CN114289922A

CN114289922A - Welding control method, control device, processor and welding system

Info

Publication number: CN114289922A
Application number: CN202111675784.4A
Authority: CN
Inventors: 冯消冰; 陈永; 彭静
Original assignee: Beijing Bo Tsing Technology Co Ltd
Current assignee: Beijing Bo Tsing Technology Co Ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-04-08
Anticipated expiration: 2041-12-31
Also published as: CN114289922B

Abstract

The application provides a welding control method, a control device, a processor and a welding system, wherein the method comprises the following steps: controlling to place a first weldment on the first group of roller frames, controlling to place a second weldment on the second group of roller frames, and obtaining a circular seam by adjusting the distance between the first group of roller frames and the second group of roller frames; performing preset treatment on the circular seam to obtain a groove with an inclined surface; controlling the first group of roller frames and the second group of roller frames to rotate, and controlling the first welding robot to weld the groove to form an isolating ring, wherein the isolating ring divides the groove into a first part groove and a second part groove; the first group of roller frames and the second group of roller frames are controlled to rotate, the first welding robot is controlled to weld the first part of groove, and the second welding robot welds the second part of groove until the groove is welded, so that the problem that the overall welding operation efficiency of the circular seam is low in the prior art is solved.

Description

Welding control method, control device, processor and welding system

Technical Field

The present application relates to the field of welding, and in particular, to a welding control method, a welding control device, a computer-readable storage medium, a welding processor, and a welding system.

Background

As the most core part of the ocean wind power fan foundation, the suction cylinder is absolutely genuine. Usually, the bottom end of the suction tube is open, the top end is closed, and when the suction tube is used for sinking and placing the seabed, only the seawater in the barrel needs to be pumped out, so that negative pressure is formed in the tube, and the suction tube can be firmly pricked into the seabed. The suction tube is generally dozens of meters high, has the diameter of 8-15m, is formed by butting a plurality of tubes, and is particularly important for welding the circumferential weld of the suction tube due to the corrosion and the pressure of seawater on the seabed. For the welding of a circumferential weld of a suction cylinder in ocean engineering, the traditional operation mode is to perform submerged arc welding at the inner side, polish and back gouge the outer side, then perform manual welding and fill a cover surface.

Although the welding efficiency of submerged arc welding is higher than that of other welding methods, in submerged arc welding, the flux needs to be dried before welding, the flux is kept warm during welding, slag needs to be cleaned and the flux needs to be recovered after each welding, and the back chipping work is a very huge process, so that the efficiency of the whole operation is not high. In addition, because the outer side is manually welded, in order to reduce the filling amount of the manual welding, the groove at the outer side is smaller than that at the inner side, and the asymmetric groove form is often unfavorable for the control of welding deformation and has relatively low automation degree.

Therefore, a method for improving the welding efficiency and the welding quality of the whole girth weld is needed.

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 present application mainly aims to provide a welding control method, a welding control device, a computer-readable storage medium, a processor, and a welding system, so as to solve the problem of low efficiency of the overall welding operation of a circular seam in the prior art.

According to an aspect of an embodiment of the present invention, there is provided a control method of welding, including: controlling to place a first weldment on a first group of roller frames, controlling to place a second weldment on a second group of roller frames, and obtaining a circular seam by adjusting the distance between the first group of roller frames and the second group of roller frames, wherein each group of roller frames at least comprises one roller frame; performing predetermined treatment on the annular seam to obtain a groove with an inclined surface, wherein the inclined surface is not perpendicular to the peripheral surface of the first weldment and/or the second weldment; controlling the first group of roller frames and the second group of roller frames to rotate, and controlling a first welding robot to weld the groove to form an isolating ring, wherein the isolating ring divides the groove into a first part groove and a second part groove; and controlling the first group of roller frames and the second group of roller frames to rotate, controlling the first welding robot to weld the first part of groove, and controlling the second welding robot to weld the second part of groove until the welding of the groove is completed.

Optionally, controlling the first group of roller frames and the second group of roller frames to rotate and controlling the first welding robot to weld the groove to form the isolating ring includes: controlling the first set of roller frames and the second set of roller frames to rotate at a first speed in a first direction simultaneously; and controlling the first welding robot to weld the groove at the first speed along a second direction to form the isolating ring which divides the groove into the first partial groove and the second partial groove with the same width, wherein the second direction is opposite to the first direction.

Optionally, controlling the first set of roller frames and the second set of roller frames to rotate and controlling the first welding robot to weld the first partial groove and the second welding robot to weld the second partial groove until the welding of the groove is completed comprises: controlling the first group of roller frames and the second group of roller frames to rotate along a first direction at a second speed simultaneously; controlling the first welding robot to weld the first partial groove in a second direction at the second speed from the first surface of the isolating ring; and controlling the second welding robot to weld the second partial groove in the second direction at the second speed from a second surface of the isolating ring, wherein the second direction is opposite to the first direction, and the first surface and the second surface are two opposite surfaces.

Optionally, before controlling the first set of roller frames and the second set of roller frames to rotate and controlling the first welding robot to weld the bevel to form the isolating ring, the method further comprises: and controlling to arrange a blocking piece in the groove, wherein the blocking piece is used for blocking the solder from entering the groove on one side of the blocking piece into the groove on the other side of the blocking piece.

Optionally, before controlling the first set of roller frames and the second set of roller frames to rotate and controlling the first welding robot to weld the first partial groove and the second welding robot to weld the second partial groove until the welding of the groove is completed, the method further comprises: controlling the removal of the barrier.

Optionally, obtaining a circumferential seam by adjusting a distance between the first set of roller frames and the second set of roller frames, comprises: and adjusting the distance between the first group of roller frames and the second group of roller frames to enable the distance between the first weldment and the second weldment to reach a preset value, so as to obtain the circular seam, wherein the preset value is 3-4 mm.

Optionally, the barrier is a round bar shaped ceramic liner.

According to another aspect of the embodiments of the present invention, there is also provided a welding control apparatus, including: the first control unit is used for controlling a first weldment to be placed on the first group of roller frames, controlling a second weldment to be placed on the second group of roller frames, and obtaining a circular seam by adjusting the distance between the first group of roller frames and the second group of roller frames, wherein each group of roller frames at least comprises one roller frame; the preset processing unit is used for carrying out preset processing on the annular seam to obtain a groove with an inclined surface, and the inclined surface is not perpendicular to the peripheral surface of the first welding piece and/or the second welding piece; the second control unit is used for controlling the first group of roller frames and the second group of roller frames to rotate and controlling the first welding robot to weld the groove to form an isolating ring, and the isolating ring divides the groove into a first part groove and a second part groove; and the third control unit is used for controlling the first group of roller frames and the second group of roller frames to rotate, controlling the first welding robot to weld the first part of groove, and controlling the second welding robot to weld the second part of groove until the welding of the groove is completed.

According to still another aspect of embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program executes any one of the methods.

According to still another aspect of the embodiments of the present invention, there is further provided a processor, configured to execute a program, where the program executes any one of the methods.

There is also provided, in accordance with an aspect of an embodiment of the present invention, a welding system, including: two sets of roller frames, two welding robots and a control device for carrying out any of the methods.

In the embodiment of the invention, in the welding control method, first, a first welding part is placed on a first group of roller frames, a second welding part is placed on a second group of roller frames, the distance between the first group of roller frames and the second group of roller frames is adjusted to obtain a circular seam, and then the obtained circular seam is subjected to preset treatment to obtain a groove with an inclined surface; secondly, control first group gyro wheel frame with the second group gyro wheel frame rotates to control first welding robot is right the groove welds, forms the isolating ring, the isolating ring can with the groove is separated for first part groove and second part groove, and finally, control first group gyro wheel frame with the second group gyro wheel frame rotates, and control first welding robot is right the first part groove welds, and the second welding robot is right the welding of second part groove is carried out till accomplishing the welding of groove. Compared with the prior art that the welding piece is welded through the matching operation of submerged arc welding and manual welding, the scheme welds the obtained groove through the first welding robot to obtain the isolating ring, and compared with the prior art that the welding piece is welded on the inner side of the groove through the submerged arc welding, the scheme controls the first group of roller frames and the second group of roller frames to rotate and controls the first welding robot to weld the groove to form the isolating ring, the scheme welds the groove through the first welding robot, does not need to remove slag from the welding channel after welding, does not need to recycle welding flux, and the like, namely the scheme has higher welding efficiency, and compared with the prior art that the manual welding is adopted on the outer side of the groove, the scheme welds the groove of the first part through the first welding robot and welds the groove of the second part through the second welding robot, therefore, the labor intensity of workers is reduced, the welding efficiency is high, the first welding robot is used for welding the first part groove, the second welding robot is used for welding the second part groove, and the welding deformation in the welding process can be prevented, so that the problem that the overall welding operation efficiency of the circular seam is low in the prior art is solved.

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 shows a flow chart of a control method of welding according to an embodiment of the present application;

FIG. 2 shows a schematic position diagram of a first welding robot and a second welding robot according to an embodiment of the present application;

FIG. 3 illustrates a schematic view of a position of a barrier according to an embodiment of the present application;

FIG. 4 illustrates a schematic structural view of a roller frame according to an embodiment of the present application;

FIG. 5 shows a schematic diagram of a welding process according to an embodiment of the present application;

fig. 6 shows a schematic diagram of a control device of a weld according to an embodiment of the present application.

Wherein the figures include the following reference numerals:

100. a first welding robot; 101. a second welding robot; 102. a barrier; 103. a roller frame; 104. a base; 105. a roller structure; 106. a guide rail; 107. a support; 108. a roller; 109. a first motor; 110. a second motor; 111. a stent body; 112. a slide block.

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.

As mentioned in the background of the invention, in order to solve the above-mentioned problems, the welding operation efficiency of the whole circumferential seam in the prior art is low, and in an exemplary embodiment of the present application, a welding control method, a welding control device, a computer-readable storage medium, a welding processor and a welding system are provided.

According to an embodiment of the present application, a method of controlling welding is provided.

Fig. 1 is a flowchart of a control method of welding according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:

s101, controlling a first weldment to be placed on a first group of roller frames, controlling a second weldment to be placed on a second group of roller frames, and obtaining a circular seam by adjusting the distance between the first group of roller frames and the second group of roller frames, wherein each group of roller frames at least comprises one roller frame;

step S102, performing predetermined treatment on the annular seam to obtain a groove with an inclined surface, wherein the inclined surface is not perpendicular to the peripheral surface of the first welding part and/or the second welding part;

step S103, controlling the first group of roller frames and the second group of roller frames to rotate, and controlling a first welding robot to weld the groove to form an isolating ring, wherein the isolating ring divides the groove into a first part groove and a second part groove;

and step S104, controlling the first group of roller frames and the second group of roller frames to rotate, controlling the first welding robot to weld the first part of groove, and controlling the second welding robot to weld the second part of groove until the welding of the groove is finished.

In the welding control method, firstly, a first welding part is placed on a first group of roller frames, a second welding part is placed on a second group of roller frames, the distance between the first group of roller frames and the second group of roller frames is adjusted to obtain a circular seam, and then the obtained circular seam is subjected to preset treatment to obtain a groove with an inclined surface; and finally, controlling the first group of roller frames and the second group of roller frames to rotate, controlling a first welding robot to weld the groove to form an isolating ring, wherein the isolating ring can divide the groove into a first part groove and a second part groove, and finally, controlling the first group of roller frames and the second group of roller frames to rotate, controlling the first welding robot to weld the first part groove and controlling the second welding robot to weld the second part groove until the welding of the groove is completed. Compared with the prior art that the welding piece is welded through the matching operation of submerged-arc welding and manual welding, the scheme welds the obtained groove through the first welding robot to obtain the isolating ring, and compared with the prior art that the welding piece is welded on the inner side of the groove through the submerged-arc welding, the scheme controls the first group of roller frames and the second group of roller frames to rotate and controls the first welding robot to weld the groove to form the isolating ring, the scheme welds the groove through the first welding robot, does not need to remove slag on the welding channel after welding, does not need to recycle welding flux, and the like, namely the scheme has higher welding efficiency, and compared with the prior art that the manual welding is adopted on the outer side of the groove, the scheme welds the groove of the first part through the first welding robot and welds the groove of the second part through the second welding robot, therefore, the labor intensity of workers is reduced, the welding efficiency is high, the first welding robot is used for welding the first part groove, the second welding robot is used for welding the second part groove, and the welding deformation in the welding process can be prevented, so that the problem that the overall welding operation efficiency of the circular seam is low in the prior art is solved.

Specifically, each group of roller frames at least comprises one roller frame, in the practical application process, the number of the roller frames in each group can be adjusted according to the practical situation, if the length of the first weldment or the second weldment is longer, the first weldment or the second weldment is placed on one roller frame and is not stable, in this case, the first weldment or the second weldment can be placed on a plurality of roller frames, that is, the number of the roller frames in each group of roller frames can be adjusted according to the length of the weldment.

In addition, in the present application, the obtained circumferential seam may be ground to obtain a groove having a predetermined shape, and of course, in a specific welding process, the first weldment and the second weldment may be ground in advance, the first weldment is placed on the first group of roller frames, the second weldment is placed on the second group of roller frames, and the groove having the inclined surface is obtained by adjusting a distance between the first group of roller frames and the second group of roller frames.

In a specific embodiment of the present application, the first weldment and the second weldment may be shell sections of a suction tube, and the groove having the inclined surface may be an X-shaped groove, or may also be a double Y-shaped groove, but is not limited to the X-shaped groove and the double Y-shaped groove, or may also be grooves of other shapes, and only the inclined surface of the groove needs to be not perpendicular to the outer circumferential surfaces of the first weldment and/or the second weldment. Of course, in the actual welding process, as shown in fig. 2 and 3, the circumferential seam is ground into an X-shaped groove, so that the cost for obtaining the groove is ensured to be low. Secondly, the above welding robot may be a trackless crawling welding robot.

In another specific embodiment of the present application, as shown in fig. 4, the roller frame 103 includes a base 104, and two roller structures 105 disposed on the base at intervals, at least one of the roller structures includes a guide rail 106, a bracket 107, a roller 108, a first motor 109 and a second motor 110, the guide rail 106 is mounted on the base 104, one end of the bracket 107 is sleeved on the guide rail 106, the other end of the bracket 107 is connected to the roller 108, the first motor 109 is configured to drive the bracket 107 to move, and the bracket 107 includes a bracket body 111 and a slider 112.

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 one embodiment of the present application, the controlling the first set of roller frames and the second set of roller frames to rotate and the first welding robot to weld the bevel to form the isolating ring includes: controlling the first group of roller frames and the second group of roller frames to rotate along a first direction at a first speed; and controlling the first welding robot to weld the bevel in a second direction at the first speed to form the isolation ring that divides the bevel into the first partial bevel and the second partial bevel having the same width, wherein the second direction is opposite to the first direction. In the embodiment, the first group of roller frames and the second group of roller frames are controlled to rotate at the first speed along the first direction, and the first welding robot is controlled to weld the groove at the first speed but along the second direction, namely, the first welding robot and the first group of roller frames and the second group of roller frames have the same speed but opposite directions, so that the first welding robot can be always in a flat welding state, the welding process is simple, the formed isolating ring is ensured to have a good effect, and the welding quality is further ensured to be good.

Specifically, control first welding robot and weld the groove along the second direction with first speed, form and separate the groove for the isolating ring of the same first part groove of width and second part groove, follow-up welding the first part groove through first welding robot, and when welding the second part groove through the second welding robot, can guarantee like this that the filling volume to first part groove and second part groove is equal, thereby can effectually prevent welding deformation scheduling problem that appears in welding process. Certainly, in the practical application process, an isolating ring which divides the groove into a first part groove and a second part groove with different widths can be formed, if the width of the first part groove is different from that of the second part groove, the first part groove is subsequently welded by a first welding robot, and after the second part groove is welded by a second welding robot, if the first part groove or the second part groove is not fully welded, the first welding robot can be used for independently welding the first part groove or the second part groove which is not fully welded again until the first part groove or the second part groove is fully welded.

In a specific embodiment of the present invention, as shown in fig. 2, the separating ring may be formed by placing the first welding robot 100 at a first initial position (i.e., at a 6 o' clock position of the first welding robot 100), and controlling the first welding robot to weld the bevel in a second direction at the first speed from the initial position, so as to separate the bevel into the first partial bevel and the second partial bevel having the same width.

In addition, in the case where the first welding robot is controlled to weld the bevel in the second direction at the first speed to form the isolating ring that divides the bevel into the first partial bevel and the second partial bevel having the same width, that is, the first welding robot is controlled to weld the bevel from the initial position, it is only necessary to control the first welding robot to weld the bevel once, and thus the isolating ring can be obtained.

In order to further ensure better welding quality and higher welding efficiency, in another embodiment of the present application, the method for controlling the first set of roller frames and the second set of roller frames to rotate and controlling the first welding robot to weld the first partial groove and the second welding robot to weld the second partial groove until the welding of the groove is completed includes: controlling the first group of roller frames and the second group of roller frames to rotate along a first direction at a second speed simultaneously; controlling the first welding robot to weld the first partial groove in a second direction at the second speed from the first surface of the isolating ring; and controlling the second welding robot to weld the second partial groove in the second direction at the second speed from a second surface of the isolation ring, the second direction being a direction opposite to the first direction, the first surface and the second surface being opposite surfaces.

Specifically, as shown in fig. 2, the second welding robot 101 may be placed at a second initial position (i.e., the position of the second welding robot 101 at 12 o' clock), and the second partial groove may be welded in the second direction at the second speed from the second surface of the isolating ring.

Specifically, the first welding robot is controlled to start from the first surface of the isolation ring, the first partial groove is welded along the second direction at the second speed, the second welding robot is controlled to start from the second surface of the isolation ring, the second partial groove is welded along the second direction at the second speed, namely, the first welding robot is controlled to weld the first partial groove along the second direction at the second speed from the inner side of the groove, and the second welding robot is controlled to weld the second partial groove along the second direction from the outer side of the groove, because the speeds of the first welding robot and the second welding robot are consistent with the speeds of the first group of roller frames and the second group of roller frames and the directions are opposite in the whole welding process, the first welding robot and the second welding robot are always in flat welding positions, the welding process has the advantages that the welding process is better, in addition, because the first welding robot and the second welding robot weld the first part groove and the second part groove from the inner side and the outer side simultaneously, the welding efficiency is higher, the welding filler quantity of the first part groove and the second part groove is equal, and the welding deformation in the welding process can be effectively prevented.

In a specific embodiment of the present application, as shown in fig. 5, the first group of roller frames and the second group of roller frames are controlled to rotate, and the first welding robot is controlled to weld the groove to form the isolating ring, which may be the first welding in fig. 5, after the first welding, the first welding robot and the second welding robot may be controlled to weld simultaneously, as the second welding and the fifth welding in fig. 5, the first welding performed by the first welding robot and the second welding robot simultaneously, and so on, the third welding and the sixth welding may be the second welding performed by the first welding robot and the second welding robot simultaneously, the fourth welding and the seventh welding may be the third welding performed by the first welding robot and the second welding robot simultaneously, and if the inner side of the groove is welded completely, and the second welding robot can be controlled to perform eighth welding, and the parameters are specific to the eight welding parameters as shown in the table one.

Watch 1

Specifically, in an actual application, the first speed may be the same as the second speed, or the first speed may be different from the second speed.

Specifically, the first direction may be a clockwise direction or a counterclockwise direction, and when the first direction is the clockwise direction, the second direction needs to be the counterclockwise direction, and when the first direction is the counterclockwise direction, the second direction needs to be the clockwise direction.

In another embodiment of the present application, as shown in fig. 3, before controlling the first set of roller frames and the second set of roller frames to rotate and controlling the first welding robot to weld the bevel to form the isolating ring, the method further includes: and controlling to arrange a blocking member 102 in the slope, wherein the blocking member 102 is used for blocking the solder from entering the slope on one side of the blocking member 102 from the slope on the other side of the blocking member 102. In this embodiment, set up the separation piece in the bevel, follow-up welding formation isolating ring is carried out to above-mentioned bevel in the first welding robot of control, can prevent leaking of solder, has further guaranteed that the quality of the isolating ring that obtains is better.

In addition, it should be noted that the blocking member may be a blocking member of any shape in the prior art, but the blocking member cannot be welded with the solder and the soldering part, and in the process of specifically selecting the blocking member, the blocking member not only needs to have a high melting point and is not easy to be welded with the solder and the soldering part, but also needs to ensure that the subsequent detachment is easy.

In an actual application process, before controlling the first group of roller frames and the second group of roller frames to rotate and controlling the first welding robot to weld the groove to form the isolating ring, the method further includes: fix first weldment and second weldment through the horse board to guarantee that first weldment and second weldment can not carry out the removal about from top to bottom in welding process, for example, it is fixed with first weldment and second weldment through the horse board, can guarantee that the width of circumferential weld can not change, also be the width of above-mentioned predetermined value can not change, can also guarantee that first weldment and second weldment remain on same water flat line all the time, can prevent the deformation that appears in welding process, the welded quality has further been guaranteed better.

Specifically, the first weldment and the second weldment are fixed by the horse plates, and the first weldment and the second weldment may also be fixed by a plurality of horse plates. For example, when the horse board is a square horse board, the position of the circular seam is taken as a central point, the first welding member and the second welding member are fixed by a horse board above the first welding member and the second welding member, the first welding member and the second welding member are fixed by a horse board below the first welding member and the second welding member (the ground is taken as a coordinate system, the side close to the ground is the lower side of the first welding member and the second welding member, the upper side of the first welding member and the second welding member is the side far from the ground), the first welding member and the second welding member are fixed by a horse board on the left side of the first welding member and the second welding member (namely, the first welding member and the second welding member are horizontally placed on corresponding roller frames, and the side facing the first welding member and the second welding member is taken as the left side of the first welding member), and the first welding member and the second welding member are fixed by a horse board on the right side of the first welding member and the second welding member, of course, the above-mentioned fixing manner is not limited to the fixing manner, but may be other fixing manner, only the first weldment and the second weldment need to be fixed. In addition, the first weldment and the second weldment are fixed through the square horse boards, so that the lower cost can be ensured. In practical application, the horse board may also be a horse board with a curvature.

In order to facilitate the subsequent control of the first welding robot to weld the first partial groove and the second welding robot to weld the second partial groove, in another embodiment of the present application, before controlling the first set of roller frames and the second set of roller frames to rotate and controlling the first welding robot to weld the first partial groove, the second welding robot welds the second partial groove until the welding of the groove is completed, the method further includes: and controlling to remove the barrier.

In a specific embodiment of the present application, before controlling the first group of roller frames and the second group of roller frames to rotate, controlling the first welding robot to weld the first partial groove, and controlling the second welding robot to weld the second partial groove, until the welding of the groove is completed, the method further includes: and removing the horse board for fixing the first weldment and the second weldment.

In one embodiment of the present application, the adjustment of the distance between the first set of roller frames and the second set of roller frames to obtain the circumferential seam includes: and adjusting the distance between the first group of roller frames and the second group of roller frames to enable the distance between the first weldment and the second weldment to reach a preset value, so as to obtain the circular seam, wherein the preset value is 3-4 mm. In this embodiment, adjust the distance between the first group of gyro wheel frame and the second group of gyro wheel frame, make the distance between first weldment and the second weldment also correspondingly adjusted, until reaching the predetermined value, obtain the width for the circumferential weld of predetermined value, follow-up carry out predetermined treatment to the circumferential weld again and obtain the groove, and control first welding robot welds the groove, it is better to have further guaranteed the effect of the isolating ring that forms, that is to say, can observe the isolating ring from the inboard of groove and the outside of groove, guaranteed that the effect of single face bottoming is better promptly, guaranteed also that the inside and outside welded effect of subsequent groove is better simultaneously.

In another embodiment of the present application, the barrier is a ceramic liner having a round bar shape. In this embodiment, because the melting point of ceramic liner is higher, can not be in the same place with solder and weldment welding, follow-up can be more conveniently demolish above-mentioned ceramic liner from the outside of groove, in addition, adopt round bar shape ceramic liner in this scheme, so not only can set up round bar shape ceramic liner in the groove more easily to the effect of the separation of playing is better.

Specifically, the welding process that crawling welding robot carried on consumable electrode gas shielded welding is led to the trackless has been adopted in this scheme, and the material of butt welding parent metal is VL E36, the barrel of thickness for 30mm suction section of thick bamboo carries out the girth welding. Trackless is led and is crawled welding robot and be equipped with industry molten bath camera, except that backing weld is carried out to inboard groove, arranges two trackless simultaneously and leads crawl welding robot, one is located barrel outside 12 dot positions (be the second initial position), and one is placed in barrel inboard 6 o' clock position (be first initial position), and the additional work load of polishing that carbon arc gouging and because carbon arc gouging produced can be saved to this kind of operation mode. Due to the fact that the symmetrical X-shaped groove is adopted, the filling amount of the inner side and the outer side of the groove is equal, welding deformation in the welding process can be effectively prevented, meanwhile, the inner side and the outer side of the groove are welded by the trackless guide welding robot, labor intensity of workers can be reduced to the maximum degree, and overall welding efficiency can be improved.

The embodiment of the present application further provides a control device for welding, and it should be noted that the control device for welding according to the embodiment of the present application may be used to execute the control method for welding according to the embodiment of the present application. The following describes a control device for welding according to an embodiment of the present application.

Fig. 6 is a schematic diagram of a control device for welding according to an embodiment of the present application. As shown in fig. 6, the apparatus includes:

a first control unit 10, configured to control a first welding member to be placed on a first group of roller frames, control a second welding member to be placed on a second group of roller frames, and obtain a circumferential seam by adjusting a distance between the first group of roller frames and the second group of roller frames, where each group of roller frames includes at least one roller frame;

a predetermined processing unit 20 configured to perform a predetermined process on the circumferential seam to obtain a bevel having an inclined surface that is not perpendicular to an outer circumferential surface of the first weldment and/or the second weldment;

a second control unit 30, configured to control the first group of roller frames and the second group of roller frames to rotate, and control the first welding robot to weld the bevel to form an isolating ring, where the isolating ring divides the bevel into a first partial bevel and a second partial bevel;

and a third control unit 40, configured to control the first group of roller frames and the second group of roller frames to rotate, and control the first welding robot to weld the first partial groove, and control the second welding robot to weld the second partial groove until the welding of the groove is completed.

In the welding control device, the first control unit is used for controlling the first welding piece to be placed on the first group of roller frames, controlling the second welding piece to be placed on the second group of roller frames, and obtaining a circular seam by adjusting the distance between the first group of roller frames and the second group of roller frames, wherein each group of roller frames at least comprises one roller frame; the preset processing unit is used for carrying out preset processing on the circular seam to obtain a groove with a preset shape, and the preset shape is a symmetrical shape and has an angle or an incompletely symmetrical shape and has an angle; the second control unit is used for controlling the first group of roller frames and the second group of roller frames to rotate and controlling the first welding robot to weld the groove to form an isolating ring, and the isolating ring divides the groove into a first part groove and a second part groove; and the third control unit is used for controlling the first group of roller frames and the second group of roller frames to rotate, controlling the first welding robot to weld the first partial groove, and controlling the second welding robot to weld the second partial groove until the welding of the groove is finished. Compared with the prior art that the welding piece is welded through the matching operation of submerged-arc welding and manual welding, the scheme welds the obtained groove through the first welding robot to obtain the isolating ring, and compared with the prior art that the welding piece is welded on the inner side of the groove through the submerged-arc welding, the scheme controls the first group of roller frames and the second group of roller frames to rotate and controls the first welding robot to weld the groove to form the isolating ring, the scheme welds the groove through the first welding robot, does not need to remove slag on the welding channel after welding, does not need to recycle welding flux, and the like, namely the scheme has higher welding efficiency, and compared with the prior art that the manual welding is adopted on the outer side of the groove, the scheme welds the groove of the first part through the first welding robot and welds the groove of the second part through the second welding robot, therefore, the labor intensity of workers is reduced, the welding efficiency is high, the first welding robot is used for welding the first part groove, the second welding robot is used for welding the second part groove, and the welding deformation in the welding process can be prevented, so that the problem that the overall welding operation efficiency of the circular seam is low in the prior art is solved.

In one embodiment of the present application, the second control unit includes a first control module and a second control module, wherein the first control module is configured to control the first set of roller frames and the second set of roller frames to rotate simultaneously at a first speed in a first direction; the second control module is configured to control the first welding robot to weld the bevel in a second direction at the first speed to form the isolating ring that divides the bevel into the first partial bevel and the second partial bevel having the same width, and the second direction is opposite to the first direction. In the embodiment, the first group of roller frames and the second group of roller frames are controlled to rotate at the first speed along the first direction, and the first welding robot is controlled to weld the groove at the first speed but along the second direction, namely, the first welding robot and the first group of roller frames and the second group of roller frames have the same speed but opposite directions, so that the first welding robot can be always in a flat welding state, the welding process is simple, the formed isolating ring is ensured to have a good effect, and the welding quality is further ensured to be good.

In order to further ensure better welding quality and higher welding efficiency, in another embodiment of the present application, the third control unit includes a third control module, a fourth control module and a fifth control module, wherein the third control module is configured to control the first set of roller frames and the second set of roller frames to rotate in the first direction at the same time at the second speed; the fourth control module is used for controlling the first welding robot to weld the first partial groove from the first surface of the isolating ring along a second direction at the second speed; the fifth control module is configured to control the second welding robot to weld the second partial groove in the second direction at the second speed from a second surface of the isolation ring, the second direction being opposite to the first direction, and the first surface and the second surface being opposite surfaces.

Specifically, the first welding robot is controlled to start from the first surface of the isolation ring, the first partial groove is welded along the second direction at the second speed, the second welding robot is controlled to start from the second surface of the isolation ring, the second partial groove is welded along the second direction at the second speed, namely, the first welding robot is controlled to weld the first partial groove along the second direction at the second speed from the inner side of the groove, and the second welding robot is controlled to weld the second partial groove along the second direction from the outer side of the groove, because the speeds of the first welding robot and the second welding robot are consistent with the speeds of the first group of roller frames and the second group of roller frames and the directions are opposite in the whole welding process, the first welding robot and the second welding robot are always in flat welding positions, in addition, because the first welding robot and the second welding robot weld the first part groove and the second part groove from the inner side and the outer side simultaneously, the welding efficiency is high, the welding filler quantity of the first part groove and the second part groove is equivalent, and the welding deformation in the welding process can be effectively prevented.

In another embodiment of the present invention, as shown in fig. 3, the control apparatus further includes a fourth control unit for controlling the blocking member 102 to be disposed in the groove before controlling the first group of roller frames and the second group of roller frames to rotate and controlling the first welding robot to weld the groove to form the isolating ring, wherein the blocking member 102 is used for blocking the solder from entering the groove on one side of the blocking member 102 into the groove on the other side of the blocking member 102. In this embodiment, set up the separation piece in the bevel, follow-up welding formation isolating ring is carried out to above-mentioned bevel in the first welding robot of control, can prevent leaking of solder, has further guaranteed that the quality of the isolating ring that obtains is better.

In practical application, before controlling the first set of roller frames and the second set of roller frames to rotate and controlling the first welding robot to weld the bevel to form the isolating ring, the apparatus is further configured to: fix first weldment and second weldment through the horse board to guarantee that first weldment and second weldment can not carry out the removal about from top to bottom in welding process, for example, it is fixed with first weldment and second weldment through the horse board, can guarantee that the width of circumferential weld can not change, also be the width of above-mentioned predetermined value can not change, can also guarantee that first weldment and second weldment remain on same water flat line all the time, can prevent the deformation that appears in welding process, the welded quality has further been guaranteed better.

In order to facilitate the subsequent control of the first welding robot to weld the first part of the bevel and the second welding robot to weld the second part of the bevel, in another embodiment of the present application, the control device further comprises a fifth control unit, which is used for controlling the first group of roller frames and the second group of roller frames to rotate, controlling the first welding robot to weld the first part of the bevel and controlling the second welding robot to weld the second part of the bevel, and controlling the separation member to be detached until the welding of the bevel is completed.

In a specific embodiment of the present application, before controlling the first group of roller frames and the second group of roller frames to rotate and controlling the first welding robot to weld the first partial groove and the second welding robot to weld the second partial groove, the apparatus is further configured to: and removing the horse board for fixing the first weldment and the second weldment.

In an embodiment of the application, the first control unit includes an adjusting module, configured to adjust a distance between the first set of roller frames and the second set of roller frames so that the distance between the first weldment and the second weldment reaches a predetermined value, so as to obtain the circumferential seam, where the predetermined value is 3 to 4 mm. In this embodiment, adjust the distance between the first group of gyro wheel frame and the second group of gyro wheel frame, make the distance between first weldment and the second weldment also correspondingly adjusted, until reaching the predetermined value, obtain the width for the circumferential weld of predetermined value, follow-up carry out predetermined treatment to the circumferential weld again and obtain the groove, and control first welding robot welds the groove, it is better to have further guaranteed the effect of the isolating ring that forms, that is to say, can observe the isolating ring from the inboard of groove and the outside of groove, guaranteed that the effect of single face bottoming is better promptly, guaranteed also that the inside and outside welded effect of subsequent groove is better simultaneously.

The welding control device comprises a processor and a memory, wherein the first control unit, the preset processing unit, the second control unit, the third control 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. The inner core can be set to be one or more than one, and the problem that the overall welding operation efficiency of the circular seam is low in the prior art is solved by adjusting the inner core parameters.

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 computer-readable storage medium on which a program is stored, the program implementing the control method of welding described above when executed by a processor.

The embodiment of the invention provides a processor, which is used for running a program, wherein the program executes the control method of the welding when running.

An embodiment of the present invention further provides a welding system, including: two sets of roller frames, two welding robots and a control device for carrying out any of the above methods.

The welding system comprises two groups of roller frames, two welding robots and a control device, wherein the control device can execute any one of the control methods, and in the control method, firstly, a first welding part is placed on a first group of roller frames, a second welding part is placed on a second group of roller frames, the distance between the first group of roller frames and the second group of roller frames is adjusted to obtain a circular seam, and then, the obtained circular seam is subjected to preset treatment to obtain a groove with an inclined surface; and finally, controlling the first group of roller frames and the second group of roller frames to rotate, controlling a first welding robot to weld the groove to form an isolating ring, wherein the isolating ring can divide the groove into a first part groove and a second part groove, and finally, controlling the first group of roller frames and the second group of roller frames to rotate, controlling the first welding robot to weld the first part groove and controlling the second welding robot to weld the second part groove until the welding of the groove is completed. Compared with the prior art that the welding piece is welded through the matching operation of submerged-arc welding and manual welding, the scheme welds the obtained groove through the first welding robot to obtain the isolating ring, and compared with the prior art that the welding piece is welded on the inner side of the groove through the submerged-arc welding, the scheme controls the first group of roller frames and the second group of roller frames to rotate and controls the first welding robot to weld the groove to form the isolating ring, the scheme welds the groove through the first welding robot, does not need to remove slag on the welding channel after welding, does not need to recycle welding flux, and the like, namely the scheme has higher welding efficiency, and compared with the prior art that the manual welding is adopted on the outer side of the groove, the scheme welds the groove of the first part through the first welding robot and welds the groove of the second part through the second welding robot, therefore, the labor intensity of workers is reduced, the welding efficiency is high, the first welding robot is used for welding the first part groove, the second welding robot is used for welding the second part groove, and the welding deformation in the welding process can be prevented, so that the problem that the overall welding operation efficiency of the circular seam is low in the prior art is solved.

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:

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:

In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the above methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:

1) the method comprises the steps of firstly placing a first welding part on a first group of roller frames and placing a second welding part on a second group of roller frames, adjusting the distance between the first group of roller frames and the second group of roller frames to obtain a circumferential seam, and then performing preset treatment on the obtained circumferential seam to obtain a groove with an inclined surface; and finally, controlling the first group of roller frames and the second group of roller frames to rotate, controlling a first welding robot to weld the groove to form an isolating ring, wherein the isolating ring can divide the groove into a first part groove and a second part groove, and finally, controlling the first group of roller frames and the second group of roller frames to rotate, controlling the first welding robot to weld the first part groove and controlling the second welding robot to weld the second part groove until the welding of the groove is completed. Compared with the prior art that the welding piece is welded through the matching operation of submerged-arc welding and manual welding, the scheme welds the obtained groove through the first welding robot to obtain the isolating ring, and compared with the prior art that the welding piece is welded on the inner side of the groove through the submerged-arc welding, the scheme controls the first group of roller frames and the second group of roller frames to rotate and controls the first welding robot to weld the groove to form the isolating ring, the scheme welds the groove through the first welding robot, does not need to remove slag on the welding channel after welding, does not need to recycle welding flux, and the like, namely the scheme has higher welding efficiency, and compared with the prior art that the manual welding is adopted on the outer side of the groove, the scheme welds the groove of the first part through the first welding robot and welds the groove of the second part through the second welding robot, therefore, the labor intensity of workers is reduced, the welding efficiency is high, the first welding robot is used for welding the first part groove, the second welding robot is used for welding the second part groove, and the welding deformation in the welding process can be prevented, so that the problem that the overall welding operation efficiency of the circular seam is low in the prior art is solved.

2) In the welding control device, a first control unit is used for controlling a first welding piece to be placed on a first group of roller frames, controlling a second welding piece to be placed on a second group of roller frames, and obtaining a circular seam by adjusting the distance between the first group of roller frames and the second group of roller frames, wherein each group of roller frames at least comprises one roller frame; the preset processing unit is used for carrying out preset processing on the circular seam to obtain a groove with a preset shape, and the preset shape is a symmetrical shape and has an angle or an incompletely symmetrical shape and has an angle; the second control unit is used for controlling the first group of roller frames and the second group of roller frames to rotate and controlling the first welding robot to weld the groove to form an isolating ring, and the isolating ring divides the groove into a first part groove and a second part groove; and the third control unit is used for controlling the first group of roller frames and the second group of roller frames to rotate, controlling the first welding robot to weld the first partial groove, and controlling the second welding robot to weld the second partial groove until the welding of the groove is finished. Compared with the prior art that the welding piece is welded through the matching operation of submerged-arc welding and manual welding, the scheme welds the obtained groove through the first welding robot to obtain the isolating ring, and compared with the prior art that the welding piece is welded on the inner side of the groove through the submerged-arc welding, the scheme controls the first group of roller frames and the second group of roller frames to rotate and controls the first welding robot to weld the groove to form the isolating ring, the scheme welds the groove through the first welding robot, does not need to remove slag on the welding channel after welding, does not need to recycle welding flux, and the like, namely the scheme has higher welding efficiency, and compared with the prior art that the manual welding is adopted on the outer side of the groove, the scheme welds the groove of the first part through the first welding robot and welds the groove of the second part through the second welding robot, therefore, the labor intensity of workers is reduced, the welding efficiency is high, the first welding robot is used for welding the first part groove, the second welding robot is used for welding the second part groove, and the welding deformation in the welding process can be prevented, so that the problem that the overall welding operation efficiency of the circular seam is low in the prior art is solved.

3) The control method comprises the steps that firstly, a first welding piece is placed on a first group of roller frames, a second welding piece is placed on a second group of roller frames, the distance between the first group of roller frames and the second group of roller frames is adjusted to obtain a circular seam, and then the obtained circular seam is subjected to preset treatment to obtain a groove with an inclined surface; and finally, controlling the first group of roller frames and the second group of roller frames to rotate, controlling a first welding robot to weld the groove to form an isolating ring, wherein the isolating ring can divide the groove into a first part groove and a second part groove, and finally, controlling the first group of roller frames and the second group of roller frames to rotate, controlling the first welding robot to weld the first part groove and controlling the second welding robot to weld the second part groove until the welding of the groove is completed. Compared with the prior art that the welding piece is welded through the matching operation of submerged-arc welding and manual welding, the scheme welds the obtained groove through the first welding robot to obtain the isolating ring, and compared with the prior art that the welding piece is welded on the inner side of the groove through the submerged-arc welding, the scheme controls the first group of roller frames and the second group of roller frames to rotate and controls the first welding robot to weld the groove to form the isolating ring, the scheme welds the groove through the first welding robot, does not need to remove slag on the welding channel after welding, does not need to recycle welding flux, and the like, namely the scheme has higher welding efficiency, and compared with the prior art that the manual welding is adopted on the outer side of the groove, the scheme welds the groove of the first part through the first welding robot and welds the groove of the second part through the second welding robot, therefore, the labor intensity of workers is reduced, the welding efficiency is high, the first welding robot is used for welding the first part groove, the second welding robot is used for welding the second part groove, and the welding deformation in the welding process can be prevented, so that the problem that the overall welding operation efficiency of the circular seam is low in the prior art is solved.

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

1. A method of controlling welding, comprising:

controlling to place a first weldment on a first group of roller frames, controlling to place a second weldment on a second group of roller frames, and obtaining a circular seam by adjusting the distance between the first group of roller frames and the second group of roller frames, wherein each group of roller frames at least comprises one roller frame;

performing predetermined treatment on the annular seam to obtain a groove with an inclined surface, wherein the inclined surface is not perpendicular to the peripheral surface of the first weldment and/or the second weldment;

controlling the first group of roller frames and the second group of roller frames to rotate, and controlling a first welding robot to weld the groove to form an isolating ring, wherein the isolating ring divides the groove into a first part groove and a second part groove;

and controlling the first group of roller frames and the second group of roller frames to rotate, controlling the first welding robot to weld the first part of groove, and controlling the second welding robot to weld the second part of groove until the welding of the groove is completed.

2. The method of claim 1, wherein controlling the first and second sets of roller frames to rotate and the first welding robot to weld the bevel to form the isolating ring comprises:

controlling the first set of roller frames and the second set of roller frames to rotate at a first speed in a first direction simultaneously;

and controlling the first welding robot to weld the groove at the first speed along a second direction to form the isolating ring which divides the groove into the first partial groove and the second partial groove with the same width, wherein the second direction is opposite to the first direction.

3. The method of claim 1, wherein controlling the first and second sets of roller frames to rotate and the first welding robot to weld the first partial groove and the second welding robot to weld the second partial groove until welding of the groove is completed comprises:

controlling the first group of roller frames and the second group of roller frames to rotate along a first direction at a second speed simultaneously;

controlling the first welding robot to weld the first partial groove in a second direction at the second speed from the first surface of the isolating ring;

and controlling the second welding robot to weld the second partial groove in the second direction at the second speed from a second surface of the isolating ring, wherein the second direction is opposite to the first direction, and the first surface and the second surface are two opposite surfaces.

4. The method of any one of claims 1 to 3, wherein prior to controlling the first and second sets of roller frames to rotate and the first welding robot to weld the bevel to form the isolating ring, the method further comprises:

and controlling to arrange a blocking piece in the groove, wherein the blocking piece is used for blocking the solder from entering the groove on one side of the blocking piece into the groove on the other side of the blocking piece.

5. The method of claim 4, wherein prior to controlling the first and second sets of roller frames to rotate and controlling the first welding robot to weld the first partial groove and the second welding robot to weld the second partial groove until welding of the groove is complete, the method further comprises:

controlling the removal of the barrier.

6. The method according to claim 1, wherein obtaining an annular seam by adjusting a distance between the first set of roller frames and the second set of roller frames comprises:

and adjusting the distance between the first group of roller frames and the second group of roller frames to enable the distance between the first weldment and the second weldment to reach a preset value, so as to obtain the circular seam, wherein the preset value is 3-4 mm.

7. The method of claim 5, wherein the barrier is a round bar shaped ceramic liner.

8. A welding control device, comprising:

the first control unit is used for controlling a first weldment to be placed on the first group of roller frames, controlling a second weldment to be placed on the second group of roller frames, and obtaining a circular seam by adjusting the distance between the first group of roller frames and the second group of roller frames, wherein each group of roller frames at least comprises one roller frame;

the preset processing unit is used for carrying out preset processing on the annular seam to obtain a groove with an inclined surface, and the inclined surface is not perpendicular to the peripheral surface of the first welding piece and/or the second welding piece;

the second control unit is used for controlling the first group of roller frames and the second group of roller frames to rotate and controlling the first welding robot to weld the groove to form an isolating ring, and the isolating ring divides the groove into a first part groove and a second part groove;

and the third control unit is used for controlling the first group of roller frames and the second group of roller frames to rotate, controlling the first welding robot to weld the first part of groove, and controlling the second welding robot to weld the second part of groove until the welding of the groove is completed.

9. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program performs the 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 method of any of claims 1 to 7.

11. A welding system, comprising: two sets of roller frames, two welding robots and a control device for carrying out the method according to any one of claims 1 to 7.