CN113909741B - Control method and control device of welding device, processor and welding system - Google Patents
Control method and control device of welding device, processor and welding system Download PDFInfo
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- CN113909741B CN113909741B CN202111166757.4A CN202111166757A CN113909741B CN 113909741 B CN113909741 B CN 113909741B CN 202111166757 A CN202111166757 A CN 202111166757A CN 113909741 B CN113909741 B CN 113909741B
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- 238000003466 welding Methods 0.000 title claims abstract description 878
- 238000000034 method Methods 0.000 title claims abstract description 69
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- 230000008569 process Effects 0.000 description 32
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- 239000002184 metal Substances 0.000 description 5
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Classifications
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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
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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
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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Abstract
The application provides a control method, a control device, a processor and a welding system of a welding device, wherein the welding device comprises a guide rail and a plurality of movable welding devices, each movable welding device moves along the guide rail, and the control method comprises the following steps: grouping the plurality of mobile welding devices to obtain at least one welding subgroup, wherein the welding subgroup comprises the plurality of mobile welding devices; controlling the welding group to move to the welding starting position of the corresponding welding line; and controlling the welding group to weld the corresponding welding lines according to the preset welding parameters. Compared with the prior art, the welding is carried out through a single movable welding device, the scheme can obtain at least one welding subgroup by grouping a plurality of movable welding devices, and the at least one welding subgroup is controlled to weld the corresponding welding seam according to the preset welding parameters, so that the welding efficiency is ensured to be higher, and the problem of lower welding efficiency of a large structural member in the prior art is solved.
Description
Technical Field
The present application relates to the field of welding, and more particularly, to a control method and apparatus for a welding apparatus, a computer readable storage medium, a processor, and a welding system.
Background
At present, a single welding robot is difficult to meet the welding efficiency requirement of a large structural member, so a method is needed to solve the problem of low welding efficiency of the large structural member in the prior art.
The above information disclosed in the background section is only for enhancement of understanding of the background art from the technology described herein and, therefore, may contain some information that does not form the prior art that is already known in the country to a person of ordinary skill in the art.
Disclosure of Invention
The application mainly aims to provide a control method and a control device of a welding device, a computer readable storage medium, a processor and a welding system, so as to solve the problem of low welding efficiency of large structural parts in the prior art.
According to an aspect of an embodiment of the present invention, there is provided a control method of a welding device including a guide rail and a plurality of moving welding devices, each of the moving welding devices moving along the guide rail, the method including: grouping the plurality of mobile welding devices to obtain at least one welding subgroup, wherein the welding subgroup comprises the plurality of mobile welding devices; controlling the welding group to move to the welding initial position of the corresponding welding line; and controlling the welding group to weld the corresponding welding seam according to preset welding parameters.
Optionally, controlling the welding group to weld the corresponding weld seam according to a predetermined welding parameter includes: a first control step of controlling a movable welding device positioned at the head of a queue to move to a preset area along the guide rail after performing first welding on the welding line according to a first welding parameter, wherein the head of the queue is the position closest to the welding starting position in the welding group; an acquisition step of acquiring a temperature value of the welded joint in real time; a second control step of controlling the movable welding device positioned at the head of the queue to perform a second welding on the welding line according to a second welding parameter and then move to the preset area along the guide rail when the temperature value is within a preset range; and a first repeating step, wherein the obtaining step and the second control step are sequentially executed at least once until the welding group finishes the welding of the corresponding welding seam.
Optionally, the predetermined area is a tail of a queue, and the tail of the queue is a position farthest from the welding start position in the welding group.
Optionally, the first repeating step includes: a first execution step of sequentially executing the acquisition step and the second control step at least once until all the mobile welding devices in the welding group are located in the predetermined area; a third control step of controlling the mobile welding devices to turn around along the guide rail; and a second execution step of sequentially executing the acquisition step, the second control step, the first execution step and the third control step at least once until the welding of the welding seam is completed by the welding group.
Optionally, grouping a plurality of the mobile welding devices to obtain at least one welding subgroup, including: grouping the plurality of mobile welding devices to obtain at least one initial welding subgroup; numbering each of the mobile welding devices in the initial welding subgroup; and controlling the numbered mobile welding devices to be sequentially arranged along the guide rail according to the numbering sequence, so as to obtain a plurality of welding subgroups.
Optionally, controlling the welding group to move to a welding start position of the corresponding weld joint includes: controlling the welding group to move to the corresponding welding starting position; acquiring the actual position of the welding group in real time; and determining that the welding subgroup reaches the welding starting position under the condition that the deviation value of the actual position and the welding starting position is smaller than a preset threshold value.
According to another aspect of the embodiment of the present invention, there is also provided a control device of a welding device, including: the welding device includes a guide rail and a plurality of mobile welding devices, each mobile welding device moving along the guide rail, the device including: a grouping unit, configured to group a plurality of mobile welding devices to obtain at least one welding subgroup, where the welding subgroup includes a plurality of mobile welding devices; the first control unit is used for controlling the welding group to move to the welding starting position of the corresponding welding line; and the second control unit is used for controlling the welding group to weld the corresponding welding seam according to preset welding parameters.
According to still another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program performs any one of the methods.
According to another aspect of the embodiment of the present invention, there is further provided a processor, where the processor is configured to execute a program, and when the program is executed, perform any one of the methods.
According to still another aspect of an embodiment of the present invention, there is also provided a welding system including: the welding device comprises a guide rail and a plurality of movable welding devices, and each movable welding device moves along the guide rail; the control device of the welding device is used for executing any one of the methods.
In the control method of the welding device, the welding device comprises a guide rail and a plurality of mobile welding devices, each mobile welding device moves along the guide rail, at least one welding group is obtained by grouping the mobile welding devices, then the welding group is controlled to move to a corresponding welding seam starting position, and finally the welding group is controlled to weld the corresponding welding seam according to preset welding parameters. Compared with the prior art, the welding is carried out through a single movable welding device, the scheme can obtain at least one welding subgroup by grouping a plurality of movable welding devices, and at least one welding subgroup is controlled to weld corresponding welding seams according to preset welding parameters, so that the welding efficiency is high, and the problem that the welding efficiency of a large structural member in the prior art is low is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 illustrates a schematic diagram of a control method of a welding device according to one embodiment of the present application;
FIG. 2 shows a schematic diagram of a control device of a welding device according to one embodiment of the application;
FIG. 3 illustrates a schematic diagram of a circular rail operating condition according to one embodiment of the present application;
FIG. 4 illustrates a schematic diagram of linear rail operation according to one embodiment of the present application.
Wherein the above figures include the following reference numerals:
100. a temperature sensor; 101. a position sensor; 102. moving the welding device; 103. and a controller.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the application herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As described in the background art, in order to solve the above-mentioned problems, in an exemplary embodiment of the present application, a control method, a control device, a computer readable storage medium, a processor, and a welding system for a welding device are provided.
According to an embodiment of the present application, there is provided a control method of a welding apparatus.
Fig. 1 is a flowchart of a control method of a welding apparatus according to an embodiment of the present application. As shown in fig. 1, the welding device includes a guide rail and a plurality of moving welding devices, each of which moves along the guide rail, and the method includes the steps of:
Step S101, grouping a plurality of mobile welding devices to obtain at least one welding subgroup, wherein the welding subgroup comprises a plurality of mobile welding devices;
step S102, controlling the welding group to move to the welding initial position of the corresponding welding line;
Step S103, controlling the welding group to weld the corresponding welding seams according to preset welding parameters.
In the control method of the welding device, the welding device includes a guide rail and a plurality of moving welding devices, each of the moving welding devices moves along the guide rail, at first, at least one welding group is obtained by grouping the plurality of moving welding devices, then, the welding group is controlled to move to a corresponding welding seam starting position, and finally, the welding group is controlled to weld the corresponding welding seam according to a predetermined welding parameter. Compared with the prior art, the welding is carried out through a single movable welding device, the scheme can obtain at least one welding subgroup by grouping a plurality of movable welding devices, and at least one welding subgroup is controlled to weld corresponding welding seams according to preset welding parameters, so that the welding efficiency is high, and the problem that the welding efficiency of a large structural member in the prior art is low is solved.
In a specific embodiment of the present application, the predetermined welding parameters include welding process parameters of the mobile welding device corresponding to different welding seams, such as welding voltage, welding current, welding speed, arc size, wire feeding amount, wire feeding speed, and the like of the mobile welding device.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
In an embodiment of the present application, the welding seam may be a welding seam that can be welded by sequentially performing one welding by each mobile welding device in the welding group, or may be a welding seam that can be welded by performing multiple welding by each mobile welding device in the welding group, and the welding seams do not support back-and-forth welding, where controlling the welding group to weld the corresponding welding seam according to a predetermined welding parameter includes: a first control step of controlling a movable welding device positioned at the head of a queue to move the welding line to a preset area along the guide rail after performing first welding on the welding line according to a first welding parameter, wherein the head of the queue is the position closest to the welding starting position in the welding group; an acquisition step of acquiring the temperature value of the welded joint in real time; a second control step of controlling the movable welding device at the head of the queue to perform a second welding on the weld seam according to a second welding parameter and then move to the predetermined area along the guide rail when the temperature value is within a predetermined range; and a first repeating step of sequentially executing the acquiring step and the second controlling step at least once until the welding subgroup finishes the welding of the corresponding welding seam. In the scheme, when the acquired temperature value of the welding line is in a preset range, the movable welding device at the head of the queue is controlled to perform second welding on the welding line according to the second welding parameters, so that a good welding effect is ensured, the acquisition step and the second control step are sequentially performed at least once later until all welding subgroups finish corresponding welding, namely, the cooperative operation of a plurality of movable welding devices is realized, and the welding efficiency is further ensured to be higher.
In order to enable those skilled in the art to better understand the above-mentioned queue head, the present application explains the above-mentioned queue head with a specific example, in the case that each of the mobile welding devices of the above-mentioned welding subgroup is sequentially arranged along a welding start position, which is to be welded in the same direction, it is assumed that 3 mobile welding devices are sequentially arranged at the welding start position, respectively referred to as a1 st mobile welding device, a2 nd mobile welding device and a 3 rd mobile welding device, and the 1 st mobile welding device is located on one side of the 2 nd mobile welding device near the above-mentioned welding start position, the 2 nd mobile welding device is located on one side of the 3 rd mobile welding device near the above-mentioned welding start position, the position where the 1 st mobile welding device is located is referred to as a queue head before the welding is not started, and after the 1 st mobile welding device completes the welding, the 1 st mobile welding device is moved to the above-mentioned predetermined area along the guide rail, at this time, the 2 nd mobile welding device and the 3 rd mobile welding device and the 2 nd mobile welding device are still left at the welding start position at this time; after the 2 nd movable welding device finishes welding and moves to one side of the first movable welding device in the preset area along the guide rail, a 3 rd movable welding device is left at the welding starting position, and the position of the 3 rd movable welding device is the head of the queue of the welding group.
In the practical application process, the temperature sensors can be distributed on the welding parent metal along the guide rail and used for acquiring the temperature value of the welded seam after welding in real time, and the temperature sensors can be non-contact infrared temperature sensors or contact temperature sensors. In addition, in the present application, the number of the temperature sensors and the spacing between the temperature sensors are not limited, and the number of the temperature sensors and the spacing between the temperature sensors may be determined according to the actual welding conditions.
In another specific embodiment of the present application, some of the welding seams need to be welded along one direction, in which case the predetermined area is a tail of a queue, and the tail of the queue is a position farthest from the welding start position in the welding group. Of course, if the number of the movable welding devices in the welding group is large, each movable welding device may perform one welding operation and then complete the welding operation of the weld bead, and the predetermined area may be any area far from the welding termination position.
In yet another embodiment of the present application, for a weld capable of back and forth welding, the first repeating step includes: a first execution step of sequentially executing the acquisition step and the second control step at least once until all the mobile welding devices in the welding group are located in the predetermined area; a third control step of controlling the mobile welding devices to turn around along the guide rail; and a second execution step of sequentially executing the acquisition step, the second control step, the first execution step, and the third control step at least once until the welding of the weld bead is completed by the welding team. In this scheme, the acquiring step and the second controlling step are sequentially performed at least once, that is, the temperature value of the welded seam is acquired, and when the acquired temperature value is within a predetermined range, the mobile welding devices are controlled to weld according to welding parameters until all mobile welding devices in the welding group are located in a predetermined area, then the mobile welding devices are controlled to turn around along the guide rail, and the mobile welding devices are sequentially performed at least once in the acquiring step, the second controlling step, the first executing step and the third controlling step until the welding group completes the welding of the welded seam, so that a plurality of mobile welding devices in the welding group weld a welded seam back and forth, and further ensure that the welding efficiency is higher while further ensuring the welding effect of the welded seam to be better.
In a specific embodiment of the present application, the predetermined area is an area near a welding end position, and for each of the mobile welding devices located in the predetermined area, the mobile welding devices are controlled to turn around along the guide rail, that is, the mobile welding devices are controlled to rotate 180 degrees along the guide rail.
In yet another embodiment of the present application, grouping a plurality of the mobile welding devices described above to obtain at least one welding subgroup comprises: grouping the plurality of mobile welding devices to obtain at least one initial welding subgroup; numbering each of the mobile welding devices in the initial welding group; and controlling the numbered mobile welding devices to be sequentially arranged along the guide rail according to the numbering sequence, so as to obtain a plurality of welding subgroups. In this embodiment, the mobile welding devices in the initial welding group are numbered, and the mobile welding devices after the numbering are controlled are sequentially arranged along the guide rail according to the numbering sequence, that is, the corresponding mobile welding devices can be controlled according to the numbers of the mobile welding devices, so that the mobile welding devices can be controlled easily and simply.
In addition, in the practical application process, when the above-mentioned each mobile welding device carries out different welding steps (what number of welding steps is, a priming step is, a filling step is or a capping step is carried out on the welding seam at different positions and on the same welding seam), corresponding technological parameters may be different, by numbering each mobile welding device of the above-mentioned initial welding group, the corresponding technological parameters can be subsequently sent to the mobile welding device corresponding to the number according to the corresponding technological parameters of the number, so that the above-mentioned mobile welding device can be controlled more easily and efficiently, the problem that the control of each mobile welding device is disordered in the welding process is avoided, and the better welding quality is further ensured.
In a specific embodiment of the present application, the welding process parameters, such as the welding current and the welding speed of the mobile welding device during the welding process, may be adjusted according to the temperature and the position. The welding process is not limited to being adjusted according to temperature and position, but may be adjusted according to other parameters, such as by attitude data.
In order to determine more accurately whether the welding subgroup reaches the welding start position, in one embodiment of the present application, controlling the welding subgroup to move to the welding start position of the corresponding weld joint includes: controlling the welding group to move to the corresponding welding starting position; acquiring the actual position of the welding group in real time; and determining that the welding subgroup reaches the welding starting position when the deviation value of the actual position and the welding starting position is smaller than a preset threshold value.
In a specific embodiment of the present application, the position sensor may be disposed on the welding base material along the guide rail, for obtaining the actual position of the welding group in real time, where the position sensor may be a proximity switch or a position switch, and of course, in the actual application process, the position sensor is not limited to the proximity switch or the position switch, and may also select other types of position sensors according to the actual welding working condition. When the position sensor is a proximity switch or a position switch, the position sensor has the advantages of low cost, practicability, easiness in installation and the like. In addition, in the present application, the number of the position sensors and the pitch of the position sensors are not limited, and in a specific use process, the number of the position sensors and the pitch of the position sensors may be determined according to actual working conditions.
In the case where the actual position of the welding subgroup is obtained by the position sensor, the actual position of the welding subgroup may be the position of the mobile welding device located at the head of the queue in the welding subgroup, or may be the position of the mobile welding device located at the tail of the queue in the welding subgroup, and of course, in the actual application, the actual position is not limited to the position of the mobile welding device located at the head of the queue in the welding subgroup, the position of the mobile welding device located at the tail of the queue in the welding subgroup, or may be the position of another mobile welding device in the welding subgroup.
Specifically, in the practical application process, an attitude sensor may be disposed on the welding parent metal along the guide rail, and is used to obtain attitude data of the mobile welding device in curved surface operation or pipeline operation, and adjust welding process parameters according to the obtained attitude data, temperature data and position data, and of course, coarse attitude judgment may also be performed according to the position sensor, and the attitude of the mobile welding device may be calculated according to the corresponding position, so as to determine what welding mode the mobile welding device is in and perform adaptive adjustment of the process.
The embodiment of the application also provides a control device of the welding device, and the control device of the welding device can be used for executing the control method for the welding device. The following describes a control device of a welding device provided by an embodiment of the present application.
Fig. 2 is a schematic view of a control device of a welding apparatus according to an embodiment of the present application. As shown in fig. 2, the welding device includes a guide rail and a plurality of moving welding devices, each of which moves along the guide rail, and the welding device includes:
A grouping unit 10, configured to group a plurality of the mobile welding devices to obtain at least one welding subgroup, where the welding subgroup includes a plurality of the mobile welding devices;
a first control unit 20 for controlling the welding subgroup to move to a welding start position of the corresponding welding line;
and a second control unit 30 for controlling the welding group to weld the corresponding weld seam according to a predetermined welding parameter.
In the control device of the welding device, the grouping unit is used for grouping a plurality of mobile welding devices to obtain at least one welding subgroup, and the welding subgroup comprises a plurality of mobile welding devices; the first control unit is used for controlling the welding group to move to the welding initial position of the corresponding welding line; the second control unit is used for controlling the welding group to weld the corresponding welding seam according to the preset welding parameters. Compared with the prior art, the welding is carried out through a single movable welding device, the scheme can obtain at least one welding subgroup by grouping a plurality of movable welding devices, and at least one welding subgroup is controlled to weld corresponding welding seams according to preset welding parameters, so that the welding efficiency is high, and the problem that the welding efficiency of a large structural member in the prior art is low is solved.
In a specific embodiment of the present application, the predetermined welding parameters include welding process parameters of the mobile welding device corresponding to different welding seams, such as welding voltage, welding current, welding speed, arc size, wire feeding amount, wire feeding speed, and the like of the mobile welding device.
In an embodiment of the present application, the welding seam may be a welding seam that can be welded by sequentially performing one welding on each mobile welding device in the welding group, or may be a welding seam that can be welded by performing multiple welding on each mobile welding device in the welding group, and the welding seams do not support back-and-forth welding, where the second control unit includes a first control module, a first acquisition module, a second control module, and an execution module, where the first control module is used in the first control step to control the mobile welding device at the head of the queue to perform a first welding on the welding seam according to a first welding parameter and then move along the guide rail to a predetermined area, and the head of the queue is a position closest to the welding start position in the welding group; the first acquisition module is used for acquiring the temperature value of the welded seam in real time; the second control module is used for controlling the movable welding device at the head of the queue to perform second welding on the welding line according to a second welding parameter and then move to the preset area along the guide rail when the temperature value is within a preset range; the execution module is used for executing the acquisition step and the second control step at least once in sequence in a first repetition step until the welding group finishes the welding of the corresponding welding seam. In the scheme, when the acquired temperature value of the welding line is in a preset range, the movable welding device at the head of the queue is controlled to perform second welding on the welding line according to the second welding parameters, so that a good welding effect is ensured, the acquisition step and the second control step are sequentially performed at least once later until all welding subgroups finish corresponding welding, namely, the cooperative operation of a plurality of movable welding devices is realized, and the welding efficiency is further ensured to be higher.
In order to enable those skilled in the art to better understand the above-mentioned queue head, the present application explains the above-mentioned queue head with a specific example, in the case that each of the mobile welding devices of the above-mentioned welding subgroup is sequentially arranged along a welding start position, which is to be welded in the same direction, it is assumed that 3 mobile welding devices are sequentially arranged at the welding start position, respectively referred to as a1 st mobile welding device, a2 nd mobile welding device and a 3 rd mobile welding device, and the 1 st mobile welding device is located on one side of the 2 nd mobile welding device near the above-mentioned welding start position, the 2 nd mobile welding device is located on one side of the 3 rd mobile welding device near the above-mentioned welding start position, the position where the 1 st mobile welding device is located is referred to as a queue head before the welding is not started, and after the 1 st mobile welding device completes the welding, the 1 st mobile welding device is moved to the above-mentioned predetermined area along the guide rail, at this time, the 2 nd mobile welding device and the 3 rd mobile welding device and the 2 nd mobile welding device are still left at the welding start position at this time; after the 2 nd movable welding device finishes welding and moves to one side of the first movable welding device in the preset area along the guide rail, a 3 rd movable welding device is left at the welding starting position, and the position of the 3 rd movable welding device is the head of the queue of the welding group.
In the practical application process, the temperature sensors can be distributed on the welding parent metal along the guide rail and used for acquiring the temperature value of the welded seam after welding in real time, and the temperature sensors can be non-contact infrared temperature sensors or contact temperature sensors. In addition, in the present application, the number of the temperature sensors and the spacing between the temperature sensors are not limited, and the number of the temperature sensors and the spacing between the temperature sensors may be determined according to the actual welding conditions.
In another specific embodiment of the present application, some of the welding seams need to be welded along one direction, in which case the predetermined area is a tail of a queue, and the tail of the queue is a position farthest from the welding start position in the welding group. Of course, if the number of the movable welding devices in the welding group is large, each movable welding device may perform one welding operation and then complete the welding operation of the weld bead, and the predetermined area may be any area far from the welding termination position.
In yet another embodiment of the present application, for a weld seam capable of being welded back and forth, in this case, the execution module includes a first execution sub-module, a first control sub-module, and a second execution sub-module, where the first execution sub-module is configured to execute the acquiring step and the second control step sequentially at least once until all the mobile welding devices in the welding group are located in the predetermined area; the first control submodule is used for controlling the mobile welding devices to turn around along the guide rail in a third control step; the second execution submodule is used for executing the second execution step, and the acquisition step, the second control step, the first execution step and the third control step are executed at least once in sequence until the welding group finishes welding the welding seam. In this scheme, the acquiring step and the second controlling step are sequentially performed at least once, that is, the temperature value of the welded seam is acquired, and when the acquired temperature value is within a predetermined range, the mobile welding devices are controlled to weld according to welding parameters until all mobile welding devices in the welding group are located in a predetermined area, then the mobile welding devices are controlled to turn around along the guide rail, and the mobile welding devices are sequentially performed at least once in the acquiring step, the second controlling step, the first executing step and the third controlling step until the welding group completes the welding of the welded seam, so that a plurality of mobile welding devices in the welding group weld a welded seam back and forth, and further ensure that the welding efficiency is higher while further ensuring the welding effect of the welded seam to be better.
In a specific embodiment of the present application, the predetermined area is an area near a welding end position, and for each of the mobile welding devices located in the predetermined area, the mobile welding devices are controlled to turn around along the guide rail, that is, the mobile welding devices are controlled to rotate 180 degrees along the guide rail.
In yet another embodiment of the present application, the grouping unit further includes a grouping module, an encoding module, and a third control module, where the grouping module is configured to group the plurality of mobile welding devices to obtain at least one initial welding subgroup; the coding module is used for numbering each mobile welding device in the initial welding group; and the third control module is used for controlling the numbered mobile welding devices to be sequentially arranged along the guide rail according to the numbering sequence, so as to obtain a plurality of welding subgroups. In this embodiment, the mobile welding devices in the initial welding group are numbered, and the mobile welding devices after the numbering are controlled are sequentially arranged along the guide rail according to the numbering sequence, that is, the corresponding mobile welding devices can be controlled according to the numbers of the mobile welding devices, so that the mobile welding devices can be controlled easily and simply.
In addition, in the practical application process, when the above-mentioned each mobile welding device carries out different welding steps (what number of welding steps is, a priming step is, a filling step is or a capping step is carried out on the welding seam at different positions and on the same welding seam), corresponding technological parameters may be different, by numbering each mobile welding device of the above-mentioned initial welding group, the corresponding technological parameters can be subsequently sent to the mobile welding device corresponding to the number according to the corresponding technological parameters of the number, so that the above-mentioned mobile welding device can be controlled more easily and efficiently, the problem that the control of each mobile welding device is disordered in the welding process is avoided, and the better welding quality is further ensured.
In a specific embodiment of the present application, the welding process parameters, such as the welding current and the welding speed of the mobile welding device during the welding process, may be adjusted according to the temperature and the position. The welding process is not limited to being adjusted according to temperature and position, but may be adjusted according to other parameters, such as by attitude data.
In order to determine more accurately whether the welding subgroup reaches the welding start position, in one embodiment of the present application, the first control unit includes a fourth control module, a second acquisition module, and a determination module, where the fourth control module is configured to control the welding subgroup to move to the corresponding welding start position; the second acquisition module is used for acquiring the actual position of the welding group in real time; the determining module is used for determining that the welding subgroup reaches the welding starting position under the condition that the deviation value of the actual position and the welding starting position is smaller than a preset threshold value.
In a specific embodiment of the present application, the position sensor may be disposed on the welding base material along the guide rail, for obtaining the actual position of the welding group in real time, where the position sensor may be a proximity switch or a position switch, and of course, in the actual application process, the position sensor is not limited to the proximity switch or the position switch, and may also select other types of position sensors according to the actual welding working condition. When the position sensor is a proximity switch or a position switch, the position sensor has the advantages of low cost, practicability, easiness in installation and the like. In addition, in the present application, the number of the position sensors and the pitch of the position sensors are not limited, and in a specific use process, the number of the position sensors and the pitch of the position sensors may be determined according to actual working conditions.
In the case where the actual position of the welding subgroup is obtained by the position sensor, the actual position of the welding subgroup may be the position of the mobile welding device located at the head of the queue in the welding subgroup, or may be the position of the mobile welding device located at the tail of the queue in the welding subgroup, and of course, in the actual application, the actual position is not limited to the position of the mobile welding device located at the head of the queue in the welding subgroup, the position of the mobile welding device located at the tail of the queue in the welding subgroup, or may be the position of another mobile welding device in the welding subgroup.
Specifically, in the practical application process, an attitude sensor may be disposed on the welding parent metal along the guide rail, and is used to obtain attitude data of the mobile welding device in curved surface operation or pipeline operation, and adjust welding process parameters according to the obtained attitude data, temperature data and position data, and of course, coarse attitude judgment may also be performed according to the position sensor, and the attitude of the mobile welding device may be calculated according to the corresponding position, so as to determine what welding mode the mobile welding device is in and perform adaptive adjustment of the process.
The control device of the welding device comprises a processor and a memory, wherein the grouping unit, the first control unit, the second control unit and the like are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The inner core can be provided with one or more than one, and the problem of low welding efficiency of a large structural member in the prior art is solved by adjusting the parameters of the inner core.
The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.
An embodiment of the present invention provides a computer-readable storage medium having a program stored thereon, which when executed by a processor, implements the control method of a welding apparatus described above.
The embodiment of the invention provides a processor, which is used for running a program, wherein the control method of the welding device is executed when the program runs.
The embodiment of the invention also provides a welding system which comprises a welding device and a control device of the welding device, wherein the welding device comprises a guide rail and a plurality of movable welding devices, and each movable welding device moves along the guide rail; the control device of the welding device is used for executing any one of the methods.
In the welding system, the welding system comprises a welding device and a control device of the welding device, wherein the welding device comprises a guide rail and a plurality of movable welding devices, and each movable welding device moves along the guide rail; in the control method, at first, at least one welding group is obtained by grouping the plurality of mobile welding devices, then, the welding group is controlled to move to a corresponding welding seam starting position, and finally, the welding group is controlled to weld the corresponding welding seam according to a preset welding parameter. Compared with the prior art, the welding is carried out through a single movable welding device, the scheme can obtain at least one welding subgroup by grouping a plurality of movable welding devices, and at least one welding subgroup is controlled to weld corresponding welding seams according to preset welding parameters, so that the welding efficiency is high, and the problem that the welding efficiency of a large structural member in the prior art is low is solved.
In a specific embodiment of the application, the control device of the welding device is a controller, the welding device comprises a guide rail, a plurality of movable welding devices, a temperature sensor and a position sensor, wherein the movable welding devices comprise a guide rail moving device, a welding gun swinging device and a welding gun clamping mechanism, the guide rail moving device is used for supporting movement of the guide rail, the welding gun swinging device is used for supporting self-adaptive adjustment of a welding gun, namely, the welding gun can be adjusted up, down, left, right and back, so that the industrial requirements of different welding machines are met, and the welding gun clamping mechanism is used for clamping the welding gun to perform welding machine operation. In a specific application process, each temperature sensor and each position sensor are respectively connected with the controller through a communication bus (comprising a power supply) and transmit corresponding temperature information and position information so as to position the mobile welding device, thus greatly reducing the cost of a robot control part and improving the control precision. In addition, the controller is a control core of a control device of the whole welding device, is connected with all the mobile welding devices, the temperature sensors and the position sensors which are arranged on the welding parent metal, performs corresponding process selection and motion control according to the acquired temperature information and the position information, realizes the selection of a welding process and a welding machine strategy for a user, and controls each mobile welding device to perform welding operation according to the welding process and the welding machine strategy.
In order to make the technical solution of the present application more clearly and clearly understood by those skilled in the art, the following description will be made with reference to specific embodiments:
Example 1
As shown in fig. 3, in the working condition of the circular guide rail, a groove needs to be welded for 4 times, and the process control is described by taking 1 welding completion as an example:
Firstly, 1 welding subgroup, namely 4 mobile welding devices 102, namely a1 st mobile welding device, a2 nd mobile welding device, a 3 rd mobile welding device and a4 th mobile welding device are required to be configured, secondly, each device is installed, namely each position sensor 101 and each temperature sensor 100 are respectively and electrically connected with a controller 103 through a communication bus, the actual positions of the welding subgroups are acquired in real time by the position sensors 101, whether the welding subgroup reaches a welding starting position is determined, and the welding subgroup is controlled under the condition that the welding starting position is not reached, namely the 4 mobile welding devices 102 reach the welding starting position, and the controller 103 distributes welding machine strategies; after each preparation work is ready, the 1 st movable welding device starts to perform welding operation, at this time, the temperature sensor 100 detects the temperature value of the welded joint in real time, when the obtained temperature value of the welded joint is in a preset range, the 2 nd movable welding device starts to perform welding operation, namely, the 2 nd movable welding device performs welding by using the residual heat of welding of the 1 st movable welding device, and simultaneously, the temperature sensor 100 is started to detect the temperature value of the welded joint again, namely, the 3 rd movable welding device performs welding by using the residual heat of welding of the 2 nd movable welding device, and the 3 rd movable welding device and the 4 th movable welding device are sequentially controlled to perform welding respectively until the welding operation is completed.
Example 2
As shown in fig. 4, taking the case that 2 moving welding devices need 2 times of complete welding under the working condition of the linear guide rail as an example, the flow control description is performed:
firstly, 1 welding subgroup, namely two mobile welding devices 102, namely a1 st mobile welding device and a 2 nd mobile welding device, are required to be configured, secondly, operation preparation is carried out, each device is installed, namely a temperature sensor 100 and a position sensor 101 are respectively and electrically connected with a controller 103 through a communication bus, the actual position of the welding subgroup is acquired in real time by the position sensor 101, whether the welding subgroup reaches a welding start position is determined, the welding subgroup is controlled under the condition that the welding start position is not reached, namely 2 mobile welding devices 102 reach the welding start position, and a welding machine strategy is distributed by the controller 103; after each item of accurate work is ready, the 1 st mobile welding device starts welding operation, at this moment, the temperature sensor 100 detects the temperature value of the welded welding seam in real time, when the acquired temperature value of the welding seam is in a preset range, the 2 nd mobile welding device starts welding operation, namely, the 2 nd mobile welding device performs welding by utilizing the residual temperature of welding of the 1 st mobile welding device until the 1 st welding operation is completed, namely, the 1 st mobile welding device and the 2 nd mobile device complete 1-channel welding operation. After the 1 st welding is completed, the 2 nd and 1 st movable welding devices are sequentially retracted from the predetermined area near the welding end position to the welding start position, and the 2 nd welding operation is performed in accordance with the above procedure.
Of course, in the practical application process, if the welding process can perform back and forth welding, after the 1 st welding is completed, since the 1 st mobile welding device reaches the end point first, the 2 nd mobile welding device is behind the 1 st mobile welding device, at this time, the 2 nd mobile welding device and the 1 st mobile welding device need to be controlled to turn around in a predetermined area near the welding end point, and the 2 nd mobile welding device is controlled to perform reverse welding first according to the feedback information of the temperature sensor, then the 1 st mobile welding device is controlled to perform reverse welding again, and finally the 2 nd welding is completed according to the feedback information of the position sensor.
In addition, it should be noted that, because the pipeline welding situation is special compared with the direct welding situation, because the pipeline is circular, some automatic welding needs to be welded from bottom to top, and two-way welding can occur during welding, butt coordination needs to be considered at the welding start point and the welding end point, at this time, welding needs to be staggered by a certain time difference, for example, when a welding machine strategy is set, taking upward welding as an example, all mobile welding devices are set to a counterclockwise welding area and are sequentially queued, after the welding is ready, clockwise first starts, after the clockwise welding devices are sequentially started, each mobile welding device in the counterclockwise area is queued to a clockwise area, after the queuing is ready, queuing welding is started, and then the welding is sequentially performed in the same way after reaching the welding end point, and after the welding is completed, the welding operation in the latter half area is not interfered, and the specific welding control flow is the same.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the processor realizes at least the following steps when executing the program:
Step S101, grouping a plurality of mobile welding devices to obtain at least one welding subgroup, wherein the welding subgroup comprises a plurality of mobile welding devices;
step S102, controlling the welding group to move to the welding initial position of the corresponding welding line;
Step S103, controlling the welding group to weld the corresponding welding seams according to preset welding parameters.
The device herein may be a server, PC, PAD, cell phone, etc.
The application also provides a computer program product adapted to perform, when executed on a data processing device, a program initialized with at least the following method steps:
Step S101, grouping a plurality of mobile welding devices to obtain at least one welding subgroup, wherein the welding subgroup comprises a plurality of mobile welding devices;
step S102, controlling the welding group to move to the welding initial position of the corresponding welding line;
Step S103, controlling the welding group to weld the corresponding welding seams according to preset welding parameters.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units may be a logic function division, and there may be another division manner when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the above-mentioned method of the various embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:
1) In the control method of the welding device according to the present application, the welding device includes a guide rail and a plurality of movable welding devices, each movable welding device moves along the guide rail, and at first, at least one welding group is obtained by grouping the plurality of movable welding devices, then, the welding group is controlled to move to a corresponding weld starting position, and finally, the welding group is controlled to weld the corresponding weld according to a predetermined welding parameter. Compared with the prior art, the welding is carried out through a single movable welding device, the scheme can obtain at least one welding subgroup by grouping a plurality of movable welding devices, and at least one welding subgroup is controlled to weld corresponding welding seams according to preset welding parameters, so that the welding efficiency is high, and the problem that the welding efficiency of a large structural member in the prior art is low is solved.
2) In the control device of the welding device of the application, the grouping unit is used for grouping a plurality of the mobile welding devices to obtain at least one welding subgroup, and the welding subgroup comprises a plurality of the mobile welding devices; the first control unit is used for controlling the welding group to move to the welding initial position of the corresponding welding line; the second control unit is used for controlling the welding group to weld the corresponding welding seam according to the preset welding parameters. Compared with the prior art, the welding is carried out through a single movable welding device, the scheme can obtain at least one welding subgroup by grouping a plurality of movable welding devices, and at least one welding subgroup is controlled to weld corresponding welding seams according to preset welding parameters, so that the welding efficiency is high, and the problem that the welding efficiency of a large structural member in the prior art is low is solved.
3) In the welding system according to the present application, the welding system includes a welding device and a control device for the welding device, wherein the welding device includes a guide rail and a plurality of movable welding devices, each movable welding device being movable along the guide rail; in the control method, at first, at least one welding group is obtained by grouping the plurality of mobile welding devices, then, the welding group is controlled to move to a corresponding welding seam starting position, and finally, the welding group is controlled to weld the corresponding welding seam according to a preset welding parameter. Compared with the prior art, the welding is carried out through a single movable welding device, the scheme can obtain at least one welding subgroup by grouping a plurality of movable welding devices, and at least one welding subgroup is controlled to weld corresponding welding seams according to preset welding parameters, so that the welding efficiency is high, and the problem that the welding efficiency of a large structural member in the prior art is low is solved.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (6)
1. A control method of a welding device, wherein the welding device includes a guide rail and a plurality of moving welding devices, each of the moving welding devices moving along the guide rail, the method comprising:
grouping the plurality of mobile welding devices to obtain at least one welding subgroup, wherein the welding subgroup comprises the plurality of mobile welding devices;
Controlling the welding group to move to the welding initial position of the corresponding welding line;
Controlling the welding group to weld the corresponding welding seam according to preset welding parameters;
Controlling the welding group to weld the corresponding welding seam according to preset welding parameters, including:
A first control step of controlling a movable welding device positioned at the head of a queue to move to a preset area along the guide rail after performing first welding on the welding line according to a first welding parameter, wherein the head of the queue is the position closest to the welding starting position in the welding group;
an acquisition step of acquiring a temperature value of the welded joint in real time;
A second control step of controlling the movable welding device positioned at the head of the queue to perform a second welding on the welding line according to a second welding parameter and then move to the preset area along the guide rail when the temperature value is within a preset range;
A first repeating step of sequentially executing the obtaining step and the second controlling step at least once until the welding subgroup completes the welding of the corresponding weld bead;
The first repeating step includes:
A first execution step of sequentially executing the acquisition step and the second control step at least once until all the mobile welding devices in the welding group are located in the predetermined area;
a third control step of controlling the mobile welding devices to turn around along the guide rail;
A second execution step of sequentially executing the acquisition step, the second control step, the first execution step, and the third control step at least once until the welding of the weld bead is completed by the welding subgroup;
Grouping a plurality of the mobile welding devices to obtain at least one welding subgroup, comprising:
Grouping the plurality of mobile welding devices to obtain at least one initial welding subgroup;
numbering each of the mobile welding devices in the initial welding subgroup;
The mobile welding devices after numbering are controlled to be sequentially arranged along the guide rail according to the numbering sequence, so that at least one welding subgroup is obtained;
controlling the welding group to move to the welding starting position of the corresponding welding line, comprising:
controlling the welding group to move to the corresponding welding starting position;
acquiring the actual position of the welding group in real time;
And determining that the welding subgroup reaches the welding starting position under the condition that the deviation value of the actual position and the welding starting position is smaller than a preset threshold value.
2. The method of claim 1, wherein the predetermined area is an area proximate to a weld termination location.
3. A control device for a welding device, the welding device comprising a guide rail and a plurality of mobile welding devices, each of the mobile welding devices being movable along the guide rail, the control device comprising:
A grouping unit, configured to group a plurality of mobile welding devices to obtain at least one welding subgroup, where the welding subgroup includes a plurality of mobile welding devices;
The first control unit is used for controlling the welding group to move to the welding starting position of the corresponding welding line;
the second control unit is used for controlling the welding group to weld the corresponding welding seam according to preset welding parameters;
The second control unit comprises a first control module, a first acquisition module, a second control module and an execution module, wherein the first control module is used for controlling a mobile welding device positioned at the head of the queue to move to a preset area along a guide rail after performing first welding on a welding line according to a first welding parameter, and the head of the queue is the position closest to a welding starting position in a welding group; the first acquisition module is used for acquiring the temperature value of the welded seam in real time; the second control module is used for controlling the movable welding device at the head of the queue to perform second welding on the welding line according to the second welding parameters and then move to a preset area along the guide rail when the temperature value is in a preset range; the execution module is used for executing the acquisition step and the second control step at least once in sequence in the first repetition step until the welding group finishes the welding of the corresponding welding seam;
The execution module comprises a first execution sub-module, a first control sub-module and a second execution sub-module, wherein the first execution sub-module is used for executing the first execution step, and sequentially executing the acquisition step and the second control step at least once until all the mobile welding devices in the welding group are located in a preset area; the first control submodule is used for controlling the mobile welding devices to turn around along the guide rail in a third control step; the second execution submodule is used for executing the second execution step, and sequentially executing the acquisition step, the second control step, the first execution step and the third control step at least once until the welding subgroup finishes welding the welding seam;
the grouping unit further comprises a grouping module, a coding module and a third control module, wherein the grouping module is used for grouping a plurality of mobile welding devices to obtain at least one initial welding group; the coding module is used for numbering each mobile welding device in the initial welding group; the third control module is used for controlling each numbered mobile welding device to be sequentially arranged along the guide rail according to the numbering sequence, so as to obtain at least one welding subgroup;
The first control unit comprises a fourth control module, a second acquisition module and a determination module, wherein the fourth control module is used for controlling the welding group to move towards the corresponding welding starting position; the second acquisition module is used for acquiring the actual position of the welding group in real time; the determining module is used for determining that the welding subgroup reaches the welding starting position under the condition that the deviation value of the actual position and the welding starting position is smaller than a preset threshold value.
4. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored program, wherein the program performs the method of claim 1 or 2.
5. A processor for running a program, wherein the program when run performs the method of any one of claims 1 or 2.
6. A welding system, comprising:
the welding device comprises a guide rail and a plurality of movable welding devices, and each movable welding device moves along the guide rail;
control means of the welding device for performing the method of any one of claims 1 or 2.
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| CN104942439A (en) * | 2015-03-26 | 2015-09-30 | 上海工程技术大学 | 907A high-strength steel T-shaped joint laser welding and machining method |
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