CN103273164A - Arc welding system and arc welding method thereof - Google Patents
Arc welding system and arc welding method thereof Download PDFInfo
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- CN103273164A CN103273164A CN2012105968433A CN201210596843A CN103273164A CN 103273164 A CN103273164 A CN 103273164A CN 2012105968433 A CN2012105968433 A CN 2012105968433A CN 201210596843 A CN201210596843 A CN 201210596843A CN 103273164 A CN103273164 A CN 103273164A
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Abstract
The invention discloses an arc welding system and an arc welding method thereof. The arc welding system comprises an arc welding robot and a control device used for controlling operation of the arc welding robot. The arc welding robot is connected with the control device in a communication mode and provided with a welding device. The control device is connected with a workpiece holder used for fixing workpieces through a programmable logic controller in a communication mode. The welding device is matched with the workpiece holder. According to the arc welding method of the arc welding system, the mechanism mode of the arc welding robot, the control device, the welding device, the workpiece holder and the programmable logic controller is adopted, an arc welding process can be finished automatically, and workers for arc welding are replaced completely. When the arc welding robot is used for welding the workpieces, welding parameters of each welding line are constant, automation degree of the arc welding process and product quality can be improved effectively, and labor intensity of operators is lowered.
Description
Technical field
The present invention relates to system and method thereof for automobile making, relate in particular to a kind of arc welding system and arc welding method thereof.
Background technology
The Hyundai Motor industrial development is swift and violent, and vehicle is upgraded and maked rapid progress, and the quality of product improves constantly, and production scale is also increasing.Many past are realized by advanced person's mechanical automation production equipment just gradually by the process for making of manually finishing, have caused thus mechanical automation manufacturing process equipment and the increasing demand of production line.Industrial robot being replaced manually fully, be applied to the arc-welding robot of welding and assembling production lines, is one of direction of current research.
The industrial robot technology is one of the most noticeable high technology industry in the world today.The automation of welding process, robotize and the intelligent development trend that has become welding profession.Arc welding robot has advantages such as high efficiency, steady quality, reliable operation and highly versatile, is subjected to manufacturing attention.Adopt robot welding to become Automation of Welding, modern outstanding feature.Adopting robot welding is the revolutionary advancement of Automation of Welding, and it has broken through traditional welding rigidity automation mode, has opened up the new mode of a kind of flexible automation.
Arc welding robot is mainly used in the welding production of all kinds of auto parts and components.The characteristics of the maximum of robot arc welding are flexible, can change welding track and welding sequence at any time by programming, therefore are best suited for the product that the welded piece variety variations is big, weld seam is short and many, complex-shaped.This just in time meets the characteristics of automobile making again.Especially the renewal speed of modern society's car ' s style is very fast, adopts the auto production line of robot equipment can adapt to this variation well.And arc welding system of the prior art can not replace fully and manually carries out arc-welding, occurs the clashing and breaking phenomenon when moving into of workpiece taken out of easily, and when workpiece is welded damage workpiece easily, and its operating efficiency is low.
Therefore, prior art awaits further to improve and develop.
Summary of the invention
In view of above-mentioned the deficiencies in the prior art, the object of the present invention is to provide a kind of arc welding system and arc welding method thereof, to improve the welding efficiency to workpiece, guarantee welding quality.
Technical scheme of the present invention is as follows:
A kind of arc welding system, it comprises arc welding robot and the control device that is used for the described arc welding robot operation of control, described arc welding robot and described control device communicate to connect, wherein, described arc welding robot is provided with a welder, described control device communicates to connect by a programmable logic controller (PLC) and the work piece holder that is used for fixation workpiece, described welder and described work piece holder are suitable, the described work piece holder of described PLC controls is fixed workpiece, and the described welder of described Arc Welding Robot Control welds workpiece.
Described arc welding system, wherein, described arc welding system also is provided with one and is used for preventing that the safety guard that welding spark spills, described safety guard are arranged on the described work piece holder; Described control device is provided with an operating desk for the input operation order, and described operating desk is provided with control panel.
Described arc welding system, wherein, described arc welding robot comprises:
Initialization module is used for described arc welding robot is carried out initialization;
Confirm module zero point, be used for to confirm whether each shaft angle degree of described arc welding robot, zero point be accurate;
Address assignment module is used for described control device main network address, described arc welding robot being set from the network address, and the definition cartesian coordinate, determines the coordinate of described welder;
The robotic programming module be used for to be set the movement locus of described welder, sets the I/O signal with extraneous mutual;
Communication module is used for and described programmable logic controller (PLC) interactive signal, commands the described welder of described PLC controls to weld;
The welding control module is used for controlling described welder and the motion of described work piece holder according to the movement locus of predefined described welder, finishes welding;
Confirm that module, described address assignment module, described robotic programming module, described communication module and described welding control module communicate to connect successively at described initialization module, described zero point.
Described arc welding system, wherein, described welding robot comprises executing agency and driving mechanism, and described welder is arranged in the described executing agency, and described driving mechanism is arranged on described actuator bottom portion.
Described arc welding system, wherein, described welder comprises welding gun and wire feeder, described wire feeder and described welding gun are suitable.
A kind of arc welding method, it may further comprise the steps:
To the arc welding robot power-up initializing and carry out zero correction, determine the position in the arc-welding station of described arc welding robot on production line; Determine the work coordinate of welder and work piece holder then, control device is controlled described arc welding robot and is finished arc-welding to workpiece.
Described arc welding method, wherein, what above-mentioned steps was concrete comprises:
A, initialization module be to described arc welding robot initialization, confirms that then module confirms each shaft angle degree of described arc welding robot and carry out zero correction synchronously zero point;
B, address assignment module arrange the network address of described arc welding robot and described control device and described arc welding robot from the network address, described arc welding robot is connected with described control device, define the coordinate that described work piece holder and described arc-welding are robbed;
The coordinate that C, described address assignment module rob described work piece holder and described arc-welding is sent to the robotic programming module, described robotic programming module is set the movement locus of described welder, and the movement locus of described welder is sent to the arc-welding control module, described arc-welding control module is controlled described welder according to the movement locus of the described welder that preestablishes workpiece is carried out arc-welding.
Described arc welding method, wherein, what above-mentioned steps was concrete comprises:
Determine described arc welding robot position in the arc-welding station on production line;
Described arc welding robot is powered on and initialization;
Described arc welding robot is carried out zero correction;
Described arc welding robot and described control device communicate to connect, and determine the coordinate of described welder;
Proofread and correct the deviation of movement locus and the actual motion track of the described welder of programming in advance;
Determine and optimize the movement locus of described welder, control the motion of described welder and described work piece holder and finish arc-welding.
The invention provides a kind of arc welding system and arc welding method thereof, adopt its arc welding robot, control device, welder, the mechanic mode of work piece holder and programmable logic controller (PLC), can finish arc welding process automatically, replace the workman fully and carry out arc-welding, welding parameter for every weld seam when adopting arc welding robot that workpiece is welded all is constant, weldquality is subjected to artificial factor very little, reduced the requirement to workman's operating technology, the automaticity of arc welding process and the quality of product have effectively been improved, reduced operator's labour intensity, save the time, reduced cost of goods manufactured.
Description of drawings
Fig. 1 is the structural representation of arc welding system among the present invention;
Fig. 2 is the structural representation of arc welding robot among the present invention;
Fig. 3 is the structural representation of arc welding robot one embodiment among the present invention;
Fig. 4 is the schematic flow sheet of arc welding method among the present invention.
The specific embodiment
A kind of arc welding system provided by the invention and arc welding method thereof, clearer, clear and definite for making purpose of the present invention, technical scheme and effect, below the present invention is described in more detail.Should be appreciated that specific embodiment described herein only in order to explaining the present invention, and be not used in restriction the present invention.
A kind of arc welding system provided by the invention, as shown in Figure 1, it comprises arc welding robot 1 and the control device 2 that is used for described arc welding robot 1 operation of control, described arc welding robot 1 communicates to connect with described control device 2, and described arc welding robot 1 is provided with a welder 3, described control device 2 communicates to connect by a programmable logic controller (PLC) 4 and the work piece holder 5 that is used for fixation workpiece, described welder 3 and described work piece holder 5 are suitable, the described work piece holder of described programmable logic controller (PLC) 4 controls 5 is fixed workpiece, and 3 pairs of workpiece of the described arc welding robot 1 described welder of control weld.
Further, described arc welding system also is provided with one for preventing that the safety guard that welding spark spills, described safety guard are arranged on the described work piece holder 5; Described control device 2 is provided with an operating desk for the input operation order, and described operating desk is provided with control panel, is used for man-machine interaction, but has improved action row of the present invention.
In another preferred embodiment of the present invention, as shown in Figure 2, described arc welding robot 1 comprises:
Initialization module 6 is used for described arc welding robot 1 is carried out initialization;
Confirm module 7 zero point, be used for to confirm whether described arc welding robot 1 each shaft angle degree, zero point be accurate;
Address assignment module 8 is used for described control device 2 main network addresses, described arc welding robot 1 being set from the network address, and the definition cartesian coordinate, determines the coordinate of described welder 3;
Robotic programming module 9 be used for to be set the movement locus of described welder 3, sets the I/O signal with extraneous mutual;
Communication module 10 is used for and described programmable logic controller (PLC) 4 interactive signals, commands the described welder 3 of described programmable logic controller (PLC) 4 controls to weld;
Welding control module 11 is used for controlling described welder 3 and 5 motions of described work piece holder according to the movement locus of predefined described welder 3, finishes welding;
Confirm that module 7, described address assignment module 8, described robotic programming module 9, described communication module 10 communicate to connect successively with described welding control module 11 at described initialization module 6, described zero point.
Further, as shown in Figure 3, described welding robot 1 comprises executing agency 12 and driving mechanism 15, and described welder 3 is arranged in the described executing agency 12, and described driving mechanism 15 is arranged on described executing agency 12 bottoms.The present invention is by optimizing module and the organization distribution thereof of described welding robot 1, make described welding robot 1 have the 3 d space coordinate of vital functions, make described welding robot 1 can move to the every bit in space flexibly, the feedback information that the handling machine people is all is also reacted, make The whole control system convenient, flexibly, can finish arc welding process automatically, reduced the requirement to workman's operating technology, the automaticity of arc welding process and the quality of product have effectively been improved, reduced operator's labour intensity, save the time, reduced cost of goods manufactured.
Further, as shown in Figure 3, described welder 3 comprises welding gun 13 and wire feeder 14, and described wire feeder 14 and described welding gun 13 are suitable.It generally achieves the above object by two given voltages at least.For complex process; pulse arc welding or when filling silk gas tungsten arc welding for example; may need 2-5 given voltage; power supply must be consistent with automated procedure at its power with on the on-time, must ignite safely, and the work of fault-free ground; using maximum sources of welding current is thyristor rectified power supply; compare with adopting common power, can use the welding wire of larger diameter, its deposition efficiency is higher.
In addition, wire feeder 14 must guarantee constant wire feed, and can regulate wire feed rate.In order to guarantee moving freely of described welding robot 1, must adopt flexible pipe to carry out wire feed, and flexible pipe should be lacked as far as possible.When described welding robot 1 arc welding; because welding longer duration; often adopt the water-cooled welding gun; welding gun and robot end's junction should be convenient to change; and flexible link or braking protection link need be arranged, when having prevented welding with workpiece or on every side object collide and influence service life of robot.
The present invention also provides a kind of arc welding method, and as shown in Figure 4, it may further comprise the steps:
Step 101: to arc welding robot 1 power-up initializing and carry out zero correction, determine the position in the arc-welding station of described arc welding robot 1 on production line; Determine the work coordinate of welder 3 and work piece holder 5 then, the described arc welding robot 1 of control device 2 controls is finished the arc-welding to workpiece.
In another preferred embodiment of the present invention, what described step 101 was concrete comprises:
6 pairs of described arc welding robot 1 initialization of initialization module are confirmed module 7 described arc welding robot 1 each shaft angle degree of affirmation then zero point and are carried out zero correction synchronously;
Then, address assignment module 8 arrange the network address of described arc welding robot 1 and described control device 2 and described arc welding robot 1 from the network address, described arc welding robot 1 is connected with described control device 2, defines the coordinate that described work piece holder 5 and described arc-welding are robbed;
At last, described address assignment module 8 is sent to robotic programming module 9 with the coordinate of described work piece holder 5 and described welder 3, described robotic programming module 9 is set the movement locus of described welder 3, and the movement locus of described welder 3 is sent to arc-welding control module 11, described arc-welding control module 11 is controlled 3 pairs of workpiece of described welder according to the movement locus of the described welder 3 that preestablishes and is carried out arc-welding.
In order further to describe the present invention, below enumerate more detailed embodiment, what it was concrete comprises:
Determine described arc welding robot 1 position in the arc-welding station on production line;
Described arc welding robot 1 is powered on and initialization;
Described arc welding robot 1 is carried out zero correction;
Described arc welding robot 1 communicates to connect with described control device 2, and determines the coordinate of described welder 3;
Proofread and correct the deviation of movement locus and the actual motion track of the described welder 3 of programming in advance;
Determine and optimize the movement locus of described welder 3, control described welder 3 and arc-welding is finished in 5 motions of described work piece holder.
It more specifically provides one section arc-welding program that described arc-welding device people 1 is compiled below, explains how above-mentioned functions realizes, should be understood that, can adopt other forms of code to realize, is not limited to described giving an example.
A kind of arc welding system provided by the invention and arc welding method thereof, with traditional comparing by manually welding, effectively raise the automaticity of welding process and the quality of product, reduced operator's labour intensity, saved the time, reduced its manufacturing cost, improved workman's working condition, when adopting robot welding, workman's workpiece loading and unloading, improved labor productivity, can produce continuously in one day 24 hours.
Should be understood that application of the present invention is not limited to above-mentioned giving an example, for those of ordinary skills, can be improved according to the above description or conversion that all these improvement and conversion all should belong to the protection domain of claims of the present invention.
Claims (8)
1. arc welding system, it comprises arc welding robot and the control device that is used for the described arc welding robot operation of control, described arc welding robot and described control device communicate to connect, it is characterized in that, described arc welding robot is provided with a welder, described control device communicates to connect by a programmable logic controller (PLC) and the work piece holder that is used for fixation workpiece, described welder and described work piece holder are suitable, the described work piece holder of described PLC controls is fixed workpiece, and the described welder of described Arc Welding Robot Control welds workpiece.
2. arc welding system according to claim 1 is characterized in that, described arc welding system also is provided with one and is used for preventing that the safety guard that welding spark spills, described safety guard are arranged on the described work piece holder; Described control device is provided with an operating desk for the input operation order, and described operating desk is provided with control panel.
3. arc welding system according to claim 1 is characterized in that, described arc welding robot comprises:
Initialization module is used for described arc welding robot is carried out initialization;
Confirm module zero point, be used for to confirm whether each shaft angle degree of described arc welding robot, zero point be accurate;
Address assignment module is used for described control device main network address, described arc welding robot being set from the network address, and the definition cartesian coordinate, determines the coordinate of described welder;
The robotic programming module be used for to be set the movement locus of described welder, sets the I/O signal with extraneous mutual;
Communication module is used for and described programmable logic controller (PLC) interactive signal, commands the described welder of described PLC controls to weld;
The welding control module is used for controlling described welder and the motion of described work piece holder according to the movement locus of predefined described welder, finishes welding;
Confirm that module, described address assignment module, described robotic programming module, described communication module and described welding control module communicate to connect successively at described initialization module, described zero point.
4. arc welding system according to claim 1 is characterized in that, described welding robot comprises executing agency and driving mechanism, and described welder is arranged in the described executing agency, and described driving mechanism is arranged on described actuator bottom portion.
5. arc welding system according to claim 4 is characterized in that, described welder comprises welding gun and wire feeder, and described wire feeder and described welding gun are suitable.
6. arc welding method, it may further comprise the steps:
To the arc welding robot power-up initializing and carry out zero correction, determine the position in the arc-welding station of described arc welding robot on production line; Determine the work coordinate of welder and work piece holder then, control device is controlled described arc welding robot and is finished arc-welding to workpiece.
7. arc welding method according to claim 6 is characterized in that, what above-mentioned steps was concrete comprises:
A, initialization module be to described arc welding robot initialization, confirms that then module confirms each shaft angle degree of described arc welding robot and carry out zero correction synchronously zero point;
B, address assignment module arrange the network address of described arc welding robot and described control device and described arc welding robot from the network address, described arc welding robot is connected with described control device, define the coordinate that described work piece holder and described arc-welding are robbed;
The coordinate that C, described address assignment module rob described work piece holder and described arc-welding is sent to the robotic programming module, described robotic programming module is set the movement locus of described welder, and the movement locus of described welder is sent to the arc-welding control module, described arc-welding control module is controlled described welder according to the movement locus of the described welder that preestablishes workpiece is carried out arc-welding.
8. arc welding method according to claim 6 is characterized in that, what above-mentioned steps was concrete comprises:
Determine described arc welding robot position in the arc-welding station on production line;
Described arc welding robot is powered on and initialization;
Described arc welding robot is carried out zero correction;
Described arc welding robot and described control device communicate to connect, and determine the coordinate of described welder;
Proofread and correct the deviation of movement locus and the actual motion track of the described welder of programming in advance;
Determine and optimize the movement locus of described welder, control the motion of described welder and described work piece holder and finish arc-welding.
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| CN110871314A (en) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | Crawling arc welding robot and welding method and device thereof |
| CN111922567A (en) * | 2020-08-13 | 2020-11-13 | 北京博清科技有限公司 | Welding control method and device, computer readable storage medium and welding system |
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Application publication date: 20130904 |