CN103537782A - PLC (programmable logic controller)-controlled automatic welding system and control method thereof - Google Patents
PLC (programmable logic controller)-controlled automatic welding system and control method thereof Download PDFInfo
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- CN103537782A CN103537782A CN201310515217.1A CN201310515217A CN103537782A CN 103537782 A CN103537782 A CN 103537782A CN 201310515217 A CN201310515217 A CN 201310515217A CN 103537782 A CN103537782 A CN 103537782A
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- Prior art keywords
- welding
- plc
- large arm
- servo motor
- automatic welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/04—Welding for other purposes than joining, e.g. built-up welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0953—Monitoring or automatic control of welding parameters using computing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Theoretical Computer Science (AREA)
- Optics & Photonics (AREA)
- Geometry (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
Disclosed are a PLC (programmable logic controller)-controlled automatic welding system and a control method thereof. In the process of welding, working environment of workers is severe, quality stability of welded products and balance of production rhythm are difficulty to grasp, and low welding labor productivity is caused, so that combination of automation technology and welding industry is needed. The PLC-controlled automatic welding system comprises a surfacing device which is connected with a PLC (9), the surfacing device comprises a rotary housing (1) which is rotatably connected with a big arm (2), a connecting rod 3 is added on the rear side of the big arm, the tops of the big arm and the connecting rod are connected with the rear end of a small arm (4), a welding gun (5) and a CCD (charge coupled device) camera (6) are mounted at the front end of the small arm, and an alternating-current servo motor I (7) and an alternating-current servo motor II (8) are mounted on two sides of the lower portion of the big arm and connected with the PLC simultaneously. The PLC-controlled automatic welding system is used for surfacing.
Description
technical field:
the present invention relates to automatic welding system and control method thereof that a kind of PLC controls.
background technology:
welding is one of most important technology in manufacturing industry.Its application in the industries such as machine-building, nuclear industry, Aero-Space, energy traffic, petrochemical industry and building and electronics is more and more extensive.Along with the development of electronic technology, computer technology, numerical control and Robotics, welding process automation has become one of growing point that solder technology is new.And the working environment of workers is severe in welding process, and very difficult stability and the balanced rhythm of production of grasping welding product quality, the welding labor productivity causing is low.Need the combination of automatic technology and welding industry.
summary of the invention:
the object of this invention is to provide automatic welding system and control method thereof that a kind of PLC controls.
above-mentioned object realizes by following technical scheme:
the automatic welding system that a kind of PLC controls, its composition comprises: build-up welding apparatus, described build-up welding apparatus connects PLC controller, wherein, described build-up welding apparatus comprises revolution support, the described revolution support large arm that is rotatably connected, the additional connecting rod of described large arm rear side, described large arm is connected forearm rear end with connecting rod top, and described forearm front end is installed welding gun and CCD camera; AC servo motor I and AC servo motor II are installed respectively in the both sides of described large arm bottom, and described AC servo motor I is connected described PLC controller with AC servo motor II simultaneously.
the automatic welding system that described PLC controls, described PLC controller comprises SCM system, described SCM system connects A/D converter, electric rotating machine driver, large arm motor driver, forearm driver and sensor, described electric rotating machine driver connects electric rotating machine, and described large arm motor driver connects described AC servo motor I and AC servo motor II.
the automatic welding system that described PLC controls, described A/D converter connects described CCD camera.
the automatic welding system that described PLC controls, described electric rotating machine is arranged in described revolution support.
the control method of the automatic welding system that PLC controls, the data channel of first passing through two cover A/D converters on SCM system are distinguished the welding parameter of preset welding current, arc voltage, speed of welding and real time monitoring parameter;
the second, the arm of the welding system consisting of power joint and connecting rod, under the control of described single-chip microcomputer, carries out the support of large arm and forearm and the adjustment of position thereof by electric rotating machine driver and large arm motor driver;
the 3rd, in weld job, according to the field condition of CCD camera collection, adjust the motion conditions of welding gun, the welding bead motion that makes welding gun follow the tracks of workpiece is constantly filled metal and is formed weld seam, and adjusts in real time the speed of welding of welding gun and the welding track precision of welding gun.
the control method of the automatic welding system that described PLC controls, the speed of welding of described welding gun is 5 ~ 50mm/s, the welding track precision of described welding gun is-1 ~ 1mm.
beneficial effect:
1. large arm and the forearm of the automatic welding device of the present invention's design are all to consist of power joint and connecting rod, in order to support and to adjust the position of wrist and end effector.Large arm and forearm member driving unit, transmission mechanism, support connecting piece are arranged on support, are realized integral body revolution or the lifting of arm by support.In arc-welding operation, welding gun is realized the welding bead pursuit movement of workpiece by the field data of CCD camera collection, and constantly fills metal formation weld seam.Guarantee stability and the path accuracy index of welding motion process medium velocity.
2. the present invention turns round support part according to the suffered total weight of whole build-up welding apparatus and service load, adopt the structure of revolution support, realized the integral body revolution of robot body, as a kind of special arm, adopt high-strength material, guaranteed enough rigidity, intensity and bearing capacity.Arm segment, according to its number of degrees of freedom,, forms of motion, the load of bearing and kinematic accuracy requirement, is arranged on forearm drive motors and reductor on large arm, by parallel four-bar linkage, will move with transmission of power to forearm.The advantage of this design be by forearm drive installation in large arm lower end, alleviated forearm weight, also just alleviated large arm load weight, the kinematic dexterity of robot is also improved simultaneously.This robot support, arm segment have improved positioning precision by reload buffer and stopping means, by reliable connection, have guaranteed motion accuracy and motion rigidity, have reduced the kinematic error between support and arm.
3. to adopt Automation of Welding system be revolutionary advancement in the present invention, and it has broken through traditional welding rigidity automation mode, has opened up the new mode of a kind of flexible automation.Rigidity automatic welding equipment is all generally special-purpose, in being generally used for, the automated production of welding product in enormous quantities, thereby in, during be pilot welding produces, SMAW is still main welding manner, welding robot is produced the automatic welding of be pilot becomes possibility.With regard to current teaching reproduction pattern welding robot, welding robot completes a weld task, only need people to do a teaching to it, it can accurately reproduce every single stepping of teaching, Ru Yao robot does another work, need not change any hardware, as long as to its teaching that tries again.Therefore,, on a robot line for welding, can automatically produce several weldment simultaneously.Build-up welding apparatus is easy to realize stabilizing and increasing of welding product quality, guarantees its homogeneity; Boost productivity, within one day, can produce continuously by 24h; Improve workman's working condition, can be in long-term work under hostile environment; The requirement of reduction to workman's operating technology difficulty; Shorten the preparatory period that product remodeling is regenerated, reduce corresponding equipment investment; Can realize be pilot Automation of Welding; For welding flexible production line provides technical foundation.
accompanying drawing explanation:
accompanying drawing 1 is the structural representation of the build-up welding apparatus that the present invention relates to.
accompanying drawing 2 is internal structure block diagrams of the PLC controller that the present invention relates to.
the specific embodiment:
embodiment 1:
the automatic welding system that a kind of PLC controls, its composition comprises: build-up welding apparatus, described build-up welding apparatus connects PLC controller 9, wherein, described build-up welding apparatus comprises revolution support 1, the described revolution support large arm 2 that is rotatably connected, the additional connecting rod 3 of described large arm rear side, described large arm is connected forearm rear end 4 with connecting rod top, and described forearm front end is installed welding gun 5 and CCD camera 6; AC servo motor I (in figure, piece number is 7) and AC servo motor II (in figure, piece number is 8) are installed respectively in the both sides of described large arm bottom, and described AC servo motor I is connected described PLC controller with AC servo motor II simultaneously.
embodiment 2:
the automatic welding system that PLC described in embodiment 1 controls, described PLC controller comprises SCM system 10, described SCM system connects A/D converter 11, electric rotating machine driver 12, large arm motor driver 13, forearm driver 14 and sensor 15, described electric rotating machine driver connects electric rotating machine, described large arm motor driver connects described AC servo motor I and AC servo motor II, and described forearm driver connects forearm motor.
embodiment 3:
the automatic welding system that PLC described in embodiment 1 or 2 controls, described A/D converter connects described CCD camera.
embodiment 4:
the automatic welding system that PLC described in embodiment 1 or 2 controls, described electric rotating machine is arranged in described revolution support; Described forearm motor is arranged on described forearm rear end.
embodiment 5:
the control method of the automatic welding system that PLC controls, the data channel of first passing through two cover A/D converters on SCM system are distinguished the welding parameter of preset welding current, arc voltage, speed of welding and real time monitoring parameter;
the second, the arm of the welding system consisting of power joint and connecting rod, under the control of described single-chip microcomputer, carries out the support of large arm and forearm and the adjustment of position thereof by electric rotating machine driver and large arm motor driver;
the 3rd, in weld job, according to the field condition of CCD camera collection, adjust the motion conditions of welding gun, the welding bead motion that makes welding gun follow the tracks of workpiece is constantly filled metal and is formed weld seam, and adjusts in real time the speed of welding of welding gun and the welding track precision of welding gun.
embodiment 6:
the control method of the automatic welding system that the PLC described in embodiment 5 controls, the speed of welding of described welding gun is 5 ~ 50mm/s, the welding track precision of described welding gun is-1 ~ 1mm.
Claims (6)
1. the automatic welding system that a PLC controls, its composition comprises: build-up welding apparatus, it is characterized in that: described build-up welding apparatus connects PLC controller, wherein, described build-up welding apparatus comprises revolution support, the described revolution support large arm that is rotatably connected, the additional connecting rod of described large arm rear side, described large arm is connected forearm rear end with connecting rod top, and described forearm front end is installed welding gun and CCD camera; AC servo motor I and AC servo motor II are installed respectively in the both sides of described large arm bottom, and described AC servo motor I is connected described PLC controller with AC servo motor II simultaneously.
2. the automatic welding system that PLC according to claim 1 controls, it is characterized in that: described PLC controller comprises SCM system, described SCM system connects A/D converter, electric rotating machine driver, large arm motor driver, forearm driver and sensor, described electric rotating machine driver connects electric rotating machine, and described large arm motor driver connects described AC servo motor I and AC servo motor II.
3. the automatic welding system that PLC according to claim 1 and 2 controls, is characterized in that: described A/D converter connects described CCD camera.
4. the automatic welding system that PLC according to claim 1 and 2 controls, is characterized in that: described electric rotating machine is arranged in described revolution support.
The control method of the automatic welding system that 5.PLC controls, is characterized in that: the welding parameter of first passing through the preset welding current of data channel difference, arc voltage, speed of welding and the real time monitoring parameter of two cover A/D converters on SCM system;
The second, the arm of the welding system consisting of power joint and connecting rod, under the control of described single-chip microcomputer, carries out the support of large arm and forearm and the adjustment of position thereof by electric rotating machine driver and large arm motor driver;
The 3rd, in weld job, according to the field condition of CCD camera collection, adjust the motion conditions of welding gun, the welding bead motion that makes welding gun follow the tracks of workpiece is constantly filled metal and is formed weld seam, and adjusts in real time the speed of welding of welding gun and the welding track precision of welding gun.
6. the control method of the automatic welding system that PLC according to claim 5 controls, is characterized in that: the speed of welding of described welding gun is 5 ~ 50mm/s, the welding track precision of described welding gun is-1 ~ 1mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310515217.1A CN103537782A (en) | 2013-10-28 | 2013-10-28 | PLC (programmable logic controller)-controlled automatic welding system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310515217.1A CN103537782A (en) | 2013-10-28 | 2013-10-28 | PLC (programmable logic controller)-controlled automatic welding system and control method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN103537782A true CN103537782A (en) | 2014-01-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310515217.1A Withdrawn CN103537782A (en) | 2013-10-28 | 2013-10-28 | PLC (programmable logic controller)-controlled automatic welding system and control method thereof |
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| CN (1) | CN103537782A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002024A (en) * | 2016-07-06 | 2016-10-12 | 苏州睿牛机器人技术有限公司 | Vehicle-mounted parallel welding robot system |
| CN106078026A (en) * | 2016-06-30 | 2016-11-09 | 江苏捷帝机器人股份有限公司 | A kind of intelligent automatic welding machinery hands |
| CN107641923A (en) * | 2017-09-14 | 2018-01-30 | 安徽省无为天成纺织有限公司 | One kind is used to the group of spinning wringing out robot |
| CN109967829A (en) * | 2019-04-17 | 2019-07-05 | 北华航天工业学院 | A kind of controlling system of welder and its control method |
-
2013
- 2013-10-28 CN CN201310515217.1A patent/CN103537782A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078026A (en) * | 2016-06-30 | 2016-11-09 | 江苏捷帝机器人股份有限公司 | A kind of intelligent automatic welding machinery hands |
| CN106002024A (en) * | 2016-07-06 | 2016-10-12 | 苏州睿牛机器人技术有限公司 | Vehicle-mounted parallel welding robot system |
| CN107641923A (en) * | 2017-09-14 | 2018-01-30 | 安徽省无为天成纺织有限公司 | One kind is used to the group of spinning wringing out robot |
| CN107641923B (en) * | 2017-09-14 | 2020-06-05 | 安徽省无为天成纺织有限公司 | Be used for twisting spin group and wring out robot |
| CN109967829A (en) * | 2019-04-17 | 2019-07-05 | 北华航天工业学院 | A kind of controlling system of welder and its control method |
| CN109967829B (en) * | 2019-04-17 | 2020-08-18 | 北华航天工业学院 | Welding machine control system and control method thereof |
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| PB01 | Publication | ||
| C04 | Withdrawal of patent application after publication (patent law 2001) | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20140129 |