RTJ groove automatic surfacing method and system based on PLC and storage medium

Abstract

The invention discloses an RTJ groove automatic surfacing method based on a PLC, and relates to the technical field of automatic surfacing. The method comprises the steps that a groove body reference coordinate system is established, and an initial welding path is generated; a three-dimensional space relation between the top width parameter and the inclination angle parameter is obtained, dynamic welding path data are generated, and a welding path is obtained; interlayer temperature distribution data in the tank body are obtained in real time, and interlayer temperature gradient parameters are generated; molten pool arc voltage fluctuation data and molten drop transition frequency characteristics are collected in real time, and the three-dimensional coordinate offset of a welding gun is corrected; according to a preset surfacing layering strategy, stepped surfacing control is executed, and dip angle compensation is conducted on a welding gun; acquiring a molten pool coverage width, and adjusting a welding advancing speed; and an accumulated welding layer number characteristic value during welding is obtained, and a lane changing welding instruction is executed until a preset groove body stop height reference value is reached. The welding device has the effect of improving the stability and flexibility during welding.

Description

Technical Field

[0001] The present application relates to the technical field of automatic surfacing, and in particular to a PLC-based RTJ slot automatic surfacing method, system and storage medium. Background Art

[0002] Metal sealing groove stacking welding technology has important applications in nuclear power equipment, pressure vessels and other fields. Its core lies in forming a dense sealing structure through multi-layer cladding. The traditional method relies on the operator's experience for path planning and parameter setting.

[0003] In the existing technology, it is difficult to accurately match the geometric features of the tank when manually setting the welding path, resulting in uneven overlap between layers, and easily causing defects such as pores and unfused metals. Secondly, the existing automated equipment mostly uses fixed program control, lacking real-time feedback and adjustment of the dynamic characteristics of the molten pool. When the inclination of the tank changes or thermal deformation occurs, the weld bead is prone to offset and the thickness of the cladding layer fluctuates. In addition, some of the current technologies separate geometric parameter collection, path planning, and process control into independent modules, lacking an intelligent decision-making system for parameter linkage, resulting in insufficient stability in welding quality and a long-term low pass rate for complex tank cladding. Summary of the invention

[0004] The object of the present invention is to provide a PLC-based RTJ slot automatic surfacing method, system and storage medium to solve the problems raised in the above background data.

[0005] In a first aspect, the present application provides a PLC-based RTJ slot automatic surfacing method, the method comprising: Establishing a reference coordinate system of the tank body and obtaining a top width parameter and an inclination angle parameter, and generating an initial welding path according to a geometric relationship between the top width parameter and the inclination angle parameter; Acquire the three-dimensional spatial relationship between the top width parameter and the inclination angle parameter, establish a multi-layer welding trajectory model based on the three-dimensional spatial relationship and generate dynamic welding path data including inter-layer trajectory offset, and obtain a welding path by combining the dynamic welding path data and the initial welding path; Acquire interlayer temperature distribution data in the tank in real time, and generate interlayer temperature gradient parameters by combining the interlayer temperature distribution data and the interlayer trajectory offset; Collect the arc voltage fluctuation data of the molten pool and the molten droplet transition frequency characteristics in real time, and correct the three-dimensional coordinate offset of the welding gun in combination with the arc voltage fluctuation data, the molten droplet transition frequency characteristics and the interlayer temperature gradient parameters; Perform step-by-step cladding control according to the preset cladding layering strategy, activate the side wall staggered welding mode and generate the inclination compensation control parameters after completing the bottom layer annular continuous welding, and perform inclination compensation on the welding gun according to the inclination compensation control parameters; Obtaining the molten pool coverage width, extracting the correlation between the welding interlayer temperature gradient parameter and the molten pool coverage width, adjusting the welding speed based on the correlation, and maintaining a preset fusion area ratio between a constant cladding layer thickness and the molten pool coverage width; The cumulative welding layer characteristic value during welding is obtained, and the cumulative welding layer characteristic value is dynamically matched with the preset tank depth judgment threshold to obtain a matching result, and a lane change welding instruction is executed according to the matching result until the preset tank end height reference value is reached.

[0006] Preferably, the step of generating the initial welding path according to the geometric relationship between the top width parameter and the inclination angle parameter is specifically: Performing a three-dimensional profile scan on the top width parameter of the trough body to obtain measurement data of the top width parameter, and collecting real-time data of the inclination angle parameter; According to the measurement data and the real-time data, the starting point coordinates and the end point coordinates are selected in the tank reference coordinate system; Performing route planning according to the starting point coordinates and the end point coordinates to generate a planned path, obtaining a path curvature characteristic value according to the planned path, and combining the starting point coordinates, the end point coordinates and the path curvature characteristic value to obtain an initial path data set; Acquire geometric shape parameters of the end of the welding gun, and perform equidistant offset processing on the initial path data set according to the geometric shape parameters to obtain a target data set; A modified spatial coordinate sequence of the welding center line is obtained according to the target data set, and an initial welding path is generated according to the spatial coordinate sequence.

[0007] Preferably, the step of establishing a multi-layer welding trajectory model based on the three-dimensional spatial relationship and generating dynamic welding path data including inter-layer trajectory offset is specifically: Extracting data from the target data set to obtain interlayer trajectory offset parameters in the initial welding path; Obtaining the welding layer number, and increasing the inter-layer track offset according to the welding layer number to generate an arithmetic sequence; Acquire the material expansion coefficient and the current layer temperature, and generate a thermal deformation compensation amount according to the expansion coefficient and the current layer temperature; Compensating the interlayer trajectory offset parameter according to the thermal deformation compensation amount and the arithmetic sequence to obtain a target offset parameter, and constructing a multi-layer welding trajectory model according to the target offset parameter; According to the multi-layer welding trajectory model, a control instruction set of layer height control threshold and inter-layer overlap rate is obtained, and dynamic welding path data is obtained based on the instruction set.

[0008] Preferably, the step of correcting the three-dimensional coordinate offset of the welding gun is specifically as follows: Based on the arc voltage fluctuation data, real-time waveform data of the arc voltage is obtained, and the real-time waveform data is subjected to multi-scale decomposition to obtain a voltage fluctuation feature vector; Based on the droplet transition frequency characteristics, obtaining time-series image data during the droplet transition process, obtaining a standard deviation of the time intervals between adjacent droplet formations according to the time-series image data, and obtaining a transition stability index according to the standard deviation; Inputting the voltage fluctuation characteristic vector and the transition stability index into a preset prediction model to obtain a welding gun lateral offset compensation amount; The lateral offset compensation amount is input into the spatial coordinate register of the welding gun to correct the three-dimensional coordinate offset of the welding gun.

[0009] Preferably, the steps of performing step-by-step surfacing control according to a preset surfacing layering strategy are specifically: Based on the preset surfacing layering strategy, the surfacing layering strategy is disassembled to obtain a plurality of total tank depths; Arranging the total depths of the tank bodies to obtain a depth series rule, and obtaining a layer thickness threshold parameter according to the depth series rule; Obtaining a current welding layer number, obtaining a preset swing amplitude parameter corresponding to the current layer number according to the current welding layer number, and obtaining an inter-layer swing frequency compensation coefficient according to the swing amplitude parameter and the layer thickness threshold parameter; Generating an acceleration control signal of a periodic oscillation trajectory of a welding gun according to the inter-layer oscillation frequency compensation coefficient; When the welding gun triggers the acceleration control signal during the inter-layer transition, an inclination compensation parameter is generated according to the layer thickness threshold parameter, and the welding gun is controlled to perform side wall welding according to the inclination compensation parameter.

[0010] Preferably, the steps of obtaining the molten pool coverage width, extracting the correlation between the welding interlayer temperature gradient parameter and the molten pool coverage width, and adjusting the welding speed based on the correlation are specifically as follows: Based on the path curvature characteristic value, the path curvature is monitored in real time to obtain the tangent angle difference between adjacent path points, and based on the tangent angle difference, a path curvature change parameter is obtained; Acquire the current traveling speed of the welding gun, establish a quantitative relationship model based on the curvature change parameter and the current traveling speed, and generate a traveling speed adjustment coefficient according to the quantitative relationship model; Obtaining the molten pool coverage width, and extracting the correlation between the welding interlayer temperature gradient parameter and the molten pool coverage width; The pulse frequency output value of the servo motor is obtained according to the travel speed adjustment coefficient and the association relationship, and the welding travel speed is adjusted according to the pulse frequency output value.

[0011] Preferably, dynamically matching the cumulative welding layer characteristic value with a preset groove depth determination threshold to obtain a matching result, and executing the lane change welding instruction according to the matching result, specifically comprises: Based on the welding path, path nodes are set on the welding path, and the number of path points is counted after the welding gun passes through the path nodes to obtain a cumulative welding layer number characteristic value; Dynamically matching the cumulative welding layer number characteristic value with the preset groove depth determination threshold to obtain a matching result; Obtaining a uniform value of the weld width and an interlayer fusion area of ​​the current welding layer, and obtaining a cladding quality evaluation parameter according to the uniform value of the weld width and the interlayer fusion area; Combining the matching result and the cladding quality evaluation parameter, obtaining an optimized adjustment amount of the lane change spacing, and generating a lane change path control data set with a smooth transition curve based on the optimized adjustment amount; A lane-changing welding instruction is generated based on the lane-changing path control data set, and a welding gun is called to perform a lane-changing operation according to the lane-changing welding instruction.

[0012] In a second aspect, the present application provides a PLC-based RTJ slot automatic surfacing system, the system comprising: Initial path generation module: used to establish a reference coordinate system of the tank body and obtain a top width parameter and an inclination angle parameter, and generate an initial welding path according to the geometric relationship between the top width parameter and the inclination angle parameter; Path optimization module: used for obtaining the three-dimensional spatial relationship between the top width parameter and the inclination angle parameter, establishing a multi-layer welding trajectory model based on the three-dimensional spatial relationship and generating dynamic welding path data including inter-layer trajectory offset, and obtaining a welding path by combining the dynamic welding path data and the initial welding path; Interlayer temperature analysis module: used to obtain interlayer temperature distribution data in the tank in real time, and generate interlayer temperature gradient parameters by combining the interlayer temperature distribution data and the interlayer trajectory offset; Offset analysis module: used to collect the arc voltage fluctuation data of the molten pool and the molten droplet transition frequency characteristics in real time, and correct the three-dimensional coordinate offset of the welding gun in combination with the arc voltage fluctuation data, the molten droplet transition frequency characteristics and the interlayer temperature gradient parameters; Welding gun compensation module: used to perform step-by-step cladding control according to the preset cladding layering strategy, activate the side wall staggered welding mode and generate the inclination compensation control parameters after completing the bottom layer annular continuous welding, and perform inclination compensation on the welding gun according to the inclination compensation control parameters; Speed ​​adjustment module: used to obtain the molten pool coverage width, extract the correlation between the temperature gradient parameter between the welding layers and the molten pool coverage width, adjust the welding speed based on the correlation, and maintain a preset fusion area ratio between a constant cladding layer thickness and the molten pool coverage width; Welding gun lane changing module: used to obtain the cumulative welding layer characteristic value during welding, dynamically match the cumulative welding layer characteristic value with the preset slot depth judgment threshold to obtain a matching result, and execute the lane changing welding instruction according to the matching result until the preset slot end height reference value is reached.

[0013] In a third aspect, the present application provides a computer-readable medium for automatic surfacing of RTJ slots based on PLC, the computer-readable medium comprising: The computer-readable storage medium stores a computer program, and the computer program executes any one of the above-mentioned PLC-based RTJ slot automatic surfacing methods when the processor is running.

[0014] In summary, the present application includes at least one of the following beneficial technical effects: The initial welding path is generated by the top width parameters and inclination angle parameters of the trough body, and then the dynamic welding path data is generated according to the established multi-layer welding trajectory model. The initial welding path is adjusted according to the dynamic welding path data to obtain the welding path. The temperature step data is obtained according to the interlayer temperature distribution data in the trough body, and the data in the molten pool is further collected. The offset generated during the welding process of the welding gun is corrected according to the data therein. Then the inclination compensation control parameters are obtained to perform inclination compensation on the side wall of the welding gun. Then, the welding travel speed during welding is adjusted according to the correlation between the temperature gradient parameters between the welding layers and the molten pool coverage width. Finally, the cumulative welding layer number characteristic value generated during welding is dynamically matched with the preset trough body depth judgment threshold, and then the lane change welding instruction is executed. The stability and flexibility during welding are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a flowchart of the steps of the PLC-based RTJ slot automatic surfacing method provided in an embodiment of the present application; Figure 2 It is a module block diagram of the PLC-based RTJ slot automatic surfacing system provided in an embodiment of the present application.

[0016] Explanation of the accompanying drawings: 1. Initial path generation module; 2. Path optimization module; 3. Interlayer temperature analysis module; 4. Offset analysis module; 5. Welding gun compensation module; 6. Speed ​​adjustment module; 7. Welding gun lane changing module. DETAILED DESCRIPTION

[0017] The following is combined with Figure 1-Figure 2 The present application is described in further detail, but the actual aspects of the present invention are not limited thereto.

[0018] The embodiments of the present application disclose a PLC-based RTJ slot automatic surfacing method, system and storage medium.

[0019] In this embodiment, a PLC-based RTJ slot automatic surfacing method includes: S100: establishing a reference coordinate system of the tank body and obtaining a top width parameter and an inclination angle parameter, and generating an initial welding path according to a geometric relationship between the top width parameter and the inclination angle parameter; S200: Acquire a three-dimensional spatial relationship between a top width parameter and an inclination angle parameter, establish a multi-layer welding trajectory model based on the three-dimensional spatial relationship, generate dynamic welding path data including an inter-layer trajectory offset, and obtain a welding path by combining the dynamic welding path data and an initial welding path; S300: acquiring interlayer temperature distribution data in the tank in real time, and generating interlayer temperature gradient parameters by combining the interlayer temperature distribution data and the interlayer trajectory offset; S400: real-time collection of arc voltage fluctuation data and droplet transition frequency characteristics of the molten pool, and correction of the three-dimensional coordinate offset of the welding gun based on the arc voltage fluctuation data, droplet transition frequency characteristics and interlayer temperature gradient parameters; S500: performing step-type surfacing control according to a preset surfacing layering strategy, activating the side wall staggered welding mode and generating a tilt compensation control parameter after completing the bottom layer annular continuous welding, and performing tilt compensation on the welding gun according to the tilt compensation control parameter; S600: Obtaining the molten pool coverage width, extracting the correlation between the temperature gradient parameter between the welding layers and the molten pool coverage width, adjusting the welding speed based on the correlation, and maintaining a preset fusion area ratio between a constant cladding layer thickness and the molten pool coverage width; S700: Obtain the cumulative welding layer characteristic value during welding, dynamically match the cumulative welding layer characteristic value with the preset tank depth judgment threshold to obtain a matching result, and execute the lane change welding instruction according to the matching result until the preset tank end height reference value is reached.

[0020] It should be pointed out that the above modules are only the basic steps of this embodiment. In the specific implementation process, some steps can be appropriately added, reduced or modified without affecting the overall implementation effect.

[0021] The steps for generating the initial welding path according to the geometric relationship between the top width parameter and the tilt angle parameter are as follows: Perform three-dimensional contour scanning on the top width parameter of the tank body to obtain measurement data of the top width parameter and collect real-time data of the inclination angle parameter; According to the measurement data and real-time data, the starting point coordinates and the end point coordinates are selected in the tank reference coordinate system; The route is planned according to the starting point coordinates and the end point coordinates to generate a planned path, the path curvature characteristic value is obtained according to the planned path, and the starting point coordinates, the end point coordinates and the path curvature characteristic value are combined to obtain an initial path data set; The geometric shape parameters of the welding gun end are obtained, and the initial path data set is processed by equidistant offset according to the geometric shape parameters to obtain the target data set; A modified spatial coordinate sequence of the welding center line is obtained according to the target data set, and an initial welding path is generated according to the spatial coordinate sequence.

[0022] In application, taking the welding process of RTJ slots in a factory as an example, a certain elliptical slot body was scanned, and the top width parameters were measured to be 65mm at the long axis, 45mm at the short axis, and the inclination angle parameter was 25°. The starting point (0,0,0) and the end point (300,0,0) were selected in the reference coordinate system, and the path curvature characteristic value was planned to be 0.05 / mm. The end of the welding gun is a nozzle with a cone angle of 60°. After equidistant offset processing, the target data set is obtained, and the spatial coordinate sequence interval of the initial welding path is generated with a 0.1mm interval. During actual welding, the corrected welding center line is offset by +0.2mm in the X direction, and the Y direction maintains a fluctuation of ±0.1mm.

[0023] The steps of establishing a multi-layer welding trajectory model based on a three-dimensional spatial relationship and generating dynamic welding path data including inter-layer trajectory offset are as follows: Extract data from the target data set to obtain the inter-layer trajectory offset parameters in the initial welding path; Obtain the welding layer number, increment the inter-layer trajectory offset according to the welding layer number, and generate an arithmetic sequence; Obtain the material expansion coefficient and the current layer temperature, and generate thermal deformation compensation according to the expansion coefficient and the current layer temperature; The inter-layer trajectory offset parameters are compensated according to the thermal deformation compensation amount and the arithmetic sequence to obtain the target offset parameters, and the multi-layer welding trajectory model is constructed according to the target offset parameters; According to the multi-layer welding trajectory model, a control instruction set of layer height control threshold and inter-layer overlap rate is obtained, and dynamic welding path data is obtained based on the instruction set.

[0024] In application, taking the welding process of RTJ slots in a factory as an example, when welding a stainless steel slot, the initial interlayer trajectory offset is set to 0.3mm. An arithmetic sequence is generated by increasing the welding layer number, and the offsets of the 1st to 5th layers are 0.3 / 0.8 / 1.3 / 1.8 / 2.3mm respectively. The material expansion coefficient is measured to be 1.2×10^-5 / °C, and the thermal deformation compensation is calculated to be 0.15mm when the current layer temperature is 250°C. The final target offset parameter is adjusted to 0.45mm, the layer height control threshold of the constructed 5-layer welding trajectory model is 2mm, and the interlayer overlap rate is set to 35%.

[0025] The steps to correct the three-dimensional coordinate offset of the welding gun are as follows: Based on the arc voltage fluctuation data, the real-time waveform data of the arc voltage is obtained, and the voltage fluctuation feature vector is obtained by multi-scale decomposition of the real-time waveform data; Based on the frequency characteristics of droplet transition, the time series image data of the droplet transition process is obtained, the standard deviation of the time intervals between adjacent droplet formations is obtained according to the time series image data, and the transition stability index is obtained according to the standard deviation; The voltage fluctuation characteristic vector and the transition stability index are input into a preset prediction model to obtain the welding gun lateral offset compensation amount; The lateral offset compensation amount is input into the spatial coordinate register of the welding gun to correct the three-dimensional coordinate offset of the welding gun.

[0026] In application, taking the RTJ slot welding process in a factory as an example, the arc voltage was monitored to fluctuate between 25-28V during a welding process, and the voltage fluctuation feature vector [0.5, 1.2, 0.8] was obtained through multi-scale decomposition. The droplet transition image analysis showed that the time interval standard deviation was 0.15s and the transition stability index was 0.85. The prediction model outputted the lateral offset compensation amount X+0.3mm / Y-0.2mm. After updating the welding gun coordinate register, the three-dimensional coordinate offset was corrected from (0,0,0) to (0.3,-0.2,0).

[0027] The steps for executing the step-by-step cladding control according to the preset cladding layering strategy are as follows: Based on the preset cladding layering strategy, the cladding layering strategy is disassembled to obtain the total depths of multiple tanks; Arrange the total depth of the tank to obtain a depth series rule, and obtain the layer thickness threshold parameter according to the depth series rule; Obtain the current welding layer number, obtain the preset swing amplitude parameter corresponding to the current layer number according to the current welding layer number, and obtain the inter-layer swing frequency compensation coefficient according to the swing amplitude parameter and the layer thickness threshold parameter; Generate an acceleration control signal of the periodic swing trajectory of the welding gun according to the inter-layer swing frequency compensation coefficient; When the welding gun triggers an acceleration control signal during interlayer transition, an inclination compensation parameter is generated according to the layer thickness threshold parameter, and the welding gun is controlled to perform side wall welding according to the inclination compensation parameter.

[0028] In application, taking the welding process of RTJ slots in a factory as an example, when a 15mm deep slot body is layered, the total depth is divided into five 3mm layers. When welding the third layer, the swing amplitude parameter is set to ±1.5mm, and the swing frequency compensation coefficient of 1.2 is generated in combination with the layer thickness threshold. The generated acceleration control signal is 0.5g. After triggering, the welding gun automatically increases the tilt angle compensation by 10° when welding on the side wall to ensure that the penetration depth reaches 2.8mm.

[0029] The steps of obtaining the molten pool coverage width, extracting the correlation between the temperature gradient parameter between welding layers and the molten pool coverage width, and adjusting the welding travel speed based on the correlation are specifically as follows: Based on the path curvature characteristic value, the path curvature is monitored in real time to obtain the tangent angle difference between adjacent path points, and the path curvature change parameter is obtained based on the tangent angle difference; Obtain the current traveling speed of the welding gun, establish a quantitative relationship model based on the curvature change parameter and the current traveling speed, and generate a traveling speed adjustment coefficient according to the quantitative relationship model; Obtain the molten pool coverage width and extract the correlation between the temperature gradient parameters between welding layers and the molten pool coverage width; The pulse frequency output value of the servo motor is obtained according to the travel speed adjustment coefficient and the correlation relationship, and the welding travel speed is adjusted according to the pulse frequency output value.

[0030] In application, taking the welding process of RTJ slot in a factory as an example, a curvature change slot body monitors the tangent angle difference of adjacent path points to be 8°, and the curvature change parameter is 0.08 / mm. When the current travel speed is 200mm / min, the quantitative model outputs an adjustment coefficient of 0.9. Combined with the correlation between the temperature gradient parameter 12°C / mm and the molten pool width 7.5mm, the servo motor pulse frequency is adjusted from 2000Hz to 1800Hz, and the final travel speed is reduced to 180mm / min.

[0031] Dynamically matching the cumulative welding layer characteristic value with the preset tank depth judgment threshold to obtain a matching result, and executing the lane change welding instruction according to the matching result, specifically, the steps are as follows: Based on the welding path, path nodes are set on the welding path. After the welding gun passes through the path nodes, the number of path points is counted to obtain the characteristic value of the cumulative number of welding layers. Dynamically matching the cumulative welding layer characteristic value with the preset groove depth judgment threshold to obtain a matching result; Obtain the uniform value of the weld width and the interlayer fusion area of ​​the current welding layer, and obtain the cladding quality evaluation parameters based on the uniform value of the weld width and the interlayer fusion area; The optimized adjustment amount of lane-changing spacing is obtained by combining the matching results and the cladding quality evaluation parameters, and a lane-changing path control data set with a smooth transition curve is generated based on the optimized adjustment amount; A lane-changing welding instruction is generated based on the lane-changing path control data set, and the welding gun is called to perform the lane-changing operation according to the lane-changing welding instruction.

[0032] In application, taking the welding process of RTJ slots in a factory as an example, a ring slot body is set with 36 path nodes, and the depth threshold is matched when the cumulative number of welding layers reaches 24 layers. The average value of the current layer's weld width is 0.95, the fusion area is 85mm², and the evaluation parameters are excellent. The lane change spacing optimization adjustment amount +0.2mm is generated, and the lane change path control data set contains 3 Bezier curves with a smooth transition radius of R5mm. When executing the lane change command, the welding gun completes the X-axis 1.2mm offset within 0.5 seconds.

[0033] An embodiment of the present invention provides a PLC-based RTJ slot automatic surfacing system, using any one of the above-mentioned PLC-based RTJ slot automatic surfacing methods, the system includes the following contents: Initial path generation module 1: used to establish the trough body reference coordinate system and obtain the top width parameter and the inclination angle parameter, and generate the initial welding path according to the geometric relationship between the top width parameter and the inclination angle parameter; Path optimization module 2: used to obtain the three-dimensional spatial relationship between the top width parameter and the tilt angle parameter, establish a multi-layer welding trajectory model based on the three-dimensional spatial relationship and generate dynamic welding path data including the inter-layer trajectory offset, and obtain the welding path by combining the dynamic welding path data and the initial welding path; Interlayer temperature analysis module 3: used to obtain the interlayer temperature distribution data in the tank in real time, and generate the interlayer temperature gradient parameters by combining the interlayer temperature distribution data and the interlayer trajectory offset; Offset analysis module 4: used to collect arc voltage fluctuation data of the molten pool and the frequency characteristics of the droplet transition in real time, and to correct the three-dimensional coordinate offset of the welding gun by combining the arc voltage fluctuation data, the frequency characteristics of the droplet transition and the interlayer temperature gradient parameters; Welding gun compensation module 5: used to perform step-type cladding control according to the preset cladding layering strategy, activate the side wall staggered welding mode and generate the inclination compensation control parameters after completing the bottom layer annular continuous welding, and perform inclination compensation on the welding gun according to the inclination compensation control parameters; Speed ​​adjustment module 6: used to obtain the molten pool coverage width, extract the correlation between the temperature gradient parameter between the welding layers and the molten pool coverage width, adjust the welding speed based on the correlation, and maintain a preset fusion area ratio between the constant cladding layer thickness and the molten pool coverage width; Welding gun lane changing module 7: used to obtain the cumulative welding layer number characteristic value during welding, dynamically match the cumulative welding layer number characteristic value with the preset groove depth judgment threshold, obtain the matching result, and execute the lane changing welding instruction according to the matching result until the preset groove end height reference value is reached.

[0034] A computer readable medium having a computer program stored thereon, and when the computer program is run by a processor, the computer program executes the above-mentioned PLC-based RTJ slot automatic surfacing method.

[0035] 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. The automatic surfacing method of RTJ slot based on PLC is characterized by: The following steps are involved: Establishing a reference coordinate system of the tank body and obtaining a top width parameter and an inclination angle parameter, and generating an initial welding path according to a geometric relationship between the top width parameter and the inclination angle parameter; Acquire the three-dimensional spatial relationship between the top width parameter and the inclination angle parameter, establish a multi-layer welding trajectory model based on the three-dimensional spatial relationship and generate dynamic welding path data including inter-layer trajectory offset, and obtain a welding path by combining the dynamic welding path data and the initial welding path; Acquire interlayer temperature distribution data in the tank in real time, and generate interlayer temperature gradient parameters by combining the interlayer temperature distribution data and the interlayer trajectory offset; Collect the arc voltage fluctuation data of the molten pool and the molten droplet transition frequency characteristics in real time, and correct the three-dimensional coordinate offset of the welding gun in combination with the arc voltage fluctuation data, the molten droplet transition frequency characteristics and the interlayer temperature gradient parameters; Perform step-by-step cladding control according to the preset cladding layering strategy, activate the side wall staggered welding mode and generate the inclination compensation control parameters after completing the bottom layer annular continuous welding, and perform inclination compensation on the welding gun according to the inclination compensation control parameters; Obtaining the molten pool coverage width, extracting the correlation between the welding interlayer temperature gradient parameter and the molten pool coverage width, adjusting the welding speed based on the correlation, and maintaining a preset fusion area ratio between a constant cladding layer thickness and the molten pool coverage width; The cumulative welding layer characteristic value during welding is obtained, and the cumulative welding layer characteristic value is dynamically matched with the preset tank depth judgment threshold to obtain a matching result, and a lane change welding instruction is executed according to the matching result until the preset tank end height reference value is reached.

2. The PLC-based RTJ slot automatic surfacing method according to claim 1 is characterized in that: The step of generating an initial welding path according to the geometric relationship between the top width parameter and the inclination angle parameter is specifically as follows: Performing a three-dimensional profile scan on the top width parameter of the trough body to obtain measurement data of the top width parameter, and collecting real-time data of the inclination angle parameter; According to the measurement data and the real-time data, the starting point coordinates and the end point coordinates are selected in the tank reference coordinate system; Performing route planning according to the starting point coordinates and the end point coordinates to generate a planned path, obtaining a path curvature characteristic value according to the planned path, and combining the starting point coordinates, the end point coordinates and the path curvature characteristic value to obtain an initial path data set; Acquire geometric shape parameters of the end of the welding gun, and perform equidistant offset processing on the initial path data set according to the geometric shape parameters to obtain a target data set; A modified spatial coordinate sequence of the welding center line is obtained according to the target data set, and an initial welding path is generated according to the spatial coordinate sequence.

3. The PLC-based RTJ slot automatic surfacing method according to claim 2 is characterized in that: The steps of establishing a multi-layer welding trajectory model based on the three-dimensional spatial relationship and generating dynamic welding path data including inter-layer trajectory offset are specifically: Extracting data from the target data set to obtain interlayer trajectory offset parameters in the initial welding path; Obtaining the welding layer number, and increasing the inter-layer track offset according to the welding layer number to generate an arithmetic sequence; Acquire the material expansion coefficient and the current layer temperature, and generate a thermal deformation compensation amount according to the expansion coefficient and the current layer temperature; Compensating the interlayer trajectory offset parameter according to the thermal deformation compensation amount and the arithmetic sequence to obtain a target offset parameter, and constructing a multi-layer welding trajectory model according to the target offset parameter; According to the multi-layer welding trajectory model, a control instruction set of layer height control threshold and inter-layer overlap rate is obtained, and dynamic welding path data is obtained based on the instruction set.

4. The PLC-based RTJ slot automatic surfacing method according to claim 3 is characterized in that: The steps to correct the three-dimensional coordinate offset of the welding gun are as follows: Based on the arc voltage fluctuation data, real-time waveform data of the arc voltage is obtained, and the real-time waveform data is subjected to multi-scale decomposition to obtain a voltage fluctuation feature vector; Based on the droplet transition frequency characteristics, obtaining time-series image data during the droplet transition process, obtaining a standard deviation of the time intervals between adjacent droplet formations according to the time-series image data, and obtaining a transition stability index according to the standard deviation; Inputting the voltage fluctuation characteristic vector and the transition stability index into a preset prediction model to obtain a welding gun lateral offset compensation amount; The lateral offset compensation amount is input into the spatial coordinate register of the welding gun to correct the three-dimensional coordinate offset of the welding gun.

5. The PLC-based RTJ slot automatic surfacing method according to claim 1 is characterized in that: The steps for executing the step-by-step cladding control according to the preset cladding layering strategy are as follows: Based on the preset surfacing layering strategy, the surfacing layering strategy is disassembled to obtain a plurality of total tank depths; Arranging the total depths of the tank bodies to obtain a depth series rule, and obtaining a layer thickness threshold parameter according to the depth series rule; Obtaining a current welding layer number, obtaining a preset swing amplitude parameter corresponding to the current layer number according to the current welding layer number, and obtaining an inter-layer swing frequency compensation coefficient according to the swing amplitude parameter and the layer thickness threshold parameter; Generating an acceleration control signal of a periodic oscillation trajectory of a welding gun according to the inter-layer oscillation frequency compensation coefficient; When the welding gun triggers the acceleration control signal during the inter-layer transition, an inclination compensation parameter is generated according to the layer thickness threshold parameter, and the welding gun is controlled to perform side wall welding according to the inclination compensation parameter.

6. The PLC-based RTJ slot automatic surfacing method according to claim 2 is characterized in that: The steps of obtaining the molten pool coverage width, extracting the correlation between the welding interlayer temperature gradient parameter and the molten pool coverage width, and adjusting the welding speed based on the correlation are specifically as follows: Based on the path curvature characteristic value, the path curvature is monitored in real time to obtain the tangent angle difference between adjacent path points, and based on the tangent angle difference, a path curvature change parameter is obtained; Acquire the current traveling speed of the welding gun, establish a quantitative relationship model based on the curvature change parameter and the current traveling speed, and generate a traveling speed adjustment coefficient according to the quantitative relationship model; Obtaining the molten pool coverage width, and extracting the correlation between the welding interlayer temperature gradient parameter and the molten pool coverage width; The pulse frequency output value of the servo motor is obtained according to the travel speed adjustment coefficient and the association relationship, and the welding travel speed is adjusted according to the pulse frequency output value.

7. The PLC-based RTJ slot automatic surfacing method according to claim 6 is characterized in that: Dynamically matching the cumulative welding layer characteristic value with a preset groove depth determination threshold to obtain a matching result, and executing a lane change welding instruction according to the matching result, specifically comprises: Based on the welding path, path nodes are set on the welding path, and the number of path points is counted after the welding gun passes through the path nodes to obtain a cumulative welding layer number characteristic value; Dynamically matching the cumulative welding layer number characteristic value with the preset groove depth determination threshold to obtain a matching result; Obtaining a uniform value of the weld width and an interlayer fusion area of ​​the current welding layer, and obtaining a cladding quality evaluation parameter according to the uniform value of the weld width and the interlayer fusion area; Combining the matching result and the cladding quality evaluation parameter, obtaining an optimized adjustment amount of the lane change spacing, and generating a lane change path control data set with a smooth transition curve based on the optimized adjustment amount; A lane-changing welding instruction is generated based on the lane-changing path control data set, and a welding gun is called to perform a lane-changing operation according to the lane-changing welding instruction.

8. A PLC-based RTJ slot automatic surfacing system, the system using the PLC-based RTJ slot automatic surfacing method as claimed in any one of claims 1 to 7, characterized in that: The system comprises: Initial path generation module: used to establish a reference coordinate system of the tank body and obtain a top width parameter and an inclination angle parameter, and generate an initial welding path according to the geometric relationship between the top width parameter and the inclination angle parameter; Path optimization module: used for obtaining the three-dimensional spatial relationship between the top width parameter and the inclination angle parameter, establishing a multi-layer welding trajectory model based on the three-dimensional spatial relationship and generating dynamic welding path data including inter-layer trajectory offset, and obtaining a welding path by combining the dynamic welding path data and the initial welding path; Interlayer temperature analysis module: used to obtain interlayer temperature distribution data in the tank in real time, and generate interlayer temperature gradient parameters by combining the interlayer temperature distribution data and the interlayer trajectory offset; Offset analysis module: used to collect the arc voltage fluctuation data of the molten pool and the molten droplet transition frequency characteristics in real time, and correct the three-dimensional coordinate offset of the welding gun in combination with the arc voltage fluctuation data, the molten droplet transition frequency characteristics and the interlayer temperature gradient parameters; Welding gun compensation module: used to perform step-by-step cladding control according to the preset cladding layering strategy, activate the side wall staggered welding mode and generate the inclination compensation control parameters after completing the bottom layer annular continuous welding, and perform inclination compensation on the welding gun according to the inclination compensation control parameters; Speed ​​adjustment module: used to obtain the molten pool coverage width, extract the correlation between the temperature gradient parameter between the welding layers and the molten pool coverage width, adjust the welding speed based on the correlation, and maintain a preset fusion area ratio between a constant cladding layer thickness and the molten pool coverage width; Welding gun lane changing module: used to obtain the cumulative welding layer characteristic value during welding, dynamically match the cumulative welding layer characteristic value with the preset slot depth judgment threshold to obtain a matching result, and execute the lane changing welding instruction according to the matching result until the preset slot end height reference value is reached.

9. A computer readable medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the PLC-based RTJ slot automatic surfacing method according to any one of claims 1 to 7 is executed.

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