CN111571048A - Method and device for determining pipeline welding speed, storage medium and processor - Google Patents
Method and device for determining pipeline welding speed, storage medium and processor Download PDFInfo
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- CN111571048A CN111571048A CN202010246443.4A CN202010246443A CN111571048A CN 111571048 A CN111571048 A CN 111571048A CN 202010246443 A CN202010246443 A CN 202010246443A CN 111571048 A CN111571048 A CN 111571048A
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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
- B23K31/02—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 soldering or welding
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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
- B23K31/02—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 soldering or welding
- B23K31/027—Making tubes with soldering or welding
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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
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Abstract
The application provides a method for determining the welding speed of a pipeline, a determining device, a storage medium, a processor and a welding device, wherein the determining method comprises the following steps: performing a preset welding test on the pipeline to obtain a test result; obtaining historical data according to the test result, wherein the historical data comprises historical welding speed and historical attitude angles, the historical welding speed is the welding speed of each position on the pipeline, the historical attitude angles are the attitude angles on each position, each position is located on the circumferential region of the outer surface of the pipeline, the welding speed is the welding speed of a welding gun of the pipeline welding robot, and the attitude angles are the attitude angles of the welding gun; acquiring real-time attitude angles of a welding gun at each position of a pipeline; the real-time welding speed of the welding gun at each position is determined according to the historical data and the real-time attitude angle, compared with the situation that data points of monitoring positions in the prior art are few, the scheme realizes accurate determination of the real-time welding speed at each position according to a large amount of historical data, and therefore welding quality is guaranteed.
Description
Technical Field
The application relates to the technical field of pipeline welding, in particular to a method and a device for determining pipeline welding speed, a storage medium, a processor and a welding device.
Background
The current pipeline welding robot does not have the welding position control or the data point of control position is few, and welding speed can't automatically regulated or discrete regulation when leading to pipeline full position welding, and the speed sudden change produces welded step shaping easily, influences welding quality and fashioned aesthetic property.
The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.
Disclosure of Invention
The application mainly aims to provide a method and a device for determining the welding speed of a pipeline, a storage medium, a processor and a welding device, so as to solve the problem of poor quality of pipeline welding in the prior art.
In order to achieve the above object, according to one aspect of the present application, there is provided a method of determining a welding speed of a pipe, including: performing a preset welding test on the pipeline to obtain a test result; acquiring historical data according to the test result, wherein the historical data comprises historical welding speed and historical attitude angles, the historical welding speed is the welding speed of each position on the pipeline, the historical attitude angles are the attitude angles of each position, each position is located on the circumferential region of the outer surface of the pipeline, the welding speed is the welding speed of a welding gun of the pipeline welding robot, and the attitude angles are the attitude angles of the welding gun; acquiring real-time attitude angles of the welding gun at each position of the pipeline; and determining the real-time welding speed of the welding gun at each position according to the historical data and the real-time attitude angle.
Further, determining a real-time welding speed of the welding gun at each position according to the historical data and the real-time attitude angle, including: performing data fitting on the historical welding speed of each position and the historical attitude angle of each position to obtain a first fitting curve; determining a functional relation between the real-time welding speed and the real-time attitude angle according to the first fitting curve; and determining the real-time welding speed of the welding gun at each position according to the functional relation and the real-time attitude angle.
Further, the historical welding speed is the welding speed of the welding gun at a plurality of first positions, the historical attitude angle is the attitude angle of the welding gun at a plurality of first positions, the real-time welding speed is the welding speed of the welding gun at a second position, and the real-time attitude angle is the attitude angle of the welding gun at a second position, and the real-time welding speed of the welding gun at each position is determined according to the historical data and the real-time attitude angle, including: determining an included angle between any two first positions and a connecting line of the centers of the pipelines according to the historical attitude angles; obtaining the real-time attitude angle of the welding gun at a second position between any two of the first positions; and determining the real-time welding speed of the welding gun at the second position according to the historical welding speed, the included angle and the real-time attitude angle at any two first positions.
Further, acquiring the historical welding speeds of the welding gun of the pipe welding robot at a plurality of the first positions includes: performing the preset times of welding tests on a plurality of pipelines with the same specification, wherein the pipelines with the same specification have the same wall thickness, the same width of welding seams and the same depth of the welding seams; obtaining historical welding speeds at a plurality of first positions of pipelines with the same specification according to test results, wherein the plurality of first positions of one pipeline form a group of first positions; performing data fitting on the plurality of groups of welding speeds at the first positions to obtain a plurality of second fitting curves, and fitting the welding speeds at the first positions into one second fitting curve; determining the historical welding speeds of the welding gun of the pipe welding robot at the plurality of first positions from the plurality of second fitted curves.
Further, determining the second position according to the historical welding speed, the included angle and the real-time attitude angle at any two first positionsA real-time welding speed of the welding gun at a location comprising: determining whether the real-time welding speed at the second position and the real-time attitude angle are in a linear relationship; determining the real-time welding speed of the welding gun at the second position according to a preset formula under the condition that the real-time welding speed at the second position and the real-time attitude angle are in the linear relation, wherein the preset formula is as follows:
wherein the absolute value of V represents the real-time welding speed of the welding gun at the second position, V0Representing said historical welding speed, V, at a first location1Representing said historical welding speed at a second first location,
and representing an included angle between a first connecting line and a second connecting line, wherein the first connecting line is a connecting line between the second first position and the center of the pipeline, the second connecting line is a connecting line between the first position and the center of the pipeline, and theta represents the real-time attitude angle at the second position.
Further, obtaining the historical attitude angle and the real-time attitude angle includes: and acquiring the historical attitude angle and the real-time attitude angle through an attitude sensor arranged on the pipeline welding robot.
Further, the attitude sensor is at least one of: three-axis gyroscope, three-axis accelerometer, three-axis electronic compass.
According to another aspect of the present application, there is provided a pipe welding speed determination apparatus, including: the test unit is used for carrying out a preset welding test on the pipeline to obtain a test result; a first obtaining unit configured to obtain, according to the test result, historical data including a historical welding speed and a historical attitude angle, the historical welding speed being a welding speed at each position on the pipeline, the historical attitude angle being an attitude angle at each position, each position being located on a circumferential region of an outer surface of the pipeline, the welding speed being a welding speed of a welding gun of a pipeline welding robot, the attitude angle being an attitude angle of the welding gun; the second acquisition unit is used for acquiring real-time attitude angles of the welding gun at each position on the pipeline; and the determining unit is used for determining the real-time welding speed of the welding gun at any position according to the historical data and the real-time attitude angle.
According to still another aspect of the present application, there is provided a storage medium including a stored program, wherein the program executes any one of the determination methods.
According to yet another aspect of the present application, there is provided a processor for executing a program, wherein the program executes to perform any one of the determination methods.
According to yet another aspect of the present application, there is provided a welding device including: one or more processors, memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the methods of determining a pipe welding speed.
According to the technical scheme, the test result is obtained by performing the preset times of welding test on the pipeline, the historical welding speed and the historical attitude angle are obtained according to the test result, the real-time welding speed of the welding gun at each position is obtained according to the historical welding speed, the historical attitude angle and the real-time attitude angle, the data points of the monitoring positions in the prior art are fewer, the welding speed cannot be automatically adjusted or adjusted in a discrete mode when the pipeline is welded at the full position, the real-time welding speed at each position can be accurately determined according to a large amount of historical data, and therefore the welding quality is guaranteed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
FIG. 1 illustrates a flow chart of a method of determining a welding speed of a pipe according to an embodiment of the present application; and
FIG. 2 shows a schematic diagram of a device for determining the welding speed of a pipe according to an embodiment of the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As described in the background of the invention, in order to solve the problem of poor quality of pipe welding in the prior art, embodiments of the present application provide a method for determining a pipe welding speed, a determining apparatus, a storage medium, a processor, and a welding apparatus.
According to an embodiment of the application, a method for determining a welding speed of a pipeline is provided.
FIG. 1 is a flow chart of a method of determining a welding speed of a pipe according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
step S101, performing a preset welding test on a pipeline to obtain a test result;
step S102 of obtaining, based on the test result, historical data including a historical welding speed and a historical attitude angle, the historical welding speed being a welding speed at each position on the pipe, the historical attitude angle being an attitude angle at each position on a circumferential region of an outer surface of the pipe, the welding speed being a welding speed of a welding gun of a pipe welding robot, the attitude angle being an attitude angle of the welding gun;
step S103, acquiring real-time attitude angles of the welding gun at the positions of the pipeline;
and step S104, determining the real-time welding speed of the welding gun at each position according to the historical data and the real-time attitude angle.
In the scheme, a test result is obtained by performing the preset times of welding tests on the pipeline, the historical welding speed and the historical attitude angle are obtained according to the test result, the real-time welding speed of the welding gun at each position is obtained according to the historical welding speed, the historical attitude angle and the real-time attitude angle, the data points of the monitoring positions in the prior art are fewer, the welding speed cannot be automatically adjusted or adjusted in a discrete mode when the pipeline is welded at all positions, and the real-time welding speed at each position can be accurately determined according to a large amount of historical data, so that the welding quality is guaranteed.
It should be noted that the predetermined times can be 50 times, 100 times, 200 times, etc., that is, by collecting enough historical data, the real-time welding speed at each position can be accurately determined.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
In an embodiment of the present application, determining a real-time welding speed of the welding gun at each of the positions according to the historical data and the real-time attitude angle includes: performing data fitting on the historical welding speed of each position and the historical attitude angle of each position to obtain a first fitting curve; determining a functional relation between the real-time welding speed and the real-time attitude angle according to the first fitting curve; the real-time welding speed of the welding gun at each position is determined according to the functional relation and the real-time attitude angle, namely, a first fitting curve is obtained by performing data fitting on the historical welding speed and the historical attitude angle, the first fitting curve directly reflects the mapping relation between the historical welding speed and the historical attitude angle, the first fitting curve indirectly reflects the relation between the real-time welding speed and the real-time attitude angle due to the fact that the pipelines are identical, the functional relation between the real-time welding speed and the real-time attitude angle is determined according to the first fitting curve, and the real-time welding speed of the welding gun at each position is obtained according to the real-time attitude angle and the functional relation obtained in real time, so that the accurate determination of the real-time welding speed of the whole position of the pipeline is achieved, and the welding quality is guaranteed.
In another embodiment of the present invention, the historical welding speed is a welding speed of the welding torch at a plurality of first positions, the historical attitude angle is an attitude angle of the welding torch at the plurality of first positions, the real-time welding speed is the welding speed of the welding torch at a second position, and the real-time attitude angle is the attitude angle of the welding torch at the second position, and the real-time welding speed of the welding torch at each of the positions is determined based on the historical data and the real-time attitude angle, and the method includes: determining an included angle of a connecting line between any two first positions and the center of the pipeline according to the historical attitude angle; obtaining said real-time attitude angle of said welding gun at a second position between any two of said first positions; determining a real-time welding speed of the welding gun at the second position according to the historical welding speeds, the included angles and the real-time attitude angles at any two of the first positions, that is, in a specific embodiment, determining a real-time welding speed of the welding gun at the second position according to the historical welding speeds, the included angles and the real-time attitude angles at the two first positions, wherein the historical welding speeds and the included angles at the first positions are obtained through a predetermined number of tests, the real-time attitude angles at the second positions are obtained in real time, the historical welding speeds and the included angles at the first positions are obtained in advance, the real-time attitude angles at the second positions are obtained in later time, and further determining a real-time welding speed of the welding gun at the second position according to the historical welding speeds, the included angles and the real-time attitude angles at the two first positions, the real-time welding speed of the welding gun at the second position is determined according to the relation between the historical welding speed and the included angle at the first position and the real-time welding speed of the welding gun at the second position, the accurate determination of the real-time welding speed of the whole position of the pipeline is realized, and the welding quality is guaranteed.
In still another embodiment of the present application, acquiring the historical welding speeds of the welding gun of the pipe welding robot at a plurality of the first positions includes: performing the predetermined welding test on a plurality of pipes of the same specification, wherein the pipes of the same specification have the same wall thickness, the same width of the welding seam and the same depth of the welding seam; obtaining historical welding speeds at a plurality of first positions of the pipelines with the same specification according to test results, wherein the plurality of first positions of one pipeline form a group of first positions; performing data fitting on a plurality of groups of welding speeds at the first positions to obtain a plurality of second fitting curves, and fitting the welding speeds at the first positions into one second fitting curve; and determining the historical welding speeds of the welding gun of the pipeline welding robot at the first positions according to the second fitting curves, namely determining the accurate welding speeds of the welding gun of the pipeline welding robot at the first positions by adopting a mathematical statistics method through a large number of welding experiments and data analysis, namely determining the welding speeds at the first positions according to the historical data of a plurality of experiments, and determining the real-time welding speed of the welding gun at the second position in real time, namely obtaining the welding speed at the second position in real time during the welding process of the welding gun, thereby further ensuring the pipeline welding quality.
In another embodiment of the present application, the distance between any two adjacent first positions on the tube includes, but is not limited to, 1mm to 2mm, the smaller the distance between any two adjacent first positions on the tube is, the smaller the included angle between any two first positions is, and the smallest possible distance and included angle on the tube can ensure the accuracy of the welding speed at the second position, thereby further ensuring the quality of the welding of the pipeline.
In another embodiment of the present application, determining a real-time welding speed of the welding gun at the second position according to the historical welding speeds at any two of the first positions, the included angle, and the real-time attitude angle at the second position includes: determining whether the real-time welding speed at the second position is linearly related to the real-time attitude angle; determining a real-time welding speed of the welding gun at the second position according to a preset formula when the real-time welding speed at the second position and the real-time attitude angle are in the linear relationship, wherein the preset formula is as follows:
wherein the absolute value of V represents the real-time welding speed of said welding gun at said second position, V0Representing the above-mentioned historical welding speed, V, at the first position1Indicating the calendar at the second first positionThe speed of the welding is used as the speed of the welding,
an included angle between a first connecting line and a second connecting line is shown, the first connecting line is a connecting line between the second first position and the center of the pipeline, the second connecting line is a connecting line between the first position and the center of the pipeline, theta represents the real-time attitude angle at the second position, namely the real-time welding speed at the second position is accurately determined according to a preset formula under the condition that the real-time welding speed and the real-time attitude angle at the second position are determined to be in the linear relation, wherein the linear relation is determined by dividing a fitting curve of the real-time welding speed and the real-time attitude angle into multiple sections, and under the condition that the divided sections are very small, the fitting curve of the real-time welding speed and the real-time attitude angle in the sections is approximate to a straight line, namely the straight line of the curve is passed, so that the determination of the linear relation between the real-time welding speed and the real-time attitude angle at the second position is realized, the accurate determination of the real-time welding speed of the pipeline at all positions is further realized, so that the welding quality is ensured.
In an embodiment of the present application, the first position is one of: the position corresponding to the 3 o 'clock direction, the position corresponding to the 6 o' clock direction, the position corresponding to the 9 o 'clock direction and the position corresponding to the 12 o' clock direction are respectively arranged at the two adjacent first positions, under the condition that the position corresponding to the 3 o 'clock direction and the position corresponding to the 6 o' clock direction are arranged at the two adjacent first positions, and the real-time welding speed and the attitude angle at the second position are in a linear relation, the preset formula is
In (1)
Is 90 DEG, V0The welding speed, V, at the position corresponding to the 3 o' clock direction1The above-mentioned welding speed at the position corresponding to the 6 o 'clock direction is indicated, the absolute value of V indicates the real-time welding speed at an arbitrary position between the position corresponding to the 3 o' clock direction and the position corresponding to the 6 o 'clock direction, and similarly, the 3 o' clock direction corresponds toThe real-time welding speed of any position between the position corresponding to the direction of 9 o 'clock and the position corresponding to the direction of 12 o' clock, the real-time welding speed of any position between the position corresponding to the direction of 6 o 'clock and the position corresponding to the direction of 12 o' clock, and the like can be determined by adopting a preset formula, so that the accurate determination of the real-time welding speed of the whole position of the pipeline is further realized, and the welding quality is ensured.
In another embodiment of the present application, obtaining the historical attitude angle and the real-time attitude angle includes: the historical attitude angle and the real-time attitude angle are obtained through the attitude sensor arranged on the pipeline welding robot, namely the high-precision historical attitude angle and the real-time attitude angle can be obtained through the high-precision attitude sensor, and the pipeline welding quality is further ensured.
In another embodiment of the present application, the attitude sensor is at least one of: three-axis gyroscope, three-axis accelerometer, three-axis electronic compass, certainly, the attitude sensor that this application adopted includes but not limited to above three kinds of attitude sensor.
In another embodiment of the present application, there is provided a welding apparatus including: one or more processors, a memory, a display device and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs include a method for performing any one of the above methods for determining a welding speed of a pipeline, the welding device obtains a test result by performing a predetermined number of welding tests on the pipeline, obtains a historical welding speed and a historical attitude angle according to the test result, obtains a real-time welding speed of a welding gun at each position according to the historical welding speed, the historical attitude angle and the real-time attitude angle, has fewer data points relative to a monitoring position in the prior art, and causes the welding speed to be incapable of being automatically adjusted or adjusted in a discrete manner when the pipeline is welded at the full position, and achieves accurate determination of the real-time welding speed at each position according to a large amount of historical data, thereby ensuring the welding quality.
The embodiment of the present application further provides a device for determining a welding speed of a pipeline, and it should be noted that the device for determining a welding speed of a pipeline according to the embodiment of the present application may be used to execute the method for determining a welding speed of a pipeline according to the embodiment of the present application. The following describes a device for determining a welding speed of a pipeline according to an embodiment of the present application.
Fig. 2 is a schematic diagram of a pipe welding speed determination apparatus according to an embodiment of the present application. As shown in fig. 2, the apparatus includes:
the test unit 10 is used for carrying out a preset welding test on the pipeline to obtain a test result;
a first acquisition unit 20 configured to acquire, from the test result, historical data including a historical welding speed and a historical attitude angle, the historical welding speed being a welding speed at each position on the pipe, the historical attitude angle being an attitude angle at each position on a circumferential region of an outer surface of the pipe, the welding speed being a welding speed of a welding gun of a pipe welding robot, the attitude angle being an attitude angle of the welding gun;
a second obtaining unit 30, configured to obtain a real-time attitude angle of the welding gun at each position on the pipeline;
and the determining unit 40 is used for determining the real-time welding speed of the welding gun at any position according to the historical data and the real-time attitude angle.
In the scheme, the test unit performs the preset times of welding tests on the pipeline to obtain the test result, the first acquisition unit acquires the historical welding speed and the historical attitude angle according to the test result, the determination unit determines the real-time welding speed of the welding gun at each position according to the historical welding speed, the historical attitude angle and the real-time attitude angle, the data points of the monitoring positions in the prior art are fewer, the welding speed cannot be automatically adjusted or adjusted in a discrete mode when the pipeline is welded at the full position, and the real-time welding speed at each position can be accurately determined according to a large amount of historical data, so that the welding quality is guaranteed.
According to one embodiment of the application, the determining unit comprises a first fitting module, a first determining module and a second determining module, wherein the first fitting module is used for performing data fitting on the historical welding speed of each position and the historical attitude angle of each position to obtain a first fitting curve; the first determining module is used for determining the functional relation between the real-time welding speed and the real-time attitude angle according to the first fitting curve; the second determining module is used for determining the real-time welding speed of the welding gun at each position according to the function relation and the real-time attitude angle, namely, a first fitting curve is obtained by performing data fitting on the historical welding speed and the historical attitude angle, the first fitting curve directly reflects the mapping relation between the historical welding speed and the historical attitude angle, the first fitting curve indirectly reflects the relation between the real-time welding speed and the real-time attitude angle due to the fact that the pipelines are identical, the function relation between the real-time welding speed and the real-time attitude angle is determined according to the first fitting curve, and then the real-time welding speed of the welding gun at each position is obtained according to the real-time attitude angle and the function relation obtained in real time, so that the accurate determination of the real-time welding speed of the whole position of the pipeline is achieved, and the welding quality is guaranteed.
In another embodiment of the present application, the historical welding speed is a welding speed of the welding gun at a plurality of first positions, the historical attitude angle is an attitude angle of the welding gun at the plurality of first positions, the real-time welding speed is the welding speed of the welding gun at a second position, and the real-time attitude angle is the attitude angle of the welding gun at the second position, the determining unit includes a third determining module, a first obtaining module, and a fourth determining module, and the third determining module is configured to determine an included angle between a connecting line of any two of the first positions and a center of the pipeline according to the historical attitude angle; the first acquisition module is used for acquiring the real-time attitude angle of the welding gun at a second position between any two first positions; the fourth determining module is configured to determine a real-time welding speed of the welding gun at the second position according to the historical welding speeds, the included angles, and the real-time attitude angles at any two of the first positions, that is, in a specific embodiment, the historical welding speeds and the included angles at the first positions are obtained through a predetermined number of tests according to the historical welding speeds, the included angles, and the real-time attitude angles at the second positions, the acquisition time of the historical welding speeds and the included angles at the first positions is earlier, the acquisition time of the real-time attitude angles at the second positions is later, and the real-time welding speed of the welding gun at the second position is determined according to the historical welding speeds, the included angles, and the real-time attitude angles at the two first positions, the real-time welding speed of the welding gun at the second position is determined according to the relation between the historical welding speed and the included angle at the first position and the real-time welding speed of the welding gun at the second position, the accurate determination of the real-time welding speed of the whole position of the pipeline is realized, and the welding quality is guaranteed.
In another embodiment of the present application, the first obtaining unit includes a testing module, a second obtaining module, a second fitting module, and a fifth determining module, where the testing module is configured to perform the predetermined welding test on a plurality of pipes of the same specification, where the pipes of the same specification have the same wall thickness, the same width of the weld, and the same depth of the weld; the second acquisition module is used for acquiring historical welding speeds at a plurality of first positions of the pipelines with the same specification according to a test result, wherein the plurality of first positions of one pipeline form a group of first positions; the second fitting module is used for performing data fitting on a plurality of groups of welding speeds at the first positions to obtain a plurality of second fitting curves, and the welding speeds at the first positions are fitted into one second fitting curve; the fifth determining module is used for determining the historical welding speeds of the welding gun of the pipeline welding robot at the first positions according to the second fitting curves, namely, through a large number of welding experiments and data analysis, the mathematical statistic device is used for determining the accurate welding speeds of the welding gun of the pipeline welding robot at the first positions, namely, the welding speeds at the first positions are determined according to the historical data of a plurality of experiments, the real-time welding speed of the welding gun at the second position is determined in real time, namely, the welding gun obtains the welding speed at the second position in real time in the welding process, and the pipeline welding quality is further ensured.
In another embodiment of the present application, the distance between any two adjacent first positions on the tube includes, but is not limited to, 1mm to 2mm, the smaller the distance between any two adjacent first positions on the tube is, the smaller the included angle between any two first positions is, and the smallest possible distance and included angle on the tube can ensure the accuracy of the welding speed at the second position, thereby further ensuring the quality of the welding of the pipeline.
In yet another embodiment of the present application, the fourth determining module includes a first determining submodule and a second determining submodule, the first determining submodule is configured to determine whether the real-time welding speed at the second position and the real-time attitude angle are in a linear relationship; the second determining submodule is configured to determine a real-time welding speed of the welding gun at the second position according to a preset formula when the real-time welding speed at the second position and the real-time attitude angle are in the linear relationship, where the preset formula is: the preset formula is as follows:
wherein the absolute value of V represents the real-time welding speed of said welding gun at said second position, V0Representing the above-mentioned historical welding speed, V, at the first position1Representing the above-mentioned historical welding speed at the second first location,
and (b) representing an included angle between a first line and a second line, wherein the first line is a line connecting the second first position and the center of the pipeline, the second line is a line connecting the first position and the center of the pipeline, and theta represents the real-time attitude angle at the second position, namely, under the condition that the real-time welding speed and the real-time attitude angle at the second position are determined to be in the linear relation, the real-time welding speed at the second position is accurately determined according to a preset formula, wherein the linear relation is determined by simulating the real-time welding speed and the real-time attitude angleAnd the fit curve is divided into a plurality of sections, and the fit curve of the real-time welding speed and the real-time attitude angle in the section is approximate to a straight line under the condition that the divided section is very small, namely the straight line of the curve is passed, so that the determination of the linear relation between the real-time welding speed and the real-time attitude angle at the second position is realized, the accurate determination of the real-time welding speed at all positions of the pipeline is further realized, and the welding quality is ensured.
In an embodiment of the present application, the first position is one of: the position corresponding to the 3 o 'clock direction, the position corresponding to the 6 o' clock direction, the position corresponding to the 9 o 'clock direction and the position corresponding to the 12 o' clock direction are respectively arranged at the two adjacent first positions, under the condition that the position corresponding to the 3 o 'clock direction and the position corresponding to the 6 o' clock direction are arranged at the two adjacent first positions, and the real-time welding speed and the attitude angle at the second position are in a linear relation, the preset formula is
In (1)
Is 90 DEG, V0The welding speed, V, at the position corresponding to the 3 o' clock direction1The welding speed of the position corresponding to the 6 o ' clock direction is represented, the absolute value of V represents the real-time welding speed of any position between the position corresponding to the 3 o ' clock direction and the position corresponding to the 6 o ' clock direction, similarly, the real-time welding speed of any position between the position corresponding to the 3 o ' clock direction and the position corresponding to the 9 o ' clock direction, the real-time welding speed of any position between the position corresponding to the 6 o ' clock direction and the position corresponding to the 12 o ' clock direction and the like can be determined by adopting a preset formula, the accurate determination of the real-time welding speed of the whole position of the pipeline is further realized, and the welding quality is ensured.
In another embodiment of the present application, obtaining the historical attitude angle and the real-time attitude angle includes: the historical attitude angle and the real-time attitude angle are obtained through the attitude sensor arranged on the pipeline welding robot, namely the high-precision historical attitude angle and the real-time attitude angle can be obtained through the high-precision attitude sensor, and the pipeline welding quality is further ensured.
In another embodiment of the present application, the attitude sensor is at least one of: three-axis gyroscope, three-axis accelerometer, three-axis electronic compass, certainly, the attitude sensor that this application adopted includes but not limited to above three kinds of attitude sensor.
The device for determining the welding speed of the pipeline comprises a processor and a memory, wherein the testing unit, the first acquiring unit, the second acquiring unit, the determining unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. One or more than one inner core can be arranged, and the welding quality of the pipeline is improved by adjusting the parameters of the inner core.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a storage medium having a program stored thereon, where the program is executed by a processor to implement the method for determining a welding speed of a pipe.
The embodiment of the invention provides a processor, which is used for running a program, wherein the program is used for executing the method for determining the welding speed of the pipeline during running.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein when the processor executes the program, at least the following steps are realized:
step S101, performing a preset welding test on a pipeline to obtain a test result;
step S102 of obtaining, based on the test result, historical data including a historical welding speed and a historical attitude angle, the historical welding speed being a welding speed at each position on the pipe, the historical attitude angle being an attitude angle at each position on a circumferential region of an outer surface of the pipe, the welding speed being a welding speed of a welding gun of a pipe welding robot, the attitude angle being an attitude angle of the welding gun;
step S103, acquiring real-time attitude angles of the welding gun at the positions of the pipeline;
and step S104, determining the real-time welding speed of the welding gun at each position according to the historical data and the real-time attitude angle.
The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program of initializing at least the following method steps when executed on a data processing device:
step S101, performing a preset welding test on a pipeline to obtain a test result;
step S102 of obtaining, based on the test result, historical data including a historical welding speed and a historical attitude angle, the historical welding speed being a welding speed at each position on the pipe, the historical attitude angle being an attitude angle at each position on a circumferential region of an outer surface of the pipe, the welding speed being a welding speed of a welding gun of a pipe welding robot, the attitude angle being an attitude angle of the welding gun;
step S103, acquiring real-time attitude angles of the welding gun at the positions of the pipeline;
and step S104, determining the real-time welding speed of the welding gun at each position according to the historical data and the real-time attitude angle.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:
1) the utility model provides a pipeline welding speed's confirming method, through carrying out predetermined times welding test to the pipeline and obtaining the test result, acquire historical welding speed and historical attitude angle according to the test result, again according to historical welding speed, historical attitude angle, real-time attitude angle acquires welder's real-time welding speed at each position, data point for the monitoring position among the prior art is less, welding speed can't automatically regulated or discrete regulation when leading to pipeline full position welding, this scheme is according to a large amount of historical data, the accurate determination of real-time welding speed of each position has been realized, thereby welded quality has been guaranteed.
2) The utility model provides a pipeline welding speed's confirming device, test unit carries out predetermined times welding test to the pipeline and obtains the test result, first acquisition unit acquires historical welding speed and historical attitude angle according to the test result, confirm the unit according to historical welding speed, historical attitude angle, real-time attitude angle confirms welder in the real-time welding speed of each position, data point for the monitoring position among the prior art is less, welding speed can't automatically regulated or discrete regulation when leading to pipeline full position welding, this scheme is according to a large amount of historical data, the accurate determination of real-time welding speed of each position has been realized, thereby welded quality has been guaranteed.
3) The utility model provides a welding set, through carrying out predetermined times welding test to the pipeline and obtaining the test result, acquire historical welding speed and historical attitude angle according to the test result, again according to historical welding speed, historical attitude angle, real-time attitude angle acquires welder at the real-time welding speed of each position, data point for the monitoring position among the prior art is less, welding speed is unable automatically regulated or discrete regulation when leading to pipeline full position welding, this scheme is according to a large amount of historical data, the accurate determination of the real-time welding speed of each position has been realized, thereby welded quality has been guaranteed.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (11)
1. A method of determining a welding speed of a pipe, comprising:
performing a preset welding test on the pipeline to obtain a test result;
acquiring historical data according to the test result, wherein the historical data comprises historical welding speed and historical attitude angles, the historical welding speed is the welding speed of each position on the pipeline, the historical attitude angles are the attitude angles of each position, each position is located on the circumferential region of the outer surface of the pipeline, the welding speed is the welding speed of a welding gun of the pipeline welding robot, and the attitude angles are the attitude angles of the welding gun;
acquiring real-time attitude angles of the welding gun at each position of the pipeline;
and determining the real-time welding speed of the welding gun at each position according to the historical data and the real-time attitude angle.
2. The method of claim 1, wherein determining a real-time welding speed of the welding gun at each of the positions based on the historical data and the real-time attitude angle comprises:
performing data fitting on the historical welding speed of each position and the historical attitude angle of each position to obtain a first fitting curve;
determining a functional relation between the real-time welding speed and the real-time attitude angle according to the first fitting curve;
and determining the real-time welding speed of the welding gun at each position according to the functional relation and the real-time attitude angle.
3. The method of claim 1, wherein the historical welding speed is a welding speed of the welding gun at a plurality of first locations, the historical attitude angle is an attitude angle of the welding gun at the plurality of first locations, the real-time welding speed is the welding speed of the welding gun at a second location, and the real-time attitude angle is the attitude angle of the welding gun at the second location, and determining the real-time welding speed of the welding gun at each of the locations based on the historical data and the real-time attitude angle comprises:
determining an included angle between any two first positions and a connecting line of the centers of the pipelines according to the historical attitude angles;
obtaining the real-time attitude angle of the welding gun at a second position between any two of the first positions;
and determining the real-time welding speed of the welding gun at the second position according to the historical welding speed, the included angle and the real-time attitude angle at any two first positions.
4. The method of claim 3, wherein obtaining the historical welding speeds of the welding gun of the pipe welding robot at the plurality of first locations comprises:
performing the preset times of welding tests on a plurality of pipelines with the same specification, wherein the pipelines with the same specification have the same wall thickness, the same width of welding seams and the same depth of the welding seams;
obtaining historical welding speeds at a plurality of first positions of pipelines with the same specification according to test results, wherein the plurality of first positions of one pipeline form a group of first positions;
performing data fitting on the plurality of groups of welding speeds at the first positions to obtain a plurality of second fitting curves, and fitting the welding speeds at the first positions into one second fitting curve;
determining the historical welding speeds of the welding gun of the pipe welding robot at the plurality of first positions from the plurality of second fitted curves.
5. The method of claim 3, wherein determining a real-time welding speed of the welding gun at the second location from the historical welding speeds at any two of the first locations, the included angle, and the real-time attitude angle at the second location comprises:
determining whether the real-time welding speed at the second position and the real-time attitude angle are in a linear relationship;
the real-time welding speed at the second positionDetermining the real-time welding speed of the welding gun at the second position according to a preset formula under the condition that the real-time attitude angle is in the linear relation, wherein the preset formula is as follows:
wherein the absolute value of V represents the real-time welding speed of the welding gun at the second position, V0Representing said historical welding speed, V, at a first location1Representing said historical welding speed at a second first location,
and representing an included angle between a first connecting line and a second connecting line, wherein the first connecting line is a connecting line between the second first position and the center of the pipeline, the second connecting line is a connecting line between the first position and the center of the pipeline, and theta represents the real-time attitude angle at the second position.
6. The method of any one of claims 1 to 5, wherein obtaining the historical attitude angle and the real-time attitude angle comprises:
and acquiring the historical attitude angle and the real-time attitude angle through an attitude sensor arranged on the pipeline welding robot.
7. The method of claim 6, wherein the attitude sensor is at least one of:
three-axis gyroscope, three-axis accelerometer, three-axis electronic compass.
8. A device for determining a welding speed of a pipe, comprising:
the test unit is used for carrying out a preset welding test on the pipeline to obtain a test result;
a first obtaining unit configured to obtain, according to the test result, historical data including a historical welding speed and a historical attitude angle, the historical welding speed being a welding speed at each position on the pipeline, the historical attitude angle being an attitude angle at each position, each position being located on a circumferential region of an outer surface of the pipeline, the welding speed being a welding speed of a welding gun of a pipeline welding robot, the attitude angle being an attitude angle of the welding gun;
the second acquisition unit is used for acquiring real-time attitude angles of the welding gun at each position on the pipeline;
and the determining unit is used for determining the real-time welding speed of the welding gun at any position according to the historical data and the real-time attitude angle.
9. A storage medium characterized in that the storage medium includes a stored program, wherein the program executes the determination method of any one of claims 1 to 7.
10. A processor, characterized in that the processor is configured to run a program, wherein the program when running performs the determination method of any one of claims 1 to 7.
11. A welding device, comprising: one or more processors, memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing the method of determining a pipe welding speed of any of claims 1-7.
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