CN115026483B - Boiler water wall pipe weld joint identification welding method - Google Patents
Boiler water wall pipe weld joint identification welding method Download PDFInfo
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- CN115026483B CN115026483B CN202210903216.3A CN202210903216A CN115026483B CN 115026483 B CN115026483 B CN 115026483B CN 202210903216 A CN202210903216 A CN 202210903216A CN 115026483 B CN115026483 B CN 115026483B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
- B23K31/027—Making tubes with soldering or welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/06—Tubes
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- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention provides a boiler water wall pipe welding seam identification welding method, which belongs to the technical field of water wall pipes and comprises the following steps: inputting specifications and materials of a circular tube and a fin to be welded as original data; setting identification parameters and safety threshold values according to the original data; the contour scanner transmits the image of the target point to the image processor; the image processor extracts the image as 3D point cloud data; the 3D point cloud processor extracts and calculates 3D point cloud data according to the identification parameters and the safety threshold value to generate welding position points and welding gun angles; the motion controller enables the base to move to the next target point at a constant speed in one direction; repeating the steps for 10 times, the 3D point cloud processor can obtain welding position points and welding gun angles of 10 target points, and generating welding gun path data; the 3D point cloud processor sends welding gun path data to the motion controller; and opening the welding gun, and controlling the welding gun to move by the motion controller according to the welding gun path data to finish welding of the welding seam.
Description
Technical Field
The invention belongs to the technical field of water wall pipes, and particularly relates to a boiler water wall pipe weld joint identification welding method.
Background
The water cooling wall is one of the main core parts of the boiler and is the main heated part of the boiler, and consists of a plurality of rows of steel pipes which are distributed around the boiler furnace. The water wall tube is arranged with two types of straight tube and bent tube, in the production process, the straight tube can be automatically welded, and the bent tube part can not be automatically welded by standard equipment due to different curvature, so that the welding quality is determined by the welding level of workers, the welding quality can not be effectively ensured, and the control cost is high and the efficiency is low.
Disclosure of Invention
In view of the above, the present invention aims to provide a method for identifying and welding a weld of a boiler water wall tube, so as to alleviate the above technical problems.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
a boiler water wall pipe weld joint identification welding method comprises the following steps:
s1, inputting specifications and materials of round tubes and fins to be welded into a 3D point cloud processor as original data;
s2, setting identification parameters and a safety threshold by the 3D point cloud processor according to the original data;
s3, fixing the profile scanner and the welding gun on the base;
s4, moving the base to an initial position on the space rail;
s5, transmitting an image of the target point to an image processor by the contour scanner;
s6, the image processor extracts the image into 3D point cloud data and sends the 3D point cloud data to the 3D point cloud processor;
s7, the 3D point cloud processor extracts and calculates 3D point cloud data by referring to the identification parameters and the safety threshold value to generate welding position points and welding gun angles;
s8, enabling the base to move at a constant speed to a next target point in one direction by the motion controller;
s9, repeating the steps from S5 to S8 for 10 times, wherein the 3D point cloud processor can obtain welding position points and welding gun angles of 10 target points and generate welding gun path data;
s10: the 3D point cloud processor sends welding gun path data to the motion controller;
s11: and opening the welding gun, and controlling the welding gun to move by the motion controller according to the welding gun path data to finish welding of the welding seam.
Further, step 11 further comprises:
s12, closing the welding gun, and changing the movement direction of the base into the other direction through the movement controller;
s13, deleting the path data of the last welding gun in the motion controller;
and S14, repeating the steps S5 to S11 to finish the welding of the next welding line.
Further, step 14 further comprises:
and S15, repeating the steps S12 to S14 until all the welding seams are welded.
Compared with the prior art, the boiler water wall tube weld joint identification welding method provided by the invention has the following advantages:
the invention designs a characteristic algorithm which is specially used for identifying the fillet weld of the round tube and the fin, can accurately identify the target position of the fillet weld, sets a safety threshold and an optimal angle value range according to parameter information of the round tube and the fin, and can ensure that a welding gun accurately reaches a designated position in an optimal posture; the real-time path generation algorithm is designed in a targeted manner, so that position errors caused by welding deformation can be avoided, and welding quality is ensured.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be the communication of units in two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
The present invention will be described in detail with reference to examples.
At present, the device (MPM) with mature straight section can be used for producing water wall tube rows, and can splice a plurality of round tubes and fins at the same time; the disadvantage is that the existing bent pipe cannot be spliced, and the cost is relatively high.
At present, a manual welding mode is still adopted for bent pipe splicing, the efficiency of the mode is low, the welding quality cannot be guaranteed, and the cost is high.
The invention aims to solve the problem of automatic splicing of bent pipes, and utilizes 3D point cloud feature extraction to obtain a target welding point, and guides a special welding machine to perform water wall splicing and welding work, so that arc-shaped bent pipe splicing and welding within +/-70 degrees can be finally realized.
The invention adopts a hardware carrying platform and adopts the following technical scheme: the utility model provides a be applied to water-cooled wall fin and pipe fillet weld discernment device, including X, Y, Z straight line track, revolute joint around the X axle, the welder seat, motion controller, the profile scanner, image processor, 3D point cloud processor and scanner support, wherein profile scanner gathers welding seam image information and sends to image processor, image processor turns into 3D point cloud and sends to 3D point cloud processor, 3D point cloud processor draws target welding seam information and sends to motion controller according to preset characteristic algorithm, the welder is fixed on the welder seat, the welder seat is fixed on revolute joint around the X axle, revolve the joint around the X axle and fix on Z axle track, can realize the transformation of welder space position through X, Y, Z straight line track, can realize the transformation of welder gesture through revolute joint around the X axle, the scanner is fixed on the scanner support, the scanner support is fixed on the welder seat, the information that is drawn by 3D point cloud processor is sent to motion controller, motion controller drives the welder and reaches target position appearance. And (3) fins: connecting sheet between round tubes
The specific welding seam extraction and welding control steps are as follows:
1) Setting information such as identification parameters extracted by relevant fillet weld characteristics, welding process parameters and the like according to specifications of round tubes and fins of the extracted fillet weld and the material of the body;
2) Moving a scanner to a starting position, transmitting an image to an image processor by the scanner, extracting weld joint information into 3D point cloud data by the image processor, transmitting the 3D point cloud data to the 3D point cloud processor, starting fillet weld point cloud extraction, extracting parameter information of a circular tube and a fin according to a designed circular arc and straight line feature extraction algorithm, taking an intersection point of the circular arc and the straight line as a current fillet weld target point, and setting the pose of a welding gun at the position according to the circular arc and straight line information and a safety threshold value;
3) Keeping the moving direction and speed of the scanner unchanged, repeating 10) the step 2), obtaining the position point information of 10 fillet welds in space and the posture information of the welding gun, generating the path information of the welding gun through filtering and smoothing treatment, and transmitting the path information to a motion controller;
4) Continuing to run, obtaining the next piece of fillet weld information, firstly removing the first piece of fillet weld information, adding the newly obtained fillet weld information to reconstruct 10 pieces of fillet weld information, regenerating a path, and continuously repeating the process to generate the path in real time;
5) And the motion controller moves the welding gun to run point by point according to the generated path information, and finally, the automatic welding control of the fillet weld is realized.
By adopting the technical scheme, the invention has the following advantages:
1) The characteristic algorithm specially aiming at the identification of the fillet weld of the round tube and the fin is designed, the target position of the fillet weld can be accurately identified, and the safety threshold and the optimal angle value range are set according to the parameter information of the round tube and the fin, so that the welding gun can be ensured to accurately reach the designated position in the optimal posture;
2) The visual guiding mode is adopted, so that the automatic fillet welding with the straight pipe can be applied, and the automatic fillet welding can be carried out for any angle (taking the X-axis guide rail direction as a reference) within +/-70 degrees;
3) The real-time path generation algorithm is designed in a targeted manner, so that position errors caused by welding deformation can be avoided, and welding quality is ensured.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (3)
1. The method is characterized by being used for welding the welding line of the boiler water wall pipe at any angle within +/-70 degrees by taking the X-axis direction as a reference; the method comprises the following steps:
s1: inputting specifications and materials of a circular tube and a fin to be welded into a 3D point cloud processor as original data;
s2: the 3D point cloud processor sets identification parameters and safety thresholds of fillet weld feature extraction according to the original data;
s3: fixing the profile scanner and the welding gun on the base;
s4: moving the base to an initial position on the spatial rail;
s5: the contour scanner transmits the image of the target point to the image processor;
s6: the image processor extracts the image into 3D point cloud data and sends the 3D point cloud data to the 3D point cloud processor;
s7: the 3D point cloud processor extracts and calculates 3D point cloud data according to the identification parameters and the safety threshold value to generate welding position points and welding gun angles; the step S7 specifically comprises the following steps: extracting parameter information of the circular tube and the fin according to a designed circular arc and straight line characteristic extraction algorithm, taking the intersection point of the circular arc and the straight line as the current fillet weld position point, and setting the welding gun angle of the welding gun at the position according to the circular arc and straight line information and a safety threshold value;
s8: the motion controller enables the base to move to the next target point at a constant speed in one direction;
s9: repeating the steps from S5 to S8 for 10 times, wherein the 3D point cloud processor can obtain welding position points and welding gun angles of 10 target points, and generates welding gun path data after filtering and smoothing the welding position points and the welding gun angles of the 10 target points;
s10: the 3D point cloud processor sends welding gun path data to the motion controller;
s11: and opening the welding gun, and controlling the welding gun to move by the motion controller according to the welding gun path data to finish welding of the welding seam.
2. The method for identifying and welding a boiler water wall tube weld according to claim 1, further comprising, after step 11:
s12: closing the welding gun, and changing the moving direction of the base into the other direction through the movement controller;
s13: deleting the path data of the last welding gun in the motion controller;
s14: and (5) repeating the steps S5 to S11, and finishing the welding of the next welding seam.
3. The method for identifying and welding a boiler water wall tube weld according to claim 2, further comprising, after step 14:
s15: and repeating the steps S12 to S14 until all the welding seams are welded.
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| CN202210903216.3A CN115026483B (en) | 2022-07-29 | 2022-07-29 | Boiler water wall pipe weld joint identification welding method |
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| CN116787019B (en) * | 2023-08-22 | 2023-10-27 | 北京互时科技股份有限公司 | Digital management method and system for pipeline welding |
| CN117900581B (en) * | 2024-03-20 | 2024-06-04 | 广州市市政工程试验检测有限公司 | Municipal pipe gallery water supply pipeline welding method, system, electronic equipment and storage medium |
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| CN112959329A (en) * | 2021-04-06 | 2021-06-15 | 南京航空航天大学 | Intelligent control welding system based on vision measurement |
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- 2022-07-29 CN CN202210903216.3A patent/CN115026483B/en active Active
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| CN103551710A (en) * | 2013-11-13 | 2014-02-05 | 上海工业自动化仪表研究院 | Welding seam tracking method in membrane wall welding process |
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