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Research On Key Techniques For Welding Automation Of Tubes In Inner Tubes

Posted on:2021-01-05Degree:MasterType:Thesis
Country:ChinaCandidate:Y J WangFull Text:PDF
GTID:2381330614953723Subject:Materials engineering
Abstract/Summary:PDF Full Text Request
The intersecting line welding seam of the tube in the inner wall of the cylinder is a form of pipe insertion welding seam.It is widely present in the boiler industry and is generally composed of a large-diameter cylinder and multiple small-diameter branch pipes.The pipe-to-pipe intersecting line weld itself is a space girth weld,which is a kind of welding seam identification difficulty.The welding torch posture needs to be continuously adjusted.In addition,the welding environment is the inner wall of the cylinder,the space is narrow,and the welding workpiece is multiple The branch pipes with different diameters and different plug-in methods have variable welding seams,so that the current level of automation is extremely low,basically relying on manual welding by welding workers.As mentioned above,the key issue to improve the automation level of the intersecting line welding of the inner wall of the cylinder can be refined as: How to automatically identify the intersecting line welding formed by the insertion of the branch pipes of different diameters and different insertion methods and the cylinder on the inner wall of the cylinder Space position.In this paper,the characteristics of the welding task of the intersecting line of the inner wall tube of the cylinder are deeply studied,and a universal sensor for identifying the spatial position of the intersecting line weld is innovatively designed,and the relevant mathematical model of the weld based on the sensor is studied.Proved to effectively solve the key problems of the identification of the position of the weld line of the pipe-to-pipe intersecting line,the recognition accuracy and the low efficiency of the recognition.The specific research contents are as follows:1)Designed a sensor suitable for spatial position recognition of the welding line of the intersecting line of the inner wall of the barrel Through the analysis of the shape and welding characteristics of the intersecting line welding seam of the inner wall of the cylinder,a "curve reconstruction" method is proposed,the overall structure of the spatial position recognition sensor for the intersecting line welding seam of the tube is designed,and the sensor is extended According to the other requirements of the welding task of the inner wall of the barrel,a set of automatic welding robots with this sensor as the core is designed.2)Establish the relevant mathematical model based on the weld position recognition sensorUsing the angle data collected by the weld position recognition sensor as the known condition,a mathematical model for solving the space coordinate equation of the weld line of the pipe intersecting line is established,and the weld feature matrix and the torch attitude matrix are derived.At the same time,the sensor model is matlab The simulation verification and the use of labview to simulate the trajectory of the welding torch verify the accuracy of the model and provide a theoretical basis for the subsequent development of automated welding systems.3)Design the robot automatic welding control system,and elaborate the system composition and operation process.Taking the tube-pipe intersecting line weld position recognition sensor as the core and the cylinder inner wall automatic welding robot as the actuator,the overall structure of the robot automatic welding control system is designed.According to the robot inverse kinematics,the sensor related mathematical model is combined,and Lab VIEW + is used.Matlab + data acquisition card + motion control card + industrial camera,designed the host computer software with real-time image monitoring and virtual realization of welding process,realized the robot automatic welding and welding process visualization.4)Validate the system by performing a welding test on the weld line of the intersecting line of the inner wall of the cylinder Purchasing the necessary parts for the experiment and building a welding test platform for pipe-pipe intersecting line welds.The results show that the sensors described in this paper have the characteristics of high efficiency and high precision for the pipe-pipe intersecting line welds.reliable.
Keywords/Search Tags:weld seam position recognition, tube welding of inner wall of cylinder, sensor, labview
PDF Full Text Request
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