Boiler inner wall intersecting line weld joint identifying method

Abstract

Disclosed is a boiler inner wall intersecting line weld joint identifying method. The boiler inner wall intersecting line weld joint identifying method is applied to intersecting line welding of a boiler inner wall and a convection tube. A ring-shaped laser visual sensor collects and segments images to identify the degree of deflection and the center of cross section of the convection tube to calculate the inclination of the convection tube; a servo turntable is adjusted so that the turning surface of a positioning rod is parallel to the orthographic projection of the convection tube, a turning mechanism is adjusted so that the positioning rod is parallel to the convection tube, a positioning rod moves to right above the convection tube, a retracting mechanism extends and centers the positioning rod to the convection tube, and the ring-shaped visual sensor scans the groove of a weld joint to fit and smooth scanning signals and further to acquire an intersecting line weld joint. The boiler inner wall intersecting line weld joint identifying method is simple in algorithm, capable of rapidly and accurately identifying the inclination and the position of the weld joint of the convection tube, few in steps of inclination adjustment of the positioning rod of a welding gun, low in welding error and high in efficiency.

Description

technical field [0001] The invention mainly relates to the field of welding automation, in particular to a method for identifying intersecting line welds on the inner wall of a boiler. Background technique [0002] At present, in machinery manufacturing industries such as mechanical assembly, marine engineering equipment, rail vehicles, and large pressure vessel industries, manual welding has gradually withdrawn from the production line, and automated welding robots, automated welding planes, and intelligent welding technology have become the main trend of welding technology development. . [0003] In the above-mentioned projects, there are a large number of pipe welding cases, especially oblique intersections. Especially in the boiler industry, there are usually angle errors in the assembly of the convection tubes and the boiler wall, resulting in oblique intersections between the convection tubes and the boiler wall. The inner diameter is small, the number of convection t...

AI Technical Summary

Problems solved by technology

The process of this method is complicated, the calculation scale is huge, and the calculated intersecting line weld and the actual weld groove often have a large deviation, so the welding error is relatively large, and the assembly and welding accuracy of the convection tube and the boiler wall is relatively high. , so a welding method for oblique pipes with simple algorithm and high precision

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