Robot closed-loop machining system used for pin welding of membrane water wall

Abstract

The invention discloses a robot closed-loop machining system used for pin welding of a membrane water wall. A sensor detection route and a welding robot theoretical machining route are automatically planned according to membrane water wall size parameters and sensor detection parameters which are input by a user. A sensor is connected to a welding robot to move along with a welding gun head and detects the outline of the membrane water wall in real time, and detection data are sent back to a correction module. Compensation and correction are conducted on the theoretical machining route, and a movement instruction of the welding robot is generated. A controller is used for controlling the welding robot to weld pins to the membrane water wall according to the technology parameters, and closed-loop machining is achieved. By means of the robot closed-loop machining system, a sensor detection algorithm is merged, the welding robot machining route is automatically planned according to the machining technology parameters input by the user, the sensor is used for detecting field data in real time and conducting compensation and correction on the theoretical machining route, the welding robot machining instruction is automatically generated, the machining precision is improved, and good social benefits and economic benefits are achieved.

Description

technical field [0001] The invention belongs to the field of industrial robot welding, and relates to a robot closed-loop processing system for pin welding of membrane-type water-cooled walls, specifically, an industrial welding robot for real-time detection feedback and compensation in the spot-welding process of membrane-type water-cooled walls system. Background technique [0002] Membrane water wall is an important structural component of boiler furnace wall in power plant. It is composed of steel pipe and flat steel along the longitudinal welding of the steel pipe and the studs or pins welded on the row surface. The manual welding pin method is not only inefficient, but also difficult to guarantee the accuracy, which reduces the production efficiency of the enterprise. In the welding process using industrial welding robots, the traditional manual teaching method has the problems of cumbersome programming and long time consumption. Moreover, due to the large size of the...

AI Technical Summary

Problems solved by technology

Most of the current closed-loop processing systems for industrial welding robots use off-line programming, which not only requires operators to have professional knowledge and experience in robotics and programming, but also requires the relationship between actual environment parameters and theoretical model parameters during off-line programming. There will be deviation

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