CN115121927B - Real-time centering and correcting method for pipe for electromagnetic pulse welding - Google Patents
Real-time centering and correcting method for pipe for electromagnetic pulse welding Download PDFInfo
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- CN115121927B CN115121927B CN202210743486.2A CN202210743486A CN115121927B CN 115121927 B CN115121927 B CN 115121927B CN 202210743486 A CN202210743486 A CN 202210743486A CN 115121927 B CN115121927 B CN 115121927B
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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
- B23K13/00—Welding by high-frequency current heating
- B23K13/01—Welding by high-frequency current heating by induction heating
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Butt Welding And Welding Of Specific Article (AREA)
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Abstract
The invention relates to a real-time centering deviation correcting device and method for a pipe for electromagnetic pulse welding, wherein the device comprises an electromagnetic pulse welding table, a pipe centering deviation correcting module and an image acquisition processing module, an outer pipe is arranged on the electromagnetic pulse welding table, the pipe centering deviation correcting module comprises a cross sliding table mechanism and a controller, an inner pipe is arranged on the cross sliding table mechanism, the image acquisition processing module is used for acquiring an inner pipe and outer pipe assembly image, processing the image and calculating the eccentric distance of the inner pipe and the outer pipe, the inner pipe and the outer pipe are welded through the electromagnetic pulse welding table if the eccentric distance meets the welding requirement, and the inner pipe is driven to transversely and vertically move through the controller control the cross sliding table mechanism if the eccentric distance does not meet the welding requirement, so that the eccentric distance of the inner pipe and the outer pipe is adjusted, and the centering deviation correcting of the inner pipe and the outer pipe is realized. The device and the method are beneficial to improving the centering efficiency and precision of the inner pipe and the outer pipe in electromagnetic pulse welding of pipes with different calibers.
Description
Technical Field
The invention belongs to the technical field of welding, and particularly relates to a pipe real-time centering deviation correcting device and method for electromagnetic pulse welding.
Background
The electromagnetic pulse technology is based on the electromagnetic induction principle, and through instant discharge, an induction magnetic field with opposite directions is generated on the surfaces of an induction coil and a high-conductivity outer tube, and the outer tube and the inner tube are impacted at high speed under the action of electromagnetic repulsive force to form a welding joint. The method can effectively improve the butt joint efficiency of the pipes with different inner diameters.
However, whether the inner tube and the outer tube are centered or not in the welding process, that is, whether the combination of the inner tube and the outer tube is uniform or not is determined by the magnitude of the eccentricity. The traditional centering method mostly adopts a manual control cross stepping sliding table to perform centering, has low efficiency and poor precision, and becomes a bottleneck problem for restricting further efficiency improvement.
Disclosure of Invention
The invention aims to provide a real-time centering deviation correcting device and method for a pipe for electromagnetic pulse welding, which are beneficial to improving the centering efficiency and accuracy of inner and outer pipes in electromagnetic pulse welding of pipes with different calibers.
In order to achieve the above purpose, the invention adopts the following technical scheme: the utility model provides a real-time centering deviation correcting device of tubular product for electromagnetic pulse welding, includes electromagnetic pulse welding platform, tubular product centering deviation correcting module and image acquisition processing module, electromagnetic pulse welds bench and installs the outer tube, tubular product centering deviation correcting module includes cross slip table mechanism and controller, the last inner tube of installation of cross slip table mechanism, image acquisition processing module is used for acquireing inside and outside pipe assembly image, handles the image and calculate inside and outside pipe eccentric distance, if the eccentric distance accords with the welding requirement, welds inside and outside pipe through electromagnetic pulse welding platform, if the eccentric distance does not accord with the welding requirement, drives the inner tube through controller control cross slip table mechanism and transversely and vertically moves, and then adjusts inside and outside pipe eccentric distance, realizes inside and outside pipe centering deviation correcting.
Further, the image acquisition processing module comprises an industrial camera and a computer, wherein the industrial camera shoots an inner tube and outer tube assembly image and then transmits the assembly image to the computer, and the computer processes the image based on an image processing algorithm to acquire the outline and the circle center of the inner tube and the outer tube in the image so as to calculate the eccentricity of the inner tube and the outer tube.
Further, the image processing algorithm is a hough circle detection algorithm.
Further, the computer judges whether the eccentricity meets the welding requirement according to the calculated eccentricity of the inner pipe and the outer pipe, if so, the computer sends a welding instruction to an electromagnetic pulse welding table, and the inner pipe and the outer pipe are welded through the electromagnetic pulse welding table; otherwise, sending a deviation rectifying instruction and eccentricity data to a controller for deviation rectifying operation, calculating the distances required to move respectively in the transverse direction and the vertical direction of the inner tube according to the eccentricity data by the controller, and then controlling a cross sliding table mechanism to drive the inner tube to move in the transverse direction and the vertical direction of the corresponding distances, so that the eccentricity adjustment of the inner tube and the outer tube is realized; and the image acquisition and processing module continues to acquire and process the inner and outer tube assembly images and calculate the eccentricity of the inner and outer tubes until the eccentricity meets the requirement.
Further, the controller is an Arduino singlechip.
The invention also provides a real-time centering deviation correcting method for the pipe for electromagnetic pulse welding based on the device, which comprises the following steps:
step 2, the computer acquires an image shot by the industrial camera and converts the non-gray level image into a gray level image;
and 3, filtering the micro contour through a series of processes including binarization, median filtering and Gaussian blur, so that the edges of objects in the image are clearer:
wherein C is the perimeter of the contour i, n is the number of contours, AVG is the average value of the contour length, and contour i (x, y) is an image of contour i;
wherein I is the value of a pixel in the image and (I, j) is the coordinates of the pixel;
step 9, calculating to obtain the eccentricity of the inner tube and the outer tube;
and 10, welding the inner tube and the outer tube through an electromagnetic pulse welding table if the eccentricity meets the welding requirement, and driving the inner tube to transversely and vertically move through a tube centering deviation correcting module if the eccentricity does not meet the welding requirement, so as to adjust the eccentricity of the inner tube and the outer tube, and realize centering deviation correcting of the inner tube and the outer tube.
Further, in the step 2, the image type is determined to determine whether to convert into a gray scale image, if not, the image type is converted into a gray scale image, and the calculation method is as follows:
wherein R, G, B represents the colors of the three channels red, green and blue, respectively.
Compared with the prior art, the invention has the following beneficial effects: the device and the method overcome the defect of inefficiency and inaccuracy existing in the traditional centering by means of a manual sliding table, are high in centering efficiency and accuracy, further improve the practicability of a centering and correcting system, expand the application range of the centering and correcting system and have wide application prospects.
Drawings
Fig. 1 is a schematic view of the structure of an apparatus according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of an image acquisition and processing procedure according to an embodiment of the present invention.
In the figure: 1. an electromagnetic pulse welding station; 2. a cross sliding table mechanism; 3. a controller; 4. an industrial camera; 5. a computer; 6. an outer tube; 7. an inner tube; 8. a driver.
Detailed Description
The invention will be further described with reference to the accompanying drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
As shown in fig. 1, this embodiment provides a real-time centering deviation correcting device for electromagnetic pulse welding pipe, including electromagnetic pulse welding table 1, pipe centering deviation correcting module and image acquisition processing module, install outer tube 6 on the electromagnetic pulse welding table 1, pipe centering deviation correcting module includes cross slip table mechanism 2 and controller 3, install inner tube 7 on the cross slip table mechanism 2, image acquisition processing module is used for obtaining inner and outer tube assembly image, handles the image and calculates inner and outer tube eccentric distance, if the eccentric distance accords with the welding requirement, welds inner and outer tube through electromagnetic pulse welding table 1, if the eccentric distance does not accord with the welding requirement, then drives the inner tube through controller 3 control cross slip table mechanism 2 and transversely and vertically removes, and then adjusts inner and outer tube eccentric distance, realizes inner and outer tube centering deviation correcting.
In this embodiment, the inner tube 7 is a stainless steel tube, and the outer tube 6 is a pure aluminum tube or an aluminum alloy tube.
In this embodiment, the controller 3 is an Arduino single-chip microcomputer. The image acquisition processing module comprises an industrial camera 4 and a computer 5, wherein the industrial camera 4 shoots an inner tube and outer tube assembly image and then transmits the inner tube and outer tube assembly image to the computer 5, the computer 5 processes the image based on an image processing algorithm to acquire the outline and the circle center of the inner tube and the outer tube in the image, and further calculates the eccentricity of the inner tube and the outer tube. In this embodiment, the image processing algorithm uses an opencv+python hough circle detection algorithm.
The computer 5 judges whether the eccentricity meets the welding requirement according to the calculated eccentricity of the inner pipe and the outer pipe, if so, a welding instruction is sent to the electromagnetic pulse welding table 1, and the inner pipe and the outer pipe are welded through the electromagnetic pulse welding table 1; otherwise, a deviation rectifying instruction and eccentricity data are sent to the controller 3 for deviation rectifying operation, the controller 3 calculates the distance to be moved respectively in the transverse direction and the vertical direction of the inner tube according to the eccentricity data, and then the cross sliding table mechanism 2 is controlled to drive the inner tube to move in the transverse direction and the vertical direction of the corresponding distance, so that the eccentricity adjustment of the inner tube and the outer tube is realized; and the image acquisition and processing module continues to acquire and process the inner and outer tube assembly images and calculate the eccentricity of the inner and outer tubes until the eccentricity meets the requirement.
The embodiment also provides a real-time centering deviation correcting method for the pipe for electromagnetic pulse welding based on the device, which comprises the following steps:
and step 1, an industrial camera on the image acquisition and processing module acquires the inner and outer tube assembly images and sends the inner and outer tube assembly images to a computer on the image acquisition and processing module. The acquired image and the image in the subsequent processing are shown in fig. 2.
Step 2, the computer acquires an image shot by the industrial camera, then judges the type of the image to determine whether the image is converted into a gray level image, and if the image is not the gray level image, the image is converted into the gray level image, and the calculation method comprises the following steps:
wherein R, G, B represents the colors of the three channels red, green and blue, respectively.
wherein C is the perimeter of the contour i, n is the number of contours, AVG is the average value of the contour length, and contour i (x, y) is an image of the contour i.
where I is the value of the pixel in the image (e.g., RGB value) and (I, j) is the coordinates of the pixel.
Thus, the edge image non-zero element verification and the candidate center distance verification are carried out on the candidate center.
And 8, outputting the reserved circle center (namely the center) and the radius of the corresponding circle.
And 9, calculating the eccentricity of the inner tube and the outer tube.
The radius of the optimal circle is obtained when the maximum radius of the accumulator is estimated. The obtained eccentricity calculated by the circle center is the pixel eccentricity, and can be verified by combining with the actual distance in real space. If the outer tube is 48mm, the actual eccentricity can be measured as l, and the calculated eccentricity of the computer is assumed to be d, d/l=r (outer tube)/48.
And 10, welding the inner tube and the outer tube through an electromagnetic pulse welding table if the eccentricity meets the welding requirement, and driving the inner tube to transversely and vertically move through a tube centering deviation correcting module if the eccentricity does not meet the welding requirement, so as to adjust the eccentricity of the inner tube and the outer tube, and realize centering deviation correcting of the inner tube and the outer tube.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the invention in any way, and any person skilled in the art may make modifications or alterations to the disclosed technical content to the equivalent embodiments. However, any simple modification, equivalent variation and variation of the above embodiments according to the technical substance of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (4)
1. The method is characterized in that the method is realized based on a real-time centering and rectifying device for the electromagnetic pulse welding pipe, the real-time centering and rectifying device for the electromagnetic pulse welding pipe comprises an electromagnetic pulse welding table, a pipe centering and rectifying module and an image acquisition and processing module, an outer pipe is arranged on the electromagnetic pulse welding table, the pipe centering and rectifying module comprises a cross sliding table mechanism and a controller, an inner pipe is arranged on the cross sliding table mechanism, the image acquisition and processing module is used for acquiring an assembly image of the inner pipe and the outer pipe, processing the image and calculating the eccentricity of the inner pipe and the outer pipe, if the eccentricity meets the welding requirement, the inner pipe and the outer pipe are welded through the electromagnetic pulse welding table, if the eccentricity does not meet the welding requirement, the inner pipe is driven to transversely and vertically move through the cross sliding table mechanism under the control of the controller, and the eccentricity of the inner pipe and the outer pipe is adjusted, so that the centering and rectifying of the inner pipe and the outer pipe are realized; the image acquisition processing module comprises an industrial camera and a computer, wherein the industrial camera shoots an inner tube and outer tube assembly image and then transmits the inner tube and outer tube assembly image to the computer, and the computer processes the image based on an image processing algorithm to acquire the outline and the circle center of the inner tube and the outer tube in the image so as to calculate the eccentric distance of the inner tube and the outer tube; the image processing algorithm is a Hough circle detection algorithm;
the method comprises the following steps:
step 1, an industrial camera on an image acquisition and processing module acquires assembly images of an inner tube and an outer tube and sends the assembly images to a computer on the image acquisition and processing module;
step 2, the computer acquires an image shot by the industrial camera and converts the non-gray level image into a gray level image;
and 3, filtering the micro contour through a series of processes including binarization, median filtering and Gaussian blur, so that the edges of objects in the image are clearer:
wherein C is the perimeter of the contour i, n is the number of contours, AVG is the average value of the contour length, and contour i (xY) is an image of contour i;
step 4, calculating the derivative in the x direction and the derivative in the y direction of each non-zero point (i, j) on the edge image processed in the step 3 through edge detection, so as to obtain a gradient; from the edge points, along the gradient and the opposite direction of the gradient, the estimated maximum and minimum radius is adjusted, and the estimated minimum radius r specified by the parameters of the Hough circle detection algorithm is adjusted min To a maximum radius r max Is accumulated in an accumulator; simultaneously recording the position of each non-0 pixel in the edge image;
wherein I is the value of a pixel in the image and (I, j) is the coordinates of the pixel;
step 5, selecting candidate centers from points in the accumulator, wherein the values of the candidate centers are all larger than a set threshold value and larger than the accumulated values of four adjacent neighborhood points; the candidate centers are arranged in descending order of accumulated value;
step 6, considering all non-0 pixels in the edge image for each candidate center, sorting the non-0 pixels according to the distance between the non-0 pixels and the candidate center, and selecting a radius which is most supported by the non-0 pixels;
step 7, if one candidate center is supported by all non-0 pixels in the edge image fully and has a sufficient distance to the candidate center selected in the earlier stage, the candidate center is reserved;
step 8, outputting the reserved center and the radius of the corresponding circle;
step 9, calculating to obtain the eccentricity of the inner tube and the outer tube;
and 10, welding the inner tube and the outer tube through an electromagnetic pulse welding table if the eccentricity meets the welding requirement, and driving the inner tube to transversely and vertically move through a tube centering deviation correcting module if the eccentricity does not meet the welding requirement, so as to adjust the eccentricity of the inner tube and the outer tube, and realize centering deviation correcting of the inner tube and the outer tube.
2. The method for centering and correcting the pipe for electromagnetic pulse welding in real time according to claim 1, wherein the computer judges whether the eccentricity meets the welding requirement according to the calculated eccentricity of the inner pipe and the outer pipe, if so, the computer sends a welding instruction to an electromagnetic pulse welding table, and the inner pipe and the outer pipe are welded through the electromagnetic pulse welding table; otherwise, sending a deviation rectifying instruction and eccentricity data to a controller for deviation rectifying operation, calculating the distances required to move respectively in the transverse direction and the vertical direction of the inner tube according to the eccentricity data by the controller, and then controlling a cross sliding table mechanism to drive the inner tube to move in the transverse direction and the vertical direction of the corresponding distances, so that the eccentricity adjustment of the inner tube and the outer tube is realized; and the image acquisition and processing module continues to acquire and process the inner and outer tube assembly images and calculate the eccentricity of the inner and outer tubes until the eccentricity meets the requirement.
3. The method for centering and correcting the pipe for electromagnetic pulse welding in real time according to claim 1, wherein the controller is an Arduino single-chip microcomputer.
4. The method for real-time centering and correcting a pipe for electromagnetic pulse welding according to claim 1, wherein in the step 2, the image type is judged to determine whether to convert into a gray scale map, if not, the image type is converted into a gray scale map, and the calculation method is as follows:
wherein R, G, B represents the colors of the three channels red, green and blue, respectively.
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| JP3422687B2 (en) * | 1998-06-25 | 2003-06-30 | 三菱重工業株式会社 | Pipe hole position automatic search method and apparatus |
| US7713000B2 (en) * | 2005-04-20 | 2010-05-11 | Heerema Marine Contractors Nederland B.V. | Method and device for positioning ends of pipe sections relative to one another |
| CN101905375A (en) * | 2010-07-29 | 2010-12-08 | 哈尔滨工业大学 | Magnetic pulse connecting method and joint structure for thin-wall metal pipelines |
| CN104191081B (en) * | 2014-08-04 | 2018-07-13 | 重庆普尔萨科技有限公司 | Device and its welding method for copper pipe in refrigeration equipment and Al pipe butt welding |
| GB201414973D0 (en) * | 2014-08-22 | 2014-10-08 | Saipem Spa | Pipe handling system and method of joining pipe sections |
| CN106651989B (en) * | 2016-12-21 | 2020-04-21 | 北京信息科技大学 | Nested circle fitting method and device for micro-hole centering |
| CN207600409U (en) * | 2017-12-09 | 2018-07-10 | 武汉红星杨科技有限公司 | A kind of device for being suitable for the assembling of two round pieces |
| CN111366076B (en) * | 2020-03-26 | 2021-04-02 | 武汉大学 | Optical fiber rod machine tool centering device and method based on circular arc quadrant classification circle detection |
| CN112756901A (en) * | 2021-01-15 | 2021-05-07 | 江苏普达迪泰精密机电装备科技有限公司 | Tank body butt joint system |
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