CN114799434A - Intelligent stud welding method and system for nuclear power curved plate - Google Patents

Intelligent stud welding method and system for nuclear power curved plate Download PDF

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Publication number
CN114799434A
CN114799434A CN202210323790.1A CN202210323790A CN114799434A CN 114799434 A CN114799434 A CN 114799434A CN 202210323790 A CN202210323790 A CN 202210323790A CN 114799434 A CN114799434 A CN 114799434A
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Prior art keywords
welding
nuclear power
stud
curve
slope
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Inventor
陈勇
张奥涵
王业方
张涛
胡道春
李勤涛
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Nanjing Vocational University of Industry Technology NUIT
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Nanjing Vocational University of Industry Technology NUIT
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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
    • B23K9/00—Arc welding or cutting
    • B23K9/20—Stud welding

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Abstract

The invention discloses an intelligent stud welding method and system for a nuclear power curved plate, and belongs to the technical field of curved plate stud welding. The method comprises the following steps: constructing a digital model based on entity information of the nuclear power curved plate, and generating a database based on the digital model; acquiring key point information and generating a key point set based on the database; constructing a welding optimal path based on the key point set; the welding work is performed based on the welding optimal path at the time of welding. When the stud welding device is used for welding, and the welding direction is vertical to the plane where the welding point is located, the stud welding device can ensure that each stud keeps a vertical structure when being welded on a nuclear power curved plate, so that the individual stability is increased, the stud directions in the same plane can be ensured to be consistent, and the overall stability is increased; and in the threshold range, the combinable welding area units are combined and welded, so that the angle adjusting times of the stud welding device are reduced, and the welding efficiency is improved while the welding precision is improved.

Description

Intelligent stud welding method and system for nuclear power curved plate
Technical Field
The invention belongs to the technical field of curved plate stud welding, and particularly relates to an intelligent stud welding method and system for a nuclear power curved plate.
Background
The curved plate of the nuclear power key component is welded by a stud by adopting a gantry type welding robot; in some requirements, the stud needs to be processed to be welded on the surface of the curved plate vertically, and the gantry type welding robot can only move in the horizontal or vertical direction due to the structure of the gantry type welding robot, so that the welding degree is limited relative to the requirement of welding the surface of the curved plate vertically.
Even if an angle adjusting mechanism is added on the stud welding gun, so that the angle of the stud welding gun is perpendicular to the surface of the curved plate, and the requirement of perpendicular welding is met, the radian of the curved plate is complex, and the change of the curved plate is not linear, so that the welding direction of the stud welding gun is perpendicular to the surface of the curved plate only by observing and adjusting the angle of the stud welding gun through human eyes; moreover, the welding direction of the curved plate needs to be adjusted every time the radian changes, and due to the limitation of human eye observation, the adjustment times are too much or too little, and the welding efficiency is influenced.
Disclosure of Invention
The purpose of the invention is as follows: in order to solve the problems, the invention provides an intelligent stud welding method and system for a nuclear power curved plate.
The technical scheme is as follows: a method for welding an intelligent stud for a nuclear power curved plate comprises the following steps:
constructing a digital model based on entity information of the nuclear power curved plate, and generating a database based on the digital model;
acquiring key point information and generating a key point set based on the database;
constructing a welding optimal path based on the key point set; the welding work is performed based on the welding optimal path at the time of welding.
In a further embodiment, the specific steps of constructing the digital model are as follows:
establishing a first plane coordinate system by using a plane where the side surface of the nuclear power curved plate is located; simulating the shape of the side of the nuclear power curved plate into a curve positioned in the first plane coordinate system, and setting the curve function as f (x);
obtaining the coordinates of any point on the curve
Figure 100002_DEST_PATH_IMAGE001
Obtaining the coordinate set I, I =of all points of the curve
Figure 788989DEST_PATH_IMAGE002
Wherein i is the ith point on the curve.
In a further embodiment, F (x) reaches a relative maximum value within a predetermined interval, this point is set as the peak point of the curve, based on the set I, a set F of peak points is obtained,
Figure 100002_DEST_PATH_IMAGE003
wherein j is the number of peak points;
within a predetermined interval, f (x) reaches a relative minimum value, the point is set as a valley point of the curve, a valley point set G is obtained based on the set I,
Figure 735080DEST_PATH_IMAGE004
wherein m is the number of valley points;
setting a curve between two adjacent peak points and valley points as a curve peak-valley unit, and calculating the number of key points in the curve peak-valley unit;
setting the peak point in the peak-valley unit of the curve as
Figure 100002_DEST_PATH_IMAGE005
The valley point is
Figure 991749DEST_PATH_IMAGE006
(ii) a Computation acquisition
Figure 100002_DEST_PATH_IMAGE007
，
Figure 769212DEST_PATH_IMAGE008
Then, then
Figure 100002_DEST_PATH_IMAGE009
And
Figure 515451DEST_PATH_IMAGE010
number of key points in the curve between
Figure 100002_DEST_PATH_IMAGE011
The following calculation formula is satisfied:
Figure 775269DEST_PATH_IMAGE012
wherein
Figure 100002_DEST_PATH_IMAGE013
Is a unit length coefficient;
obtained
Figure 507732DEST_PATH_IMAGE011
The key points only comprise peak points or valley points; and calculating and obtaining the number of key points in all curve peak-valley units in the curve, and obtaining a key point set, wherein the key point set comprises the number of key points and coordinate information.
In a further embodiment, the set of keypoints comprises n keypoints, wherein n is an integer and n is greater than 2; dividing welding areas by key points, setting areas between adjacent key points on the nuclear power curved plate as welding area units to obtain a welding area unit set S,
Figure 998757DEST_PATH_IMAGE014
wherein, in the step (A),
Figure 100002_DEST_PATH_IMAGE015
is the n-1 welding area unit;
calculating the slope between adjacent key points and obtaining a slope set K,
Figure 853580DEST_PATH_IMAGE016
wherein, in the step (A),
Figure 100002_DEST_PATH_IMAGE017
n-1 is n-1 slope values;
Figure 774263DEST_PATH_IMAGE015
and
Figure 966210DEST_PATH_IMAGE017
and correspond to each other.
In a further embodiment, two adjacent slopes in the slope set K are selected
Figure 691501DEST_PATH_IMAGE018
And
Figure 100002_DEST_PATH_IMAGE019
wherein e is an integer, and
Figure 779543DEST_PATH_IMAGE020
computing and obtaining
Figure 100002_DEST_PATH_IMAGE021
(ii) a Will be provided with
Figure 249838DEST_PATH_IMAGE022
Comparing with a threshold value D, and constructing a welding optimal path;
if it is
Figure 100002_DEST_PATH_IMAGE023
Then pair
Figure 589684DEST_PATH_IMAGE024
Performing the welding operation separately and calculating the next set of slope difference acquisitions
Figure 100002_DEST_PATH_IMAGE025
Will be
Figure 196246DEST_PATH_IMAGE026
Comparing with a threshold value D;
if it is
Figure 100002_DEST_PATH_IMAGE027
Then pair
Figure 891407DEST_PATH_IMAGE028
Independently executing welding operation, calculating the next group of slope differences, and repeatedly comparing the slope differences with the threshold D until all welding area units are welded;
if it is
Figure 100002_DEST_PATH_IMAGE029
Then pair
Figure 911316DEST_PATH_IMAGE028
And
Figure 586011DEST_PATH_IMAGE030
merge and continue to calculate
Figure 100002_DEST_PATH_IMAGE031
Will be
Figure 47079DEST_PATH_IMAGE032
Comparing with a threshold value D;
if it is
Figure 100002_DEST_PATH_IMAGE033
Then will be
Figure 476923DEST_PATH_IMAGE034
Combined with the above
Figure 390653DEST_PATH_IMAGE028
、
Figure 462514DEST_PATH_IMAGE030
Combining the two parts together, continuously calculating the next group of slope difference values, and repeatedly comparing the slope difference values with a threshold value D until all welding area units are welded;
if it is
Figure 100002_DEST_PATH_IMAGE035
Then execute
Figure 479886DEST_PATH_IMAGE028
And
Figure 877370DEST_PATH_IMAGE030
merging welds and calculating
Figure 747237DEST_PATH_IMAGE036
And comparing the threshold value D until all welding area units are welded.
In a further embodiment, if
Figure 100002_DEST_PATH_IMAGE037
Then pair
Figure 29313DEST_PATH_IMAGE024
And
Figure 792870DEST_PATH_IMAGE028
merge and continue to calculate
Figure 971042DEST_PATH_IMAGE025
Will be
Figure 656101DEST_PATH_IMAGE026
Comparing with a threshold value D;
if it is
Figure 335344DEST_PATH_IMAGE029
Then will be
Figure 592888DEST_PATH_IMAGE030
Combined with the above
Figure 66594DEST_PATH_IMAGE024
、
Figure 238950DEST_PATH_IMAGE028
Combining the two parts together, continuously calculating the next group of slope difference values, and repeatedly comparing the slope difference values with a threshold value D until all welding area units are welded;
if it is
Figure 331671DEST_PATH_IMAGE027
Then execute
Figure 69819DEST_PATH_IMAGE024
And
Figure 855373DEST_PATH_IMAGE028
merging welds and calculating
Figure 311762DEST_PATH_IMAGE038
And comparing the threshold value D until all welding area units are welded.
In a further embodiment, a second plane coordinate system is established by the obtained plane of the welding area unit, and coordinate information of a stud to-be-welded point is determined
Figure 100002_DEST_PATH_IMAGE039
Obtaining a coordinate set R, R =of the to-be-welded point of the stud
Figure 677015DEST_PATH_IMAGE040
And moving the welding head according to the set R to execute the welding operation.
In a further embodiment, the linear direction of the welding head is perpendicular to the plane of the welding area, which includes the following steps:
setting the slope of a straight line of the welding head in the first plane coordinate system as
Figure 100002_DEST_PATH_IMAGE041
；
When the welding area only contains one slope value, the slope value is set as
Figure 723467DEST_PATH_IMAGE042
Then, then
Figure 100002_DEST_PATH_IMAGE043
；
When the welding area comprises at least two slope values, the slope value is set to be
Figure 7818DEST_PATH_IMAGE044
、
Figure 100002_DEST_PATH_IMAGE045
…
Figure 358028DEST_PATH_IMAGE046
，
Then
Figure DEST_PATH_IMAGE047
。
Another embodiment provides an intelligent stud welding system for a nuclear power curved plate, which comprises a device and a control unit; wherein the control unit includes: the system comprises a first module, a second module and a third module, wherein the first module is used for constructing a digital model based on entity information of a nuclear power curved plate and generating a database based on the digital model; a second module configured to compute a set of keypoints based on the database; the key point set comprises the number of key points and key point coordinate information; a third module configured to construct a welding path and generate a welding instruction based on the set of key points.
In a further embodiment, the apparatus comprises: a gantry; a stud welding gun in transmission connection with
A gantry; the angle adjusting piece is connected to the stud welding gun; the angle adjusting piece is used for adjusting the angle of the stud welding gun.
Has the advantages that: dividing the nuclear power curved plate into a plurality of welding area units according to the bending condition of the nuclear power curved plate, constructing an optimal welding path according to the welding area units, and cutting based on the optimal welding path; when the stud welding device is used for welding, the welding direction is adjusted to be perpendicular to the plane where the welding point is located, so that a perpendicular structure can be kept when each stud is welded on the nuclear power curved plate, the individual stability is improved, the stud directions in the same plane can be consistent, and the overall stability is improved; and in the threshold range, the combinable welding area units are combined and welded, so that the angle adjusting times of the stud welding device are reduced, and the welding efficiency is improved while the welding precision is improved.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
In order to solve the problems in the prior art, the applicant has conducted in-depth analysis on various existing schemes, which are specifically as follows:
the curved plate of the nuclear power key component is welded by a stud by adopting a gantry type welding robot; in some requirements, the stud needs to be processed to be welded on the surface of the curved plate vertically, and the gantry type welding robot can only move in the horizontal or vertical direction due to the structure of the gantry type welding robot, so that the welding degree is limited relative to the requirement of welding the surface of the curved plate vertically. Even if an angle adjusting mechanism is added on the stud welding gun, so that the angle of the stud welding gun is perpendicular to the surface of the curved plate, and the requirement of perpendicular welding is met, the radian of the curved plate is complex, and the change of the curved plate is not linear, so that the welding direction of the stud welding gun is perpendicular to the surface of the curved plate only by observing and adjusting the angle of the stud welding gun through human eyes; moreover, the radian change of the curved plate each time needs to adjust the welding direction, and the limitation of human eye observation can cause too many or too few adjustment times and influence the welding efficiency.
Example 1
In order to solve the above technical problem, as shown in fig. 1, the present embodiment provides a method for welding an intelligent stud for a nuclear power curved plate, including the following steps:
step one, a digital model is constructed based on entity information of the nuclear power curved plate, and a database is generated based on the digital model. Further, the nuclear power curved plate has a radian or a curve with a wavy side surface, a first plane coordinate system is established by using a plane where the nuclear power curved plate is located, the shape of the side surface of the nuclear power curved plate is modeled into a curve located in the first plane coordinate system, and the thickness of the nuclear power curved plate is ignored; the product entity is modeled into digital information, and the welding intellectualization is improved.
And secondly, acquiring key point information and generating a key point set based on the database. Further, the radian change of the nuclear power curved plate is nonlinear, the radian change of the simulated curve is also nonlinear, and a large number of points are arranged on the curve.
Thirdly, constructing a welding optimal path based on the key point set; performing a welding operation based on the welding optimal path during welding; further, the obtained key point set is used for obtaining key information of the curve, and the optimal welding path can be optimized, so that the welding efficiency is improved, the intelligent level is improved, and the welding precision is improved.
The specific steps of constructing the digital model are as follows: establishing a first plane coordinate system by using a plane where the side surface of the nuclear power curved plate is located; simulating the shape of the side of the nuclear power curved plate into a curve positioned in the first plane coordinate system, and setting the curve function as f (x); the nuclear power curved plate is an entity product, coordinate information of any point on the nuclear power curved plate can be acquired through a vision system, and the coordinate information can be converted into coordinates of any point on the curve
Figure 589289DEST_PATH_IMAGE001
Further obtaining a coordinate set I, I = of all points of the curve
Figure 177396DEST_PATH_IMAGE002
Wherein i is the ith point on the curve.
Within a predetermined interval (the range of the predetermined interval is that within a distance interval on the curve, F (x) only one maximum value and one minimum value appear), F (x) reaches a relative maximum value, the point is set as a peak point of the curve, all peak points in the curve are obtained based on the coordinate point information in the set I, and a peak point set F is formed,
Figure 367069DEST_PATH_IMAGE003
j is the number of peak points, and the peak point set F comprises the number of peak points and coordinate information;
within a preset interval, f (x) reaches a relative minimum value, the point is set as a valley point of the curve, all valley points in the curve are obtained based on the coordinate point information in the set I, a valley point set G is formed,
Figure 532471DEST_PATH_IMAGE004
wherein m is the number of valley points, and the valley point set G comprises the number of valley points and coordinate information;
setting a curve between two adjacent peak points and valley points as a curve peak-valley unit, and calculating the number of key points in the curve peak-valley unit; for example, set the peak point in the peak-valley unit of the curve to
Figure 269221DEST_PATH_IMAGE005
The valley point is
Figure 102048DEST_PATH_IMAGE006
(ii) a Computation acquisition
Figure 134726DEST_PATH_IMAGE007
，
Figure 990686DEST_PATH_IMAGE008
Then, then
Figure 891646DEST_PATH_IMAGE009
And
Figure 454346DEST_PATH_IMAGE010
number of key points in the curve between
Figure 782559DEST_PATH_IMAGE011
The following calculation formula is satisfied:
Figure 63499DEST_PATH_IMAGE048
wherein
Figure 502570DEST_PATH_IMAGE013
Is a coefficient of the unit length,
Figure 418311DEST_PATH_IMAGE013
is constant, the actual value of which depends on the actual welding requirement,
Figure 120688DEST_PATH_IMAGE013
the value is in the range of (0, 20),
Figure 747979DEST_PATH_IMAGE013
the selection value of (2) enables the combined welding area unit area plane as much as possible, and reduces the radian. Obtained
Figure 866107DEST_PATH_IMAGE011
The key points only include peak points or valley points, that is, in a curve peak-valley unit, the peak points or the valley points are end key points, in a first calculation unit, only one end key point is included, and the other end key point is calculated in a previous calculation unit or a next calculation unit; the calculating unit is used for calculating the number of key points in the curve peak-valley unit. And according to the information, calculating and acquiring the number of key points in all curve peak-valley units in the curve, and obtaining a key point set, wherein the key point set comprises the number of the key points and coordinate information.
Setting the obtained key point set to contain n key points, wherein n is an integer and is more than 2; dividing welding areas by key points, and setting areas between adjacent key points on the nuclear power curved plate as welding area units, namely dividing the whole nuclear power curved plate into separate welding areas, and dividing the nuclear power curved plate by the side surfaces of the nuclear power curved plate, wherein each welding area is at least an area between two adjacent key points; a welding area unit set S is obtained from the area between every two key points,
Figure 528033DEST_PATH_IMAGE014
wherein, in the step (A),
Figure 73415DEST_PATH_IMAGE015
is the n-1 welding area unit; calculating the slope between adjacent key points and obtaining a slope set K,
Figure 391264DEST_PATH_IMAGE016
wherein, in the step (A),
Figure 109821DEST_PATH_IMAGE017
n-1 is n-1 slope values;
Figure 563936DEST_PATH_IMAGE015
and
Figure 670432DEST_PATH_IMAGE017
one-to-one correspondence is realized; the slope calculation method between adjacent key points is as follows: setting adjacent key points into V, T, obtaining coordinate information of V and T from coordinate information in key point set, setting as
Figure DEST_PATH_IMAGE049
Then obtain the slope between adjacent key points as
Figure 177375DEST_PATH_IMAGE050
。
Constructing a welding optimal path based on the key point set, and specifically constructing as follows:
selecting two adjacent slopes in the slope set K
Figure 965202DEST_PATH_IMAGE018
And
Figure 211507DEST_PATH_IMAGE019
wherein e is an integer, and
Figure 223325DEST_PATH_IMAGE020
computing and obtaining
Figure 453449DEST_PATH_IMAGE021
(ii) a Will be provided with
Figure 576126DEST_PATH_IMAGE022
Comparing with a threshold value D, and constructing a welding optimal path;
1.1 if
Figure 4833DEST_PATH_IMAGE023
Then to
Figure 328498DEST_PATH_IMAGE024
Performing the welding operation separately and calculating the next set of slope difference acquisitions
Figure 639394DEST_PATH_IMAGE025
Will be
Figure 945523DEST_PATH_IMAGE026
Comparing with a threshold value D; d is a constant, and the actual value thereof is determined according to the actual welding requirements, in this embodiment, the value of D is selected such that the combined welding area unit area plane reduces the radian as much as possible, and the value of D is in the range of [0, 1 ].
1.11 if
Figure 556632DEST_PATH_IMAGE027
Then pair
Figure 785620DEST_PATH_IMAGE028
Independently executing welding operation, calculating the next group of slope differences, and repeatedly comparing the slope differences with the threshold D until all welding area units are welded;
1.12 if
Figure 787074DEST_PATH_IMAGE029
Then pair
Figure 517132DEST_PATH_IMAGE028
And
Figure 592536DEST_PATH_IMAGE030
merge and continue to calculate
Figure 382637DEST_PATH_IMAGE031
Will be
Figure 543491DEST_PATH_IMAGE032
Comparing with a threshold value D;
1.121 if
Figure 811661DEST_PATH_IMAGE033
Then will be
Figure 69467DEST_PATH_IMAGE034
Combined with the above
Figure 404372DEST_PATH_IMAGE028
、
Figure 177156DEST_PATH_IMAGE030
Combining the two parts together, continuously calculating the next group of slope difference values, and repeatedly comparing the slope difference values with a threshold value D until all welding area units are welded;
1.122 if
Figure 124383DEST_PATH_IMAGE035
Then execute
Figure 299012DEST_PATH_IMAGE028
And
Figure 40703DEST_PATH_IMAGE030
merging welds and calculating
Figure 504046DEST_PATH_IMAGE036
And comparing the threshold value D until all welding area units are welded.
1.2 if
Figure 114019DEST_PATH_IMAGE037
Then pair
Figure 284100DEST_PATH_IMAGE024
And
Figure 586905DEST_PATH_IMAGE028
merge and continue to calculate
Figure 271965DEST_PATH_IMAGE025
Will be
Figure 59530DEST_PATH_IMAGE026
Comparing with a threshold value D;
1.21 if
Figure 208751DEST_PATH_IMAGE029
Then will be
Figure 557824DEST_PATH_IMAGE030
Combined with the above
Figure 730180DEST_PATH_IMAGE024
、
Figure 681955DEST_PATH_IMAGE028
Combining the two parts together, continuously calculating the next group of slope difference values, and repeatedly comparing the slope difference values with a threshold value D until all welding area units are welded;
1.22 if
Figure 826629DEST_PATH_IMAGE027
Then execute
Figure 471237DEST_PATH_IMAGE024
And
Figure 802992DEST_PATH_IMAGE028
merging welds and calculating
Figure 761721DEST_PATH_IMAGE038
And comparing the threshold value D until all welding area units are welded.
For example, the welding path is calculated starting from the first critical point, i.e. starting from the end of the nuclear power curved plate, with the setting e =1
Figure DEST_PATH_IMAGE051
Judgment of
Figure 525015DEST_PATH_IMAGE052
And D;
1.1 if
Figure DEST_PATH_IMAGE053
Description of the invention
Figure 747049DEST_PATH_IMAGE054
Corresponding to
Figure DEST_PATH_IMAGE055
And
Figure 425155DEST_PATH_IMAGE056
corresponding to
Figure DEST_PATH_IMAGE057
If the difference of the inclination degree or the radian is larger than the threshold value and the welding can not be merged, the welding is performed
Figure 656416DEST_PATH_IMAGE055
The welding operation is performed separately while continuing to determine the next difference in slope and the threshold value, i.e.
Figure 572420DEST_PATH_IMAGE058
And D, wherein
Figure DEST_PATH_IMAGE059
；
1.11 if
Figure 965355DEST_PATH_IMAGE060
Then to
Figure 764378DEST_PATH_IMAGE057
Performing the welding operation separately while continuing to determine the next slope difference and the threshold value, i.e.
Figure DEST_PATH_IMAGE061
And D, wherein,
Figure 596068DEST_PATH_IMAGE062
and the rest is done in sequence until the welding is finished;
1.12 if
Figure DEST_PATH_IMAGE063
Then generate will
Figure 304261DEST_PATH_IMAGE057
And
Figure 195994DEST_PATH_IMAGE064
merging the welding commands while continuing to determine the next slope difference and the threshold value, i.e.
Figure 989637DEST_PATH_IMAGE061
And D, wherein,
Figure 156176DEST_PATH_IMAGE062
；
1.121 if
Figure DEST_PATH_IMAGE065
Then generate will
Figure 187717DEST_PATH_IMAGE066
And the above
Figure 515931DEST_PATH_IMAGE057
And
Figure 29826DEST_PATH_IMAGE064
combining the two, and continuously judging the next slope difference and the threshold value to obtain
Figure DEST_PATH_IMAGE067
If the merging condition is met (the merging condition is that the difference of the slopes is not greater than the threshold), if the merging condition is met, the merging condition is judged to be met
Figure 406581DEST_PATH_IMAGE057
、
Figure 948421DEST_PATH_IMAGE064
、
Figure 650797DEST_PATH_IMAGE066
And
Figure 153454DEST_PATH_IMAGE067
combining and welding together, and repeating the steps until the welding is finished;
1.122 if
Figure 661796DEST_PATH_IMAGE068
Then, then
Figure 933508DEST_PATH_IMAGE066
If the merging condition cannot be satisfied, then pair
Figure 806786DEST_PATH_IMAGE057
And
Figure 921373DEST_PATH_IMAGE064
merging and welding; then, the calculation of the next slope difference and the threshold value is continued, i.e.
Figure DEST_PATH_IMAGE069
And D, the magnitude of D, judgment
Figure 872886DEST_PATH_IMAGE066
And
Figure 264684DEST_PATH_IMAGE067
and if the combined welding condition is met, repeating the steps until the welding is finished.
1.2 if
Figure 308864DEST_PATH_IMAGE070
Then generate will
Figure 910746DEST_PATH_IMAGE055
And
Figure 636257DEST_PATH_IMAGE057
merging the weld commands while continuing to calculate the next slope difference and the threshold value, i.e.
Figure 7195DEST_PATH_IMAGE058
And D, wherein
Figure 894380DEST_PATH_IMAGE059
；
1.21 if
Figure 921242DEST_PATH_IMAGE063
Then generate will
Figure 309498DEST_PATH_IMAGE064
And the above
Figure 174423DEST_PATH_IMAGE055
And
Figure 357143DEST_PATH_IMAGE057
combining the two, and continuously judging the next slope difference and the threshold value to obtain
Figure 136880DEST_PATH_IMAGE066
Whether the merging condition is satisfied, if so, the merging condition is satisfied
Figure 204193DEST_PATH_IMAGE055
、
Figure 284145DEST_PATH_IMAGE057
、
Figure 778711DEST_PATH_IMAGE064
And
Figure 780165DEST_PATH_IMAGE066
combining and welding together, and repeating the steps until the welding is finished;
1.22 if
Figure 510224DEST_PATH_IMAGE060
Then, then
Figure 585627DEST_PATH_IMAGE064
If the merge condition cannot be satisfied, then execute
Figure 375729DEST_PATH_IMAGE055
And
Figure 864479DEST_PATH_IMAGE057
combining welding instructions; the next slope difference is then calculated from the threshold value, i.e. the magnitude of the difference
Figure 512410DEST_PATH_IMAGE062
And D, the magnitude of D, judgment
Figure 566954DEST_PATH_IMAGE064
And
Figure 668902DEST_PATH_IMAGE066
and if the combined welding condition is met, repeating the steps until the welding is finished.
The process is that the nuclear power curved plate is divided into a single welding area unit by key points, if the welding area units formed by adjacent key points are directly welded one by one, although the welding precision is high, the welding efficiency is low, so the process is to combine and weld the adjacent welding area units which can be combined and welded within a threshold range; and the other welding area units which are not adjacent and can not be combined are independently welded, so that the welding precision is improved, and the welding efficiency is improved. The condition of the merged welding is the difference value between the corresponding slope values of the adjacent welding area units, if the difference value is larger than a threshold value D, the adjacent two welding area units cannot be merged and welded; if the difference is not greater than the threshold value D, the two adjacent welding area units can be merged for welding.
Based on the constructed optimal welding path, the stud welding device executes welding operation; establishing a second plane coordinate system by obtaining a plane where the combined welding area unit or the single welding area unit is located (the plane is the upper surface of the nuclear power curved plate or the surface to be welded of the nuclear power curved plate), and determining the position coordinate information of the stud to be welded according to actual requirements
Figure 176107DEST_PATH_IMAGE039
And further obtaining a coordinate set R, R = of to-be-welded points of the stud
Figure 451230DEST_PATH_IMAGE040
And moving the welding head according to the set R to execute the welding operation.
When the stud welding device is used for welding, and the welding direction is vertical to the plane where the welding point is located, the stud welding device can ensure that each stud keeps a vertical structure when being welded on the nuclear power curved plate, so that the individual stability is increased, the stud directions in the same plane can be ensured to be consistent, and the overall stability is increased; the straight line direction (i.e. the welding direction or the stud length direction) of the welding head is perpendicular to the plane of the welding area, which is specifically as follows:
setting the slope of a straight line of the welding head in the first plane coordinate system as
Figure 501226DEST_PATH_IMAGE041
；
When the welding area contains only one slope value (i.e. only one welding area unit), the slope value is set to
Figure 633130DEST_PATH_IMAGE042
Then, then
Figure 768576DEST_PATH_IMAGE043
；
When the weld zone includes at least two slope values (i.e., combined weld zone unit, including at least two weld zone units), the slope value is set to
Figure 581811DEST_PATH_IMAGE044
、
Figure 610947DEST_PATH_IMAGE045
…
Figure 287654DEST_PATH_IMAGE046
Then, then
Figure 35030DEST_PATH_IMAGE047
。
Stud welding devices based on differences in welding in different weld zones
Figure 324060DEST_PATH_IMAGE041
Adjusting the angle of the welding device to ensure the plane of the welding areaThe perpendicularity is maintained, and the precision is improved; when the stud welding device is transferred from one welding area to the next welding area, the angle of the stud welding device needs to be adjusted, and the more the angle of the stud welding device is adjusted, the more the welding time is spent, so in the above, the welding area units are combined within the threshold range as much as possible, the number of times of adjusting the angle of the stud welding device is reduced, and the welding efficiency is improved while the welding precision is improved.
Example 2
The embodiment discloses an intelligent stud welding system for a nuclear power curved plate, which is used for realizing the method in the embodiment 1. Comprises a device and a control unit;
wherein the control unit includes: the system comprises a first module, a second module and a third module, wherein the first module is used for constructing a digital model based on entity information of a nuclear power curved plate and generating a database based on the digital model; a second module configured to compute a set of keypoints based on the database; the key point set comprises the number of key points and key point coordinate information; a third module configured to construct a welding path and generate a welding instruction based on the set of key points.
In a further embodiment, the apparatus comprises: the device comprises a portal frame, a stud welding gun and an angle adjusting piece; the stud welding gun is in transmission connection with the portal frame, the horizontal or vertical motion of the stud welding gun can be realized by adopting the prior art such as a gear rack or a linear lead screw module, and the specific structure is not described herein; the angle adjusting piece is installed on stud welding gun, and the angle adjusting piece is used for adjusting stud welding gun's welding angle, realizes that welding angle is perpendicular with the plane of welding point place, can adopt prior art such as gear revolve to realize, and concrete structure is not repeated here.

Claims (10)

1. The intelligent stud welding method for the nuclear power curved plate is characterized by comprising the following steps of:
constructing a digital model based on entity information of the nuclear power curved plate, and generating a database based on the digital model;
acquiring key point information and generating a key point set based on the database;
constructing a welding optimal path based on the key point set;
the welding work is performed based on the welding optimal path at the time of welding.
2. The intelligent stud welding method for nuclear power curved plates according to claim 1, wherein,
the specific steps of constructing the digital model are as follows:
establishing a first plane coordinate system by using a plane where the side surface of the nuclear power curved plate is located; simulating the shape of the side of the nuclear power curved plate into a curve positioned in the first plane coordinate system, and setting the curve function as f (x);
obtaining the coordinates of any point on the curve
Figure DEST_PATH_IMAGE001
Obtaining the coordinate set I, I =of all points of the curve
Figure 39048DEST_PATH_IMAGE002
Wherein i is the ith point on the curve.
3. The intelligent stud welding method for nuclear power curved plates according to claim 2, wherein,
within a predetermined interval, F (x) reaches a relative maximum, the point is set as the peak point of the curve, based on the set I, a set F of peak points is obtained,
Figure DEST_PATH_IMAGE003
wherein j is the number of peak points;
within a predetermined interval, f (x) reaches a relative minimum value, the point is set as a valley point of the curve, a valley point set G is obtained based on the set I,
Figure 620202DEST_PATH_IMAGE004
wherein m is the number of valley points;
setting a curve between two adjacent peak points and valley points as a curve peak-valley unit, and calculating the number of key points in the curve peak-valley unit;
setting the peak point in the peak-valley unit of the curve as
Figure DEST_PATH_IMAGE005
The valley point is
Figure 674744DEST_PATH_IMAGE006
(ii) a Computation acquisition
Figure DEST_PATH_IMAGE007
，
Figure 279032DEST_PATH_IMAGE008
Then, then
Figure DEST_PATH_IMAGE009
And
Figure 826688DEST_PATH_IMAGE010
number of key points in the curve between
Figure DEST_PATH_IMAGE011
The following calculation formula is satisfied:
Figure 590245DEST_PATH_IMAGE012
wherein
Figure DEST_PATH_IMAGE013
Is a unit length coefficient;
obtained
Figure 299575DEST_PATH_IMAGE011
The key points only comprise peak points or valley points; and calculating and obtaining the number of key points in all curve peak-valley units in the curve, and obtaining a key point set, wherein the key point set comprises the number of key points and coordinate information.
4. The intelligent stud welding method for nuclear power curved plates according to claim 3, characterized in that,
setting n key points in the key point set, wherein n is an integer and is more than 2; dividing welding areas by key points, setting areas between adjacent key points on the nuclear power curved plate as welding area units to obtain a welding area unit set S,
Figure 420852DEST_PATH_IMAGE014
wherein, in the step (A),
Figure DEST_PATH_IMAGE015
is the n-1 welding area unit;
calculating the slope between adjacent key points and obtaining a slope set K,
Figure 568937DEST_PATH_IMAGE016
wherein, in the step (A),
Figure DEST_PATH_IMAGE017
n-1 is n-1 slope values;
Figure 124683DEST_PATH_IMAGE015
and
Figure 208177DEST_PATH_IMAGE017
and correspond to each other.
5. The intelligent stud welding method for nuclear power curved plates according to claim 4, wherein,
selecting two adjacent slopes in the slope set K
Figure 380532DEST_PATH_IMAGE018
And
Figure DEST_PATH_IMAGE019
wherein e is an integer, and
Figure 4411DEST_PATH_IMAGE020
computing and obtaining
Figure DEST_PATH_IMAGE021
(ii) a Will be provided with
Figure 913199DEST_PATH_IMAGE022
Comparing with a threshold value D, and constructing a welding optimal path;
if it is
Figure DEST_PATH_IMAGE023
Then pair
Figure 292228DEST_PATH_IMAGE024
Performing the welding operation separately and calculating the next set of slope difference acquisitions
Figure DEST_PATH_IMAGE025
Will be
Figure 420721DEST_PATH_IMAGE026
Comparing with a threshold value D;
if it is
Figure DEST_PATH_IMAGE027
Then pair
Figure 785975DEST_PATH_IMAGE028
Independently executing welding operation, calculating the next group of slope differences, and repeatedly comparing the slope differences with the threshold D until all welding area units are welded;
if it is
Figure DEST_PATH_IMAGE029
Then pair
Figure 50734DEST_PATH_IMAGE028
And
Figure 131822DEST_PATH_IMAGE030
merge and continue to calculate
Figure DEST_PATH_IMAGE031
Will be
Figure 918250DEST_PATH_IMAGE032
Comparing with a threshold value D;
if it is
Figure DEST_PATH_IMAGE033
Then will be
Figure 149512DEST_PATH_IMAGE034
Combined with the above
Figure 862253DEST_PATH_IMAGE028
、
Figure 51926DEST_PATH_IMAGE030
Combining the two parts together, continuously calculating the next group of slope difference values, and repeatedly comparing the slope difference values with a threshold value D until all welding area units are welded;
if it is
Figure DEST_PATH_IMAGE035
Then execute
Figure 155011DEST_PATH_IMAGE028
And
Figure 127646DEST_PATH_IMAGE030
merging welds and calculating
Figure 898156DEST_PATH_IMAGE036
And comparing the threshold value D until all welding area units are welded.
6. The intelligent stud welding method for nuclear power curved plates according to claim 5, wherein,
if it is
Figure DEST_PATH_IMAGE037
Then pair
Figure 966387DEST_PATH_IMAGE024
And
Figure 884664DEST_PATH_IMAGE028
merge and continue to calculate
Figure 660990DEST_PATH_IMAGE025
Will be
Figure 551586DEST_PATH_IMAGE026
Comparing with a threshold value D;
if it is
Figure 879799DEST_PATH_IMAGE029
Then will be
Figure 160739DEST_PATH_IMAGE030
Combined with the above
Figure 599811DEST_PATH_IMAGE024
、
Figure 17017DEST_PATH_IMAGE028
Combining the two parts together, continuously calculating the next group of slope difference values, and repeatedly comparing the slope difference values with a threshold value D until all welding area units are welded;
if it is
Figure 719393DEST_PATH_IMAGE027
Then execute
Figure 346684DEST_PATH_IMAGE024
And
Figure 228927DEST_PATH_IMAGE028
and combining welding, calculating and comparing the threshold value D until all welding area units are welded.
7. The intelligent stud welding method for nuclear power curved plates according to claim 5 or 6, characterized in that,
establishing a second plane coordinate system according to the obtained plane where the welding area unit is located;
determining coordinate information of stud to-be-welded point
Figure 890852DEST_PATH_IMAGE038
Obtaining a coordinate set R, R =of the to-be-welded point of the stud
Figure DEST_PATH_IMAGE039
And moving the welding head to perform welding operation according to the set R.
8. The intelligent stud welding method for nuclear power curved plates according to claim 7,
the straight line direction of the welding head is vertical to the plane of the welding area, and the method comprises the following specific steps:
setting the slope of a straight line of the welding head in the first plane coordinate system as
Figure 170655DEST_PATH_IMAGE040
；
When the welding area only contains one slope value, the slope value is set as
Figure DEST_PATH_IMAGE041
Then, then
Figure 691766DEST_PATH_IMAGE042
；
When the welding area comprises at least two slope values, the slope value is set to be
Figure DEST_PATH_IMAGE043
、
Figure 472641DEST_PATH_IMAGE044
…
Figure DEST_PATH_IMAGE045
，
Then the
Figure 661176DEST_PATH_IMAGE046
。
9. An intelligent stud welding system for a nuclear power curved plate is characterized by comprising a device and a control unit;
wherein the control unit includes:
the system comprises a first module, a second module and a third module, wherein the first module is used for constructing a digital model based on entity information of a nuclear power curved plate and generating a database based on the digital model;
a second module configured to compute a set of keypoints based on the database; the key point set comprises the number of key points and key point coordinate information;
a third module configured to construct a welding path and generate a welding instruction based on the set of key points.
10. The intelligent stud welding system for nuclear power curved plates according to claim 9, wherein said apparatus comprises:
a gantry;
the stud welding gun is in transmission connection with the portal frame;
the angle adjusting piece is connected to the stud welding gun;
the angle adjusting piece is used for adjusting the angle of the stud welding gun.
CN202210323790.1A 2022-03-29 2022-03-29 Intelligent stud welding method and system for nuclear power curved plate Withdrawn CN114799434A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115464251A (en) * 2022-10-12 2022-12-13 常州星宇车灯股份有限公司 Automobile lamp vibration friction welding method based on pressing and vibration directions
CN116765566A (en) * 2023-07-26 2023-09-19 浙江俊朗电气自动化股份有限公司 Automatic stud welding method and system for outer wall of ring main unit and storage medium thereof

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115464251A (en) * 2022-10-12 2022-12-13 常州星宇车灯股份有限公司 Automobile lamp vibration friction welding method based on pressing and vibration directions
CN115464251B (en) * 2022-10-12 2023-09-15 常州星宇车灯股份有限公司 Vibration friction welding method for automobile lamp based on pressing and vibration directions
CN116765566A (en) * 2023-07-26 2023-09-19 浙江俊朗电气自动化股份有限公司 Automatic stud welding method and system for outer wall of ring main unit and storage medium thereof
CN116765566B (en) * 2023-07-26 2023-12-29 浙江俊朗电气自动化股份有限公司 Automatic stud welding method and system for outer wall of ring main unit and storage medium thereof

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