CN107639319A - Nuclear power station Underwater Welding robot, welding system and welding method - Google Patents
Nuclear power station Underwater Welding robot, welding system and welding method Download PDFInfo
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- CN107639319A CN107639319A CN201710909754.2A CN201710909754A CN107639319A CN 107639319 A CN107639319 A CN 107639319A CN 201710909754 A CN201710909754 A CN 201710909754A CN 107639319 A CN107639319 A CN 107639319A
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- 238000003466 welding Methods 0.000 title claims abstract description 268
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- 230000001131 transforming effect Effects 0.000 claims description 5
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- 230000007246 mechanism Effects 0.000 claims description 4
- 238000005476 soldering Methods 0.000 claims description 4
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Abstract
The invention discloses a kind of nuclear power station Underwater Welding robot, including underwater robot, underweater vision system, welding system and signal-transmitting cable, underwater robot includes moving body, the cloud platform being installed on institute's motor vehicles bodies and the mechanical arm being installed on moving body；Underweater vision system includes the panoramic camera being installed in cloud platform and the binocular camera being installed on mechanical arm, and panoramic camera and binocular camera gather underwater video and export panoramic video data and two-path video data respectively；Signal-transmitting cable one end connects underwater robot, underweater vision system and welding system, one switch board waterborne of another termination, so that control command controller respective action is powered, conveyed to underwater portion, and transmit underwater data to switch board waterborne, so as to which remote control completes Underwater Welding work, avoid harm of the radiation environment to human body, and can Real Time Observation submerged condition, adjust in time.The invention also discloses corresponding welding method.
Description
Technical field
The present invention relates to welding and robot field, more particularly to a kind of special major accident under-water welding in multifunctional core power station
Welding robot.
Technical background
Nuclear power is increasingly in short supply and environment is asked in world energy sources as a kind of safe and reliable, cleaning, efficient electric power energy
Today of topic getting worse is increasingly paid close attention to by various countries.Because the harmfulness of nuclear safety is huge, so for nuclear safety always
All it is the field that various countries pay much attention to, but understands some unmanageable factors, Chernobyl Plant nuclear leakage accident
And the secondary disaster that the earthquake of Fukushima nuclear power station triggers still is threaten the living environment of locality so far.In face of the safety of nuclear power station
Accident must be safety to the impaired effective repair in place and efficient.
Therefore be badly in need of one kind can be after accident generation, the device repaired in time to nuclear power plant accident scene.
The content of the invention
It is an object of the invention to provide a kind of nuclear power station Underwater Welding robot, the underwater robot welding system of nuclear power station and core
The underwater automatic soldering method in power station, it can act on the water under the remote control of switch board, effectively prevent radiation environment to human body
Harm, and video data can be transferred out in real time, running status is observed by the display of switch board waterborne, timely
Adjust.
It is upper purposeful in order to realize, the invention discloses a kind of nuclear power station Underwater Welding robot, including underwater robot,
Underweater vision system, welding system and signal-transmitting cable, underwater robot include moving body, are installed on the moving body
On cloud platform and the mechanical arm that is installed on the moving body, the motor in each joint of the mechanical arm be respectively equipped with
Motor encoder and outwards output coder data；Underweater vision system includes the panoramic camera being installed in the cloud platform
With the binocular camera being installed on the mechanical arm, the panoramic camera gathers underwater video and outwards exports panoramic video
Data, the binocular camera gather two-way underwater video and outwards export two-path video data；Welding system include welding gun and
Wire feeder, the welding gun are installed on the mechanical arm, and the wire feeder is installed on the moving body and to described
Welding gun wire feed；Signal-transmitting cable one end connects the panoramic camera, binocular camera, moving body, cloud platform, machinery respectively
Arm and wire feeder, one switch board waterborne of another termination is with to the panoramic camera, binocular camera, moving body, Yun Ping
Platform, mechanical arm and wire feeder remote power feeding, the panoramic video data, two-path video data and encoder data is remotely defeated
Deliver to switch board waterborne, and the control command that switch board waterborne is generated remotely be delivered to moving body, cloud platform, mechanical arm and
Wire feeder, the moving body, cloud platform, mechanical arm and wire feeder are according to the control command respective action.
Compared with prior art, nuclear power station Underwater Welding robot of the invention has underweater vision system, welding system
And signal-transmitting cable so that the nuclear power station Underwater Welding robot can remotely provide underweater vision information to controlling party, and
The welding job to pool wall is completed in core spentnuclear fuel pond under remote control, effectively prevent danger of the radiation environment to human body
Evil.Furthermore the present invention can determine the posture in each joint of mechanical arm by encoder data, underweater vision system of the invention includes
The panoramic camera being installed in cloud platform and the binocular camera being installed on mechanical arm, can be preliminary by panoramic video data
The position of weld seam is found, controls nuclear power station Underwater Welding robot to close on weld seam after finding, is automatically positioned using binocular camera
Position while welding, by the display real-time display binocular video data and position while welding of switch board waterborne, running status is observed, and
When adjust.
It is preferred that the mechanical arm is multi-degree-of-freemechanical mechanical arm, the welding gun be fixed on the multi-degree-of-freemechanical mechanical arm it
On the end of end effector arm, the Binocular robot is fixed on the end effector arm.
It is preferred that the cloud platform include being fixedly installed on moving body base, horizontally rotate and be installed on the bottom
Rotating turret on seat, vertically it is rotatablely installed in the rotation seat on the rotating turret, is installed on the base and rotating turret
Between and control the rotating turret relative to the base rotation the first motor, be installed between the rotating turret and rotation seat
And the second motor for controlling the rotation seat to be rotated relative to the rotating turret.
It is preferred that the nuclear power station Underwater Welding robot also includes at least two underwater light sources, the signal transmission electricity
Cable one end also connects the underwater light source, and other end long-distance control cabinet to the underwater light source to power and be delivered to control command
The underwater light source, the underwater light source are opened and closed according to the control command.
It is preferred that the welding system also includes drainage cover, the drainage cover is sheathed on outside the welding gun.The program causes
Welding system is arranged the water in drainage cover using drainage equipment by the way of local dry cavity welding, makes to melt in welding process
Transition stabilization is dripped, almost reaches the effect of dry method welding, more stable, low cost more convenient compared with dry method welding is welded than wet method, and
Drainage cover is moved with welding gun in welding process, and weldquality is higher.
Upper purposeful in order to realize, the invention discloses a kind of underwater robot welding system of nuclear power station, including underwater
People, underweater vision system, welding system and switch board waterborne, underwater robot include moving body, are installed on the locomotive
Cloud platform on body and the mechanical arm being installed on the moving body, the motor in each joint of the mechanical arm are set respectively
There are motor encoder and outwards output coder data；Underweater vision system includes the panoramic shooting being installed in the cloud platform
Machine and the binocular camera being installed on the mechanical arm, the panoramic camera gather underwater video and export aphorama frequency
According to the binocular camera gathers two-way underwater video and exports two-path video data；Welding system includes welding gun and wire-feed motor
Structure, the welding gun are installed on the mechanical arm, and the wire feeder is installed on the moving body and the welding gun is sent
Silk；Signal-transmitting cable, one end connect respectively the panoramic camera, binocular camera, moving body, cloud platform, mechanical arm and
Wire feeder, one switch board waterborne of another termination is with to the panoramic camera, binocular camera, moving body, cloud platform, machine
Tool arm and wire feeder remote power feeding, the panoramic video data, two-path video data and encoder data are remotely delivered to
Switch board waterborne, and the control command that switch board waterborne is generated remotely is delivered to moving body, cloud platform, mechanical arm and wire feed
Mechanism；Switch board waterborne by the signal-transmitting cable respectively with the underwater robot, underweater vision system and welding be
System is connected, and to welding system power supply, remotely receives the panoramic video data, two-path video data and encoder data,
The angle-data in each joint of mechanical arm is calculated according to the encoder data to generate and show the appearance of the mechanical arm
State signal, positioned according to the two-path video data and show position while welding, and receive the operational order of outside input, by described in
Operational order is converted to corresponding control command and is delivered to the underwater robot and welding system, shows the panoramic video
Data and two-path video data.
Compared with prior art, the present invention utilizes remote control, the information that underweater vision system provides, makes underwater robot
The welding job to pool wall is completed in core spentnuclear fuel pond, effectively prevent harm of the radiation environment to human body, accurate remote
Under journey manipulation, control machine people completes REPAIR WELDING work, and data information transfer when can show in fact, passes through switch board waterborne
Display observes running status, timely adjusts.Furthermore the present invention can determine each joint of mechanical arm by encoder data
Posture, underweater vision system of the invention includes the panoramic camera that is installed in cloud platform and is installed on double on mechanical arm
Lens camera, the position of weld seam can be tentatively found by panoramic video data, nuclear power station Underwater Welding robot is controlled after finding
Weld seam is closed on, position while welding is automatically positioned using binocular camera, passes through the display real-time display binocular vision of switch board waterborne
Frequency evidence and position while welding, running status is observed, is timely adjusted.Wherein, operating personnel can be according to the attitude signal
Manually calculated with position while welding and input corresponding control command control machinery arm and welding system action.
It is preferred that the switch board waterborne include input module, data acquisition module, Arc Welding Power module, display module,
Processing module, motion-control module and welding control module, input module input outside control command；Data acquisition module is adopted
Collect the panoramic video data, two-path video data and encoder data；Processing module receives the data acquisition module input
Panoramic video data and two-path video data, according to the two-path video data tack weld position, control the display mould
Block shows the panoramic video data and two-path video data, and each joint of mechanical arm is calculated according to the encoder data
Angle-data to generate and show the attitude signal of the mechanical arm, the control command is changed and is delivered to motion respectively
Control module and welding control module；Motion-control module control command according to corresponding to controls the underwater human action；
Arc Welding Power corresponding to welding control module control command control Arc Welding Power module output according to corresponding to, is controlled according to corresponding
System order control wire feeder is with corresponding speed wire feed；Arc Welding Power module output arc welding power supply is with to welding system confession
Electricity.
It is preferred that the switch board waterborne calculates the weld seam in real time according to the two-path video data is based on the binocular
The position coordinates of video camera, the position coordinates based on the binocular camera is converted to based on institute according to the encoder data
The position coordinates of welding gun is stated to obtain the welding seam position information, so as to position the position while welding, weld seam described in real-time display
Positional information.
It is preferred that the method for the switch board tack weld position waterborne includes：It is automatic according to the two-path video data
Weld seam, and weld signature point corresponding to generation are identified, according to seam track corresponding to weld bead feature points generation with tack welding
Stitch position.The program causes automatic identification position while welding of the present invention, and seam track corresponding to generation.
Specifically, the switch board waterborne also generates corresponding control after tack weld position according to the position while welding
System order, the underwater human action is controlled according to the control command, so that the welding gun is moved to commissure.The program
So that the present invention automatically generates control command to control underwater robot to be moved to default weld signature point according to position while welding.
More specifically, the switch board waterborne controls the underwater robot and welding system to move according to the control command
Make, so as to control the welding system to carry out welding action while the mechanical arm is along the weld movement.The program makes
Obtain foundation seam track of the invention and automatically generate control command to control underwater robot to be moved to default weld signature point simultaneously
Start welding system and carry out welding action.
More preferably, the switch board waterborne is according to control command corresponding to seam track generation, according to the control
Order controls comprising the following steps that for the underwater human action：The machinery is calculated and be shown according to the encoder data
The angle and pose in each joint of arm, the pose in each joint of mechanical arm corresponding to weld seam each point is calculated with life according to the position while welding
Into position auto―control；The angle sequence in each joint is calculated according to the position auto―control using kinematics inverse transformation method, shows institute
The angle sequence in each joint is stated, corresponding control command is automatically generated so that the welding gun is moved to institute according to the angle sequence
State commissure.
It is preferred that the control command includes car body control command, joint control order, cloud platform control command, welding
Control command, welding control command include wire feed control command and power control command, and the switch board waterborne is according to the car
Body control command controls the movement of the moving body, and the shifting of the mechanical arm upper joint is controlled according to the joint control order
It is dynamic, the action of the cloud platform is controlled to adjust the shooting area of the panoramic camera according to the cloud platform control command,
The wire feed rate of the wire feeder is controlled according to the wire feed control command, the arc is controlled according to the power control command
Weld the power supply of power module.
It is preferred that the mechanical arm is multi-degree-of-freemechanical mechanical arm, the welding gun be fixed on the multi-degree-of-freemechanical mechanical arm it
On the end of end effector arm, the Binocular robot is fixed on the end effector arm.
It is preferred that the cloud platform include being fixedly installed on moving body base, horizontally rotate and be installed on the bottom
Rotating turret on seat, vertically it is rotatablely installed in the rotation seat on the rotating turret, is installed on the base and rotating turret
Between and control the rotating turret relative to the base rotation the first motor, be installed between the rotating turret and rotation seat
And the second motor for controlling the rotation seat to be rotated relative to the rotating turret.The switch board waterborne is according to the control command
The cloud platform action is controlled to adjust the shooting angle of the panoramic camera.
It is preferred that the underwater robot welding system of nuclear power station also includes at least two underwater light sources, the signal transmission
Cable one end also connects the underwater light source, and other end long-distance control cabinet to the underwater light source to power and convey control command
To the underwater light source, the underwater light source is opened and closed according to the control command.
It is preferred that the Arc Welding Power module includes current rectifying and wave filtering circuit and the institute electrically connected with the three-phase alternating current of outside
State the high frequency full bridge inverter of current rectifying and wave filtering circuit electrical connection, the power transformation electrically connected with the high frequency full bridge inverter
Circuit, the rectifier smoothing circuit electrically connected with the power transforming circuit, the rectifier smoothing circuit and welding system electricity
Connection is with output arc welding power supply.
Specifically, the welding control module is connected with the output end of the rectifier smoothing circuit and detects the arc-welding electricity
The current signal and voltage signal in source, according to high frequency full bridge inverter described in the current signal and voltage signal feedback control
Work, the welding control module are connected with the motor of the wire feeder and control the drive according to the control command
The rotating speed of dynamic motor.
It is preferred that the welding system also includes drainage cover, the drainage cover is outside the welding gun.The program to weld
Water in drainage cover is arranged by the way of local dry cavity welding, is made molten drop in welding process by welding system using drainage equipment
Transition is stable, almost reaches the effect of dry method welding, more stable, low cost more convenient compared with dry method welding is welded than wet method, and weld
Drainage cover is moved with welding gun in termination process, and weldquality is higher.
The invention also discloses a kind of underwater automatic soldering method of nuclear power station, uses the underwater automatic welding system of above-mentioned nuclear power station
System carries out Underwater Welding, comprises the following steps：(1) the cloud platform control command according to outside controls the cloud platform action, makes
Panoramic video data are gathered with panoramic camera, show the panoramic video data；(2) the car body control command control according to outside
Moving body processed is moved to the predeterminated position of the weld seam；(3) the two-path video data are gathered using the binocular camera,
Positioned according to the two-path video data and show position while welding；(4) the joint control order according to outside controls the machinery
Each joint action of arm is so that the welding gun is moved to the commissure or automatically generated according to the position while welding corresponding
Joint control order is so that the welding gun is moved to the commissure, and when the welding gun is moved to the commissure, generation is corresponding
Welding control command or according to outside welding control command controlled when the welding gun is moved to the commissure described in
Welding system carries out weld job；Wherein, the control command includes cloud platform control, car body control command, joint control are ordered
Order and welding control command.
Compared with prior art, the present invention utilizes remote control, the information that underweater vision system provides, makes underwater robot
The welding job to pool wall is completed in core spentnuclear fuel pond, effectively prevent harm of the radiation environment to human body, accurate remote
Under journey manipulation, control machine people completes REPAIR WELDING work.The present invention can determine each joint of mechanical arm by encoder data
Posture, the position of weld seam is tentatively found by panoramic video data, after finding, weld seam position is automatically positioned using binocular camera
Put, by the display real-time display binocular video data and position while welding of switch board waterborne, observe running status, timely do
Go out adjustment.
It is preferred that the step (3) specifically includes, the control command according to outside controls the mechanical arm to act so that institute
Preset range of the binocular camera along the weld seam is stated to move to obtain the two-path video data of weld seam, according to the two-way video
Data identify weld signature point corresponding to weld seam and generation, according to seam track corresponding to weld bead feature points generation, so that
Tack weld position.
Brief description of the drawings
Fig. 1 is the structured flowchart of the underwater robot welding system of nuclear power station of the present invention.
Fig. 2 is the structured flowchart of switch board waterborne of the present invention.
Fig. 3 is the stereogram of underwater robot for nuclear power station of the present invention.
Fig. 4 is the structural representation of drainage cover of the present invention.
Fig. 5 is the sectional view of drainage cover of the present invention.
Fig. 6 is the structured flowchart of Arc Welding Power module of the present invention and welding control module.
Embodiment
To describe the technology contents of the present invention, construction feature, the objects and the effects in detail, below in conjunction with embodiment
And accompanying drawing is coordinated to be explained in detail.
With reference to figure 1 and Fig. 3, the invention discloses a kind of underwater robot welding system 100 of nuclear power station, including underwater robot
10th, underweater vision system 20, welding system 30, signal-transmitting cable and switch board waterborne 40.
With reference to figure 1 and Fig. 3, underwater robot 10 includes moving body 11, the cloud being installed on the moving body 11 is put down
Platform 12 and the mechanical arm 13 being installed on the moving body 11, the motor in each joint of the mechanical arm 13 are respectively equipped with
Motor encoder and output coder data.Underweater vision system 20 includes the panoramic camera being installed in the cloud platform 12
21 and the binocular camera 22 that is installed on the mechanical arm 13, the panoramic camera 21 gather underwater video and simultaneously export panorama
Video data, the binocular camera 22 gather two-way underwater video and export two-path video data.
With reference to figure 1 and Fig. 3, welding system 30 includes welding gun 31 and wire feeder 32, and the welding gun 31 is installed on the machine
On tool arm 13, the wire feeder 32 is installed on the moving body 11 and to the wire feed of welding gun 31.Signal-transmitting cable
One end connects the panoramic camera 21, binocular camera 22, moving body 11, cloud platform 12, mechanical arm 13 and wire-feed motor respectively
Structure 32, switch board 40 is with to the panoramic camera 21, binocular camera 22, moving body 11, cloud platform on other end water receiving
12nd, mechanical arm 13 and the remote power feeding of wire feeder 32, the panoramic video data, two-path video data, encoder data is remote
Journey is delivered to switch board 40 waterborne, and the control command that switch board 40 waterborne is generated remotely is delivered to moving body 11, Yun Ping
Platform 12, mechanical arm 13 and wire feeder 32, the moving body 11, cloud platform 12, mechanical arm 13 and wire feeder 32 are according to institute
State control command respective action.
With reference to figure 1, switch board 40 waterborne by the signal-transmitting cable respectively with the underwater robot 10, regard under water
Feel system 20 is connected with welding system 30, and the welding system 30 is powered, remotely receives what the panoramic camera 21 gathered
The two-path video data that panoramic video data and binocular camera 22 gather, position according to the two-path video data and show weldering
Position is stitched, calculates the angle-data in 13 each joint of mechanical arm according to the encoder data to generate the mechanical arm 13
Attitude signal, and show the attitude signal, receive the operational order of outside input, the operational order is converted to correspondingly
Control command and acted according to underwater robot 10 and welding system 30 described in the control command remote control, described in display
Panoramic video data and two-path video data.
Wherein, the control command includes car body control command, joint control order, cloud platform control command, wire feed control
System order, power control command, the switch board 40 waterborne control the moving body 11 according to the car body control command
It is mobile, the movement of the upper joint of mechanical arm 13 is controlled according to the joint control order, according to the cloud platform control command
The action of the cloud platform 13 is controlled to adjust the shooting area of the panoramic camera, is controlled according to the wire feed control command
The wire feed rate of the wire feeder 32, the welding system 30 is powered according to the power control command.
Wherein, the underwater robot welding system 100 of nuclear power station includes signal-transmitting cable, signal-transmitting cable connection nuclear power station
The underwater portion and above water of underwater robot welding system 100, the signal-transmitting cable include visual transmission cable, motion control
Transmission cable processed, welding cable, one end of the visual transmission cable connects the panoramic camera 21 and binocular camera respectively
22, one switch board 40 waterborne of another termination to the panoramic camera 21 and binocular camera 22 to power and by the aphorama
Frequency evidence and two-path video remote data are delivered to switch board 40 waterborne；The motion control transmission cable one terminates the movement
Car body 11, cloud platform 12 and mechanical arm 13, switch board 40 on other end water receiving, by the encoder number in 13 each joint of mechanical arm
According to the switch board waterborne 40 is remotely delivered to, the drive mechanism of the moving body 11, cloud platform 12 and mechanical arm 13 is supplied
Control command that is electric and generating switch board 40 waterborne is remotely delivered to the moving body 11, cloud platform 12 and mechanical arm 13；
The welding cable one terminates the wire feeder 32, switch board 40 on other end water receiving, the switch board 40 waterborne is generated
Control command and the source of welding current be remotely delivered to the wire feeder 32, the moving body 11, cloud platform 12, mechanical arm 13
With wire feeder 32 according to the control command respective action.
Specifically, the switch board waterborne 40 by binocular camera 22 described in buoyancy binocular cable connection with to described double
Lens camera 22 is powered and remotely conveys binocular video image, by the buoyancy panorama cable electrical connection panoramic camera 21 with
The panoramic camera 21 is powered and remotely conveys binocular video image, the inclination angle of moving body 11 is connected by CAN
Sensor, the encoder of moving body 11, the motor encoder at the rotation of cloud platform 12, the motor of 13 each joint motor of mechanical arm
Encoder, to obtain the encoder of the inclination data of the moving body 11, the encoder data of moving body 11, cloud platform 12
Data, the encoder data in 13 each joint of mechanical arm, pass through the inclination data of moving body 11, the encoder number of moving body 11
According to position, the posture that can calculate moving body 11 respectively, panorama in cloud platform 12 is calculated by the encoder data of cloud platform 12
The horizontal vertical angles of video camera 21, the angle and posture in each joint are calculated by the encoder data in 13 each joint of mechanical arm.
Switch board 40 waterborne connects underwater welding system 30 by buoyancy welding cable, and buoyancy welding cable includes 600A two cores electricity
The line of force (the transmission source of welding current), the cored wire of a wire feed electric cable two (control command of transmission control wire feeder).Wherein, locomotive
Battery (not shown) is additionally provided with body 11, to be powered to the motor (not shown) in moving body 11.
Wherein, a control system is provided with underwater robot 10, the control system is connected by motion control transmission cable
Switch board 40 on water receiving, driving power and control command corresponding to the recognizable conversion of the control system are simultaneously correspondingly delivered to locomotive
Body 11, cloud platform 12, on mechanical arm 13, moving body 11, cloud platform 12, mechanical arm 13 are made correspondingly according to the control command
Action.
With reference to figure 2, the switch board 40 waterborne include input module 41, data acquisition module 42, Arc Welding Power module 46,
Display module 43, processing module 47, motion-control module 44 and welding control module 45, input module 41 input the control of outside
Order；The two-way that the panoramic video data of the collection of panoramic camera 21, binocular camera 22 described in data acquisition module 42 gather
Video data and encoder data；Processing module 43 receives panoramic video data, the two-way that the data acquisition module 42 inputs
Video data and encoder data, according to the two-path video data tack weld position, the display module 43 is controlled to show
The panoramic video data and two-path video data, the angle in 13 each joint of mechanical arm is calculated according to the encoder data
The control command is changed to generate and show the attitude signal of the mechanical arm 13 and is delivered to motion control respectively by degrees of data
Molding block 44 and welding control module 45；Motion-control module 44 controls the underwater robot 10 according to corresponding control command
Action；Weld control module 45 and control Arc Welding Power corresponding to the output of the module of Arc Welding Power 46 according to corresponding control command, according to
Wire feeder 32 is controlled with corresponding speed wire feed according to corresponding control command；The output arc welding power supply of Arc Welding Power module 46 is with right
The welding system 30 is powered.
With reference to figure 3, the cloud platform 12 include be fixedly installed on moving body 11 base 121, horizontally rotate installation
In the rotating turret 122 on the base 121, vertically it is rotatablely installed in the rotation seat 123 on the rotating turret 122, peace
Loaded between the base 121 and rotating turret 122 and controlling first that the rotating turret 122 rotates relative to the base 121
Motor (not shown), it is installed between the rotating turret 122 and rotation seat 123 and controls the rotation seat 123 relative to institute
State the second motor (not shown) of the rotation of rotating turret 122.The switch board waterborne 40 is according to described in control command control
First motor of cloud platform 12 and the second motor action are clapped with adjusting the horizontal shooting angle of the panoramic camera 21 with vertical
Take the photograph angle.
Wherein, the underwater robot welding system 100 of the nuclear power station also includes at least two underwater light sources, the signal transmission
Cable also includes light source transmission cable, and the light source transmission cable one terminates the underwater light source, other end long-distance control cabinet 40
To be powered to the underwater light source and control command is delivered into the underwater light source, the underwater light source is according to the control life
Order opening and closing.
With reference to figure 3, the mechanical arm 13 is 6DOF mechanical arm, and the 6DOF mechanical arm includes base 131, pitching
Frame 132, the first joint 133, second joint 134, the 3rd joint 135, the 4th joint 136, the first rotary electric machine, second rotate electricity
Machine 137, the 3rd rotary electric machine 138, the 4th rotary electric machine 139 and the 5th rotary electric machine 140, the base 131 are installed on described
On moving body 11, the pitching frame 132 is installed on the base 131 with rotating horizontally, the front end in first joint 133
Pitch rotation it is installed on the pitching frame 132, is installed on described first to the front end pitch rotation of the second joint 134
The rear end in joint 133, the rear end of the second joint 134 is installed on to the front end pitch rotation in the 3rd joint 135, it is described
The front end in the 4th joint 136 is installed on the rear end in the 3rd joint 135 with rotating horizontally, and first rotary electric machine is installed on
Between the base 131 and the pitching frame 132 and the pitching frame 132 is driven to rotate horizontally (figure relative to the base 131
In do not show), second rotary electric machine 137 is installed between the joint 133 of pitching frame 132 and first and drives described first
Joint 133 is installed on the He of the first joint 133 relative to the pitch rotation of pitching frame 132, the 3rd rotary electric machine 138
Between second joint 134 and the second joint 134 is driven relative to the pitch rotation of the first joint 133, described 4th turn
Dynamic motor 136 is installed between the joint 135 of second joint 134 and the 3rd and drives the 3rd joint 135 relative to institute
State the pitch rotation of second joint 134, the 5th rotary electric machine 140 be installed on the 3rd joint 135 and the 4th joint 136 it
Between and drive the 4th joint 136 to be rotated horizontally relative to the 3rd joint 135.Wherein, the 4th joint 136 is held for end
Row arm, welding gun 31 are fixed on the end in the 4th joint 136, and the Binocular robot 22 is fixed on the end effector arm 136
Centre.Certainly, the mechanical arm 13 can also be other multi-degree-of-freemechanical mechanical arms, be not limited in six degree of freedom.
Wherein, each joint (base 131, pitching frame 132, the first joint 133, the second joint of the mechanical arm 13
134th, the 3rd joint 135 and the 4th joint 136) joint encoders are provided with output coder data, the switch board 40 waterborne
Position coordinates of the weld seam based on the binocular camera 22 is calculated in real time according to the two-path video data, according to the volume
Position coordinates based on the binocular camera 22 is converted to the position coordinates based on the welding gun 31 to obtain by code device data
The welding seam position information, so as to position the position while welding, and welding seam position information described in real-time display.
Wherein, the method for the tack weld position of switch board waterborne 40 includes：It is automatic according to the two-path video data
Weld seam, and weld signature point corresponding to generation are identified, according to seam track corresponding to weld bead feature points generation.
Wherein, the method for the present invention progress underwater automatic welding of nuclear power station can also specifically include：(1) operating personnel input
Cloud platform control command, switch board 40 waterborne control the cloud platform 12 to act according to the cloud platform control command of outside input,
Panoramic video data are gathered using panoramic camera 21, show the panoramic video data；(2) operating personnel are according to panoramic video
Data input car body control command, switch board 40 waterborne are moved to institute according to the car body control command control moving body 11 of outside
State the predeterminated position of weld seam；(3) binocular camera gathers the two-path video data, and switch board 40 waterborne is according to described two
Road video data positions and shows position while welding；(4) joint control order corresponding to the position input of operating personnel's foundation weld seam,
Switch board 40 waterborne controls each joint action of the mechanical arm 12 so that the welding gun 31 according to the joint control order of outside
It is moved to the commissure；(5) operating personnel input welding control command when the welding gun is moved to the commissure, waterborne
Switch board 40 controls the welding system 30 to carry out weld job according to the welding control command of outside.Certainly, in step (3),
Operating personnel can also identify position while welding and selected corresponding positioning command according to two-path video data, to determine weld seam position
Put.
Preferably, alternately, in another embodiment, the step (4) is specially：The foundation of switch board waterborne 40
Control command corresponding to the position while welding generation, controls the underwater robot 10 to act so that institute according to the control command
State welding gun 31 and be moved to the commissure.
Specifically, the switch board waterborne 40 is according to motion control commands corresponding to seam track generation, according to institute
State motion control commands and control comprising the following steps that for the action of underwater robot 10：Calculated simultaneously according to the encoder data
The angle and pose in 13 each joint of mechanical arm are shown, mechanical arm 10 corresponding to weld seam each point is calculated according to the position while welding
The pose in each joint is to generate position auto―control；Using kinematics inverse transformation method each joint is calculated according to the position auto―control
Angle sequence, the angle sequence in each joint is shown, corresponding joint control order is automatically generated according to the angle sequence
So that the welding gun 31 is moved to the commissure, the control command includes joint control order.Wherein, the control waterborne
Cabinet 40 also automatically generates corresponding control command so that wire feeder is powered and controlled to welding system 30 according to the angle sequence
32 carry out wire feed action while welding gun 31 is moved to the commissure.
Preferably, alternately, in another embodiment, the step (5) is specially：The foundation of switch board waterborne 40
Position while welding generates welding control command or the generation welding control command when welding gun 31 is moved to the commissure, water simultaneously
Upper switch board 40 controls the welding system 30 to carry out weld job according to the welding control command of generation, so that switch board waterborne
40 control the welding system to carry out welding action while controlling the mechanical arm 13 along the weld movement.That is, water
Upper switch board 40 automatically generates each joint action of mechanical arm 12 described in corresponding joint control order according to the position while welding
So that the welding gun is moved to the commissure, corresponding welding control life is generated when the welding gun is moved to the commissure
Order controls the welding system 30 to carry out weld job automatically.
Preferably, positioned according to the two-path video data in the step (3) and show that position while welding specifically includes：Water
Upper switch board 40 according to the joint control order of outside controls the mechanical arm 13 to act so that the binocular camera 22 is along institute
The preset range movement of weld seam is stated to obtain the two-path video data of weld seam, weld seam and life are identified according to the two-way video data
Into corresponding weld signature point, according to seam track corresponding to weld bead feature points generation, so as to tack weld position.
Preferably, with reference to figure 3 and Fig. 4, the welding system 30 also includes drainage cover 33, and the drainage cover 33 is sheathed on institute
State outside welding gun 31.
With reference to figure 4 and Fig. 5, the drainage cover 33 includes interior gas hood 331, the and of outer gas hood 332 set gradually from inside to outside
Dash set 333.The interior gas hood 331 is internally formed the mounting hole 335 for setting welding gun 31.Outer gas hood 332 and interior gas hood 331
Between formed in convergent contour air cavity；The top cover of the air cavity is provided with closure 336；The outer gas hood 332 is connected with air inlet
Pipe 334.The tube chamber of air inlet pipe 334 connects with air cavity, to realize that compressed gas inputs.Dash set 333 is connected shape with outer gas hood 332
Chamber in a row；The bottom of the mounting hole 335 and the bottom of air cavity connect with row's chamber respectively.Wherein, the drainage cover 33 is underwater office
Drainage cover under the dedicated water of portion's dry method welding exploitation, the gas for being passed through drainage cover 33 is divided into two, all the way from top (mounting hole)
The arc protection gas being passed through and four tunnel draining gas being passed through from lateral four air inlet pipe 334 of drainage cover.Arc protecting atmosphere
Pressure size measures by substantial amounts of technological experiment：Under identical speed of welding, when the welding depth of water is set as 20cm, 0.2MPa
It is proper pressure value.Four tunnel draining gases are passed through direction inside drainage cover 33 and side is tangent, in drainage cover 33
The gas curtain of rotation is formed after merged inside.Simultaneously because the top-down area of outside cavity of drainage cover 33 is to gradually decrease
, plus the dilating effect of gas, when draining gas flows out drainage cover 33, gas is close to cavity in acceleration mode
Outside.The deflection for the rotation gas curtain that draining gas is formed is higher, and continuity is preferable, with reference to outside high temperature resistant protective case to hydraulic pressure
Inhibition, can internally form a stable gas phase zone well, ensure the stable burning of electric arc.Wherein, it is described
Dash set 333 is high temperature resistant protective case.
With reference to figure 6, the Arc Welding Power module 46 includes the current rectifying and wave filtering circuit electrically connected with the three-phase alternating current of outside
461st, the high frequency full bridge inverter 462 electrically connected with the current rectifying and wave filtering circuit 461 and the high frequency full bridge inverter
The power transforming circuit 463 of 462 electrical connections, the rectifier smoothing circuit 464 electrically connected with the power transforming circuit 463, it is described
Rectifier smoothing circuit 464 is electrically connected with output arc welding power supply with the welding system 30.Current rectifying and wave filtering circuit 461 is by three-phase alternating current
Electricity is converted to the first direct current, and the first direct current is converted to the first alternating current by high frequency full bridge inverter 462, and power becomes piezoelectricity
First alternating current is converted to the second alternating current by road 463, and rectifier smoothing circuit 464 is converted to the second alternating current the arc-welding of direct current
Power supply exports.
With continued reference to Fig. 6, the welding control module 45 is connected and detected with the output end of the rectifier smoothing circuit 464
The current signal and voltage signal of the Arc Welding Power are complete according to high frequency described in the current signal and voltage signal feedback control
Bridge inverter circuit 462 is worked, and the welding control module 45 is connected with the motor 321 of the wire feeder 32 and according to institute
State the rotating speed that welding control command controls the motor 321.
Wherein, the welding control module 45 includes control system, the detection of net pressure, voltage protection, temperature detection, temperature respectively
Spend protection, over-current detection, overcurrent protection, high-frequency drive, pulsewidth modulation, current detecting, voltage detecting, underwater fault detect, drive
These circuit units of dynamic circuit, control system is STM32F405RGT6ARM control systems, and it connects the detection of net pressure respectively, voltage is protected
Shield, temperature detection, temperature protection, over-current detection, overcurrent protection, high-frequency drive, pulsewidth modulation, current detecting, voltage detecting, water
Lower fault detect and drive circuit, current detecting, voltage detecting connect the output end of rectifier smoothing circuit 464 to detect respectively respectively
The electric current and voltage of the Arc Welding Power.Net presses detection to connect the input of current rectifying and wave filtering circuit 461
No exception, voltage protection control control system to act in three-phase alternating current overvoltage, and control system correspondingly controls high frequency full-bridge inverse
Become circuit 462 to be stopped.Temperature detection connects high frequency full bridge inverter 462 and surpassed in the temperature of high frequency full bridge inverter 462
Excess temperature signal is exported when going out preset value, the detection of overtemperature protection jointing temp controls control system action with the signal control of foundation excess temperature,
Control system correspondingly controls high frequency full bridge inverter 462 to be stopped.Over-current detection connect high frequency full bridge inverter 462 and
Output overcurrent signal during electric signal excessively stream in the loop of high frequency full bridge inverter 462, overcurrent protection connect over-current detection with foundation
Over-current signal control control control system action, control system correspondingly control high frequency full bridge inverter 462 to be stopped.Control
System to signal corresponding to non-inverting input to control the pwm signal of non-inverting input, high-frequency drive connect pulsewidth modulation with
According to drive signal corresponding to pwm signal output to drive high frequency full bridge inverter 462 to work.Underwater Welding fault detect is examined
Underwater Welding failure, such as wire feeder failure, welding gun failure etc. are surveyed, and drive circuit is exported into failure when failure occurs
The fault-signal is delivered to control system and motor, the stopping action of control motor, control by signal, drive circuit simultaneously
System processed is stopped according to fault-signal control high frequency full bridge inverter 462.
Wherein, its operation interface of the input module 41 of switch board 40 waterborne is divided into three bulks, respectively robot control zone,
Vision calibration and weld seam reconstruct area and welding control zone, robot control zone are used for the motion control commands for inputting robot,
And the real-time joint angle of robot and pose button can be selected in robot control zone, to cause the display interface of robot control zone
Show the posture (posture for including mechanical arm 13) of robot 10.Robot control zone also has " starting to weld " button, with defeated
Go out to weld control command.Welding control zone is used to show and input each control parameter of wire feeder.Vision calibration and weld seam
Reconstruct area is used to carry out the order inputs such as weld and HAZ, vision weld joint reconstruct, vision welding and data are shown.
The above disclosed right for being only the preferred embodiments of the present invention, the present invention can not being limited with this certainly
Scope, therefore the equivalent variations made according to scope of the present invention patent, still belong to the scope that the present invention is covered.
Claims (19)
- A kind of 1. nuclear power station Underwater Welding robot, it is characterised in that：Including：Underwater robot, including moving body, the cloud platform that is installed on the moving body and it is installed on the moving body On mechanical arm, the motor in each joint of the mechanical arm is respectively equipped with motor encoder and outwards output coder number According to；Underweater vision system, including the panoramic camera being installed in the cloud platform and the binocular being installed on the mechanical arm Video camera, the panoramic camera gather underwater video and outwards export panoramic video data, the binocular camera collection two Road underwater video simultaneously outwards exports two-path video data；Welding system, including welding gun and wire feeder, the welding gun are installed on the mechanical arm, and the wire feeder is installed on On the moving body and to the welding gun wire feed；Signal-transmitting cable, one end connect respectively the panoramic camera, binocular camera, moving body, cloud platform, mechanical arm and Wire feeder, one switch board waterborne of another termination is with to the panoramic camera, binocular camera, moving body, cloud platform, machine Tool arm and wire feeder remote power feeding, the panoramic video data, two-path video data and encoder data are remotely delivered to Switch board waterborne, and the control command that switch board waterborne is generated remotely is delivered to moving body, cloud platform, mechanical arm and wire feed Mechanism, the moving body, cloud platform, mechanical arm and wire feeder are according to the control command respective action.
- 2. nuclear power station Underwater Welding robot as claimed in claim 1, it is characterised in that：The mechanical arm is multiple degrees of freedom machine Tool arm, the welding gun are fixed on the end of the end effector arm of the multi-degree-of-freemechanical mechanical arm, and the Binocular robot is fixed In on the end effector arm.
- 3. nuclear power station Underwater Welding robot as claimed in claim 1, it is characterised in that：The cloud platform includes being fixedly mounted In the base on moving body, horizontally rotate the rotating turret being installed on the base, be vertically rotatablely installed in described Rotation seat on rotating turret, it is installed between the base and rotating turret and controls the rotating turret relative to the base rotation The first motor, be installed between the rotating turret and rotation seat and control what the rotation seat rotated relative to the rotating turret Second motor.
- 4. nuclear power station Underwater Welding robot as claimed in claim 1, it is characterised in that：Also include at least two Underwater Opticals Source, described signal-transmitting cable one end also connect the underwater light source, and other end long-distance control cabinet is with to underwater light source power supply And control command is delivered to the underwater light source, the underwater light source is opened and closed according to the control command.
- 5. nuclear power station Underwater Welding robot as claimed in claim 1, it is characterised in that：The welding system also includes draining Cover, the drainage cover are sheathed on outside the welding gun.
- A kind of 6. underwater robot welding system of nuclear power station, it is characterised in that：Including：Underwater robot, including moving body, the cloud platform that is installed on the moving body and it is installed on the moving body On mechanical arm, the motor in each joint of the mechanical arm is respectively equipped with motor encoder and output coder data；Underweater vision system, including the panoramic camera being installed in the cloud platform and the binocular being installed on the mechanical arm Video camera, the panoramic camera gather underwater video and export panoramic video data, and the binocular camera gathers two path water Lower video simultaneously exports two-path video data；Welding system, including welding gun and wire feeder, the welding gun are installed on the mechanical arm, and the wire feeder is installed on On the moving body and to the welding gun wire feed；Signal-transmitting cable, one end connect respectively the panoramic camera, binocular camera, moving body, cloud platform, mechanical arm and Wire feeder, one switch board waterborne of another termination is with to the panoramic camera, binocular camera, moving body, cloud platform, machine Tool arm and wire feeder remote power feeding, the panoramic video data, two-path video data and encoder data are remotely delivered to Switch board waterborne, and the control command that switch board waterborne is generated remotely is delivered to moving body, cloud platform, mechanical arm and wire feed Mechanism, the moving body, cloud platform, mechanical arm and wire feeder are according to the control command respective action；Switch board waterborne, it is with the underwater robot, underweater vision system and welding respectively by the signal-transmitting cable System is connected, and to welding system power supply, remotely receives the panoramic video data, two-path video data and encoder data, The angle-data in each joint of mechanical arm is calculated according to the encoder data to generate and show the appearance of the mechanical arm State signal, positioned according to the two-path video data and show position while welding, and receive the operational order of outside input, by described in Operational order is converted to corresponding control command and is delivered to the underwater robot and welding system, shows the panoramic video Data and two-path video data.
- 7. the underwater robot welding system of nuclear power station as claimed in claim 6, it is characterised in that：The switch board waterborne includes：Input module, input the control command of outside；Data acquisition module, gather the panoramic video data, two-path video data and encoder data；Display module；Processing module, receive panoramic video data, two-path video data and the encoder data of the data acquisition module input, According to the two-path video data tack weld position, the display module is controlled to show that the panoramic video data and two-way regard Frequency evidence, the angle-data in each joint of mechanical arm is calculated according to the encoder data to generate and control display module The attitude signal of the mechanical arm is shown, the control command is changed to and is delivered to motion-control module respectively and welds controlling Module；Motion-control module, control command controls the underwater human action according to corresponding to；Control module is welded, Arc Welding Power corresponding to the control command control Arc Welding Power module output according to corresponding to, according to right The control command answered controls wire feeder with corresponding speed wire feed；Arc Welding Power module, output arc welding power supply is with to welding system power supply.
- 8. the underwater robot welding system of nuclear power station as claimed in claim 6, it is characterised in that：The switch board waterborne is according to institute State two-path video data and calculate position coordinates of the weld seam based on the binocular camera in real time, according to the encoder data by base The position coordinates based on the welding gun is converted to obtain the welding seam position information in the position coordinates of the binocular camera, So as to position the position while welding, welding seam position information described in real-time display.
- 9. the underwater robot welding system of nuclear power station as claimed in claim 6, it is characterised in that：The switch board tack welding waterborne The method of seam position includes：According to the two-path video data automatic identification weld seam, and weld signature point corresponding to generating, foundation Seam track corresponding to the weld bead feature points generation.
- 10. the underwater robot welding system of nuclear power station as claimed in claim 6, it is characterised in that：The switch board waterborne is fixed Also the water is controlled after the position while welding of position according to the control command according to control command corresponding to position while welding generation Lower robot and welding system action, so as to control the weldering while mechanical arm is along the weld movement to commissure Welding system carries out welding action.
- 11. the underwater robot welding system of nuclear power station as claimed in claim 10, it is characterised in that：The switch board foundation waterborne Control command corresponding to the seam track generation, the specific step of the underwater human action is controlled according to the control command It is rapid as follows：The angle and pose in each joint of the mechanical arm are calculated and be shown according to the encoder data, according to the weld seam Position calculates the pose in each joint of mechanical arm corresponding to weld seam each point to generate position auto―control；Use kinematics inverse transformation method foundation The position auto―control calculates the angle sequence in each joint, the angle sequence in each joint is shown, according to the angle sequence Row automatically generate corresponding control command so that the welding gun is moved to the commissure.
- 12. the underwater robot welding system of nuclear power station as claimed in claim 7, it is characterised in that：The Arc Welding Power module bag Include the current rectifying and wave filtering circuit electrically connected with the three-phase alternating current of outside, the high frequency full-bridge inverting electrically connected with the current rectifying and wave filtering circuit Circuit, the power transforming circuit electrically connected with the high frequency full bridge inverter, electrically connect with the power transforming circuit it is whole Smooth circuit is flowed, the rectifier smoothing circuit is electrically connected with output arc welding power supply with the welding system.
- 13. the underwater robot welding system of nuclear power station as claimed in claim 12, it is characterised in that：It is described welding control module with The output end of the rectifier smoothing circuit connects and detects the current signal and voltage signal of the Arc Welding Power, according to the electricity Flow high frequency full bridge inverter work described in signal and voltage signal feedback control, the welding control module and the wire-feed motor The motor connection of structure simultaneously controls the rotating speed of the motor according to the control command.
- 14. the underwater robot welding system of nuclear power station as claimed in claim 6, it is characterised in that：How free the mechanical arm be Mechanical arm is spent, the welding gun is fixed on the end of the end effector arm of the multi-degree-of-freemechanical mechanical arm, the Binocular robot It is fixed on the end effector arm.
- 15. the underwater robot welding system of nuclear power station as claimed in claim 6, it is characterised in that：The cloud platform includes fixing The base that is installed on moving body, horizontally rotate the rotating turret being installed on the base, be vertically rotatablely installed in Rotation seat on the rotating turret, it is installed between the base and rotating turret and controls the rotating turret relative to the base First motor of rotation, it is installed between the rotating turret and rotation seat and controls the rotation seat to turn relative to the rotating turret The second dynamic motor, the switch board waterborne control the cloud platform action to be taken the photograph to adjust the panorama according to the control command The shooting angle of camera.
- 16. the underwater robot welding system of nuclear power station as claimed in claim 6, in addition at least two underwater light sources, the letter Number transmission cable includes light source transmission cable, and the light source transmission cable one terminates the underwater light source, other end remote control Cabinet to the underwater light source to power and control command be delivered into the underwater light source, and the underwater light source is according to the control Order opening and closing.
- 17. the underwater robot welding system of nuclear power station as claimed in claim 6, it is characterised in that：The welding system also includes Drainage cover, the drainage cover are sheathed on outside the welding gun.
- 18. a kind of underwater automatic soldering method of nuclear power station, underwater using the nuclear power station as any one of claim 1-17 Robot welding system carries out Underwater Welding, it is characterised in that：Comprise the following steps：(1) cloud platform control command of the switch board waterborne according to outside controls the cloud platform action, uses panoramic shooting Machine gathers panoramic video data, shows the panoramic video data；(2) car body control command control moving body of the switch board waterborne according to outside is moved to the default position of the weld seam Put；(3) binocular camera gathers the two-path video data, and the switch board waterborne is according to the two-path video data Position and show position while welding；(4) joint control order of the switch board waterborne according to outside controls each joint action of the mechanical arm so that described Welding gun is moved to the commissure or automatically generates corresponding joint control order so that the weldering according to the position while welding Rifle is moved to the commissure, and the switch board waterborne generates corresponding welding control when the welding gun is moved to the commissure System order or the welding control command according to outside control the welding system when the welding gun is moved to the commissure Carry out weld job；Wherein, the control command includes cloud platform control, car body control command, joint control order and welding control command.
- 19. the underwater automatic soldering method of nuclear power station as claimed in claim 18, it is characterised in that：The step (3) is specifically wrapped Include, joint control order of the switch board waterborne according to outside controls the mechanical arm to act so that the binocular camera edge The preset range movement of the weld seam is to obtain the two-path video data of weld seam, according to two-way video data identification weld seam simultaneously Weld signature point corresponding to generation, according to seam track corresponding to weld bead feature points generation, so as to tack weld position.
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Application publication date: 20180130 |