Boiler piping line movable connecting piece welding method

Abstract

The invention provides a boiler piping line movable connecting piece welding method. The method comprises the steps of installing a line laser machine support and a camera support close to a welding work piece, selecting two identical line laser machines to enable two line lasers to irradiate to the work piece, adjusting the distance and angle of a camera, obtaining a structured light image reflecting the shape of a welding bead, collecting the structured light image and carrying out image processing, recognizing feature points, finding location information of the feature points through conversion of image coordinates and a coordinate of a welding robot, obtaining welding start location information and welding bead direction information through calculating processing, transmitting the welding start location information and the welding bead direction information to the robot through a robot controller, and guiding the robot to carry out welding operation along a weld groove. The boiler piping line movable connecting piece welding method is capable of adapting to actual production demands of an enterprise, improving production efficiency, ensuring welding quality, relieving labor intensity of a welding worker, and enabling the worker to be free of being damaged by electric welding arc light and welding smoke particles.

Description

technical field [0001] The invention relates to the field of boiler workpiece welding, and in particular to a welding method for movable joints of a boiler pipe system using structured light vision sensing positioning technology. Background technique [0002] Boilers play a very important role in my country's national economic construction, and welding technology is one of the main processing technologies in the boiler manufacturing process, and it is also a key factor to ensure the quality of boiler products. In the heating surface piping system of an ultra-supercritical boiler, in order to avoid the severe erosion and vibration caused by various media such as flue gas to the heating surface pipes during the operation of the boiler, various fastening devices must be designed to meet the operating requirements. . The heating surface piping system of П-type ultra-supercritical boilers needs to arrange a large number of heating surface tubes due to the design, so the tube pit...

AI Technical Summary

Problems solved by technology

[0003] 1) Manual welding system workers have to observe the welding quality throughout the process. Due to the large size of the ultra-supercritical boiler pipe system (about 20 meters long and more than 5 meters wide) and heavy weight, it can only be placed on the ground, and workers can only squat on it. Welding operation is very easy to fatigue, accidental welding errors are difficult to avoid, welding speed is slow, and welding quality is difficult to guarantee

There are at least 40,000 active joints in the heating surface piping system of a 600MWП type ultra-supercritical boiler. The labor intensity of the workers is high, and the welding arc radiation and smoke particles are very harmful to the health of the workers.

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