超长筒段内壁螺旋焊缝跟踪打磨控制研究

Research on tracking and grinding control of inner wall spiral weld seam in super long cylinder section

针对超长筒段内壁螺旋焊缝的打磨需求,设计了一种高精度内壁螺旋线焊缝打磨控制方法,通过速度反馈匹配、视觉图像补偿等多重手段,建立了实时跟踪检测机制,解决了螺旋线焊缝跟踪不同步的问题,实现了焊缝的精确打磨加工。通过实验验证了此控制方法的可行性,采用西门子的控制系统、伺服驱动器、编码器和视觉图像系统,结合机械结构系统,包括滚轮架、柔顺打磨工具、电机及行走轨道等,搭建全闭环软硬件控制系统平台,经过调试验证,通过图像系统实时监控和实际打磨效果的结合,验证了此方法应用于内壁螺旋线打磨的有效性,实现了精确跟踪打磨。

According to the grinding requirements of inner wall spiral weld of super long cylinder section,one kind of high-precision inner wall spiral weld grinding control method is designed.Through multiple means such as speed feedback matching and visual image compensation,a real-time tracking and detection mechanism is established,the problem of asynchronous tracking of spiral weld is solved,and the accurate grinding of weld is realized.The feasibility of this control method is verified by experiments.A full closed-loop software and hardware control system platform is built by using Siemens control system,servo driver,encoder and visual image system,combined with mechanical structure system,including roller frame,compliant grinding tool,motor and walking track.After debugging and verification,through the combination of real-time monitoring of image system and actual grinding effect,the effectiveness of this method applied to inner wall spiral grinding is verified,and accurate tracking grinding is realized.