Steel pipe welding seam tracking method for welding seam distortion

Abstract

The invention discloses a steel pipe welding seam tracking method for welding seam distortion, which relates to the technical field of steel pipe production and processing, and comprises the following steps: S1, establishing a tracking foundation; s2, analyzing and adjusting a welding seam, namely aligning a welding gun with the welding seam at the starting point position; acquiring detection data of the detection instrument on the welding seam and analyzing to obtain a welding seam deviation value L; obtaining the distance m from a measuring point of a detection instrument to a welding gun, the diameter D of a rotating roller and the speed V during welding; the arc length A needing to be adjusted of the weld is calculated based on the weld deviation value L; calculating a rotating angle beta matched with the rotating roller based on the diameter D and the arc length A; calculating and adjusting following interval duration t1 according to the distance m and the speed V; and S3, welding seam tracking is conducted, specifically, a rotating mechanism, a working trolley and a welding gun are made to work, and a rotating roller reaches a rotating angle beta relative to the current rotating amount at the moment corresponding to the current moment after t1 is accumulated. The device has the effect of improving the welding quality of the steel pipe.

Description

Technical Field

[0001] The present application relates to the technical field of steel pipe production and processing, and in particular to a method for tracking weld seams of steel pipes with twisted weld seams. Background Art

[0002] Straight seam steel pipe refers to a steel pipe whose weld is parallel to the longitudinal direction of the steel pipe. During manufacturing, due to the size of the steel plate raw material, the strength of each part of the steel plate, forming and welding stress, the pre-planned weld (i.e., the side of the base material to be welded) will be more or less distorted in the length direction of the steel pipe, such as Figure 1 and Figure 2 .

[0003] In order to continue processing after the weld is twisted, the welding is usually tracked by laser, manual or other methods according to the horizontal position of the weld, and the position of the welding head is adjusted according to the deflection size. However:

[0004] The above adjustment method often causes the welding gun to fail to coincide with the normal line of the steel pipe after the weld is twisted, resulting in deviations in the molten pool morphology, affecting the weld morphology and weld performance. In severe cases, welding defects may lead to unqualified steel pipe quality, causing significant economic losses. Summary of the invention

[0005] In order to improve the welding quality of steel pipes, the present application provides a weld tracking method for steel pipes with twisted welds.

[0006] The present application provides a method for tracking weld seams of steel pipes with twisted weld seams, which adopts the following technical solutions:

[0007] A method for tracking a weld seam of a steel pipe with a twisted weld seam, comprising:

[0008] S1. Establish a tracking basis, which includes:

[0009] A rotating mechanism is provided for driving the steel pipe to rotate around the central axis, and the rotating mechanism drags the steel pipe with rotating rollers distributed in pairs on both sides of the steel pipe;

[0010] A working carriage with integrated testing instrument and welding gun is provided, and the position relationship between the testing instrument and the welding gun is that the testing instrument first passes through the part to be welded;

[0011] S2. Weld analysis and adjustment, including:

[0012] If the working trolley is in the steel pipe, then:

[0013] Align the welding gun with the weld at the starting point;

[0014] Obtain the test data of the weld by the testing instrument and analyze it to obtain the weld deviation value L;

[0015] Acquire auxiliary fixing parameters; wherein the auxiliary fixing parameters include the distance m from the measuring point of the detection instrument to the welding gun, the diameter D of the rotating roller, and the speed V during welding;

[0016] Calculate the arc length A that needs to be adjusted for the weld based on the weld deviation value L;

[0017] Calculate the rotation angle β of the rotating roller matching based on the diameter D and the arc length A;

[0018] Calculate and adjust the following interval duration t1 according to the distance m and speed V;

[0019] S3, weld tracking, which includes:

[0020] The rotating mechanism, the work carriage and the welding gun are operated, and at the moment corresponding to the current moment after the accumulation of t1, the rotating roller reaches the rotation angle β relative to the current rotation amount.

[0021] Optionally, the working trolley is equipped with a guide wheel, which is used to contact the edge of the steel pipe weld groove and to contact the rear welding gun, detection instrument and steel pipe separation.

[0022] Optionally, the inner weld groove of the steel pipe falling on the rotating mechanism is located at the 6 o'clock direction when viewed from the end of the steel pipe.

[0023] Optionally, there are multiple welding guns arranged along the distribution direction of the detection instrument and the welding guns, and the welding gun closest to the detection instrument is taken to calculate the distance m.

[0024] Optionally, S1. establishing a tracking basis, which includes: setting up a centering detection instrument and an adjustment mechanism;

[0025] S2. Weld analysis and adjustment, including:

[0026] If the working trolley is outside the steel pipe, then:

[0027] Make the welding gun position coincide with the normal line of the steel pipe weld, and the position of the centering detection instrument and the welding gun are relatively fixed;

[0028] The centering detection instrument detects the steel pipe from both sides of the steel pipe to obtain data B1 and data B2 respectively.

[0029] If B1=B2, the steel pipe is normal; if B1≠B2, the steel pipe is bent or twisted, and the adjustment mechanism is required to perform adjustment actions until B1=B2.

[0030] Optionally, the adjusting mechanism includes a mechanical arm or a multi-axis driving mechanism, and the adjusting mechanism is used to drive the welding gun to move.

[0031] Optionally, the adjustment mechanism includes at least one actively rotating rotating roller.

[0032] Optionally, the outer weld groove of the steel pipe falling on the rotating mechanism is located at the 12 o'clock direction when viewed from the end of the steel pipe.

[0033] Optionally, the welding method of the welding gun includes any one of automatic submerged arc welding, automatic gas shielded welding, and automatic electroslag welding, and the automatic submerged arc welding includes direct current, alternating current, single-wire, and multi-wire automatic submerged arc welding.

[0034] In summary, the present application includes the following beneficial technical effects: the present method can detect the position of the weld, analyze and calculate how the steel pipe should be adjusted, so that the position of the steel pipe relative to the welding gun can always be close to the initial state, thereby ensuring the welding quality when the initial relative posture is accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram showing the defects of the prior art of this application;

[0036] Figure 2 yes Figure 1 A partial schematic diagram of the end face;

[0037] Figure 3 It is a schematic diagram of the structure of the detection instrument and welding gun part of the present application;

[0038] Figure 4 It is a partial structural schematic diagram of the steel pipe of the present application placed on a rotating roller;

[0039] Figure 5 This is a schematic diagram of the positions of the alignment detection instrument, steel pipe and welding gun. DETAILED DESCRIPTION

[0040] The following is combined with Figure 1-5 This application is described in further detail.

[0041] An embodiment of the present application discloses a method for tracking a weld of a steel pipe with a twisted weld.

[0042] Reference Figure 3 and Figure 4 , the weld tracking methods for steel pipes with twisted welds include:

[0043] S1. Establish a tracking basis, which includes:

[0044] 1) A rotating mechanism is provided to drive the steel pipe to rotate around the central axis, and the rotating mechanism uses rotating rollers distributed in pairs on both sides of the steel pipe to drag the steel pipe.

[0045] In this embodiment, assuming that the pair of rotating rollers are active, the rotating mechanism may include a servo motor and a reduction gearbox, the output shaft of the servo motor is connected to the reduction gearbox, the output shaft of the reduction gearbox is connected to the rotating shaft of the active pair of rotating rollers, one servo motor and one reduction gearbox form a group, and each rotating roller is matched with one group. The advantage of using a servo motor is that the precision is higher, so as to meet the precise rotation requirements.

[0046] The outer wall of the rotating roller can be covered with an elastic sleeve to avoid wear on the steel pipe and to provide a better fit; however, if the diameter is changed after the elastic sleeve is added, the elastic modulus needs to be calculated when taking the diameter D of the rotating roller below. For the sake of clarity and simplification of calculation, this embodiment takes the rotating roller without the elastic sleeve as an example.

[0047] 2) Set up a work carriage with integrated testing instrument and welding gun, as shown in Figure XX, and the position relationship between the testing instrument and the welding gun is that the testing instrument passes through the part to be welded first.

[0048] In this embodiment, the detection instrument can be a photoelectric detector, a camera, a grating probe, etc., which can identify the weld (i.e., the groove of the seam where the steel pipe is to be connected) after processing the detected information, and compare it with the initial weld to obtain the weld deviation value L.

[0049] S2. Weld analysis and adjustment, including:

[0050] The first one is for the internal weld: if the work trolley is inside the steel pipe, then:

[0051] 1) Align the welding gun with the weld at the starting position, that is, under the premise that the steel pipe does not rotate, the work carriage moves forward to allow the welding gun to weld at the starting position of the steel pipe weld.

[0052] 2) Obtain the test data of the weld by the testing instrument and analyze it to obtain the weld deviation value L;

[0053] Obtain auxiliary fixed parameters; the auxiliary fixed parameters include the distance m from the measuring point of the detection instrument to the welding gun, the diameter D of the rotating roller, and the speed V during welding; the three data are fixed settings and can be uploaded by the staff.

[0054] 3) Calculate the arc length A that needs to be adjusted for the weld based on the weld deviation value L;

[0055] Calculate the rotation angle β of the rotating roller matching based on the diameter D and the arc length A;

[0056] The following interval duration t1 is calculated and adjusted according to the distance m and the speed V.

[0057] S3, weld tracking, which includes:

[0058] The rotating mechanism, the work carriage and the welding gun are operated, and at the moment corresponding to the current moment after the accumulation of t1, the rotating roller reaches the rotation angle β relative to the current rotation amount.

[0059] According to the above settings, during the straight seam steel pipe welding process, this method can detect the position of the weld, analyze and calculate how the steel pipe should be adjusted, so that the position of the steel pipe relative to the welding gun can always be close to the initial state, thereby ensuring the welding quality when the initial relative posture is accurate.

[0060] In one embodiment of the method, the arc length A of the weld to be adjusted is calculated based on the weld deviation value L, specifically:

[0061] When the radius R of the steel pipe is determined, the circumference formula can be used to calculate the circumference C = 2πR;

[0062] L is the distance between two points on the circumference, and the line connecting the two points and the center of the circle forms an angle α;

[0063] Based on trigonometric functions, sinα=(1 / 2*L) / R, from which α can be calculated, α / 360*C=A.

[0064] In another embodiment of the method, the rotation angle β of the rotating roller matching is calculated based on the diameter D and the arc length A, specifically:

[0065] Because the rotating roller drives the steel pipe to rotate, the weld deflection needs to be verified by rotating the arc length, that is, a point on the outer wall of the rotating roller needs to move A around the circumference; at this time, the circumference formula is C=πD; (A / C)*360=β.

[0066] In one embodiment of the method, the work carriage is equipped with a guide wheel, which is used to abut against the edge of the steel pipe weld groove and abut against the rear welding gun, the detection instrument and the steel pipe. The guide wheel can be guided by the weld groove in the steel pipe and keep the height of the welding gun and the welding point consistent to ensure welding consistency and welding quality.

[0067] Further, the inner weld groove of the steel pipe falling on the rotating mechanism is located at the 6 o'clock direction when the steel pipe is viewed from the end.

[0068] This setting can make the work trolley and welding more stable, and better maintain the normal consistency between the welding gun and the steel pipe.

[0069] It should be noted that, in order to improve welding efficiency, there are multiple welding guns arranged along the distribution direction of the detection instrument and the welding guns, and the welding gun closest to the detection instrument is taken to calculate the distance m.

[0070] The above are all internal welding for steel pipes. If the welding gun is externally matched with the external weld of the steel pipe, refer to Figure 5 , :

[0071] S1. Establish a tracking basis, which includes:

[0072] Set up centering detection instruments and adjustment mechanisms;

[0073] S2. Weld analysis and adjustment, including:

[0074] If the working trolley is outside the steel pipe, then:

[0075] Make the welding gun position coincide with the normal line of the steel pipe weld, that is, the welding gun position is aligned with the 0° point of the steel pipe at the beginning; the position of the centering detection instrument and the position of the welding gun are relatively fixed;

[0076] The centering detection instrument detects the steel pipe from both sides of the steel pipe to obtain data B1 and data B2 respectively;

[0077] If B1=B2, the steel pipe is normal; if B1≠B2, the steel pipe is bent or twisted, and the adjustment mechanism is required to perform adjustment actions until B1=B2.

[0078] On the basis of the above, the adjustment mechanism can perform the adjustment action in at least the following two ways:

[0079] The first type is that the adjustment mechanism includes a robotic arm or a multi-axis drive mechanism. The adjustment mechanism is used to drive the welding gun to move. Take the robotic arm as an example:

[0080] The welding gun (or the aforementioned work trolley) is installed at the front end of the robotic arm. When B1≠B2, the robotic arm drives the welding gun to move and rotate to ensure that it coincides with the normal line of the weld, that is, adjust the position of the welding gun to restore B1=B2.

[0081] The second type is that the adjustment mechanism includes at least one actively rotating rotating roller, that is, the position of the welding gun does not change, and the position of the weld is corrected by rotating the steel pipe; at this time, the rotation amount of the rotating roller is the aforementioned β, which will not be repeated.

[0082] The above-mentioned centering detection instrument can be: a bracket, the bracket is C-shaped and has detectors facing each other at both ends, and the detectors can be laser ranging sensors to obtain B1 and B2.

[0083] During the above-mentioned external welding process, it is preferred that the external weld groove of the steel pipe falling on the rotating mechanism is located at the 12 o'clock direction when viewed from the end of the steel pipe.

[0084] In one embodiment of the method, the welding method of the welding gun includes any one of automatic submerged arc welding, automatic gas shielded welding, and automatic electroslag welding, and automatic submerged arc welding includes direct current, alternating current, single-wire, and multi-wire automatic submerged arc welding.

[0085] It should be noted that this method is not only used for straight seam welded pipes, but can also be used for spiral steel pipes and other pipe processing processes where there may be distortion in the length direction of the weld.

[0086] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for tracking a weld of a steel pipe with a twisted weld, characterized in that: include: S1. Establish a tracking basis, which includes: A rotating mechanism is provided for driving the steel pipe to rotate around the central axis, and the rotating mechanism drags the steel pipe with rotating rollers distributed in pairs on both sides of the steel pipe; A working carriage with integrated testing instrument and welding gun is provided, and the position relationship between the testing instrument and the welding gun is that the testing instrument first passes through the part to be welded; S2. Weld analysis and adjustment, including: If the working trolley is in the steel pipe, then: Align the welding gun with the weld at the starting point; Obtain the test data of the weld by the testing instrument and analyze it to obtain the weld deviation value L; Acquire auxiliary fixing parameters; wherein the auxiliary fixing parameters include the distance m from the measuring point of the detection instrument to the welding gun, the diameter D of the rotating roller, and the speed V during welding; Calculate the arc length A that needs to be adjusted for the weld based on the weld deviation value L; Calculate the rotation angle β of the rotating roller matching based on the diameter D and the arc length A; Calculate and adjust the following interval duration t1 according to the distance m and speed V; S3, weld tracking, which includes: The rotating mechanism, the work carriage and the welding gun are operated, and at the moment corresponding to the current moment after the accumulation of t1, the rotating roller reaches the rotation angle β relative to the current rotation amount.

2. The weld tracking method for a steel pipe with a twisted weld according to claim 1, characterized in that: The working trolley is equipped with a guide wheel, and the guide wheel is used to abut against the edge of the steel pipe weld groove and abut against the rear welding gun, the detection instrument and the steel pipe.

3. The weld tracking method for a steel pipe with a twisted weld according to claim 1, characterized in that: Make sure that the inner weld groove of the steel pipe falling on the rotating mechanism is located at the 6 o'clock direction when viewed from the end of the steel pipe.

4. The weld tracking method for a steel pipe with a twisted weld according to claim 1, characterized in that: There are multiple welding guns arranged along the distribution direction of the detection instrument and the welding guns, and the welding gun closest to the detection instrument is taken to calculate the distance m.

5. The weld tracking method for a steel pipe with a twisted weld according to claim 1, characterized in that: S1. Establish tracking basis, which includes: setting up centering detection instruments and adjustment mechanisms; S2. Weld analysis and adjustment, including: If the working trolley is outside the steel pipe, then: Make the welding gun position coincide with the normal line of the steel pipe weld, and the position of the centering detection instrument and the welding gun are relatively fixed; The centering detection instrument detects the steel pipe from both sides of the steel pipe to obtain data B1 and data B2 respectively. If B1=B2, the steel pipe is normal; if B1≠B2, the steel pipe is bent or twisted, and the adjustment mechanism is required to perform adjustment actions until B1=B2.

6. The weld tracking method for a steel pipe with a twisted weld according to claim 5, characterized in that: The adjusting mechanism comprises a mechanical arm or a multi-axis driving mechanism, and the adjusting mechanism is used to drive the welding gun to move.

7. The weld tracking method for a steel pipe with a twisted weld according to claim 5, characterized in that: The adjustment mechanism comprises at least one actively rotating rotating roller.

8. The weld tracking method for a steel pipe with a twisted weld according to claim 5, characterized in that: Make sure that the outer weld groove of the steel pipe falling on the rotating mechanism is located at the 12 o'clock direction when viewed from the end of the steel pipe.

9. The weld tracking method for a steel pipe with a twisted weld according to claim 1, characterized in that: The welding method of the welding gun includes any one of automatic submerged arc welding, automatic gas shielded welding and automatic electroslag welding. The automatic submerged arc welding includes direct current, alternating current, single-wire and multi-wire automatic submerged arc welding.

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