Laser head control method and system during boiler bottom and guide pipe welding

Abstract

The invention discloses a laser head control method and system during boiler bottom and guide pipe welding, and relates to the field of mechanical control. The method comprises the steps of obtaining a welding seam image of a connection part of a boiler bottom and a guide pipe based on a camera installed on a laser head, and obtaining the size of a welding seam through measurement according to the obtained welding seam image; establishing a space rectangular coordinate system by taking the bottom center of the boiler bottom as an original point, and establishing a function equation of a hemispherical surface where the boiler bottom is located and a function equation of a circle where the bottom face of the guide pipe is located; according to the established function equation of the hemispherical surface and the established function equation of the circle, calculating the intersection point of the guide pipe and the boiler bottom; and based on the intersection point of the guide pipe and the boiler bottom, the size of the welding seam and the distance between the laser head and the welding seam, obtaining the position coordinates of the laser head through calculation to control the laser head. According to the laser head control method and system during boiler bottom and guide pipe welding, the laser head can be effectively controlled.

Description

technical field [0001] The invention relates to the field of mechanical control, in particular to a method and system for controlling a laser head during welding of boiler bottom conduits. Background technique [0002] The weld seam formed by metal welding, after a period of time, due to the residual stress caused by the welding process, will cause stress corrosion cracking in the weld seam, thereby accelerating the aging of equipment, and may even cause serious safety accidents. The common maintenance method is to eliminate the internal stress of the weld by laser peening. However, after the large-scale equipment is installed in place, it is very difficult to disassemble and maintain. If the equipment is not disassembled for maintenance, the internal environment is small, the laser may hurt people and other factors. The maintenance process is more difficult, so it is necessary to design a set of automatic maintenance equipment based on the principle of laser peening. [00...

AI Technical Summary

Problems solved by technology

[0002] The weld seam formed by metal welding, after a period of time, due to the residual stress caused by the welding process, causes stress corrosion cracking in the weld seam, which accelerates the aging of equipment and may even cause serious safety accidents

The common maintenance method is to eliminate the internal stress of the weld seam by laser peening. However, after the large equipment is installed in place, it is very difficult to disassemble and maintain. If the equipment is not disassembled for maintenance, the internal environment is small, the laser may hurt people and other factors. It makes the maintenance process more difficult, so it is necessary to design a set of automatic maintenance equipment based on the principle of laser peening

[0003] The laser peening method requires that the laser head is strictly perpendicular to the weld and that there is an appropriate distance between the two. The internal structure of large-scale equipment is complex, and the trajectory planning of the mechanical arm that transports the laser head is very important. When a large number of welds need to be repaired, the trajectory planning is very important. Efficiency also has high requirements, but currently there is no effective control method for the laser head

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