CN111203663A - Intelligent automatic pipeline welding system and method - Google Patents
Intelligent automatic pipeline welding system and method Download PDFInfo
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- CN111203663A CN111203663A CN202010041391.7A CN202010041391A CN111203663A CN 111203663 A CN111203663 A CN 111203663A CN 202010041391 A CN202010041391 A CN 202010041391A CN 111203663 A CN111203663 A CN 111203663A
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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
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0294—Transport carriages or vehicles
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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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Abstract
The invention discloses an intelligent automatic pipeline welding system and method, and relates to the field of automatic welding of chemical engineering, the system comprises a welding vehicle body, two fixed mechanical arms and one welding mechanical arm, wherein each fixed mechanical arm comprises a joint A, a joint B and a joint C, each welding mechanical arm comprises a joint As, a joint Bs and a joint Cs, each fixed mechanical arm is fixed on the welding vehicle body, each welding mechanical arm is fixed on the welding vehicle body, and each fixed mechanical arm, each automatic welding robot and each camera are based on a 4G communication module, each fixed mechanical arm is used for grabbing and lifting a pipeline to be welded, each automatic welding machine carries out automatic welding of the pipeline, key data in the whole welding process can be uploaded to a cloud platform through the 4G module, and real-time acquisition and synchronous management of construction site data are achieved.
Description
Technical Field
The invention relates to the field of automatic welding of chemical engineering, in particular to an intelligent automatic pipeline welding system and method.
Background
The number of pipelines in a petrochemical production device area is large, the welding size of the pipeline in a general large device area reaches more than 100 tens of thousands, the existing on-site welding mode is manual welding, the efficiency is low, the cost is high, the welding quality is unstable, and the delivery and delivery time of the device area is severely limited. The automatic welding robot is generally fixed on a production line for use and cannot move at any time so as to be suitable for site construction; and on-site pipelines are mostly laid on the ground, and automatic welding can be implemented only by overhead and guaranteed opening-aligning precision between two pipes.
Patent publication No. CN110480202A discloses an automatic welding method, storage medium and device for steel pipe butt joint, but the method cannot be moved and monitored in real time; patent publication CN110091029A discloses a dual torch intelligent welding system, but fails to show a solution to the difficulty of how to automatically dock during welding.
Disclosure of Invention
The embodiment of the invention provides an intelligent automatic pipeline welding system and method. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.
According to a first aspect of the embodiments of the present invention, an intelligent automatic pipeline welding system is provided, which includes a welding vehicle body, two fixed mechanical arms, and one welding mechanical arm, where the fixed mechanical arm includes a joint a, a joint B, and a joint C, the welding mechanical arm includes a joint As, a joint Bs, and a joint Cs, where:
welding the vehicle body: the fixed mechanical arm and the welding mechanical arm are supported and can move;
fixing the mechanical arm: the device is used for grabbing pipelines and completing butt joint; the joint A is responsible for the movement in the directions of the x axis and the z axis, the joint B is responsible for the movement in the direction of the y axis, and the joint C is only responsible for grabbing;
welding a mechanical arm: the joint As is used for completing welding, the joint Bs is used for moving in the z-axis direction, the joint Bs is used for moving in the y-axis direction, and the joint Cs is used for moving in the y-axis direction;
the fixed mechanical arm is fixed on the welding vehicle body, and the welding mechanical arm is fixed on the welding vehicle body.
Preferably, each joint of the fixed mechanical arm is driven by a driving device, displacement sensors are respectively arranged on the joint a and the joint B, the joint a is provided with two displacement sensors in the x direction and the angle, and the joint B is provided with an angle sensor.
Preferably, each joint of the mobile mechanical arm is driven by a driving device, displacement sensors are arranged on the joint As, the joint Bs and the joint Cs, the joint As is provided with an angle displacement sensor, the joint Bs is provided with an angle displacement sensor, and the joint Cs is provided with an angle displacement sensor.
Preferably, the robot control device is further provided for automatic control of the robot, and a standby mode is adopted, so that the robot control device can be switched to a standby controller in case of failure of one local controller, and information of each sensor can be synchronized to the standby controller.
Preferably, still include welding control system, specifically include 4G camera device, 4G data transmission module, total monitoring platform, the general controller of welding system platform, welding platform system power, wherein:
4G image pickup device: the system is responsible for transmitting the image picture of the site to a general monitoring platform;
4G data transmission module: the system is in charge of sending the data of the mechanical arm to a general monitoring platform through 4G wireless communication;
a master monitoring platform: the system is used for detecting field data and field image pictures without any control operation;
the welding platform master controller: the system is responsible for power switching, data receiving and transmission of the mechanical arm, emergency stop and fault alarm;
welding platform system power: providing power supply for each module;
the 4G camera device is connected with the master monitoring platform through a 4G wireless network and transmits the field picture to the master monitoring platform; the 4G data transmission module is connected with the master monitoring platform through a 4G wireless network and transmits the local parameters to the master monitoring platform; the welding system platform master controller is electrically connected with the 4G data transmission module and transmits the local parameters to the 4G data transmission module; and the welding platform system power supply is electrically connected with the welding system platform master controller and the 4G data transmission module to provide power for the system.
Preferably, the welding control system further comprises a welding system emergency stop device and a welding system manual device, wherein:
the welding system emergency stop device: when the system is in a fault state, the emergency stop button is manually pressed, the system enters an emergency stop state, and the automatic control and the manual control do not work;
manual device of welding system: the automatic control system is manually switched to manual operation when the automatic control system fails, and the automatic control does not work in the manual state;
the welding system emergency stop device is electrically connected with the welding system platform master controller; and the manual device of the welding system is electrically connected with the main controller of the welding system platform.
The driving device is driven by a servo motor or a hydraulic cylinder.
Preferably, the welding system platform master controller dispersedly controls the following 3 systems:
the first system includes: the device comprises a fixed mechanical arm 1 local controller, a fixed mechanical arm 1 sensor and a fixed mechanical arm 1 driving device, wherein the fixed mechanical arm 1 local controller is connected with the fixed mechanical arm 1 sensor, the fixed mechanical arm 1 sensor is connected with the fixed mechanical arm 1 driving device, the fixed mechanical arm 1 sensor and the fixed mechanical arm 1 driving device form a closed loop, and the fixed mechanical arm 1 local controller is in control connection with a welding system platform master controller; the local controller of the fixed mechanical arm 1 controls the driving device of the fixed mechanical arm 1 according to the displacement information detected by the sensor of the fixed mechanical arm 1; the fixed mechanical arm 1 sensor has the function of detecting the displacement information of the fixed mechanical arm 1 driving device; the fixed mechanical arm 1 driving device has the function of driving the fixed mechanical arm 1 to move;
the second system includes: the device comprises a local controller of a fixed mechanical arm 2, a sensor of the fixed mechanical arm 1 and a driving device of the fixed mechanical arm 2, wherein the local controller of the fixed mechanical arm 2 is connected with the sensor of the fixed mechanical arm 2, the sensor of the fixed mechanical arm 2 is connected with the driving device of the fixed mechanical arm 2, the local controller of the fixed mechanical arm 2 and the driving device of the fixed mechanical arm 2 form a closed loop, and the local controller of the fixed mechanical arm 2 is in control connection with a general controller of a welding system platform; the local controller of the fixed mechanical arm 2 controls the driving device of the fixed mechanical arm 2 according to the displacement information detected by the sensor of the fixed mechanical arm 2; the fixed mechanical arm 2 sensor has the function of detecting the displacement information of the fixed mechanical arm 2 driving device; the fixed mechanical arm 2 driving device has the function of driving the fixed mechanical arm 2 to move;
the third system includes: the welding mechanical arm local controller is connected with the welding mechanical arm sensor, the welding mechanical arm sensor is connected with the welding mechanical arm driving device, the welding mechanical arm sensor and the welding mechanical arm driving device form a closed loop, and the welding mechanical arm local controller is in control connection with the welding system platform master controller; the local controller of the welding mechanical arm controls the driving device of the welding mechanical arm according to the displacement information detected by the sensor of the welding mechanical arm; the sensor of the welding mechanical arm 1 is used for detecting the displacement information of the welding mechanical arm driving device; the function of the welding robot 1 driving device is to drive the welding robot to move.
According to the second aspect of the embodiment of the invention, an intelligent automatic pipeline welding method is provided, and according to the intelligent automatic pipeline welding system, the intelligent automatic pipeline welding method adopts a decentralized control strategy, and the specific method is as follows:
s1: the welding system platform master controller sends out a pipeline automatic butt joint command to the local controller of the fixed mechanical arm 1 and the local controller of the fixed mechanical arm 2;
s2: the local controller of the mechanical arm 1 and the local controller of the fixed mechanical arm 2 simultaneously start to control the welding mechanical arm driving device according to the displacement information detected by the mechanical arm sensors;
s3: the welding mechanical arm driving device 1 and the welding mechanical arm driving device 2 drive the mechanical arm to move the pipeline to be welded according to the instruction of respective local controllers;
s4: the welding mechanical arm 1 and the welding mechanical arm 2 move the pipeline to be welded to a set position, and after the butt joint is completed, the butt joint completion information is sent to a general controller of the welding system platform;
s5: the welding system platform master controller sends a welding instruction to the welding mechanical arm local controller;
s6: and the welding mechanical arm starts welding, and after the welding is finished, the welding completion information is sent to a general controller of the welding system platform.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
the intelligent automatic pipeline welding platform comprises three parts: fixed manipulator, automatic weld robot and camera based on 4G communication module. Wherein fixed manipulator is used for snatching the pipeline of waiting to weld and raises, and automatic weld machine carries out the automatic weld of pipeline, and the camera belongs to optional part, can be used to the record and the inspection of welding process. Key data of the whole welding process can be uploaded to the cloud platform through the 4G module, and real-time acquisition and management synchronization of construction site data are achieved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a schematic diagram of an intelligent pipeline automatic welding control overall system, according to an exemplary embodiment;
FIG. 2 is a schematic diagram of an intelligent pipe automated welding system according to an exemplary embodiment;
in the figure: 1-welding vehicle body, 2-fixed mechanical arm, 3-welding mechanical arm, 4-mechanical gripper, 5-welding gun, A-joint A, B-joint B, C-joint C, As-joint As, Bs-joint Bs, and Cs-joint Cs.
Detailed Description
The following description and the drawings sufficiently illustrate specific embodiments of the invention to enable those skilled in the art to practice them. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in or substituted for those of others. The scope of embodiments of the invention encompasses the full ambit of the claims, as well as all available equivalents of the claims. Embodiments may be referred to herein, individually or collectively, by the term "invention" merely for convenience and without intending to voluntarily limit the scope of this application to any single invention or inventive concept if more than one is in fact disclosed. Herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed. The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the structures, products and the like disclosed by the embodiments, the description is relatively simple because the structures, the products and the like correspond to the parts disclosed by the embodiments, and the relevant parts can be just described by referring to the method part.
The invention is further described with reference to the following figures and examples:
as shown in fig. 2, an intelligent automatic pipeline welding system includes a welding vehicle body 1, two fixed mechanical arms 2, and a welding mechanical arm 3, where the fixed mechanical arms 2 include joints a, B, and C, and the welding mechanical arm 3 includes joints As, Bs, and Cs, and the welding vehicle body is used to carry the fixed mechanical arms and the welding mechanical arms and is movable; the fixed mechanical arm is used for grabbing the pipeline and completing butt joint; the joint A is responsible for movement in the directions of the x axis and the z axis; the joint B is responsible for movement in the y-axis direction; joint C is only responsible for grasping; welding a mechanical arm: for completing welding, the joint As is responsible for moving in the z-axis direction; the joint Bs are responsible for movement in the y-axis direction; the joint Cs is responsible for movement in the y-axis direction, the fixed mechanical arm is fixed on the welding vehicle body, and the welding mechanical arm is fixed on the welding vehicle body.
According to the scheme, each joint of the fixed mechanical arm is driven by a driving device, displacement sensors are respectively arranged on the joint A and the joint B, the joint A is provided with two displacement sensors in the x direction and the angle, and the joint B is provided with an angle sensor.
According to the scheme, each joint of the mobile mechanical arm is driven by a driving device, displacement sensors are arranged on a joint As, a joint Bs and a joint Cs, wherein the joint As is provided with an angle displacement sensor, the joint Bs is provided with an angle displacement sensor, and the joint Cs is provided with an angle displacement sensor.
According to the scheme, the system further comprises a mechanical arm controller which is used for automatically controlling the mechanical arm, a standby mode is adopted, the standby controller can be switched to under the condition that one local controller fails, and information of all sensors can be synchronously sent to the standby controller.
According to the above scheme, further, as shown in fig. 1, the welding system further includes a welding control system, which specifically includes a 4G camera, a 4G data transmission module, a total monitoring platform, a welding system platform total controller, and a welding platform system power supply, wherein:
4G image pickup device: the system is responsible for transmitting the image picture of the site to a general monitoring platform;
4G data transmission module: the system is in charge of sending the data of the mechanical arm to a general monitoring platform through 4G wireless communication;
a master monitoring platform: the method is used for detecting field data and field image pictures without any control operation.
The welding platform master controller: the system is responsible for power switching, data receiving and transmission of the mechanical arm, emergency stop and fault alarm;
welding platform system power: providing power supply for each module;
the 4G camera device is connected with the master monitoring platform through a 4G wireless network and transmits the field picture to the master monitoring platform; the 4G data transmission module is connected with the master monitoring platform through a 4G wireless network and transmits the local parameters to the master monitoring platform; the welding system platform master controller is electrically connected with the 4G data transmission module and transmits the local parameters to the 4G data transmission module; and the welding platform system power supply is electrically connected with the welding system platform master controller and the 4G data transmission module to provide power for the system.
According to the above scheme, further, the welding control system further comprises a welding system emergency stop device and a welding system manual device, wherein:
the welding system emergency stop device: when the system is in a fault state, the emergency stop button is manually pressed, the system enters an emergency stop state, and the automatic control and the manual control do not work.
Manual device of welding system: when the automatic control system fails, manual operation is manually switched, and when the automatic control system fails, automatic control does not work.
The welding system emergency stop device is electrically connected with the welding system platform master controller; and the manual device of the welding system is electrically connected with the main controller of the welding system platform.
The driving device is driven by a servo motor or a hydraulic cylinder.
According to the scheme, further, as shown in fig. 1, the general platform controller of the welding system dispersedly controls the following 3 systems:
the first system includes: the device comprises a fixed mechanical arm 1 local controller, a fixed mechanical arm 1 sensor and a fixed mechanical arm 1 driving device, wherein the fixed mechanical arm 1 local controller is connected with the fixed mechanical arm 1 sensor, the fixed mechanical arm 1 sensor is connected with the fixed mechanical arm 1 driving device, the fixed mechanical arm 1 sensor and the fixed mechanical arm 1 driving device form a closed loop, and the fixed mechanical arm 1 local controller is in control connection with a welding system platform master controller; the local controller of the fixed mechanical arm 1 controls the driving device of the fixed mechanical arm 1 according to the displacement information detected by the sensor of the fixed mechanical arm 1; the fixed mechanical arm 1 sensor has the function of detecting the displacement information of the fixed mechanical arm 1 driving device; the fixed mechanical arm 1 driving device has the function of driving the fixed mechanical arm 1 to move;
the second system includes: the device comprises a local controller of a fixed mechanical arm 2, a sensor of the fixed mechanical arm 1 and a driving device of the fixed mechanical arm 2, wherein the local controller of the fixed mechanical arm 2 is connected with the sensor of the fixed mechanical arm 2, the sensor of the fixed mechanical arm 2 is connected with the driving device of the fixed mechanical arm 2, the local controller of the fixed mechanical arm 2 and the driving device of the fixed mechanical arm 2 form a closed loop, and the local controller of the fixed mechanical arm 2 is in control connection with a general controller of a welding system platform; the local controller of the fixed mechanical arm 2 controls the driving device of the fixed mechanical arm 2 according to the displacement information detected by the sensor of the fixed mechanical arm 2; the fixed mechanical arm 2 sensor has the function of detecting the displacement information of the fixed mechanical arm 2 driving device; the fixed mechanical arm 2 driving device has the function of driving the fixed mechanical arm 2 to move;
the third system includes: the welding mechanical arm local controller is connected with the welding mechanical arm sensor, the welding mechanical arm sensor is connected with the welding mechanical arm driving device, the welding mechanical arm sensor and the welding mechanical arm driving device form a closed loop, and the welding mechanical arm local controller is in control connection with the welding system platform master controller; the local controller of the welding mechanical arm controls the driving device of the welding mechanical arm according to the displacement information detected by the sensor of the welding mechanical arm; the sensor of the welding mechanical arm 1 is used for detecting the displacement information of the welding mechanical arm driving device; the function of the welding robot 1 driving device is to drive the welding robot to move.
According to the intelligent automatic pipeline welding system, the intelligent automatic pipeline welding method adopts a distributed control strategy, and the specific method is as follows:
s1: the welding system platform master controller sends out a pipeline automatic butt joint command to the local controller of the fixed mechanical arm 1 and the local controller of the fixed mechanical arm 2;
s2: the local controller of the mechanical arm 1 and the local controller of the fixed mechanical arm 2 simultaneously start to control the welding mechanical arm driving device according to the displacement information detected by the mechanical arm sensors;
s3: the welding mechanical arm driving device 1 and the welding mechanical arm driving device 2 drive the mechanical arm to move the pipeline to be welded according to the instruction of respective local controllers;
s4: the welding mechanical arm 1 and the welding mechanical arm 2 move the pipeline to be welded to a set position, and after the butt joint is completed, the butt joint completion information is sent to a general controller of the welding system platform;
s5: the welding system platform master controller sends a welding instruction to the welding mechanical arm local controller;
s6: and the welding mechanical arm starts welding, and after the welding is finished, the welding completion information is sent to a general controller of the welding system platform.
The intelligent automatic pipeline welding platform comprises three parts: fixed manipulator, automatic weld robot and camera based on 4G communication module. Wherein fixed manipulator is used for snatching the pipeline of waiting to weld and raises, and automatic weld machine carries out the automatic weld of pipeline, and the camera belongs to optional part, can be used to the record and the inspection of welding process. Key data of the whole welding process can be uploaded to the cloud platform through the 4G module, and real-time acquisition and management synchronization of construction site data are achieved.
It is to be understood that the present invention is not limited to the procedures and structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (9)
1. The utility model provides an intelligent pipeline automatic weld system, its characterized in that, includes the welding automobile body, two fixed robotic arm, a welding robotic arm, fixed robotic arm includes joint A, joint B, joint C, welding robotic arm includes joint As, joint Bs, joint Cs, wherein:
welding the vehicle body: the fixed mechanical arm and the welding mechanical arm are supported and can move;
fixing the mechanical arm: the device is used for grabbing pipelines and completing butt joint; the joint A is responsible for the movement in the directions of the x axis and the z axis, the joint B is responsible for the movement in the direction of the y axis, and the joint C is only responsible for grabbing;
welding a mechanical arm: the joint As is used for completing welding, the joint Bs is used for moving in the z-axis direction, the joint Bs is used for moving in the y-axis direction, and the joint Cs is used for moving in the y-axis direction;
the fixed mechanical arm is fixed on the welding vehicle body, and the welding mechanical arm is fixed on the welding vehicle body.
2. The intelligent automatic pipeline welding system of claim 1, wherein each joint of the fixed mechanical arm is driven by a driving device, and displacement sensors are respectively arranged on a joint A and a joint B, wherein the joint A is provided with two displacement sensors of an x direction and an angle, and the joint B is provided with an angle sensor.
3. The intelligent automatic pipe welding system of claim 1,
each joint of the mobile mechanical arm is driven by a driving device, displacement sensors are arranged on a joint As, a joint Bs and a joint Cs, wherein an angle displacement sensor is arranged on the joint As, an angle displacement sensor is arranged on the joint Bs, and an angle displacement sensor is arranged on the joint Cs.
4. The intelligent automatic pipe welding system of any one of claims 1-3, further comprising a robot controller for automatic control of the robot, in a standby mode, wherein in the event of a failure of one local controller, the controller switches to a standby controller, and wherein sensor information is synchronized to the standby controller.
5. The intelligent automatic pipeline welding system according to any one of claims 1-3, further comprising a welding control system, specifically comprising a 4G camera, a 4G data transmission module, a total monitoring platform, a welding system platform master controller, and a welding platform system power supply, wherein:
4G image pickup device: the system is responsible for transmitting the image picture of the site to a general monitoring platform;
4G data transmission module: the system is in charge of sending the data of the mechanical arm to a general monitoring platform through 4G wireless communication;
a master monitoring platform: the system is used for detecting field data and field image pictures without any control operation;
the welding platform master controller: the system is responsible for power switching, data receiving and transmission of the mechanical arm, emergency stop and fault alarm;
welding platform system power: providing power supply for each module;
the 4G camera device is connected with the master monitoring platform through a 4G wireless network and transmits the field picture to the master monitoring platform; the 4G data transmission module is connected with the master monitoring platform through a 4G wireless network and transmits the local parameters to the master monitoring platform; the welding system platform master controller is electrically connected with the 4G data transmission module and transmits the local parameters to the 4G data transmission module; and the welding platform system power supply is electrically connected with the welding system platform master controller and the 4G data transmission module to provide power for the system.
6. The intelligent automatic pipe welding system of claim 5, wherein the welding control system further comprises a welding system scram device, a welding system manual device, wherein:
the welding system emergency stop device: when the system is in a fault state, the emergency stop button is manually pressed, the system enters an emergency stop state, and the automatic control and the manual control do not work;
manual device of welding system: the automatic control system is manually switched to manual operation when the automatic control system fails, and the automatic control does not work in the manual state;
the welding system emergency stop device is electrically connected with the welding system platform master controller; and the manual device of the welding system is electrically connected with the main controller of the welding system platform.
7. The intelligent automatic pipe welding system of claim 2, wherein the drive is a servo motor or a hydraulic cylinder drive.
8. The intelligent automatic pipeline welding system of claim 5, wherein the welding system platform master controller dispersedly controls the following 3 systems:
the first system includes: the device comprises a fixed mechanical arm 1 local controller, a fixed mechanical arm 1 sensor and a fixed mechanical arm 1 driving device, wherein the fixed mechanical arm 1 local controller is connected with the fixed mechanical arm 1 sensor, the fixed mechanical arm 1 sensor is connected with the fixed mechanical arm 1 driving device, the fixed mechanical arm 1 sensor and the fixed mechanical arm 1 driving device form a closed loop, and the fixed mechanical arm 1 local controller is in control connection with a welding system platform master controller; the local controller of the fixed mechanical arm 1 controls the driving device of the fixed mechanical arm 1 according to the displacement information detected by the sensor of the fixed mechanical arm 1; the fixed mechanical arm 1 sensor has the function of detecting the displacement information of the fixed mechanical arm 1 driving device; the fixed mechanical arm 1 driving device has the function of driving the fixed mechanical arm 1 to move;
the second system includes: the device comprises a local controller of a fixed mechanical arm 2, a sensor of the fixed mechanical arm 1 and a driving device of the fixed mechanical arm 2, wherein the local controller of the fixed mechanical arm 2 is connected with the sensor of the fixed mechanical arm 2, the sensor of the fixed mechanical arm 2 is connected with the driving device of the fixed mechanical arm 2, the local controller of the fixed mechanical arm 2 and the driving device of the fixed mechanical arm 2 form a closed loop, and the local controller of the fixed mechanical arm 2 is in control connection with a general controller of a welding system platform; the local controller of the fixed mechanical arm 2 controls the driving device of the fixed mechanical arm 2 according to the displacement information detected by the sensor of the fixed mechanical arm 2; the fixed mechanical arm 2 sensor has the function of detecting the displacement information of the fixed mechanical arm 2 driving device; the fixed mechanical arm 2 driving device has the function of driving the fixed mechanical arm 2 to move;
the third system includes: the welding mechanical arm local controller is connected with the welding mechanical arm sensor, the welding mechanical arm sensor is connected with the welding mechanical arm driving device, the welding mechanical arm sensor and the welding mechanical arm driving device form a closed loop, and the welding mechanical arm local controller is in control connection with the welding system platform master controller; the local controller of the welding mechanical arm controls the driving device of the welding mechanical arm according to the displacement information detected by the sensor of the welding mechanical arm; the sensor of the welding mechanical arm 1 is used for detecting the displacement information of the welding mechanical arm driving device; the function of the welding robot 1 driving device is to drive the welding robot to move.
9. An intelligent automatic pipeline welding method, according to the intelligent automatic pipeline welding system of claims 1-9, characterized in that, the intelligent automatic pipeline welding method adopts a decentralized control strategy, and the specific method is as follows:
s1: the welding system platform master controller sends out a pipeline automatic butt joint command to the local controller of the fixed mechanical arm 1 and the local controller of the fixed mechanical arm 2;
s2: the local controller of the mechanical arm 1 and the local controller of the fixed mechanical arm 2 simultaneously start to control the welding mechanical arm driving device according to the displacement information detected by the mechanical arm sensors;
s3: the welding mechanical arm driving device 1 and the welding mechanical arm driving device 2 drive the mechanical arm to move the pipeline to be welded according to the instruction of respective local controllers;
s4: the welding mechanical arm 1 and the welding mechanical arm 2 move the pipeline to be welded to a set position, and after the butt joint is completed, the butt joint completion information is sent to a general controller of the welding system platform;
s5: the welding system platform master controller sends a welding instruction to the welding mechanical arm local controller;
s6: and the welding mechanical arm starts welding, and after the welding is finished, the welding completion information is sent to a general controller of the welding system platform.
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| CN202010041391.7A CN111203663A (en) | 2020-01-15 | 2020-01-15 | Intelligent automatic pipeline welding system and method |
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| CN202010041391.7A CN111203663A (en) | 2020-01-15 | 2020-01-15 | Intelligent automatic pipeline welding system and method |
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| CN114406405A (en) * | 2022-02-26 | 2022-04-29 | 卓然(靖江)设备制造有限公司 | Pipeline automatic weld dolly platform and industrial furnace equipment welding system |
| CN114406405B (en) * | 2022-02-26 | 2024-05-28 | 卓然(靖江)设备制造有限公司 | Automatic pipeline welding trolley platform and industrial furnace equipment welding system |
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