CN108247250B

CN108247250B - Automatic welding system

Info

Publication number: CN108247250B
Application number: CN201711489652.6A
Authority: CN
Inventors: 唐星众; 秦雷; 侯林松; 高波; 冯光发
Original assignee: Chongqing Shanju Chemical Machinery Complete Equipment Co ltd
Current assignee: Chongqing Shanju Chemical Machinery Complete Equipment Co ltd
Priority date: 2017-12-30
Filing date: 2017-12-30
Publication date: 2020-07-10
Anticipated expiration: 2037-12-30
Also published as: CN108247250A

Abstract

The invention relates to the technical field of intelligent welding, and provides an automatic welding system which comprises a welding table for fixing a welding workpiece, a positioning robot for clamping and grabbing the welding workpiece, a welding robot, an upper or lower feeding lifter, an electrical control system, a three-dimensional debranning workpiece module and a transportation robot. The invention has the advantages that the procedures of manual analysis, workpiece taking and welding sequence distribution are reduced, and the labor cost is saved; adopt the welder of different voltages to weld through different thickness, also adopt different voltage welding when different metal welding simultaneously, guarantee that the welding effect is better.

Description

Automatic welding system

Technical Field

The invention relates to an intelligent welding system, in particular to an automatic welding model system in a three-dimensional environment.

Background

With the rapid development of the science and technology in the modern times, welding has already entered a brand-new development stage as a key manufacturing technology, and many latest scientific achievements, high and new technologies and leading-edge technologies in the fields of laser, digital control, computers, information processing, industrial robots and the like are continuously fused in welding, so that a plurality of straight seam automatic welding devices appear in large numbers. The welding torch of the automatic straight seam welding equipment is lifted by adopting an air cylinder, the height of the automatic straight seam welding equipment can be adjusted by a mechanical clamp only in a fine mode, and the automatic straight seam welding equipment is only suitable for welding thin walls of (0.5-6) mm in a single layer mode. In the industries of buildings, petrochemical industry, engineering machinery and the like, the application of multilayer and multi-pass welding of medium and heavy plates is more and more common along with the increase of the requirements of large-scale welding structures. At present, the domestic medium-thickness wall welding method takes multilayer and multichannel gas metal arc welding as the mainstream, generally adopts manual welding or semi-automatic welding, has low welding efficiency and higher labor intensity of workers. In addition, most of MAG/MIG/TIG and other consumable electrode gas shielded manual welding machines have high automation degree, and can realize all time sequence control of welding current, shielding gas, welding wires and the like except that the welding gun cannot be automatically driven to run.

The prior art has the defects that the welding time is too long, the welding point is too rough, a large amount of manpower is needed for matching in the welding process, the welding temperature is too high, the welding temperature of the weak welding point is difficult to control, and a welding system is lack of intelligent control.

Disclosure of Invention

The invention aims to provide a welding part which can be automatically clamped and placed at a correct position to complete automatic welding, manual operation is reduced in the whole welding process, the problems that feeding needs to be manually matched in the welding process and welding is performed in a later period in a leak repairing mode in the prior art are solved, and meanwhile, welding current can be freely switched at the welding temperature of a welding point according to the wall thickness of the welding part.

The invention provides an automatic welding system which comprises a welding table for fixing a welding workpiece, a positioning robot for clamping and grabbing the welding workpiece, a welding robot, an upper or lower material lifting machine, an electrical control system, a three-dimensional workpiece stripping module and a transport robot; the welding robot is provided with a welding gun, a welding gun buffering device and a three-dimensional graphic welding point start-stop position coordinate system, the upper or lower lifting machine is arranged at the tail end of the conveying belt and is connected with the conveying belt, and the transportation robot is arranged at the raw material pile positions of the welding workpieces stored on two sides of the conveying belt.

The using principle of the welding robot is that firstly, a three-dimensional figure of an integral welding workpiece is input into a three-dimensional workpiece de-planing module, the welding workpiece needing to be welded is automatically decomposed by the three-dimensional workpiece de-planing module, the three-dimensional workpiece de-planing module can sequentially transmit the information of the workpiece needing to be welded to the conveying robot according to different priorities of the welding parts, the conveying robot is arranged at different workpiece storage places, and the conveying robot at the workpiece storage place selects the workpiece and places the workpiece on a conveying belt arranged beside a workpiece stack according to different sequence processes of materials; then the conveying belt transfers the workpieces to be welded to an upper or lower material lifter at the tail end of the conveying belt singly according to the welding sequence; then, grabbing the additional welding workpiece on the upper or lower lifter by a positioning robot for clamping and grabbing the welding workpiece, and freely welding the additional welding workpiece with the start and stop points of the spatial position coordinates of the welding points according to the welding sequence; meanwhile, the electric control module controls the output voltage of the welding gun, so that the temperature of thick and thin points at different welding positions is controlled, the workpieces are welded in a matched mode, and finally, the welding table for fixing the welded workpieces is matched with the position change of the welded parts when the welding is started to cooperate with the welding process of rotating and lifting.

The automatic welding system and the device have the advantages that: the procedures of manual analysis, workpiece taking and welding sequence distribution are reduced, and the labor cost is saved; adopt the welder of different voltages to weld through different thickness, also adopt different voltage welding when different metal welding simultaneously, guarantee that the welding effect is better.

Drawings

FIG. 1 is a schematic flow diagram of an automated welding system of the present invention;

FIG. 2 is a schematic view of the workpiece flow of the automated welding system of the present invention;

wherein: 1. a welding table; 2. positioning the robot; 3. a welding robot; 4. an upper or lower elevator; 5. an electrical control module; 6. a control system; 7. a three-dimensional debranning workpiece module; 8. a transport robot; 9. and (4) a conveyor belt.

Detailed Description

The automated welding system of the present invention is further described with reference to the following figures and specific embodiments.

As shown in fig. 1 and 2, the automatic welding system comprises a welding table 1 for fixing a welding workpiece, a positioning robot 2 for clamping and grabbing the welding workpiece, a welding robot 3, an upper or lower material lifting machine 4, an electric control module 5, a control system 6, a three-dimensional workpiece stripping module 7 and a transport robot 8, a three-dimensional visual recognition module is arranged in the positioning robot 2 for clamping and grabbing the welding workpiece, which is connected with a three-dimensional workpiece-splitting module 7, and a buffer device is grabbed and placed to automatically identify and select the workpieces to be welded from an upper or lower material lifter 4, the welding robot 3 is provided with a welding gun and a welding gun buffer device, and a coordinate system of the start and stop positions of the three-dimensional graph welding points, an upper or lower material lifting machine 4 is arranged at the tail end of the conveyor belt 9, and the conveying robot 8 is arranged at the positions of the two sides of the conveyor belt 9 for storing the raw material piles of the welding workpieces.

The three-dimensional stereo graph of the whole welding workpiece is input into the three-dimensional workpiece de-planing module 7, the welding workpiece needing to be welded is automatically decomposed through the three-dimensional workpiece de-planing module 7, the three-dimensional workpiece de-planing module 7 can sequentially transmit the information of the workpiece needing to be welded to the conveying robot 8 according to different priorities of the welding parts, the conveying robot 8 is arranged at different workpiece storage places, the conveying robot 8 at the workpiece storage places selects the workpiece according to different sequence processes of materials, and the workpiece is placed on the conveying belt 9 arranged beside a workpiece stack; then the conveying belt 9 singly transmits the workpieces to be welded to the loading or unloading lifter 4 at the tail end of the conveying belt 9 according to the welding sequence; then, a positioning robot 2 for clamping and grabbing the welding workpiece grabs the additional welding workpiece on the upper or lower lifter 4, and freely welds the additional welding workpiece and the start and stop point of the spatial position coordinate of the welding point according to the welding sequence; meanwhile, the electric system controls the output voltage of the welding gun, further controls the temperature of thick and thin points at different welding positions, performs matched welding on the workpiece, and finally, the welding table 1 for fixing the welding workpiece at the beginning of welding also cooperates with the position change of the welding part to cooperate with the welding process of rotating and lifting. The procedures of manual analysis, workpiece taking and welding sequence distribution are reduced, and the labor cost is saved; adopt the welder of different voltages to weld through different thickness, also adopt different voltage welding when different metal welding simultaneously, guarantee that the welding effect is better.

The three-dimensional planning workpiece module 7 and the three-dimensional visual recognition module are a transcription and reverse transcription relation system which is matched with each other in input and output. The three-dimensional planning workpiece module 7 divides the whole welded workpiece according to the three-dimensional image division principle, and sequentially transmits signals to the transport robot 8 according to the welding sequence. The three-dimensional visual recognition module is arranged, whether the three-dimensional workpiece splitting module 7 sends an instruction to the transportation robot 8 to grab the workpieces according to the welding sequence or not is conveniently verified, the effect of verifying the sequence of the welded workpieces in the welding process is achieved, the welded workpieces are guaranteed not to be mistaken, and the whole automatic welding system is used for monitoring the welding process in an artificial intelligent mode.

The two sides of the welding table 1 for fixing the welding workpiece are provided with fixed and mutually clamped pawls which can freely move in a space plane to clamp and fix various parts. The welding workpiece can be fixed at any position in the space plane on the welding table 1, and the welding of a welding gun is facilitated.

The three-dimensional planning workpiece module 7 is used for decomposing and identifying a workpiece of a three-dimensional model recorded by the planning system, and appointing a corresponding workpiece model according to the decomposed graph and transmitting the workpiece model to the transport robot 8. The welding method ensures that the possibility of welding sequence errors of all welding workpieces in the welding process can not occur, and ensures that the welding workpieces are welded one by one according to certain welding workpieces.

The welding table 1 of the welding workpiece can rotate and lift. The welding position is rotated up and down by matching with the welding gun, so that the workpiece is easier to position and weld by the welding effect.

The welding gun is provided with a plurality of welding heads, and the welding voltage of each welding head corresponds to welding parts with various thicknesses and welding metals. Change the position of traditional welding mode through the different thickness of the voltage welding who changes welder, long-time change voltage influences potential device very greatly, and welded high voltage is very high to potential device's requirement moreover, is unfavorable for welding process's continuity, and it is long when having prolonged the welding, and the welding mode of a plurality of soldered connections makes the different soldered connections of the free switching of different welding parts realize the welding, when realizing the welding, the intelligent, the welding time of welded accelerate. And welding of welding heads with different metals capable of being automatically identified can be realized.

The above is merely a preferred embodiment of the present invention and is not intended to limit the present invention, and any modification, equivalent replacement, improvement, etc. made by those skilled in the art within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The automatic welding system comprises a welding table (1) for fixing a welding workpiece, a positioning robot (2) for clamping and grabbing the welding workpiece, a welding robot (3), an upper or lower material lifting machine (4), an electrical control module (5), a control system (6), a three-dimensional workpiece stripping module (7) and a transport robot (8), and is characterized in that a three-dimensional visual recognition module is arranged in the positioning robot (2) for clamping and grabbing the welding workpiece, is connected with the three-dimensional workpiece stripping module (7), grabs and places a buffer device, and automatically recognizes and selects the workpiece to be welded from the upper or lower material lifting machine (4); the welding robot (3) is provided with a welding gun, a welding gun buffer device and a start-stop position coordinate system of the three-dimensional graphic welding point; the feeding or blanking lifter (4) is arranged at the tail end of the conveyor belt and is connected with the conveyor belt (9); the conveying robot (8) is arranged at the positions, on two sides of the conveyor belt (9), of the raw material piles of the welding workpieces; the three-dimensional planning workpiece module (7) and the three-dimensional visual recognition module are mutually matched with a transcription and reverse transcription relation system for input and output; the two sides of the welding table (1) for fixing the welding workpiece are provided with fixed and mutually clamped pawls which can freely move in a space plane to clamp and fix various parts; the three-dimensional planning workpiece resolving module (7) is used for resolving and identifying a workpiece of a three-dimensional model input by a planning resolving system, and appointing a corresponding workpiece model according to a resolved graph and transmitting the workpiece model to the transport robot (8); the welding table (1) for welding the workpiece can rotate and lift; the welding gun is provided with a plurality of welding heads, and the welding voltage of each welding head corresponds to welding parts with various thicknesses and welding metals.