CN106862806B - Multipoint synchronous automatic welding equipment Control System and method - Google Patents
Multipoint synchronous automatic welding equipment Control System and method Download PDFInfo
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- CN106862806B CN106862806B CN201510917552.3A CN201510917552A CN106862806B CN 106862806 B CN106862806 B CN 106862806B CN 201510917552 A CN201510917552 A CN 201510917552A CN 106862806 B CN106862806 B CN 106862806B
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
-
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/06—Tubes
Abstract
The invention discloses a kind of Multipoint synchronous automatic welding equipment Control System and methods, belong to pipeline technical field of welding equipment.The control system includes: master controller, multiple electric motors driver and multiple electric motors；It is connected between master controller and multiple electric motors driver by EtherCAT bus；Every motor driver is electrically connected with an at least motor；Every motor is connect with a Multipoint synchronous automatic welding equipment executing agency；Master controller will weld operational order and be converted to the first control signal of motor driver identification for obtaining welding operational order, and first control signal is transferred to motor driver；Motor driver is used to be converted to first control signal the second control signal of motor identification, and second control signal is transferred to motor；Motor is used to that Multipoint synchronous automatic welding equipment executing agency to be driven to execute welding corresponding with welding operational order according to second control signal and operates.The control system wiring quantity is few, and signal transmission is accurate, and control precision is high.
Description
Technical field
The present invention relates to pipeline technical field of welding equipment, in particular to a kind of Multipoint synchronous automatic welding equipment control system
System and method.
Background technique
As new welding technology, welding jig, the fast development of welding material and heavy caliber long-distance oil & gas pipeline are built
If rapid development, pipeline position automatic welding technology and equipment also develop towards intelligent, efficient, rapid direction.With
It is a kind of novel all-position automatic welding of pipelines equipment in the Multipoint synchronous automatic welding equipment of circumferential weld outside welded pipe line, has
The characteristics of high-intelligentization and high automation.There are many concrete forms of Multipoint synchronous automatic welding equipment, and Fig. 1 is shown in which one
Kind.As shown in Figure 1, Multipoint synchronous automatic welding equipment includes 8 welding units, this 8 welding units are along pipe circumference side
To being uniformly distributed, each complete weld task at 45 ° of welding torch.Each welding unit includes up-down mechanism, side-to-side movement machine
The executing agencies such as structure, wire feeder and angle swing mechanism, executed by these executing agencies welding torch in welding process up and down
Movement, side-to-side movement, wire feed movement and angle swing campaign.It is controlled in Multipoint synchronous automatic welding equipment by control system
Above-mentioned executing agency executes corresponding operation.The control system of Multipoint synchronous automatic welding equipment includes control module and electricity
Machine, control module are used to control the movement of motor and execute corresponding operation to control executing agency.Certainly due to the Multipoint synchronous
32 executing agencies are shared in dynamic welding jig, each executing agency needs a motor to control, and therefore, the Multipoint synchronous is certainly
Include 32 motors in the control system of dynamic welding jig, is the control system of 32 axis.This 32 motors include direct current
Servo motor and two-phase stepping motor, wherein two-phase stepping motor for control up-down mechanism, side-to-side movement mechanism with
And angle swing movement mechanism, DC servo motor is for controlling wire feeder.Therefore each welding unit needs 3 two-phase stepping electricity
Machine and 1 DC servo motor.
Motor is connect with control module and executing agency by traditional power supply line, signal wire etc. in control system at present
Line connection, each DC servo motor need 10 connecting lines, and each two-phase stepping motor needs 4 lines.Such a welding
The sum of connecting line needed for unit are as follows: 4 × 3+10=22, connecting line sum needed for 8 welding units are 8 × 22=176.
In the implementation of the present invention, the inventor finds that the existing technology has at least the following problems: current multiple spot is same
It is excessive to walk connecting line quantity in automatic welding equipment Control System, height not only is required to cabling, but also there is electricity between line and line
Magnetic disturbance influences the accuracy and reliability of signal transmission, to influence the accuracy to actuating mechanism controls.
Summary of the invention
In order to solve the above technical problem, the present invention provides a kind of wiring quantity, and few, signal transmits accurately and reliably multiple spot
Synchronous automatic welding equipment Control System and method.
Specifically, including following technical scheme:
First aspect present invention provides a kind of Multipoint synchronous automatic welding equipment Control System, and the control system is for controlling
Multipoint synchronous automatic welding equipment processed executing agency executes welding operation, and the control system includes: master controller, multiple electric motors
Driver and multiple electric motors；It is connected between the master controller and the multiple electric motors driver by EtherCAT bus；
Every motor driver is electrically connected with an at least motor；Every motor and a Multipoint synchronous automatic welding equip executing agency
Connection；The welding operational order is converted to the motor driver for obtaining welding operational order by the master controller
The first control signal of identification, and the first control signal is transferred to the motor driver；The motor driver is used
It is transmitted in the second control signal that the first control signal is converted to the motor identification, and by the second control signal
To the motor；The motor is used to drive the Multipoint synchronous automatic welding to equip execution machine according to the second control signal
Structure executes welding operation corresponding with the welding operational order.
Further, the control system further include: input unit, the input unit and the master controller by with
Too net connection, the input unit is for inputting the welding operational order.
Further, preferably, the input unit is touch screen or keyboard.
Further, the control system further include: angular transducer, the angular transducer and master controller electricity
The welding position data are transferred to the main control for acquiring welding position data by connection, the angular transducer
Device.
It further, include 8 motor drivers, 32 motors in the control system.
Further, preferably, the master controller is SPiiPlusNTM32 controller, the motor driver is
PDMnt driver.
Further, preferably, every motor driver is electrically connected with 4 motors.
Second aspect of the present invention provides a kind of control system control Multipoint synchronous automatic welding using first aspect present invention
It is hinged with standby control method, the control method includes:
Master controller obtains welding operational order, and the welding operational order is converted to the first of motor driver identification
Signal is controlled, and gives the first control signal to the motor driver by EtherCAT bus transfer；
The motor driver receives the first control signal, and the first control signal is converted to motor identification
Second control signal, and the second control signal is transferred to the motor；
The motor receives the second control signal and drives the Multipoint synchronous certainly according to the second control signal
Dynamic welding jig executing agency executes welding operation corresponding with the welding operational order.
Further, the control method further include: input unit inputs the welding operational order, and by the welding
Operational order is transferred to the master controller by Ethernet.
Further, the control method further include: welding position data, the main control are acquired by angular transducer
Device first control signal according to the welding position data point reuse, and then adjust the Multipoint synchronous automatic welding equipment and hold
The welding operation that row mechanism executes.
The beneficial effect of technical solution provided in an embodiment of the present invention is:
The embodiment of the invention provides one kind to be based on EtherCAT bus (Ether Control Automation
Technology, Ethernet auto-control technology) Multipoint synchronous automatic welding equipment Control System.It is main in the control system
Signal transmission is carried out by EtherCAT bus network transmission mode between controller and motor driver, since network signal passes
Defeated wiring quantity used is few, therefore wiring quantity in Multipoint synchronous automatic welding equipment Control System provided in an embodiment of the present invention
Greatly reduce.Meanwhile not only can guarantee the accuracy of signal transmission using network transmission signal, also it is avoided that conventional link mode
The uncontrollable electromagnetic interference generated between middle line and line has high reliability.In addition, the weldering in pipeline outside ring seam welding
Width is connect usually in 6~8mm, and the positioning accuracy of control system provided in an embodiment of the present invention can reach 0.1mm, can satisfy
Pipeline outside ring seam welding positioning accuracy request guarantees the accurate positioning of welding torch in welding process, guarantees welding quality.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is Multipoint synchronous automatic welding equipment configuration schematic diagram；
Fig. 2 is the structural schematic diagram for the Multipoint synchronous automatic welding equipment Control System that embodiment 1 provides；
Fig. 3 is the schematic illustration for the Multipoint synchronous automatic welding equipment Control System that embodiment 1 provides；
Input unit schematic diagram in the Multipoint synchronous automatic welding equipment Control System that Fig. 4 provides for embodiment 1；
Fig. 5 is the flow chart for the Multipoint synchronous automatic welding equipment control method that embodiment 2 provides.
Appended drawing reference respectively indicates:
A, the first welding torch；B, the second welding torch；C, third welding torch；D, the 4th welding torch；
E, the 5th welding torch；F, the 6th welding torch；G, the 7th welding torch；H, the 8th welding torch；
1, input unit；
2, master controller；
3, motor driver；
4, motor；
5, Multipoint synchronous automatic welding equips executing agency.
Specific embodiment
To keep technical solution of the present invention and advantage clearer, below in conjunction with attached drawing to embodiment of the present invention make into
One step it is described in detail.
Embodiment 1
The present embodiment provides a kind of Multipoint synchronous automatic welding equipment Control System, the control system is same for controlling multiple spot
It walks automatic welding equipment executing agency and executes welding operation, referring to fig. 2, which includes: master controller 2, multiple electric motors driving
Device 3 and multiple electric motors 4.
It is connected between master controller 2 and multiple electric motors driver by EtherCAT bus.
Every motor driver 3 is electrically connected with an at least motor 4.
Every motor 4 is connect with a Multipoint synchronous automatic welding equipment executing agency 5.
Master controller 2 for obtaining welding operational order, will weld that operational order is converted to that motor driver 3 identifies the
One control signal, and first control signal is transferred to motor driver 3.
Motor driver 3 is used to be converted to first control signal the second control signal that motor 4 identifies, and second is controlled
Signal processed is transferred to motor 4.
Motor 4 is used to that Multipoint synchronous automatic welding equipment executing agency 5 to be driven to execute and welding according to second control signal
The corresponding welding operation of operational order.
EtherCAT (Ether Control Automation Technology, Ethernet auto-control technology) is
Open real-time ethernet network communications protocol, by Elektro Beckhoff GmbH (Beckhoff Automation GmbH)
Research and development.Network transmission mode based on EtherCAT bus has the advantages such as transmission speed is fast, error rate is low, wiring is reliable.Cause
This, present embodiments provides a kind of Multipoint synchronous automatic welding equipment Control System based on EtherCAT bus.The control system
Signal transmission is carried out by EtherCAT bus network transmission mode between master controller and motor driver in system, not only significantly
Reduce wiring quantity, while avoiding the electromagnetic interference generated between conventional link mode middle line and line, ensure that signal transmission
Accuracy, reliability.In addition, the weld width in pipeline outside ring seam welding is usually in 6~8mm, the control system of the present embodiment
Positioning accuracy can reach 0.1mm, can satisfy pipeline outside ring seam welding positioning accuracy request, guarantee welding torch in welding process
Accurate positioning, guarantee welding quality.
Referring to Fig. 3, the working principle of the Multipoint synchronous automatic welding equipment Control System of the present embodiment are as follows: master controller 2
It obtains welding operational order, such as advance 1mm, moves to left 1mm, rotation 0.5 ° etc., master controller 2 will be to acquisition by software programming
To welding operational order calculated, handled, be converted into the first control signal that motor driver can identify and will
First control signal is by EtherCAT bus transfer to motor driver 3.The meter that 2 pairs of master controller welding operational orders carry out
It calculates, the main intercept converted into including mechanical system transmission ratio between corresponding coordinate system calculating, the source of welding current and control system of processing
And slope calculating, the calculating corresponding with the ratio of practical swing width of input swing width etc..Motor driver 3 receives the first control
It is converted into the second control signal of motor identification after signal processed and then passes through second control signal (such as pulse signal)
Corresponding circuit transmission is to motor 4.Motor 4 executes corresponding operation according to second control signal and (such as rotates certain angle
Degree), it is operated so that Multipoint synchronous automatic welding equipment executing agency 5 be driven to execute welding corresponding with welding operational order.
It further, further include input unit 1 in above-mentioned control system, input unit 1 and master controller 2 pass through ether
Net connection, operator input the welding operational order for needing to be implemented the execution of mechanism 5 by input unit 1, and input unit 1 will be grasped
The welding operational order for making personnel's input is transferred to master controller 2 by Ethernet, so that master controller 2 be made to get welding behaviour
It instructs.The concrete form of input unit does not have considered critical, such as can be touch screen or keyboard.Make when using touch screen
When for input unit 1, the interface of touch screen can be designed according to shown in Fig. 4.In touch screen interface shown in Fig. 4,0.0 point
Set 0 ° of position in corresponding diagram 1,45 ° of positions in 1.5 position corresponding diagrams 1,90 ° of positions in 3.0 position corresponding diagrams 1,6.0 points
180 ° of positions in position corresponding diagram 1, corresponding angle of other positions and so on.
It further, further include angular transducer (not shown), angular transducer and master in above-mentioned control system
Controller 2 is electrically connected, and acquires welding position data in real time, and welding position data are transferred to master controller 2, master controller 2
According to 5 operation to be performed of welding position data point reuse executing agency.
Further, the quantity of the master controller 2 in above-mentioned control system, motor driver 3 and motor 4 needs root
Motor driver 3 can be controlled simultaneously according to the quantity of executing agency, every master controller 2 in Multipoint synchronous automatic welding equipment
The quantity for the motor 4 that quantity and every motor driver 3 can control simultaneously determines.It is used in the present embodiment
SPiiPlusNTM32 controller is as master controller 2, using PDMnt driver as motor driver 3.Wherein,
SPiiPlusNTM32 controller is the controller of the Multi-axis motion control based on EtherCAT bus network, can control 32 simultaneously
The movement of a axis；PDMnt driver can control the movement of 4 motors simultaneously.For it is as shown in Figure 1 include 8 welding torches
Multipoint synchronous automatic welding is equipped, and may include 1 SPiiPlusNTM32 controller, 8 PDMnt drivings in control system
Device and 32 motors.
Embodiment 2
The present embodiment provides a kind of controlling parties of control system control Multipoint synchronous automatic welding equipment using embodiment 1
Method, referring to Fig. 5, the control method the following steps are included:
Step 201, master controller 2 obtains welding operational order, and welding operational order is converted to motor driver 3 and is identified
First control signal, and by first control signal by EtherCAT bus transfer to motor driver 3.
Step 202, motor driver receives first control signal, that first control signal is converted to that motor 4 identifies
Two control signals, and second control signal is transferred to motor 4；
Step 203, motor 4 receives second control signal and drives the tipping of Multipoint synchronous automatic welding according to second control signal
Standby executing agency 5 executes welding corresponding with welding operational order and operates.
In the control method provided in the present embodiment, pass through EtherCAT bus between master controller 2 and motor driver 3
Network transmission mode carries out signal transmission, compared with traditional control method, is greatly reduced using the control method of network transmission
Wiring quantity, avoids the electromagnetic interference generated between conventional link mode middle line and line, ensure that signal transmission accuracy,
Reliability guarantees the accurate positioning of welding torch in welding process, guarantees welding quality.
Further, above-mentioned control method further include: the input welding operational order of input unit 1, and welding is operated
Instruction is transferred to master controller 2 by Ethernet.
Further, above-mentioned control method further include: welding position data, master controller are acquired by angular transducer
According to welding position data point reuse first control signal, and then adjust what Multipoint synchronous automatic welding equipment executing agency 5 executed
Welding operation.
Embodiment 3
The present embodiment makees its control system and control method by taking Multipoint synchronous automatic welding shown in FIG. 1 equipment as an example
It further illustrates.
Include 8 welding torches in Multipoint synchronous automatic welding shown in FIG. 1 equipment, each welding torch need up-down mechanism,
This 4 executing agencies of side-to-side movement mechanism, angle swing movement mechanism and wire feeder operate to complete welding.Wherein, it transports up and down
Row mechanism, side-to-side movement mechanism and angle swing movement mechanism are controlled by two-phase stepping motor, and wire feeder passes through DC servo
Motor control.Above-mentioned 8 welding torches are mounted in welding torch fixed disk, and are distributed uniformly and circumferentially.Each welding torch is complete at 45 °
Weld task.
According to the actual conditions that above-mentioned Multipoint synchronous automatic welding is equipped, the control system of the present embodiment includes: 1 touch
Screen, 1 SPiiPlusNTM32 controller, 8 PDMnt drivers, 24 two-phase stepping motors, 8 DC servo motors and
Angular transducer.Wherein:
It is connected between touch screen and SPiiPlusNTM32 controller by Ethernet；
It is connected between SPiiPlusNTM32 controller and PDMnt driver by EtherCAT bus；
It is electrically connected between PDMnt driver and motor；
Angular transducer is mounted in welding torch fixed disk, and is electrically connected with SPiiPlusNTM32 controller.
The welding of one welding torch of every PDMnt driver control operates, i.e. 3 two-phase steps of every PDMnt driver control
Into motor and 1 DC servo motor.
The method controlled is equipped to Multipoint synchronous automatic welding using above-mentioned control system are as follows:
Step 301, input welding parameter (i.e. welding operational order) on the touchscreen, including wire feed rate, swing width,
Angle swing width, upper and lower displacement amount etc. after clicking confirmation, the parameter of input are uploaded and is saved into SPiiPlusNTM32 controller.
Step 302, SPiiPlusNTM32 controller receives the welding parameter that touch screen transmission comes, and passes through software programming pair
Welding parameter carries out calculation processing, and welding parameter is converted into the first control signal that PDMnt driver can identify, then will
First control signal gives PDMnt driver by EtherCAT bus transfer.
Step 303, PDMnt driver receives the first control signal that the transmission of SPiiPlusNTM32 controller comes, and by the
The second control signal that one control signal is converted into motor and can identify is then transferred to corresponding motor.
Step 304, motor receives the second control signal that the transmission of PDMnt driver comes, and is controlled according to second control signal
Each motor executes corresponding operation, so that drive corresponding executing agency to execute welds behaviour to the welding parameter of input accordingly
Make.
In welding process, SPiiPlusNTM32 controller calls the motion profile of adjustment motor in real time by parameter, guarantees
Every output accuracy 4 axle system of welding torch completes the whole mouth weld task of weld seam.
As shown in Fig. 2, the Multipoint synchronous automatic welding in the present embodiment is equipped, 8 welding torch according to every 4 one group of welding torch
Welding manner carries out downward welding technology, and each welding torch welds 45 °.Wherein, every 15 ° of welding needs to adjust welding parameter.Pass through angle
Displacement sensor acquires the soldering angle of welding torch and collected angle-data is transferred to SPiiPlusNTM32 control in real time
Device, SPiiPlusNTM32 controller call movement of the welding parameter data to motor of storage inside it according to angle-data
It is adjusted.
Under the control of the present embodiment control system, in the welding process, first by the first welding torch a, the second welding torch b, third
Welding torch c and the 4th welding torch d completes one layer of welding of 0 °~180 ° sides in Fig. 1, then by the 5th welding torch e, the 6th welding torch f, the 7th
Welding torch g and the 8th welding torch h completes one layer of welding of 180 °~360 ° sides in Fig. 1, so alternately, it is whole to be finally completed weld seam
Mouth weld task.
To sum up, signal transmission is carried out by EtherCAT bus network transmission mode in the control system in the present embodiment,
Wiring quantity is effectively reduced, the electromagnetic interference generated between conventional link mode middle line and line is avoided, ensure that the standard of signal transmission
True property, reliability, guarantee welding quality.
The above is merely for convenience of it will be understood by those skilled in the art that technical solution of the present invention, not to limit
The present invention.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in this
Within the protection scope of invention.
Claims (2)
1. a kind of Multipoint synchronous automatic welding equipment Control System, the control system is for controlling the tipping of Multipoint synchronous automatic welding
Standby executing agency executes welding operation, which is characterized in that the control system includes: master controller (2), multiple electric motors driver
(3) and multiple electric motors (4)；
It is connect between the master controller (2) and the multiple electric motors driver by EtherCAT bus；
Every motor driver (3) is electrically connected with an at least motor (4)；
Every motor (4) connect with Multipoint synchronous automatic welding equipment executing agency (5)；
The welding operational order is converted to the motor driven for obtaining welding operational order by the master controller (2)
The first control signal of device (3) identification, and the first control signal is transferred to the motor driver (3)；
The second control that the motor driver (3) is used to be converted to the first control signal motor (4) identification is believed
Number, and the second control signal is transferred to the motor (4)；
The motor (4) is used to drive the Multipoint synchronous automatic welding to equip executing agency according to the second control signal
(5) welding operation corresponding with the welding operational order is executed；
The control system further include: angular transducer, the angular transducer is electrically connected with the master controller (2), described
The welding position data are transferred to the master controller (2) for acquiring welding position data by angular transducer；
It include 8 motor drivers (3), 32 motors (4) in the control system；
Every motor driver (3) is electrically connected with 4 motors (4)；
The control system further include: input unit (1), the input unit (1) and the master controller (2) pass through Ethernet
Connection, the input unit (1) is for inputting the welding operational order；
The input unit (1) is touch screen；
The master controller (2) is SPiiPlusNTM32 controller, and the motor driver (3) is PDMnt driver.
2. a kind of control method using control system control Multipoint synchronous automatic welding equipment described in claim 1, special
Sign is that the control method includes:
Master controller (2) obtains welding operational order, and the welding operational order is converted to the of motor driver (3) identification
One control signal, and the first control signal is given to the motor driver (3) by EtherCAT bus transfer；
The motor driver (3) receives the first control signal, and the first control signal is converted to motor (4) identification
Second control signal, and the second control signal is transferred to the motor (4)；
The motor (4) receives the second control signal and drives the Multipoint synchronous automatic according to the second control signal
Welding jig executing agency (5) executes welding operation corresponding with the welding operational order；The control method further include:
Welding position data are acquired by angular transducer, the master controller (2) is the according to the welding position data point reuse
One control signal, and then adjust the welding operation that Multipoint synchronous automatic welding equipment executing agency (5) executes；
The control method further include: input unit (1) inputs the welding operational order, and the welding operational order is led to
It crosses Ethernet and is transferred to the master controller (2).
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| CN201510917552.3A CN106862806B (en) | 2015-12-10 | 2015-12-10 | Multipoint synchronous automatic welding equipment Control System and method |
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| CN201510917552.3A CN106862806B (en) | 2015-12-10 | 2015-12-10 | Multipoint synchronous automatic welding equipment Control System and method |
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| CN102371414A (en) * | 2010-08-20 | 2012-03-14 | 中国海洋石油总公司 | Network-based pipeline all-position welding control system |
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| CN102371414A (en) * | 2010-08-20 | 2012-03-14 | 中国海洋石油总公司 | Network-based pipeline all-position welding control system |
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| CN205290123U (en) * | 2015-12-10 | 2016-06-08 | 中国石油天然气集团公司 | Multi -point synchronization automatic weld equips control system |
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