Welding simulation analysis system and method for space-limited scene
By using a welding simulation analysis system in the space-limiting scenarios inside the pipeline, including a self-travel detector and a welding robot, the problem of welding reinforcement in damaged areas of the inner wall of the pipeline is solved, automatic welding reinforcement is achieved, and welding efficiency and accuracy are improved.
Patent Information
- Application Number
- CN202411959444.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-30
- Publication Date
- 2025-04-18
AI Technical Summary
In the space-limited scenario inside the pipeline, it is difficult to weld and reinforce damaged areas, and the existing technology is difficult to effectively solve this problem.
A welding simulation analysis system is provided, including a self-travel detector, a self-travel welding robot and a main control device. The detector obtains data on the internal space and damaged areas of the pipeline, and the main control device calculates the walking route and welding action plan of the welding robot, realizing simulation iterative calculation.
Automatic welding reinforcement of damaged areas of the inner wall of the pipeline is achieved, and the efficiency and accuracy of the welding process are improved.
Abstract
Description
Technical Field
[0001] The present invention relates to the field of electromechanical simulation control technology, and in particular to a welding simulation analysis system and method for a space-limited scene. Background Art
[0002] Pipelines are devices used to transport gas, liquid or fluid with solid particles. They are widely used in water supply, drainage, heating, gas supply, transportation of oil and natural gas, agricultural irrigation, hydraulic engineering and other fields.
[0003] After long-term use, the inner wall of the pipeline may be damaged, and the damaged area may crack, break, corrode, etc., which requires welding reinforcement of the damaged area of the inner wall of the pipeline. However, the internal space of the pipeline is limited, so welding reinforcement of the damaged area of the inner wall of the pipeline is a kind of welding implemented in a space-limited scene, which is somewhat difficult. Summary of the invention
[0004] In order to solve the defects of the prior art, the present invention provides a welding simulation analysis system for a space-limited scene, which is used to weld and reinforce the damaged area of the inner wall of the pipeline, including: Self-propelled detector, which is used to detect the modeling data of the internal space of the pipeline, the modeling data of the damaged area of the inner wall of the pipeline, and the modeling data of the self-propelled welding robot; A self-propelled welding robot walks inside the pipeline according to a predetermined walking route to the damaged area of the inner wall of the pipeline, and performs welding reinforcement on the damaged area of the inner wall of the pipeline according to a predetermined welding action plan; And a main control device, which calculates a pipeline model with a damaged inner wall area and a self-propelled welding robot model based on the pipeline internal space modeling data, pipeline inner wall damaged area modeling data, and self-propelled welding robot modeling data detected by the self-propelled detector, and iteratively simulates and calculates a predetermined walking route for the self-propelled welding robot to walk inside the pipeline to the damaged inner wall area of the pipeline, as well as a predetermined welding action plan for the self-propelled welding robot to perform welding reinforcement in the damaged inner wall area of the pipeline.
[0005] Preferably, the self-propelled detector comprises: a self-propelled vehicle capable of traveling inside a pipeline, and a detection module arranged on the self-propelled vehicle.
[0006] Preferably, the detection module includes: a three-dimensional scanning detection module for detecting modeling data of the internal space of the pipeline and modeling data of the self-propelled welding robot, and a pipeline flaw detection module for detecting modeling data of the damaged area of the inner wall of the pipeline.
[0007] Preferably, the self-propelled welding robot comprises: a self-propelled chassis capable of walking inside a pipeline, and a welding robot arm disposed on the self-propelled chassis and capable of welding and reinforcing a damaged area of an inner wall of the pipeline.
[0008] The present invention also provides a welding simulation analysis method for a space-limited scene, which adopts the above-mentioned welding simulation analysis system and includes the following steps: First, the modeling data of the internal space of the pipeline, the modeling data of the damaged area of the inner wall of the pipeline, and the modeling data of the self-propelled welding robot are detected; Then, according to the measured modeling data of the internal space of the pipeline, the modeling data of the damaged area of the inner wall of the pipeline, and the modeling data of the self-propelled welding robot, the pipeline model with the damaged area of the inner wall and the self-propelled welding robot model are calculated, and according to the model, the predetermined walking route of the self-propelled welding robot walking inside the pipeline to the damaged area of the inner wall of the pipeline and the predetermined welding action plan of the self-propelled welding robot for welding reinforcement in the damaged area of the inner wall of the pipeline are calculated through simulation iteration; Then, the self-propelled welding robot is made to walk inside the pipeline to the damaged area of the inner wall of the pipeline according to a predetermined walking route, and the damaged area of the inner wall of the pipeline is welded and reinforced according to a predetermined welding action plan.
[0009] The advantages and beneficial effects of the present invention are: providing a welding simulation analysis system and method for a spatially limited scenario, which can simulate and analyze the welding reinforcement of a damaged area on the inner wall of a pipeline, calculate a predetermined walking route for a self-propelled welding robot to walk inside the pipeline to the damaged area on the inner wall of the pipeline, and a predetermined welding action plan for the self-propelled welding robot to perform welding reinforcement on the damaged area on the inner wall of the pipeline, thereby realizing automated welding reinforcement of the damaged area on the inner wall of the pipeline. DETAILED DESCRIPTION
[0010] The specific implementation of the present invention is further described below in conjunction with the examples. The following examples are only used to more clearly illustrate the technical solutions of the present invention, and cannot be used to limit the protection scope of the present invention.
[0011] The technical solutions specifically implemented in the present invention are as follows: The present invention provides a welding simulation analysis system for a space-limited scene, which is used to perform welding reinforcement on a damaged area of an inner wall of a pipeline, and comprises: Self-propelled detector, which is used to detect the modeling data of the internal space of the pipeline, the modeling data of the damaged area of the inner wall of the pipeline, and the modeling data of the self-propelled welding robot; A self-propelled welding robot walks inside the pipeline according to a predetermined walking route to the damaged area of the inner wall of the pipeline, and performs welding reinforcement on the damaged area of the inner wall of the pipeline according to a predetermined welding action plan; and a main control device, which calculates a pipeline model with a damaged inner wall area and a self-propelled welding robot model based on the pipeline internal space modeling data, pipeline inner wall damaged area modeling data, and self-propelled welding robot modeling data detected by the self-propelled detector, and iteratively simulates and calculates a predetermined walking route for the self-propelled welding robot to walk inside the pipeline to the damaged inner wall area of the pipeline, as well as a predetermined welding action plan for the self-propelled welding robot to perform welding reinforcement in the damaged inner wall area of the pipeline according to the model; The self-propelled detector comprises: a self-propelled vehicle capable of walking inside a pipeline, and a detection module arranged on the self-propelled vehicle; the detection module comprises: a three-dimensional scanning detection module for detecting modeling data of the internal space of the pipeline and modeling data of the self-propelled welding robot, and a pipeline flaw detection module for detecting modeling data of a damaged area on the inner wall of the pipeline; The self-propelled welding robot comprises: a self-propelled chassis capable of walking inside a pipeline, and a welding mechanical arm arranged on the self-propelled chassis and capable of welding and reinforcing a damaged area of an inner wall of the pipeline.
[0012] The present invention also provides a welding simulation analysis method for a space-limited scene, which adopts the above-mentioned welding simulation analysis system and includes the following steps: The self-propelled detector detects the modeling data of the internal space of the pipeline, the modeling data of the damaged area on the inner wall of the pipeline, and the modeling data of the self-propelled welding robot; The main control device calculates the pipeline model with the damaged inner wall area and the self-propelled welding robot model based on the measured pipeline internal space modeling data, pipeline inner wall damaged area modeling data, and self-propelled welding robot modeling data, and iterates the simulation based on the model to calculate the predetermined walking route of the self-propelled welding robot walking inside the pipeline to the damaged inner wall area of the pipeline, as well as the predetermined welding action plan for the self-propelled welding robot to perform welding reinforcement in the damaged inner wall area of the pipeline; Then the self-propelled welding robot walks inside the pipeline according to a predetermined walking route to the damaged area of the inner wall of the pipeline, and welds and reinforces the damaged area of the inner wall of the pipeline according to a predetermined welding action plan.
[0013] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.
Claims
1. A welding simulation analysis system for space-limited scenes, which is used to weld and reinforce damaged areas on the inner wall of a pipeline, characterized in that: include: Self-propelled detector, which is used to detect the modeling data of the internal space of the pipeline, the modeling data of the damaged area of the inner wall of the pipeline, and the modeling data of the self-propelled welding robot; A self-propelled welding robot walks inside the pipeline according to a predetermined walking route to the damaged area of the inner wall of the pipeline, and performs welding reinforcement on the damaged area of the inner wall of the pipeline according to a predetermined welding action plan; And a main control device, which calculates a pipeline model with a damaged inner wall area and a self-propelled welding robot model based on the pipeline internal space modeling data, pipeline inner wall damaged area modeling data, and self-propelled welding robot modeling data detected by the self-propelled detector, and iteratively simulates and calculates a predetermined walking route for the self-propelled welding robot to walk inside the pipeline to the damaged inner wall area of the pipeline, as well as a predetermined welding action plan for the self-propelled welding robot to perform welding reinforcement in the damaged inner wall area of the pipeline.
2. The welding simulation analysis system for space-limited scenes according to claim 1, characterized in that: The self-propelled detector comprises: a self-propelled vehicle capable of traveling inside a pipeline, and a detection module arranged on the self-propelled vehicle.
3. The welding simulation analysis system for space-limited scenes according to claim 2 is characterized in that: The detection module includes: a three-dimensional scanning detection module for detecting modeling data of the internal space of the pipeline and modeling data of the self-propelled welding robot, and a pipeline flaw detection module for detecting modeling data of the damaged area of the inner wall of the pipeline.
4. The welding simulation analysis system for space-limited scenes according to claim 1, characterized in that: The self-propelled welding robot comprises: a self-propelled chassis capable of walking inside a pipeline, and a welding mechanical arm arranged on the self-propelled chassis and capable of welding and reinforcing a damaged area of an inner wall of the pipeline.
5. A welding simulation analysis method for a space-limited scene, characterized in that: A welding simulation analysis system according to any one of claims 1 to 4 is used, and comprises the following steps: First, the modeling data of the internal space of the pipeline, the modeling data of the damaged area of the inner wall of the pipeline, and the modeling data of the self-propelled welding robot are detected; Then, according to the measured modeling data of the internal space of the pipeline, the modeling data of the damaged area of the inner wall of the pipeline, and the modeling data of the self-propelled welding robot, the pipeline model with the damaged area of the inner wall and the self-propelled welding robot model are calculated, and according to the model, the predetermined walking route of the self-propelled welding robot walking inside the pipeline to the damaged area of the inner wall of the pipeline and the predetermined welding action plan of the self-propelled welding robot for welding reinforcement in the damaged area of the inner wall of the pipeline are calculated through simulation iteration; Then, the self-propelled welding robot is made to walk inside the pipeline to the damaged area of the inner wall of the pipeline according to a predetermined walking route, and the damaged area of the inner wall of the pipeline is welded and reinforced according to a predetermined welding action plan.