Grinding wheel position compensation method, control terminal and welding seam digging device

Abstract

The invention relates to a grinding wheel position compensation method, a control terminal and a welding seam digging device.The grinding wheel position compensation method is used for the welding seam digging device, the welding seam digging device comprises a grinding wheel, and the method comprises the steps that S10, the real-time radius parameter of the grinding wheel is obtained; s20, the current abrasion length of the grinding wheel is determined according to the real-time radius parameter and the initial radius parameter of the grinding wheel; s30, the longitudinal compensation value and the transverse compensation value of the grinding wheel are determined according to the current abrasion length; and S40, the digging position of the grinding wheel is compensated according to the longitudinal compensation value and the transverse compensation value. Under the condition that manual operation is not needed, position deviation, caused by digging operation loss, of the grinding wheel in the welding seam digging device can be automatically compensated, and accuracy and consistency of the positions of digging points of the grinding wheel are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of metal surfacing in nuclear power plants, and particularly to a grinding wheel position compensation method, a control terminal, and a weld gouging device. Background Art

[0002] In a nuclear power plant, to ensure the reliability of the weld after surfacing connection of pipelines and other equipment, the nuclear power plant usually uses a weld gouging device to automatically gouge the weld. However, during the weld gouging process, due to the wear of the grinding wheel of the weld gouging device itself, the radius of the grinding wheel decreases, so the actual contact position between the grinding wheel and the weld (i.e., the gouging point position) deviates, which in turn affects the accuracy of the angle after weld gouging, resulting in a decrease in gouging quality and a reduction in weld reliability. At present, the nuclear power plant urgently needs a technical solution that can fully solve the defect of deviation in the gouging position caused by the consumption of consumables. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a grinding wheel position compensation method, a control terminal, and a weld gouging device.

[0004] The technical solution adopted by the present invention to solve its technical problem is to construct a grinding wheel position compensation method for a weld gouging device, where the weld gouging device includes a grinding wheel, and the grinding wheel position compensation method includes:

[0005] S10. Obtain the real-time radius parameter of the grinding wheel;

[0006] S20. Determine the current wear length of the grinding wheel according to the real-time radius parameter and the initial radius parameter of the grinding wheel;

[0007] S30. Determine the longitudinal compensation value and the transverse compensation value of the grinding wheel according to the current wear length;

[0008] S40. Compensate the gouging position of the grinding wheel according to the longitudinal compensation value and the transverse compensation value.

[0009] Preferably, in the S10, it includes:

[0010] Obtain the shortest distance from a set detection point to the edge of the grinding wheel through a distance measuring sensor to obtain the real-time radius parameter;

[0011] In the S20, it includes: subtracting the initial radius parameter from the real-time radius parameter to obtain the current wear length; wherein, the initial radius parameter is the shortest distance from the edge of the unused grinding wheel to the set detection point.

[0012] Preferably, the distance measuring sensor is a laser sensor.

[0013] Preferably, in the step S10, it further includes: the laser sensor is configured to be disposed on the grinder body of the weld groove cutting device, and the extended straight line of the laser emitted by the laser sensor can pass through the center of the grinding wheel.

[0014] Preferably, in the step S30, it includes:

[0015] Determine the current wear length as the longitudinal compensation value;

[0016] Calculate the transverse compensation value according to the preset weld groove cutting angle and the longitudinal compensation value.

[0017] Preferably, in the step S40, it includes:

[0018] Control the grinding wheel to move transversely by the transverse compensation value away from the closest groove wall;

[0019] Control the grinding wheel to move longitudinally by the longitudinal compensation value close to the closest groove wall.

[0020] Preferably, the grinding wheel position compensation method further includes:

[0021] S50, after compensating the cutting position of the grinding wheel each time, return to the step S10.

[0022] 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 above-mentioned grinding wheel position compensation method are implemented.

[0023] The present invention also constructs a weld groove cutting device, including:

[0024] A grinder, which includes a grinding wheel;

[0025] A ranging sensor, disposed on the body of the grinder, for obtaining the real-time radius parameter of the grinding wheel;

[0026] A moving mechanism, mechanically connected to the grinder, for driving the grinder to move in the longitudinal direction and the transverse direction; and

[0027] The above-mentioned control terminal.

[0028] Preferably, the ranging sensor is a laser sensor, the laser sensor is fixed on the grinder body, and the extended straight line of the laser emitted by the laser sensor can pass through the center of the grinding wheel.

[0029] Implementing the present invention has the following beneficial effects: It provides a method for compensating the position of a grinding wheel slice. First, the real-time radius parameter of the grinding wheel slice is obtained to detect the radius loss of the grinding wheel slice in real time. Then, the current wear length of the grinding wheel slice is determined based on the real-time radius parameter and the initial radius parameter of the grinding wheel slice. Next, the longitudinal compensation value and the transverse compensation value of the grinding wheel slice are determined according to the current wear length. Finally, the digging position of the grinding wheel slice is compensated according to the longitudinal compensation value and the transverse compensation value, and the path planning of the weld digging device is updated in real time and the digging operation is adjusted. Without manual operation, the position deviation caused by the wear of the grinding wheel slice in the weld digging device is automatically compensated, ensuring the accuracy and consistency of the digging point position of the grinding wheel slice, guaranteeing the weld quality, and playing a positive role in improving the reliability of nuclear power plant equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The present invention will be further described below in conjunction with the drawings and embodiments. In the drawings:

[0031] Figure 1 is a program flowchart of the method for compensating the position of a grinding wheel slice in some embodiments of the present invention;

[0032] Figure 2 is a schematic structural diagram of a weld digging device in some embodiments of the present invention;

[0033] Figure 3 is a schematic structural diagram of a certain grinding wheel slice before and after use in some embodiments of the present invention;

[0034] Figure 4 is a circuit structure block diagram of a control terminal in some embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] In order to have a clearer understanding of the technical features, objectives, and effects of the present invention, the specific embodiments of the present invention will now be described in detail with reference to the drawings.

[0036] It should be noted that the flowcharts shown in the drawings are only illustrative and do not necessarily include all the contents and operations / steps, nor do they necessarily need to be executed in the described order. For example, some operations / steps can be decomposed, while some operations / steps can be combined or partially combined. Therefore, the actual execution order may change according to the actual situation.

[0037] The block diagrams shown in the drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can 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.

[0038] Figure 1It is a program flow chart of the grinding wheel position compensation method in some embodiments of the present invention. This grinding wheel position compensation method is applied to the control terminal in the weld groove cutting device, and can compensate the cutting point position of the grinding wheel in the weld groove cutting device to improve the accuracy of the weld groove cutting angle.

[0039] It should be noted that the weld groove cutting device can be an existing device in a nuclear power plant. The weld groove cutting device can automatically cut the welds of equipment such as pipelines according to a preset weld groove cutting angle (the staff can manually set the weld groove cutting angle as needed), so as to obtain welds with a slope meeting the requirements. As Figure 2 shown, the weld groove cutting device can include a grinding machine 1 and a moving mechanism (not shown). Among them, the grinding machine 1 includes a grinding wheel and a driving mechanism for driving the grinding wheel to rotate. The moving mechanism can include moving devices such as a robotic arm that can drive the grinding machine 1 to move accurately in the longitudinal and transverse directions.

[0040] Please refer to Figure 1 , this grinding wheel position compensation method can include step S10, step S20, step S30 and step S40.

[0041] Step S10 includes: obtaining the real-time radius parameter of the grinding wheel. In this step, the real-time radius parameter is a parameter that can characterize the real-time radius size of the grinding wheel.

[0042] In some embodiments, in step S10, the real-time radius parameter can be obtained in the following way: obtaining the shortest distance from a set detection point to the edge of the grinding wheel through a distance measuring sensor to obtain the real-time radius parameter. It can be understood that the grinding wheel can be regarded as circular. According to mathematical common sense, the straight line of the shortest distance from a point outside the circle to the circle edge will surely pass through the center of the circle. Also, since the distance from the set detection point to the center of the grinding wheel is fixed and can be pre-stored in the processor in advance, the real-time radius size of the grinding wheel can be obtained by subtracting this shortest distance from the distance from the set detection point to the center of the grinding wheel. Therefore, the real-time radius parameter in this embodiment can also characterize the real-time radius size of the grinding wheel. Of course, the real radius size of the grinding wheel can also be directly sensed by a distance measuring sensor. For example, an imaging sensor can process the image of the grinding wheel through existing algorithms to calculate the real radius size of the grinding wheel. However, in this embodiment, a reflective distance measuring sensor such as a laser sensor and a millimeter wave radar sensor is preferably used, which helps to reduce the cost of receiving components and simplify the software algorithm.

[0043] In some embodiments, the distance measuring sensor can be a laser sensor. It should be noted that using a laser sensor to measure distance is a common technology. For specific solutions, please refer to the existing technology and will not be elaborated here.

[0044] Further, step S10 may further include: the laser sensor is configured to be disposed on the body of the weld gouging device, and the extended straight line of the laser emitted by the laser sensor can pass through the center of the grinding wheel. It is easy to understand that the extended straight line of the laser emitted by the laser sensor can pass through the center of the grinding wheel, which means that the laser emitted by the laser sensor is emitted towards the edge of the grinding wheel, and the laser path is the shortest distance from the laser sensor to the grinding wheel. When the laser is emitted to the grinding wheel, it will be reflected back and sensed by the laser sensor. In this way, the real-time distance from the laser sensor to the grinding wheel can be calculated based on the existing technology, that is, the real-time radius parameter is obtained. It should be noted that the position of the laser emission point of the laser sensor is equivalent to the set detection point.

[0045] Step S20 includes: determining the current wear length of the grinding wheel according to the real-time radius parameter and the initial radius parameter of the grinding wheel. In this step, the initial radius parameter is a parameter that can characterize the radius size of the grinding wheel when it has not been used.

[0046] In some embodiments, the real-time radius parameter represents the shortest distance from the set detection point to the edge of the grinding wheel. Correspondingly, the initial radius parameter is the shortest distance from the edge of the unused grinding wheel to the set detection point. Moreover, in step S20, the current wear length can be determined by the following method: subtracting the initial radius parameter from the real-time radius parameter to obtain the current wear length.

[0047] In one embodiment, since the distance from the set detection point to the center of the grinding wheel is fixed, and the radius of the unused grinding wheel is a characteristic length and is known, the fixed distance from the set detection point to the center of the grinding wheel can be subtracted from the characteristic radius of the unused grinding wheel to obtain the initial radius parameter. It is easy to understand that this initial radius parameter is also fixed. Therefore, the initial radius parameter can be input into the processor by pre-storing.

[0048] In another embodiment, the initial radius parameter can also be determined by the following method: determining whether an initial radius update instruction is obtained. When the initial radius update instruction is obtained, controlling the ranging sensor to work to obtain the current radius parameter of the grinding wheel, and determining the current radius parameter as the initial radius parameter. It can be understood that since there may also be errors in the standard radius of the unused grinding wheel, in this embodiment, after the grinding wheel is replaced and before the gouging work is performed, the staff can input the initial radius update instruction by operating the human-computer interaction device (such as a mouse, keyboard, touch screen, etc.). In this way, the real radius of the unused grinding wheel can be obtained, which helps to improve the compensation accuracy.

[0049] In some other embodiments, the real-time radius parameter characterizes the real radius of the grinding wheel slice. Accordingly, the initial radius parameter is the real initial radius of the unused grinding wheel slice. Moreover, in step S20, the current wear length can be determined in the following manner: subtracting the real-time radius parameter from the initial radius parameter to obtain the current wear length. Further, the initial radius parameter can be input by a pre-stored method; or an image of the unused grinding wheel slice is captured by an imaging sensor, and the initial radius parameter is obtained by processing the image.

[0050] Step S30 includes: determining the longitudinal compensation value and the lateral compensation value of the grinding wheel slice according to the current wear length.

[0051] In some embodiments, the longitudinal compensation value and the lateral compensation value of the grinding wheel slice can be determined in the following manner: determining the current wear length as the longitudinal compensation value; calculating the lateral compensation value according to the preset weld gouging angle and the longitudinal compensation value.

[0052] Figure 3 is a schematic structural diagram of a certain grinding wheel slice before and after use in some embodiments of the present invention. 11a is the unused grinding wheel slice, denoted as the unused grinding wheel; 11b is the grinding wheel slice after use, denoted as the used grinding wheel. The radius of the unused grinding wheel is r, and the radius of the used grinding wheel is r 0 , so the current wear length is equal to Δr (equal to the absolute value of r minus r 0 ). The weld gouging angle corresponds to the angle θ between the weld and the normal of the pipe surface. Therefore, the lateral compensation value can be calculated by the formula Δx = Δr * tanθ, where Δx represents the lateral compensation value.

[0053] Step S40 includes: compensating the gouging position of the grinding wheel slice according to the longitudinal compensation value and the lateral compensation value.

[0054] In some embodiments, step S40 may specifically include: controlling the grinding wheel slice to move laterally by the lateral compensation value away from the closest groove wall; controlling the grinding wheel slice to move longitudinally by the longitudinal compensation value closer to the closest groove wall.

[0055] For the convenience of the reader to understand this embodiment, now taking Figure 3The embodiments illustrate the specific adjustment process of the chiseling position of the grinding wheel: Taking the grinding wheel 11b as an example, when the grinding wheel is worn due to work, there is a deviation between the actual position C and the target position D of the grinding wheel 11b. Specifically, it deviates in the upper right direction. If it is not corrected, the actual angle of the weld chiseling will be smaller than the preset weld chiseling angle. In this embodiment, the closest groove wall to the grinding wheel 11b corresponds to the groove wall 20 on the right side. Therefore, the grinding wheel 11b first needs to move horizontally or horizontally by a lateral compensation value in the direction away from the groove wall 20 (i.e., the negative half-axis of x), and then move vertically or vertically by a longitudinal compensation value in the direction close to the groove wall 20 (i.e., the negative half-axis of x). In this way, the position of the grinding wheel 11b can be corrected to the target position D, thereby improving the accuracy of the weld chiseling angle.

[0056] Since the grinding wheel will be continuously consumed as the chiseling project progresses, and the radius will gradually decrease accordingly. In order to ensure that the weld chiseling angle remains accurate at all times, in some embodiments, such as Figure 1 shown, the grinding wheel position compensation method may further include step S50. Step S50 includes: After compensating the chiseling position of the grinding wheel each time, return to step S10. It can be understood that in this embodiment, steps S10 to S50 can be cyclically executed, so as to perform real-time compensation on the chiseling point position of the grinding wheel according to the real-time radius of the grinding wheel, ensuring the accurate position of the grinding wheel.

[0057] Furthermore, considering that the wear of some high-quality grinding wheels is relatively slow and there is no need to frequently compensate the chiseling position of the grinding wheel in a short time, step S50 may further include: After compensating the chiseling position of the grinding wheel each time, only after a set delay time is allowed to return to step S10. It can be understood that this can avoid frequently compensating the chiseling position of the grinding wheel in a short time, avoid frequent start and stop of the moving mechanism, increase equipment wear, and can also reduce the computing amount of the processor. Among them, since the wear rate of the grinding wheel is related to the quality and rotation speed of the grinding wheel, etc., the staff can adaptively set the set time based on the time situation.

[0058] It can be understood that the technical solution of the present invention first obtains the real-time radius parameter of the grinding wheel to detect the radius loss of the grinding wheel in real time; then determines the current wear length of the grinding wheel according to the real-time radius parameter and the initial radius parameter of the grinding wheel; then determines the longitudinal compensation value and the lateral compensation value of the grinding wheel according to the current wear length; finally, compensates the chiseling position of the grinding wheel according to the longitudinal compensation value and the lateral compensation value, and updates the path planning of the weld chiseling device in real time and adjusts the chiseling operation. Without manual operation, it automatically compensates for the position deviation caused by the wear of the grinding wheel in the weld chiseling device during the chiseling operation, ensuring the accuracy and consistency of the chiseling point position of the grinding wheel, guaranteeing the weld quality, and playing a positive role in improving the reliability of nuclear power plant equipment.

[0059] As Figure 4 shown, the present invention also provides a control terminal, which includes 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 grinding wheel position compensation method provided by the embodiments of the present invention are implemented.

[0060] As Figure 2 shown, the present invention also provides a weld gouging device, which includes a grinding wheel 1 for the weld gouging device, a ranging sensor 2, a moving mechanism (not shown), and the control terminal provided by the embodiments of the present invention.

[0061] Among them, the grinding wheel 1 includes a grinding wheel piece 11.

[0062] The ranging sensor 2 is arranged on the body of the grinding wheel 1, and the ranging sensor 2 is used to obtain the real-time radius parameter of the grinding wheel piece 11. Specifically, the ranging sensor can be a laser sensor, and the laser sensor can be fixed on the grinding wheel body, so that the laser emission point of the laser sensor is determined as the set detection point; moreover, the straight line extended by the laser emitted by the laser sensor can pass through the center of the grinding wheel piece, so as to ensure that the distance measured by the laser sensor is the shortest distance from the set detection point to the edge of the grinding wheel piece.

[0063] The moving mechanism is mechanically connected to the grinding wheel, and the moving mechanism is used to drive the grinding wheel to move in the longitudinal direction and the transverse direction. It should be noted that the moving mechanism can be an existing moving device that can drive the grinding wheel 1 to move accurately in the longitudinal direction and the transverse direction, and no specific limitation is made here.

[0064] In this specification, the various embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various 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 description of the method part.

[0065] Those skilled in the art can further realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the components and steps of the examples have been generally described according to their functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0066] The steps of the methods or algorithms described in connection with the embodiments disclosed herein may be implemented directly in hardware, in software modules executed by a processor, or in a combination thereof. The software modules may be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0067] It can be understood that the above embodiments only represent the preferred embodiments of the present invention, and the description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, the above technical features can be freely combined, and several deformations and improvements can also be made, which all belong to the protection scope of the present invention. Therefore, all equivalent transformations and modifications made to the scope of the claims of the present invention shall fall within the scope covered by the claims of the present invention.

Claims

1. A grinding wheel position compensation method for a weld digging device, wherein the weld digging device comprises a grinding wheel, characterized in that: The grinding wheel position compensation method includes: S10, obtaining the real-time radius parameter of the grinding wheel; S20, determining the current wear length of the grinding wheel according to the real-time radius parameter and the initial radius parameter of the grinding wheel; S30, determining a longitudinal compensation value and a lateral compensation value of the grinding wheel according to the current wear length; S40, compensating the digging position of the grinding wheel according to the longitudinal compensation value and the transverse compensation value.

2. The grinding wheel position compensation method according to claim 1, characterized in that: In the S10, it includes: The shortest distance from a set detection point to the edge of the grinding wheel is obtained by a distance measuring sensor to obtain the real-time radius parameter; In the S20, it includes: subtracting the initial radius parameter from the real-time radius parameter to obtain the current wear length; wherein the initial radius parameter is the shortest distance from the edge of the unused grinding wheel to the set detection point.

3. The grinding wheel position compensation method according to claim 2, characterized in that: The distance measuring sensor is a laser sensor.

4. The grinding wheel position compensation method according to claim 3, characterized in that: In the S10, it also includes: the laser sensor is configured to be arranged on the grinding machine body of the weld digging device, and the laser extension line emitted by the laser sensor can pass through the center of the grinding wheel.

5. The grinding wheel position compensation method according to claim 1, characterized in that: In the S30, it includes: Determining the current wear length as the longitudinal compensation value; The transverse compensation value is calculated according to the preset weld digging angle and the longitudinal compensation value.

6. The grinding wheel position compensation method according to claim 5, characterized in that: In the S40, it includes: Controlling the grinding wheel to move laterally away from the nearest groove wall by the lateral compensation value; The grinding wheel is controlled to move longitudinally close to the nearest groove wall by the longitudinal compensation value.

7. The grinding wheel position compensation method according to any one of claims 1 to 5, characterized in that: The grinding wheel position compensation method also includes: S50, after compensating the digging position of the grinding wheel each time, returning to S10.

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 grinding wheel position compensation method according to any one of claims 1 to 7 are implemented.

9. A weld digging device, characterized in that: include: A grinding machine, comprising a grinding wheel; A distance measuring sensor is arranged on the main body of the grinding machine and is used to obtain the real-time radius parameter of the grinding wheel; A moving mechanism, mechanically connected to the grinding machine, and used to drive the grinding machine to move in the longitudinal direction and the transverse direction; as well as A control terminal as claimed in claim 8.

10. The weld digging device according to claim 9, characterized in that: The distance measuring sensor is a laser sensor, which is fixed on the grinding machine body, and the extended straight line of the laser emitted by the laser sensor can pass through the center of the grinding wheel.

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