CN102672316B - A kind of autonomous formula Double Wire Welding robot system for cut deal welding - Google Patents
A kind of autonomous formula Double Wire Welding robot system for cut deal welding Download PDFInfo
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Abstract
The invention belongs to robotic welding technology field, specifically a kind of autonomous formula Double Wire Welding robot system for cut deal welding, comprise robot body, control system and double wire welding system, robot body comprises climbing mechanism and operating mechanism; Control system comprises sensor-based system, robot body control cabinet and robot master control system; Double wire welding system comprises double-wire welding gun, double wire welding power supply, mariages wire-feed motor, protection gas and welding cooling system.The invention has the advantages that and autonomous classification can follow the tracks of weld seam, possess remote welding optimum configurations and on-line tuning function, can autonomous classification groove central point; Adopt multiple degrees of freedom The Cloud Terrace to realize workpiece environmental monitoring, complete the front starting point macrotechnique of weldering, achieve intelligent welding; Adopt molten bath monitoring sensor to realize the pose adjustment of double-wire welding gun, the molten bath monitoring of welding process, namely microcosmic is autonomous.
Description
Technical field
The invention belongs to robotic welding technology field, specifically a kind of autonomous formula Double Wire Welding robot system for cut deal welding.
Background technology
For the welding of cut deal, double wire welding can improve welding efficiency and welding quality, but the structure of large-scale cut deal is no longer applicable to welder's manual operations, needs exploitation to be used for the robot system of the welding of autonomous formula.Double wire welding is suitable for large scale structure thick plates, also can reduce welding sermon when being applied to multi-layer multi-pass welding.For large scale structure, this body structure of parts, weight are not suitable for rotating or rotating, and existing special for automatic welding tractor needs to lay track mostly, and track flexibility is limited in scope, and laying operation is loaded down with trivial details; On the other hand, the double wire welding automation of large-scale component cannot apply stationary machine hand, and the present invention proposes a kind of autonomous formula double wire welding robot system.
Welding robot system is generally made up of welding load carrier, welding system, control system.Load carrier is divided into again fixed industry mechanical arm, rail mounted dolly, autonomous formula mechanism; Welding system is made up of the source of welding current, welding gun, protection gas, wire feeder etc.; Control system is responsible for the motion, tracking, welding quality control etc. of load carrier.
That be usually used in large-scale precision structure welding at present is rail mounted robot welding system, this system is made up of robot orbit, robot and welding system, need during use to carry out track laying in advance, be only applicable to the straight weld can laying track, and the flexibility of track within the specific limits, the conversion of weld seam form cannot be adapted to.
Double wire welding robot can adapt to all positon weld seam form of large-scale steel structure, adopt absorption type climbing mechanism, motion flexibly, adopt laser seam tracking sensor, possess macro environment monitoring and molten bath monitoring system, can meet when large slab all-position welding and swing requirement, control overflow and movement needs.
If number of patent application is 201010180754.1, the applying date is on May 14th, 2010, the patent of invention that name is called " welding setting device, welding robot system and welding establishing method ", its main technical schemes is: a kind of multiple-bead deposit setting device simultaneously, possess: lamination pattern determination portion, it, based on each input data and lamination pattern data base value, determines the lamination pattern of the welding bead corresponding with the joint of object; Individual operation welding bead determination portion, it is in the lamination pattern of two joints of object, when representing that the difference of the area of section of deposited metal amount when combining welding bead exceedes predetermined threshold value, using the welding bead of a side large for the area of section as individual operation welding bead get rid of after, determine the combination of simultaneously welding; Weld all condition determination portions, its determine to comprise with based on each pass weld condition inputting welding wire that welding condition calculates and give the corresponding current value of speed and seam forming position; Operation program generating unit, it generates the robot motion programs based on the welding condition determined, and is set in robot controller.The welding robot system of above-mentioned patent adopts rail mounted arrangement, soldering joint automatic tracking identification and autonomous function cannot be realized, and this welding system is applicable to the welding of streamline form and is not suitable for carrying out autonomous welding to large-scale steel structure members, welding type difference is larger.
And for example number of patent application is 201019063009.6, the applying date is on February 5th, 2010, name is called the patent of invention of " a kind of welding robot workstation system for injection molding machine frame ", comprise welding robot, welder, robot Mobile Slide, welding gun cooling device, intelligent locating tracking means and robot controlling case, welding robot is arranged on robot Mobile Slide; Welder is connected with welding robot and welding gun cooling device respectively; Robot controlling case is connected with intelligent locating tracking means with welding robot, robot Mobile Slide, welder respectively, for controlling movement and the welding of welding robot.The welding robot system of above-mentioned patent adopts rail mounted robot welding system, and cannot realize robot body automatic tracking welding seam and move freely and complete welding and this robot welds for injection molding machine frame, welding type scope is very limited.
Tsing-Hua University develops crawler type magnetic suck autonomous welding robot, and crawler type absorption travel mechanism absorption reliability is good but steering behaviour is poor, causes robot motion's very flexible, job position to adjust difficulty.Beijing Institute of Petrochemical Technology develops magnetic wheel type autonomous welding robot, and magnetic wheel type absorption travel mechanism kinematic dexterity is good but adsorption capacity is poor, and robot absorption reliability is low.So there is the problem that kinematic dexterity and adsorption capacity can not have concurrently in existing autonomous formula welding robot.
Summary of the invention
Existing to overcome existing Double Wire Welding robot the problem that kinematic dexterity and adsorption capacity can not have concurrently, proposing to meet cut deal welding now especially, have concurrently a kind of autonomous formula Double Wire Welding robot system for cut deal welding of flexibility and adsorption capacity, high-effect high-quality Intelligent welding.
For achieving the above object, technical scheme of the present invention is as follows:
For an autonomous formula Double Wire Welding robot system for cut deal welding, comprise robot body, control system and double wire welding system, it is characterized in that:
Robot body comprises climbing mechanism and operating mechanism: described climbing mechanism comprises the front-wheel module, the trailing wheel module of employing permanent magnetism gap adsorbent equipment, the vehicle frame being connected front and back wheel and the motor drive controller be arranged on vehicle frame that adopt and drive steering integrated magnet-wheel; Described operating mechanism comprises crosshead shoe and swing mechanism, swing mechanism front end clamping double-wire welding gun, the crosshead shoe that the free degree of horizontal and vertical directions is combined by two lead screw guide rails assembled units realizes, and swing mechanism adopts stepper motor collocation worm type of reduction gearing;
Control system comprises sensor-based system, robot body control cabinet and robot master control system;
Double wire welding system comprises double-wire welding gun, double wire welding power supply, mariages wire-feed motor, protection gas and welding cooling system;
The annexation of the welding gun of the annexation between double-wire welding gun, double wire welding power supply and double wire welding system and other welding systems, the source of welding current and welding system exists obviously different, but above-mentioned difference and specifically how connecting, and those skilled in the art known.
Robot body, control system are connected by cable with double wire welding system three.
Described front-wheel module and trailing wheel module are arranged on vehicle frame two ends respectively, and in trailing wheel module, place is provided with trailing wheel chassis, and chassis is provided with permanent magnet to trailing wheel;
Front-wheel module, for driving steering integrated magnet-wheel, comprises permanent magnet and wheel, and the permanent magnet of front-wheel adopts the magnetized annular permanent magnet of through-thickness; Trailing wheel module adopts permanent magnetism gap suction type, comprise permanent magnetism gap adsorbent equipment and wheel, permanent magnetism gap adsorbent equipment comprises the permanent magnet be arranged on around wheel on trailing wheel chassis, permanent magnetism gap adsorbent equipment is arranged on chassis around trailing wheel, non-contacting between described permanent magnetism gap adsorbent equipment and magnetic conduction wall, by regulating the distance setting permanent magnetic adhesion device between chassis and magnetic conduction wall and the air gap between magnetic conduction wall;
Described climbing mechanism adopts tricycle structure, and each wheel is driving wheel, relies on the controlled steering angle of the differential of two trailing wheels and front-wheel to realize turning to and rectilinear motion on magnetic conduction wall.
Described operating mechanism comprises crosshead shoe transverse axis, the crosshead shoe longitudinal axis, linking arm, weld seam tracking sensor connector and wig-wag connector, crosshead shoe transverse axis and the crosshead shoe longitudinal axis comprise stepper motor and precision ball screw guide rail respectively, weld seam tracking sensor is arranged on the front end of connector, wig-wag connector is arranged on the end of linking arm, swing mechanism is arranged on wig-wag connector, swing mechanism front end clamping double-wire welding gun, double-wire welding gun clamping and attitude-adjusting system.
Described sensor-based system comprises laser tracking transducer, environmental monitoring sensor and molten bath monitoring sensor, operating mechanism and environmental monitoring sensor are arranged on climbing mechanism, operating mechanism end installs laser tracking transducer, molten bath monitoring sensor and double-wire welding gun, robot body control cabinet is arranged on climbing mechanism, and robot controlling case is connected by cable with master control system; Described welding system double wire welding power supply, mariages wire-feed motor, protection gas are connected by cable with the welding gun of machine upper part.
The working method of described robot control system is: operator utilizes remote control handheld box control to move near starting the arc position, the adjustment of initial point position is completed again by robot sensing's control system, finally follow the tracks of weld seam by autonomous classification and realize the tracking of weld groove center position, robot control system adopts PCC or Industrial PC as master control system, the groove central point deviation signal control machine human body that laser Method Seam Tracking Sensing System gathers and operating mechanism motion; The control of double wire welding system comprises digital output modul, technological parameter is arranged.
Described robot control system adopts multiple degrees of freedom The Cloud Terrace to realize the monitoring of macroscopical welding surroundings, completes the front starting point macrotechnique of weldering; Molten bath monitoring sensor is adopted to realize the pose adjustment of microcosmic double-wire welding gun, the molten bath monitoring of welding process.
Described robot system main control system carries out communication by Device net and the source of welding current, completes welding parameter arrange and welding parameter on-line tuning by host computer control interface, controls welding and starts and stop.
The steering integrated magnet-wheel concrete structure of described driving is: roll rotating shaft one end and be arranged on car body fixed frame, other end turntable lower supporting plate connects, turntable upper backup pad, turret supports column is connected with turntable lower supporting plate, turntable cover plate is connected with turntable upper backup pad, taper roll bearing is arranged in two gripper shoes, steering spindle is bearing on taper roll bearing, steering spindle is connected with 60 tooth straight-tooth gears, angular transducer power shaft and steering spindle affixed, angular transducer support bar is connected with turntable upper backup pad, angular transducer is connected with angular transducer support bar, steer motor installing plate is connected with turntable upper backup pad, reducing motor is turned to be connected with steer motor installing plate, 20 tooth straight bevel gears are fixed in and turn on reducing motor output shaft, the 40 tooth straight bevel gears be meshed with it are mounted on bevel gear shaft, bevel gear shaft is supported by the first deep groove ball bearing being arranged on turntable upper backup pad, opposite side and the 19 tooth straight-tooth gears of bevel gear shaft pass through Flat dey joint, 19 tooth straight-tooth gears engage with 60 tooth straight-tooth gears, the lower end of steering spindle is connected with turning to substrate, installing plate on the left of wheel, installing plate on the right side of wheel, drive motors installing plate is connected with turning to substrate, reducing motor is driven to be connected with drive motors installing plate, small synchronous pulley axle is affixed with the output shaft of driving reducing motor, small synchronous pulley is arranged on small synchronous pulley axle by Flat dey joint, front-wheel module permanent magnet and wheel yoke are arranged on axletree by Flat dey joint, axletree to be bearing on the left of wheel on the right side of installing plate and wheel between installing plate by the first deep groove ball bearing and the second deep groove ball bearing, large synchronous pulley is arranged on the opposite side of axletree by Flat dey joint, connected by Timing Belt between large synchronous pulley and small synchronous pulley, be connected by screw between tensioning running roller and tensioning running roller support bar, tensioning running roller support bar to be arranged on the left of wheel on installing plate by screw, drive between reducing motor and axletree and pass through toothed belt transmission, steering driving mechanism also comprises steering spindle, steering shaft lower portion is provided with drive mechanism for wheel and roller, described steer axis and wheel axis perpendicular quadrature.
The invention has the advantages that:
1, climbing mechanism system of the present invention adopts complex method and the full drive-type move mode of three-wheel of the absorption of contact magnet-wheel and non-contact gap absorption, robot can move in large-scale steel structure surface all positon independent and flexible, reliably adsorb and implement to tremble enforcement mariages all-position welding operation, and overall system performance is good.
2, the present invention adopts the control mode of " macroscopical remote control, microcosmic autonomous ", autonomous classification can follow the tracks of weld seam, possess remote welding optimum configurations and on-line tuning function, can autonomous classification groove central point; Adopt multiple degrees of freedom The Cloud Terrace to realize workpiece environmental monitoring, complete the front starting point macrotechnique of weldering, achieve intelligent welding; Adopt molten bath monitoring sensor to realize the pose adjustment of double-wire welding gun, the molten bath monitoring of welding process, namely microcosmic is autonomous.
3, the present invention can adapt to all positon weld seam form of large-scale steel structure, adopt absorption type climbing mechanism, motion flexibly, adopt laser seam tracking sensor, possess macro environment monitoring and molten bath monitoring system, can meet when large slab all-position welding and swing requirement, control overflow and movement needs.
4, operation of the present invention and swing mechanism are applicable to creeping-type welding robot, Y-axis and Z axis two frees degree are provided, by swing mechanism for the shake heating wire TIG welding gun that leading portion clamps provides a rotary freedom around X-axis to realize oscillating function by the crosshead shoe of operating mechanism.Crosshead shoe adopts high precision ball lead screw guide rails to coordinate stepper motor combination to form, and positioning precision can reach 0.02mm, to ensure that the craft precision requirement of weld seam followed the tracks of by welding gun.Swing mechanism is by worm and gear collocation stepper motor for welding gun provides rotary freedom, and output torque is not less than 10Nm, and welding gun can be made to realize swinging welding centered by any swing angle.
5, the linking arm arm exhibition of operating mechanism of the present invention can manual adjustments, and most large arm exhibition can reach 450mm.The gripper mechanism grips position of weld seam tracking sensor can manual adjustments, X-axis adjustable extent 120mm, the maximum adjustable extent 350mm of Y-axis, Z axis adjustable extent 100mm, larger adjustable space scope ensures that weld seam tracking sensor position can adapt to shake the various attitude demands of heating wire TIG welding gun under multiple welding procedure.
6, drive by toothed belt transmission between reducing motor and axletree, by regulating drive centre distancc can obtain larger installing space, the driving reducing motor of relatively high power being installed thus improving driving moment.
7, be provided with and independently turn to the free degree and make steer axis and wheel axis perpendicular quadrature, the independent steering of wheel can be realized, improve climbing robot kinematic dexterity.
8, be provided with passive banking degree of freedom and by rolling confinement block constrained side tilt angle within positive and negative 10 degree, make climbing robot be provided with good curved surface adaptive capacity.
9, confinement block realizes constrained side degree of tilt function by mechanical position limitation is rolled.
10, described steering structure and wheel rolling are all provided with independently driving mechanism.
11, the advantage that autonomous formula robot is combined with double-wire welding gun is that whole welding robot system can realize double wire welding while autonomous, due to monofilament weld time, if speed of welding is higher, the heat of electric arc does not have to spread to mother metal fully, the molten bath formed is little, mother metal thermograde is around large, molten bath is solidified soon, deposite metal has little time fully to fuse with mother metal, easy generation undercut, and Double Wire Welding electric current is larger, be conducive to forming larger fusion penetration, two root wires heat each other, take full advantage of the energy of electric arc, realize larger deposition rate, make in molten bath, have sufficient motlten metal and mother metal fully to fuse, appearance of weld is attractive in appearance.
Accompanying drawing explanation
Fig. 1 is structure chart of the present invention.
Fig. 2 is robot body figure of the present invention.
Fig. 3 is climbing mechanism structural representation of the present invention.
Fig. 4 is climbing mechanism trailing wheel module diagram of the present invention.
Fig. 5 is operating mechanism schematic diagram of the present invention.
Fig. 6 is system construction drawing of the present invention.
Fig. 7 is permanent magnetism gap adsorbent equipment structural representation.
Fig. 8 is for driving steering integrated magnet-wheel structural representation.
Fig. 9 is the sectional view that front-wheel crosses steering spindle and bevel gear shaft.
Figure 10 is magnet-wheel sectional view.
1 operating mechanism in accompanying drawing, 2 molten bath sensors, 3 double-wire welding guns, 4 laser tracking transducers, 5 weld seams, 6 climbing mechanisms, 7 multiple degrees of freedom The Cloud Terraces, 8 robot body control cabinets, 9 cables, 10 welding objects, 11 mariages wire-feed motor, 12 double wire welding power supplys, 13 protection gas, 14 welding cooling systems, 15 robot master control systems, 16 remote control operation boxes;
17 front-wheel modules, 18 vehicle frames, 19 motor drive controllers, 20 trailing wheel modules;
21 permanent magnets, 22 chassis, 23 wheels, 24 turbine and worm decelerators, 25 planetary reducers, 26 motors;
27 Timing Belts, 28 decelerators, 29 turn to soleplate, 30 .20 tooth straight bevel gears;
31 steering spindles, 32.60 tooth roller gears, 33 tooth roller gears, 34 bevel gear shafts, 35.40 tooth straight bevel gears.
36 front-wheel module permanent magnets, 37 yokes.
41 crosshead shoe transverse axis, the 42 crosshead shoe longitudinal axis, 43 linking arms, 44 weld seam tracking sensor connectors, 45 wig-wag connectors, 46 swing mechanisms, 47 welding guns, 48 weld seam tracking sensors.
Detailed description of the invention
For an autonomous formula Double Wire Welding robot system for cut deal welding, comprise robot body, control system and double wire welding system, it is characterized in that:
Robot body comprises climbing mechanism and operating mechanism: described climbing mechanism comprises the front-wheel module, the trailing wheel module of employing permanent magnetism gap adsorbent equipment, the vehicle frame being connected front and back wheel and the motor drive controller be arranged on vehicle frame that adopt and drive steering integrated magnet-wheel; Described operating mechanism comprises crosshead shoe and swing mechanism, swing mechanism front end clamping double-wire welding gun, the crosshead shoe that the free degree of horizontal and vertical directions is combined by two lead screw guide rails assembled units realizes, and swing mechanism adopts stepper motor collocation worm type of reduction gearing;
Control system comprises sensor-based system, robot body control cabinet and robot master control system;
Double wire welding system comprises double-wire welding gun, double wire welding power supply, mariages wire-feed motor, protection gas and welding cooling system;
Robot body, control system are connected by cable with double wire welding system three.
Described front-wheel module and trailing wheel module are arranged on vehicle frame two ends respectively, and in trailing wheel module, place is provided with trailing wheel chassis, and chassis is provided with permanent magnet to trailing wheel;
Front-wheel module, for driving steering integrated magnet-wheel, comprises permanent magnet and wheel, and the permanent magnet of front-wheel adopts the magnetized annular permanent magnet of through-thickness; Trailing wheel module adopts permanent magnetism gap suction type, comprises
permanent magnetism gap adsorbent equipmentand wheel,
permanent magnetism gap adsorbent equipment comprisesthe permanent magnet on trailing wheel chassis is arranged on around wheel, permanent magnetism gap adsorbent equipment is arranged on chassis around trailing wheel, non-contacting between described permanent magnetism gap adsorbent equipment and magnetic conduction wall, by regulating the distance setting permanent magnetic adhesion device between chassis and magnetic conduction wall and the air gap between magnetic conduction wall;
Described climbing mechanism adopts tricycle structure, and each wheel is driving wheel, relies on the controlled steering angle of the differential of two trailing wheels and front-wheel to realize turning to and rectilinear motion on magnetic conduction wall.
Described operating mechanism comprises crosshead shoe transverse axis, the crosshead shoe longitudinal axis, linking arm, weld seam tracking sensor connector and wig-wag connector, crosshead shoe transverse axis and the crosshead shoe longitudinal axis comprise stepper motor and precision ball screw guide rail respectively, weld seam tracking sensor is arranged on the front end of connector, wig-wag connector is arranged on the end of linking arm, swing mechanism is arranged on wig-wag connector, swing mechanism front end clamping double-wire welding gun, double-wire welding gun clamping and attitude-adjusting system.
Described sensor-based system comprises laser tracking transducer, environmental monitoring sensor and molten bath monitoring sensor, operating mechanism and environmental monitoring sensor are arranged on climbing mechanism, operating mechanism end installs laser tracking transducer, molten bath monitoring sensor and double-wire welding gun, robot body control cabinet is arranged on climbing mechanism, and robot controlling case is connected by cable with master control system; Described welding system double wire welding power supply, mariages wire-feed motor, protection gas are connected by cable with the welding gun of machine upper part.
The working method of described robot control system is: operator utilizes remote control handheld box control to move near starting the arc position, the adjustment of initial point position is completed again by robot sensing's control system, finally follow the tracks of weld seam by autonomous classification and realize the tracking of weld groove center position, robot control system adopts PCC or Industrial PC as master control system, the groove central point deviation signal control machine human body that laser Method Seam Tracking Sensing System gathers and operating mechanism motion; The control of double wire welding system comprises digital output modul, technological parameter is arranged.
Described robot control system adopts multiple degrees of freedom The Cloud Terrace to realize the monitoring of macroscopical welding surroundings, completes the front starting point macrotechnique of weldering; Molten bath monitoring sensor is adopted to realize the pose adjustment of microcosmic double-wire welding gun, the molten bath monitoring of welding process.
Described robot system main control system carries out communication by Device net and the source of welding current, completes welding parameter arrange and welding parameter on-line tuning by host computer control interface, controls welding and starts and stop.
Below in conjunction with accompanying drawing, the present invention will be further described.
As shown in Figure 1, autonomous formula double wire welding robot system is made up of robot body, control system, double wire welding system.Robot body comprises operating mechanism and climbing mechanism; control system comprises sensor-based system (multiple degrees of freedom The Cloud Terrace, laser tracking transducer and molten bath monitoring sensor), robot body control cabinet and robot master control system, and double wire welding system comprises double-wire welding gun, double wire welding power supply, wire-feed motor, protection gas.
Device robot system is from being spatially divided into " the machine upper part " of walking on operation workpiece and " the machine lower part " be installed on outside operation workpiece.Machine upper part comprises robot body, robot body control cabinet, sensor-based system, Double Wire Welding special welding gun, the operating mechanism that end installs welding gun, oscillator of welding gun and sensing device is arranged on climbing mechanism, robot body control cabinet, macroscopical supervising device are arranged on climbing mechanism, and oscillator of welding gun is used for realizing moon dentition formula swing in welding process; Machine lower part is comprising main control system, straighforward operation input equipment, double wire welding power supply, mariages wire feeder and mariages special welding gun; Machine upper part welding gun, robot body control cabinet are connected by cable with machine lower part welding power source system, robot engine control system, and cable comprises forceful electric power, light current, tracheae.
Machine upper part: comprise robot body (operating mechanism, climbing mechanism), robot body control cabinet, sensor-based system (multiple degrees of freedom The Cloud Terrace, laser tracking transducer and molten bath monitoring sensor), double-wire welding gun.Operating mechanism and multiple degrees of freedom The Cloud Terrace are arranged on climbing mechanism, and operating mechanism end installs laser tracking transducer, molten bath monitoring sensor, welding gun, and robot body control cabinet is arranged on climbing mechanism.Wherein climbing mechanism and the operating mechanism be arranged on climbing mechanism are collectively referred to as robot body.
Machine lower part: comprise robot master control system, remote control operation box, double wire welding power supply, Plasma Welding power supply, mariages wire-feed motor, protection gas.The robot body control cabinet of machine upper part is connected by cable with the robot master control system of machine lower part, and double wire welding power supply, mariages wire-feed motor, protection gas are connected by cable with the welding gun of machine upper part.Cable comprises fulgurite, water pipe, tracheae and holding wire.
As shown in Figure 2, robot body comprises climbing mechanism and operating mechanism.
As shown in Figure 3 and Figure 4, climbing mechanism comprises the motor drive controller adopting and drive the front-wheel module of steering integrated magnet-wheel, the trailing wheel module of employing permanent magnetism gap adsorbent equipment, the vehicle frame of connection front and back wheel and be arranged on vehicle frame.Wherein, trailing wheel chassis adopts mild steel (as Q235) manufacture, except as supporting except the function of rear-wheel structure, also as yoke be arranged on the part forming magnetic circuit together with the permanent magnet on trailing wheel chassis around wheel.Connect two stage reducer band motor car wheel after motor, the first order is planetary reducer, and the second level is turbine and worm decelerator, and turbine and worm decelerator is connected by screw and is arranged on trailing wheel chassis.Magnet-wheel is made up of 1 piece of permanent magnet and 2 pieces of yokes.Described permanent magnet adopts the magnetized annular permanent magnet of through-thickness, and permanent magnet can adopt high performance permanent magnetic materials as manufactures such as NdFeB, and yoke adopts mild steel (as Q235 etc.) manufacture.
As shown in Figure 5, operating mechanism is primarily of crosshead shoe transverse axis, the crosshead shoe longitudinal axis, linking arm, weld seam tracking sensor connector, wig-wag connector composition.Crosshead shoe transverse axis and the crosshead shoe longitudinal axis are made up of stepper motor and precision ball screw guide rail respectively.By support installing on a mobile platform, the longitudinal axis is arranged on transverse axis slide block transverse axis 4-1.Transverse axis provides the Y-axis free degree, working range 90mm; The longitudinal axis provides the Z axis free degree, working range 75mm.Crosshead shoe single shaft positioning precision 0.02mm.Linking arm is arranged on longitudinal axis slide block by fixture block, linking arm most large arm exhibition 450mm, and by regulating fixture block clip position to carry out manual adjustments.On the connecting arm, the clip position of manual adjustments connector can provide the position range of 350mm for weld seam tracking sensor to the clamping of weld seam tracking sensor connector.Weld seam tracking sensor is arranged on the front end of connector, scans weld seam, instruct the action of crosshead shoe and mobile platform during work to weld seam Emission Lasers bundle.Wig-wag connector is arranged on the end of linking arm, and the height of connector can manual adjustments, for swing mechanism provides the adjusting range of Z-axis direction 80mm.Swing mechanism is arranged on connector, front end clamping welding gun.Figure 6 shows that robot control system sequential chart.Control system adopts PCC or Industrial PC as master control system, and each function plate is modularized design.Utilize the FEEDBACK CONTROL robot body climbing mechanism of laser tracking transducer and the motion of operating mechanism; Digital output modul is utilized to weld the actions such as startup, stopping; Possess remote welding optimum configurations and on-line tuning function; Tool adopts multiple degrees of freedom The Cloud Terrace to realize the monitoring of macroscopical welding surroundings, adopts molten bath monitoring sensor to realize the monitoring of microcosmic welding pool; During operation, start double wire welding power supply, and open robot feed motion; Receive in arc process, double wire welding power supply and robot system are closed simultaneously.Supervisory control comuter by Ethernet 1. connection 2. the parameter of program calculation machine controller is set, and accept the video data of video server.3. programmable computer controller is connected with handheld box, driver by CAN.7. the setting that driver control executing agency of creeping, 4. operation executing agency programmable computer controller carries out welding machine adapter by RS485 bus, 9. read with IO the status information that laser follows sensor and position switch by RS232 bus.Video server is by the video information of video interface 8. 10. environment of accepting monitoring head, environmental monitoring video camera, molten bath CCTV camera.
Double wire welding power supply is connected with control system by Devicenet, utilizes distinctive mariages wire-feed motor and double-wire welding gun to weld.
Supervisory control comuter adopts PC104 industrial computer to realize, and wherein has 2 Ethernet interfaces: one for carrying out with programmable computer controller being connected, one for being connected with video server.
Environmental monitoring video camera adopts SONY The Cloud Terrace CCTV camera, can to the profile of workpiece, and robot is monitored.The optical filter that operation field CCTV camera is equipped with speciality completes in welding process, the monitoring in molten bath.
The climbing mechanism drive system of robot have employed two MAXON direct current generators, and operating structure is crosshead shoe, and drive motors selects stepper motor.Motor driver adopts ELMO driver.
Robot localization sensor adopts laser seam tracking sensor, carries out the determination of welding seam position information.Operation adapter is source of welding current adapter, by adapter can control weld electric current, voltage, startup, stopping.Limit switch is arranged on crosshead shoe, completes limit function.
When welding, welding seam position information is passed to programmable computer controller by laser seam tracking sensor in real time, and programmable computer controller first carries out signal filtering, and according to position deviation, crosshead shoe can be followed the tracks of accurately.And programmable computer controller utilizes filtered positional information to carry out the location estimation of robot crawling mechanism, according to position deviation, climbing mechanism carries out rough tracking.
Permanent magnetism gap adsorbent equipment as shown in Figure 7, the Nd-Fe-B permanent magnet magnetized by 12 pieces of thickness directions forms, each trailing wheel respectively arranges 6 pieces of permanent magnets, N pole and S pole are staggered formation magnetic circuit, be arranged on chassis around trailing wheel, be non-contacting between described permanent magnetism gap adsorbent equipment and magnetic conduction wall, set the air gap between described permanent magnetic adhesion device and magnetic conduction wall by the distance between adjustment chassis and magnetic conduction wall.
Fig. 8 is the three-dimensional model diagram of front-wheel, and Fig. 9 is the sectional view that front-wheel crosses steering spindle and bevel gear shaft, and Figure 10 was the sectional view of front-wheel axletree.Wherein, DC brushless motor and planetary reducer drive bevel gear shaft to rotate through 20 tooth straight bevel gears and 40 tooth Straight Bevel Gear Drive, bevel gear shaft drives steering spindle to rotate by 19 tooth roller gears and 60 tooth column gear transmission again, steering spindle with turn to soleplate to be fixed by screw attachment.Front-wheel drive motor and decelerator adopt brush direct current motor and planetary reducer, drive front-wheel by toothed belt transmission.Front-wheel is magnet-wheel, and structure is shown in Figure 10.Magnet-wheel is made up of 1 piece of front-wheel module permanent magnet and 2 pieces of yokes.Described permanent magnet adopts the magnetized annular permanent magnet of through-thickness, and permanent magnet can adopt high performance permanent magnetic materials as manufactures such as NdFeB, and yoke adopts mild steel (as Q235 etc.) manufacture.
A kind of embodiment of steering integrated magnet-wheel is driven to be, roll rotating shaft one end by the sliding supported condition be arranged on car body fixed frame, it is affixed that the other end and turntable lower supporting plate pass through thread connection, turntable upper backup pad, turret supports column and turntable lower supporting plate are connected by screw, turntable cover plate and turntable upper backup pad are connected by screw, two taper roll bearings are arranged in two gripper shoes face-to-face, steering spindle is bearing on these two taper roll bearings, steering spindle is connected by flat key with 60 tooth straight-tooth gears, angular transducer power shaft and steering spindle affixed, angular transducer support bar and turntable upper backup pad are connected by screw, angular transducer and angular transducer support bar are connected by screw, steer motor installing plate and turntable upper backup pad are connected by screw, reducing motor and steer motor installing plate is turned to be connected by screw, 20 tooth straight bevel gears are fixed in and turn on reducing motor output shaft, the 40 tooth straight bevel gears be meshed with it are arranged on bevel gear shaft by Flat dey joint, bevel gear shaft is supported by the first deep groove ball bearing being arranged on turntable upper backup pad, opposite side and the 19 tooth straight-tooth gears of bevel gear shaft pass through Flat dey joint, 19 tooth straight-tooth gears engage with 60 tooth straight-tooth gears, the lower end of steering spindle with turn to substrate to be connected by screw, installing plate on the left of wheel, installing plate on the right side of wheel, drive motors installing plate with turn to substrate to be connected by screw, reducing motor and drive motors installing plate is driven to be connected by screw, small synchronous pulley axle is affixed with the output shaft of driving reducing motor, small synchronous pulley is arranged on small synchronous pulley axle by Flat dey joint, front-wheel module permanent magnet and wheel yoke are arranged on axletree by Flat dey joint, axletree to be bearing on the left of wheel on the right side of installing plate and wheel between installing plate by the first deep groove ball bearing and the second deep groove ball bearing, large synchronous pulley is arranged on the opposite side of axletree by Flat dey joint, connected by Timing Belt between large synchronous pulley and small synchronous pulley, be connected by screw between tensioning running roller and tensioning running roller support bar, tensioning running roller support bar to be arranged on the left of wheel on installing plate by screw.Magnet-wheel comprises front-wheel module permanent magnet and wheel yoke.
Programmable computer controller, is called for short PCC(programmable computer controller), be a kind of programmable computer controller of new generation.
Devicenet is that the one that grows up the mid-90 is based on CAN(Controller Area Network) style of opening of technology, the low cost meeting global industry standard, high performance communication network, at first by Rockwell company of U.S. Application and Development.Devicenet has now become international standard IEC62026-3 " low voltage switch equipment and control appliance Control Unit Device Interface ", and is listed in European standard, is also the facility network standard in actual Asia and America.
Double-wire welding gun in the application refers in the prior art, welding gun that those skilled in the art know, that be applicable to double wire welding.
Claims (7)
1., for an autonomous formula Double Wire Welding robot system for cut deal welding, comprise robot body, control system and double wire welding system,
Robot body comprises climbing mechanism (6) and operating mechanism (1): described climbing mechanism (6) comprises the front-wheel module (17), the trailing wheel module (20) of employing permanent magnetism gap adsorbent equipment, the vehicle frame (18) being connected front and back wheel and the motor drive controller (19) be arranged on vehicle frame (18) that adopt and drive steering integrated magnet-wheel; Described operating mechanism (1) comprises crosshead shoe and swing mechanism (46), swing mechanism (46) front end clamping double-wire welding gun (3), the crosshead shoe that the free degree of horizontal and vertical directions is combined by two lead screw guide rails assembled units realizes, and swing mechanism (46) adopts stepper motor collocation worm type of reduction gearing (28);
Control system comprises sensor-based system, robot body control cabinet (8) and robot master control system (15);
Double wire welding system comprises double-wire welding gun (3), double wire welding power supply (12), mariages wire-feed motor (11), protection gas (13) and welding cooling system (14);
Robot body, control system are connected by cable (9) with double wire welding system three, it is characterized in that:
Described front-wheel module (17) and trailing wheel module (20) are arranged on vehicle frame (18) two ends respectively, are provided with the chassis (22) of trailing wheel at trailing wheel module (20) place, and the chassis (22) of trailing wheel is provided with permanent magnet (21);
Front-wheel module (17), for driving steering integrated magnet-wheel, comprises permanent magnet (21) and wheel (23), and the permanent magnet (21) of front-wheel adopts the magnetized annular permanent magnet of through-thickness (21); Trailing wheel module (20) adopts permanent magnetism gap suction type, comprise permanent magnetism gap adsorbent equipment and wheel (23), permanent magnetism gap adsorbent equipment comprises and is surrounded on wheel (23) and the permanent magnet (21) be arranged on the chassis (22) of trailing wheel, permanent magnetism gap adsorbent equipment is arranged on chassis (22) around trailing wheel, non-contacting between described permanent magnetism gap adsorbent equipment and magnetic conduction wall, by regulating the distance setting permanent magnetic adhesion device between chassis (22) and magnetic conduction wall and the air gap between magnetic conduction wall;
Described climbing mechanism (6) adopts tricycle structure, and each wheel (23) is driving wheel, relies on the controlled steering angle of the differential of two trailing wheels and front-wheel to realize turning to and rectilinear motion on magnetic conduction wall.
2. a kind of autonomous formula Double Wire Welding robot system for cut deal welding according to claim 1, it is characterized in that: described operating mechanism (1) comprises crosshead shoe transverse axis (41), the crosshead shoe longitudinal axis (42), linking arm (43), weld seam tracking sensor connector (44) and wig-wag connector (45), crosshead shoe transverse axis (41) and the crosshead shoe longitudinal axis (42) comprise stepper motor and precision ball screw guide rail respectively, weld seam tracking sensor (48) is arranged on the front end of connector, wig-wag connector (45) is arranged on the end of linking arm (43), swing mechanism (46) is arranged on wig-wag connector (45), swing mechanism (46) front end clamping double-wire welding gun (3), double-wire welding gun (3) clamping attitude-adjusting system.
3. a kind of autonomous formula Double Wire Welding robot system for cut deal welding according to claim 2, it is characterized in that: described sensor-based system comprises laser tracking transducer (4), environmental monitoring sensor and molten bath monitoring sensor (2), operating mechanism (1) and environmental monitoring sensor are arranged on climbing mechanism (6), operating mechanism (1) end installs laser tracking transducer (4), molten bath monitoring sensor (2) and double-wire welding gun (3), robot body control cabinet (8) is arranged on climbing mechanism (6), robot controlling case is connected by cable with master control system, described welding system double wire welding power supply (12), wire-feed motor (11), protection gas (13) are connected by cable (9) with the welding gun of machine upper part.
4. a kind of autonomous formula Double Wire Welding robot system for cut deal welding according to claim 3, it is characterized in that: the working method of described robot control system is: operator utilizes remote control handheld box (16) control to move near starting the arc position, the adjustment of initial point position is completed again by robot sensing's control system, finally follow the tracks of weld seam by autonomous classification and realize the tracking of weld groove center position, robot control system adopts PCC or Industrial PC as master control system, the groove central point deviation signal control machine human body that laser Method Seam Tracking Sensing System gathers and operating mechanism motion, the control of double wire welding system comprises digital output modul, technological parameter is arranged.
5. a kind of autonomous formula Double Wire Welding robot system for cut deal welding according to claim 3, it is characterized in that: described robot control system adopts multiple degrees of freedom The Cloud Terrace (7) to realize the monitoring of macroscopical welding surroundings, complete the front starting point macrotechnique of weldering; Molten bath monitoring sensor (2) is adopted to realize the pose adjustment of microcosmic double-wire welding gun, the molten bath monitoring of welding process.
6. a kind of autonomous formula Double Wire Welding robot system for cut deal welding according to claim 5, it is characterized in that: described robot system main control system carries out communication by Device net and the source of welding current, complete welding parameter by host computer control interface to arrange and welding parameter on-line tuning, control welding and start and stop.
7. a kind of autonomous formula Double Wire Welding robot system for cut deal welding according to claim 1, it is characterized in that: the steering integrated magnet-wheel concrete structure of described driving is: roll rotating shaft one end and be arranged on car body fixed frame, other end turntable lower supporting plate connects, turntable upper backup pad, turret supports column is connected with turntable lower supporting plate, turntable cover plate is connected with turntable upper backup pad, taper roll bearing is arranged in two gripper shoes, steering spindle (31) is bearing on taper roll bearing, steering spindle (31) is connected with 60 tooth straight-tooth gears, angular transducer power shaft and steering spindle (31) affixed, angular transducer support bar is connected with turntable upper backup pad, angular transducer is connected with angular transducer support bar, steer motor installing plate is connected with turntable upper backup pad, reducing motor is turned to be connected with steer motor installing plate, 20 tooth straight bevel gears (30) are fixed in and turn on reducing motor output shaft, the 40 tooth straight bevel gears (35) be meshed with it are mounted on bevel gear shaft (34), bevel gear shaft (34) is supported by the first deep groove ball bearing being arranged on turntable upper backup pad, opposite side and the 19 tooth straight-tooth gears of bevel gear shaft (34) pass through Flat dey joint, 19 tooth straight-tooth gears engage with 60 tooth straight-tooth gears, the lower end of steering spindle (31) is connected with turning to substrate, installing plate on the left of wheel, installing plate on the right side of wheel, drive motors installing plate is connected with turning to substrate, reducing motor is driven to be connected with drive motors installing plate, small synchronous pulley axle is affixed with the output shaft of driving reducing motor, small synchronous pulley is arranged on small synchronous pulley axle by Flat dey joint, front-wheel module permanent magnet (21) and wheel yoke (37) are arranged on axletree by Flat dey joint, axletree to be bearing on the left of wheel on the right side of installing plate and wheel between installing plate by the first deep groove ball bearing and the second deep groove ball bearing, large synchronous pulley is arranged on the opposite side of axletree by Flat dey joint, connected by Timing Belt (27) between large synchronous pulley and small synchronous pulley, be connected by screw between tensioning running roller and tensioning running roller support bar, tensioning running roller support bar to be arranged on the left of wheel on installing plate by screw, drive between reducing motor and axletree by Timing Belt (27) transmission, steering driving mechanism also comprises steering spindle (31), steering spindle (31) bottom is provided with drive mechanism for wheel and roller, described steering spindle (31) line and wheel axis perpendicular quadrature.
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| KR101473639B1 (en) * | 2013-02-25 | 2014-12-17 | 대우조선해양 주식회사 | Large volume butt joint welding apparatus and the method thereof |
| CN103954313B (en) * | 2014-04-09 | 2017-01-18 | 中国海洋大学 | Three-dimensional coordinate frame for wind-wave flume |
| CN105643058B (en) * | 2016-04-07 | 2017-12-05 | 湘潭大学 | A kind of Double Wire Welding welding seam tracking method |
| CN106238859A (en) * | 2016-08-05 | 2016-12-21 | 江苏现代造船技术有限公司 | A kind of boats and ships ferrum Xi part robot welding system |
| CN107322143B (en) * | 2017-08-30 | 2023-03-17 | 张毅 | Long-distance digital gas-shielded double-wire welding robot |
| CN113977161B (en) * | 2021-11-25 | 2023-05-05 | 徐州迈斯特机械科技有限公司 | Supplementary stabilising arrangement of striding handheld welder of posture based on dual absorption of magnetic gas |
| CN118162830A (en) * | 2024-05-15 | 2024-06-11 | 中油（新疆）石油工程有限公司 | Welding system and control method for automatic seam-seeking welding in sealed cabin of storage tank buoyancy cabin |
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