CN104785960B - A kind of robot welding equipment being applicable to network part vertical weld and welding method - Google Patents
A kind of robot welding equipment being applicable to network part vertical weld and welding method Download PDFInfo
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- CN104785960B CN104785960B CN201510150108.3A CN201510150108A CN104785960B CN 104785960 B CN104785960 B CN 104785960B CN 201510150108 A CN201510150108 A CN 201510150108A CN 104785960 B CN104785960 B CN 104785960B
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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
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Abstract
This application discloses a kind of robot welding equipment being applicable to network part vertical weld and welding method, the robot welding equipment being applicable to network part vertical weld includes lifting arm, lifting arm top is installed with lifting and drives motor, lifting drives driven by motor lifting arm to make upper and lower lengthwise movement, the end of lifting arm is provided with robot, and lifting arm moves up and down band mobile robot and carries out the welding of vertical weld；Welding method includes: robot enters the position of weld preparation；Calculate welding gun to need in X, the deviant of Y-direction skew.Welding gun real-time automatic tracking weld seam in welding process is made by control system.Welding robot is swung automatic welding technique and combines with vertical welding technique by this device, adapt to the wide and vertical automatic welding of narrow space, improve the bridging ability of welding, meet China's boat segmental streamline and build and the demand of large-scale grid box-shaped structural member vertical weld automatic welding.
Description
Technical field
The application relates to welding technology field, a kind of robot being applicable to network part vertical weld
Welding jig and welding method.
Background technology
In the structures such as boats and ships, big molding coal machine, massive engine machine base, maritime platform, network number of packages amount is many
Many, need to widely apply automatic vertical solder technology, its welding procedure is complicated, domestic has been used up manual welding
The mode of production, cause that production efficiency is low, workman's working environment is poor, particularly at the network part that size is big
In the welding process of vertical weld length during manual welding will scaffolding, weldering one grid four vertical welds
Activity duration is long, it is difficult to meet pay in short-term and modernize, automatization, the intelligent requirement produced, be badly in need of out
Send out high efficiency automatic vertical welding method and equipment.
All structural members such as boats and ships, big molding coal machine, massive engine machine base, maritime platform mostly are grid casing tool
Having that size is big, structure is inconsistent and the feature such as space structure is complicated, welding gun is in narrow space accessibility and welding
Bridging ability is to realize the key issue that the vertical automatic welding of network part needs to solve.For this problem,
Mainly solved by raising component machining accuracy and large scale welding robot；And it is domestic due to processing cart
Between spatial altitude limit, Standard precision to be welded low, relevant research remains in Development of Welding side
Face, lacks automatic machinery people's welding jig and the weldering of the network part vertical weld welding being suitable for China's national situation
Connect method.
Its lifting in welding process of the welding equipment being simultaneously at present made up of robot, mobile motor are generally wanted
Outside axle as robot is controlled by robot control system, and its brand must be with the driving of robot itself
Motor brand unanimously could be worked in coordination with, so certainly will add equipment cost, limit drive motor the range of choice,
Cause local monopolization, complete machine function expansibility difference etc. shortcoming.
Summary of the invention
The application to solve the technical problem that and to be for above-mentioned the deficiencies in the prior art, it is provided that one is applicable to net
The robot welding equipment of lattice structure part vertical weld and welding method, wherein lifting drives motor not as machine
The outside axle of people uses.This equipment is welding robot to swing automatic technology tie mutually with vertical welding technique
Close, be adapted to the welding of the wide vertical weld with narrow space, bridging ability and the production of welding can be improved
Efficiency, meets the vertical weld automatizatioies such as China's boat segmental streamline construction and large-scale grid, box-shaped structural member
The demand of welding.
The application adopts the following technical scheme that and is achieved:
A kind of robot welding equipment being applicable to network part vertical weld, including removable door frame and installation
In the cross-brace of removable door frame upper end, the outside of cross-brace is provided with lifting arm, and cross-brace is installed
Having horizontal drive motor, horizontal drive motor drives cross-brace to move laterally together together with lifting arm；Described liter
Fall arm top is installed with lifting and drives motor, lifting to drive driven by motor lifting arm to make upper and lower lengthwise movement,
The end of described lifting arm is provided with robot, and the front end of robot is provided with beam；It is provided with in robot
Welding gun, drives welding gun one to act as synchronization lengthwise movement when lifting arm moves up and down, robot drives welding gun laterally to come
Backswing is moved；It is provided with in described robot for measuring the welding gun the first distance measuring sensor and second to workpiece distance
Distance measuring sensor；Being provided with control system on the saddle lower limb of described removable door frame, described control system is driven with lifting
Galvanic electricity machine, horizontal drive motor, robot, the first distance measuring sensor, the second distance measuring sensor connect.
Described lifting arm telescopic extensions is 0～6m.
The welding method of a kind of robot welding equipment being applicable to network part vertical weld, including following step
Rapid:
The first step, according to weld seam original position, horizontal drive motor drives lifting arm to move to position to be welded
Top, allows robot enter the position of weld preparation；
Second step, the first distance measuring sensor when robot is in weld preparation position in the control system collection first step
With DA1 value, the DA2 value of the second distance measuring sensor, wherein, DA1 value is that the second distance measuring sensor measurement is arrived
Welding gun to the distance of workpiece X-direction, DA2 value is that the welding gun that arrives of the first distance measuring sensor measurement is to workpiece
The distance of Y direction；
3rd step, sets lifting arm in the controls and promotes number of times and the height every time promoted when welding；
4th step, calculating welding gun needs deviant OX in X-direction skew, and welding gun needs in the Y direction inclined
Shifting value OY；When robot formally welds, the numerical value that the first distance measuring sensor and the second distance measuring sensor gather should
Should be respectively D1 and D2, the angle of distance measuring sensor incident laser and workpiece be γ, γ 1 be first range finding pass
Sensor incident laser and the angle of workpiece, γ 2 is the second distance measuring sensor incident laser and the angle of workpiece, then:
OX=(DA1-D1) × SIN γ 1
OY=(DA2-D2) × SIN γ 2
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, and robot arrives the welding position of horizontal direction.
The amplitude of oscillation during welding of described welding gun is 2-3mm, and residence time is 0.1-0.2s, and welding current is
145-250A, speed of welding is 170-510mm/min.
Further comprising the steps of:
5th step, the hoisting depth of lifting arm reach in the 3rd step set height time, welding gun stop rise, machine
People drives welding-torch horizontal to exit, and lifting arm rises to next weld preparation position simultaneously；
6th step, repeats the step of the second to four, recalculates side-play amount, is further continued for welding.
The application uses technique scheme to have a technique effect will be apparent below:
1, the herein described robot welding equipment being applicable to network part vertical weld, structure design letter
List, apparatus structure are compact, and processing technology is simple, and operability is high, and production cost is low, economical and practical.
2, the welding method of the herein described robot welding equipment being applicable to network part vertical weld,
Welding robot is swung automatic welding technique and combines with vertical welding technique by the method, adapts to wide and narrow
The welding in space, improves bridging ability and the production efficiency of welding, meet China boat segmental streamline build and
The demand of large-scale grid box-shaped structural member vertical weld automatic welding.Weld seam real-time tracking during vertical welding
Method is reliable, with low cost.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present application or technical scheme of the prior art, below will be to embodiment
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, in describing below
Accompanying drawing is only some embodiments of the application, for those of ordinary skill in the art, is not paying creation
Property work on the premise of, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 shows herein described a kind of robot welding equipment being applicable to network part vertical weld
Overall structure；
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. lifting drives motor；4. guide rail；5. liter
Fall arm；6. control system；7. may move door frame；8. robot；9. cross-brace；10. welding gun；11. first survey
Away from sensor；12. second distance measuring sensors；13. beams；DA1 is that robot is when being in weld preparation position
The welding gun that second distance measuring sensor measurement is arrived is to the distance of workpiece X-direction；DA2 is that robot is in welding
The welding gun that during ready position, the first distance measuring sensor measurement is arrived is to the distance of workpiece Y direction；D1 is robot
The welding gun that when being in formal welding, the first distance measuring sensor measurement is arrived is to the distance of workpiece Y direction；D2 is machine
The welding gun that when device people is in formal welding, the second distance measuring sensor measurement is arrived is to the distance of workpiece X-direction；OX
The deviant of skew is needed in the X direction for welding gun；OY is the skew that welding gun needs skew in the Y direction
Value；γ is the angle of distance measuring sensor incident laser and workpiece；γ 1 be the first distance measuring sensor incident laser and
The angle of one plane of workpiece；γ 2 is the second distance measuring sensor incident laser and the folder of another plane of workpiece
Angle.
Detailed description of the invention
Purpose and technical scheme for making the application are clearer, below in conjunction with the embodiment of the present application to the application
Technical scheme be clearly and completely described.Obviously, described embodiment is that the part of the application is real
Execute example rather than whole embodiments.Based on described embodiments herein, ordinary skill people
The every other embodiment that member is obtained on the premise of without creative work, broadly falls into the model of the application protection
Enclose.
As it is shown in figure 1, a kind of robot welding equipment being applicable to network part vertical weld, including moving
Dynamic door frame 7, the crossbeam of removable door frame 7 has been horizontally disposed with guide rail 4, guide rail 4 has been arranged with slide block, sliding
Block upper end is provided with cross-brace 9, and the outside of cross-brace 9 is provided with in lifting arm 5 cross-brace 9 installation
Horizontal drive motor 2, horizontal drive motor 2 is had to drive cross-brace 9 to move laterally together together with lifting arm 5；
Described lifting arm 5 top is installed with lifting and drives motor 3, lifting to drive motor 3 to drive lifting arm 5 to make
Lengthwise movement up and down；The end of described lifting arm 5 is provided with robot 8, and robot 8 is provided with welding gun 10
With beam 13, lifting arm 5 can drive welding gun 10 1 to act as synchronization lengthwise movement, machine when moving up and down
Device people 8 drives welding gun 10 transverse reciprocating to swing.
In the application, the lifting of lifting arm 5 drives motor 3 to use not as the outside axle of robot 8, reduces
Cost, motor 3 range of choice is wide, interchangeability good in lifting driving, complete machine functional development is own by robot 8
The restriction of the motor control hardware and software platform carried.
When needs weld, removable door frame 7 is driven by vertical drive motor 1, makes removable door frame 7
Moving in X direction, cross-brace 9 is driven by horizontal drive motor 2 with lifting arm 5, makees Y along guide rail 4
The movement in direction, lifting drives motor 3 to drive lifting arm 5 to move along Z-direction, and making workpiece be placed in can move
In dynamic door frame 7.As it is shown in figure 1, lifting drives motor 3 to drive lifting arm 5 integral elevating, adjust whole liter
The robot 8 of fall arm 5 lower end installation and the distance of workpiece upper end, it is ensured that lifting arm 5 is carrying out X and Y side
Do not collide with workpiece upper end when moving to position.
As shown in Figure 1, 2, described robot 8 is provided with for measuring welding gun 10 to the first of workpiece distance
Distance measuring sensor 11 and the second distance measuring sensor 12；Control system is installed on the saddle lower limb of described removable door frame 7
System 6, described control system 6 and lifting drive motor 3, horizontal drive motor 2, robot 8, first to find range
Sensor the 11, second distance measuring sensor 12 is connected by wire.
The welding method of herein described a kind of robot welding equipment being applicable to network part vertical weld,
Comprise 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 to rise
Fall arm 5 moves to the top of position to be welded, allows robot 8 enter the position of weld preparation；
Second step, when control system 6 gathers that in the first step, robot 8 is in weld preparation position, the first range finding passes
Sensor 11 and the DA1 value of the second distance measuring sensor 12, DA2 value, wherein, DA1 value is that the second range finding passes
Sensor 12 is measured the welding gun 10 arrived and is arrived the distance of workpiece X-direction, and DA2 value is the first distance measuring sensor 11
Measure the welding gun 10 arrived and arrive the distance of workpiece Y direction；
3rd step, sets in control system 6 and promotes number of times and the height every time promoted when lifting arm 5 welds,
Every time hoisting depth setting value sets and the working range of no more than robot in the telescopic extensions of lifting arm 5
Value.The weld seam of the longest 4m, joins the radius of clean-up robot not less than 0.5 meter, divides four sections and weld,
The height (welding and assembling height) now every time promoted is set as 1m, and promoting number of times is 3 times.
4th step, calculating welding gun 10 needs deviant OX in X-direction skew, and welding gun 10 needs in Y side
To deviant OY；When robot 8 formally welds, the first distance measuring sensor 11 and the second distance measuring sensor
12 numerical value gathered should be respectively the value of D1 and D2, D1 and D2 can be as a constant, such as Fig. 3
Shown in, the angle of distance measuring sensor incident laser and workpiece be γ, γ 1 be that the first distance measuring sensor 11 is incident
Laser and the angle of one plane of workpiece, γ 2 be the second distance measuring sensor 12 incident laser and workpiece another
The angle of plane, then:
OX=(DA1-D1) × SIN γ 1
OY=(DA2-D2) × SIN γ 2
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, i.e. until the first distance measuring sensor and the second distance measuring sensor collection
Numerical value be respectively D1 and D2, robot 8 arrives the welding position of horizontal direction, after welding starts, weldering
Rifle 10 swings with certain frequency f and the amplitude of oscillation in the horizontal direction, and welding gun 10 is being indulged with speed v simultaneously
Upwards weld.
5th step, welding and assembling height reaches the height set in the 3rd step, and i.e. during 1m, welding gun 10 stops rising,
Robot 8 drives welding gun 10 level to exit to a position, and lifting arm 5 rises 1m simultaneously, is equivalent to second
Individual weld preparation position；
6th step, repeats the step of the second to four, recalculates, and is further continued for welding next 1m.
After whole welding terminates, welding gun 10 stops swinging, and lifting arm 5 shrinks, and lifting arm 5 is moved by guide rail 4
Move next grid position while welding to be welded.
After welding starts, welding gun 10 swings with certain frequency f and the amplitude of oscillation in the horizontal direction, simultaneously
Welding gun 10 moves in the vertical with speed v, and welding gun 10 is often welded certain level altitude H and (welded by robot
Connect program setting), once sample, calculate OX, OY value, offset, it is achieved weld seam real-time
Following the tracks of, rectify a deviation, wherein H-number is:
(n >=1, v is longitudinal measure speed to H=n × (v/f), and f is hunting frequency.)
The value of H determines according to welding process requirement and actual hardware condition, and H-number is the least, and appearance of weld is the most beautiful
See, but the sampling calculating cycle is the least.
Herein described lifting arm 5 telescopic extensions is 0～6m.
The application provides specific embodiment welding parameter as follows:
This kind of robot welding equipment being applicable to network part vertical weld is utilized to join unified numeral welding
Power supply, carries out automatic welding to the vertical weld of thickness of slab 10mm, long 4m, and 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 (include
Technical term and scientific terminology) have with the those of ordinary skill in the application art be commonly understood by identical
Meaning.Should also be understood that those terms defined in such as general dictionary should be understood that have with
The meaning that meaning in the context of prior art is consistent, and unless defined as here, will not be by ideal
Change or the most formal implication is explained.
The implication of "and/or" described herein refers to respective individualism or both simultaneous feelings
In condition is included in.
The implication of " inside and outside " described herein refers to relative to equipment itself, in sensing equipment
The direction in portion is interior, otherwise is outward.
When the implication of " left and right " described herein refers to reader just to accompanying drawing, the left side of reader
Being a left side, the right of reader is the right side.
The implication of " connection " described herein can be being directly connected between parts can also be between parts
Being indirectly connected with by other parts.
With the above-mentioned desirable embodiment according to the application for enlightenment, by above-mentioned description, related work people
Member can carry out various change and amendment completely in the range of without departing from this application technological thought.This
The content that the technical scope of item application is not limited in description, it is necessary to come really according to right
Its technical scope fixed.
Claims (4)
1. the welding method of the robot welding equipment being applicable to network part vertical weld, it is characterised in that
Described a kind of robot welding equipment being applicable to network part vertical weld, including removable door frame (7) and installation
In 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)
On horizontal drive motor (2) is installed, horizontal drive motor (2) drives cross-brace (9) laterally to move together with lifting arm (5)
Dynamic；Described lifting arm (5) top is installed with lifting and drives motor (3), lifting to drive motor (3) to drive lifting arm (5) to make
Lengthwise movement up and down, it is characterised in that the end of described lifting arm (5) is provided with robot (8), the front end peace of robot (8)
Equipped with beam (13)；Welding gun (10) is installed in robot (8), when lifting arm (5) moves up and down, drives welding gun (10) together
Making to synchronize lengthwise movement, robot (8) drives welding gun (10) transverse reciprocating to swing；Described robot is provided with for surveying on (8)
Amount welding gun (10) arrives the first distance measuring sensor (11) and second distance measuring sensor (12) of workpiece distance；Described removable door frame
(7) being provided with control system (6) on saddle lower limb, described control system (6) drives motor (3), horizontal drive motor with lifting
(2), robot (8), the first distance measuring sensor (11), the second distance measuring sensor (12) connect；
Described welding method comprises the following steps:
The first step, according to weld seam original position, horizontal drive motor (2) drives lifting arm (5) to move to the upper of position to be welded
Side, allows robot (8) enter the position of weld preparation；
Second step, the first distance measuring sensor when robot (8) is in weld preparation position in control system (6) the collection first step
(11) the DA1 value of and the second distance measuring sensor (12), DA2 value, wherein, DA1 value is that the second distance measuring sensor (12) measurement is arrived
Welding gun (10) to the axial distance of workpiece X, DA2 value is that the first distance measuring sensor (11) is measured the welding gun (10) arrived and arrived work
The axial distance of part Y；
3rd step, sets lifting arm (5) in control system (6) and promotes number of times and the height every time promoted when welding；
4th step, calculating welding gun (10) needs deviant OX in the skew of X direction, and welding gun (10) needs the skew in Y direction
Value OY；When robot (8) formally welds, the numerical value that the first distance measuring sensor (11) and the second distance measuring sensor (12) gather should
Being respectively D1 and D2, the angle of distance measuring sensor incident laser and workpiece is that to be that the first distance measuring sensor (11) is incident swash γ, γ 1
Light and the angle of workpiece, γ 2 is the second distance measuring sensor (12) incident laser and the angle 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)
Arriving formal welding position, robot (8) arrives the welding position of horizontal direction.
2. the welding side of a kind of robot welding equipment being applicable to network part vertical weld as described in claim 1
Method, it is characterised in that described lifting arm (5) telescopic extensions is 0 ~ 6m.
A kind of welding side of the robot welding equipment being applicable to network part vertical weld
Method, it is characterised in that amplitude of oscillation during described welding gun (10) welding is 2-3mm, and residence time is 0.1-0.2s,
Welding current is 145-250A, and speed of welding is 170-510mm/min.
A kind of welding side of the robot welding equipment being applicable to network part vertical weld
Method, it is characterised in that further comprising the steps of:
5th step, the hoisting depth of lifting arm (5) reach in the 3rd step set height time, welding gun (10) stop rise, machine
Device people (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, is further continued for welding.
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| CN201510150108.3A CN104785960B (en) | 2015-03-31 | 2015-03-31 | A kind of robot welding equipment being applicable to network part vertical weld and welding method |
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| CN104785960B true CN104785960B (en) | 2016-08-24 |
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| CN105234534B (en) * | 2015-11-12 | 2017-12-12 | 中国船舶重工集团公司第七一六研究所 | A kind of welding robot for boat segmental manufacture |
| 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 |
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| 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 |
| 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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| CN104785960A (en) | 2015-07-22 |
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