CN113828997A - Control system and method for automatic pipe pile welding robot - Google Patents
Control system and method for automatic pipe pile welding robot Download PDFInfo
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- CN113828997A CN113828997A CN202111218252.8A CN202111218252A CN113828997A CN 113828997 A CN113828997 A CN 113828997A CN 202111218252 A CN202111218252 A CN 202111218252A CN 113828997 A CN113828997 A CN 113828997A
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- 238000003466 welding Methods 0.000 title claims abstract description 146
- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000033001 locomotion Effects 0.000 claims abstract description 57
- 230000000694 effects Effects 0.000 claims abstract description 4
- 238000012545 processing Methods 0.000 claims abstract description 3
- 238000004886 process control Methods 0.000 claims description 22
- 230000003287 optical effect Effects 0.000 claims 4
- 238000011156 evaluation Methods 0.000 claims 1
- 238000001914 filtration Methods 0.000 claims 1
- 238000007781 pre-processing Methods 0.000 claims 1
- 230000007246 mechanism Effects 0.000 description 8
- 230000008713 feedback mechanism Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000012216 screening Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000013441 quality evaluation Methods 0.000 description 1
- 230000000638 stimulation Effects 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
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Classifications
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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
- 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
- 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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
-
- 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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- 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 provides a control system and a control method of an automatic pipe pile welding robot, wherein the method is suitable for the automatic pipe pile welding robot with a rail, the system comprises a rail module, a circular orbit motion welding robot, a video image acquisition module and a motor control module, the circular orbit motion welding robot is suspended on the rail through a bearing wheel, the robot is driven to do horizontal circular motion around a rail gear through the motion of a motor, the video acquisition module processes acquired video data and then sends the processed video data to the motor control module, and the motor is controlled to move up and down to realize the tracking of a welding seam. The invention integrates the mechanical structure, the motion control module and the video processing module, greatly improves the efficiency of the welding process, simultaneously realizes the closed-loop tracking of the welding process, improves the welding effect, reduces the welding cost and provides a new method for realizing automatic welding.
Description
Technical Field
The invention belongs to the technical field of automatic welding of tubular piles, and particularly relates to an automatic control system and method for an automatic welding robot for tubular piles.
Background
At present, the automatic welding technology of the tubular pile mainly drives a welding machine to move along an installed track through a motor, a welding gun is clamped on the welding machine, and therefore the welding gun is driven to move along a welding seam needing to be welded to complete welding.
Therefore, it is very necessary to provide a system and a method for controlling an automatic welding robot for tubular piles to overcome the above-mentioned drawbacks in the prior art.
Disclosure of Invention
Aiming at the defect that the dynamic adjustment of the welding process cannot be carried out according to the real-time welding working condition in the prior art, the invention provides a control system and a control method of an automatic tubular pile welding robot, which aim to solve the technical problem.
The invention provides a control system and a control method for an automatic tubular pile welding robot.
Tubular pile automatic weld robot including setting up at tubular pile welding track and welding robot all around, the welding track pass through bearing guide rail and gear motion track and be connected with welding robot, welding robot includes that the bearing hangs gear, horizontal drive motor, vertical drive motor and welder clamping device. Welding track on have pile orbit, bearing guide rail and gear motion track, pile orbit on have the buckle, bearing guide rail be connected with pile orbit through four adjustable connecting screws, gear motion track pass through the set screw and link to each other with bearing guide rail, welding robot automobile body upper portion have four bearings and hang the wheel, welding robot upper portion have the gear, four bearing wheels on welding robot upper portion link to each other with bearing guide rail, the gear engagement of rack and horizontal motion control motor front end on the gear motion track, horizontal motion control motor receive welder process drive module drive. And the welding gun is fixed on the welding robot through the welding gun clamping device. The welding gun clamping device is connected with a vertical driving motor, and the vertical driving motor is driven by a welding process control module.
According to the scheme, the welding robot is provided with a gear, and the gear is meshed with a rack on a gear motion track.
According to the scheme, the welding robot is provided with four bearing wheels, and the four bearing wheels are connected with the bearing guide rail.
According to the scheme, the welding robot is internally provided with a high-precision direct current speed regulating motor which is provided with a speed measuring feedback mechanism.
According to the scheme, the clamping device comprises a horizontal control knob and a vertical control knob, and the horizontal position and the vertical position of the clamp are respectively controlled.
According to the scheme, the oscillator is arranged on the welding gun clamping device and connected with the alternating current speed regulating motor.
According to the scheme, the pile holding track is mainly used for holding the tubular pile tightly and supporting the weight of the whole welding device.
According to above-mentioned scheme, bearing direction track mainly used supports welding robot and guarantees that welding robot follows orbital motion, ensures welding robot movement track's exactness and stability.
The welding robot is the main device for completing automatic welding of the tubular pile, the motion power of the welding robot is provided by a high-precision direct current driving motor, and the motor moves to drive the welding robot to move on a gear motion track. The welding gun is fixed on the welding robot through the clamping device, the clamping device adjusts the horizontal position and the vertical position of the clamp through the horizontal adjusting knob and the vertical adjusting knob, the welding gun is arranged in the clamp groove, and the clamp is screwed down through the bolt, so that the welding gun can be fixed.
The video acquisition module include 720P high definition camera module, screening glass and light filter, the screening glass be used for the protection light filter, prevent that the arc light that splashes from burning the light filter, the light filter be used for weakening the highlight stimulation that the welding produced, camera module gather the video data in the welding process, transmit data for through the USB interface welding process control module.
The welding process control module comprises an embedded development board and a set of welding process control system running on the development board, the welding process control system comprises a data acquisition module, an operation module and an output instruction module, the data acquisition module collects data from a camera module, the operation module processes the acquired data, a processed result is sent to the output instruction module, and the output instruction module controls a horizontal motion control motor and a vertical motion control motor according to the result, so that the whole welding process is controlled, and a closed loop is formed.
The invention has the beneficial effects that: 1. the horizontal motion control motor and the vertical motion control motor are used, the freedom degrees in two directions are provided, the welding flexibility is improved, the adjusting effect is good, the adjustable range is wide, and the welding machine is effectively suitable for various welding working conditions. 2. The camera module is adopted to collect welding process video data in real time, and the horizontal motion control motor and the vertical motion control motor are controlled in real time according to the collected welding process data to form a welding closed loop, so that a better welding effect is obtained, meanwhile, the welding quality is good, the welding seam forming rate is high, the welding work efficiency is greatly improved, and the working intensity of a welder is reduced. 3. The whole system is simple in structure, is divided into three modules, is clear in structure, decouples the modules, and facilitates upgrading and optimization.
Drawings
Fig. 1 is a top view of the present invention.
Fig. 2 is a side view of the present invention.
Fig. 3 is an enlarged side view of the present invention.
In fig. 1, 1 is a clip of a pile embracing rail, 2 is an adjustable knob, 3 is a pile embracing rail, 5 is a bearing guide rail, 6 is a bearing wheel, 7 is a welding robot motion gear, 4 is an adjustable connecting screw in fig. 2, 8 is a welding process control module, 9 is a horizontal motion control motor, 10 is a vertical motion control motor, 11 is a video acquisition module, 12 is a clamping device, and 13 is a welding gun.
The specific implementation mode is as follows:
in order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not a whole embodiment. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Example 1: referring to fig. 1 to 3, an automatic welding robot for tubular piles includes a welding track and a welding robot body disposed around the tubular piles; the welding track comprises a pile embracing track 3, an adjustable connecting screw 4, a bearing guide track 5 and a gear movement track, four bearing wheels 6 of the welding robot are embedded into the bearing guide track 5, and the movement gears 6 are meshed into the gear movement track; the motion gear 7 is connected with a horizontal motion control motor 9; the welding gun 13 is arranged on the welding robot through a clamping mechanism 12; the clamping mechanism comprises;
welding track mainly include pile-embracing track 3, adjustable connecting screw 4, bearing guide rail 5 and gear motion track, pile-embracing track 3 is used for tightly embracing the tubular pile, support the weight of whole device, adjustable connecting screw 4 is used for connecting pile-embracing track and bearing guide rail, the distance between adjustable knob regulation pile-embracing track and bearing guide rail is provided simultaneously, bearing guide rail 5 is used for supporting welding robot main part weight and guarantees that the motion of whole welding robot centers on the tubular pile, gear motion track and welding robot's motion gear 6 meshes, the mode of a motion around the tubular pile is provided for welding robot, motion mode stability based on the gear is better, the interference killing feature is stronger.
Welding robot is the core mechanism who realizes welding automation, and motion gear 7 drive power is provided by motion motor 9, and during the embedded bearing guide rail 5 of bearing wheel 6 of welding robot, motion gear 7 meshed to gear motion track 13, thereby motion gear 7 rotates and drives whole welding robot around the tubular pile motion to accomplish the welding seam welding of tubular pile.
The clamping mechanism 12 is installed on the welding robot, so that the welding gun 10 can move up and down and back and forth relative to the welding line, and the angle of the welding gun can be adjusted.
The wire feeding mechanism is located on the ground, the welding gun is provided with a switch for controlling the start and stop of the wire feeding mechanism, and after the switch is turned on, the wire feeding mechanism can ensure the accuracy and stability of the wire feeding speed, so that the stability and reliability of the welding quality are ensured.
The video data acquisition module 11 is located at the front end of the welding clamping mechanism 12, the video data acquisition module 11 transmits acquired data to the welding process control module 8, the welding process control module 8 adopts an image processing algorithm and a welding seam quality evaluation algorithm to calculate to obtain a next control instruction, and the next control instruction is transmitted to the horizontal motion control motor 9 and the vertical motion control motor 10, so that the whole welding process is controlled, and the welding quality is ensured.
The horizontal motion control motor 9 and the vertical motion control motor 10 are provided with speed feedback mechanisms, the speed measurement feedback mechanisms transmit the rotating speed data of the two motors to the welding process control module 8, the welding process control module 8 obtains respective control input voltages of the two motion motors by adopting control algorithm calculation, the voltages are output to the two motion motors, and the motors are guaranteed to move according to expected rotating speeds.
The welding process control module 8 can be remotely controlled in a Bluetooth mode, and the client sends a control instruction to the welding process control module 8 to control the starting, stopping, accelerating, decelerating and the like of the welding process.
Although the present invention has been described in detail by referring to the drawings in connection with the preferred embodiments, the present invention is not limited thereto. Various equivalent modifications or substitutions of the embodiments of the present invention can be made by those skilled in the art without departing from the spirit and scope of the present invention, and these modifications or substitutions should be within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (6)
1. A control method of a tubular pile automatic welding robot is characterized by comprising a tubular pile automatic welding robot, a temperature and humidity acquisition module, a video acquisition module and a welding process control module; the automatic tubular pile welding robot comprises a welding track and a welding robot main body, wherein the welding track and the welding robot main body are arranged on the periphery of a tubular pile; the temperature and humidity acquisition module comprises a temperature sensor and a humidity sensor; the temperature and humidity sensors are arranged on the lower part of the welding robot and are connected with the welding process control system; the video acquisition module comprises a protection plate, an optical filter and a camera, wherein the protection plate is arranged in front of the optical filter and used for protecting the optical filter, the optical filter is arranged in front of the camera and used for filtering strong light generated in the welding process, and the camera is connected with the welding process control system and transmits acquired video data to the welding process control system; and the welding process control system receives the data transmitted by the temperature and humidity acquisition module and the video acquisition module, processes the data and outputs a control instruction to control the welding process of the welding robot.
2. The tubular pile automatic welding robot control and method according to claim 1, wherein the tubular pile automatic welding robot main body includes a horizontal movement control motor and a vertical movement control motor;
the horizontal motion control motor and the vertical motion control motor are connected with the welding process control system module, and the welding process control module controls the motion of the horizontal motion control motor and the vertical motion control motor.
3. The automatic pipe pile welding robot of claim 1, wherein the welding track has a pile embracing track, a bearing guide wheel and a moving gear, the welding robot is embedded into the bearing guide track of the welding track through the bearing wheel, and is engaged with the gear on the gear moving track through the moving gear.
4. The automatic pipe pile welding robot of claim 1, wherein: the wire feeder for providing welding wires for the welding gun is positioned on the ground, and the welding gun is provided with a switch for controlling the start and stop of the wire feeder.
5. A welding process control module as claimed in claim 1 including an image preprocessing and welding effect evaluation module for processing and analyzing the received welding image to obtain a control direction for the next step and for sending control commands to the horizontal motion control motor and the vertical motion control motor to control the welding process.
6. A welding process control module according to claim 1 including a bluetooth module operable to transmit bluetooth commands to the welding process control module via a cell phone or computer to control the overall welding process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111218252.8A CN113828997A (en) | 2021-10-20 | 2021-10-20 | Control system and method for automatic pipe pile welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111218252.8A CN113828997A (en) | 2021-10-20 | 2021-10-20 | Control system and method for automatic pipe pile welding robot |
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| Publication Number | Publication Date |
|---|---|
| CN113828997A true CN113828997A (en) | 2021-12-24 |
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| CN202111218252.8A Pending CN113828997A (en) | 2021-10-20 | 2021-10-20 | Control system and method for automatic pipe pile welding robot |
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|---|---|---|---|---|
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| CN108620782A (en) * | 2018-04-12 | 2018-10-09 | 清华大学 | The box shape steel structure scene all-position welding machine of view-based access control model servo |
| CN110695584A (en) * | 2019-09-20 | 2020-01-17 | 厦兴科技(福建)有限公司 | Device for aligning concentricity of pile planting butt joint and automatically welding |
| CN210615463U (en) * | 2019-10-12 | 2020-05-26 | 中国船舶重工集团柴油机有限公司 | Magnetic fixing and guiding device for automatic submerged arc welding |
| CN111922620A (en) * | 2020-09-01 | 2020-11-13 | 上海雅跃智能科技有限公司 | Quick butt joint of tubular pile and automatic weld equipment |
| CN113399901A (en) * | 2021-06-08 | 2021-09-17 | 广州市市政工程试验检测有限公司 | Tubular pile welding vehicle with locking track capable of being assembled and disassembled quickly |
| CN113458555A (en) * | 2021-07-07 | 2021-10-01 | 安徽科技学院 | Intelligent welding device for submerged-arc welding of pile pipe |
-
2021
- 2021-10-20 CN CN202111218252.8A patent/CN113828997A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102059435A (en) * | 2010-12-14 | 2011-05-18 | 东南大学 | Longitudinal seam welding special machine with linear structure light type vision sensor and control method thereof |
| KR101157014B1 (en) * | 2011-03-11 | 2012-06-21 | 주식회사 에치에스테크 | Automatic welding device of pipes |
| CN103286494A (en) * | 2013-05-27 | 2013-09-11 | 清华大学 | Rail type all-position welding robot for box-type steel structures |
| CN105033419A (en) * | 2015-08-14 | 2015-11-11 | 北京石油化工学院 | Moving type welding robot device based on weld pool image welding line tracking |
| CN106041383A (en) * | 2016-06-30 | 2016-10-26 | 江苏捷帝机器人股份有限公司 | Safety automatic welding manipulator |
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| CN110695584A (en) * | 2019-09-20 | 2020-01-17 | 厦兴科技(福建)有限公司 | Device for aligning concentricity of pile planting butt joint and automatically welding |
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| CN113458555A (en) * | 2021-07-07 | 2021-10-01 | 安徽科技学院 | Intelligent welding device for submerged-arc welding of pile pipe |
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