CN104308347A - Device for measuring and feeding back spatial attitude of welding gun relative to welding seam - Google Patents
Device for measuring and feeding back spatial attitude of welding gun relative to welding seam Download PDFInfo
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- CN104308347A CN104308347A CN201410552913.4A CN201410552913A CN104308347A CN 104308347 A CN104308347 A CN 104308347A CN 201410552913 A CN201410552913 A CN 201410552913A CN 104308347 A CN104308347 A CN 104308347A
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- welding gun
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- welded seam
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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
- B23K9/32—Accessories
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Abstract
The invention discloses a device for measuring and feeding back the spatial attitude of a welding gun relative to a welding seam. The device comprises a single-chip microcomputer, a peripheral circuit of the single-chip microcomputer, an angle sensor, a buzzer and a display, wherein a fixture is arranged on the welding gun; the angle sensor is clamped on the fixture, and is connected with the single-chip microcomputer through a data processing circuit; the single-chip microcomputer is connected with the display and the buzzer respectively. A skilled worker performs welding demonstration, the spatial angle data of the welding gun relative to the welding seam is measured by the angle sensor, and is input into the single-chip microcomputer, and an optimal angle value is recorded; in a welding operation process of a primary welder, the angle of the welding gun is measured in real time by the angle sensor, and is displayed on the display, and the welder timely regulates the attitude of the welding gun according to a measurement result displayed on the display at any time, so that the attitude information of the welding gun is detected and extracted in real time to fulfill the aims of regulating the inclination angle of the welding gun, improving the quality of the welding seam, improving the working efficiency and lowering the economic cost.
Description
Technical field
The present invention relates to solder technology, is a kind of measurement and feedback device of welding gun phase butt welded seam spatial attitude.
Background technology
Since human society enters the industrial age, the Production requirement of various countries to large-scale component grows with each passing day.In many major design, welding procedure is main connected mode.At present on engineering is produced, welding is topmost method of attachment.Correlation study shows, nowadays lot of domestic and international weld seam cannot realize full-automatic welding, and this also makes the status of manual electric arc welding seem very important.
In manual electric arc welding, angle of welding gun has remarkable impact to welding process, and such as, when welding gun leans forward, arc force points to the rear of molten pool metal, produces electric arc on the surface that mother metal exposes, and forms the weld seam that fusion penetration is large, reinforcement is large, welding bead is narrow; During welding gun hypsokinesis, motlten metal is below electric arc, and mother metal surface does not directly contact with electric arc, and produce the weld seam that fusion penetration is shallow, more smooth, welding bead is wide, and back rake angle is less, fusion penetration is less.Therefore, if in welding process, the inclination angle of welding gun phase butt welded seam is improper, weldquality will be made to reduce, even occur weld defect, thus affects the combination property of Welding Structure in later stage military service process, and serious meeting makes weldment directly scrap.Therefore, selecting suitable welding gun inclination angle, for improving weldquality, increasing work efficiency, save financial cost and be of great significance.
In traditional solder technology staff training mechanism, most of training organization adopts senior welder or the welder that is ripe with experience oral teaching inspires true understanding to elementary welder, elementary welder relies on profile from ginseng from the training pattern realized, such training pattern had both made that the training cycle is longer, training cost is higher, also made inefficiency, DeGrain.In this case, a kind of novel aid must be developed both at home and abroad as early as possible for welders training, thus reach the shortening training cycle, save training cost, raise the efficiency, strengthen the object of effect.And the present invention just in time can meet this requirement.
Simultaneously, along with the develop rapidly of science and technology, make the difficulty of welding procedure increasing, working environment is more and more not suitable for manual operation, but the requirement of workpiece butt welded seam quality is also more and more higher, this phenomenon causes the rise of welding process automation technology and extensive use.Current stage, mostly adopt teaching playback or off-line programing humanoid robot both at home and abroad, before work, require that operator is by each joint motions of teach box control, adopt the mode of pointwise teaching to realize location and the record of welding gun spatial pose.Because path of welding and welding parameter pre-set according to actual job condition, the function of external information sensing and adjustment is lacked when welding, the stability requirement of this kind of welding robot to operating condition is strict, do not possess the ability adapting to welding object and job change, low to complex-shaped weld seam programming efficiency, can not to welding dynamic process real-time inspection and control, the requirement of high-quality to complicated weldment and precision welding cannot be met.Especially, for the weld job under non-structure environment, due to the complexity of workpiece and the uncertainty of site environment, the mode of employing teaching playback of at all just having no idea.For the welding of this type of workpiece, adopt at present both at home and abroad mostly the automatic welding or the manual welding that have track, adopt when having the welding machine of track, first lay track according to workpiece shapes along weld seam, secondly the welding tractor with welding gun is hung on the track completed, weld along orbital motion.This parallel with weld seam when having the robot of track to require to lay track, otherwise there will be larger tracking error.And in shipbuilding, have a lot of bending weld seam, therefore a weld seam needs repeatedly to lay a railway track just can complete welding, thus greatly reduces the efficiency of welding production.So the robot of this rail mounted is difficult to the change adapting to welding object and task, the demand for development of modern industrial technology can not be met.Therefore develop a kind of have degree of precision, can automatic feedback information provide the system of information at adjustment welding gun inclination angle just to seem particularly important.
In traditional handicraft, the control of soldering angle is adjusted according to the operating experience of oneself by welder, and therefore each side human factor such as practical experience, weld horizontal, operative skill of welder directly can have influence on weldquality.In actual production, most elementary welder is not owing to having consummate welding technical ability, and that cannot accomplish Butt welding gun spatial attitude adjusts accurate, and this obviously causes that weldquality is defective, operating efficiency is low, training cost is large and the problem such as effect is bad.
Summary of the invention
Based on above weak point, the present invention discloses a kind of measurement and feedback device of welding gun phase butt welded seam spatial attitude, also welding personnel are fed back in time for Real-Time Monitoring welding gun phase butt welded seam spatial attitude, thus adjustment posture of welding torch, to ensure to obtain good weldquality.
The technology used in the present invention is as follows: a kind of measurement of welding gun phase butt welded seam spatial attitude and feedback device, comprise single-chip microcomputer and peripheral circuit thereof, angular transducer, buzzer and display, welding gun is provided with fixture, fixture accompanies angular transducer, angular transducer is connected with single-chip microcomputer by data processing circuit, single-chip microcomputer respectively with display, buzzer is connected, first carry out welding by experienced operator to demonstrate, the space angle data of welding gun phase butt welded seam are measured by angular transducer, and input single-chip microcomputer, and record this optimum angle angle value, best angle scope is: space angle data value × (1 ± 10%) of the welding gun phase butt welded seam of experienced operator, in elementary welder's welding operation process, angle of welding gun is measured and is shown over the display by angular transducer in real time, alignment programs is preset in single-chip microcomputer, can by namely depending on welding gun phase butt welded seam space angle with compare with the best angle scope stored before, once the best angle scope that angle of welding gun records before departing from, connecting buzzer will report to the police, and reminds welder to adjust in time, until the space angle of welding gun phase butt welded seam is in best angle when enclosing interior, prompt tone is cancelled, the space angle data of single-chip microcomputer record elementary welder's welding gun phase butt welded seam, with the space angle of elementary welder's welding gun phase butt welded seam of a certain moment, with comparing of best angle scope, if now angle is within the scope of best angle, be " qualified ", otherwise be " defective ".
The beneficial effect of the invention is: Real-time Obtaining also shows angle of welding gun and is beneficial to welder and adjusts in time, reaches and improves welding quality and operating efficiency, save the object of financial cost, also can be applicable to welders training, improve the effect of training.
Accompanying drawing explanation
Fig. 1 is main program block diagram of the present invention;
Fixture on welding gun accompanies angular transducer schematic diagram to Fig. 2.
Detailed description of the invention
Embodiment 1
A kind of measurement of welding gun phase butt welded seam spatial attitude and feedback device, comprise single-chip microcomputer and peripheral circuit, angular transducer 2, buzzer and display, welding gun is provided with fixture 1, fixture 1 accompanies angular transducer 2, angular transducer is connected with single-chip microcomputer by data processing circuit, single-chip microcomputer is connected with display, buzzer respectively, angular transducer 2 adopts super low-power consumption 3 axis accelerometer ADXL345, and it can measure the angle of welding gun and space three axes in tilt detection application.Its high-resolution: 3.9mg/LSB, can measure the angle change less than 1.0 °.Adopt the data that firm determination RZ-51 single-chip microcomputer is used for processing three dimension acceleration sensor collection, transmitting, and send the data handled well to display and show.Display adopts chromatic liquid crystal screen, and it is mainly used to the data that display single-chip microcomputer transmits, i.e. in general the space angle of welding gun phase butt welded seam is three axle clamp angles.User can need according to difference the buzzer selecting different model, reminds welding personnel that posture of welding torch is not in zone of reasonableness, and require that welding personnel make timely adjustment in functional module that it is mainly used in " alarm ".
Sensor is by being fixed on welding gun for the custom-designed clamping tool of specific welding gun, and adopt single-chip microcomputer and make it to be connected with this angular transducer, make single-chip microcomputer can read valid data at any time, and according to setting program, what complete angle-data effectively exports on display screen.
During embody rule, first demonstrated by experienced operator, measure data by angular transducer, and input single-chip microcomputer, by this best angle of data recording function record of single-chip microcomputer.Welding best angle often belongs to an angular range, and we think that best angle scope is: the data that experienced operator measures, and then add positive and negative 10%.In welding operation process, soldering angle measurement function works, and is measured in real time by angle of welding gun and shows on a display screen.Preset alignment programs in single-chip microcomputer, once the best angle scope that angle of welding gun records before departing from, the buzzer be connected on one-chip machine port will be reported to the police, and reminds welder to adjust in time.
The present invention has following function:
1, measurement and display function.Namely for measuring and show the space angle of welding gun phase butt welded seam in real time, check that to facilitate welding workman whether posture of welding torch is correct.Qualitatively can show the space angle of welding gun phase butt welded seam simultaneously, with the concept facilitating trainee to understand best soldering angle in rationality, thus avoid the drawback in traditional training mechanism.
2, " record " function.Flash memory record by single-chip microcomputer will be recorded by space angle timely.This function is used for recording the angle measured by experienced operator, and then is that " evaluation " function provided best angle scope afterwards.
3, " evaluation " function.Namely for the space angle of a certain any time welding gun phase butt welded seam, and carry out comparing of best angle scope, thus according to the discrimination standard set, the space angle that this moment records is evaluated.If now angle is within the scope of best angle, be " qualified ", otherwise be " defective ".
4, " alarm " function.By recording the best soldering angle of a certain specific weld seam, when welder in welding process welding gun inclination angle not in the reasonable scope time, namely time " defective ", by triggered alarm, thus remind welder to adjust posture of welding torch, until when the space angle of welding gun phase butt welded seam is in zone of reasonableness, prompt tone is cancelled.
Claims (1)
1. the measurement of a welding gun phase butt welded seam spatial attitude and feedback device, comprise single-chip microcomputer and peripheral circuit thereof, angular transducer, buzzer and display, welding gun is provided with fixture, fixture accompanies angular transducer, angular transducer is connected with single-chip microcomputer by data processing circuit, single-chip microcomputer respectively with display, buzzer is connected, it is characterized in that: first carry out welding by experienced operator and demonstrate, the space angle data of welding gun phase butt welded seam are measured by angular transducer, and input single-chip microcomputer, and record this optimum angle angle value, best angle scope is: space angle data value × (1 ± 10%) of the welding gun phase butt welded seam of experienced operator, in elementary welder's welding operation process, angle of welding gun is measured and is shown over the display by angular transducer in real time, alignment programs is preset in single-chip microcomputer, can by namely depending on welding gun phase butt welded seam space angle with compare with the best angle scope stored before, once the best angle scope that angle of welding gun records before departing from, connecting buzzer will report to the police, and reminds welder to adjust in time, until the space angle of welding gun phase butt welded seam is in best angle when enclosing interior, prompt tone is cancelled, the space angle data of single-chip microcomputer record elementary welder's welding gun phase butt welded seam, with the space angle of elementary welder's welding gun phase butt welded seam of a certain moment, with comparing of best angle scope, if now angle is within the scope of best angle, be " qualified ", otherwise be " defective ".
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410552913.4A CN104308347A (en) | 2014-10-10 | 2014-10-10 | Device for measuring and feeding back spatial attitude of welding gun relative to welding seam |
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| CN201410552913.4A CN104308347A (en) | 2014-10-10 | 2014-10-10 | Device for measuring and feeding back spatial attitude of welding gun relative to welding seam |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106735739A (en) * | 2016-12-30 | 2017-05-31 | 唐山松下产业机器有限公司 | Electric arc welds monitoring device and method |
| CN109759682A (en) * | 2019-03-12 | 2019-05-17 | 中石化第十建设有限公司 | A kind of welding gun with heat input real-time monitoring device |
| CN110732813A (en) * | 2019-09-16 | 2020-01-31 | 广州文冲船厂有限责任公司 | Welding equipment |
| CN111408858A (en) * | 2020-03-10 | 2020-07-14 | 成都优博创通信技术股份有限公司 | Welding machine detection method and system |
| CN113977121A (en) * | 2020-07-27 | 2022-01-28 | 细美事有限公司 | Device and method for adjusting welding flatness in semiconductor element welding equipment |
| CN114166105A (en) * | 2020-09-11 | 2022-03-11 | 株式会社达谊恒 | Welding position detection device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106735739A (en) * | 2016-12-30 | 2017-05-31 | 唐山松下产业机器有限公司 | Electric arc welds monitoring device and method |
| CN109759682A (en) * | 2019-03-12 | 2019-05-17 | 中石化第十建设有限公司 | A kind of welding gun with heat input real-time monitoring device |
| CN110732813A (en) * | 2019-09-16 | 2020-01-31 | 广州文冲船厂有限责任公司 | Welding equipment |
| CN111408858A (en) * | 2020-03-10 | 2020-07-14 | 成都优博创通信技术股份有限公司 | Welding machine detection method and system |
| CN113977121A (en) * | 2020-07-27 | 2022-01-28 | 细美事有限公司 | Device and method for adjusting welding flatness in semiconductor element welding equipment |
| CN114166105A (en) * | 2020-09-11 | 2022-03-11 | 株式会社达谊恒 | Welding position detection device |
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| CB03 | Change of inventor or designer information |
Inventor after: Fan Chenglei Inventor after: Kou Rui Inventor after: Cao Zhiyu Inventor after: Ni Longchang Inventor after: Pan Xinyu Inventor after: Bai Kaixin Inventor before: Fan Chenglei Inventor before: Kou Rui Inventor before: Cao Zhiyu Inventor before: Ni Longchang Inventor before: Pan Xinyu Inventor before: Bai Kaixin |
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Application publication date: 20150128 |