CN104785960A - Robot welding equipment suitable for grid structural part vertical welded joint and welding method thereof - Google Patents
Robot welding equipment suitable for grid structural part vertical welded joint and welding method thereof Download PDFInfo
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- CN104785960A CN104785960A CN201510150108.3A CN201510150108A CN104785960A CN 104785960 A CN104785960 A CN 104785960A CN 201510150108 A CN201510150108 A CN 201510150108A CN 104785960 A CN104785960 A CN 104785960A
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- lifting arm
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
Abstract
The invention discloses robot welding equipment suitable for a grid structural part vertical welded joint and a welding method thereof. The robot welding equipment suitable for the grid structural part vertical welded joint comprises a lifting arm, wherein a lifting driving motor is fixedly mounted at the top end of the lifting arm, the lifting driving motor drives the lifting arm to make up-down longitudinal movement, a robot is mounted at the tail end of the lifting arm, and the lifting arm moves up and down to drive the robot to weld the vertical welded joint. The welding method includes the steps that the robot enters a welding preparation position, the deviation values of a welding gun needing to deviate in the X direction and the Y direction are calculated, and the welding gun can automatically track the welded joint in real time in the welding process through a control system. According to the equipment, the swing automatic welding technology and the vertical welding technology of the welding robot are combined, the equipment is suitable for vertical automatic welding in wide and narrow space, the welding bridging capacity is improved, and the requirements for ship block assembly line construction and large-scale grid box-shaped structural component vertical welded joint automatic welding in China are met.
Description
Technical field
The application relates to welding technology field, particularly a kind of robot welding equipment and welding method being applicable to network part vertical weld.
Background technology
At boats and ships, large molding coal machine, massive engine machine base, network part One's name is legion in the structures such as maritime platform, need to widely apply automatic vertical solder technology, its welding procedure is complicated, the domestic mode of production always adopting manual welding, cause production efficiency low, workman's operating environment is poor, particularly in the welding process that the network part vertical weld that size is large is long, all want scaffolding during manual welding, four vertical weld activity durations of a weldering grid are long, be difficult to meet and pay in short-term and modernization, automation, intelligent requirement of producing, be badly in need of exploitation high efficiency automatic vertical welding method and equipment.
All structural members such as boats and ships, large molding coal machine, massive engine machine base, maritime platform mostly are the features such as grid casing has that size is large, structure is inconsistent and space structure is complicated, and welding gun is realize the key issue that the vertical automatic welding of network part needs to solve in narrow space accessibility and welding bridging ability.For this problem, abroad solve mainly through raising component machining accuracy and large scale welding robot; And domestic due to the restriction of job shop spatial altitude, Standard precision to be welded low, relevant research still rests on Development of Welding aspect, lacks automatic machinery people welding jig and the welding method of the network part vertical weld welding being applicable to China's national situation.
Simultaneously its lifting in welding process of the current welding equipment be made up of robot, mobile motor generally will be controlled by robot control system as the outside axle of robot, its brand must unanimously with the drive motors brand of robot itself could be worked in coordination with, and certainly will add equipment cost like this, limit the range of choice of drive motors, cause the shortcomings such as local is monopolized, the function expansibility of complete machine difference.
Summary of the invention
The technical problem that the application will solve is for above-mentioned the deficiencies in the prior art, provides a kind of the robot welding equipment and the welding method that are applicable to network part vertical weld, is wherein elevated drive motors and does not use as the outside axle of robot.This equipment welding robot is swung automatic technology to combine with vertical welding technique, welding that the is wide and vertical weld of narrow space can be adapted to, bridging ability and the production efficiency of welding can be improved, meet the demand of the vertical weld automatic weldings such as China's boat segmental streamline construction and large-scale grid, box-shaped structural member.
The application adopts following technical scheme to be achieved:
A kind of robot welding equipment being applicable to network part vertical weld, comprise removable door frame and the cross-brace being installed on removable door frame upper end, the outside of cross-brace is provided with lifting arm, cross-brace is provided with horizontal drive motor, and horizontal drive motor drives cross-brace together with lifting arm transverse shifting; Described lifting arm top is installed with lifting drive motors, and lifting drive motors drives lifting arm to do upper and lower lengthwise movement, and the end of described lifting arm is provided with robot, and the front end of robot is provided with beam; Robot is provided with welding gun, drives welding gun to do synchronous lengthwise movement together when lifting arm moves up and down, robot drives welding gun transverse reciprocating to swing; Described robot is provided with for measuring welding gun to the first distance measuring sensor of workpiece distance and the second distance measuring sensor; The saddle leg of described removable door frame is provided with control system, and described control system is connected with lifting drive motors, horizontal drive motor, robot, the first distance measuring sensor, the second distance measuring sensor.
Described lifting arm telescopic extensions is 0 ~ 6m.
Be applicable to a welding method for the robot welding equipment of network part vertical weld, comprise the following steps:
The first step, according to weld seam original position, horizontal drive motor drives lifting arm to move to the top of position to be welded, allows robot enter the position of weld preparation;
Second step, control system gathers DA1 value, the DA2 value of the first distance measuring sensor and the second distance measuring sensor when robot in the first step is in weld preparation position, wherein, DA1 value is the distance of the welding gun that measures of the second distance measuring sensor to workpiece X-direction, and DA2 value is the distance of the welding gun that measures of the first distance measuring sensor to workpiece Y direction;
3rd step, sets lifting arm in the controls and promotes number of times and each height promoted when welding;
4th step, calculate the deviant OX that welding gun needs to offset in X-direction, welding gun needs deviant OY in the Y direction; When robot formally welds, the numerical value of the first distance measuring sensor and the second distance measuring sensor collection should be respectively D1 and D2, the angle of distance measuring sensor incident laser and workpiece is γ, γ 1 is the angle of the first distance measuring sensor incident laser and workpiece, γ 2 is the angle of the second distance measuring sensor incident laser and workpiece, then:
OX＝(DA1-D1)×SINγ1
OY＝(DA2-D2)×SINγ2
After obtaining OX, OY value, welding gun carries out automatic deviation in X-direction and Y-direction respectively, until welding gun arrives formal welding position, robot arrives the welding position of horizontal direction.
Amplitude of oscillation during described welding gun welding is 2-3mm, and residence time is 0.1-0.2s, and welding current is 145-250A, and speed of welding is 170-510mm/min.
Further comprising the steps of:
5th step, the hoisting depth of lifting arm reach set in the 3rd step height time, welding gun stops rising, and robot drives welding-torch horizontal to exit, and simultaneously lifting arm rises to next weld preparation position;
6th step, repeats the step of the second to four, recalculates side-play amount, then continues welding.
The application adopts technique scheme to have following significantly technique effect:
1, be applicable to the robot welding equipment of network part vertical weld described in the application, structural design is simple, apparatus structure is compact, and manufacture craft is simple, and operability is high, and production cost is low, economical and practical.
2, the welding method of the robot welding equipment of network part vertical weld is applicable to described in the application, welding robot is swung automatic welding technique and combines with vertical welding technique by the method, adapt to wide and welding that is narrow space, improve bridging ability and the production efficiency of welding, meet the demand of China's boat segmental streamline construction and large-scale grid box-shaped structural member vertical weld automatic welding.Weld seam method for real time tracking in vertical welding process is reliable, with low cost.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present application or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the application, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 shows a kind of overall structure being applicable to the robot welding equipment of network part vertical weld described in the application;
Fig. 2 shows robot and welding gun skew schematic diagram;
Fig. 3 shows the angle of distance measuring sensor incident laser and workpiece;
Wherein have: 1. vertical drive motor; 2. horizontal drive motor; 3. be elevated drive motors; 4. guide rail; 5. lifting arm; 6. control system; 7. removable door frame; 8. robot; 9. cross-brace; 10. welding gun; 11. first distance measuring sensors; 12. second distance measuring sensors; 13. beams; DA1 is the distance of the robot welding gun that the second distance measuring sensor measures when being in weld preparation position to workpiece X-direction; DA2 is the distance of the robot welding gun that the first distance measuring sensor measures when being in weld preparation position to workpiece Y direction; D1 is the distance of the robot welding gun that the first distance measuring sensor measures when being in formal welding to workpiece Y direction; D2 is the distance of the robot welding gun that the second distance measuring sensor measures when being in formal welding to workpiece X-direction; OX is the deviant that welding gun needs to offset in the X direction; OY is the deviant that welding gun needs to offset in the Y direction; γ is the angle of distance measuring sensor incident laser and workpiece; γ 1 is the angle of the first distance measuring sensor incident laser and a workpiece plane; γ 2 is the angle of the second distance measuring sensor incident laser and another plane of workpiece.
Detailed description of the invention
For making the object of the application and technical scheme clearly, be clearly and completely described below in conjunction with the technical scheme of the embodiment of the present application to the application.Obviously, described embodiment is a part of embodiment of the application, instead of whole embodiments.Based on the embodiment of described the application, the every other embodiment that those of ordinary skill in the art obtain under without the need to the prerequisite of creative work, all belongs to the scope of the application's protection.
As shown in Figure 1, a kind of robot welding equipment being applicable to network part vertical weld, comprise removable door frame 7, the crossbeam of removable door frame 7 has been horizontally disposed with guide rail 4, guide rail 4 is arranged with slide block, upper end of slide block is provided with cross-brace 9, and the outside of cross-brace 9 is provided with in lifting arm 5 cross-brace 9 and is provided with horizontal drive motor 2, and horizontal drive motor 2 drives cross-brace 9 together with lifting arm 5 transverse shifting; Described lifting arm 5 top is installed with lifting drive motors 3, and lifting drive motors 3 drives lifting arm 5 to do upper and lower lengthwise movement; The end of described lifting arm 5 is provided with robot 8, robot 8 is provided with welding gun 10 and beam 13, and lifting arm 5 can drive welding gun 10 to do synchronous lengthwise movement together when moving up and down, and robot 8 drives welding gun 10 transverse reciprocating to swing.
In the application, the lifting drive motors 3 of lifting arm 5 does not use as the outside axle of robot 8, reduce cost, lifting drive motors 3 range of choice be wide, interchangeability good, the restriction of motion control hardware and software platform that complete machine functional development does not carry by robot 8 itself.
When needs weld, removable door frame 7 is driven by vertical drive motor 1, removable door frame 7 is moved in X direction, cross-brace 9 is driven by horizontal drive motor 2 with lifting arm 5, the movement of Y-direction is done along guide rail 4, lifting drive motors 3 drives lifting arm 5 to move along Z-direction, and workpiece is placed in removable door frame 7.As shown in Figure 1, lifting drive motors 3 drives lifting arm 5 integral elevating, adjusting the distance of the robot 8 and workpiece upper end of installing whole lifting arm 5 lower end, ensureing that lifting arm 5 is not collided with workpiece upper end when carrying out X and Y-direction position is moved.
As shown in Figure 1, 2, described robot 8 is provided with for measuring first distance measuring sensor 11 and second distance measuring sensor 12 of welding gun 10 to workpiece distance; The saddle leg of described removable door frame 7 is provided with control system 6, and described control system 6 is connected by wire with lifting drive motors 3, horizontal drive motor 2, robot 8, first distance measuring sensor 11, second distance measuring sensor 12.
A kind of welding method being applicable to the robot welding equipment of network part vertical weld described in the application, comprises the following steps:
The first step, according to weld seam original position, horizontal drive motor 2 drives the slide block being arranged on guide rail 4 lifting arm 5 to be moved to the top of position to be welded, allows robot 8 enter the position of weld preparation;
Second step, control system 6 gathers DA1 value, the DA2 value of the first distance measuring sensor 11 and the second distance measuring sensor 12 when robot 8 in the first step is in weld preparation position, wherein, DA1 value is the distance of the welding gun 10 that measures of the second distance measuring sensor 12 to workpiece X-direction, and DA2 value is the distance that welding gun 10 that the first distance measuring sensor 11 measures arrives workpiece Y direction;
3rd step, set in control system 6 when lifting arm 5 welds and promote number of times and each height promoted, each hoisting depth setting value sets and is not more than the working range value of robot in the telescopic extensions of lifting arm 5.The such as weld seam of long 4m, joins the robot that the radius of clean-up is not less than 0.5 meter, divides four sections and welds, and now each height (welding and assembling height) promoted is set as 1m, and promoting number of times is 3 times.
4th step, calculate the deviant OX that welding gun 10 needs to offset in X-direction, welding gun 10 needs deviant OY in the Y direction; When robot 8 formally welds, the numerical value that first distance measuring sensor 11 and the second distance measuring sensor 12 gather should be respectively D1 and D2, the value of D1 and D2 can as a constant, as shown in Figure 3, the angle of distance measuring sensor incident laser and workpiece is γ, γ 1 is the angle of the first distance measuring sensor 11 incident laser and a workpiece plane, and γ 2 is the angle of the second distance measuring sensor 12 incident laser and another plane of workpiece, then:
OX＝(DA1-D1)×SINγ1
OY＝(DA2-D2)×SINγ2
After obtaining OX, OY value, welding gun 10 carries out automatic deviation in X-direction and Y-direction respectively, until welding gun 10 arrives formal welding position, namely until the numerical value of the first distance measuring sensor and the second distance measuring sensor collection is respectively D1 and D2, robot 8 arrives the welding position of horizontal direction, after welding starts, welding gun 10 swings with certain frequency f and the amplitude of oscillation in the horizontal direction, and welding gun 10 welds in the vertical with speed v simultaneously.
5th step, welding and assembling height reaches the height set in the 3rd step, and namely during 1m, welding gun 10 stops rising, and robot 8 drives welding gun 10 level to exit to a position, and simultaneously lifting arm 5 rises 1m, is equivalent to second weld preparation position;
6th step, repeats the step of the second to four, recalculates, then continues the next 1m of welding.
After whole welding terminates, welding gun 10 stops swinging, and lifting arm 5 shrinks, and lifting arm 5 is moved to grid position while welding next to be welded by guide rail 4.
After welding starts, welding gun 10 swings with certain frequency f and the amplitude of oscillation in the horizontal direction, welding gun 10 moves in the vertical with speed v simultaneously, welding gun 10 often welds certain level altitude H (by robot welding program setting), once samples, calculates OX, OY value, offset, realize the real-time tracking of weld seam, correction, wherein H value is:
(n >=1, v is longitudinal measure speed to H=n × (v/f), and f is hunting frequency.)
The value of H is determined according to welding process requirement and actual hardware condition, and H value is less, and appearance of weld is more attractive in appearance, but sampling computing cycle is less.
Described in the application, lifting arm 5 telescopic extensions is 0 ~ 6m.
The application provides specific embodiment welding parameter as follows:
Utilize this kind of robot welding equipment being applicable to network part vertical weld to join the unified digital source of welding current, carry out automatic welding to the vertical weld of thickness of slab 10mm, long 4m, welding parameter is:
1, amplitude of oscillation 3mm, front and back residence time are all 0.2s, welding current 145A, speed of welding 170mm/min;
2, amplitude of oscillation 2mm, front and back residence time are all 0.1s, welding current 250A, speed of welding 510mm/min.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, and all terms used herein (comprising technical term and scientific terminology) have the meaning identical with the general understanding of the those of ordinary skill in field belonging to the application.Should also be understood that those terms defined in such as general dictionary should be understood to have the meaning consistent with the meaning in the context of prior art, unless and define as here, can not explain by idealized or too formal implication.
The implication of the "and/or" described in the application refers to respective individualism or both simultaneous situations include interior.
The implication of " inside and outside " described in the application refers to relative to equipment itself, in the direction of sensing equipment inside is, otherwise is outward.
When the implication of " left and right " described in the application refers to reader just to accompanying drawing, the left side of reader is a left side, and the right of reader is the right side.
The indirect connection that can be the direct connection between parts also can be by other parts between parts of the implication of " connection " described in the application.
With the above-mentioned desirable embodiment according to the application for enlightenment, by above-mentioned description, relevant staff in the scope not departing from this application technological thought, can carry out various change and amendment completely.The technical scope of this application is not limited to the content on description, must determine its technical scope according to right.
Claims (5)
1. one kind is applicable to the robot welding equipment of network part vertical weld, comprise removable door frame (7) and be installed on the cross-brace (9) of removable door frame (7) upper end, the outside of cross-brace (9) is provided with lifting arm (5), cross-brace (9) is provided with horizontal drive motor (2), horizontal drive motor (2) drives cross-brace (9) together with lifting arm (5) transverse shifting; Described lifting arm (5) top is installed with lifting drive motors (3), lifting drive motors (3) drives lifting arm (5) to do upper and lower lengthwise movement, it is characterized in that, the end of described lifting arm (5) is provided with robot (8), and the front end of robot (8) is provided with beam (13); Robot (8) is provided with welding gun (10), drive welding gun (10) to do synchronous lengthwise movement together when lifting arm (5) moves up and down, robot (8) drives welding gun (10) transverse reciprocating to swing; Described robot (8) is provided with for measuring welding gun (10) to first distance measuring sensor (11) of workpiece distance and the second distance measuring sensor (12); The saddle leg of described removable door frame (7) is provided with control system (6), and described control system (6) is connected with lifting drive motors (3), horizontal drive motor (2), robot (8), the first distance measuring sensor (11), the second distance measuring sensor (12).
2. a kind of robot welding being applicable to network part vertical weld is equipped as claimed in claim 1, and it is characterized in that, described lifting arm (5) telescopic extensions is 0 ~ 6m.
3. be applicable to a welding method for the robot welding equipment of network part vertical weld as claimed in claim 1, it is characterized in that, comprise the following steps:
The first step, according to weld seam original position, horizontal drive motor (2) drives lifting arm (5) to move to the top of position to be welded, allows robot (8) enter the position of weld preparation;
Second step, control system (6) gathers DA1 value, the DA2 value of the first distance measuring sensor (11) and the second distance measuring sensor (12) when robot (8) in the first step is in weld preparation position, wherein, DA1 value is the distance of the welding gun (10) that measures of the second distance measuring sensor (12) to workpiece X-direction, and DA2 value is the distance of the welding gun (10) that measures of the first distance measuring sensor (11) to workpiece Y direction;
3rd step, in control system (6), setting lifting arm (5) promotes number of times and each height promoted when welding;
4th step, calculate the deviant OX that welding gun (10) needs to offset in X-direction, welding gun (10) needs deviant OY in the Y direction; When robot (8) formally welds, the numerical value that first distance measuring sensor (11) and the second distance measuring sensor (12) gather should be respectively D1 and D2, the angle of distance measuring sensor incident laser and workpiece is γ, γ 1 is the angle of the first distance measuring sensor (11) incident laser and workpiece, γ 2 is the angle of the second distance measuring sensor (12) incident laser and workpiece, then:
OX＝(DA1-D1)×SINγ1
OY＝(DA2-D2)×SINγ2
After obtaining OX, OY value, welding gun (10) carries out automatic deviation in X-direction and Y-direction respectively, until welding gun (10) arrives formal welding position, robot (8) arrives the welding position of horizontal direction.
4. the welding method of a kind of robot welding equipment being applicable to network part vertical weld as claimed in claim 3, it is characterized in that, amplitude of oscillation during described welding gun (10) welding is 2-3mm, residence time is 0.1-0.2s, welding current is 145-250A, and speed of welding is 170-510mm/min.
5. the welding method of a kind of robot welding equipment being applicable to network part vertical weld as claimed in claim 3, is characterized in that, further comprising the steps of:
5th step, the hoisting depth of lifting arm (5) reach set in the 3rd step height time, welding gun (10) stops rising, robot (8) drives welding gun (10) level to exit, and lifting arm (5) rises to next weld preparation position simultaneously;
6th step, repeats the step of the second to four, recalculates side-play amount, then continues welding.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105234534A (en) * | 2015-11-12 | 2016-01-13 | 中国船舶重工集团公司第七一六研究所 | Welding robot for hull block manufacturing |
| CN105479060A (en) * | 2015-12-25 | 2016-04-13 | 广东迪生电力钢构器材有限公司 | Machine tool for welding cross plate |
| CN105945458A (en) * | 2016-05-13 | 2016-09-21 | 中船重工鹏力（南京）智能装备系统有限公司 | All-position automatic welding device under multi-obstacle environment and welding method |
| CN108067771A (en) * | 2016-11-17 | 2018-05-25 | 青岛中集集装箱制造有限公司 | For the automatic welding device and automatic soldering method of container |
| CN108672926A (en) * | 2018-04-27 | 2018-10-19 | 张家港市联通化机有限公司 | Vision welding tracking method and welding procedure |
| CN109128482A (en) * | 2018-10-31 | 2019-01-04 | 芜湖常瑞汽车部件有限公司 | A kind of robot welding ultrasonic weld seam tracking detection method |
| CN110271005A (en) * | 2019-07-16 | 2019-09-24 | 中冶赛迪工程技术股份有限公司 | Planing method, equipment and the medium of cut deal robot welding track |
| CN110814520A (en) * | 2019-10-30 | 2020-02-21 | 中国船舶重工集团公司第七一六研究所 | Double-arm gantry type robot system for realizing double-sided laser and electric arc hybrid welding |
| CN111590169A (en) * | 2020-06-03 | 2020-08-28 | 刘勇 | Automatic welding machine with welding seam tracking function and working method |
| CN113770611A (en) * | 2021-08-30 | 2021-12-10 | 中国船舶重工集团公司第七一六研究所 | Intelligent welding robot for ship cabin |
| CN114951988A (en) * | 2022-04-13 | 2022-08-30 | 华南建材(深圳)有限公司 | Intelligent welding device for ship cabin |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109128482A (en) * | 2018-10-31 | 2019-01-04 | 芜湖常瑞汽车部件有限公司 | A kind of robot welding ultrasonic weld seam tracking detection method |
| CN110271005A (en) * | 2019-07-16 | 2019-09-24 | 中冶赛迪工程技术股份有限公司 | Planing method, equipment and the medium of cut deal robot welding track |
| CN110814520A (en) * | 2019-10-30 | 2020-02-21 | 中国船舶重工集团公司第七一六研究所 | Double-arm gantry type robot system for realizing double-sided laser and electric arc hybrid welding |
| CN111590169A (en) * | 2020-06-03 | 2020-08-28 | 刘勇 | Automatic welding machine with welding seam tracking function and working method |
| CN111590169B (en) * | 2020-06-03 | 2021-08-24 | 威海博泰精密机械有限公司 | Automatic welding machine with welding seam tracking function and working method |
| CN113770611A (en) * | 2021-08-30 | 2021-12-10 | 中国船舶重工集团公司第七一六研究所 | Intelligent welding robot for ship cabin |
| CN114951988A (en) * | 2022-04-13 | 2022-08-30 | 华南建材(深圳)有限公司 | Intelligent welding device for ship cabin |
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| CN104785960B (en) | 2016-08-24 |
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