Adaptive crushing device for submerged arc welding slag morphology based on visual feedback

Abstract

The present invention relates to a submerged arc welding slag morphology adaptive crushing device based on visual feedback. In view of the difficulties that the current submerged arc welding slag crushing device is difficult to completely crush the welding slag of different widths and arc surfaces, and the welding slag that is not completely crushed cannot be crushed for the second time, the present invention discloses a submerged arc welding slag morphology adaptive crushing device based on visual feedback. An adaptive control method based on visual recognition of welding slag width is used to fully crush welding slag of different widths; a welding slag arc surface adaptive method based on pressure is used to uniformly crush welding slag of different arc surfaces; and an airflow size control method based on visual feedback is used to secondary crush welding slag that is not completely crushed.

Description

Technical Field

[0001] The invention relates to the field of submerged arc welding slag crushing, and is a submerged arc welding slag morphology adaptive crushing device based on visual feedback. Background Art

[0002] Submerged arc welding is a welding method in which the arc burns under the flux layer. It has the advantages of stable welding quality, high welding productivity, no arc light and little smoke. Submerged arc welding is widely used as the main welding method in the production of important steel structures such as pressure vessels, pipe section manufacturing, box beams and columns. After submerged arc welding, the welding slag formed by the coating and flux scab at the weld needs to be treated, but manual cleaning is inconvenient and inefficient.

[0003] The Chinese patent with publication number CN216912456U discloses a submerged arc welding slag cleaning device, which uses an impact block to impact and clean the submerged arc welding slag, but still has the following shortcomings:

[0004] 1) Since the shape and size of the impact block remain constant during the impact process and the impact surface is a plane, it is not possible to completely crush welding slag of different widths and arc surfaces.

[0005] 2) After the impact block impacts once, it cannot automatically perform a secondary crushing on the welding slag that has not been completely crushed. Summary of the invention

[0006] A submerged arc welding slag morphology adaptive crushing device based on visual feedback, which is used to crush the welding slag on the weld surface after the submerged arc welding is completed. It is characterized in that: the submerged arc welding slag morphology adaptive crushing device based on visual feedback is composed of an adaptive crushing system and a visual feedback driving system, wherein the adaptive crushing system is composed of a crushing disk, a sleeve, a striker, a sealing ring, a spring, an airflow regulating valve, an electric air valve, a gas cylinder, a limit plate, a camera B and a submerged arc welding slag morphology adaptive crushing device controller based on visual feedback, and the visual feedback driving system is composed of a vehicle body, a camera A and a submerged arc welding slag morphology adaptive crushing device controller based on visual feedback; the camera A is installed on the top of the vehicle body for identifying the welding slag trajectory and the welding slag width; the limit plates are installed on both sides of the vehicle body for limiting the crushing range of the striker; the upper part of the crushing disk is provided with two electric air valves and an airflow regulating valve, The lower part is provided with multiple sleeves and impact rods, the electric air valve is used to discharge the gas in the crushing disk, the airflow regulating valve is used to adjust the gas flow entering the crushing disk, the sleeve is used to squeeze the surface morphology of the welding slag so that it is an arc surface approximately consistent with the surface of the welding slag, and the impact rod is used to impact the welding slag; the top of the impact rod is provided with a sealing ring, and the upper part is provided with a spring, the sealing ring is used to seal the gas in the crushing disk, and the spring is used to rebound the impact rod that has completed the impact to the initial position; the controller of the submerged arc welding slag morphology adaptive crushing device based on visual feedback is installed in the middle of the vehicle body, and is used to control the movement of the vehicle body and the limit plate, the lifting and lowering of the crushing disk, the opening and closing of the electric air valve, and the size of the airflow regulating valve; the camera B is installed in the middle of the vehicle body, and is used to identify the crushing result; one end of the gas pipe is fixedly connected to the airflow regulating valve, and the other end is fixedly connected to the gas cylinder, and is used to transport the gas in the gas cylinder to the crushing disk; the gas cylinder is installed at the rear of the vehicle body, and is used to provide air pressure to the crushing disk.

[0007] The submerged arc welding slag morphology adaptive crushing device based on visual feedback is characterized by: using an adaptive control method based on visual recognition of slag width to achieve crushing of slag on welds of different widths; the adaptive control method based on visual recognition of slag width is to identify the width of the slag according to camera A, and then control the distance between the two limit plates to be consistent with the slag width through the controller of the submerged arc welding slag morphology adaptive crushing device based on visual feedback, so that the effective crushing range of the impact rod on the crushing disk is on the slag, thereby achieving sufficient crushing of the slag on welds of different widths.

[0008] The submerged arc welding slag morphology adaptive crushing device based on visual feedback is characterized in that: a pressure-based slag arc surface adaptive method is used to achieve uniform crushing of slags with different arc surfaces; the pressure-based slag arc surface adaptive method is that in the process of the crushing disk driving the sleeve to move downward, the sleeve will squeeze the slag surface, so that the sleeve and the slag surface are approximately the same arc surface, and the controller of the submerged arc welding slag morphology adaptive crushing device based on visual feedback adjusts the airflow regulating valve to make the gas in the gas cylinder flow at a certain flow rate V 1 Enter the crushing disc, and then the striker in the sleeve is under the pressure P 1 Under the action of a certain force F 1 The slag surface is impacted to break it, and then the crushing disk rises back to its original position, and the sleeve returns to its initial position under the action of the air pressure in the crushing disk. Finally, the submerged arc welding slag morphology adaptive crushing device controller based on visual feedback controls the airflow regulating valve to close and the electric air valve to open, so that the air pressure inside and outside the crushing disk is equal, and then the impact rod in the sleeve returns to its initial position before the impact under the action of the spring force, thereby achieving uniform crushing of slag on different arc surfaces.

[0009] The submerged arc welding slag morphology adaptive crushing device based on visual feedback is characterized in that: the airflow size control method based on visual feedback is used to realize the secondary crushing of the incompletely crushed welding slag; the airflow size control method based on visual feedback is that during the rising process of the crushing disk after the primary crushing, the camera B identifies whether there are cracks on the surface of the welding slag under the impact rod that is not blocked by the limit plate for further judgment:

[0010] 1) If camera B recognizes that the surface of the welding slag under the impact rod that is not blocked by the limit plate has cracks, no secondary crushing will be performed;

[0011] 2) If camera B recognizes that there is no crack on the slag surface under at least one striker that is not blocked by the limit plate, after the crushing disk rises to the initial state before crushing, the crushing disk is driven downward again to drive the sleeve to squeeze the slag surface, and then the submerged arc welding slag morphology adaptive crushing device controller based on visual feedback increases the air flow regulating valve to make the gas in the gas cylinder flow at a certain flow rate V 2 (V 2 >V 1 ) enters the crushing disk, and then the striker in the sleeve is at the air pressure P 2 (P 2 >P 1 ) under a certain force F 2 (F 2 >F 1 ) impacts the surface of the welding slag to achieve secondary crushing of the welding slag that has not been completely crushed.

[0012] Beneficial effects of the invention:

[0013] The present invention relates to a submerged arc welding slag morphology adaptive crushing device based on visual feedback. An adaptive control method based on visual recognition of slag width is used to fully crush slags of different widths; a pressure-based slag arc surface adaptive method is used to uniformly crush slags of different arc surfaces; and a gas flow size control method based on visual feedback is used to secondary crush incompletely crushed slag. The present invention overcomes the difficulties that the current submerged arc welding slag crushing device is difficult to completely crush slags of different widths and arc surfaces, and that incompletely crushed slag cannot be secondary crushed. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to make the purpose, technical solution and beneficial effects of the present invention clearer, the present invention provides the following drawings for illustration:

[0015] Figure 1 Schematic diagram of the working principle of the crushing disc moving down to the lowest position

[0016] In the figure: 1-camera A, 2-crushing disc, 3-sleeve, 4-limiting plate, 5-car body, 6-front wheel of trolley, 7-workpiece surface, 8-weld seam, 9-welding slag.

[0017] Figure 2 Schematic diagram of the working principle of the impact rod crushing process in the sleeve

[0018] In the figure: 10 - striker.

[0019] Figure 3 Schematic diagram of the three-dimensional structure of the submerged arc welding slag morphology adaptive crushing device based on visual feedback

[0020] In the figure: 11-gas pipe, 5-vehicle body, 1-camera A, 2-crushing disc, 10-ramming rod, 3-sleeve, 4-limiting plate, 6-front wheel of the trolley, 12-gas cylinder, 13-rear wheel of the trolley.

[0021] Figure 4 Schematic diagram of the top view of the three-dimensional structure of the submerged arc welding slag morphology adaptive crushing device based on visual feedback

[0022] In the figure: 17-controller of submerged arc welding slag morphology adaptive crushing device based on visual feedback, 18-electric air valve, 19-air flow regulating valve, 14-camera B.

[0023] Figure 5 Schematic diagram of the sleeve cross-section structure of the submerged arc welding slag morphology adaptive crushing device based on visual feedback

[0024] In the figure: 10-strike rod, 3-sleeve, 15-sealing ring, 16-spring.

[0025] Figure 6 Force analysis diagram of the impact rod when it is pressed down by gas

[0026] In the figure: F is calculated by formula (1). 气 Calculate by formula (2). Calculate by formula (3). 弹 Calculated by formula (4).

[0027] F=F 气 +m·gfF 弹 (1)

[0028] Where F is the force of the impact rod to break the welding slag, F 气 is the force of the gas on the impact rod, mg is the deadweight of the impact rod, f is the friction force on the impact rod, F 弹 is the spring force on the striker.

[0029] F 气 =P·S (2)

[0030] Where P is the gas pressure on the striker, and S is the area of ​​the gas contacting the striker.

[0031] f=μ·F n (3)

[0032] Where μ is the dynamic friction coefficient, F n Is positive pressure.

[0033] F 弹 = k·x (4)

[0034] Where k is the elastic coefficient and x is the compression of the spring.

[0035] Figure 7 Schematic diagram of the bottom of the crushing plate of the submerged arc welding slag morphology adaptive crushing device based on visual feedback

[0036] In the figure: 1-camera A, 10-ramming rod, 3-sleeve, 2-crushing disk, 5-vehicle body, 4-limiting plate, 11-air pipe, 14-camera B, 17-controller of submerged arc welding slag morphology adaptive crushing device based on visual feedback, 6-front wheel of the trolley.

[0037] Figure 8 The present invention is a flow chart of an embodiment of a submerged arc welding slag morphology adaptive crushing device based on visual feedback. DETAILED DESCRIPTION

[0038] The present invention is further described below in conjunction with the accompanying drawings and implementation examples so that those skilled in the art can better understand the present invention and implement it, but the implementation methods of the present invention are not limited thereto.

[0039] like Figure 1-7As shown, the submerged arc welding slag morphology adaptive crushing device based on visual feedback of this embodiment includes the following steps.

[0040] Step 1: Camera A identifies the slag width, and controls the two limit plates to move to the slag width range through the controller of the submerged arc welding slag morphology adaptive crushing device based on visual feedback;

[0041] Step 2: When the crushing disk drives the sleeve to move downward, part of the sleeve will be blocked by the limit plate, and the unblocked sleeve will be squeezed onto the surface of the welding slag, so that the sleeve and the welding slag surface are approximately the same arc surface, and then the controller of the submerged arc welding welding slag morphology adaptive crushing device based on visual feedback adjusts the air flow regulating valve to make the gas in the gas cylinder flow at a certain flow rate V 1 Enter the crushing disc, and then the striker in the sleeve is under the pressure P 1 Under the action of a certain force F 1 Impacting the surface of the welding slag to break it, thus achieving the first breakage;

[0042] Step 3: When the crushing disc is lifted back to its original position, camera B identifies whether there are cracks on the surface of the welding slag under the impact rod that is not blocked by the limit plate for further judgment:

[0043] 1) If camera B recognizes that the surface of the welding slag under the impact rod that is not blocked by the limit plate has cracks, no secondary crushing will be performed;

[0044] 2) If camera B recognizes that there is no crack on the slag surface under at least one striker that is not blocked by the limit plate, after the crushing disk rises to the initial state before crushing, the crushing disk is driven downward again to drive the sleeve to squeeze the slag surface, and then the submerged arc welding slag morphology adaptive crushing device controller based on visual feedback increases the air flow regulating valve to make the gas in the gas cylinder flow at a certain flow rate V 2 (V 2 >V 1 ) enters the crushing disk, and then the striker in the sleeve is at the air pressure P 2 (P 2 >P 1 ) under a certain force F 2 (F 2 >F 1 ) impacts the surface of welding slag, thereby achieving secondary crushing;

[0045] Step 4: After the crushing disk is raised back to its original position, the sleeve returns to its initial position under the action of the air pressure in the crushing disk, and then the controller of the submerged arc welding slag morphology adaptive crushing device based on visual feedback controls the air flow regulating valve to close and the electric air valve to open, so that the air pressure inside and outside the crushing disk is equal, and then the striker in the sleeve returns to its initial position before the impact under the action of the spring elastic force;

[0046] Step 5: Camera A identifies the slag trajectory and controls the trolley to move to the next area to be crushed through the submerged arc welding slag morphology adaptive crushing device controller based on visual feedback.

[0047] The above-described implementation cases are only preferred implementation cases for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or changes made by technicians in the technical field on the basis of the present invention are all within the protection scope of the present invention. The protection scope of the present invention shall be subject to the claims.

Claims

1. A submerged arc welding slag morphology adaptive crushing device based on visual feedback, used for crushing the slag on the weld surface after submerged arc welding, characterized in that: The submerged arc welding slag morphology adaptive crushing device based on visual feedback is composed of an adaptive crushing system and a visual feedback driving system, wherein the adaptive crushing system is composed of a crushing disk, a sleeve, a striker, a sealing ring, a spring, an air flow regulating valve, an electric air valve, a gas cylinder, a limit plate, a camera B and a submerged arc welding slag morphology adaptive crushing device controller based on visual feedback, and the visual feedback driving system is composed of a vehicle body, a camera A and a submerged arc welding slag morphology adaptive crushing device controller based on visual feedback; A pressure-based welding slag arc surface adaptive method is used to achieve uniform crushing of welding slag with different arc surfaces; the pressure-based welding slag arc surface adaptive method is that in the process of the crushing disk driving the sleeve to move downward, the sleeve will squeeze the welding slag surface, so that the sleeve and the welding slag surface are approximately consistent arc surfaces, and then the submerged arc welding slag morphology adaptive crushing device controller based on visual feedback adjusts the airflow regulating valve, so that the gas in the gas cylinder enters the crushing disk at a certain flow rate V1, and then the striker in the sleeve hits the welding slag surface with a certain force F1 under the action of the air pressure P1 to crush it, and then after the crushing disk rises back to its original position, the sleeve returns to its initial position under the action of the air pressure in the crushing disk, and finally the submerged arc welding slag morphology adaptive crushing device controller based on visual feedback controls the airflow regulating valve to close and the electric air valve to open, so that the air pressure inside and outside the crushing disk is equal, and then the striker in the sleeve returns to the initial position before the impact under the action of the spring elastic force, thereby achieving uniform crushing of welding slag with different arc surfaces.

2. According to claim 1, a submerged arc welding slag morphology adaptive crushing device based on visual feedback is characterized in that: An adaptive control method based on visual recognition of welding slag width is used to achieve the crushing of welding slag on welds of different widths; the adaptive control method based on visual recognition of welding slag width is to identify the width of uncrushed welding slag according to camera A, and then control the distance between the two limit plates to be consistent with the welding slag width through a submerged arc welding welding slag morphology adaptive crushing device controller based on visual feedback, so that the effective crushing range of the impact rod on the crushing disk is on the welding slag, thereby achieving sufficient crushing of welding slag on welds of different widths.

3. The submerged arc welding slag morphology adaptive crushing device based on visual feedback according to claim 1 is characterized by: The airflow size control method based on visual feedback is used to realize the secondary crushing of the incompletely crushed welding slag; the airflow size control method based on visual feedback is that during the ascending process of the crushing plate after the primary crushing is completed, the camera B identifies whether there are cracks on the surface of the welding slag under the impact rod that is not blocked by the limit plate for further judgment: 1) If camera B recognizes that the surface of the welding slag under the impact rod that is not blocked by the limit plate has cracks, no secondary crushing will be performed; 2) If camera B recognizes that there is no crack on the slag surface under at least one impact rod that is not blocked by the limit plate, then after the crushing disk rises to the initial state before crushing, the crushing disk is driven downward again to drive the sleeve to squeeze the slag surface, and then the submerged arc welding slag morphology adaptive crushing device controller based on visual feedback increases the airflow regulating valve to make the gas in the gas cylinder enter the crushing disk at a certain flow rate V2, and then the impact rod in the sleeve hits the slag surface with a certain force F2 under the action of the air pressure P2, thereby realizing secondary crushing of the incompletely crushed slag, wherein V2>V1, P2>P1, F2>F1.

Images