Research On The Key Technology Of Detecting And Adjusting The Automatic Welding Equipment Of Large Tube Plate

With the development of human society and the progress of science and technology,welding equipment is becoming more and more advanced,and the development of welding equipment automation is also a lot of promotion.The largescale automatic welding equipment for tubesheet is an automatic welding equipment for various tube and tubesheet products widely used in petroleum,chemical industry,power station and other industries.This paper takes large-scale automatic tube plate welding equipment as the research object,and the specific research contents are as follows:First of all,in order to complete the welding of tube to the board,welding head must automatically adjust to the perpendicular to the plane,and the whole welding tube plate in which to find the vertical Angle,horizontal Angle of the tube plate plane,will adjust welding head according to the two Angle movement,finally adjusted to the welding head and tube plate perpendicular to the plane,and the three dimensional model is established according to the above conditions,will build the 3 d model of simulation for position adjustment,to find if there is a movement interference,lead to the position of the welding machine run adjust action,in the process of position adjustment need laser sensor and visual sensor,auxiliary head to adjust the welding equipment.Secondly,the CCD camera imaging model is established.Since the CCD camera coordinate system is not consistent with the pixel coordinate system,the units between the two coordinate systems need to be converted first.Image distortion model was established,the CCD camera in the practical work can't be perfect optical system,will exist image distortion,which is the actual image of the object on the imaging point and the ideal imaging points are not completely consistent,the CCD camera calibration,tocomplete the CCD camera vision for welding equipment welding head guidance is for conversion between different coordinate system,by the transformation of the coordinate system,can through the camera to obtain images of neutral position,calculate the world coordinate system corresponding to the position of the center of the hole.Again,through the Solidworks modeling,will use Solidworks to establish the three-dimensional model of the imported position adjustment simulation in ADAMS,the use of ADAMS measurement function of welding equipment changes in the Angle of the nose position measurement,put in the tube sheet under the condition of different angles,welding head can automatically adjust,adapt to different Guan Ping surface slope,a complete automatic adjustment of the welding head,the simulation of adjusting deviation within the scope of design allows.Finally,large tube plate automatic welding equipment of the key technology of the detection and location of adjustment experiment,according to the principle of the experiment,the experiment on the selected experimental equipment,equipment in different in-plane Angle,to realize the function of the adjustment of the tube plate automatic welding equipment,experiment and simulation verification,verify the validity of the simulation and theory model is set up.