A weld heat treatment robot and its control method and control system

Abstract

The present invention provides a weld heat treatment robot and a control method and control system thereof, which relate to the field of weld heat treatment technology. The robot comprises a motion mechanism, a weld tracker, an adjustment mechanism and a heat treatment mechanism, wherein the adjustment mechanism is arranged on the motion mechanism, the motion mechanism is suitable for relative movement of the weld, the weld tracker and the heat treatment mechanism are arranged on the adjustment mechanism, the weld tracker is used to detect the position deviation from the weld, and the adjustment mechanism is suitable for adjusting the position of the heat treatment mechanism according to the deviation, so that the heat treatment mechanism is directly opposite to the weld to perform heat treatment on the weld. Through the above arrangement, when the weld heat treatment robot of the present invention moves along the extension direction of the weld, the weld heat treatment robot can automatically perform heat treatment on the weld, and the heat treatment process does not require a long pre-preparation time, has high safety and high operating efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of weld heat treatment, and in particular to a weld heat treatment robot and a control method and a control system thereof. Background Art

[0002] At present, stress relief work for welds of large steel structures such as large ships is mainly done manually, with workers holding stress relief devices, such as flame guns, to heat the welds to reduce or eliminate stress. However, this operation method is inefficient, and its stability and accuracy will decrease as the working time increases. In addition, the on-site working environment is harsh, which can easily affect the health of workers.

[0003] With the advancement of technology, some semi-automatic operation methods have also emerged. For example, a track is set above the weld, and then the heat treatment device is moved on the track to complete the heat treatment of the weld. However, this method requires the installation and removal of the track, and the pre-preparation time and post-processing time are long, and the overall operation efficiency is still low. Summary of the invention

[0004] The problem solved by the present invention is that the efficiency and stability of the manual operation mode are low, and the prior art semi-automatic operation mode requires a long preparation time.

[0005] To solve the above problems, the first aspect of the present invention provides a weld heat treatment robot, comprising a motion mechanism, a weld tracker, an adjustment mechanism and a heat treatment mechanism, wherein the adjustment mechanism is arranged on the motion mechanism, the motion mechanism is suitable for moving relative to the weld, the weld tracker and the heat treatment mechanism are arranged on the adjustment mechanism, the weld tracker is used to detect the position deviation from the weld, and the adjustment mechanism is suitable for adjusting the position of the heat treatment mechanism according to the deviation so that the heat treatment mechanism is facing the weld to perform heat treatment on the weld.

[0006] By arranging the adjustment mechanism on the moving mechanism, and arranging the weld tracker and the heat treatment mechanism on the adjustment mechanism, the moving mechanism can drive the weld tracker, the adjustment mechanism and the heat treatment mechanism to move; and because the weld tracker and the adjustment mechanism cooperate to make the heat treatment mechanism face the weld, the heat treatment mechanism can continue to face the weld during the movement of the moving mechanism along the weld, and perform heat treatment on the weld, that is, the weld heat treatment robot described in the present invention can automatically perform heat treatment on the weld without the need for a long preliminary preparation time, has high safety and high operating efficiency, and its stability and accuracy will not decrease with the extension of working time.

[0007] Furthermore, the motion mechanism includes a vehicle body, wheels and a driving mechanism arranged on the vehicle body, the adjustment mechanism is arranged on the vehicle body, and the front and rear ends of the vehicle body are respectively provided with multiple coaxial wheels, and each of the wheels is transmission-connected to one of the driving mechanisms.

[0008] Furthermore, the wheel is a magnetic wheel.

[0009] Furthermore, the adjustment mechanism includes a slide, a screw and a slider, the slide is arranged on the motion mechanism, the screw is arranged on the slide, the screw is suitable for rotating relative to the slide, the slider is threadedly connected to the screw and is slidably connected to the slide, and the weld tracker and the heat treatment mechanism are arranged on the slider.

[0010] A second aspect of the present invention provides a control method for a weld heat treatment robot, comprising:

[0011] Receive instructions input by the user;

[0012] If the instruction is a control instruction, the weld heat treatment robot as described above is controlled to perform corresponding operations according to the control instruction;

[0013] If the instruction is a tracking mode instruction, the weld heat treatment robot is controlled to move forward along the extension direction of the weld, and during the moving forward process, the adjustment mechanism of the weld heat treatment robot is controlled to adjust the position of the heat treatment mechanism of the weld heat treatment robot so that the heat treatment mechanism is facing the weld. When the heat treatment mechanism is facing the weld, the heat treatment mechanism is controlled to perform heat treatment on the weld.

[0014] By setting the motion mode, the operator can manually control the weld heat treatment robot, and the weld heat treatment robot can automatically perform heat treatment on the weld. It is convenient to manually control the weld heat treatment robot to move near the weld, and when the weld heat treatment robot moves near the weld, the tracking mode is turned on, so that the weld heat treatment robot automatically performs heat treatment on the weld, thereby greatly reducing the workload of the operator and improving the overall work efficiency.

[0015] Further, controlling the weld heat treatment robot as described above to perform corresponding operations according to the user instruction includes:

[0016] If the control instruction is a cruise control instruction, then obtaining speed information contained in the cruise control instruction, and controlling the weld heat treatment robot to move at a speed corresponding to the speed information;

[0017] If the control instruction is a fixed-distance instruction, the distance information contained in the fixed-distance instruction is obtained, and the weld heat treatment robot is controlled to move the distance corresponding to the distance information. When the weld heat treatment robot moves the distance corresponding to the distance information, the weld heat treatment robot is controlled to stop moving.

[0018] Further, controlling the weld heat treatment robot to move forward along the extension direction of the weld includes:

[0019] Calculating the current optimal heat treatment parameters according to the input known parameters and the preset parameter optimization model, wherein the known parameters include the material, plate thickness, material thermal sensitivity and the spacing distance between the heat treatment mechanism and the weld of the workpiece to be processed, and the heat treatment parameters include the speed of the heat source and the gas injection flow rate of the heat treatment mechanism;

[0020] Obtaining the optimal forward speed of the weld heat treatment robot according to the optimal heat treatment parameters;

[0021] The weld heat treatment robot is controlled to move forward along the extension direction of the weld at the optimal forward speed.

[0022] Further, controlling the heat treatment mechanism to perform heat treatment on the weld includes:

[0023] The optimal gas injection flow rate of the heat treatment mechanism is obtained according to the optimal heat treatment parameters, and the heat treatment mechanism is controlled to adjust the gas injection flow rate to the optimal gas injection flow rate.

[0024] A third aspect of the present invention provides a weld heat treatment robot control system, comprising:

[0025] A communication module, used for receiving instructions input by a user and sending the instructions, wherein the instructions include control instructions and tracking mode instructions;

[0026] A weld tracking module, configured to obtain the position information of the weld when receiving the tracking mode instruction, and generate a control instruction according to the position information;

[0027] A robot motion control module, used to receive control instructions from the user or the weld tracking module, and control the weld heat treatment robot as described above to stop, turn and walk in a straight line according to the control instructions;

[0028] The heat treatment control module is used to obtain the deviation amount detected by the weld tracker of the weld heat treatment robot when receiving the tracking mode instruction, and control the adjustment mechanism of the weld heat treatment robot to adjust the position of the heat treatment mechanism of the weld heat treatment robot according to the deviation amount, and control the heat treatment mechanism to perform heat treatment on the weld when the heat treatment mechanism is facing the weld.

[0029] The user's instructions are received through the communication module, and the movement of the weld heat treatment robot is controlled through the robot motion control module, so that the user can control the weld heat treatment robot; at the same time, the weld tracking module, the robot motion control module and the heat treatment control module are coordinated to control the weld heat treatment robot to move forward along the extension direction of the weld, and complete the heat treatment of the weld during the moving process, which effectively improves the automation level of related operations.

[0030] Furthermore, the system also includes:

[0031] A status display module is used to display the real-time status of the system, which includes the state machine value of each axis, the bus status and the motion mode of the weld heat treatment robot;

[0032] A heat treatment parameter optimization module, used to calculate the current optimal heat treatment parameters according to the input known parameters and the preset parameter optimization model, wherein the known parameters include the material of the workpiece to be processed, the plate thickness, the thermal sensitivity of the material and the spacing distance between the heat treatment mechanism and the weld, and the heat treatment parameters include the speed of the heat source and the flow rate of the gas;

[0033] The alarm module is used for fault warning and for controlling the weld heat treatment robot to stop urgently. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic structural diagram of a weld heat treatment robot according to an embodiment of the present invention;

[0035] Figure 2 It is a structural schematic diagram of the adjustment mechanism of an embodiment of the present invention;

[0036] Figure 3 A schematic structural diagram of a wheel according to an embodiment of the present invention;

[0037] Figure 4 It is a flow chart of a control method of a weld heat treatment robot according to an embodiment of the present invention;

[0038] Figure 5 It is a structural diagram of a weld heat treatment robot control system according to an embodiment of the present invention.

[0039] Description of reference numerals:

[0040] 1-car body, 11-wheel, 111-magnet, 112-choke, 113-isolating block, 12-driving mechanism, 2-slide, 21-stepping motor, 22-coupling, 23-slide rod, 3-screw rod, 4-slider, 5-weld tracker, 6-heat treatment mechanism, 7-weld. DETAILED DESCRIPTION

[0041] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0042] The term "comprising" and any variations thereof in the specification and claims of the present invention and the above drawings are intended to cover non-exclusive inclusions. For example, a process, method or system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0043] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "rear", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0044] As shown in the accompanying drawings, an XYZ coordinate system is provided, wherein the positive direction of the X axis represents "left", the negative direction of the X axis represents "right", the positive direction of the Y axis represents "front", the negative direction of the Y axis represents "back", the positive direction of the Z axis represents "up", and the negative direction of the Z axis represents "down".

[0045] like Figure 1 As shown, a weld heat treatment robot according to an embodiment of the present invention includes a motion mechanism, a weld tracker 5, an adjustment mechanism and a heat treatment mechanism 6, wherein the adjustment mechanism is arranged on the motion mechanism, and the motion mechanism is suitable for moving relative to the weld 7, the weld tracker 5 and the heat treatment mechanism 6 are arranged on the adjustment mechanism, the weld tracker 5 is used to detect the position deviation from the weld 7, and the adjustment mechanism is suitable for adjusting the position of the heat treatment mechanism 6 according to the deviation so that the heat treatment mechanism 6 is facing the weld 7 to perform heat treatment on the weld 7.

[0046] In application, the heat treatment mechanism 6 is used to form a heat source to perform heat treatment on the weld 7, and the heat treatment mechanism 6 is preferably a flame gun.

[0047] Among them, the weld tracker 5 includes a camera, and the weld image collected by the camera can be used to determine the position deviation of the robot from the weld 7, and adjust the corresponding device on the robot to track the weld 7 during the robot's movement. This principle is similar to the tracking function of the tracking vehicle, which will not be repeated here. More specifically, the weld tracker 5 can be arranged in a co-linear or co-central position with the heat treatment mechanism 6, so that the positions of the two relative to the weld 7 are basically consistent. When the corresponding device on the robot is adjusted according to the above-mentioned deviation, the adjustment mechanism can be adjusted to drive the weld tracker 5 and the heat treatment mechanism 6 both located on the adjustment mechanism to move, so that the position deviation of the weld tracker 5 and the heat treatment mechanism 6 relative to the weld 7 can always be kept within a preset range, so that the heat treatment mechanism 6 is facing the weld 7, which is equivalent to the two always moving in the extension direction of the weld 7.

[0048] Therefore, when the robot's motion mechanism moves along the weld 7, the heat treatment mechanism 6 can continue to face the weld 7 and perform heat treatment on the weld 7. That is, the weld heat treatment robot described in this embodiment can automatically perform heat treatment on the weld 7 without a long preliminary preparation time, with high safety and high operating efficiency. At the same time, its stability and accuracy will not decrease with the extension of working time.

[0049] Optionally, the motion mechanism includes a vehicle body 1 and wheels 11 and a driving mechanism 12 arranged on the vehicle body 1, the adjustment mechanism is arranged on the vehicle body 1, and the front and rear ends of the vehicle body 1 are respectively provided with multiple coaxial wheels 11, and each of the wheels 11 is transmission-connected to one of the driving mechanisms 12.

[0050] The driving mechanism 12 is preferably a driving motor. Preferably, two coaxial wheels 11 are respectively provided at the front and rear ends of the vehicle body 1 .

[0051] Specifically, since each of the wheels 11 is transmission-connected to one of the driving mechanisms 12, the rotation speed and steering of each wheel 11 are independent, and the steering of the weld heat treatment robot can be controlled by controlling the differential value of the wheels 11 on both sides. If the speed value of the left wheel 11 is less than the speed value of the right wheel 11, the weld heat treatment robot turns to the left; if the speed value of the right wheel 11 is less than the speed value of the left wheel 11, the weld heat treatment robot turns to the right. According to the front and back directions of the robot, the turning state can be further divided into left front turning, right front turning, left rear turning and right rear turning. For example, when the weld heat treatment robot moves forward, the speed value of the left wheel 11 of the weld heat treatment robot is less than the speed value of the right wheel 11, and the weld heat treatment robot will turn to the left front.

[0052] Optionally, the wheel 11 is a magnetic wheel.

[0053] By setting the wheel 11 as a magnetic wheel, the wheel 11 can be stably adsorbed on a large steel structure, so that the weld heat treatment robot can complete the wall climbing operation, thereby expanding the application scenario of the weld heat treatment robot.

[0054] Alternatively, if Figure 3 As shown, the wheel 11 includes a yoke 112, a plurality of magnets 111 and a plurality of isolation blocks 113. The yoke 112 is ring-shaped, the magnets 111 are arc-shaped, a plurality of magnets 111 are arranged around the outer surface of the yoke 112, and an isolation block 113 is provided between two adjacent magnets 111.

[0055] The yoke 112 is used to close the magnetic flux lines of the magnet 111 to prevent the magnetic flux lines from leaking out, thereby concentrating the magnetic force on the outer circumferential surface of the wheel 11 .

[0056] Specifically, by controlling the number of magnets 111 and the magnetic force of each magnet 111 , magnetic attraction wheels with different magnetic forces can be manufactured.

[0057] Optionally, the magnetic poles at two adjacent ends of two adjacent magnets 111 are the same magnetic poles.

[0058] like Figure 3 As shown, multiple arc-shaped magnets are distributed outside the yoke 112, and the N pole of each magnet 111 corresponds to the N pole of an adjacent magnet 111, and the S pole corresponds to the S pole of another adjacent magnet 111. This arrangement can maximize the adsorption force on the outer side of the magnetic wheel.

[0059] Alternatively, if Figure 2 As shown, the adjustment mechanism includes a slide 2, a screw rod 3 and a slider 4. The slide 2 is arranged on the motion mechanism, the screw rod 3 is arranged on the slide 2, the screw rod 3 is suitable for rotating relative to the slide 2, the slider 4 is threadedly connected to the screw rod 3 and is slidably connected to the slide 2, and the weld tracker 5 and the heat treatment mechanism 6 are arranged on the slider 4.

[0060] Optionally, the weld tracker 5 and the heat treatment mechanism 6 are located on the same axis, and the axis is perpendicular to the screw rod 3 .

[0061] The screw rods 3 are arranged on the vehicle body 1 at left and right sides, and the extending direction of the screw rods 3 is perpendicular to the advancing direction of the weld heat treatment robot.

[0062] In the application, the positions of the weld tracker 5 and the heat treatment mechanism 6 are fixed, and the weld tracker 5 and the heat treatment mechanism 6 are coaxially arranged. Then, as long as the weld 7 displayed on the image taken by the camera of the weld tracker 5 is always ensured not to be tilted, the extension direction of the screw rod 3 is perpendicular to the extension direction of the weld 7, that is, the forward direction of the weld heat treatment robot is parallel to the extension direction of the weld 7. When ensuring that the forward direction of the weld heat treatment robot is parallel to the extension direction of the weld 7, the center position of the axis of the weld 7 is taken as the reference point. When the reference point deviates from the center position of the picture, it means that the heat treatment mechanism 6 deviates. The offset can be obtained according to the distance between the reference point and the center position of the picture, and then the slider 4 is moved according to the offset, so that the heat treatment mechanism 6 is directly opposite to the weld 7.

[0063] Among them, taking the weld 7 as a straight weld as an example, at the beginning, the camera of the weld tracker 5 will be aligned with the center position of the axis. If the weld tracker 5 and the heat treatment mechanism 6 do not deviate, the center line of the weld 7 shown in the captured picture is in the center of the picture and is a vertical line; if the camera of the weld tracker 5 deviates to the left or right relative to the weld 7, then the weld 7 will be displayed as a left-biased or right-biased oblique line on the captured picture. At this time, it is necessary to obtain the inclination angle of the weld 7 in the picture, and then control the weld heat treatment robot to turn according to the inclination angle, so that the forward direction of the weld heat treatment robot is parallel to the extension direction of the weld 7. Then adjust the slider 4 so that the heat treatment mechanism 6 is facing the weld 7. The specific operation can be completed based on the PID (proportional-integral-derivative) algorithm. Exemplarily, the process is as follows: when the heat treatment mechanism 6 is deviated to the left relative to the weld 7, the deviation is greater than zero, and the slider 4 is controlled to move to the right to reduce the degree of deviation; when the heat treatment mechanism 6 is deviated to the right relative to the weld 7, the deviation is less than zero, and the slider 4 is controlled to move to the left to reduce the degree of deviation; when the deviation is zero, the slider 4 no longer moves, and the heat treatment mechanism 6 is facing the weld 7.

[0064] Optionally, the slide 2 extends in the left-right direction, and the slide 2 partially extends out of the motion mechanism. When the screw rod 3 is arranged on the slide 2, the screw rod 3 extends in the left-right direction, and the screw rod 3 partially extends out of the motion mechanism.

[0065] Specifically, through the above arrangement, the slide table 2 can slide on one side of the vehicle body 1 , thereby facilitating the slider 4 to adjust its position, thereby moving the heat treatment mechanism 6 to face the weld 7 .

[0066] Optionally, the slide 2 includes a stepper motor 21 and a coupling 22 , and the rotating shaft of the stepper motor 21 is connected to the lead screw 3 via the coupling 22 .

[0067] Specifically, the rotating shaft of the stepper motor 21 is connected to the screw rod 3 through the coupling 22. When the rotating shaft of the stepper motor 21 rotates, the screw rod 3 will rotate synchronously, and the screw rod 3 can be driven to rotate by the stepper motor 21. At the same time, the rotation speed of the screw rod 3 can be controlled by controlling the rotation speed of the rotating shaft of the stepper motor 21, that is, the stepper motor 21 can control the rotation speed of the screw rod 3. Since the slider 4 is threadedly connected to the screw rod 3, the stepper motor 21 can control the speed at which the slider 4 moves left and right.

[0068] Optionally, the slide table 2 further includes a slide rod 23 , the slide rod 23 is parallel to the screw rod 3 , and the slide rod 23 is slidably connected to the slider 4 .

[0069] Specifically, since the slide rod 23 is parallel to the screw rod 3 and the slide rod 23 is slidably connected to the slider 4, when the screw rod 3 rotates, the slider 4 is hindered by the slide rod 23 and will not rotate with the screw rod 3, but will slide along the slide rod 23, thereby converting the rotation of the screw rod 3 into linear motion of the slider 4.

[0070] like Figure 4 As shown, another embodiment of the present invention provides a control method for a weld heat treatment robot, comprising:

[0071] S101: receiving a command input by a user;

[0072] In the application, when the weld heat treatment robot is started, the weld heat treatment robot and the related controller need to be initialized, that is, the position value saved by each drive motor of the weld heat treatment robot is reset to zero, and the controller parameters are initialized. If the bus status is normal, the drive motors are enabled. After the enabling operation, if the axis state machine of each axis is normal, the motors of each axis enter the ready-to-run state. Among them, the above-mentioned drive motors include motors for driving the wheels 11 of the weld heat treatment robot and stepper motors 21 for driving the screw 3. The axis state machine is used to indicate the operating state of each joint of the robot, thereby determining the operation that the weld heat treatment robot needs to perform.

[0073] S102: If the instruction is a control instruction, the weld heat treatment robot as described above is controlled to perform corresponding operations according to the control instruction.

[0074] Among them, the control instructions include speed instructions, distance instructions, turning instructions and stop instructions. The speed instruction is used to control the movement speed of the weld heat treatment robot; the distance instruction is used to control the running distance of the weld heat treatment robot. When the weld heat treatment robot runs the specified distance, the weld heat treatment robot will stop automatically; the turning instruction is used to control the weld heat treatment robot to turn, and the stop instruction is used to control the weld heat treatment robot to stop moving.

[0075] Optionally, controlling the weld heat treatment robot as described above to perform corresponding operations according to the user instruction includes:

[0076] If the control instruction is a cruise control instruction, then obtaining speed information contained in the cruise control instruction, and controlling the weld heat treatment robot to move at a speed corresponding to the speed information;

[0077] If the control instruction is a fixed-distance instruction, the distance information contained in the fixed-distance instruction is obtained, and the weld heat treatment robot is controlled to move the distance corresponding to the distance information. When the weld heat treatment robot moves the distance corresponding to the distance information, the weld heat treatment robot is controlled to stop moving.

[0078] Specifically, when the control instruction is a cruise control instruction, the weld heat treatment robot will move in a straight line according to the running speed value input by the user until the user issues a stop command, and the robot will stop; when the control instruction is a fixed distance instruction, the weld heat treatment robot will automatically stop when it moves in a straight line at the running distance input by the user.

[0079] S103: If the instruction is a tracking mode instruction, the weld heat treatment robot is controlled to move forward along the extension direction of the weld 7, and during the moving process, the adjustment mechanism of the weld heat treatment robot is controlled to adjust the position of the heat treatment mechanism 6 of the weld heat treatment robot so that the heat treatment mechanism 6 is facing the weld 7. When the heat treatment mechanism 6 is facing the weld 7, the heat treatment mechanism 6 is controlled to perform heat treatment on the weld 7.

[0080] In the application, the motion modes of the weld heat treatment robot are divided into manual mode and tracking mode. The manual mode is the opposite of the tracking mode and there is no need to input the corresponding manual mode command.

[0081] When the instruction is a tracking mode instruction, the weld heat treatment robot will move forward along the extension direction of the weld 7, wherein the position information of the weld 7 is acquired by the weld tracker 5 of the weld heat treatment robot; during the moving forward process, the adjustment mechanism of the weld heat treatment robot will adjust the position of the heat treatment mechanism 6 of the weld heat treatment robot so that the heat treatment mechanism 6 is facing the weld 7, and the weld 7 is heat treated when the heat treatment mechanism 6 is facing the weld 7, that is, the weld heat treatment robot will continuously perform heat treatment on the weld 7 while moving forward along the weld 7, and the heat treatment process does not require manual operation and has a high degree of automation, thereby greatly improving the workload of the operating personnel.

[0082] Among them, when the weld heat treatment robot moves along the extension direction of the weld 7, the forward direction of the weld heat treatment robot is parallel to the extension direction of the weld 7. The method for ensuring that the forward direction of the weld heat treatment robot is parallel to the extension direction of the weld 7 has been introduced before and will not be repeated here.

[0083] In the application, the tracking mode can set corresponding exit conditions. First, set the movement time. When the tracking mode duration reaches the preset time, the tracking mode is automatically exited, the weld heat treatment robot stops moving, and enters the standby state; second, set the movement distance. When the weld heat treatment robot moves the preset distance, it exits the tracking mode; third, when the weld tracker 5 does not scan the weld 7, it exits the tracking mode; fourth, the user inputs a stop movement command to stop the weld heat treatment robot from moving, thereby exiting the tracking mode. Among them, the above exit conditions can exist at the same time, and only the corresponding priority needs to be set.

[0084] Optionally, if the instruction is a tracking mode instruction, controlling the weld heat treatment robot to move forward along the extension direction of the weld 7 includes:

[0085] The current optimal heat treatment parameters are calculated based on the input known parameters and the preset parameter optimization model, wherein the known parameters include the material of the workpiece to be processed, the plate thickness, the thermal sensitivity of the material and the spacing distance between the heat treatment mechanism 6 and the weld 7, and the heat treatment parameters include the speed at which the heat source advances and the gas injection flow rate of the heat treatment mechanism 6.

[0086] The heat treatment mechanism 6 is used to generate a heat source, and the gas injection flow rate of the heat treatment mechanism affects the temperature of the heat source generated by the heat treatment mechanism 6 .

[0087] Specifically, for workpieces with different properties and sizes, the optimal heat treatment parameters are different. Therefore, in order to achieve the optimal heat treatment effect, it is necessary to calculate the current optimal heat treatment parameters through known parameters and preset parameter optimization models. Among them, the parameter optimization model can be trained in advance through a machine learning algorithm.

[0088] The optimal forward speed of the weld heat treatment robot is obtained according to the optimal heat treatment parameters.

[0089] Since the heat treatment mechanism 6 is arranged on the weld heat treatment robot, when the weld heat treatment robot moves, the heat treatment mechanism 6 will also move accordingly, and the movement speed of the heat treatment mechanism 6 is the same as that of the weld heat treatment robot, and the heat treatment mechanism 6 is used to form a heat source, therefore, the optimal forward speed of the weld heat treatment robot can be calculated by the optimal heat treatment parameters. Exemplarily, taking the weld 7 as a straight weld as an example, when the optimal heat treatment parameters are obtained, the optimal forward speed of the heat source is obtained, and since the heat treatment mechanism 6 is used to form a heat source, the optimal forward speed of the heat treatment mechanism 6 relative to the weld 7 is the optimal forward speed of the heat source, and the robot is used to drive the heat treatment mechanism 6 to move, and since the robot moves along the straight weld, the robot moves in a straight line, then at this time, the optimal forward speed of the robot is the optimal forward speed of the heat source.

[0090] The weld heat treatment robot is controlled to move forward along the extension direction of the weld 7 at the optimal forward speed, so as to obtain the best heat treatment effect.

[0091] Optionally, controlling the heat treatment mechanism 6 to perform heat treatment on the weld 7 includes:

[0092] The optimal gas injection flow rate of the heat treatment mechanism 6 is obtained according to the optimal heat treatment parameters, and the heat treatment mechanism 6 is controlled to adjust the gas injection flow rate to the optimal gas injection flow rate.

[0093] By setting the motion mode, the operator can manually control the weld heat treatment robot, and at the same time, the weld heat treatment robot can automatically perform heat treatment on the weld 7; it is convenient to manually control the weld heat treatment robot to move near the weld 7, and when the weld heat treatment robot moves near the weld 7, the tracking mode is turned on, so that the weld heat treatment robot automatically performs heat treatment on the weld 7, thereby greatly reducing the workload of the operators and improving the overall work efficiency.

[0094] like Figure 5 As shown, another embodiment of the present invention provides a weld heat treatment robot control system, comprising:

[0095] The communication module is used to receive instructions input by the user and send the instructions, wherein the instructions include control instructions and tracking mode instructions; the communication module is also used to obtain relevant communication parameters, wherein the communication parameters include each axis state machine and bus state.

[0096] A weld tracking module, for obtaining the position information of the weld 7 upon receiving the tracking mode instruction, and generating a control instruction according to the position information;

[0097] A robot motion control module, used to receive control instructions from the user or the weld tracking module, and control the weld heat treatment robot as described above to stop, turn and walk in a straight line according to the control instructions;

[0098] The heat treatment control module is used to obtain the deviation detected by the weld tracker 5 of the weld heat treatment robot when receiving the tracking mode instruction, and control the adjustment mechanism of the weld heat treatment robot to adjust the position of the heat treatment mechanism 6 of the weld heat treatment robot according to the deviation, and control the heat treatment mechanism 6 to heat treat the weld 7 when the heat treatment mechanism 6 is facing the weld 7. The heat treatment control module 54 is also used to control the heat treatment mechanism 6 to adjust the gas injection flow rate, thereby controlling the heat source temperature.

[0099] The user's instructions are received through the communication module, and the movement of the weld heat treatment robot is controlled through the robot motion control module, so that the user can control the weld heat treatment robot; at the same time, the weld tracking module, the robot motion control module and the heat treatment control module are coordinated to control the weld heat treatment robot to move forward along the extension direction of the weld 7, and complete the heat treatment of the weld 7 during the moving process, which effectively improves the automation level of related operations.

[0100] Optionally, the system further comprises:

[0101] A status display module is used to display the real-time status of the system, which includes the state machine value of each axis, the bus status and the motion mode of the weld heat treatment robot;

[0102] In the application, the corresponding parameters displayed by the system can be adjusted according to the actual situation. The corresponding parameters can be added, for example, the real-time status of the system can also include the real-time current, temperature, speed and enable status of the drive motor, and the corresponding parameters can be reduced, for example, the status display module only displays the state machine value of each axis. Preferably, the parameters displayed on the corresponding display can be selected, for example, when the real-time status of the system includes the state machine value of each axis, the bus status and the motion mode of the weld heat treatment robot, the user can choose to display one or more of them.

[0103] A heat treatment parameter optimization module, used to calculate the current optimal heat treatment parameters according to the input known parameters and the preset parameter optimization model, wherein the known parameters include the material, plate thickness, material thermal sensitivity of the workpiece to be processed and the spacing distance between the heat treatment mechanism 6 and the weld 7, and the heat treatment parameters include the speed of the heat source and the flow rate of the gas;

[0104] The alarm module is used for fault warning and for controlling the weld heat treatment robot to stop urgently.

[0105] The axis state machine is used to indicate the operation status of each joint of the robot. If the joint parameters are abnormal, an alarm is required. Therefore, the alarm module determines whether a fault warning is required by analyzing the axis state machine.

[0106] Although the disclosure is disclosed as above, the protection scope of the disclosure is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A weld heat treatment robot, characterized in that: The device comprises a moving mechanism, a weld seam tracker (5), an adjustment mechanism and a heat treatment mechanism (6), wherein the adjustment mechanism is arranged on the moving mechanism, the moving mechanism is suitable for moving relative to a weld seam (7), the weld seam tracker (5) and the heat treatment mechanism (6) are arranged on the adjustment mechanism, the weld seam tracker (5) is used for detecting a position deviation from the weld seam (7), and the adjustment mechanism is suitable for adjusting the position of the heat treatment mechanism (6) according to the deviation so that the heat treatment mechanism (6) is directly opposite to the weld seam (7) to perform heat treatment on the weld seam (7); It also includes: a heat treatment parameter optimization module, which is used to calculate the current optimal heat treatment parameters based on the input known parameters and the preset parameter optimization model, wherein the known parameters include the material of the workpiece to be processed, the plate thickness, the material thermal sensitivity and the spacing distance between the heat treatment mechanism (6) and the weld (7), and the heat treatment parameters include the speed of the heat source and the gas injection flow rate of the heat treatment mechanism (6); and it also includes: a heat treatment control module, which is used to obtain the optimal forward speed of the weld heat treatment robot based on the optimal heat treatment parameters; and control the weld heat treatment robot to advance along the extension direction of the weld (7) at the optimal forward speed.

2. The weld heat treatment robot according to claim 1, characterized in that: The motion mechanism comprises a vehicle body (1), wheels (11) and a driving mechanism (12) arranged on the vehicle body (1); the adjustment mechanism is arranged on the vehicle body (1); a plurality of coaxial wheels (11) are respectively arranged at the front end and the rear end of the vehicle body (1); each of the wheels (11) is drivingly connected to one of the driving mechanisms (12).

3. The weld heat treatment robot according to claim 2, characterized in that: The wheel (11) is a magnetic wheel.

4. The weld heat treatment robot according to claim 1, characterized in that: The adjustment mechanism comprises a slide (2), a screw rod (3) and a slider (4); the slide (2) is arranged on the motion mechanism; the screw rod (3) is arranged on the slide (2); the screw rod (3) is suitable for rotating relative to the slide (2); the slider (4) is threadedly connected to the screw rod (3) and is slidably connected to the slide (2); the weld tracker (5) and the heat treatment mechanism (6) are arranged on the slider (4).

5. A weld heat treatment robot control method, characterized in that: include: Receive instructions input by the user; If the instruction is a control instruction, the weld heat treatment robot according to any one of claims 1 to 4 is controlled to perform corresponding operations according to the control instruction; If the instruction is a tracking mode instruction, the weld heat treatment robot is controlled to move forward along the extension direction of the weld (7), and during the moving forward process, the adjustment mechanism of the weld heat treatment robot is controlled to adjust the position of the heat treatment mechanism (6) of the weld heat treatment robot so that the heat treatment mechanism (6) faces the weld (7), and when the heat treatment mechanism (6) faces the weld (7), the heat treatment mechanism (6) is controlled to perform heat treatment on the weld (7); Controlling the weld seam heat treatment robot to move forward along the extension direction of the weld seam (7) comprises: Calculating the current optimal heat treatment parameters based on the input known parameters and the preset parameter optimization model, wherein the known parameters include the material of the workpiece to be processed, the plate thickness, the thermal sensitivity of the material and the spacing distance between the heat treatment mechanism (6) and the weld (7), and the heat treatment parameters include the speed of the heat source and the gas injection flow rate of the heat treatment mechanism (6); Obtaining the optimal forward speed of the weld heat treatment robot according to the optimal heat treatment parameters; The weld seam heat treatment robot is controlled to advance along the extension direction of the weld seam (7) at the optimal advancing speed.

6. The weld heat treatment robot control method according to claim 5, characterized in that: The controlling the weld heat treatment robot according to any one of claims 1 to 4 to perform corresponding operations according to the user instruction comprises: If the control instruction is a cruise control instruction, then obtaining speed information contained in the cruise control instruction, and controlling the weld heat treatment robot to move at a speed corresponding to the speed information; If the control instruction is a fixed-distance instruction, the distance information contained in the fixed-distance instruction is obtained, and the weld heat treatment robot is controlled to move the distance corresponding to the distance information. When the weld heat treatment robot moves the distance corresponding to the distance information, the weld heat treatment robot is controlled to stop moving.

7. The weld heat treatment robot control method according to claim 5, characterized in that: The step of controlling the heat treatment mechanism (6) to perform heat treatment on the weld (7) comprises: An optimal gas injection flow rate of the heat treatment mechanism (6) is obtained according to the optimal heat treatment parameters, and the heat treatment mechanism (6) is controlled to adjust the gas injection flow rate to the optimal gas injection flow rate.

8. A weld heat treatment robot control system, characterized in that: include: A communication module, used for receiving instructions input by a user and sending the instructions, wherein the instructions include control instructions and tracking mode instructions; A weld tracking module, used to obtain position information of the weld (7) when receiving the tracking mode instruction, and generate a control instruction according to the position information; A robot motion control module, used to receive control instructions from the user or the weld tracking module, and control the weld heat treatment robot according to any one of claims 1 to 4 to stop, turn and walk in a straight line according to the control instructions; a heat treatment control module for obtaining a deviation detected by a weld tracker (5) of the weld heat treatment robot when receiving the tracking mode instruction, and controlling an adjustment mechanism of the weld heat treatment robot to adjust a position of a heat treatment mechanism (6) of the weld heat treatment robot according to the deviation, and controlling the heat treatment mechanism (6) to perform heat treatment on the weld (7) when the heat treatment mechanism (6) is facing the weld (7); It also includes: a heat treatment parameter optimization module, which is used to calculate the current optimal heat treatment parameters according to the input known parameters and the preset parameter optimization model, wherein the known parameters include the material of the workpiece to be processed, the plate thickness, the material thermal sensitivity and the spacing distance between the heat treatment mechanism (6) and the weld (7), and the heat treatment parameters include the speed of the heat source and the gas injection flow rate of the heat treatment mechanism (6); The heat treatment control module is also used to obtain an optimal forward speed of the weld heat treatment robot according to the optimal heat treatment parameters; and control the weld heat treatment robot to advance along the extension direction of the weld (7) at the optimal forward speed.

9. The weld heat treatment robot control system according to claim 8, characterized in that: Also includes: A status display module is used to display the real-time status of the system, which includes the state machine value of each axis, the bus status and the motion mode of the weld heat treatment robot; The alarm module is used for fault warning and for controlling the weld heat treatment robot to stop urgently.

Images