor is fixing with motor shaft to be connected, coaxial rotating; Four distance measuring sensor C1��C2��C3��C4With motor axle center line intersecting point coordinate respectively O1(X1��Y1)��O2(X2��Y2)��O3(X3��Y3)��O4(X4��Y4); In four motors, two for determining the motion track of welding tip, other two motion tracks being used for obtaining ultrasonic impact head, two tracks are compared, ultrasonic impact head can be obtained and deviate distance and the direction of welding line, correction is realized, it is ensured that stress eliminating device operation end is directed at weld seam operation all the time thereby through controlling system; Controller K1��K2��K3��K4Respectively motor B1��B2��B3��B4Micro-stepping control device, the linear velocity of motor is more than the speed of Mobile welding equipment, ultrasonic impact system; Wireless communication module Z1��Z2��Z3��Z4Respectively by controller K1�� K2��K3��K4Control;
Mobile welding equipment welds by welding initial point, when Mobile welding equipment is when welding initial point, installs reflecting piece A, reflecting piece A and distance measuring sensor C on mobile welding equipment1��C2In same level, and for avoiding the arc light etc. in welding process to disturb, distance measuring sensor C1��C2With reflecting piece A setting height(from bottom) higher than welding tip; Mobile welding equipment is when welding initial point, it is ensured that distance measuring sensor C1��C2The optical signal sent can be penetrated on reflecting piece A, distance measuring sensor C1��C2Signal respectively by controller K1��K2Carry out processing and calculating, the distance obtained respectively L1��L2; Controller K1Distance L by detection1By wireless communication module Z1It is transferred to wireless communication module Z2, and by wireless communication module Z2Send into controller K2, obtain triangle " AO1O2" the coordinate of summit A; Controller K1��K2Sample 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 K1��K2When 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, motor B1��B2Rotate counterclockwise, distance measuring sensor is driven to produce rotary motion, the optical signal that distance measuring sensor is launched is made again to be mapped to reflecting piece, now 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, it is possible to obtain the trajectory coordinates " (n of A point1, m1)��(n2, m2)��(n3, m3) ... ... ", any point coordinate on the A locus of points, with (nx, mx) represent, this track is exactly the track of welding tip motion, it is assumed that mobile welding equipment has the weld joint tracking performance of precision, the track of this track i.e. weld seam;
After Mobile welding equipment has welded certain time, 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 is installed reflecting piece B, reflecting piece B and distance measuring sensor C3��C4In same level, and in order to eliminate interference, reflecting piece B and reflecting piece A is not in same level; Time initial, it is ensured that distance measuring sensor C3��C4The optical signal sent can be penetrated on reflecting piece B, distance measuring sensor C3��C4Signal respectively by controller K3��K4Carry out processing and calculating, the distance obtained respectively L2����L1'; Controller K4Distance L by detection1' by wireless communication module Z4It is transferred to wireless communication module Z3, and by wireless communication module Z3Send into controller K3, at controller K3In, calculate and obtain triangle " BO3O4" the coordinate of summit B; Controller K3��K4Sample at regular intervals the signal of distance measuring sensor, calculate a B point coordinates;
When ultrasonic impact system produces mobile, as controller K3��K4When 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, motor B3��B4Turn clockwise, distance measuring sensor is driven to produce rotary motion, the optical signal that distance measuring sensor is launched is made again to be mapped to reflecting piece, now 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, it is possible to obtain the trajectory coordinates " (n of B point1', m1��)��(n2', m2��)��(n3', m3') ... ... ", any point coordinate on the B locus of points, with (nx', mx') represent, this track is exactly the cephalomotor track of ultrasonic impact;
Controller K2The discrete point " (n of the track of the A point obtained1, m1)��(n2, m2)��(n3, m3) ... ... " each through Zigbee wireless communication module Z2It is transferred to controller K3, and it is stored in controller K3In; Controller K3Often obtain a cephalomotor tracing point (n of new ultrasonic impactx', mx') after, with K3All of point " (n in memorizer1, m1)��(n2, m2)��(n3, m3) ... ... " compare one by one, select and (nx', mx') the shortest point (n of Euclidean distancex, mx) as impact point, calculate " nx��-nx������mx��-mx" size, and using this size as departure, adjust the DC servo motor of mobile apparatus human body and the motor of crosshead shoe, drive ultrasonic impact system towards the direction motion reducing deviation;
Wireless communication module adopts Zigbee wireless communication module; Distance measuring sensor adopts laser sensor or infrared sensor.
2. weld seam intelligent tracking system according to claim 1 to " bow and beam bearings ", is characterized in that: distance measuring sensor adopts laser sensor.
3. weld seam intelligent tracking system according to claim 1 to " bow and beam bearings ", is characterized in that: distance measuring sensor adopts infrared sensor.
4. weld seam intelligent tracking system according to claim 1 to " bow and beam bearings ", is characterized in that: wireless communication module Z1��Z2��Z3��Z4It is Zigbee wireless communication module.
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| CN108531711A (en) * | 2018-05-28 | 2018-09-14 | 江苏大学 | A kind of method and apparatus of X-shaped pipe fitting intersection shape seam laser shock peening |
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| CN104384734B (en) | 2016-08-17 |
| CN105458483A (en) | 2016-04-06 |
| CN105618951B (en) | 2018-01-23 |
| CN104384734A (en) | 2015-03-04 |
| CN105458483B (en) | 2017-09-12 |
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