CN113145687A - Automatic induction leveling integration method for ship plate welding deformation - Google Patents
Automatic induction leveling integration method for ship plate welding deformation Download PDFInfo
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- CN113145687A CN113145687A CN202110386221.7A CN202110386221A CN113145687A CN 113145687 A CN113145687 A CN 113145687A CN 202110386221 A CN202110386221 A CN 202110386221A CN 113145687 A CN113145687 A CN 113145687A
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- leveling
- agv
- induction coil
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- ship plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D1/00—Straightening, restoring form or removing local distortions of sheet metal or specific articles made therefrom; Stretching sheet metal combined with rolling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D37/00—Tools as parts of machines covered by this subclass
- B21D37/16—Heating or cooling
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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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- Optical Radar Systems And Details Thereof (AREA)
Abstract
An automatic induction leveling integration method for ship plate welding deformation is characterized in that a reflector is arranged at the tail end of a welding line to be leveled, an AGV with a laser radar is placed at a ship plate determined position and scans data of surrounding environment points, and a local map is generated on a main control platform; obtaining a plurality of local maps along with the movement of the AGV; calculating the relation between the related line segments of the local map to obtain a global map; setting a starting point and a running path of the AGV trolley on the main control platform according to the leveling requirement, and controlling the AGV trolley to reach an area to be leveled; adjusting the position of an induction coil by utilizing a distance sensor carried on the AGV trolley and under the coordination of a transmission assembly until the distance between the induction coil and a ship board reaches a target distance set by the distance sensor; electrifying the induction coil to generate a magnetic field, and further converting the magnetic field into heat energy to enable the ship plate to generate reverse thermal deformation so as to achieve the leveling purpose; and the AGV trolley repeats distance measurement and leveling work along a set path until reaching a leveling terminal point.
Description
Technical Field
The invention relates to a technology in the field of metal plastic processing, in particular to an automatic induction leveling integration method for ship plate welding deformation.
Background
Welding is widely used in manufacturing as an important joining process. The welding deformation and the welding residual stress of the plate can be caused by the non-uniformity of heating in the welding process, and the welding deformation is corrected by adopting three methods of flame correction, mechanical correction and induction correction at present. Aiming at the welding deformation of the thin plate component, the mechanical correction and the fire correction are difficult to accurately correct due to the large operation difficulty, and the efficiency is low. The induction leveling is a novel leveling technology, and is based on the electromagnetic induction heating principle, the plate is heated under the action of a high-frequency electromagnetic field, a larger temperature gradient can be generated, and the correction capability is effectively improved. However, in the use process of the existing induction leveling method, workers are relied on to manually push the induction leveling equipment to move along the welding line for heating leveling. The heating time, the temperature and the leveling position are determined by the vision and experience of workers, the error is large, the feedback is lacked, and the leveling efficiency is low. As the geometry of large boat decks increases, the labor intensity of workers also increases.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an automatic induction leveling integration method for the welding deformation of a ship plate, wherein an AGV trolley is used as a carrier to drive an induction coil to run along a set path; the induction coil generates a magnetic field after being electrified and then is converted into heat energy, so that the ship plate generates reverse thermal deformation to offset the original deformation. Manpower can be released, and the leveling efficiency is improved; meanwhile, the heating time and the working distance are accurately controlled, and the leveling stability is improved; and the laser radar is used for correcting the position of the laser radar, so that the leveling error is reduced.
The invention is realized by the following technical scheme:
the invention relates to a ship plate welding deformation automatic induction leveling integration method, wherein a reflector is arranged at the tail end of a welding line to be leveled, an AGV with a laser radar is placed at a ship plate determined position and scans data of surrounding environment points, and a main control platform of the AGV obtains a local map according to the data; obtaining a plurality of local maps along with the movement of the AGV; searching for related line segments in a plurality of local maps and calculating the relationship between the related line segments to obtain a global map; setting a starting point and a running path of the AGV trolley on the main control platform according to the leveling requirement, and controlling the AGV trolley to reach an area to be leveled; adjusting the position of an induction coil by utilizing a distance sensor carried on the AGV trolley and under the coordination of a transmission assembly until the distance between the induction coil and a ship plate reaches a target distance set by the sensor; electrifying the induction coil to generate a magnetic field, and further converting the magnetic field into heat energy to enable the ship plate to generate reverse thermal deformation so as to achieve the leveling purpose; and planning a path for the next area to be leveled by the main control platform while leveling until the leveling work is finished.
The target distance is preferably 10 mm.
The transmission assembly be the ball screw structure, specifically include: motor, helical gear, slider, shaft coupling, lead screw and countershaft, wherein: the tail end of an output shaft of the motor is connected with one end of the intermediate shaft through a coupler, the other end of the intermediate shaft is connected with the lead screw through a helical gear, and the lead screw is movably connected with the sliding block through a key.
The distance between the transmission assembly and the ship plate is smaller than or equal to the target distance.
The induction coil is connected with an induction power supply through a transformer, and the transformer is connected with the sliding block.
Insulating mica sheets are arranged on the side surface and the upper surface of the induction coil.
The distance sensor is a laser distance measuring sensor, one side of the distance sensor is connected with the sliding block, the other side of the distance sensor is connected with the induction coil, and the bottom surfaces of the distance sensor and the induction coil are positioned on the same horizontal line.
Technical effects
The invention integrally solves the defects of high labor intensity, dependence on the vision and experience of workers, larger leveling error and low stability in the prior art; compared with the prior art, the automatic leveling device can automatically level, accurately control the heating time and the working distance and improve the leveling stability; and the laser radar is used for correcting the position of the laser radar, so that the leveling error is reduced.
Drawings
FIG. 1 is a schematic structural diagram of the present embodiment;
FIG. 2 is a schematic diagram of an AGV configuration;
FIG. 3 is a schematic view of a transmission assembly;
in the figure: the AGV comprises an induction power supply 1, an AGV trolley 2, an inductor 3, a distance sensor 4, a transmission assembly 5, a laser radar 6, a reflector 7, a transformer 8, an induction coil 9, a helical gear 10, a sliding block 11, a coupler 12, a mica sheet 13, a bracket 14, a lead screw 15, a motor 16 and an intermediate shaft 17.
Detailed Description
As shown in fig. 1, the present embodiment relates to a device for automatically inducing and leveling welding deformation of a ship plate based on an AGV, which includes: inductive power supply 1, AGV dolly 2, inductor 3, distance sensor 4, two sets of drive assembly 5, laser radar 6, reflector panel 7, wherein: inductive power supply 1 and inductor 3 link to each other through the wire, and two sets of drive assembly 5 correspond fixedly to set up on AGV dolly 2's recess side, and inductor 3 is fixed to be set up on AGV dolly 2's one set of drive assembly 5, and distance sensor 4 sets up between inductor 3 and another set of drive assembly 5, and laser radar 6 sets up in AGV dolly 2's top, and reflector panel 7 sets up in the end of treating the flattening welding seam.
As shown in FIG. 2, the AGV car 2 has a cross section of a concave structure, which includes: the vehicle comprises a vehicle body, a motor, a storage battery, a control system and a safety device.
The AGV car 2 is provided with three brackets 14 with balls to facilitate wire collection and release.
As shown in fig. 3, the transmission assembly 5 includes: motor 16, helical gear 10, slider 11, shaft coupling 12, lead screw 15 and intermediate shaft 17, wherein: the tail end of an output shaft of the motor 16 is connected with one end of an intermediate shaft 17 through a coupler 12, the other end of the intermediate shaft 17 is connected with a lead screw 15 through a bevel gear 10, and the lead screw 15 is movably connected with a sliding block 11 through a key.
The motor 16 is powered by the batteries of the AGV cart 2.
The distance between the transmission assembly 5 and the ship plate is less than or equal to 10 mm.
The inductor 3 comprises: a transformer 8 and an induction coil 9 connected to each other, wherein: the upper end of the transformer 8 is connected with the induction power supply 1 through a lead, and the side surface of the transformer 8 is connected with the sliding block 11 through threads.
And insulating mica sheets 13 are arranged on the side surfaces and the upper surface of the induction coil 9.
The distance sensor 4 is a laser distance measuring sensor, one side of the distance sensor is connected with the sliding block 11, the other side of the distance sensor is connected with the induction coil 9 of the inductor 3, and the bottom surfaces of the distance sensor and the induction coil are positioned on the same horizontal line.
The laser radar 6 is an outdoor special laser radar, and can emit laser in the forward direction and collect the laser reflected by the reflector 7. The range of the laser radar should be greater than the length of the weld.
The embodiment relates to a method for automatically inducing and leveling welding deformation of a ship plate by using the device, which specifically comprises the following steps:
step one, constructing a local map: arranging a reflector 7 at the tail end of a welding line to be leveled, and scanning data of surrounding environment points and transmitting the data to a main control platform of the AGV 2 to obtain a local map by the aid of a laser radar 6 on the AGV 2 under the cooperation of the reflector 7 when the AGV 2 is at a determined position;
step two, acquiring a plurality of local maps: the AGV trolley 2 moves and obtains a local map of the surrounding environment of the moving position of the AGV trolley 2;
step three, updating the global map: searching for related line segments in the local maps and finishing accurate positioning of the AGV trolley 2 and updating of the global map by calculating the relationship between the related line segments;
step four, the AGV trolley 2 stops in the area to be leveled: the AGV comprises a main control platform, a ship board, an AGV dolly 2, a main control platform and a control platform, wherein the AGV dolly 2 is arranged on the ship board, the starting point of the AGV dolly 2 is arranged on the main control platform according to the leveling requirement, the current position and the running direction of the AGV dolly 2 are determined, and the main control platform automatically controls the AGV dolly 2 to run, turn to and reach an area to be leveled.
Step five, adjusting the position of the induction coil 9: setting the target distance of the distance sensor 4 to be 10mm, and when the distance between the distance sensor and the target is larger than 10mm, enabling the motor 16 to rotate positively, and enabling the induction coil 9 to descend along with the sliding block 11; when the distance between the induction coil and the target is less than 10mm, the motor 16 rotates reversely, and the induction coil 9 rises along with the sliding block 11; until the distance between the induction coil 9 and the ship plate is 10mm, namely the AGV trolley 2 reaches a target point to finish leveling.
Step six, leveling at a single position: when the distance between the induction coil 9 and the ship plate is 10mm, the induction power supply 1 is turned on, the current and the voltage on the induction coil 9 are set, the electric field provided by the induction power supply 1 is utilized to generate a magnetic field, the magnetic field is converted into heat energy, the ship plate generates reverse thermal deformation, and the leveling of the position is realized.
Step seven, repeated leveling: and the whole device repeats the steps four to six until the AGV trolley 2 reaches the end point according to the set route, and the leveling is finished.
In this embodiment, the main control platform is a main control platform developed based on an ARM Cortex series processor and used by the AGV 2.
The control motor of the AGV adopts an intermittent operation control circuit, and is set according to the time for the AGV to periodically run and stop 2. For example: and calculating the running time according to the distance between the front leveling area and the rear leveling area and the moving speed of the AGV trolley 2, setting the stopping time during leveling, stopping the leveling time after the running time is advanced to the area to be leveled, finishing the leveling of the position, and then advancing the running time to the next area to be leveled, thus periodically starting and stopping.
Compared with the prior art, the automatic boat deck leveling device takes the AGV trolley as a carrier, and drives the induction coil to move, so that the automatic operation of boat deck leveling is realized; the periodical starting and stopping of the AGV trolley can accurately control the leveling position and the heating time each time; the distance sensor can control the distance between the coil and the ship board; the laser radar can feed back the position of the trolley. The automatic leveling device is particularly suitable for leveling work of ship plates with larger sizes, and can accurately control the heating time and the working distance while automatically leveling, so that the leveling stability is improved; and the position of the trolley is corrected by utilizing the laser radar, so that the leveling error is reduced.
Through specific practical experiments, the speed of the AGV generally ranges from 0m/min to 90 m/min. Taking a ship plate with a weld length of 100m as an example, it takes about 10min to create a map. The time for manual leveling is about 7 hours, and the time for leveling by the invention is about 5 hours. Therefore, the manual leveling can effectively correct the length of the welding seam by about 15m per hour, and the manual leveling can effectively correct the length of the welding seam by about 22m per hour. The leveling efficiency is greatly improved. In the working process, the AGV trolley is controlled by a program to drive the induction coil to move, so that the stability and consistency of the leveling process are guaranteed. The manual leveling needs to be configured with 2 common workers for operating the equipment, and the leveling can be automatically finished by only starting the equipment by 1 worker, so that the labor is greatly saved.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (8)
1. An automatic induction leveling integration method for ship plate welding deformation is characterized in that a reflector is arranged at the tail end of a welding line to be leveled, an AGV with a laser radar is placed at a ship plate determined position and scans data of surrounding environment points, and a local map is generated on a main control platform; obtaining a plurality of local maps along with the movement of the AGV; calculating the relation between the related line segments of the local map to obtain a global map; setting a starting point and a running path of the AGV trolley on the main control platform according to the leveling requirement, and controlling the AGV trolley to reach an area to be leveled; adjusting the position of an induction coil by utilizing a distance sensor carried on the AGV trolley and under the coordination of a transmission assembly until the distance between the induction coil and a ship board reaches a target distance set by the distance sensor; electrifying the induction coil to generate a magnetic field, and further converting the magnetic field into heat energy to enable the ship plate to generate reverse thermal deformation so as to achieve the leveling purpose; and the AGV trolley repeats distance measurement and leveling work along a set path until reaching a leveling terminal point.
2. The integrated method for automatically inducing and leveling the welding deformation of the ship plate as claimed in claim 1, which comprises the following steps:
step one, constructing a local map: arranging a reflector at the tail end of a welding line to be leveled, and scanning data of surrounding environment points and transmitting the data to a main control platform of the AGV to obtain a local map by a laser radar on the AGV under the cooperation of the reflector when the AGV is at a determined position;
step two, acquiring a plurality of local maps: the AGV moves and obtains a local map of the surrounding environment of the moving position of the AGV;
step three, updating the global map: searching related line segments in the local maps, and completing the accurate positioning of the AGV and the updating of the global map by calculating the relationship between the related line segments;
step four, stopping the AGV trolley in the area to be leveled: placing an AGV on a ship board, setting an initial point of the AGV on a main control platform according to a leveling requirement, determining the current position and the running direction of the AGV, and automatically controlling the AGV to run and turn by the main control platform and reach an area to be leveled;
step five, adjusting the position of the induction coil: when the distance between the induction coil and the target is larger than the target distance, the motor rotates forwards, and the induction coil descends along with the sliding block; when the distance between the induction coil and the target is smaller than the target distance, the motor rotates reversely, and the induction coil rises along with the sliding block; until the distance between the induction coil and the ship plate is equal to the target distance, leveling is finished when the distance reaches a target point;
step six, leveling at a single position: when the distance between the induction coil and the ship plate is the target distance, an induction power supply is turned on, the current and the voltage on the induction coil are set, an electric field provided by the induction power supply is utilized to generate a magnetic field, and the magnetic field is converted into heat energy again, so that the ship plate generates reverse thermal deformation, and the leveling is realized;
step seven, repeated leveling: and the whole device repeats the steps from four to six until the AGV reaches the end point according to the set route, and the leveling is finished.
3. The integrated method for automatically inducing and leveling the welding deformation of the ship plate as claimed in claim 1, wherein the AGV trolley adopts an intermittent operation control circuit and is set according to the periodic running and stopping time of the AGV trolley.
4. The integrated method for automatically inducing and leveling the welding deformation of the ship plate as claimed in claim 1 or 3, wherein the transmission assembly comprises: motor, helical gear, slider, shaft coupling, lead screw and countershaft, wherein: the tail end of an output shaft of the motor is connected with one end of an intermediate shaft through a coupler, the other end of the intermediate shaft is connected with a lead screw through a helical gear, and the lead screw is movably connected with a sliding block through a key.
5. The integrated method for automatically inducing and leveling the welding deformation of the ship plate as claimed in claim 4, wherein the induction coil is connected with an induction power supply through a transformer, and the transformer is connected with the sliding block.
6. The integrated method for automatically inducing and leveling the welding deformation of the ship plate as claimed in claim 5, wherein insulating mica sheets are arranged on the side surfaces and the upper surface of the induction coil.
7. The integrated method for automatically inducing and leveling the welding deformation of the ship plate as claimed in claim 1, wherein the distance sensor is a laser distance measuring sensor, one side of the distance sensor is connected with the sliding block, the other side of the distance sensor is connected with an induction coil of the inductor, and the bottom surfaces of the distance sensor and the induction coil are positioned on the same horizontal line.
8. The integrated method for automatically inducing and leveling the welding deformation of the ship plate as claimed in claim 1 or 2, wherein the laser radar is an outdoor special laser radar with a distance measuring range matched with the length of a welding seam.
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| CN202110386221.7A CN113145687B (en) | 2021-04-12 | 2021-04-12 | Automatic induction leveling integration method for ship plate welding deformation |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114618906A (en) * | 2022-02-16 | 2022-06-14 | 江苏科技大学 | Induction heating leveling system with constant-gap heating device and method thereof |
| CN114682649A (en) * | 2022-02-16 | 2022-07-01 | 江苏科技大学 | Intelligent leveling system with automatic temperature control function and method thereof |
| CN114700427A (en) * | 2022-02-16 | 2022-07-05 | 江苏科技大学 | Intelligent electromagnetic induction heating leveling system and method thereof |
| WO2024051127A1 (en) * | 2022-09-06 | 2024-03-14 | 江苏科技大学 | Leveling device having energy recovery function, and method therefor |
| WO2024051125A1 (en) * | 2022-09-06 | 2024-03-14 | 江苏科技大学 | Leveling device and method having auxiliary heating function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114618906A (en) * | 2022-02-16 | 2022-06-14 | 江苏科技大学 | Induction heating leveling system with constant-gap heating device and method thereof |
| CN114682649A (en) * | 2022-02-16 | 2022-07-01 | 江苏科技大学 | Intelligent leveling system with automatic temperature control function and method thereof |
| CN114700427A (en) * | 2022-02-16 | 2022-07-05 | 江苏科技大学 | Intelligent electromagnetic induction heating leveling system and method thereof |
| CN114700427B (en) * | 2022-02-16 | 2023-02-28 | 江苏科技大学 | Intelligent electromagnetic induction heating leveling system and method thereof |
| WO2023155525A1 (en) * | 2022-02-16 | 2023-08-24 | 江苏科技大学 | Intelligent electromagnetic induction heating leveling system and method thereof |
| WO2024051127A1 (en) * | 2022-09-06 | 2024-03-14 | 江苏科技大学 | Leveling device having energy recovery function, and method therefor |
| WO2024051125A1 (en) * | 2022-09-06 | 2024-03-14 | 江苏科技大学 | Leveling device and method having auxiliary heating function |
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