Pipeline welding seam polishing deviation compensation method, control terminal and welding seam polishing system

Abstract

The invention relates to a pipeline welding seam polishing deviation compensation method, a control terminal and a welding seam polishing system. The method comprises the steps that S1, the initial radial height between a welding seam and a pipeline is obtained; s2, the theoretical grinding depth is determined according to the initial radial height and the preset welding seam forming height; s3, a grinding device is controlled to grind the weld joint layer by layer according to the theoretical grinding depth; s4, after a layer of welding flux is polished, the real-time radial height between the welding seam and the pipeline is obtained; and S5, whether the error between the real-time radial height and the preset welding seam forming height is within a set range or not is judged, if yes, grinding is ended, and if not, the radial height of a grinding wheel of a grinding device is compensated according to the real-time radial height, the grinding device is controlled to continue grinding, and the step S4 is executed again. The radial height of the grinding wheel can be automatically compensated according to the loss degree of the grinding wheel in the grinding device, so that the weld reinforcement is removed, and the grinding quality is improved.

Description

Technical Field

[0001] The invention relates to the technical field of metal cladding in nuclear power plants, and in particular to a pipeline weld grinding deviation compensation method, a control terminal and a weld grinding system. Background Art

[0002] There are a large number of pipelines in nuclear power plants that are connected between pipelines or equipment through cladding technology. In order to ensure the quality of welds, it is generally necessary to grind the welds. However, during the automatic grinding of pipeline welds, the grinding wheel will suffer varying degrees of loss due to issues such as grinding materials, grinding parameters, grinding time, and environment. If this loss is not compensated, problems such as weld excess height will occur. Moreover, the traditional uncompensated weld grinding system does not take into account the errors caused by wear of the pipeline grinding wheel. After grinding, the weld excess height cannot be completely removed, resulting in the weld being unable to smoothly connect with the mother material of the pipeline, and the grinding effect is poor. Error compensation requires stopping the grinding operation, and the staff must manually identify the defect error on site and make corresponding adjustments. This process is time-consuming and labor-intensive, and the judgment accuracy is closely related to the staff's practical experience. As a result, even after manual adjustment, the grinding effect is still poor. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a pipeline weld grinding deviation compensation method, a control terminal and a weld grinding system.

[0004] The technical solution adopted by the present invention to solve the technical problem is: constructing a pipeline weld grinding deviation compensation method, comprising:

[0005] S1, obtaining the initial radial height between the weld and the pipe;

[0006] S2, determining a theoretical grinding depth according to the initial radial height and a preset weld forming height;

[0007] S3, controlling the grinding device to grind the weld layer by layer according to the theoretical grinding depth;

[0008] S4, after grinding a layer of solder, obtaining a real-time radial height between the weld and the pipe;

[0009] S5. Determine whether the error between the real-time radial height and the preset weld forming height is within a set range. If so, end grinding. Otherwise, compensate the radial height of the grinding wheel of the grinding device according to the real-time radial height, control the grinding device to continue grinding, and return to S4.

[0010] Preferably, in S3, controlling the grinding device to grind the weld layer by layer according to the theoretical grinding depth comprises:

[0011] Dividing the weld into a plurality of solder layers according to the theoretical grinding depth;

[0012] Determining a theoretical grinding depth corresponding to each solder layer;

[0013] The grinding device is controlled to grind the weld layer by layer based on the plurality of solder layers and a theoretical grinding depth of each solder layer.

[0014] Preferably, in S5, compensating the radial height of the grinding wheel of the grinding device according to the real-time radial height comprises:

[0015] S51, determining a compensation value according to the real-time radial height acquired historically;

[0016] S52, adjusting the radial height of the grinding wheel according to the compensation value.

[0017] Preferably, in S51, determining the compensation value according to the real-time radial height acquired historically comprises:

[0018] Subtracting the most recently acquired real-time radial height from the last acquired real-time radial height to obtain a first difference;

[0019] Subtract the first difference from the theoretical grinding depth of the next solder layer to be ground to obtain the compensation value;

[0020] In the S52, adjusting the radial height of the grinding wheel according to the compensation value includes:

[0021] When the compensation value is greater than 0, the radial height of the grinding wheel is controlled to be close to the pipeline offset by the compensation value;

[0022] When the compensation value is less than 0, the radial height of the grinding wheel is controlled to be offset from the pipe by the compensation value.

[0023] Preferably, in said S51, it also includes:

[0024] It is determined whether the absolute value of the first difference is less than or equal to a set threshold value. If so, it is determined that the radial height of the grinding wheel does not need to be compensated, and S52 is skipped.

[0025] Preferably, the set threshold is 0.1 mm.

[0026] Preferably, in S1, it further includes: acquiring the initial radial height by a distance measuring sensor; wherein the distance measuring sensor includes a laser distance measuring sensor;

[0027] In the step S4, it also includes: acquiring the real-time radial height through the ranging sensor.

[0028] The present invention also constructs a control terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the pipeline weld grinding deviation compensation method described above are implemented.

[0029] The present invention also constructs a weld grinding system, including a grinding device and the control terminal mentioned above.

[0030] Preferably, the weld grinding system further comprises: a distance measuring sensor for acquiring the radial height between the weld and the pipeline; wherein the distance measuring sensor comprises a laser distance measuring sensor.

[0031] The implementation of the present invention has the following beneficial effects: the radial height of the grinding wheel (i.e., the grinding point position) can be automatically compensated according to the degree of wear of the grinding wheel in the grinding device, thereby removing the excess height of the weld as much as possible, making the weld and the mother material of the pipeline as parallel as possible, improving the efficiency and quality stability of weld grinding, and helping to save manpower and material resources in nuclear power plants. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0033] Figure 1 is a flowchart of a pipeline weld grinding deviation compensation method in some embodiments of the present invention;

[0034] Figure 2 is a schematic diagram of the structure of a weld in some embodiments of the present invention;

[0035] Figure 3 is a flowchart of step S3 in some embodiments of the present invention;

[0036] Figure 4 is a flowchart of a procedure for compensating radial height in some embodiments of the present invention;

[0037] Figure 5 is a circuit structure block diagram of a control terminal in some embodiments of the present invention;

[0038] Figure 6 Schematic diagram of the structure of the weld grinding system in some embodiments of the present invention. DETAILED DESCRIPTION

[0039] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0040] It should be noted that the flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor do they have to be executed in the order described. For example, some operations / steps can be decomposed, while some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0041] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0042] Figure 1 The flowchart is a program of the pipeline weld grinding deviation compensation method in some embodiments of the present invention. The method is applied to the control terminal in the weld grinding system. The control terminal is used to control the grinding device to automatically complete the grinding work on the pipeline. The control terminal implements the technical solution of the present invention to automatically compensate the radial height of the grinding wheel (i.e., the grinding point position) according to the degree of wear of the grinding wheel in the grinding device, thereby removing the excess height of the weld as much as possible and improving the grinding quality. Figure 1 As shown, the pipeline weld grinding deviation compensation method may include step S1, step S2, step S3, step S4 and step S5.

[0043] Step S1 includes: obtaining the initial radial height between the weld and the pipe. In this step, the initial radial height refers to the radial height between the weld and the pipe before the grinding device performs any grinding work on the weld. Figure 2 As shown, H0 corresponds to the initial radial height. It should be noted that in the present invention, "radial" refers to the direction consistent with the radial direction of the pipe where the weld to be ground is located.

[0044] In some embodiments, in step S1, the initial radial height can be obtained by a distance sensor. Specifically, the distance sensor can be an existing distance sensor capable of measuring the distance of an object, and the distance sensor can be a laser distance sensor, a pyroelectric distance sensor, or a visual distance sensor. In this embodiment, the distance sensor is preferably a laser distance sensor, and the laser distance sensor can be fixed at a position with a constant radial distance to the pipeline, and the laser distance sensor is directed toward the weld, and the laser emission direction is aligned with the center of the pipeline, so that the distance between the weld and the laser emission port of the laser distance sensor can be accurately measured by the laser distance sensor using the existing technology (recorded as the measurement distance). Since the radial distance from the laser distance sensor to the pipeline (recorded as the constant distance) is constant and pre-stored in the control terminal in advance, the constant distance can be subtracted from the measurement distance to obtain the radial height between the weld and the pipeline.

[0045] Step S2 includes: determining the theoretical grinding depth according to the initial radial height and the preset weld forming height. In this step, the difference between the initial radial height and the preset weld forming height can be determined as the theoretical grinding depth. The preset weld forming height can be stored in the control terminal in a pre-stored manner, or can be customized by the staff by operating a human-computer interaction device (such as a mouse, keyboard, etc.). In addition, the theoretical grinding depth refers to the total radial feed length that the grinding device needs to grind the weld in order to theoretically eliminate the weld excess height.

[0046] Step S3 includes: controlling the grinding device to grind the weld layer by layer according to the theoretical grinding depth. In this step, the control terminal controls the grinding device to grind the weld layer by layer from top to bottom according to the theoretical grinding depth. It should be noted that the direction of "from top to bottom" can refer to Figure 2 The direction f in the figure is consistent with the radial direction of the pipe.

[0047] In some embodiments, Figure 3 As shown, the grinding device can be controlled to grind the weld layer by layer according to the theoretical grinding depth by executing steps S31 to S33.

[0048] Step S31, dividing the weld into a plurality of solder layers according to the theoretical grinding depth. Specifically, in this step, the weld can be divided into a plurality of solder layers by an equal division method or an equidistant division method.

[0049] In some embodiments, the equal division method may include: dividing the weld into a plurality of solder layers from top to bottom based on the theoretical grinding depth. For example, if the preset number of solder layers is C1 and the theoretical grinding depth is equal to D1, then the height of each solder layer is equal to D1 / C1, and thus the weld is divided into C parts from top to bottom based on D1 / C1, thereby obtaining C1 solder layers with consistent height.

[0050] In some embodiments, the equidistant division method may include: dividing the weld into a plurality of solder layers from top to bottom or from bottom to top based on a set spacing. It is easy to understand that in this embodiment, the number of solder layers is positively correlated with the theoretical grinding depth, but the height of the solder layer finally divided is less than or equal to the set spacing. Among them, if the weld is divided from top to bottom, then the solder layer finally divided is the solder layer closest to the pipe surface, and if the weld is divided from bottom to top, then the solder layer finally divided is the solder layer farthest from the pipe surface.

[0051] Step S32, determining the theoretical grinding depth corresponding to each solder layer. It is easy to understand that this step can be based on the layering method (such as the equal division method or the equidistant division method) of step S31 to determine the height of each solder layer, and then determine the height of the solder layer as the corresponding theoretical grinding depth.

[0052] Step S33, based on several solder layers and the theoretical grinding depth of each solder layer, the grinding device is controlled to grind the weld layer by layer. Specifically, the theoretical grinding depths of all solder layers are added together to obtain the theoretical grinding point height of the first solder layer (i.e., the top solder layer). It is easy to understand that without considering the radial height of the compensating grinding wheel, the theoretical grinding depths of all solder layers except the first solder layer are added together to obtain the theoretical grinding point height of the second solder layer. The theoretical grinding depths of all solder layers except the first solder layer and the second solder layer are added together to obtain the theoretical grinding point height of the third solder layer. By analogy, the theoretical grinding point heights of each solder layer can be determined. Then, the control terminal controls the grinding device to grind the first to the bottom solder layers layer by layer in sequence based on the theoretical grinding point heights of the first to the bottom solder layers.

[0053] Step S4 includes: after grinding a layer of solder, obtaining the real-time radial height between the weld and the pipe. In this step, the real-time radial height refers to the radial height after at least one layer of solder is ground off the weld, and its measurement method is the same as the method for measuring the initial radial height in step S1, which will not be repeated here. It should be noted that due to the material, parameters, duration and environment of the grinding wheel, the grinding wheel may have different degrees of loss during operation, that is, the degree of radius reduction caused by the loss of the grinding wheel is uncertain. Therefore, after each layer of solder is ground, the residual degree of solder height may be different. This step obtains the real-time radial height in order to accurately monitor the residual degree of height caused by the loss of the grinding wheel, so as to facilitate the subsequent steps to carry out targeted compensation work.

[0054] In some embodiments, in step S4, the real-time radial height may also be acquired by a distance measuring sensor.

[0055] Step S5 includes: judging whether the error between the real-time radial height and the preset weld forming height is within a set range, if so, ending the grinding, otherwise, compensating the radial height of the grinding wheel of the grinding device according to the real-time radial height, controlling the grinding device to continue grinding, and returning to step S4. In this step, the preset weld forming height can be subtracted from the real-time radial height to obtain the error, so that it can be judged whether the error is within the set range, wherein the setting range can be -0.1mm to 0.1mm.

[0056] In some embodiments, Figure 4As shown, the radial height of the grinding wheel of the grinding device can be compensated according to the real-time radial height by executing steps S51 and S52.

[0057] Step S51 includes: determining a compensation value according to the real-time radial height acquired historically.

[0058] In some embodiments, the compensation value can be determined by performing the following steps: subtracting the latest acquired real-time radial height from the last acquired real-time radial height to obtain a first difference; subtracting the first difference from the theoretical grinding depth of the next solder layer to be ground to obtain the compensation value. Figure 2 Taking the second layer of solder layer as an example, it can be understood that since the first layer of solder layer is the topmost layer, the initial radial height H0 can be regarded as the real-time radial height obtained last time, and the real-time radial height of the second layer of solder layer is H1, then the first difference △h=H0-H1, and then the compensation value △a=a0-△h, where a0 represents the theoretical grinding depth of the second layer of solder layer.

[0059] Since the control terminal has limited control accuracy for the radial height of the grinding device (or grinding machine), there is no need for compensation when the absolute value of the compensation value is small. Moreover, the radial height (including the real-time radial height and the initial radial height) is inevitably subject to errors caused by the test equipment and software algorithms during measurement, which results in the first difference being difficult to equal the theoretical grinding depth (i.e., the actual grinding depth is completely consistent with the theoretical grinding depth). In order to avoid unnecessary compensation work, in some embodiments, step S51 may also include: determining whether the absolute value of the first difference is less than or equal to a set threshold value, if it is determined that the radial height of the grinding wheel does not need to be compensated, and skipping step S52, and then returning to step S4. The set threshold value may be 0.1 mm. It can be understood that when the absolute value of the first difference is less than or equal to the set threshold value, it indicates that the actual grinding depth is almost equal to the theoretical grinding depth, and thus there is no need to compensate for the radial height of the grinding wheel, so step S52 may not be performed, which may help reduce the amount of calculation of the control terminal and improve the grinding efficiency.

[0060] Step S52 includes: adjusting the radial height of the grinding wheel according to the compensation value.

[0061] In some embodiments, adjusting the radial height of the grinding wheel according to the compensation value in step S52 may include: when the compensation value is greater than 0, controlling the radial height of the grinding wheel to be close to the pipeline offset compensation value; when the compensation value is less than 0, controlling the radial height of the grinding wheel to be away from the pipeline offset compensation value.

[0062] It can be understood that after the first layer of solder layer is polished, the present invention will cyclically execute steps S3 to S5, and then polish the weld layer by layer. After each layer of solder layer is polished, the radial height of the grinding wheel is compensated according to the latest real-time radial height, thereby eliminating the polishing error caused by damage to the grinding wheel, and then removing the excess height of the weld as much as possible, realizing automatic compensation of the radial height of the grinding wheel (i.e., the position of the grinding point) according to the degree of wear of the grinding wheel in the polishing device, so that the weld and the mother material of the pipe are kept as parallel as possible, thereby improving the efficiency of weld polishing and the quality stability, and helping to save manpower and material resources in nuclear power plants.

[0063] like Figure 5 As shown, the present invention further improves a control terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the pipeline weld grinding deviation compensation method provided in an embodiment of the present invention are implemented.

[0064] like Figure 6 As shown, the present invention further provides a weld grinding system, including a grinding device, a moving mechanism and a control terminal provided in an embodiment of the present invention.

[0065] It should be noted that the control terminal is not only used to implement the steps of the pipeline weld grinding deviation compensation method provided in the embodiment of the present invention, but also used to control the operation of the grinding device, and to drive the grinding device to move on the weld to be ground by controlling the operation of the moving mechanism, so as to achieve the purpose of layer-by-layer grinding. The grinding device can be a grinding wheel machine. The moving mechanism can be an existing mechanical arm or mobile device.

[0066] In some embodiments, Figure 6 As shown, the weld grinding system also includes a distance measuring sensor and a human-computer interaction device.

[0067] The distance measuring sensor is used to obtain the radial height between the weld and the pipeline; wherein the distance measuring sensor may include a laser distance measuring sensor.

[0068] The human-machine interaction device is used to input operation instructions to the control terminal according to the operation of the staff to achieve relevant control, including but not limited to setting a preset weld forming height, a preset number of layers, a set spacing, a set range and a set threshold, etc.

[0069] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0070] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0071] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0072] It can be understood that the above embodiments only express the preferred implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, the above technical features can be freely combined without departing from the concept of the present invention, and several deformations and improvements can be made, which all belong to the protection scope of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should belong to the coverage of the claims of the present invention.

Claims

1. A pipeline weld grinding deviation compensation method, characterized in that: include: S1, obtaining the initial radial height between the weld and the pipe; S2, determining a theoretical grinding depth according to the initial radial height and a preset weld forming height; S3, controlling the grinding device to grind the weld layer by layer according to the theoretical grinding depth; S4, after grinding a layer of solder, obtaining a real-time radial height between the weld and the pipe; S5. Determine whether the error between the real-time radial height and the preset weld forming height is within a set range. If so, end grinding. Otherwise, compensate the radial height of the grinding wheel of the grinding device according to the real-time radial height, control the grinding device to continue grinding, and return to S4.

2. The pipeline weld grinding deviation compensation method according to claim 1 is characterized in that: In S3, controlling the grinding device to grind the weld layer by layer according to the theoretical grinding depth includes: Dividing the weld into a plurality of solder layers according to the theoretical grinding depth; Determining a theoretical grinding depth corresponding to each solder layer; The grinding device is controlled to grind the weld layer by layer based on the plurality of solder layers and a theoretical grinding depth of each solder layer.

3. The pipeline weld grinding deviation compensation method according to claim 2 is characterized in that: In S5, compensating the radial height of the grinding wheel of the grinding device according to the real-time radial height includes: S51, determining a compensation value according to the real-time radial height acquired historically; S52, adjusting the radial height of the grinding wheel according to the compensation value.

4. The pipeline weld grinding deviation compensation method according to claim 3 is characterized in that: In S51, determining the compensation value according to the real-time radial height acquired historically includes: Subtracting the most recently acquired real-time radial height from the last acquired real-time radial height to obtain a first difference; Subtract the first difference from the theoretical grinding depth of the next solder layer to be ground to obtain the compensation value; In the S52, adjusting the radial height of the grinding wheel according to the compensation value includes: When the compensation value is greater than 0, the radial height of the grinding wheel is controlled to be close to the pipeline offset by the compensation value; When the compensation value is less than 0, the radial height of the grinding wheel is controlled to be offset from the pipe by the compensation value.

5. The pipeline weld grinding deviation compensation method according to claim 4 is characterized in that: In the S51, it also includes: It is determined whether the absolute value of the first difference is less than or equal to a set threshold value. If so, it is determined that the radial height of the grinding wheel does not need to be compensated, and S52 is skipped.

6. The pipeline weld grinding deviation compensation method according to claim 5 is characterized in that: The set threshold is 0.1 mm.

7. The pipeline weld grinding deviation compensation method according to any one of claims 1 to 6, characterized in that: In the S1, it also includes: obtaining the initial radial height by a distance measuring sensor; wherein the distance measuring sensor includes a laser distance measuring sensor; In the step S4, it also includes: acquiring the real-time radial height through the ranging sensor.

8. A control terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the pipeline weld grinding deviation compensation method according to any one of claims 1 to 7 are implemented.

9. A weld grinding system, characterized in that: It comprises a grinding device and a control terminal as claimed in claim 8.

10. The weld grinding system according to claim 9, characterized in that: The weld grinding system further includes: a distance measuring sensor for acquiring a radial height between the weld and the pipeline; wherein the distance measuring sensor includes a laser distance measuring sensor.

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